diff --git a/agibot-challenge-2026/000005/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000005/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..99186ec6eeb212b43424457ed14c8fe0970e6fb8 --- /dev/null +++ b/agibot-challenge-2026/000005/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000005/ref_images/hand_left.png b/agibot-challenge-2026/000005/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..042c8298b3c308c53d4ffa01ba894a62de1ee10c --- /dev/null +++ b/agibot-challenge-2026/000005/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfb4ae288b0ff568fc44d7075177e4c2447c406913a7387b3cbfc423e909d156 +size 309003 diff --git a/agibot-challenge-2026/000005/ref_images/hand_right.png b/agibot-challenge-2026/000005/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..bffeb9abae683348f930c50e954db82c79941a87 --- /dev/null +++ b/agibot-challenge-2026/000005/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c1832969f026c6ec6758fe4d581301ad0bc107eefa2c1b51ad6ba85b8e4d73e +size 271934 diff --git a/agibot-challenge-2026/000005/ref_images/head.png b/agibot-challenge-2026/000005/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..edfa513c0b0abffe695aafde45700fa47684de8f --- /dev/null +++ b/agibot-challenge-2026/000005/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99095e31b2828202e35147d4273b61a99a3c2da82a6833d4c5d498d9d2d6b58a +size 236736 diff --git a/agibot-challenge-2026/000005/temporal.json b/agibot-challenge-2026/000005/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..b25416e73578c22e308cdd3db81aa75945bcd770 --- /dev/null +++ b/agibot-challenge-2026/000005/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014532089233398, -1.1530510187149048, -1.6015056371688843, -1.8055064678192139, -0.4184010624885559, -0.002189997350797057, -0.0014817295596003532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728256344795227, -1.1515547037124634, 1.5959218740463257, -1.8001837730407715, 0.41344448924064636, -0.006898479536175728, 0.014093328267335892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014532089233398, -1.1530510187149048, -1.6015053987503052, -1.8055058717727661, -0.4184003174304962, -0.002189517952501774, -0.0014825684484094381, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728256344795227, -1.1515544652938843, 1.5959223508834839, -1.800183653831482, 0.41344520449638367, -0.006899677682667971, 0.014093448407948017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014532089233398, -1.1530507802963257, -1.6015058755874634, -1.805505394935608, -0.41839924454689026, -0.002188559155911207, -0.0014828081475570798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728256344795227, -1.1515543460845947, 1.5959227085113525, -1.800183892250061, 0.41344591975212097, -0.006900876294821501, 0.014093209058046341, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014530897140503, -1.1530511379241943, -1.6015061140060425, -1.805504322052002, -0.4183984100818634, -0.0021867614705115557, -0.0014830478467047215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728256344795227, -1.1515545845031738, 1.5959223508834839, -1.800183653831482, 0.41344642639160156, -0.006902913562953472, 0.01409296877682209, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014533281326294, -1.1530507802963257, -1.601505994796753, -1.8055042028427124, -0.41839519143104553, -0.0021861623972654343, -0.0014814898604527116, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282564640045166, -1.1515543460845947, 1.595922827720642, -1.8001835346221924, 0.4134461581707001, -0.006905190646648407, 0.014093328267335892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.701453447341919, -1.1530508995056152, -1.6015052795410156, -1.8055036067962646, -0.418392539024353, -0.0021846042945981026, -0.0014813700690865517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282565832138062, -1.151553988456726, 1.5959229469299316, -1.800183653831482, 0.4134450852870941, -0.006905310321599245, 0.014093448407948017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.701453447341919, -1.1530508995056152, -1.6015058755874634, -1.8055027723312378, -0.4183891713619232, -0.0021830464247614145, -0.0014807708794251084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282567024230957, -1.1515544652938843, 1.5959227085113525, -1.8001841306686401, 0.41344544291496277, -0.00690423185005784, 0.014093209058046341, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.701453447341919, -1.1530512571334839, -1.6015057563781738, -1.805503010749817, -0.41838857531547546, -0.0021801702678203583, -0.0014796922914683819, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282567024230957, -1.1515543460845947, 1.5959231853485107, -1.8001841306686401, 0.41344401240348816, -0.006901835091412067, 0.014093328267335892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.701453447341919, -1.1530508995056152, -1.6015057563781738, -1.8055025339126587, -0.4183894395828247, -0.002180409850552678, -0.0014790929853916168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282569408416748, -1.1515547037124634, 1.5959231853485107, -1.8001842498779297, 0.4134417474269867, -0.006902314256876707, 0.014093687757849693, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.701453685760498, -1.1530508995056152, -1.6015052795410156, -1.8055028915405273, -0.4183918237686157, -0.0021816082298755646, -0.0014777748147025704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728257179260254, -1.1515547037124634, 1.5959227085113525, -1.8001843690872192, 0.41343992948532104, -0.0069019547663629055, 0.014093448407948017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014538049697876, -1.1530508995056152, -1.6015057563781738, -1.8055036067962646, -0.41839301586151123, -0.002182567026466131, -0.0014763366198167205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282572984695435, -1.151554822921753, 1.595922589302063, -1.800183892250061, 0.4134383797645569, -0.0069013554602861404, 0.014094767160713673, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014539241790771, -1.1530508995056152, -1.6015056371688843, -1.805504322052002, -0.4183965027332306, -0.0021830464247614145, -0.0014763366198167205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282572984695435, -1.151554822921753, 1.5959223508834839, -1.8001840114593506, 0.4134370684623718, -0.006900876294821501, 0.014095725491642952, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014541625976562, -1.1530510187149048, -1.601505160331726, -1.8055050373077393, -0.41839924454689026, -0.002185802673920989, -0.0014765763189643621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282569408416748, -1.1515551805496216, 1.5959223508834839, -1.8001834154129028, 0.41343599557876587, -0.006901835091412067, 0.014096084982156754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014544010162354, -1.1530507802963257, -1.6015057563781738, -1.8055058717727661, -0.4184015393257141, -0.002187840174883604, -0.0014775351155549288, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282568216323853, -1.1515551805496216, 1.5959219932556152, -1.8001835346221924, 0.4134365916252136, -0.0069024343974888325, 0.01409632433205843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014546394348145, -1.153050422668457, -1.6015055179595947, -1.8055064678192139, -0.4184024930000305, -0.002188559155911207, -0.0014787334948778152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282570600509644, -1.1515547037124634, 1.5959218740463257, -1.8001827001571655, 0.4134367108345032, -0.006903872359544039, 0.014096205122768879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014542818069458, -1.1530506610870361, -1.6015057563781738, -1.8055065870285034, -0.41840142011642456, -0.002189398044720292, -0.0014799319906160235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282565832138062, -1.1515547037124634, 1.5959218740463257, -1.8001834154129028, 0.4134376645088196, -0.006904831156134605, 0.014097043313086033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.701454758644104, -1.1530510187149048, -1.6015056371688843, -1.8055064678192139, -0.41840019822120667, -0.0021883195731788874, -0.0014806509716436267, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7282564640045166, -1.151554822921753, 1.5959218740463257, -1.800185203552246, 0.41343778371810913, -0.006906029302626848, 0.014097283594310284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6529629230499268, 1.6187522411346436, -0.5998040437698364, 0.0, 0.0, 1.7014528512954712, -1.1530511379241943, -1.6015032529830933, -1.805508017539978, -0.41839852929115295, -0.0021873607765883207, -0.0014829279389232397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7321926355361938, -1.1563048362731934, 1.6028493642807007, -1.8156770467758179, 0.38050490617752075, 0.008724396117031574, 0.03931508958339691, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6530587673187256, 1.618560552597046, -0.5997081995010376, 0.0, 0.0015337382210418582, 1.7014514207839966, -1.1530511379241943, -1.601501226425171, -1.8055229187011719, -0.41839686036109924, -0.002185563091188669, -0.0014867628924548626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7460918426513672, -1.1735785007476807, 1.6232661008834839, -1.8597455024719238, 0.3019024133682251, 0.07041546702384949, 0.14646100997924805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6539214849472046, 1.618464708328247, -0.5993247628211975, -0.001629596808925271, 0.0037384869065135717, 1.7014474868774414, -1.1530508995056152, -1.6014982461929321, -1.8055201768875122, -0.4183943271636963, -0.002182686934247613, -0.0014866431010887027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7500782012939453, -1.186672329902649, 1.6228277683258057, -1.8905882835388184, 0.27071645855903625, 0.14515244960784912, 0.28503090143203735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.655838668346405, 1.618464708328247, -0.5988454818725586, -0.0017254555132240057, 0.005655659828335047, 1.7014439105987549, -1.1530511379241943, -1.6014938354492188, -1.8055177927017212, -0.4183913469314575, -0.002181248739361763, -0.0014861637027934194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.751701831817627, -1.1914581060409546, 1.6220742464065552, -1.919052004814148, 0.2112704962491989, 0.23465748131275177, 0.457515150308609, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.657564103603363, 1.6187522411346436, -0.5982703566551208, -0.0017254555132240057, 0.007285256404429674, 1.7014453411102295, -1.1530503034591675, -1.601491093635559, -1.8055155277252197, -0.41838929057121277, -0.0021793313790112734, -0.0014843661338090897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7625086307525635, -1.1936770677566528, 1.6407899856567383, -1.947667121887207, 0.131724014878273, 0.28881803154945374, 0.5814436674118042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6589061617851257, 1.6189439296722412, -0.5971200466156006, -0.001629596808925271, 0.009010711684823036, 1.701448917388916, -1.1530482769012451, -1.6014925241470337, -1.8055157661437988, -0.4183882176876068, -0.002181009156629443, -0.0014828081475570798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7804296016693115, -1.198730707168579, 1.7151336669921875, -1.9893897771835327, 0.09893576800823212, 0.33897319436073303, 0.6477069854736328, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6595771312713623, 1.6189439296722412, -0.595298707485199, -0.001629596808925271, 0.010832025669515133, 1.7014507055282593, -1.1530482769012451, -1.6014918088912964, -1.8055161237716675, -0.41839003562927246, -0.0021822075359523296, -0.0014807708794251084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7830477952957153, -1.198781132698059, 1.7957578897476196, -2.025486946105957, 0.06050235778093338, 0.3864271342754364, 0.7533338665962219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6602481603622437, 1.6189439296722412, -0.5931898355484009, -0.001629596808925271, 0.011886470951139927, 1.701456904411316, -1.153045892715454, -1.6014947891235352, -1.8055129051208496, -0.4183915853500366, -0.002185802673920989, -0.0014757374301552773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7741819620132446, -1.1987268924713135, 1.8488364219665527, -2.043792486190796, -0.016082709655165672, 0.3980046212673187, 0.8651630282402039, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6612067222595215, 1.6188480854034424, -0.5907933712005615, -0.0019171728054061532, 0.011694753542542458, 1.7014623880386353, -1.1530438661575317, -1.6014968156814575, -1.8055076599121094, -0.41839396953582764, -0.002186401979997754, -0.001469984999857843, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7496579885482788, -1.1982648372650146, 1.8662211894989014, -2.0545778274536133, -0.12078912556171417, 0.4254798889160156, 0.9730873107910156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6624528765678406, 1.6175061464309692, -0.588492751121521, -0.0022047485690563917, 0.010448591783642769, 1.7014745473861694, -1.1530439853668213, -1.6015009880065918, -1.8054871559143066, -0.4183955490589142, -0.0021862820722162724, -0.0014605175238102674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.715255618095398, -1.1995707750320435, 1.8615695238113403, -2.0445287227630615, -0.1799907088279724, 0.45611444115638733, 1.0294978618621826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6642742156982422, 1.616451621055603, -0.5860004425048828, -0.0022047485690563917, 0.008052125573158264, 1.7014784812927246, -1.1530425548553467, -1.6015100479125977, -1.805486798286438, -0.41839829087257385, -0.002187959849834442, -0.0014560833806172013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6879690885543823, -1.2067829370498657, 1.8402880430221558, -2.0114052295684814, -0.2104731947183609, 0.4585959017276764, 1.0434671640396118, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6665748357772827, 1.6160682439804077, -0.583412230014801, -0.0023006072733551264, 0.005751518066972494, 1.7014786005020142, -1.1530414819717407, -1.6015136241912842, -1.80548894405365, -0.4184000790119171, -0.002189398044720292, -0.0014570420607924461, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6864867210388184, -1.215907335281372, 1.8249684572219849, -1.9925228357315063, -0.2245449423789978, 0.4534541964530945, 1.0507421493530273, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6691629886627197, 1.6160682439804077, -0.5809199213981628, -0.0022047485690563917, 0.004984649363905191, 1.7014758586883545, -1.1530417203903198, -1.6015113592147827, -1.8054909706115723, -0.41840019822120667, -0.0021919147111475468, -0.001460996805690229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6881556510925293, -1.2202174663543701, 1.805114507675171, -1.975913643836975, -0.26271337270736694, 0.43439939618110657, 1.0740913152694702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6717512011528015, 1.6161640882492065, -0.5788110494613647, -0.001629596808925271, 0.005080507602542639, 1.7014753818511963, -1.1530420780181885, -1.6015093326568604, -1.8054941892623901, -0.4183984100818634, -0.002191675128415227, -0.00146770803257823, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6879689693450928, -1.2276456356048584, 1.7932058572769165, -1.9677485227584839, -0.27085092663764954, 0.4218532145023346, 1.0746124982833862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6741476655006409, 1.6169309616088867, -0.5764145851135254, -0.0010544450487941504, 0.005847376771271229, 1.7014760971069336, -1.1530414819717407, -1.6015100479125977, -1.8054986000061035, -0.41839781403541565, -0.0021914353128522635, -0.0014722620835527778, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.684490442276001, -1.2329319715499878, 1.784552812576294, -1.967682957649231, -0.28624406456947327, 0.4154510200023651, 1.0873534679412842, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6764482855796814, 1.617601990699768, -0.5743056535720825, 0.0, 0.0062308115884661674, 1.7014764547348022, -1.153041958808899, -1.6015104055404663, -1.8055047988891602, -0.41839614510536194, -0.0021901170257478952, -0.001475977129302919, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6828012466430664, -1.2382667064666748, 1.7674652338027954, -1.9677783250808716, -0.2958669066429138, 0.40781766176223755, 1.1043275594711304, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6788447499275208, 1.618177056312561, -0.5726760625839233, 0.0, 0.006039094179868698, 1.701476812362671, -1.1530420780181885, -1.6015089750289917, -1.8055078983306885, -0.4183933734893799, -0.0021883195731788874, -0.0014800517819821835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6812927722930908, -1.2444008588790894, 1.742650032043457, -1.9641114473342896, -0.3084894120693207, 0.39592522382736206, 1.0952563285827637, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6807618737220764, 1.618464708328247, -0.5716215968132019, 0.0, 0.0054639424197375774, 1.7014820575714111, -1.1530420780181885, -1.601510763168335, -1.8055075407028198, -0.4183906316757202, -0.0021852036006748676, -0.0014801715733483434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6733527183532715, -1.2499375343322754, 1.736518383026123, -1.9488823413848877, -0.3055949807167053, 0.3888868987560272, 1.0821672677993774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6819121837615967, 1.6187522411346436, -0.5710464715957642, 0.0, 0.004697073251008987, 1.7014859914779663, -1.1530423164367676, -1.6015108823776245, -1.8055074214935303, -0.4183879792690277, -0.0021831663325428963, -0.0014796922914683819, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6727932691574097, -1.2503753900527954, 1.7393969297409058, -1.9485642910003662, -0.30185315012931824, 0.3887808322906494, 1.081848382949829, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6823915243148804, 1.6188480854034424, -0.5708547830581665, 0.0, 0.004505355842411518, 1.7014896869659424, -1.1530426740646362, -1.6015089750289917, -1.8055065870285034, -0.4183855950832367, -0.002182926516979933, -0.0014808906707912683, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6727375984191895, -1.2503608465194702, 1.739862084388733, -1.9492822885513306, -0.30177584290504456, 0.38878682255744934, 1.0822092294692993, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.682583212852478, 1.6188480854034424, -0.5708547830581665, 0.0, 0.004313638899475336, 1.7014998197555542, -1.1530430316925049, -1.6015079021453857, -1.805506706237793, -0.41838476061820984, -0.002183525823056698, -0.0014792128931730986, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6727378368377686, -1.2503482103347778, 1.7398594617843628, -1.9495172500610352, -0.30177727341651917, 0.388787180185318, 1.0824192762374878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6826790571212769, 1.6188480854034424, -0.5707588791847229, 0.0, 0.004121921490877867, 1.7015106678009033, -1.1530430316925049, -1.6015080213546753, -1.8055064678192139, -0.41838571429252625, -0.0021843647118657827, -0.0014776549069210887, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6727492809295654, -1.2503361701965332, 1.7398515939712524, -1.9495187997817993, -0.3017804026603699, 0.38878899812698364, 1.0825730562210083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6827749609947205, 1.6188480854034424, -0.5707588791847229, 0.0, 0.004121921490877867, 1.7015162706375122, -1.1530429124832153, -1.6015079021453857, -1.8055046796798706, -0.4183877408504486, -0.0021853235084563494, -0.001475857337936759, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.672765851020813, -1.2503255605697632, 1.7398314476013184, -1.9495189189910889, -0.301784485578537, 0.38879403471946716, 1.0826140642166138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6828708052635193, 1.6188480854034424, -0.5706630349159241, 0.0, 0.004121921490877867, 1.7015185356140137, -1.1530430316925049, -1.6015070676803589, -1.8055044412612915, -0.41839027404785156, -0.002185802673920989, -0.0014740596525371075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6727898120880127, -1.2503217458724976, 1.7398070096969604, -1.9495187997817993, -0.30179429054260254, 0.38880014419555664, 1.0826244354248047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6828708052635193, 1.6189439296722412, -0.5706630349159241, 0.0, 0.004121921490877867, 1.7015197277069092, -1.1530430316925049, -1.6015065908432007, -1.8055027723312378, -0.418393611907959, -0.0021867614705115557, -0.0014733405550941825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6728044748306274, -1.2503193616867065, 1.7397700548171997, -1.9495182037353516, -0.3018098771572113, 0.38881200551986694, 1.0826290845870972, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6828708052635193, 1.6189439296722412, -0.5706630349159241, 0.0, 0.004121921490877867, 1.7015197277069092, -1.1530431509017944, -1.6015063524246216, -1.8055026531219482, -0.41839590668678284, -0.002188079757615924, -0.0014725016662850976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6728113889694214, -1.250317931175232, 1.7397243976593018, -1.9495184421539307, -0.30182355642318726, 0.38881799578666687, 1.0826303958892822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6830624938011169, 1.6188480854034424, -0.5706630349159241, 0.0, 0.003930204082280397, 1.7015142440795898, -1.1530437469482422, -1.6015032529830933, -1.8055009841918945, -0.41839829087257385, -0.002189398044720292, -0.001471423078328371, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6590460538864136, -1.2503149509429932, 1.7368234395980835, -1.938748836517334, -0.2982034683227539, 0.39285752177238464, 1.0938640832901, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6831583976745605, 1.61903977394104, -0.5705671906471252, 0.0, 0.003930204082280397, 1.7015177011489868, -1.1530457735061646, -1.6014970541000366, -1.8055157661437988, -0.41839781403541565, -0.0021957496646791697, -0.0014748985413461924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5823891162872314, -1.2504568099975586, 1.7055703401565552, -1.881471872329712, -0.29885995388031006, 0.39513176679611206, 1.1138665676116943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449970218759, 0.009727294537029337, -0.003922074949622529, 0.04996994882822037], [-0.009739473558580297, 0.9999477705416522, -0.0030982000550253902, 0.14061447978019714], [0.0038917329973024383, 0.0031362285900621584, 0.9999875091642438, -0.007704895921051502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6827749609947205, 1.6196149587631226, -0.5704713463783264, 0.0, 0.004217780195176601, 1.7016321420669556, -1.1530442237854004, -1.6013797521591187, -1.8055022954940796, -0.4183976948261261, -0.002193951979279518, -0.0014734604628756642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5156861543655396, -1.2540985345840454, 1.6688319444656372, -1.8348137140274048, -0.2772535979747772, 0.3760550320148468, 1.1007616519927979, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999447402083801, 0.00974554328992895, -0.003942196796111961, 0.05007270723581314], [-0.00975782359222906, 0.9999475614043655, -0.00310794469155996, 0.14060713350772858], [0.003911701463313956, 0.0031462402080862494, 0.999987399802725, -0.007703268434852362], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6824873685836792, 1.6199026107788086, -0.5703754425048828, -0.0010544450487941504, 0.005559801124036312, 1.7016083002090454, -1.1530464887619019, -1.6013585329055786, -1.8055092096328735, -0.4183957874774933, -0.002189517952501774, -0.0014775351155549288, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4656320810317993, -1.2586034536361694, 1.63295578956604, -1.804743766784668, -0.2709636986255646, 0.36298874020576477, 1.084606409072876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450926197664, 0.009717814871579307, -0.003921201317020518, 0.04973222687840462], [-0.009730068473377328, 0.9999478003125086, -0.0031180791649180434, 0.1406121402978897], [0.0038906957154575773, 0.0031560615166722436, 0.9999874508025351, -0.00770176574587822], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6818163394927979, 1.6198066473007202, -0.5703754425048828, -0.002875759033486247, 0.008052125573158264, 1.7015784978866577, -1.153050184249878, -1.601357102394104, -1.8055368661880493, -0.4183931350708008, -0.002190836239606142, -0.0014866431010887027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.396073818206787, -1.2627710103988647, 1.5904498100280762, -1.7471824884414673, -0.26136720180511475, 0.3360484540462494, 1.0772238969802856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449803722438, 0.009728015822221384, -0.0039245301012458345, 0.049858689308166504], [-0.009740337302685103, 0.9999476543086637, -0.0031328057442457894, 0.14061251282691956], [0.0038938486851565457, 0.003170859625380584, 0.9999873917163422, -0.007699721492826939], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6805701851844788, 1.6199026107788086, -0.5703754425048828, -0.004217780195176601, 0.010736167430877686, 1.7015787363052368, -1.1530519723892212, -1.6013654470443726, -1.805537462234497, -0.41839146614074707, -0.0021861623972654343, -0.0014904780546203256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3306849002838135, -1.265642523765564, 1.5616669654846191, -1.6852784156799316, -0.25116729736328125, 0.2953542172908783, 1.0835739374160767, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452336798531, 0.009700247098771226, -0.003928720805391502, 0.049943696707487106], [-0.009712566768137034, 0.999947936499508, -0.0031289514458410425, 0.14061255753040314], [0.003898164660249201, 0.0031669380478201695, 0.9999873873283017, -0.007699623238295317], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6795157194137573, 1.6198066473007202, -0.5704713463783264, -0.005368083715438843, 0.013803644105792046, 1.7015643119812012, -1.1530513763427734, -1.601374864578247, -1.8055344820022583, -0.418388694524765, -0.0021807693410664797, -0.0014920360408723354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2828805446624756, -1.2658636569976807, 1.5409634113311768, -1.6366467475891113, -0.24721598625183105, 0.2269773781299591, 1.0997706651687622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449411968016, 0.00973148992123158, -0.00392589847526201, 0.04965471103787422], [-0.00974376052762641, 0.9999476652719972, -0.0031186291639390103, 0.14061339199543], [0.0038953441061562095, 0.003156710470548351, 0.9999874306576557, -0.007702241651713848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6787488460540771, 1.6198066473007202, -0.5705671906471252, -0.006805963348597288, 0.017254555597901344, 1.7014646530151367, -1.1530497074127197, -1.6014184951782227, -1.8055298328399658, -0.4183860719203949, -0.0021792114712297916, -0.0014911971520632505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2670055627822876, -1.2658448219299316, 1.5399664640426636, -1.6128764152526855, -0.23814643919467926, 0.1924446076154709, 1.1166942119598389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999944658304125, 0.009764483405246533, -0.003916017476368237, 0.049608878791332245], [-0.009776768786448738, 0.999947306189766, -0.0031304370184635066, 0.14061066508293152], [0.0038852440261685083, 0.00316854977220022, 0.9999874325066281, -0.007700229063630104], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6782695651054382, 1.6195191144943237, -0.5706630349159241, -0.007572832517325878, 0.019459303468465805, 1.7014228105545044, -1.1530498266220093, -1.6014206409454346, -1.8055272102355957, -0.41838499903678894, -0.0021765748970210552, -0.0014910772442817688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.270561695098877, -1.2659275531768799, 1.548397421836853, -1.612764835357666, -0.21861682832241058, 0.20033393800258636, 1.126307725906372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450404826258, 0.009727486276843883, -0.003910501877459222, 0.04963013529777527], [-0.009739717402139794, 0.9999476973181389, -0.003120982710306927, 0.14061065018177032], [0.00387993803123883, 0.003158898365790425, 0.9999874836426645, -0.007702555973082781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6778861284255981, 1.61903977394104, -0.5707588791847229, -0.007956267334520817, 0.02060960792005062, 1.7014260292053223, -1.1530494689941406, -1.6014378070831299, -1.8055232763290405, -0.4183860719203949, -0.0021764549892395735, -0.0014880811795592308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2731359004974365, -1.2659153938293457, 1.5484533309936523, -1.6139004230499268, -0.21974214911460876, 0.2015385925769806, 1.125602126121521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451230570291, 0.009712439296046602, -0.003926754051820699, 0.049676597118377686], [-0.009724632458822543, 0.9999479153750578, -0.003098073694596411, 0.14060965180397034], [0.0038964596756152227, 0.0031360899216931015, 0.9999874911927645, -0.00770422862842679], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6776944398880005, 1.6188480854034424, -0.5708547830581665, -0.008052125573158264, 0.020897183567285538, 1.7014528512954712, -1.1530486345291138, -1.6016771793365479, -1.8055142164230347, -0.41838690638542175, -0.0021786121651530266, -0.0014830478467047215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.27366042137146, -1.266735553741455, 1.5366897583007812, -1.5924450159072876, -0.20752638578414917, 0.17733249068260193, 1.1297274827957153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945088353175, 0.00971816994649299, -0.003921409345129763, 0.04965776205062866], [-0.00973041378271152, 0.9999478053019368, -0.003115400368668738, 0.14061376452445984], [0.0038909286781189227, 0.003153386232443479, 0.9999874583359988, -0.00770245585590601], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6774068474769592, 1.6188480854034424, -0.5707588791847229, -0.007668691221624613, 0.019842738285660744, 1.7014719247817993, -1.1530473232269287, -1.6017924547195435, -1.8054922819137573, -0.41838833689689636, -0.0021813686471432447, -0.001475258031859994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2706137895584106, -1.2718346118927002, 1.4937138557434082, -1.5683224201202393, -0.2051139622926712, 0.10235846042633057, 1.0913370847702026, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451445976019, 0.009713271592477653, -0.0039192028082030575, 0.04972679167985916], [-0.009725440187007621, 0.9999479082277464, -0.0030978450773798314, 0.14061011373996735], [0.0038889084393949466, 0.0031357911163334765, 0.9999875215247562, -0.007705956231802702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.677119255065918, 1.618177056312561, -0.5707588791847229, -0.006901822052896023, 0.01754213124513626, 1.7014912366867065, -1.1530420780181885, -1.6017849445343018, -1.8054784536361694, -0.4183919429779053, -0.0021832860074937344, -0.0014675881247967482, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.235149621963501, -1.282534122467041, 1.4485077857971191, -1.5212918519973755, -0.20667214691638947, 0.060049835592508316, 1.051505208015442, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450125825321, 0.009723462601890467, -0.003927605676417399, 0.049763984978199005], [-0.009735654050994219, 0.9999478116371602, -0.0030969407895220158, 0.14061178267002106], [0.0038972877131600797, 0.0031350083068602697, 0.9999874913574653, -0.007704554125666618], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6768317222595215, 1.6182730197906494, -0.5707588791847229, -0.006614245939999819, 0.014282937161624432, 1.7016488313674927, -1.1530437469482422, -1.6017441749572754, -1.805482029914856, -0.41839519143104553, -0.002185563091188669, -0.001461596111766994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1923778057098389, -1.2897387742996216, 1.4234719276428223, -1.469116449356079, -0.2335597276687622, 0.0376531146466732, 1.035784125328064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999944767422943, 0.009749533644469389, -0.0039253913425018605, 0.04979081079363823], [-0.009761810705074266, 0.9999474828103161, -0.003120684711863604, 0.14060913026332855], [0.0038947599713880475, 0.0031588312756336257, 0.9999874262358189, -0.007701701484620571], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6768317222595215, 1.618177056312561, -0.5707588791847229, -0.0064225285314023495, 0.011023743078112602, 1.7016645669937134, -1.1530439853668213, -1.6015994548797607, -1.8054803609848022, -0.4183986485004425, -0.002187001286074519, -0.0014551245840266347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1698347330093384, -1.290056824684143, 1.4441198110580444, -1.4403717517852783, -0.24369274079799652, 0.03926847130060196, 1.0426160097122192, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450918968744, 0.009721585626300999, -0.003912028151976359, 0.04958498105406761], [-0.00973375236150746, 0.9999478108815106, -0.0031031561738679206, 0.14060832560062408], [0.003881656388219561, 0.0031410644987112948, 0.9999875331510382, -0.007704677525907755], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6768317222595215, 1.6182730197906494, -0.5712382197380066, -0.006518387235701084, 0.009298288263380527, 1.7016456127166748, -1.1530447006225586, -1.6015424728393555, -1.8054803609848022, -0.4183991253376007, -0.0021883195731788874, -0.0014560833806172013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1520177125930786, -1.2885106801986694, 1.464011311531067, -1.4088350534439087, -0.2605450749397278, 0.03916312754154205, 1.0517008304595947, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452484013954, 0.009700088247296524, -0.003925364628452307, 0.04961897060275078], [-0.009712222356216637, 0.9999480793673212, -0.0030840406140104065, 0.1406121551990509], [0.0038952453549231563, 0.003121995771957384, 0.9999875400253869, -0.007706864736974239], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6769275665283203, 1.618464708328247, -0.5718133449554443, -0.006614245939999819, 0.008627277798950672, 1.701634407043457, -1.1530457735061646, -1.6015262603759766, -1.80548095703125, -0.41839829087257385, -0.0021889186464250088, -0.0014574015513062477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.127961277961731, -1.2874116897583008, 1.475437879562378, -1.371390461921692, -0.2601749002933502, 0.04288531094789505, 1.078534722328186, 0.5862000002310825, 0.5862000002310825, 0.5862000002310825, 0.5862000002310825, -0.5862000002310825, -0.5862000002310825, -0.5862000002310825, 0.5862000002310825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453804818865, 0.00968616803702475, -0.003926092420423415, 0.049674976617097855], [-0.009698346526142279, 0.9999481806194821, -0.0030948587118931063, 0.14061127603054047], [0.0038959116512120866, 0.00313276627698856, 0.9999875037458517, -0.007706121075898409], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6769275665283203, 1.6188480854034424, -0.5722926259040833, -0.006805963348597288, 0.008052125573158264, 1.7015767097473145, -1.1530438661575317, -1.6012386083602905, -1.8054847717285156, -0.4183972179889679, -0.0021874806843698025, -0.0014641127781942487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1042472124099731, -1.286287784576416, 1.475563883781433, -1.3436909914016724, -0.2600211203098297, 0.06456812471151352, 1.1012566089630127, 0.49980000060993235, 0.49980000060993235, 0.49980000060993235, 0.49980000060993235, -0.49980000060993235, -0.49980000060993235, -0.49980000060993235, 0.49980000060993235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454210816714, 0.009686607106667924, -0.003914652035610976, 0.04966457560658455], [-0.00969876454075262, 0.9999481647787967, -0.0030986645348493654, 0.1406116783618927], [0.0038844335728523247, 0.0031364627014431588, 0.9999875368111047, -0.007705907803028822], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6769275665283203, 1.619327425956726, -0.5724843740463257, -0.006901822052896023, 0.0077645499259233475, 1.7014185190200806, -1.1530519723892212, -1.6012483835220337, -1.8054847717285156, -0.4183948040008545, -0.0021852036006748676, -0.0014655508566647768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.072564721107483, -1.2864620685577393, 1.4733929634094238, -1.2990882396697998, -0.2451717108488083, 0.05733481049537659, 1.099669337272644, 0.3048000057975014, 0.3048000057975014, 0.3048000057975014, 0.3048000057975014, -0.3048000057975014, -0.3048000057975014, -0.3048000057975014, 0.3048000057975014, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945015106151, 0.009724666080340422, -0.0039239819043214745, 0.04968728497624397], [-0.0097368163534376, 0.9999478240087106, -0.00308928269085668, 0.14061188697814941], [0.003893734924079458, 0.003127319918152444, 0.9999875292714757, -0.007705127354711294], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6767358183860779, 1.6196149587631226, -0.5729636549949646, -0.006805963348597288, 0.006805963348597288, 1.7014144659042358, -1.1530487537384033, -1.6012818813323975, -1.8054897785186768, -0.41839373111724854, -0.0021844846196472645, -0.0014739398611709476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0457091331481934, -1.2865171432495117, 1.4621891975402832, -1.2660185098648071, -0.26117438077926636, 0.061089467257261276, 1.1043763160705566, 0.24719998967516554, 0.24719998967516554, 0.24719998967516554, 0.24719998967516554, -0.24719998967516554, -0.24719998967516554, -0.24719998967516554, 0.24719998967516554, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455703574925, 0.009665547378447584, -0.00392855142565377, 0.04963647201657295], [-0.009677607554827942, 0.99994848102139, -0.003062550412576241, 0.14061059057712555], [0.003898747804585263, 0.0031004026980085597, 0.9999875935573733, -0.007710019126534462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6763523817062378, 1.6198066473007202, -0.5731553435325623, -0.006614245939999819, 0.006326670292764902, 1.7014248371124268, -1.1530476808547974, -1.601349949836731, -1.8054893016815186, -0.4183913469314575, -0.002182567026466131, -0.001475018449127674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.017767310142517, -1.2865110635757446, 1.440948724746704, -1.235944390296936, -0.2881019711494446, 0.08185908943414688, 1.1450989246368408, 0.2082000025026091, 0.2082000025026091, 0.2082000025026091, 0.2082000025026091, -0.2082000025026091, -0.2082000025026091, -0.2082000025026091, 0.2082000025026091, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450819913396, 0.0097176764018483, -0.003924253646513351, 0.04967934638261795], [-0.009729760048524098, 0.9999479460601929, -0.00307196018850365, 0.14061099290847778], [0.003894197058619008, 0.0031099735289175337, 0.9999875815698503, -0.007707757409662008], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6756814122200012, 1.6198066473007202, -0.573634684085846, -0.0059432354755699635, 0.005655659828335047, 1.701431393623352, -1.1530479192733765, -1.6014107465744019, -1.805489182472229, -0.4183882176876068, -0.00218052975833416, -0.0014756176387891173, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0104213953018188, -1.2864900827407837, 1.4367327690124512, -1.232454538345337, -0.30835795402526855, 0.09341307729482651, 1.1626962423324585, 0.20760001297835465, 0.20760001297835465, 0.20760001297835465, 0.20760001297835465, -0.20760001297835465, -0.20760001297835465, -0.20760001297835465, 0.20760001297835465, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451153780183, 0.009711666122932866, -0.003930619894899112, 0.04962731525301933], [-0.009723690323556801, 0.9999480672936306, -0.003051649099152903, 0.1406117081642151], [0.003900779169994938, 0.0030897017411832856, 0.9999876187558612, -0.007710729725658894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6754896640777588, 1.6198066473007202, -0.5742098093032837, -0.005272225011140108, 0.005368083715438843, 1.7014309167861938, -1.1530474424362183, -1.6014176607131958, -1.8054916858673096, -0.41838595271110535, -0.00217885198071599, -0.0014810104621574283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0098334550857544, -1.286441683769226, 1.437243938446045, -1.2317328453063965, -0.32519158720970154, 0.09715838730335236, 1.1668938398361206, 0.21720000256548874, 0.21720000256548874, 0.21720000256548874, 0.21720000256548874, -0.21720000256548874, -0.21720000256548874, -0.21720000256548874, 0.21720000256548874, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452884253195, 0.009703401885904218, -0.0039069358639878425, 0.04960138350725174], [-0.009715390540743774, 0.9999481182829815, -0.003061360639534093, 0.14061275124549866], [0.0038770275528438496, 0.0030991505554091195, 0.9999876818857267, -0.007710789330303669], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6752979755401611, 1.6198066473007202, -0.5747849345207214, -0.004601214546710253, 0.005655659828335047, 1.7014340162277222, -1.1530485153198242, -1.6014258861541748, -1.8054965734481812, -0.41838499903678894, -0.0021801702678203583, -0.0014847256243228912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0008623600006104, -1.286456823348999, 1.434147834777832, -1.209523320198059, -0.3375261127948761, 0.09171634912490845, 1.165483832359314, 0.19680000504294595, 0.19680000504294595, 0.19680000504294595, 0.19680000504294595, -0.19680000504294595, -0.19680000504294595, -0.19680000504294595, 0.19680000504294595, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452251636898, 0.009697893789657231, -0.003936690028737683, 0.04968619719147682], [-0.009710032224251961, 0.9999481251004972, -0.0030760985361828032, 0.14060978591442108], [0.003906654136447647, 0.003114155430424944, 0.9999875199668311, -0.007707396987825632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6751062273979187, 1.6198066473007202, -0.5749766826629639, -0.004217780195176601, 0.0062308115884661674, 1.7014373540878296, -1.1530481576919556, -1.6014324426651, -1.8055012226104736, -0.4183858335018158, -0.002181248739361763, -0.0014866431010887027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9941992163658142, -1.2865346670150757, 1.4305185079574585, -1.202497959136963, -0.35028380155563354, 0.09401995688676834, 1.1736345291137695, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, -0.17699999704465766, -0.17699999704465766, -0.17699999704465766, 0.17699999704465766, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451124401457, 0.00971370446555395, -0.003926328134543546, 0.04965232312679291], [-0.00972579381145579, 0.9999479852291733, -0.0030717699871868178, 0.1406078338623047], [0.003896285641643746, 0.0031097880431004755, 0.9999875740110603, -0.00770851643756032], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6751062273979187, 1.6198066473007202, -0.5751683712005615, -0.004217780195176601, 0.007381115108728409, 1.701438546180725, -1.1530481576919556, -1.6014398336410522, -1.8055081367492676, -0.41838714480400085, -0.002182686934247613, -0.0014866431010887027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9894682765007019, -1.287030816078186, 1.4244210720062256, -1.2010443210601807, -0.3583905100822449, 0.09868505597114563, 1.1962426900863647, 0.167999996981778, 0.167999996981778, 0.167999996981778, 0.167999996981778, -0.167999996981778, -0.167999996981778, -0.167999996981778, 0.167999996981778, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999448342769421, 0.009740786642690014, -0.0039300735922378795, 0.04963800311088562], [-0.009752862153919984, 0.999947741699849, -0.003065216008483243, 0.14060908555984497], [0.0039000105981200875, 0.003103376379625664, 0.9999875794090549, -0.007708942983299494], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6751062273979187, 1.6197108030319214, -0.5751683712005615, -0.004217780195176601, 0.00853141862899065, 1.7014479637145996, -1.1530488729476929, -1.6014670133590698, -1.8055100440979004, -0.41838881373405457, -0.0021843647118657827, -0.0014859240036457777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.995576024055481, -1.2870962619781494, 1.4260793924331665, -1.216727375984192, -0.3639875054359436, 0.10518638044595718, 1.2064999341964722, 0.11580000447702932, 0.11580000447702932, 0.11580000447702932, 0.11580000447702932, -0.11580000447702932, -0.11580000447702932, -0.11580000447702932, 0.11580000447702932, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452332286386, 0.009698118151436978, -0.003934087904997252, 0.049663785845041275], [-0.009710199467106361, 0.999948162019536, -0.0030635437096506444, 0.14061373472213745], [0.0039041733609670053, 0.0031015767075313963, 0.9999875687488794, -0.007709129247814417], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.674914538860321, 1.6195191144943237, -0.5752642750740051, -0.004217780195176601, 0.009777581319212914, 1.7014577388763428, -1.1530494689941406, -1.6016554832458496, -1.8055120706558228, -0.4183921813964844, -0.002184963785111904, -0.0014836470363661647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0017813444137573, -1.2870949506759644, 1.4265224933624268, -1.2280998229980469, -0.36932674050331116, 0.10811963677406311, 1.2166842222213745, 0.07680001730447285, 0.07680001730447285, 0.07680001730447285, 0.07680001730447285, -0.07680001730447285, -0.07680001730447285, -0.07680001730447285, 0.07680001730447285, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6743393540382385, 1.619327425956726, -0.5752642750740051, -0.004217780195176601, 0.010544450022280216, 1.7014665603637695, -1.1530482769012451, -1.6016713380813599, -1.8055111169815063, -0.4183948040008545, -0.0021861623972654343, -0.001483407337218523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0109033584594727, -1.2870151996612549, 1.4295066595077515, -1.2458997964859009, -0.3712615668773651, 0.10886853188276291, 1.2214733362197876, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.673668384552002, 1.6188480854034424, -0.5752642750740051, -0.004121921490877867, 0.011311319656670094, 1.7014756202697754, -1.1530492305755615, -1.6016637086868286, -1.8055099248886108, -0.41839709877967834, -0.0021891584619879723, -0.0014802914811298251, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0250325202941895, -1.2867478132247925, 1.4403553009033203, -1.2803841829299927, -0.37127140164375305, 0.10801921039819717, 1.223106861114502, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6730931997299194, 1.6187522411346436, -0.5754559636116028, -0.003642628202214837, 0.011694753542542458, 1.70167076587677, -1.153049111366272, -1.6016547679901123, -1.805506706237793, -0.41839805245399475, -0.0021890385542064905, -0.0014771755086258054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0404130220413208, -1.2862987518310547, 1.4441356658935547, -1.3341585397720337, -0.37410759925842285, 0.11152184009552002, 1.2308458089828491, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6729973554611206, 1.618177056312561, -0.5756477117538452, -0.0029716177377849817, 0.01179061271250248, 1.7016700506210327, -1.1530475616455078, -1.6016448736190796, -1.8055024147033691, -0.41839709877967834, -0.0021884392481297255, -0.0014723818749189377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0438060760498047, -1.2880008220672607, 1.4406123161315918, -1.3540388345718384, -0.35868653655052185, 0.11191384494304657, 1.214389443397522, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6730931997299194, 1.618177056312561, -0.5756477117538452, -0.0023006072733551264, 0.010832025669515133, 1.701668620109558, -1.1530481576919556, -1.6016340255737305, -1.8055007457733154, -0.4183957874774933, -0.002187240868806839, -0.001466869143769145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0421265363693237, -1.2888760566711426, 1.4382296800613403, -1.341518521308899, -0.3374269902706146, 0.1110696792602539, 1.2042115926742554, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6735724806785583, 1.618177056312561, -0.5756477117538452, -0.0023006072733551264, 0.009873439557850361, 1.7016524076461792, -1.1530481576919556, -1.6016086339950562, -1.8055000305175781, -0.41839492321014404, -0.0021859225817024708, -0.0014660302549600601, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0420583486557007, -1.2888795137405396, 1.4380568265914917, -1.341187596321106, -0.33962154388427734, 0.11108873039484024, 1.204856276512146, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6738600730895996, 1.618177056312561, -0.5756477117538452, -0.0022047485690563917, 0.009490004740655422, 1.701645851135254, -1.1530481576919556, -1.601577877998352, -1.8055002689361572, -0.4183926582336426, -0.0021844846196472645, -0.0014679477317258716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0419880151748657, -1.2888814210891724, 1.43805992603302, -1.3414064645767212, -0.3405846059322357, 0.11110850423574448, 1.2056831121444702, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.674051821231842, 1.618177056312561, -0.5756477117538452, -0.0021088900975883007, 0.009298288263380527, 1.70163893699646, -1.1530479192733765, -1.6015490293502808, -1.8055000305175781, -0.4183899164199829, -0.0021830464247614145, -0.0014692660188302398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0419179201126099, -1.2888816595077515, 1.43806791305542, -1.3417932987213135, -0.3406524360179901, 0.11112372577190399, 1.205736756324768, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6741476655006409, 1.618177056312561, -0.5756477117538452, -0.0021088900975883007, 0.009106570854783058, 1.7016252279281616, -1.1530479192733765, -1.6012216806411743, -1.8055002689361572, -0.4183867871761322, -0.002183525823056698, -0.0014708238886669278, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.041792869567871, -1.2888836860656738, 1.438079595565796, -1.34181547164917, -0.340670645236969, 0.11112876236438751, 1.2057459354400635, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.6180812120437622, -0.5756477117538452, -0.0021088900975883007, 0.009010711684823036, 1.7015377283096313, -1.1530474424362183, -1.6011898517608643, -1.8055002689361572, -0.4183841645717621, -0.0021824471186846495, -0.0014738199533894658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.041765809059143, -1.288895845413208, 1.438104510307312, -1.3418211936950684, -0.34068742394447327, 0.11112827807664871, 1.2057485580444336, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.6180812120437622, -0.5756477117538452, -0.0021088900975883007, 0.009010711684823036, 1.701314926147461, -1.1530475616455078, -1.6012065410614014, -1.805501937866211, -0.4183844029903412, -0.002184005221351981, -0.0014768160181120038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0417548418045044, -1.288910150527954, 1.4381176233291626, -1.3418240547180176, -0.34070828557014465, 0.1111263632774353, 1.2057504653930664, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.6180812120437622, -0.5756477117538452, -0.0021088900975883007, 0.009010711684823036, 1.701318383216858, -1.1530475616455078, -1.6012593507766724, -1.8055020570755005, -0.4183844029903412, -0.0021846042945981026, -0.0014790929853916168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0417414903640747, -1.288913607597351, 1.4381238222122192, -1.3418235778808594, -0.3407311737537384, 0.11112156510353088, 1.205751657485962, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.6180812120437622, -0.5755518078804016, -0.0021088900975883007, 0.009010711684823036, 1.7013262510299683, -1.1530474424362183, -1.601386308670044, -1.805503487586975, -0.41838642954826355, -0.002185083692893386, -0.0014799319906160235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0417300462722778, -1.2889134883880615, 1.438127875328064, -1.3418234586715698, -0.34074926376342773, 0.11111605912446976, 1.2057514190673828, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.6180812120437622, -0.5755518078804016, -0.0021088900975883007, 0.009010711684823036, 1.7013423442840576, -1.1530476808547974, -1.6014087200164795, -1.8055036067962646, -0.4183877408504486, -0.0021854431834071875, -0.0014802914811298251, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0417214632034302, -1.2889145612716675, 1.4381301403045654, -1.3418221473693848, -0.34076040983200073, 0.11111029982566833, 1.205750823020935, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6744352579116821, 1.6180812120437622, -0.5755518078804016, -0.0021088900975883007, 0.009010711684823036, 1.7013530731201172, -1.153048038482666, -1.6014320850372314, -1.8055047988891602, -0.41839122772216797, -0.0021867614705115557, -0.00148125016130507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0271027088165283, -1.2894350290298462, 1.4332438707351685, -1.335362434387207, -0.347945898771286, 0.1063084602355957, 1.200674057006836, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6758731007575989, 1.618177056312561, -0.5754559636116028, -0.002875759033486247, 0.010352732613682747, 1.7013490200042725, -1.153050184249878, -1.6014344692230225, -1.8055158853530884, -0.41839349269866943, -0.0021889186464250088, -0.001486283610574901, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9512994885444641, -1.2898924350738525, 1.4063719511032104, -1.2753573656082153, -0.37874212861061096, 0.0835099145770073, 1.1904661655426025, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6781737208366394, 1.6183688640594482, -0.574880838394165, -0.004984649363905191, 0.014953947626054287, 1.7013492584228516, -1.1530531644821167, -1.6014314889907837, -1.8055212497711182, -0.418395072221756, -0.00219239410944283, -0.0014945527072995901, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8490213751792908, -1.2954318523406982, 1.369707465171814, -1.2071350812911987, -0.40048104524612427, 0.05112146586179733, 1.1837555170059204, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6797074675559998, 1.6188480854034424, -0.574018120765686, -0.0059432354755699635, 0.020897183567285538, 1.7013736963272095, -1.1530612707138062, -1.6014329195022583, -1.8055453300476074, -0.41839519143104553, -0.00219263369217515, -0.0014951518969610333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7440500259399414, -1.3139169216156006, 1.3130897283554077, -1.1256828308105469, -0.4032854735851288, 0.014350749552249908, 1.151614785194397, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.679995059967041, 1.619327425956726, -0.5733470916748047, -0.0054639424197375774, 0.026073548942804337, 1.7017611265182495, -1.1530545949935913, -1.601621389389038, -1.8055373430252075, -0.4183938503265381, -0.0021922742016613483, -0.0014888002770021558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6538737416267395, -1.3439816236495972, 1.2591710090637207, -1.0120527744293213, -0.3786548972129822, -0.03695383667945862, 1.104180932044983, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6793240308761597, 1.619327425956726, -0.5732512474060059, -0.004217780195176601, 0.029620319604873657, 1.7018935680389404, -1.153049111366272, -1.6016782522201538, -1.805492639541626, -0.4183931350708008, -0.0021836457308381796, -0.001472981064580381, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5713085532188416, -1.3720142841339111, 1.2176040410995483, -0.8779705762863159, -0.36552977561950684, -0.10143795609474182, 1.0665332078933716, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6780778765678406, 1.6191357374191284, -0.573634684085846, -0.0034509110264480114, 0.03249607980251312, 1.7018893957138062, -1.1530519723892212, -1.6016660928726196, -1.8055028915405273, -0.4183918237686157, -0.0021843647118657827, -0.0014702246990054846, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4928126931190491, -1.3934255838394165, 1.1968954801559448, -0.744979202747345, -0.3726730942726135, -0.1624007523059845, 1.0277860164642334, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6757772564888, 1.618464708328247, -0.575360119342804, -0.002396465977653861, 0.03489254415035248, 1.7018697261810303, -1.153050184249878, -1.601657509803772, -1.805458664894104, -0.41839027404785156, -0.0021756161004304886, -0.001463992870412767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4210328459739685, -1.4192839860916138, 1.1662265062332153, -0.6205166578292847, -0.38971883058547974, -0.21288526058197021, 0.9881892204284668, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6735724806785583, 1.6174101829528809, -0.577468991279602, -0.0011503036366775632, 0.036042846739292145, 1.7018533945083618, -1.1530401706695557, -1.6016494035720825, -1.8054463863372803, -0.4183867871761322, -0.002172979759052396, -0.0014619556022807956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3699789345264435, -1.4558748006820679, 1.133844017982483, -0.5107920169830322, -0.3886410892009735, -0.2654876112937927, 0.9555683135986328, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453236991835, 0.009692753243671953, -0.003924302064368414, 0.04967338964343071], [-0.009704759397164388, 0.9999482500045788, -0.0030520415828871315, 0.14061470329761505], [0.0038945162958022, 0.0030899591158799326, 0.9999876423713865, -0.0077111138962209225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6716553568840027, 1.6165474653244019, -0.5801530480384827, 0.0, 0.03537183627486229, 1.701723575592041, -1.153041124343872, -1.6016435623168945, -1.805437445640564, -0.4183846414089203, -0.0021725003607571125, -0.0014576412504538894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33874180912971497, -1.4901131391525269, 1.1149513721466064, -0.4316244423389435, -0.3910222351551056, -0.3029990792274475, 0.9412267804145813, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945117950691, 0.009711707675506479, -0.0039298626699046995, 0.04961760342121124], [-0.009723533641877473, 0.9999482208340371, -0.003001423722015716, 0.1406114101409912], [0.003900510235094756, 0.0030394711496097835, 0.9999877737427776, -0.007717525586485863], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6701216101646423, 1.6163557767868042, -0.5827412009239197, 0.0019171728054061532, 0.03316709026694298, 1.7016502618789673, -1.1530367136001587, -1.601639747619629, -1.805440902709961, -0.4183831810951233, -0.002175855915993452, -0.0014568023616448045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32786163687705994, -1.5068516731262207, 1.1205898523330688, -0.4011152386665344, -0.3903559148311615, -0.32405751943588257, 0.9436267018318176, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452152760309, 0.009704300825893646, -0.003923390377311778, 0.049626514315605164], [-0.00971615746318834, 0.9999482536265446, -0.003014357870959029, 0.1406116783618927], [0.003893935120511415, 0.0030523130088906435, 0.9999877602523808, -0.007716797292232513], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6693547368049622, 1.6165474653244019, -0.5849459767341614, 0.002779900562018156, 0.031249916180968285, 1.7014009952545166, -1.1530368328094482, -1.6015844345092773, -1.8054416179656982, -0.418382465839386, -0.002178013091906905, -0.0014600381255149841, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32778653502464294, -1.5118653774261475, 1.1273787021636963, -0.3999898135662079, -0.3966559171676636, -0.32850751280784607, 0.9498924612998962, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451197030326, 0.009707430267563004, -0.0039399720415578526, 0.0495610274374485], [-0.00971927847871289, 0.9999482687009121, -0.0029992578918250205, 0.1406117081642151], [0.003910653134846443, 0.003037386977131479, 0.9999877404610569, -0.007718122564256191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.669450581073761, 1.617697834968567, -0.5870548486709595, 0.003259193617850542, 0.030003754422068596, 1.7011055946350098, -1.1530356407165527, -1.6013747453689575, -1.8054572343826294, -0.41838476061820984, -0.002182926516979933, -0.0014636333798989654, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3252805173397064, -1.5145347118377686, 1.1273672580718994, -0.3887271583080292, -0.40227746963500977, -0.33429792523384094, 0.964573323726654, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451656224134, 0.009710144444650059, -0.003921586825270893, 0.04957205429673195], [-0.009721929146299038, 0.9999482488463667, -0.002997285898788406, 0.14061039686203003], [0.003892279799609464, 0.0030352469337380406, 0.9999878186428136, -0.007718800567090511], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.669450581073761, 1.618560552597046, -0.5880134701728821, 0.0033550523221492767, 0.029045168310403824, 1.7011356353759766, -1.1530365943908691, -1.6013637781143188, -1.8054771423339844, -0.4183851182460785, -0.0021868813782930374, -0.0014705841895192862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32525745034217834, -1.5145665407180786, 1.1269599199295044, -0.38853779435157776, -0.40251055359840393, -0.33428412675857544, 0.965034008026123, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449609255001, 0.009727464001519961, -0.003930847720158618, 0.04977581277489662], [-0.009739233278881123, 0.9999481138831507, -0.00298611397454777, 0.14060616493225098], [0.0039015964475426434, 0.0030242330645286427, 0.9999878157055374, -0.007720310240983963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6695464253425598, 1.6189439296722412, -0.5883969068527222, 0.003546769730746746, 0.02837415784597397, 1.7012799978256226, -1.153037190437317, -1.6013654470443726, -1.8054841756820679, -0.4183875024318695, -0.0021892781369388103, -0.001475018449127674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3252566158771515, -1.5149600505828857, 1.1268553733825684, -0.3891650438308716, -0.40240857005119324, -0.3342575430870056, 0.9642080664634705, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452312807091, 0.009704045306355455, -0.0039199417931146344, 0.049666766077280045], [-0.009715639022476488, 0.9999484521072406, -0.0029494892301136196, 0.1406111717224121], [0.0038911177512558296, 0.0029874124298169455, 0.999987967212416, -0.007725809700787067], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6697381734848022, 1.61903977394104, -0.5887803435325623, 0.003642628202214837, 0.02837415784597397, 1.7014588117599487, -1.153037190437317, -1.6013704538345337, -1.8054927587509155, -0.418390154838562, -0.0021921545267105103, -0.0014765763189643621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32525524497032166, -1.5152719020843506, 1.1268248558044434, -0.389358252286911, -0.4022030532360077, -0.3342432677745819, 0.9640389680862427, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451166149681, 0.009717811923782625, -0.003915084838391355, 0.049673814326524734], [-0.009729317505294568, 0.9999483748446328, -0.0029305334768453374, 0.14061003923416138], [0.003886404348363965, 0.0029684637427010536, 0.9999880419706274, -0.007728773634880781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6699298620223999, 1.61903977394104, -0.5888761878013611, 0.003642628202214837, 0.028182439506053925, 1.7016799449920654, -1.153037428855896, -1.6013789176940918, -1.8055037260055542, -0.41839170455932617, -0.002194071887061, -0.001475857337936759, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32524818181991577, -1.5154469013214111, 1.1268129348754883, -0.38947543501853943, -0.4020737409591675, -0.3342394232749939, 0.9639946222305298, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450879366516, 0.00972048214657446, -0.003915780662946846, 0.04971916601061821], [-0.009731961261472247, 0.9999483706089415, -0.0029231911549160413, 0.140610009431839], [0.003887163666143313, 0.0029611388621783837, 0.9999880607363627, -0.007729857228696346], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6699298620223999, 1.6192315816879272, -0.5888761878013611, 0.003642628202214837, 0.028086580336093903, 1.7016925811767578, -1.153037428855896, -1.6013885736465454, -1.8055119514465332, -0.41839301586151123, -0.0021951505914330482, -0.0014748985413461924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32523229718208313, -1.5154892206192017, 1.1268117427825928, -0.389507919549942, -0.4020412564277649, -0.3342404067516327, 0.9639764428138733, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452153396625, 0.009702073283861976, -0.003928879396285652, 0.04967816546559334], [-0.009713519992092776, 0.9999486030655469, -0.0029049538076363133, 0.14061065018177032], [0.003900493389200925, 0.0029429579092910075, 0.9999880625037806, -0.007731741759926081], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6699298620223999, 1.619327425956726, -0.5887803435325623, 0.003642628202214837, 0.028086580336093903, 1.702155351638794, -1.1555349826812744, -1.6047042608261108, -1.8056122064590454, -0.4183465242385864, 0.00032081769313663244, -0.007825578562915325, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32522323727607727, -1.5155142545700073, 1.1268110275268555, -0.389515221118927, -0.40203335881233215, -0.33424147963523865, 0.9639683961868286, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451450249496, 0.009713862938909105, -0.0039176278328350925, 0.04968535155057907], [-0.009725210295857219, 0.9999485387978462, -0.0028879128715451896, 0.14060984551906586], [0.0038893734371835214, 0.0029258542096918974, 0.9999881560055648, -0.007734741549938917], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6698340177536011, 1.619327425956726, -0.5888761878013611, 0.003642628202214837, 0.028661733493208885, 1.7010855674743652, -1.1786184310913086, -1.6181845664978027, -1.7989882230758667, -0.41549152135849, 0.007843795232474804, -0.051901400089263916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32521486282348633, -1.5155500173568726, 1.1268115043640137, -0.38951823115348816, -0.40202832221984863, -0.3342420756816864, 0.9639614224433899, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452864923472, 0.00969527708320265, -0.00392754681928776, 0.049678996205329895], [-0.009706592878551676, 0.9999487643947568, -0.002872392746342014, 0.14061042666435242], [0.003899496945481785, 0.002910358685645782, 0.999988161797875, -0.007735793478786945], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6690671443939209, 1.619327425956726, -0.5895472168922424, 0.0026840418577194214, 0.030291330069303513, 1.6990973949432373, -1.2035514116287231, -1.6151859760284424, -1.7869970798492432, -0.39486977458000183, 0.02508561871945858, -0.09831342846155167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32521235942840576, -1.5155531167984009, 1.126812219619751, -0.3895178735256195, -0.4020242393016815, -0.3342430293560028, 0.9639500379562378, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999448325087184, 0.009741398178671376, -0.003929007589162476, 0.049741022288799286], [-0.009752691799652248, 0.9999483354001416, -0.0028655772798860295, 0.14060695469379425], [0.003900889869262417, 0.0029037375932720205, 0.9999881756132006, -0.0077372100204229355], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6669582724571228, 1.618464708328247, -0.591080904006958, 0.0, 0.031249916180968285, 1.6980925798416138, -1.2192597389221191, -1.5988670587539673, -1.7898845672607422, -0.3821814954280853, 0.0653243288397789, -0.1397421807050705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3252170979976654, -1.5156821012496948, 1.12681245803833, -0.38951581716537476, -0.40201884508132935, -0.3342454135417938, 0.9639474153518677, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450333454424, 0.009726201815034403, -0.003915518616410446, 0.04974837228655815], [-0.009737426067944683, 0.9999485063666735, -0.0028578223580255397, 0.14060622453689575], [0.003887521235124856, 0.0028957923461361565, 0.9999882507136444, -0.0077409809455275536], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6637949347496033, 1.6161640882492065, -0.5929980874061584, -0.0030674764420837164, 0.031154057011008263, 1.6765434741973877, -1.2343751192092896, -1.5758898258209229, -1.7809418439865112, -0.36642569303512573, 0.10698593407869339, -0.16883160173892975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32521724700927734, -1.5159499645233154, 1.1268121004104614, -0.38951632380485535, -0.40201646089553833, -0.33424699306488037, 0.9639476537704468, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945189076013, 0.009710932829676666, -0.003913646293945245, 0.04972819983959198], [-0.009722078226708451, 0.9999487094973561, -0.0028389380982816906, 0.14060929417610168], [0.0038858768238796337, 0.0028768312688827852, 0.9999883118332734, -0.0077423155307769775], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6594812870025635, 1.6134799718856812, -0.5947235822677612, -0.006614245939999819, 0.03067476488649845, 1.6558719873428345, -1.2469193935394287, -1.5635035037994385, -1.7798171043395996, -0.3314933776855469, 0.13125555217266083, -0.19649538397789001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3252137005329132, -1.5160834789276123, 1.1268123388290405, -0.3895195424556732, -0.40200865268707275, -0.33425045013427734, 0.9639513492584229, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454074030598, 0.009682955423744283, -0.003927160270528586, 0.049803052097558975], [-0.009694166692725463, 0.9999489607301549, -0.002845885945857268, 0.1406116634607315], [0.003899403244381018, 0.0028838011278444413, 0.9999882391035371, -0.007740344386547804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6555510759353638, 1.6111794710159302, -0.5956821441650391, -0.0102568743750453, 0.030770622193813324, 1.6588032245635986, -1.2516939640045166, -1.5629832744598389, -1.8010295629501343, -0.2776622772216797, 0.1494016945362091, -0.25855377316474915, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3252057135105133, -1.5160940885543823, 1.1268115043640137, -0.3895195424556732, -0.4020047187805176, -0.3342478275299072, 0.963951826095581, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450613043087, 0.009715669618757104, -0.003934480522448559, 0.049579326063394547], [-0.009726948210913642, 0.999948608736304, -0.0028576852227334814, 0.1406051516532898], [0.00390651399902404, 0.0028957987135133536, 0.9999881766791977, -0.007738793268799782], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6533463597297668, 1.6089746952056885, -0.5959697365760803, -0.012078188359737396, 0.031154057011008263, 1.6654744148254395, -1.2556109428405762, -1.542385458946228, -1.8219166994094849, -0.20723025500774384, 0.15565650165081024, -0.3004627227783203, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3249981999397278, -1.5161348581314087, 1.1268113851547241, -0.3895217180252075, -0.4020025432109833, -0.33424675464630127, 0.9639524221420288, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451888983757, 0.00970743169966611, -0.003922367752776415, 0.04935508966445923], [-0.009718609387071343, 0.9999487379584167, -0.002840789846398632, 0.14060895144939423], [0.0038945899107905475, 0.0028787540996393465, 0.9999882724033621, -0.007740889210253954], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6523877382278442, 1.6070574522018433, -0.5950111150741577, -0.013228491879999638, 0.031249916180968285, 1.6635650396347046, -1.265762448310852, -1.5020912885665894, -1.8294726610183716, -0.15451297163963318, 0.17487932741641998, -0.3016502559185028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32469314336776733, -1.5164124965667725, 1.126811146736145, -0.3895450830459595, -0.4019952416419983, -0.3342463970184326, 0.9639530181884766, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451683449841, 0.009715811428059896, -0.003906828869531166, 0.049576763063669205], [-0.009726763342421282, 0.9999487901900919, -0.002794113858132143, 0.1406099945306778], [0.0038794817182132737, 0.0028319614520782676, 0.9999884647414349, -0.007747851777821779], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6517167091369629, 1.605523705482483, -0.5931898355484009, -0.013995361514389515, 0.031154057011008263, 1.6516441106796265, -1.274993896484375, -1.4730174541473389, -1.822272539138794, -0.12159422039985657, 0.18718424439430237, -0.30783939361572266, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32459524273872375, -1.5164177417755127, 1.1268107891082764, -0.3897431790828705, -0.40197834372520447, -0.3342468738555908, 0.9639560580253601, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455595642991, 0.009669141633931335, -0.003922449197093168, 0.04975195974111557], [-0.00968004731136773, 0.9999493080255893, -0.0027709318278724164, 0.14060689508914948], [0.0038954578280971756, 0.002808750470940708, 0.9999884680980584, -0.00775050139054656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6511415839195251, 1.604565143585205, -0.5914643406867981, -0.014570512808859348, 0.031249916180968285, 1.6466221809387207, -1.2759952545166016, -1.471807599067688, -1.8186901807785034, -0.10808033496141434, 0.1719556450843811, -0.31557533144950867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3245984613895416, -1.5164308547973633, 1.12680983543396, -0.38974449038505554, -0.40197378396987915, -0.33424651622772217, 0.9639583230018616, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999448593201858, 0.009735770671109924, -0.003936126087078683, 0.049767278134822845], [-0.009746681756429777, 0.9999486842907203, -0.0027624228489371416, 0.14060577750205994], [0.003909029786622823, 0.002800634695387254, 0.999988437898874, -0.007751948665827513], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6511415839195251, 1.603798270225525, -0.5906016230583191, -0.015049805864691734, 0.031249916180968285, 1.6463768482208252, -1.2756682634353638, -1.4747920036315918, -1.8191843032836914, -0.11046087741851807, 0.17161697149276733, -0.3150532841682434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32460442185401917, -1.5164387226104736, 1.1268081665039062, -0.38973814249038696, -0.40197643637657166, -0.3342468738555908, 0.9639599919319153, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450200899763, 0.009724756775235294, -0.00392248682846036, 0.04963100701570511], [-0.009735622227787658, 0.9999487972698771, -0.0027605250160082544, 0.1406082659959793], [0.0038954405520732387, 0.0027985610925466194, 0.9999884967331957, -0.007752637844532728], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.651237428188324, 1.6035107374191284, -0.5901223421096802, -0.015241523273289204, 0.03134577348828316, 1.6505006551742554, -1.2751133441925049, -1.482616662979126, -1.8197448253631592, -0.10641404241323471, 0.17778393626213074, -0.3202812969684601, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32460880279541016, -1.5164223909378052, 1.126803994178772, -0.3897306025028229, -0.401978462934494, -0.33424806594848633, 0.9639601111412048, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454962403558, 0.009674192359592219, -0.003926136882262842, 0.04972301051020622], [-0.009685006384571504, 0.999949332172551, -0.002744765745946482, 0.1406107246875763], [0.003899384561628444, 0.0027826408066654023, 0.999988525789262, -0.007754531688988209], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6519084572792053, 1.6035107374191284, -0.5889720320701599, -0.01620011031627655, 0.0324002206325531, 1.6516382694244385, -1.2787845134735107, -1.4665017127990723, -1.8148363828659058, -0.06139398738741875, 0.1732938140630722, -0.3055710196495056, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3246137499809265, -1.5164082050323486, 1.1268035173416138, -0.38972124457359314, -0.40198445320129395, -0.3342498540878296, 0.9639598727226257, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999944909066408, 0.00973607108776056, -0.003922722517226028, 0.04970783740282059], [-0.009746909889583674, 0.9999487066669658, -0.002753503707432096, 0.14060813188552856], [0.0038957129998775796, 0.0027915864372394473, 0.9999885151667423, -0.007753067184239626], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6537297964096069, 1.603702425956726, -0.5870548486709595, -0.016871120780706406, 0.03335880488157272, 1.6311084032058716, -1.2949782609939575, -1.4102495908737183, -1.7956401109695435, -0.052019085735082626, 0.18542136251926422, -0.25992920994758606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32461291551589966, -1.5164133310317993, 1.1268028020858765, -0.38971418142318726, -0.4019911587238312, -0.3342520296573639, 0.9639595150947571, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945268138703, 0.00970277720500537, -0.003913673661321626, 0.049705833196640015], [-0.009713567391789935, 0.9999490475529312, -0.002747527344858688, 0.14060579240322113], [0.0038868156043797304, 0.0027853927004318603, 0.9999885670606249, -0.007754930295050144], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6551676392555237, 1.604565143585205, -0.5850418210029602, -0.016871120780706406, 0.03383810073137283, 1.5952566862106323, -1.3134974241256714, -1.34821617603302, -1.7648743391036987, -0.04620398208498955, 0.2004714012145996, -0.21444644033908844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3246135115623474, -1.5164387226104736, 1.1268025636672974, -0.38971152901649475, -0.4019988477230072, -0.33425742387771606, 0.9639579653739929, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945495980044, 0.00967659886005166, -0.003920268323130883, 0.04988060146570206], [-0.009687306182330057, 0.9999493733418786, -0.0027215532539515137, 0.14060933887958527], [0.0038937344739319864, 0.002759381757921708, 0.9999886122572399, -0.0077584576793015], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.656701385974884, 1.605523705482483, -0.5832205414772034, -0.01744627207517624, 0.03374224156141281, 1.5566630363464355, -1.3281607627868652, -1.2983978986740112, -1.7263667583465576, -0.04724624752998352, 0.21407204866409302, -0.17010444402694702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.324626624584198, -1.5164343118667603, 1.1268025636672974, -0.38968193531036377, -0.40201178193092346, -0.33426088094711304, 0.9639584422111511, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453926342953, 0.0096825055109408, -0.003932027018686639, 0.0498017892241478], [-0.009693194127421452, 0.9999493518611825, -0.0027084497427660287, 0.14061173796653748], [0.003905603289275924, 0.0027464157426668285, 0.9999886016667966, -0.007759333122521639], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6582351326942444, 1.6060988903045654, -0.5822619199752808, -0.018021423369646072, 0.03316709026694298, 1.5300935506820679, -1.3408730030059814, -1.2703516483306885, -1.6999733448028564, -0.055508654564619064, 0.23612865805625916, -0.12472725659608841, 0.5586000006932479, -0.5586000006932479, 0.5586000006932479, 0.5586000006932479, -0.5586000006932479, -0.5586000006932479, 0.5586000006932479, 0.5586000006932479, -0.32467687129974365, -1.5164510011672974, 1.1268030405044556, -0.3896353244781494, -0.4020247161388397, -0.3342643678188324, 0.9639584422111511, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452753518923, 0.009698817835601467, -0.003921636650701396, 0.049711503088474274], [-0.009709494991076829, 0.9999491818742656, -0.0027128169870128125, 0.14060913026332855], [0.003895126242698633, 0.002750745640474626, 0.9999886306303561, -0.007759678177535534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6594812870025635, 1.6060988903045654, -0.581686794757843, -0.0179255660623312, 0.03134577348828316, 1.503002405166626, -1.3517647981643677, -1.251091480255127, -1.6740944385528564, -0.05675944685935974, 0.25890418887138367, -0.089919313788414, 0.5015999986575199, -0.5015999986575199, 0.5015999986575199, 0.5015999986575199, -0.5015999986575199, -0.5015999986575199, 0.5015999986575199, 0.5015999986575199, -0.32471486926078796, -1.5165237188339233, 1.126802921295166, -0.3896198570728302, -0.4020320475101471, -0.3342655599117279, 0.9639572501182556, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449219335931, 0.009735023639178837, -0.00392204206570653, 0.04979337006807327], [-0.009745660368347753, 0.999948859026784, -0.0027021167661149693, 0.1406097710132599], [0.0038955363180643455, 0.002740190828671035, 0.9999886580111882, -0.007761158514767885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6607274413108826, 1.6060988903045654, -0.5811116099357605, -0.01696697808802128, 0.02933274395763874, 1.459789514541626, -1.3637950420379639, -1.234416127204895, -1.6327283382415771, -0.0623977854847908, 0.2760428488254547, -0.06236866116523743, 0.46679999710439324, -0.46679999710439324, 0.46679999710439324, 0.46679999710439324, -0.46679999710439324, -0.46679999710439324, 0.46679999710439324, 0.46679999710439324, -0.32471516728401184, -1.5165892839431763, 1.1268032789230347, -0.3896210491657257, -0.40203264355659485, -0.3342677056789398, 0.9639583230018616, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451836469517, 0.00970460874694349, -0.003930683189053189, 0.04989808797836304], [-0.00971525736886976, 0.9999491629464675, -0.002699128917922149, 0.14060832560062408], [0.0039042893745954914, 0.0027371685603356033, 0.9999886321517619, -0.007761093322187662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6623570322990417, 1.6067699193954468, -0.5800572037696838, -0.015145665034651756, 0.027319712564349174, 1.424416422843933, -1.3751355409622192, -1.2334601879119873, -1.6074793338775635, -0.07343501597642899, 0.28509655594825745, -0.04174872487783432, 0.4409999956141461, -0.4409999956141461, 0.4409999956141461, 0.4409999956141461, -0.4409999956141461, -0.4409999956141461, 0.4409999956141461, 0.4409999956141461, -0.32471296191215515, -1.516591191291809, 1.1268041133880615, -0.38962334394454956, -0.4020293951034546, -0.3342669904232025, 0.9639589190483093, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452535888621, 0.009705471814365312, -0.003910708627202859, 0.0498090423643589], [-0.009716008399004624, 0.9999491954049856, -0.0026843602054146547, 0.14060594141483307], [0.003884456962921579, 0.0027222097241951697, 0.9999887502208816, -0.007764057721942663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6642742156982422, 1.6069616079330444, -0.5785234570503235, -0.012461623176932335, 0.024827387183904648, 1.4093598127365112, -1.3834093809127808, -1.2376066446304321, -1.603556513786316, -0.08741138130426407, 0.31111156940460205, -0.05010748282074928, 0.4458000002326546, -0.4458000002326546, 0.4458000002326546, 0.4458000002326546, -0.4458000002326546, -0.4458000002326546, 0.4458000002326546, 0.4458000002326546, -0.32471325993537903, -1.5166633129119873, 1.1268043518066406, -0.38962477445602417, -0.4020242393016815, -0.3342660367488861, 0.9639590382575989, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450878050733, 0.00971618302857624, -0.003926469388587405, 0.04966175556182861], [-0.00972673564330334, 0.9999491096201223, -0.0026774584310517526, 0.14060793817043304], [0.0039002548929011377, 0.0027155031356867914, 0.9999887069634789, -0.007763424422591925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6659996509552002, 1.6070574522018433, -0.5767980217933655, -0.009873439557850361, 0.021759910508990288, 1.387569546699524, -1.3928815126419067, -1.2300270795822144, -1.573933720588684, -0.09737182408571243, 0.31562817096710205, -0.03980356454849243, 0.44039999626495024, -0.44039999626495024, 0.44039999626495024, 0.44039999626495024, -0.44039999626495024, -0.44039999626495024, 0.44039999626495024, 0.44039999626495024, -0.32471296191215515, -1.516656517982483, 1.1268057823181152, -0.3896269202232361, -0.40201908349990845, -0.33426496386528015, 0.9639599919319153, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450624586153, 0.009722895085382939, -0.003916296183223594, 0.04982134699821472], [-0.009733271974309494, 0.9999491472458321, -0.0026393823154931373, 0.14060208201408386], [0.003890434591432784, 0.002677355690201215, 0.9999888480804163, -0.0077703264541924], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.667725145816803, 1.6073451042175293, -0.575360119342804, -0.007956267334520817, 0.01878829300403595, 1.355238914489746, -1.405936598777771, -1.213448166847229, -1.529657006263733, -0.11885738372802734, 0.3228679597377777, -0.017025629058480263, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.3247103691101074, -1.5166435241699219, 1.126806378364563, -0.38963231444358826, -0.4020090401172638, -0.3342643678188324, 0.9639615416526794, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454243753977, 0.009686112563410457, -0.00391503436955466, 0.04995584115386009], [-0.009696461255511449, 0.9999495215963268, -0.002633039763763659, 0.14061114192008972], [0.0038893328253336084, 0.0026708580430523316, 0.9999888697418025, -0.007771243341267109], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.669450581073761, 1.6081119775772095, -0.5733470916748047, -0.0069976807571947575, 0.016487685963511467, 1.3280197381973267, -1.4193615913391113, -1.2027037143707275, -1.495941162109375, -0.11990457028150558, 0.31521496176719666, 0.009764986112713814, 0.3510000048102913, -0.3510000048102913, 0.3510000048102913, 0.3510000048102913, -0.3510000048102913, -0.3510000048102913, 0.3510000048102913, 0.3510000048102913, -0.3247123658657074, -1.5166023969650269, 1.126806378364563, -0.38963255286216736, -0.40200352668762207, -0.33426254987716675, 0.9639633297920227, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450659974927, 0.009720507286041942, -0.003921316790579844, 0.04986237734556198], [-0.009730819380891173, 0.999949223917595, -0.002619301581706552, 0.14060883224010468], [0.0038956567413660297, 0.0026573153184112834, 0.9999888812051122, -0.007772522512823343], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6716553568840027, 1.6086870431900024, -0.5713340640068054, -0.006805963348597288, 0.014187078922986984, 1.2945159673690796, -1.4319802522659302, -1.2017409801483154, -1.4579166173934937, -0.14695847034454346, 0.30947306752204895, 0.023648351430892944, 0.3204000085264772, -0.3204000085264772, 0.3204000085264772, 0.3204000085264772, -0.3204000085264772, -0.3204000085264772, 0.3204000085264772, 0.3204000085264772, -0.3247123658657074, -1.5165550708770752, 1.126806378364563, -0.3896333873271942, -0.40199512243270874, -0.33426401019096375, 0.9639641642570496, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945229310285, 0.009707353745813182, -0.003912245244782659, 0.049823060631752014], [-0.0097175434471591, 0.999949418905044, -0.0025940279137929086, 0.1406087428331375], [0.00388686621254874, 0.002631903250237047, 0.9999889826174722, -0.007776191923767328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.609262228012085, -0.568554162979126, -0.006805963348597288, 0.012461623176932335, 1.2603557109832764, -1.442770004272461, -1.2017675638198853, -1.4093495607376099, -0.1535261869430542, 0.30228686332702637, 0.03376243636012077, 0.297599993957268, -0.297599993957268, 0.297599993957268, 0.297599993957268, -0.297599993957268, -0.297599993957268, 0.297599993957268, 0.297599993957268, -0.3247079849243164, -1.5165539979934692, 1.1268125772476196, -0.3896402418613434, -0.4019487500190735, -0.3342660367488861, 0.9639425277709961, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452861203838, 0.009693681329092405, -0.003931578298068501, 0.04987778142094612], [-0.009703893850472212, 0.9999495700326912, -0.0025868582440254106, 0.1406107395887375], [0.003906303849242341, 0.0026248683254441398, 0.999988925366932, -0.007776434533298016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6764482855796814, 1.6096457242965698, -0.5649115443229675, -0.006805963348597288, 0.011023743078112602, 1.2463065385818481, -1.4486998319625854, -1.2049559354782104, -1.3809319734573364, -0.1379101425409317, 0.2984468638896942, 0.03621956333518028, 0.28800000437013396, -0.28800000437013396, 0.28800000437013396, 0.28800000437013396, -0.28800000437013396, -0.28800000437013396, 0.28800000437013396, 0.28800000437013396, -0.3245924711227417, -1.5165501832962036, 1.1268876791000366, -0.38968852162361145, -0.40171709656715393, -0.3342636525630951, 0.9627991914749146, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453667214666, 0.009690694500019945, -0.003918419627727445, 0.04979003220796585], [-0.009700736406858375, 0.9999496904661972, -0.002551910993936651, 0.1406073123216629], [0.0038934927040292482, 0.002589783130612571, 0.9999890668091826, -0.007782449945807457], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6781737208366394, 1.6096457242965698, -0.5612688660621643, -0.006901822052896023, 0.009873439557850361, 1.2536237239837646, -1.4504244327545166, -1.2273943424224854, -1.388168215751648, -0.12027332186698914, 0.297744482755661, 0.01657298393547535, 0.27360000033954995, -0.27360000033954995, 0.27360000033954995, 0.27360000033954995, -0.27360000033954995, -0.27360000033954995, 0.27360000033954995, 0.27360000033954995, -0.3244132101535797, -1.5165082216262817, 1.1270637512207031, -0.3897026777267456, -0.4017162621021271, -0.33425453305244446, 0.9622765779495239, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454019870211, 0.009688475697082562, -0.00391490532221425, 0.04983825981616974], [-0.009698470609868389, 0.99994973725001, -0.0025421725876400374, 0.14060822129249573], [0.003890078770973664, 0.0025800023842760147, 0.99998910537808, -0.007783151231706142], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6790364384651184, 1.6093580722808838, -0.5585848689079285, -0.006901822052896023, 0.009202429093420506, 1.2645426988601685, -1.448993444442749, -1.2532782554626465, -1.399598240852356, -0.10720500349998474, 0.30032360553741455, 0.0015418903203681111, 0.25680001856206536, -0.25680001856206536, 0.25680001856206536, 0.25680001856206536, -0.25680001856206536, -0.25680001856206536, 0.25680001856206536, 0.25680001856206536, -0.32384201884269714, -1.516444206237793, 1.1272103786468506, -0.38975876569747925, -0.4017011523246765, -0.33424699306488037, 0.9617977142333984, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450656918498, 0.009718270550553059, -0.0039269346860440965, 0.0499020479619503], [-0.009728351578864494, 0.9999494110894269, -0.0025562545777725815, 0.14060813188552856], [0.003901893653113554, 0.0025943167529489707, 0.9999890223129978, -0.007781223859637976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6793240308761597, 1.6086870431900024, -0.5561884045600891, -0.006901822052896023, 0.008627277798950672, 1.2669456005096436, -1.4465445280075073, -1.2706654071807861, -1.4026601314544678, -0.0999004989862442, 0.3070272207260132, -0.011376984417438507, 0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.3237662613391876, -1.5164389610290527, 1.1272125244140625, -0.3897676169872284, -0.40170690417289734, -0.33423930406570435, 0.9618064165115356, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453339802886, 0.009692936140972221, -0.003921229401092386, 0.049865543842315674], [-0.009702900083089189, 0.9999497250708873, -0.0025300317457545977, 0.14060795307159424], [0.0038965088254159794, 0.002567940736070985, 0.9999891113903938, -0.007784516550600529], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6797074675559998, 1.6079202890396118, -0.5544629096984863, -0.006805963348597288, 0.00872313603758812, 1.2692729234695435, -1.4462260007858276, -1.2769477367401123, -1.407615303993225, -0.09214658290147781, 0.3106552064418793, -0.01744016259908676, 0.2405999870090694, -0.2405999870090694, 0.2405999870090694, 0.2405999870090694, -0.2405999870090694, -0.2405999870090694, 0.2405999870090694, 0.2405999870090694, -0.32376542687416077, -1.5164207220077515, 1.1272132396697998, -0.38976821303367615, -0.4017077386379242, -0.3342251777648926, 0.9618072509765625, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945264843675, 0.009707145890231163, -0.003903669476093948, 0.049815621227025986], [-0.0097169333765651, 0.9999496739501387, -0.002496151591298396, 0.14060728251934052], [0.0038792425121683856, 0.002533946660274171, 0.9999892652383098, -0.007790643256157637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.679995059967041, 1.6072492599487305, -0.5534085035324097, -0.006805963348597288, 0.009490004740655422, 1.269964575767517, -1.4466931819915771, -1.2760546207427979, -1.4076062440872192, -0.09502483904361725, 0.3105221688747406, -0.022947993129491806, 0.2466000001509111, -0.2466000001509111, 0.2466000001509111, 0.2466000001509111, -0.2466000001509111, -0.2466000001509111, 0.2466000001509111, 0.2466000001509111, -0.323758989572525, -1.5164024829864502, 1.1272128820419312, -0.3897692859172821, -0.40171685814857483, -0.3342136740684509, 0.9618154168128967, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451840491449, 0.009714343127194608, -0.003906460614006795, 0.049875203520059586], [-0.009724087144553605, 0.9999496368432443, -0.0024831242959125754, 0.1406061202287674], [0.0038821419508805626, 0.002520974944530572, 0.9999892867722145, -0.00779251242056489], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.679995059967041, 1.6068657636642456, -0.5527374744415283, -0.006805963348597288, 0.010352732613682747, 1.2699910402297974, -1.447153925895691, -1.2683671712875366, -1.4079689979553223, -0.10449908673763275, 0.30956679582595825, -0.033348143100738525, 0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.3237617611885071, -1.5164037942886353, 1.1272006034851074, -0.38976797461509705, -0.4018356204032898, -0.3342091143131256, 0.9624210000038147, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451932744131, 0.009708829961273596, -0.0039177886849273615, 0.04989970847964287], [-0.009718483171608425, 0.9999497669656334, -0.002452474305362663, 0.14060620963573456], [0.0038937812264985524, 0.0024904148566807847, 0.9999893180937494, -0.0077961888164281845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6798991560935974, 1.606674075126648, -0.5526416301727295, -0.006805963348597288, 0.010448591783642769, 1.2689825296401978, -1.448792815208435, -1.2636557817459106, -1.4032444953918457, -0.0951620563864708, 0.31091082096099854, -0.023156877607107162, 0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.3237999379634857, -1.5164275169372559, 1.1270002126693726, -0.3897645175457001, -0.40192610025405884, -0.3342136740684509, 0.9632710218429565, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451741500522, 0.009707203850464214, -0.003926689117715015, 0.04984116554260254], [-0.009716845992569993, 0.9999498037205685, -0.002443960546585783, 0.14060580730438232], [0.0039027679893026217, 0.002481981587789115, 0.9999893040275079, -0.007797040045261383], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6798991560935974, 1.6063865423202515, -0.5530250668525696, -0.006901822052896023, 0.010352732613682747, 1.2674684524536133, -1.451546549797058, -1.2724659442901611, -1.400642991065979, -0.09329850971698761, 0.313981294631958, -0.019517747685313225, 0.22679999215262278, -0.22679999215262278, 0.22679999215262278, 0.22679999215262278, -0.22679999215262278, -0.22679999215262278, 0.22679999215262278, 0.22679999215262278, -0.3239179253578186, -1.5165349245071411, 1.1269347667694092, -0.3897605538368225, -0.40194299817085266, -0.33421942591667175, 0.9633569717407227, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453343200153, 0.009692304049863997, -0.003922704913428956, 0.04987790063023567], [-0.009701873900797789, 0.9999499880438267, -0.002427973221393878, 0.1406070441007614], [0.0038989760765960678, 0.0024658980830068737, 0.9999893586094796, -0.007798857055604458], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6795157194137573, 1.6064823865890503, -0.5541753768920898, -0.007093539461493492, 0.009873439557850361, 1.2682770490646362, -1.4524492025375366, -1.2892646789550781, -1.4041465520858765, -0.10459435731172562, 0.3163425624370575, -0.016909021884202957, 0.20100001031225856, -0.20100001031225856, 0.20100001031225856, 0.20100001031225856, -0.20100001031225856, -0.20100001031225856, 0.20100001031225856, 0.20100001031225856, -0.3242436349391937, -1.5165637731552124, 1.1268564462661743, -0.3897517919540405, -0.40195173025131226, -0.3342243432998657, 0.9634153246879578, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451869714293, 0.009706488090472589, -0.003925193195602044, 0.0498800203204155], [-0.009716114695342563, 0.9999498182275405, -0.002440930547076451, 0.1406061053276062], [0.003901303359165374, 0.0024789343795704826, 0.9999893173011607, -0.007798064034432173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6793240308761597, 1.6064823865890503, -0.5556132197380066, -0.007093539461493492, 0.009490004740655422, 1.274541974067688, -1.451001524925232, -1.3047505617141724, -1.418529748916626, -0.11683984100818634, 0.3177746534347534, -0.017009690403938293, 0.18179999183822462, -0.18179999183822462, 0.18179999183822462, 0.18179999183822462, -0.18179999183822462, -0.18179999183822462, 0.18179999183822462, 0.18179999183822462, -0.3242928683757782, -1.516573190689087, 1.1268348693847656, -0.3897281885147095, -0.40195533633232117, -0.33422768115997314, 0.9634416699409485, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6793240308761597, 1.6068657636642456, -0.5574345588684082, -0.0071893977001309395, 0.009873439557850361, 1.282863974571228, -1.4480299949645996, -1.3159106969833374, -1.4282898902893066, -0.12668296694755554, 0.3212152123451233, -0.014163795858621597, 0.13620000199957208, -0.13620000199957208, 0.13620000199957208, 0.13620000199957208, -0.13620000199957208, -0.13620000199957208, 0.13620000199957208, 0.13620000199957208, -0.32428857684135437, -1.5165842771530151, 1.1268373727798462, -0.38972651958465576, -0.4019358158111572, -0.33423906564712524, 0.9634429812431335, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6788447499275208, 1.607536792755127, -0.5591599941253662, -0.007285256404429674, 0.010832025669515133, 1.2935155630111694, -1.444859266281128, -1.324338674545288, -1.4328559637069702, -0.12398196011781693, 0.3265933692455292, -0.020092152059078217, 0.11100000968346233, -0.11100000968346233, 0.11100000968346233, 0.11100000968346233, -0.11100000968346233, -0.11100000968346233, 0.11100000968346233, 0.11100000968346233, -0.3242848515510559, -1.5166194438934326, 1.1268390417099, -0.38972410559654236, -0.4019153118133545, -0.33425116539001465, 0.963444173336029, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6781737208366394, 1.6082078218460083, -0.5608854293823242, -0.007381115108728409, 0.012269905768334866, 1.297114372253418, -1.441142201423645, -1.3268543481826782, -1.4330416917800903, -0.12068809568881989, 0.3288273513317108, -0.029041491448879242, 0.10499999654162064, -0.10499999654162064, 0.10499999654162064, 0.10499999654162064, -0.10499999654162064, -0.10499999654162064, 0.10499999654162064, 0.10499999654162064, -0.32428449392318726, -1.5166277885437012, 1.1268391609191895, -0.38970938324928284, -0.40190789103507996, -0.3342569172382355, 0.9634435772895813, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6775026917457581, 1.6087830066680908, -0.562610924243927, -0.007668691221624613, 0.013516068458557129, 1.3050669431686401, -1.4385693073272705, -1.3336724042892456, -1.4482576847076416, -0.12391377240419388, 0.3361538052558899, -0.03552567586302757, 0.07859998587723617, -0.07859998587723617, 0.07859998587723617, 0.07859998587723617, -0.07859998587723617, -0.07859998587723617, 0.07859998587723617, 0.07859998587723617, -0.32428258657455444, -1.5166311264038086, 1.1268388032913208, -0.38969188928604126, -0.40190500020980835, -0.334261953830719, 0.9634421467781067, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6769275665283203, 1.6090705394744873, -0.5642405152320862, -0.007668691221624613, 0.014570512808859348, 1.3092073202133179, -1.4364879131317139, -1.3368593454360962, -1.457626461982727, -0.1354817897081375, 0.35394173860549927, -0.04113189876079559, 0.04859999876755936, -0.04859999876755936, 0.04859999876755936, 0.04859999876755936, -0.04859999876755936, -0.04859999876755936, 0.04859999876755936, 0.04859999876755936, -0.3242807984352112, -1.516634225845337, 1.1268378496170044, -0.38966238498687744, -0.40190285444259644, -0.33426377177238464, 0.963441789150238, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6765441298484802, 1.6093580722808838, -0.5656784176826477, -0.007668691221624613, 0.014953947626054287, 1.3134644031524658, -1.4332728385925293, -1.3365843296051025, -1.463474154472351, -0.1358681470155716, 0.3555530309677124, -0.044631052762269974, 0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.3242757022380829, -1.5166510343551636, 1.1268376111984253, -0.38966190814971924, -0.40189698338508606, -0.33426758646965027, 0.9634403586387634, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.676256537437439, 1.6097415685653687, -0.5664452314376831, -0.007381115108728409, 0.015337382443249226, 1.3168785572052002, -1.4322073459625244, -1.3365873098373413, -1.46977961063385, -0.1457139104604721, 0.3547154366970062, -0.04684106260538101, 0.013199988040295318, -0.013199988040295318, 0.013199988040295318, 0.013199988040295318, -0.013199988040295318, -0.013199988040295318, 0.013199988040295318, 0.013199988040295318, -0.3242686092853546, -1.5166594982147217, 1.1268362998962402, -0.3896627724170685, -0.4018908739089966, -0.3342701196670532, 0.9634390473365784, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.676256537437439, 1.6103167533874512, -0.5670204162597656, -0.007285256404429674, 0.016008391976356506, 1.3186568021774292, -1.4312266111373901, -1.3366245031356812, -1.4712028503417969, -0.1506318747997284, 0.3548876643180847, -0.05339619517326355, 0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.32426589727401733, -1.5166629552841187, 1.1268349885940552, -0.38966313004493713, -0.40188953280448914, -0.3342705965042114, 0.9634365439414978, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.676256537437439, 1.6108918190002441, -0.5675955414772034, -0.0069976807571947575, 0.01658354513347149, 1.3185964822769165, -1.4285411834716797, -1.3354907035827637, -1.4670990705490112, -0.14709652960300446, 0.34538692235946655, -0.06665614247322083, 0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.3242623805999756, -1.5166645050048828, 1.1268343925476074, -0.38966384530067444, -0.4018903970718384, -0.334270715713501, 0.9634348750114441, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6763523817062378, 1.6111794710159302, -0.5678831338882446, -0.006901822052896023, 0.016775261610746384, 1.3184175491333008, -1.427408218383789, -1.3352755308151245, -1.4663034677505493, -0.14643429219722748, 0.3449249267578125, -0.0668456107378006, 0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.324259877204895, -1.5166703462600708, 1.1268316507339478, -0.38966456055641174, -0.4018913507461548, -0.33426856994628906, 0.9634337425231934, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6763523817062378, 1.6113711595535278, -0.5680748820304871, -0.006901822052896023, 0.0170628372579813, 1.3183190822601318, -1.427438497543335, -1.3351761102676392, -1.4663034677505493, -0.14643189311027527, 0.3451246917247772, -0.06627228111028671, 0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.3242585361003876, -1.516671895980835, 1.1268290281295776, -0.38966551423072815, -0.40189409255981445, -0.3342691659927368, 0.9634341597557068, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.676639974117279, 1.6114670038223267, -0.5681707262992859, -0.006901822052896023, 0.017158696427941322, 1.3180744647979736, -1.4274859428405762, -1.3323206901550293, -1.4681063890457153, -0.1405249834060669, 0.3451248109340668, -0.06710698455572128, 0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.32425656914711, -1.5166709423065186, 1.1268284320831299, -0.3896656334400177, -0.4018997251987457, -0.33426687121391296, 0.9634353518486023, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6769275665283203, 1.6115628480911255, -0.5679789781570435, -0.006901822052896023, 0.01830899901688099, 1.318220853805542, -1.4271117448806763, -1.3388447761535645, -1.4835697412490845, -0.14478620886802673, 0.35749709606170654, -0.06777042895555496, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32425427436828613, -1.516661286354065, 1.126828908920288, -0.3896653950214386, -0.4019111096858978, -0.33426544070243835, 0.9634371399879456, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6780778765678406, 1.6116586923599243, -0.5670204162597656, -0.006039094179868698, 0.020417889580130577, 1.318305492401123, -1.425923228263855, -1.3709790706634521, -1.487322449684143, -0.1648315042257309, 0.38634684681892395, -0.07227914035320282, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32408425211906433, -1.5166555643081665, 1.1268301010131836, -0.3896687626838684, -0.4019226133823395, -0.33426544070243835, 0.9634379744529724, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6783654093742371, 1.6116586923599243, -0.5652949810028076, -0.0038343456108123064, 0.02223920449614525, 1.3216081857681274, -1.418420433998108, -1.4027245044708252, -1.4818452596664429, -0.17778334021568298, 0.3939538300037384, -0.10119287669658661, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3240213394165039, -1.5166856050491333, 1.1268302202224731, -0.3896777331829071, -0.40192610025405884, -0.3342662751674652, 0.9634411931037903, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6772151589393616, 1.6099332571029663, -0.5639529228210449, -0.001629596808925271, 0.022622639313340187, 1.335562825202942, -1.4119000434875488, -1.4402716159820557, -1.4905308485031128, -0.20524771511554718, 0.4002273380756378, -0.13111364841461182, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32411137223243713, -1.5167263746261597, 1.126828670501709, -0.3896713852882385, -0.4019361734390259, -0.33426710963249207, 0.9634476900100708, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6748186945915222, 1.606290578842163, -0.5639529228210449, -0.0012461623409762979, 0.02358122542500496, 1.349573016166687, -1.403790831565857, -1.4579888582229614, -1.5009050369262695, -0.20101164281368256, 0.40486547350883484, -0.1298568695783615, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3245212733745575, -1.5164446830749512, 1.1268306970596313, -0.3896143436431885, -0.4019584655761719, -0.33426758646965027, 0.9634524583816528, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6718470454216003, 1.602935552597046, -0.5644322037696838, -0.004313638899475336, 0.02712799422442913, 1.3572899103164673, -1.3976441621780396, -1.4834686517715454, -1.5014008283615112, -0.20485666394233704, 0.40752848982810974, -0.13137298822402954, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3245517313480377, -1.516376256942749, 1.1268328428268433, -0.38954123854637146, -0.40197691321372986, -0.3342683017253876, 0.9634543657302856, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6695464253425598, 1.5999640226364136, -0.5653908252716064, -0.005368083715438843, 0.029141025617718697, 1.3565415143966675, -1.3899002075195312, -1.5091867446899414, -1.5015031099319458, -0.25444725155830383, 0.4168441891670227, -0.14836373925209045, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3245299160480499, -1.5171432495117188, 1.1268320083618164, -0.38955429196357727, -0.4019734263420105, -0.3342714309692383, 0.9634541273117065, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6686837077140808, 1.5981426239013672, -0.5655825138092041, -0.0059432354755699635, 0.03057890571653843, 1.3476476669311523, -1.385409951210022, -1.5152740478515625, -1.4975543022155762, -0.2890579402446747, 0.416075736284256, -0.14435645937919617, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32432085275650024, -1.517148733139038, 1.126832365989685, -0.38961806893348694, -0.40195125341415405, -0.33427920937538147, 0.9634534120559692, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6683002710342407, 1.5968965291976929, -0.5652949810028076, -0.006039094179868698, 0.031249916180968285, 1.3382484912872314, -1.3838764429092407, -1.5164531469345093, -1.4924098253250122, -0.3088681101799011, 0.41986191272735596, -0.13170519471168518, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3242493271827698, -1.5171403884887695, 1.1268324851989746, -0.3897193372249603, -0.40192046761512756, -0.3342835307121277, 0.9634510278701782, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6683961153030396, 1.5961296558380127, -0.5637612342834473, -0.006039094179868698, 0.03182506933808327, 1.3234398365020752, -1.3809282779693604, -1.517022967338562, -1.4693702459335327, -0.3208327889442444, 0.42268767952919006, -0.11960627883672714, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32389169931411743, -1.5171325206756592, 1.1268333196640015, -0.3897657096385956, -0.40188080072402954, -0.3342876136302948, 0.9634482860565186, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6689713001251221, 1.5961296558380127, -0.5618440508842468, -0.006039094179868698, 0.03249607980251312, 1.2984673976898193, -1.3793028593063354, -1.5198066234588623, -1.428004264831543, -0.3373125493526459, 0.4225488007068634, -0.11574041098356247, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3238624334335327, -1.5171228647232056, 1.126833200454712, -0.38977959752082825, -0.4018453359603882, -0.3342871367931366, 0.963445782661438, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6707925796508789, 1.5963213443756104, -0.5597351789474487, -0.0059432354755699635, 0.033454664051532745, 1.2781380414962769, -1.3771746158599854, -1.5275081396102905, -1.4045777320861816, -0.3669005334377289, 0.4307289719581604, -0.11182767897844315, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3238757252693176, -1.5170977115631104, 1.1268329620361328, -0.3897759020328522, -0.4018431603908539, -0.33428436517715454, 0.963441789150238, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452824359969, 0.009699018836089075, -0.003919332546700547, 0.04988257214426994], [-0.009708625068688045, 0.9999498946126016, -0.0024394391819610598, 0.14060837030410767], [0.003895476000449618, 0.0024773570320069114, 0.999989343927657, -0.007797852158546448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6726139187812805, 1.5970882177352905, -0.5573387145996094, -0.005080507602542639, 0.03393395617604256, 1.273095726966858, -1.3730981349945068, -1.5394138097763062, -1.406091570854187, -0.390178918838501, 0.4310036599636078, -0.10537692904472351, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3238874673843384, -1.5170999765396118, 1.1268327236175537, -0.3897764980792999, -0.40184494853019714, -0.33428364992141724, 0.9634414315223694, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452750950714, 0.00969869393306254, -0.003922008545995885, 0.04976489767432213], [-0.00970830173995635, 0.9999499009136648, -0.00243814275176124, 0.14060303568840027], [0.0038981652566366853, 0.002476085367022163, 0.9999893365975895, -0.0077985175885260105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.674051821231842, 1.5981426239013672, -0.55494225025177, -0.004026062786579132, 0.03383810073137283, 1.2840954065322876, -1.367688775062561, -1.5531620979309082, -1.43967866897583, -0.41571465134620667, 0.44000670313835144, -0.10279852151870728, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3239976167678833, -1.517103672027588, 1.1268316507339478, -0.3897724151611328, -0.40184664726257324, -0.33428245782852173, 0.9634431004524231, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453905768918, 0.009690913699794431, -0.003911784208064483, 0.0498809777200222], [-0.009700415946044507, 0.9999500275309231, -0.002417513470464253, 0.14060819149017334], [0.0038881608121387502, 0.0024553273853576683, 0.9999894267305678, -0.0078008705750107765], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6751062273979187, 1.5984302759170532, -0.5527374744415283, -0.003546769730746746, 0.03374224156141281, 1.2861846685409546, -1.36386239528656, -1.5587047338485718, -1.4464199542999268, -0.43133971095085144, 0.4531080722808838, -0.09520987421274185, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3241184651851654, -1.5170986652374268, 1.126831293106079, -0.3897626996040344, -0.4018533527851105, -0.33428019285202026, 0.9634444117546082, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452570314309, 0.009698494808078538, -0.00392710310575841, 0.04981972277164459], [-0.009708107722464578, 0.9999499074845043, -0.002436219649428632, 0.14060655236244202], [0.00390327872366391, 0.0024742110235208637, 0.9999893212904908, -0.0077968379482626915], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6759689450263977, 1.5989094972610474, -0.5508202910423279, -0.003546769730746746, 0.03383810073137283, 1.2879725694656372, -1.3607064485549927, -1.5652374029159546, -1.454358458518982, -0.4433332681655884, 0.45218756794929504, -0.09327921271324158, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3241671323776245, -1.5170903205871582, 1.1268310546875, -0.38974952697753906, -0.40186676383018494, -0.3342798054218292, 0.9634474515914917, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449796567713, 0.009727396123828572, -0.003926248065166567, 0.049873653799295425], [-0.009736985279287838, 0.9999496402875709, -0.002430639098770939, 0.14059993624687195], [0.00390240655109527, 0.0024687351837868188, 0.9999893382280145, -0.007798571139574051], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6768317222595215, 1.5990053415298462, -0.5491907000541687, -0.0034509110264480114, 0.034317392855882645, 1.293494701385498, -1.3574620485305786, -1.5685064792633057, -1.4695358276367188, -0.4498121738433838, 0.4476889371871948, -0.08937127888202667, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32448452711105347, -1.5170841217041016, 1.1268310546875, -0.3897026777267456, -0.401914119720459, -0.33427995443344116, 0.9634498357772827, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454307646279, 0.009689352649509698, -0.0039053729880827916, 0.049776576459407806], [-0.009698774077837586, 0.9999500838417105, -0.002400751203943566, 0.14060543477535248], [0.0038819163218277945, 0.002438497527087153, 0.9999894921725332, -0.0078042177483439445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.677119255065918, 1.5990053415298462, -0.5479445457458496, -0.0034509110264480114, 0.03546769544482231, 1.2936785221099854, -1.3532092571258545, -1.5720808506011963, -1.4698140621185303, -0.45146745443344116, 0.441175639629364, -0.08793580532073975, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32448428869247437, -1.5170769691467285, 1.126831293106079, -0.3896818161010742, -0.4019344747066498, -0.3342812657356262, 0.9634537696838379, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454405738449, 0.009689687086789075, -0.0039020302073637554, 0.049858689308166504], [-0.00969918427360777, 0.9999500276881147, -0.002422385387456082, 0.14060470461845398], [0.0038783630574851873, 0.002460099733521821, 0.9999894530490286, -0.007801681291311979], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6774068474769592, 1.5990053415298462, -0.5468900799751282, -0.0034509110264480114, 0.03613870590925217, 1.3007841110229492, -1.3480684757232666, -1.5805094242095947, -1.4854958057403564, -0.4599319100379944, 0.4363928437232971, -0.10362999141216278, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32448112964630127, -1.517076849937439, 1.1268311738967896, -0.3896767795085907, -0.4019421637058258, -0.3342819809913635, 0.963456928730011, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451992101224, 0.009705298569113898, -0.003925016727732617, 0.049863070249557495], [-0.009714857967659312, 0.9999498720659165, -0.0024238172426000464, 0.14060504734516144], [0.0039012961047364125, 0.0024618153955312423, 0.999989359620222, -0.007800143677741289], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6774068474769592, 1.5990053415298462, -0.5465066432952881, -0.0034509110264480114, 0.03661799803376198, 1.314404010772705, -1.345434308052063, -1.5888148546218872, -1.5153546333312988, -0.486828088760376, 0.42833608388900757, -0.12225706875324249, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32447442412376404, -1.517080307006836, 1.1268318891525269, -0.38967403769493103, -0.4019504189491272, -0.33428245782852173, 0.9634572863578796, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454715898967, 0.009680280605346675, -0.003917398915221686, 0.049792125821113586], [-0.009689812156898342, 0.9999501206666669, -0.0024215117349332587, 0.14060615003108978], [0.0038937626048921, 0.002459338553380442, 0.999989395077096, -0.0078008463606238365], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6773110032081604, 1.5990053415298462, -0.5465066432952881, -0.003546769730746746, 0.03709729388356209, 1.3298008441925049, -1.3419944047927856, -1.592157006263733, -1.543949007987976, -0.5124500393867493, 0.42137542366981506, -0.13963910937309265, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32446685433387756, -1.5170756578445435, 1.1268317699432373, -0.3896694779396057, -0.40196287631988525, -0.3342832922935486, 0.9634568095207214, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453719125168, 0.009694386099884884, -0.003907949447593731, 0.04984061419963837], [-0.009703895710789981, 0.9999499833245236, -0.0024218293331833515, 0.1406014859676361], [0.0038842758363305274, 0.002459619367161158, 0.9999894312810491, -0.007800986059010029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6763523817062378, 1.5990053415298462, -0.5474652647972107, -0.004121921490877867, 0.03767244517803192, 1.3472249507904053, -1.3402382135391235, -1.599002718925476, -1.5842314958572388, -0.5533339381217957, 0.42893409729003906, -0.17635637521743774, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3244648873806, -1.517037034034729, 1.1268314123153687, -0.389652818441391, -0.4020707309246063, -0.33428412675857544, 0.9634587168693542, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.67539381980896, 1.5990053415298462, -0.5497658848762512, -0.004601214546710253, 0.038631029427051544, 1.364994764328003, -1.3377093076705933, -1.5970872640609741, -1.6377551555633545, -0.5914570689201355, 0.4544699788093567, -0.2082463949918747, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32446473836898804, -1.517033338546753, 1.1268309354782104, -0.3896055817604065, -0.402092307806015, -0.3342837691307068, 0.9634587168693542, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6746269464492798, 1.5990053415298462, -0.5527374744415283, -0.005368083715438843, 0.04026062786579132, 1.3723275661468506, -1.3363072872161865, -1.5774112939834595, -1.6724461317062378, -0.624136745929718, 0.464322566986084, -0.20859813690185547, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3244588077068329, -1.5170116424560547, 1.1268302202224731, -0.3895622193813324, -0.4020904004573822, -0.3342835307121277, 0.9634574055671692, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.5992929935455322, -0.555804967880249, -0.006039094179868698, 0.04208194091916084, 1.371375560760498, -1.3371751308441162, -1.5573099851608276, -1.6777275800704956, -0.6572926640510559, 0.47196057438850403, -0.2011488676071167, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3243293762207031, -1.51700758934021, 1.1268298625946045, -0.3895648419857025, -0.40207651257514954, -0.3342825770378113, 0.9634578824043274, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6741476655006409, 1.6006349325180054, -0.558393120765686, -0.0064225285314023495, 0.0436156801879406, 1.3709067106246948, -1.3372159004211426, -1.5515172481536865, -1.677586317062378, -0.6491642594337463, 0.4979906976222992, -0.23171834647655487, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3240855038166046, -1.5170276165008545, 1.1268301010131836, -0.3895813822746277, -0.40201932191848755, -0.33428245782852173, 0.9634562730789185, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6741476655006409, 1.6016894578933716, -0.5599268674850464, -0.006614245939999819, 0.04419083148241043, 1.370459794998169, -1.3359053134918213, -1.5509183406829834, -1.6775904893875122, -0.6403879523277283, 0.5021799802780151, -0.23580724000930786, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3240659236907959, -1.517041563987732, 1.1268295049667358, -0.38959911465644836, -0.4019198715686798, -0.3342823386192322, 0.963456392288208, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.602072834968567, -0.5606937408447266, -0.006614245939999819, 0.044765982776880264, 1.3704659938812256, -1.3358075618743896, -1.549201250076294, -1.6775201559066772, -0.637948215007782, 0.49736928939819336, -0.2330636978149414, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32407087087631226, -1.5170435905456543, 1.126828670501709, -0.38962164521217346, -0.40191182494163513, -0.334280788898468, 0.9634566903114319, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6744352579116821, 1.6022645235061646, -0.5610771775245667, -0.0071893977001309395, 0.04495770111680031, 1.3706440925598145, -1.3352196216583252, -1.5135666131973267, -1.6786819696426392, -0.5985651612281799, 0.4583378732204437, -0.25238537788391113, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32407692074775696, -1.5170868635177612, 1.126825213432312, -0.3896585702896118, -0.4019106328487396, -0.3342805504798889, 0.963456928730011, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6755855083465576, 1.6025521755218506, -0.5610771775245667, -0.008435560390353203, 0.04649144038558006, 1.3748407363891602, -1.3387079238891602, -1.4606610536575317, -1.6980403661727905, -0.6088750958442688, 0.45691078901290894, -0.245415598154068, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32409363985061646, -1.5170005559921265, 1.1268248558044434, -0.3896704316139221, -0.4019155502319336, -0.3342783749103546, 0.9634577631950378, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.676639974117279, 1.602839708328247, -0.5605978965759277, -0.01006515696644783, 0.049654774367809296, 1.3773959875106812, -1.3500503301620483, -1.4056856632232666, -1.6998628377914429, -0.6122629046440125, 0.44206690788269043, -0.20465172827243805, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32411330938339233, -1.5169204473495483, 1.1268248558044434, -0.38967007398605347, -0.4019235670566559, -0.3342771828174591, 0.9634584784507751, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6773110032081604, 1.6030313968658447, -0.5598310232162476, -0.012174046598374844, 0.05368083715438843, 1.3737372159957886, -1.3616271018981934, -1.3597785234451294, -1.68654203414917, -0.6154336929321289, 0.4149938225746155, -0.1655561923980713, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.3241322934627533, -1.5169082880020142, 1.1268242597579956, -0.3896710276603699, -0.40193304419517517, -0.3342798054218292, 0.9634618163108826, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6774068474769592, 1.6033190488815308, -0.5593517422676086, -0.014474654570221901, 0.05732346698641777, 1.3704211711883545, -1.3662452697753906, -1.339791178703308, -1.693522572517395, -0.62396240234375, 0.41054537892341614, -0.16909010708332062, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32432228326797485, -1.5169377326965332, 1.1268198490142822, -0.3896682858467102, -0.4019504189491272, -0.33427897095680237, 0.9634685516357422, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6775026917457581, 1.6033190488815308, -0.5586807131767273, -0.016487685963511467, 0.059624072164297104, 1.365917444229126, -1.3673820495605469, -1.3303005695343018, -1.6853556632995605, -0.6067227125167847, 0.41808393597602844, -0.16376084089279175, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32433298230171204, -1.517077088356018, 1.1268149614334106, -0.3896713852882385, -0.40196335315704346, -0.33428019285202026, 0.9634736776351929, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6774068474769592, 1.6033190488815308, -0.5578179955482483, -0.018021423369646072, 0.06000750884413719, 1.349553108215332, -1.3689864873886108, -1.3234870433807373, -1.6283049583435059, -0.576951265335083, 0.41860321164131165, -0.1820281594991684, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.32433268427848816, -1.5173566341400146, 1.1268001794815063, -0.38967305421829224, -0.40200015902519226, -0.3342815041542053, 0.9634768962860107, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6772151589393616, 1.6033190488815308, -0.5572428107261658, -0.018692433834075928, 0.05943235754966736, 1.343116044998169, -1.3695281744003296, -1.3300632238388062, -1.5959837436676025, -0.5597790479660034, 0.405930757522583, -0.2232188880443573, 0.12720000193669245, -0.12720000193669245, 0.12720000193669245, 0.12720000193669245, -0.12720000193669245, -0.12720000193669245, 0.12720000193669245, 0.12720000193669245, -0.32433152198791504, -1.5173519849777222, 1.1267706155776978, -0.38967451453208923, -0.40208104252815247, -0.3342815041542053, 0.9634800553321838, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6770234107971191, 1.6033190488815308, -0.5562842488288879, -0.01888415217399597, 0.05828205123543739, 1.3430171012878418, -1.3686397075653076, -1.354872703552246, -1.6013729572296143, -0.5305269956588745, 0.39454716444015503, -0.2652246654033661, 0.5009999993083241, -0.5009999993083241, 0.5009999993083241, 0.5009999993083241, -0.5009999993083241, -0.5009999993083241, 0.5009999993083241, 0.5009999993083241, -0.3243270218372345, -1.517328143119812, 1.126770257949829, -0.3896741569042206, -0.4020840525627136, -0.3342817425727844, 0.9634784460067749, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6767358183860779, 1.6033190488815308, -0.5555173754692078, -0.018213141709566116, 0.05646073818206787, 1.348607063293457, -1.3565682172775269, -1.400963306427002, -1.6494418382644653, -0.47339558601379395, 0.403398722410202, -0.3446749448776245, 0.5766000008190071, -0.5766000008190071, 0.5766000008190071, 0.5766000008190071, -0.5766000008190071, -0.5766000008190071, 0.5766000008190071, 0.5766000008190071, -0.3243262469768524, -1.5173214673995972, 1.1267701387405396, -0.3896748721599579, -0.40208175778388977, -0.3342821002006531, 0.9634780883789062, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6761606931686401, 1.6033190488815308, -0.5543670654296875, -0.016008391976356506, 0.05416012927889824, 1.3633884191513062, -1.3345603942871094, -1.4644832611083984, -1.6922930479049683, -0.3870792090892792, 0.39023643732070923, -0.4623081386089325, 0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.3243176341056824, -1.51729416847229, 1.1267701387405396, -0.38968002796173096, -0.40207841992378235, -0.33428019285202026, 0.963476300239563, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6757772564888, 1.6033190488815308, -0.5532167553901672, -0.013516068458557129, 0.052242957055568695, 1.391805648803711, -1.314027190208435, -1.5317435264587402, -1.7211010456085205, -0.3013233244419098, 0.3610203266143799, -0.5842075943946838, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.3243168890476227, -1.5171831846237183, 1.1267714500427246, -0.38968002796173096, -0.4020763635635376, -0.33427849411964417, 0.9634732007980347, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6754896640777588, 1.602935552597046, -0.5518747568130493, -0.010161015205085278, 0.05042164400219917, 1.4302952289581299, -1.3019734621047974, -1.5978134870529175, -1.7434277534484863, -0.24066659808158875, 0.3169330060482025, -0.6533852219581604, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.32431524991989136, -1.5171960592269897, 1.1267707347869873, -0.3896791636943817, -0.40206632018089294, -0.33427801728248596, 0.9634732007980347, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.674914538860321, 1.602072834968567, -0.550724446773529, -0.006518387235701084, 0.047450024634599686, 1.4647436141967773, -1.298043966293335, -1.6554818153381348, -1.7615047693252563, -0.21039876341819763, 0.2920338809490204, -0.6889808773994446, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.32431694865226746, -1.517217755317688, 1.1267706155776978, -0.3896782100200653, -0.4020574390888214, -0.3342757523059845, 0.9634740352630615, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.674531102180481, 1.601114273071289, -0.5499575734138489, -0.004026062786579132, 0.04390325769782066, 1.50212824344635, -1.2979421615600586, -1.6885261535644531, -1.7712435722351074, -0.21093302965164185, 0.2446218729019165, -0.7194306254386902, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.3243182301521301, -1.5172092914581299, 1.126771092414856, -0.3896760642528534, -0.4020478427410126, -0.33427467942237854, 0.9634730815887451, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6744352579116821, 1.6004432439804077, -0.5493824481964111, -0.0029716177377849817, 0.040931638330221176, 1.5155341625213623, -1.2989312410354614, -1.689359188079834, -1.7693487405776978, -0.20408080518245697, 0.22131268680095673, -0.7282307744026184, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.3243177533149719, -1.5171881914138794, 1.1267718076705933, -0.38967427611351013, -0.40203526616096497, -0.334274560213089, 0.9634733200073242, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451784511448, 0.009710775947311661, -0.003916749010237759, 0.0498640276491642], [-0.009720299152998008, 0.9999498290576266, -0.0024197421348998386, 0.14060747623443604], [0.0038930549295265932, 0.0024576814529748926, 0.9999894019064359, -0.007800788152962923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.674051821231842, 1.6003473997116089, -0.5489031076431274, -0.002396465977653861, 0.0393020398914814, 1.5142680406570435, -1.2994310855865479, -1.6860734224319458, -1.768498420715332, -0.2045021653175354, 0.22533626854419708, -0.7261337637901306, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.32431793212890625, -1.5171563625335693, 1.1267731189727783, -0.389671266078949, -0.4020139276981354, -0.33427587151527405, 0.9634740352630615, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454095797079, 0.009690745672283042, -0.003907340372348219, 0.050006505101919174], [-0.009700259923178895, 0.9999500147614298, -0.0024234141287172977, 0.140601247549057], [0.0038836603730275153, 0.0024611840507415775, 0.9999894298217233, -0.0078007811680436134], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6737642288208008, 1.6003473997116089, -0.548615574836731, -0.0023006072733551264, 0.038631029427051544, 1.5127660036087036, -1.2995641231536865, -1.6853575706481934, -1.7684217691421509, -0.20509766042232513, 0.22642982006072998, -0.7255706191062927, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.3243178427219391, -1.5171535015106201, 1.1267739534378052, -0.3896675407886505, -0.40198230743408203, -0.3342771828174591, 0.9634741544723511, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451498824475, 0.009711920386571695, -0.003921202490873119, 0.04986071586608887], [-0.009721452216280652, 0.9999498192927492, -0.002419145139266214, 0.14060327410697937], [0.0038975111771627382, 0.002457132231516333, 0.9999893858975808, -0.007800756953656673], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6738600730895996, 1.6003473997116089, -0.548615574836731, -0.0023006072733551264, 0.03853517398238182, 1.5117915868759155, -1.2995651960372925, -1.6854712963104248, -1.768409013748169, -0.20525717735290527, 0.22644419968128204, -0.7253704071044922, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.32431700825691223, -1.5171548128128052, 1.1267750263214111, -0.38966479897499084, -0.4019319713115692, -0.33427682518959045, 0.9634748697280884, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453202608211, 0.009699092852934844, -0.003909486707248377, 0.04984428733587265], [-0.009708674354925591, 0.9999498943471496, -0.002439351838955816, 0.14060454070568085], [0.003885631319877591, 0.002477174389169081, 0.9999893826817821, -0.007797880098223686], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6738600730895996, 1.60025155544281, -0.548615574836731, -0.0023006072733551264, 0.038247596472501755, 1.5117783546447754, -1.2995623350143433, -1.6858160495758057, -1.768404245376587, -0.20531290769577026, 0.22644659876823425, -0.7252902984619141, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.3243160843849182, -1.5171571969985962, 1.1267764568328857, -0.3896637260913849, -0.4019259810447693, -0.3342774212360382, 0.9634741544723511, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453159577721, 0.009696501840655763, -0.003917007297088007, 0.04989347979426384], [-0.009706079930226671, 0.999949933321873, -0.0024336930722176115, 0.14060480892658234], [0.003893212876190093, 0.0024715787739556976, 0.9999893670394024, -0.007798539008945227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6737642288208008, 1.60025155544281, -0.548615574836731, -0.0023006072733551264, 0.03815173730254173, 1.5117799043655396, -1.2995578050613403, -1.6858608722686768, -1.768393874168396, -0.20532895624637604, 0.22645044326782227, -0.7252292037010193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3243149518966675, -1.5171592235565186, 1.1267778873443604, -0.38966360688209534, -0.401923805475235, -0.33427849411964417, 0.963472843170166, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454436461958, 0.0096864350409639, -0.003909310349658331, 0.049862030893564224], [-0.009695978477905666, 0.9999500410737957, -0.002429682668624411, 0.14060480892658234], [0.0038855800813712765, 0.0024674547030108505, 0.9999894069112532, -0.0077994391322135925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6738600730895996, 1.6001557111740112, -0.548615574836731, -0.0023006072733551264, 0.03815173730254173, 1.5117824077606201, -1.2995511293411255, -1.6858686208724976, -1.7683740854263306, -0.20533746480941772, 0.22646254301071167, -0.7251944541931152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32431378960609436, -1.517160177230835, 1.1267808675765991, -0.3896632492542267, -0.401923805475235, -0.33427920937538147, 0.963471531867981, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453028298663, 0.009695553265875054, -0.0039227025576413594, 0.04987431690096855], [-0.009705134162947547, 0.9999499495290967, -0.002430803907388295, 0.14060445129871368], [0.003898938235768156, 0.002468741303896658, 0.9999893517418114, -0.007798733189702034], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6738600730895996, 1.6001557111740112, -0.548615574836731, -0.0023006072733551264, 0.03815173730254173, 1.5117663145065308, -1.2994524240493774, -1.68587064743042, -1.7663804292678833, -0.20552179217338562, 0.22674980759620667, -0.7250930666923523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32431140542030334, -1.51716148853302, 1.126786470413208, -0.38966313004493713, -0.40192392468452454, -0.3342798054218292, 0.9634711742401123, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454294624242, 0.009687800040368854, -0.00390955593208056, 0.04987024888396263], [-0.0096973598991281, 0.9999500177839995, -0.0024337511717371324, 0.14060397446155548], [0.0038857828291116937, 0.002471530731546521, 0.9999893960576022, -0.007799824699759483], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6738600730895996, 1.6001557111740112, -0.548615574836731, -0.0023006072733551264, 0.0384393148124218, 1.5085350275039673, -1.298079013824463, -1.68589186668396, -1.7614775896072388, -0.21192771196365356, 0.22692130506038666, -0.7244138121604919, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3243089020252228, -1.5171618461608887, 1.1267921924591064, -0.3896613121032715, -0.4019307792186737, -0.33427920937538147, 0.9634691476821899, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451474746893, 0.009713618119433538, -0.003917609583859419, 0.049882639199495316], [-0.00972327399467958, 0.999949718446171, -0.0024532676673776283, 0.14060351252555847], [0.003893582495096587, 0.002491225090838857, 0.9999893168493855, -0.007796302437782288], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6739559173583984, 1.6001557111740112, -0.5491907000541687, -0.0023006072733551264, 0.038631029427051544, 1.5066776275634766, -1.2972437143325806, -1.68628990650177, -1.7609822750091553, -0.21205690503120422, 0.22748970985412598, -0.7270576357841492, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3243073523044586, -1.5171619653701782, 1.1268008947372437, -0.3896613121032715, -0.4019378423690796, -0.3342783749103546, 0.9634642004966736, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452668707732, 0.009701008558433836, -0.003918379216886361, 0.049852557480335236], [-0.009710497105252442, 0.9999499482388748, -0.0024098263506596245, 0.1406051367521286], [0.003894805349053711, 0.002447743863365416, 0.9999894194646624, -0.007801583036780357], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6741476655006409, 1.6001557111740112, -0.5497658848762512, -0.0023006072733551264, 0.03901446610689163, 1.5068747997283936, -1.296746850013733, -1.6870325803756714, -1.7610106468200684, -0.20248307287693024, 0.230735644698143, -0.7183082103729248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3243066072463989, -1.5171633958816528, 1.1268032789230347, -0.38966047763824463, -0.4019589424133301, -0.3342800736427307, 0.9634720087051392, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453423079874, 0.009692331776082377, -0.003920599610289081, 0.049860622733831406], [-0.009701758387700472, 0.9999500745484702, -0.002392549831367819, 0.14060279726982117], [0.0038972144858268427, 0.002430455770269949, 0.9999894522463726, -0.00780514907091856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6743393540382385, 1.60025155544281, -0.5500534176826477, -0.0023006072733551264, 0.03901446610689163, 1.5179829597473145, -1.2965978384017944, -1.6866501569747925, -1.7605113983154297, -0.1820950210094452, 0.23882678151130676, -0.669454038143158, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242974281311035, -1.517170786857605, 1.1268081665039062, -0.3896608352661133, -0.4019756019115448, -0.3342803120613098, 0.9634730815887451, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6750103831291199, 1.6007307767868042, -0.5501492619514465, -0.0023006072733551264, 0.038631029427051544, 1.5346542596817017, -1.2966468334197998, -1.682862639427185, -1.7446597814559937, -0.1941877007484436, 0.24058450758457184, -0.6379898190498352, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242865204811096, -1.5171852111816406, 1.1268141269683838, -0.38966265320777893, -0.40198230743408203, -0.334280788898468, 0.9634741544723511, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6758731007575989, 1.6017853021621704, -0.5501492619514465, -0.0024923246819525957, 0.0375765860080719, 1.548392653465271, -1.2969443798065186, -1.6668689250946045, -1.73542320728302, -0.1850360780954361, 0.2403946816921234, -0.621458888053894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32427579164505005, -1.5172077417373657, 1.1268202066421509, -0.3896644413471222, -0.40198564529418945, -0.3342817425727844, 0.9634746313095093, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6772151589393616, 1.6024563312530518, -0.54986172914505, -0.003546769730746746, 0.03613870590925217, 1.546182632446289, -1.2985767126083374, -1.6426608562469482, -1.72579026222229, -0.17459698021411896, 0.24701189994812012, -0.6049025654792786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32427549362182617, -1.5172373056411743, 1.126822590827942, -0.3896644413471222, -0.40198901295661926, -0.334281861782074, 0.9634764194488525, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6781737208366394, 1.6031272411346436, -0.5496699810028076, -0.004217780195176601, 0.03556355461478233, 1.5378122329711914, -1.300382375717163, -1.6350253820419312, -1.7201088666915894, -0.16632162034511566, 0.2627648115158081, -0.5955155491828918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242725133895874, -1.5172202587127686, 1.1268243789672852, -0.389666348695755, -0.4019922614097595, -0.3342849612236023, 0.9634790420532227, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6786530017852783, 1.6035107374191284, -0.54947829246521, -0.004601214546710253, 0.03546769544482231, 1.5351887941360474, -1.3003685474395752, -1.6364381313323975, -1.7206186056137085, -0.16621699929237366, 0.2628815174102783, -0.5960310101509094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32427191734313965, -1.517221212387085, 1.1268240213394165, -0.3896656334400177, -0.40199190378189087, -0.3342866599559784, 0.9634836316108704, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6788447499275208, 1.6035107374191284, -0.5491907000541687, -0.004697073251008987, 0.03537183627486229, 1.5311565399169922, -1.3004575967788696, -1.6286932229995728, -1.728863000869751, -0.16539177298545837, 0.2845418155193329, -0.580742597579956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242715895175934, -1.5172208547592163, 1.1268240213394165, -0.38966599106788635, -0.40199044346809387, -0.3342871367931366, 0.9634858965873718, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6789405941963196, 1.6035107374191284, -0.5491907000541687, -0.004601214546710253, 0.03527597710490227, 1.530375599861145, -1.3037023544311523, -1.5839338302612305, -1.7468130588531494, -0.16768579185009003, 0.3339472711086273, -0.5461511015892029, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242686092853546, -1.5172289609909058, 1.1268234252929688, -0.38966765999794006, -0.40198686718940735, -0.33428964018821716, 0.9634888768196106, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6788447499275208, 1.6035107374191284, -0.5492865443229675, -0.0038343456108123064, 0.03546769544482231, 1.5311170816421509, -1.3130649328231812, -1.5297887325286865, -1.7555561065673828, -0.17452794313430786, 0.3730694055557251, -0.5187225341796875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242681622505188, -1.5172439813613892, 1.126821756362915, -0.38966789841651917, -0.40197500586509705, -0.3342941999435425, 0.9634895920753479, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6782695651054382, 1.602839708328247, -0.5497658848762512, -0.0029716177377849817, 0.03613870590925217, 1.5193498134613037, -1.322312831878662, -1.4730937480926514, -1.737166166305542, -0.17496933043003082, 0.4000004827976227, -0.4779755771160126, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3242699205875397, -1.5172146558761597, 1.126821756362915, -0.3896668255329132, -0.40196624398231506, -0.3342956304550171, 0.9634892344474792, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6774068474769592, 1.601976990699768, -0.5505326986312866, -0.0017254555132240057, 0.03719315305352211, 1.4947965145111084, -1.3311402797698975, -1.4350281953811646, -1.7087535858154297, -0.19515028595924377, 0.41773340106010437, -0.43226906657218933, 0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.32426944375038147, -1.5172090530395508, 1.12682044506073, -0.38966765999794006, -0.4019518494606018, -0.33429720997810364, 0.9634893536567688, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6763523817062378, 1.601210117340088, -0.5514913201332092, 0.0, 0.037289008498191833, 1.4741660356521606, -1.3395932912826538, -1.4107533693313599, -1.6941570043563843, -0.2193138301372528, 0.4222140610218048, -0.37635546922683716, 0.48000000243658547, -0.48000000243658547, 0.48000000243658547, 0.48000000243658547, -0.48000000243658547, -0.48000000243658547, 0.48000000243658547, 0.48000000243658547, -0.3242708444595337, -1.5172313451766968, 1.1268179416656494, -0.3896685242652893, -0.4019421637058258, -0.334295392036438, 0.9634878039360046, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6755855083465576, 1.6004432439804077, -0.5525457859039307, 0.0, 0.03575527295470238, 1.4504395723342896, -1.347773790359497, -1.388083815574646, -1.6763916015625, -0.2339470535516739, 0.4274536967277527, -0.32036301493644714, 0.40019999074411916, -0.40019999074411916, 0.40019999074411916, 0.40019999074411916, -0.40019999074411916, -0.40019999074411916, 0.40019999074411916, 0.40019999074411916, -0.3242705166339874, -1.5173306465148926, 1.1268166303634644, -0.3896715044975281, -0.4019326865673065, -0.3342956304550171, 0.96348637342453, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6750103831291199, 1.5998680591583252, -0.5534085035324097, 0.0, 0.03335880488157272, 1.4174609184265137, -1.3569893836975098, -1.356036901473999, -1.640824556350708, -0.23628181219100952, 0.4322563707828522, -0.26618677377700806, 0.3396000073506282, -0.3396000073506282, 0.3396000073506282, 0.3396000073506282, -0.3396000073506282, -0.3396000073506282, 0.3396000073506282, 0.3396000073506282, -0.3242661654949188, -1.5173630714416504, 1.1268165111541748, -0.38968145847320557, -0.40191975235939026, -0.33429503440856934, 0.9634837508201599, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6742435097694397, 1.5997722148895264, -0.5540794730186462, 0.0010544450487941504, 0.030770622193813324, 1.3868952989578247, -1.3673295974731445, -1.3270281553268433, -1.6092453002929688, -0.24001765251159668, 0.4314262270927429, -0.22421249747276306, 0.3306000072877486, -0.3306000072877486, 0.3306000072877486, 0.3306000072877486, -0.3306000072877486, -0.3306000072877486, 0.3306000072877486, 0.3306000072877486, -0.32426682114601135, -1.5173397064208984, 1.1268166303634644, -0.38968193531036377, -0.4019143581390381, -0.3342928886413574, 0.9634818434715271, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6729973554611206, 1.5989094972610474, -0.5545588135719299, 0.0011503036366775632, 0.02847001515328884, 1.3645715713500977, -1.3774051666259766, -1.303525447845459, -1.5807279348373413, -0.24117952585220337, 0.42164158821105957, -0.17822328209877014, 0.31140000846359756, -0.31140000846359756, 0.31140000846359756, 0.31140000846359756, -0.31140000846359756, -0.31140000846359756, 0.31140000846359756, 0.31140000846359756, -0.32426685094833374, -1.517319917678833, 1.1268171072006226, -0.3896822929382324, -0.4019131660461426, -0.3342914581298828, 0.963479220867157, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6718470454216003, 1.5979509353637695, -0.5553256869316101, 0.0011503036366775632, 0.02616940811276436, 1.3534072637557983, -1.3870166540145874, -1.2881672382354736, -1.5569297075271606, -0.2393741011619568, 0.3972886800765991, -0.13857778906822205, 0.2982000031314053, -0.2982000031314053, 0.2982000031314053, 0.2982000031314053, -0.2982000031314053, -0.2982000031314053, 0.2982000031314053, 0.2982000031314053, -0.32426801323890686, -1.5173063278198242, 1.126817226409912, -0.3896811008453369, -0.4019162654876709, -0.33429157733917236, 0.9634800553321838, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6710801720619202, 1.5969923734664917, -0.5561884045600891, 0.0017254555132240057, 0.023772941902279854, 1.3415461778640747, -1.3974554538726807, -1.2737075090408325, -1.5312594175338745, -0.26001057028770447, 0.38598155975341797, -0.09565316885709763, 0.28920000306852567, -0.28920000306852567, 0.28920000306852567, 0.28920000306852567, -0.28920000306852567, -0.28920000306852567, 0.28920000306852567, 0.28920000306852567, -0.32426586747169495, -1.5173060894012451, 1.1268185377120972, -0.38968193531036377, -0.40192022919654846, -0.3342928886413574, 0.9634796977043152, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6706967353820801, 1.5964171886444092, -0.556667685508728, 0.0023006072733551264, 0.02185576967895031, 1.3316211700439453, -1.4042249917984009, -1.2638938426971436, -1.512305498123169, -0.2593099772930145, 0.3820053040981293, -0.0820939764380455, 0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -0.32426267862319946, -1.5172070264816284, 1.126819372177124, -0.38968217372894287, -0.40193089842796326, -0.3342939615249634, 0.9634804129600525, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6706008911132812, 1.5964171886444092, -0.5570511221885681, 0.003163335146382451, 0.020417889580130577, 1.3282662630081177, -1.4072141647338867, -1.262364149093628, -1.5041919946670532, -0.2477540820837021, 0.37883490324020386, -0.0830259919166565, 0.2651999898009248, -0.2651999898009248, 0.2651999898009248, 0.2651999898009248, -0.2651999898009248, -0.2651999898009248, 0.2651999898009248, 0.2651999898009248, -0.3242589831352234, -1.5172065496444702, 1.1268205642700195, -0.3896815776824951, -0.4019416868686676, -0.33429408073425293, 0.9634814858436584, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6706008911132812, 1.596513032913208, -0.557530403137207, 0.004026062786579132, 0.019459303468465805, 1.3246933221817017, -1.4096742868423462, -1.2664295434951782, -1.4958312511444092, -0.24916377663612366, 0.3791266977787018, -0.07309681922197342, 0.25740000808631985, -0.25740000808631985, 0.25740000808631985, 0.25740000808631985, -0.25740000808631985, -0.25740000808631985, 0.25740000808631985, 0.25740000808631985, -0.3242572844028473, -1.5172020196914673, 1.1268205642700195, -0.389681339263916, -0.40195462107658386, -0.3342941999435425, 0.9634823203086853, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6706008911132812, 1.596513032913208, -0.5581055879592896, 0.004697073251008987, 0.01917172782123089, 1.3264522552490234, -1.4134713411331177, -1.2796763181686401, -1.5006369352340698, -0.2656150162220001, 0.39443883299827576, -0.071974016726017, 0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.32425472140312195, -1.5172004699707031, 1.1268205642700195, -0.3896818161010742, -0.40197572112083435, -0.3342949151992798, 0.9634824395179749, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.671176016330719, 1.5966088771820068, -0.5591599941253662, 0.005655659828335047, 0.019459303468465805, 1.3325273990631104, -1.4135416746139526, -1.2939127683639526, -1.5148831605911255, -0.2769347131252289, 0.41019198298454285, -0.0727929025888443, 0.1782000153929323, -0.1782000153929323, 0.1782000153929323, 0.1782000153929323, -0.1782000153929323, -0.1782000153929323, 0.1782000153929323, 0.1782000153929323, -0.3242572247982025, -1.517199158668518, 1.12682044506073, -0.38967856764793396, -0.4020135700702667, -0.3342946767807007, 0.9634822010993958, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6726139187812805, 1.5978550910949707, -0.5603103041648865, 0.006326670292764902, 0.019842738285660744, 1.3363037109375, -1.4134716987609863, -1.305761456489563, -1.5196959972381592, -0.28007134795188904, 0.425971120595932, -0.07127905637025833, 0.14220001514141378, -0.14220001514141378, 0.14220001514141378, 0.14220001514141378, -0.14220001514141378, -0.14220001514141378, 0.14220001514141378, 0.14220001514141378, -0.3242523670196533, -1.5171983242034912, 1.1268205642700195, -0.3896796703338623, -0.4020271301269531, -0.33429455757141113, 0.9634817242622375, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6743393540382385, 1.599101185798645, -0.5609813332557678, 0.0069976807571947575, 0.020705465227365494, 1.3441122770309448, -1.4127205610275269, -1.320729374885559, -1.5267449617385864, -0.2818707525730133, 0.4311951696872711, -0.07371688634157181, 0.10739999393840413, -0.10739999393840413, 0.10739999393840413, 0.10739999393840413, -0.10739999393840413, -0.10739999393840413, 0.10739999393840413, 0.10739999393840413, -0.3242388963699341, -1.5171988010406494, 1.1268199682235718, -0.3896796703338623, -0.40202808380126953, -0.3342934846878052, 0.9634811282157898, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6756814122200012, 1.5998680591583252, -0.5616523027420044, 0.008052125573158264, 0.021280618384480476, 1.3497276306152344, -1.4117767810821533, -1.3362689018249512, -1.531552791595459, -0.2940689027309418, 0.4321169853210449, -0.06393811851739883, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.3242349624633789, -1.5172152519226074, 1.1268192529678345, -0.3896811008453369, -0.4020225703716278, -0.3342926502227783, 0.9634802937507629, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6773110032081604, 1.6007307767868042, -0.561748206615448, 0.009681722149252892, 0.021280618384480476, 1.3528515100479126, -1.4102866649627686, -1.3464043140411377, -1.5396367311477661, -0.30700457096099854, 0.42837709188461304, -0.05523613095283508, 0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.3240094482898712, -1.5172483921051025, 1.1268190145492554, -0.3896826505661011, -0.4020025432109833, -0.33429205417633057, 0.963478684425354, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6787488460540771, 1.6017853021621704, -0.561748206615448, 0.010736167430877686, 0.021280618384480476, 1.3632186651229858, -1.407689094543457, -1.3536288738250732, -1.559009075164795, -0.30718839168548584, 0.430046945810318, -0.05549990385770798, 0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -0.3240143954753876, -1.5172498226165771, 1.1268186569213867, -0.38968098163604736, -0.4019756019115448, -0.3342907130718231, 0.9634777307510376, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6805701851844788, 1.6024563312530518, -0.5610771775245667, 0.010927884839475155, 0.021280618384480476, 1.3592138290405273, -1.4061176776885986, -1.3534177541732788, -1.5483982563018799, -0.2938261032104492, 0.4297855794429779, -0.08008769899606705, 0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.324021577835083, -1.5172553062438965, 1.1268188953399658, -0.38968145847320557, -0.4019445478916168, -0.33429035544395447, 0.9634733200073242, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6822956204414368, 1.6036065816879272, -0.5598310232162476, 0.010736167430877686, 0.021280618384480476, 1.344326138496399, -1.403647780418396, -1.3487119674682617, -1.522043228149414, -0.28844770789146423, 0.4113335907459259, -0.11348234117031097, 0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.3240354061126709, -1.5172724723815918, 1.1268192529678345, -0.3896853029727936, -0.4019172191619873, -0.3342910706996918, 0.9634699821472168, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6830624938011169, 1.6042776107788086, -0.559255838394165, 0.010640309192240238, 0.02137647569179535, 1.34363853931427, -1.4026941061019897, -1.348260521888733, -1.5240262746810913, -0.28851985931396484, 0.4101415276527405, -0.11204507201910019, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.32411321997642517, -1.5172616243362427, 1.1268186569213867, -0.3896822929382324, -0.40191614627838135, -0.33429133892059326, 0.9634703397750854, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6837335228919983, 1.6042776107788086, -0.5587765574455261, 0.010352732613682747, 0.02137647569179535, 1.3437120914459229, -1.4026954174041748, -1.3484421968460083, -1.5258749723434448, -0.28886500000953674, 0.41050800681114197, -0.10919977724552155, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.3241238594055176, -1.5172630548477173, 1.126819372177124, -0.3896828889846802, -0.40191614627838135, -0.3342928886413574, 0.9634705781936646, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6841169595718384, 1.604565143585205, -0.558393120765686, 0.010161015205085278, 0.021664051339030266, 1.3526332378387451, -1.4025075435638428, -1.3598895072937012, -1.5450637340545654, -0.28910455107688904, 0.4087289273738861, -0.10669651627540588, 0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.3241303265094757, -1.517258644104004, 1.1268208026885986, -0.38968324661254883, -0.40191590785980225, -0.33429431915283203, 0.9634714126586914, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6844045519828796, 1.605427861213684, -0.557530403137207, 0.01006515696644783, 0.022430920973420143, 1.370923638343811, -1.4025386571884155, -1.3825753927230835, -1.5708447694778442, -0.3069259524345398, 0.39746400713920593, -0.0901382714509964, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.3241249620914459, -1.517238736152649, 1.1269937753677368, -0.38970255851745605, -0.40162625908851624, -0.3342975676059723, 0.9634588360786438, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6849796772003174, 1.605811357498169, -0.555804967880249, 0.010161015205085278, 0.02358122542500496, 1.3882405757904053, -1.40251624584198, -1.4002609252929688, -1.5935618877410889, -0.3177300989627838, 0.4029158651828766, -0.08302754908800125, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.32408571243286133, -1.5172432661056519, 1.1273716688156128, -0.390167772769928, -0.400740385055542, -0.33431577682495117, 0.9630208015441895, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6850755214691162, 1.605811357498169, -0.5539836287498474, 0.010161015205085278, 0.024252235889434814, 1.399100661277771, -1.4016027450561523, -1.4178045988082886, -1.594105839729309, -0.308407187461853, 0.41006171703338623, -0.08734750002622604, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.32406607270240784, -1.5173356533050537, 1.127357840538025, -0.39021775126457214, -0.4008006453514099, -0.3343479037284851, 0.9630407094955444, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6838293671607971, 1.605523705482483, -0.5530250668525696, 0.010640309192240238, 0.024348093196749687, 1.401914358139038, -1.4000022411346436, -1.4497277736663818, -1.5762219429016113, -0.3014112710952759, 0.40445777773857117, -0.09504005312919617, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.32406753301620483, -1.5173736810684204, 1.1270692348480225, -0.39018958806991577, -0.40146148204803467, -0.3343527913093567, 0.9632591605186462, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453451749386, 0.009694212548269469, -0.00391521468656691, 0.049867648631334305], [-0.009703670821380805, 0.9999500284193776, -0.00240404589724259, 0.14060790836811066], [0.0038917137051968816, 0.0024419064590481174, 0.9999894457729451, -0.007803068961948156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6809536218643188, 1.604085922241211, -0.5526416301727295, 0.011886470951139927, 0.023293649777770042, 1.4057224988937378, -1.3987442255020142, -1.479567289352417, -1.5711134672164917, -0.3266299366950989, 0.39774611592292786, -0.09087110310792923, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.3241046369075775, -1.5174181461334229, 1.1267634630203247, -0.3897869288921356, -0.4018199145793915, -0.334350049495697, 0.9634486436843872, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449498130641, 0.009732658104287617, -0.003920804709953819, 0.04996649920940399], [-0.00974207639574768, 0.9999496880889194, -0.0023902381413341586, 0.14060135185718536], [0.0038973440761584546, 0.002428303337294834, 0.9999894569704493, -0.007805353030562401], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6776944398880005, 1.6015936136245728, -0.5532167553901672, 0.012845057062804699, 0.02137647569179535, 1.414579153060913, -1.3946356773376465, -1.4997152090072632, -1.5767662525177002, -0.3348713517189026, 0.4048488140106201, -0.10260605812072754, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.3241294026374817, -1.5174247026443481, 1.1267520189285278, -0.3897424638271332, -0.40188679099082947, -0.3343440592288971, 0.9634733200073242, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450879563228, 0.009721454390468995, -0.003913361286156333, 0.049757737666368484], [-0.009730845116257672, 0.9999498032439557, -0.0023878119058739393, 0.14060206711292267], [0.003889951843578566, 0.002425761098801817, 0.9999894919236633, -0.0078053949400782585], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6747227907180786, 1.5991971492767334, -0.5547505021095276, 0.01332435104995966, 0.01917172782123089, 1.4163858890533447, -1.3899668455123901, -1.5023503303527832, -1.5747082233428955, -0.3142595589160919, 0.40997517108917236, -0.14434027671813965, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.3241461217403412, -1.5173976421356201, 1.1267534494400024, -0.3897375464439392, -0.40190091729164124, -0.33434057235717773, 0.9634753465652466, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455687319816, 0.009669321519699228, -0.003919667667348726, 0.04984147474169731], [-0.009678718470937923, 0.9999503145531575, -0.0023855468558695594, 0.1406046599149704], [0.003896406297359489, 0.0024233543673811836, 0.9999894726303752, -0.007805970963090658], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6728056073188782, 1.5983343124389648, -0.5559008121490479, 0.013707784935832024, 0.0179255660623312, 1.4160082340240479, -1.3888407945632935, -1.5012953281402588, -1.573989748954773, -0.31271660327911377, 0.4099264144897461, -0.14014747738838196, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.32414621114730835, -1.5172349214553833, 1.1267567873001099, -0.389739453792572, -0.40190523862838745, -0.3343341052532196, 0.9634732007980347, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451612208677, 0.009711591982879533, -0.003919123898385526, 0.04983820766210556], [-0.009721051694434261, 0.999949864653419, -0.002401943705254398, 0.140604168176651], [0.0038956007145193095, 0.002439909991607156, 0.9999894355113488, -0.0078034852631390095], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6718470454216003, 1.5978550910949707, -0.5563800930976868, 0.013899502344429493, 0.017254555597901344, 1.4110604524612427, -1.3888335227966309, -1.501286268234253, -1.5662870407104492, -0.32459428906440735, 0.4095418453216553, -0.10225456207990646, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.324151873588562, -1.517236351966858, 1.1267600059509277, -0.3897400498390198, -0.4019044041633606, -0.3343283534049988, 0.9634708166122437, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452754251019, 0.009697905561034807, -0.003923873436586263, 0.049793094396591187], [-0.009707152166080599, 0.9999501363515044, -0.0023443565070933505, 0.14060086011886597], [0.003900942429933292, 0.0023823178497094743, 0.9999895535503465, -0.007811492308974266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6715594530105591, 1.5966088771820068, -0.5569552779197693, 0.014474654570221901, 0.01610425114631653, 1.3963799476623535, -1.3887203931808472, -1.507726788520813, -1.536758542060852, -0.3492666780948639, 0.4020353853702545, -0.06674206256866455, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.32418206334114075, -1.5172686576843262, 1.1267622709274292, -0.3897427022457123, -0.40190380811691284, -0.33432716131210327, 0.9634695053100586, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454354625728, 0.009689636126752828, -0.0039034663181408387, 0.04982840269804001], [-0.009698866150394248, 0.9999501973433845, -0.002352621585185354, 0.14060534536838531], [0.0038804758680437957, 0.002390352412819037, 0.9999896140072556, -0.007811390794813633], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6707925796508789, 1.595650315284729, -0.5579138398170471, 0.015145665034651756, 0.015241523273289204, 1.3862775564193726, -1.3873659372329712, -1.5193418264389038, -1.5228734016418457, -0.37842288613319397, 0.4075433313846588, -0.05635138228535652, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.3245258331298828, -1.5172851085662842, 1.126768708229065, -0.38975024223327637, -0.40189841389656067, -0.33432537317276, 0.9634671807289124, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452989119574, 0.009695637655417302, -0.003923492618960802, 0.049856312572956085], [-0.009704853335587068, 0.9999501766708838, -0.002336663776199661, 0.14060300588607788], [0.0039006416922001915, 0.002374612878578986, 0.9999895730496723, -0.007811687421053648], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6701216101646423, 1.5950751304626465, -0.5587765574455261, 0.01572081632912159, 0.01466637197881937, 1.375931739807129, -1.3846591711044312, -1.525426983833313, -1.5121486186981201, -0.3964187502861023, 0.4160432815551758, -0.05172104015946388, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.32452392578125, -1.51728355884552, 1.1267756223678589, -0.38975274562835693, -0.4018889367580414, -0.3343265652656555, 0.9634668231010437, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451176792615, 0.009712195906151688, -0.003928724995247868, 0.04983535036444664], [-0.009721348945140772, 0.9999500612119308, -0.0023174246358100975, 0.14060308039188385], [0.0039060215174222188, 0.0023554899567562486, 0.9999895972773762, -0.007815427146852016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6698340177536011, 1.5945959091186523, -0.5603103041648865, 0.016391826793551445, 0.014474654570221901, 1.357148289680481, -1.3819336891174316, -1.5255354642868042, -1.4835962057113647, -0.4156724810600281, 0.4185468852519989, -0.04127199202775955, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.32451507449150085, -1.5172817707061768, 1.1267837285995483, -0.38975539803504944, -0.40187913179397583, -0.3343270421028137, 0.9634663462638855, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453500136174, 0.009694207996251545, -0.003913989968009376, 0.04982755705714226], [-0.009703285351251227, 0.999950260955962, -0.0023069173144563537, 0.14060254395008087], [0.003891431553613499, 0.002344769802978062, 0.9999896793542594, -0.007816560566425323], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6697381734848022, 1.5945959091186523, -0.561748206615448, 0.0170628372579813, 0.01466637197881937, 1.3350998163223267, -1.3820481300354004, -1.5314509868621826, -1.4605213403701782, -0.4571111798286438, 0.42083480954170227, -0.014817655086517334, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.324501097202301, -1.5172805786132812, 1.1267930269241333, -0.3897676169872284, -0.40186235308647156, -0.3343273997306824, 0.9634669423103333, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945228147822, 0.00970623480473562, -0.003915317396519891, 0.049862172454595566], [-0.00971532049692958, 0.9999501410350751, -0.002308244262535767, 0.1406063288450241], [0.0038927178220482922, 0.002346156399076623, 0.9999896710957114, -0.007816595956683159], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6699298620223999, 1.5950751304626465, -0.5629943609237671, 0.017637988552451134, 0.01466637197881937, 1.3342067003250122, -1.3822696208953857, -1.5450506210327148, -1.4792567491531372, -0.47411081194877625, 0.4136912524700165, 0.0037841389421373606, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3243131935596466, -1.517278790473938, 1.1268024444580078, -0.38977935910224915, -0.40185216069221497, -0.33432823419570923, 0.9634676575660706, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945228147822, 0.00970623480473562, -0.003915317396519891, 0.049862172454595566], [-0.00971532049692958, 0.9999501410350751, -0.002308244262535767, 0.1406063288450241], [0.0038927178220482922, 0.002346156399076623, 0.9999896710957114, -0.007816595956683159], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.671176016330719, 1.596513032913208, -0.5637612342834473, 0.018021423369646072, 0.01466637197881937, 1.3419586420059204, -1.3812916278839111, -1.550970435142517, -1.5071684122085571, -0.4856199622154236, 0.4009564518928528, 0.00901033915579319, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3242764472961426, -1.517279863357544, 1.1268138885498047, -0.38979998230934143, -0.4018324911594391, -0.33432918787002563, 0.9634679555892944, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454348410183, 0.009683479021973779, -0.003918874154379942, 0.04976900666952133], [-0.009692593729445701, 0.999950349258962, -0.0023135781110152622, 0.1406048685312271], [0.003896276094270428, 0.0023514359253130478, 0.9999896448372285, -0.007815217599272728], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6729973554611206, 1.5984302759170532, -0.5639529228210449, 0.01830899901688099, 0.014762230217456818, 1.3525859117507935, -1.3795902729034424, -1.5535250902175903, -1.5262031555175781, -0.5019294023513794, 0.39432042837142944, 0.018627680838108063, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3241240382194519, -1.5172746181488037, 1.1270302534103394, -0.3898300528526306, -0.4017869532108307, -0.3343300223350525, 0.9634686708450317, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456220887606, 0.009669848021874889, -0.0039047285123756273, 0.04981548711657524], [-0.009678942830183921, 0.9999504734754995, -0.002317037292404952, 0.14060232043266296], [0.0038821297262647187, 0.0023547049407954003, 0.9999896921635893, -0.007814768701791763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6750103831291199, 1.5999640226364136, -0.5636653304100037, 0.01878829300403595, 0.016295967623591423, 1.3611252307891846, -1.3766223192214966, -1.556748390197754, -1.540950059890747, -0.5136386156082153, 0.392249196767807, 0.029647894203662872, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32394054532051086, -1.5172597169876099, 1.1270358562469482, -0.389839768409729, -0.4017314612865448, -0.33433255553245544, 0.9634711742401123, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452170544865, 0.009706401158301754, -0.003917737409546374, 0.049847107380628586], [-0.00971546525066242, 0.9999501557697784, -0.002301241177928052, 0.1406029760837555], [0.0038952053629060126, 0.0023391777508216557, 0.999989677758041, -0.00781790167093277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6769275665283203, 1.6013059616088867, -0.5628026127815247, 0.01888415217399597, 0.01830899901688099, 1.3607420921325684, -1.3747154474258423, -1.556930661201477, -1.5403438806533813, -0.533769965171814, 0.3877214193344116, 0.060280051082372665, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32394522428512573, -1.517256259918213, 1.1270331144332886, -0.38984397053718567, -0.401699960231781, -0.33433303236961365, 0.9634716510772705, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6788447499275208, 1.602360486984253, -0.5614606142044067, 0.019363444298505783, 0.02099304087460041, 1.353500247001648, -1.3742589950561523, -1.5574456453323364, -1.528648018836975, -0.5504422783851624, 0.3879851996898651, 0.06870628148317337, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3239572048187256, -1.5172561407089233, 1.1270166635513306, -0.3898443281650543, -0.4017004370689392, -0.33433255553245544, 0.9634720087051392, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6806660294532776, 1.6031272411346436, -0.5601186156272888, 0.019938597455620766, 0.023006072267889977, 1.3582313060760498, -1.3719134330749512, -1.5597970485687256, -1.5495729446411133, -0.5661769509315491, 0.3881269693374634, 0.058440472930669785, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32398757338523865, -1.5172622203826904, 1.1269779205322266, -0.3898423910140991, -0.40171098709106445, -0.33433207869529724, 0.963471531867981, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6826790571212769, 1.603798270225525, -0.5593517422676086, 0.02060960792005062, 0.023964660242199898, 1.3726415634155273, -1.3679699897766113, -1.5642777681350708, -1.591443419456482, -0.5893297791481018, 0.38521769642829895, 0.05608665198087692, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3240983784198761, -1.517313003540039, 1.1267808675765991, -0.38984084129333496, -0.4017336368560791, -0.3343300223350525, 0.9634712934494019, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6849796772003174, 1.6047569513320923, -0.5586807131767273, 0.02099304087460041, 0.023868801072239876, 1.381742000579834, -1.3665833473205566, -1.5654700994491577, -1.6083626747131348, -0.6003453135490417, 0.37411168217658997, 0.06053927168250084, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32410693168640137, -1.5173238515853882, 1.126754879951477, -0.38984251022338867, -0.40176695585250854, -0.3343302607536316, 0.9634716510772705, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6870885491371155, 1.6059072017669678, -0.5577221512794495, 0.02099304087460041, 0.02358122542500496, 1.3845934867858887, -1.3662914037704468, -1.5681036710739136, -1.6106315851211548, -0.617595911026001, 0.3622771203517914, 0.06608472764492035, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32413917779922485, -1.5173370838165283, 1.1267551183700562, -0.3898423910140991, -0.4018118977546692, -0.3343310058116913, 0.963472843170166, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6891015768051147, 1.6071534156799316, -0.5570511221885681, 0.02099304087460041, 0.02319779060781002, 1.3973654508590698, -1.3612929582595825, -1.5690960884094238, -1.6282339096069336, -0.6177150011062622, 0.36362895369529724, 0.01759631745517254, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32436898350715637, -1.517338514328003, 1.126756191253662, -0.3898388147354126, -0.40189218521118164, -0.33432966470718384, 0.963473916053772, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6914021968841553, 1.6079202890396118, -0.5567635297775269, 0.020897183567285538, 0.023389507085084915, 1.405271053314209, -1.3580683469772339, -1.5566673278808594, -1.6425764560699463, -0.6182393431663513, 0.366635799407959, 0.010401228442788124, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.324562668800354, -1.5173286199569702, 1.1267558336257935, -0.38983556628227234, -0.40196192264556885, -0.33433112502098083, 0.9634841084480286, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6929359436035156, 1.6090705394744873, -0.5564759373664856, 0.020705465227365494, 0.02358122542500496, 1.4188761711120605, -1.3564800024032593, -1.5426034927368164, -1.6636109352111816, -0.6265664100646973, 0.3710459768772125, -0.017635146155953407, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3245597183704376, -1.5172860622406006, 1.1267549991607666, -0.3898250162601471, -0.40230241417884827, -0.3343302607536316, 0.9637892246246338, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453794694428, 0.00969086554155656, -0.003914741724236804, 0.04985341802239418], [-0.009699976496101815, 0.9999502741448769, -0.002315101198751761, 0.140607088804245], [0.00389211172592478, 0.002352947649409398, 0.9999896574983523, -0.007815707474946976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6939904093742371, 1.6100291013717651, -0.5563800930976868, 0.020417889580130577, 0.023677082732319832, 1.4291177988052368, -1.3563576936721802, -1.5297414064407349, -1.6778126955032349, -0.6340617537498474, 0.375209778547287, -0.032972078770399094, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3245590329170227, -1.5172834396362305, 1.1267465353012085, -0.38980117440223694, -0.4023081660270691, -0.33433064818382263, 0.9638187289237976, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454304836214, 0.009686510941743953, -0.003912487789193521, 0.04987041652202606], [-0.009695593028812916, 0.9999503306507904, -0.002309048980528138, 0.14060233533382416], [0.0038899268302563334, 0.0023468568661761968, 0.9999896803128044, -0.007817355915904045], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6946613788604736, 1.61041259765625, -0.556667685508728, 0.019555162638425827, 0.023293649777770042, 1.4303306341171265, -1.3565195798873901, -1.5207951068878174, -1.682905912399292, -0.6607071161270142, 0.38312873244285583, -0.03362174332141876, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3245578706264496, -1.5172533988952637, 1.126717448234558, -0.38974234461784363, -0.4023067057132721, -0.3343312442302704, 0.9638256430625916, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453496935842, 0.009696831850017313, -0.0039075667938175025, 0.04987194761633873], [-0.009705899149157857, 0.9999502326235294, -0.0023082022995801104, 0.14060385525226593], [0.0038849900748949393, 0.0023460026048365596, 0.9999897015089185, -0.007816853001713753], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6947572827339172, 1.6107001304626465, -0.5572428107261658, 0.019075868651270866, 0.021759910508990288, 1.4383679628372192, -1.3565716743469238, -1.5067533254623413, -1.6983997821807861, -0.6622912883758545, 0.3848998546600342, -0.05506068095564842, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3245560824871063, -1.5172630548477173, 1.126673698425293, -0.38972675800323486, -0.40230241417884827, -0.33433207869529724, 0.9638451933860779, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453575677159, 0.009696585594387404, -0.003906162641721128, 0.04987393692135811], [-0.009705613686937566, 0.999950256695893, -0.0022989555840819288, 0.1406034231185913], [0.0038836763166862037, 0.0023367416691559943, 0.9999897282955654, -0.007818974554538727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6946613788604736, 1.6107001304626465, -0.558009684085846, 0.01840485818684101, 0.019746879115700722, 1.4493356943130493, -1.3565620183944702, -1.4943426847457886, -1.7206557989120483, -0.6609634160995483, 0.3766489624977112, -0.09323439002037048, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3245459794998169, -1.5172723531723022, 1.1266683340072632, -0.38971561193466187, -0.4022839367389679, -0.33433231711387634, 0.9638686776161194, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452326265147, 0.009705460540987365, -0.003916092847831665, 0.04983631893992424], [-0.00971448030568695, 0.9999501892084286, -0.002290845786648161, 0.14060258865356445], [0.003893664070759246, 0.002328763129886868, 0.9999897080682325, -0.00781980250030756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6942779421806335, 1.6107001304626465, -0.5582014322280884, 0.017637988552451134, 0.018021423369646072, 1.4637689590454102, -1.3560343980789185, -1.4957966804504395, -1.7463573217391968, -0.6782613396644592, 0.36800798773765564, -0.12428468465805054, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32453611493110657, -1.5172512531280518, 1.1266692876815796, -0.3897111713886261, -0.4022369682788849, -0.334332674741745, 0.9638713002204895, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454004904132, 0.009689167065531324, -0.003913576323936389, 0.049853041768074036], [-0.00969816177783095, 0.9999503588488542, -0.0022859344213434045, 0.14060690999031067], [0.003891233248993328, 0.002323764106764475, 0.9999897291593439, -0.007819952443242073], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6935111284255981, 1.6107001304626465, -0.5582972764968872, 0.0170628372579813, 0.016871120780706406, 1.475848913192749, -1.3529409170150757, -1.5021274089813232, -1.7576282024383545, -0.6809424757957458, 0.368429958820343, -0.1677388846874237, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32451796531677246, -1.517238974571228, 1.1266727447509766, -0.38971129059791565, -0.4021416902542114, -0.33433112502098083, 0.9638676047325134, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454781081724, 0.009682177736957788, -0.003911041458314015, 0.04987874627113342], [-0.009691130274713744, 0.9999504482861277, -0.0022766129163336738, 0.1406078338623047], [0.0038888050886125326, 0.0023143912033728436, 0.9999897603417449, -0.00782076921314001], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.692744255065918, 1.6105084419250488, -0.5582972764968872, 0.016487685963511467, 0.01620011031627655, 1.4854015111923218, -1.3449920415878296, -1.5030800104141235, -1.7557770013809204, -0.6604331135749817, 0.3792707622051239, -0.224213108420372, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3245042562484741, -1.5172208547592163, 1.1266804933547974, -0.38971129059791565, -0.4021138846874237, -0.33432871103286743, 0.9638537168502808, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6919773817062378, 1.6097415685653687, -0.558393120765686, 0.015433240681886673, 0.016008391976356506, 1.4854960441589355, -1.3387268781661987, -1.4914242029190063, -1.7322207689285278, -0.6108293533325195, 0.38023728132247925, -0.2604234516620636, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32449260354042053, -1.5172199010849, 1.1266920566558838, -0.3897121250629425, -0.40209853649139404, -0.3343270421028137, 0.9637842178344727, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6913063526153564, 1.609262228012085, -0.5582972764968872, 0.014570512808859348, 0.016008391976356506, 1.4752577543258667, -1.3352599143981934, -1.485190510749817, -1.7166390419006348, -0.5634106397628784, 0.41742709279060364, -0.25018566846847534, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3242768943309784, -1.5172162055969238, 1.1267091035842896, -0.38971248269081116, -0.40209147334098816, -0.3343234360218048, 0.9636602997779846, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6904436349868774, 1.6088788509368896, -0.558393120765686, 0.013995361514389515, 0.016008391976356506, 1.4702633619308472, -1.3352559804916382, -1.4851856231689453, -1.7171258926391602, -0.5588971376419067, 0.4343084394931793, -0.24012324213981628, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32427406311035156, -1.5172274112701416, 1.126718282699585, -0.389714777469635, -0.4020848870277405, -0.33431875705718994, 0.9635828733444214, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6903477907180786, 1.6084953546524048, -0.558393120765686, 0.013516068458557129, 0.016295967623591423, 1.4698846340179443, -1.3352735042572021, -1.485300064086914, -1.717687964439392, -0.5643665194511414, 0.42447537183761597, -0.24259869754314423, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32427430152893066, -1.5172317028045654, 1.1267279386520386, -0.389717161655426, -0.40208297967910767, -0.3343151807785034, 0.9634941816329956, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6903477907180786, 1.608399510383606, -0.5582972764968872, 0.01313263364136219, 0.016487685963511467, 1.4681025743484497, -1.3358556032180786, -1.4757424592971802, -1.7210545539855957, -0.5859984159469604, 0.40127032995224, -0.26523616909980774, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32427436113357544, -1.5172420740127563, 1.126739501953125, -0.3897189497947693, -0.40208345651626587, -0.3343154191970825, 0.9634745121002197, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.690251886844635, 1.6083036661148071, -0.5582014322280884, 0.012461623176932335, 0.01610425114631653, 1.4633424282073975, -1.339650273323059, -1.4442239999771118, -1.743910551071167, -0.607210099697113, 0.38537096977233887, -0.2717788517475128, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32427483797073364, -1.517296314239502, 1.1267473697662354, -0.38972243666648865, -0.40208595991134644, -0.3343164920806885, 0.9634745121002197, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.690251886844635, 1.6082078218460083, -0.5579138398170471, 0.01179061271250248, 0.015241523273289204, 1.4505804777145386, -1.346881628036499, -1.4187558889389038, -1.7593927383422852, -0.6314138174057007, 0.37553298473358154, -0.2645849585533142, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32427555322647095, -1.5173249244689941, 1.1267547607421875, -0.38972926139831543, -0.4020863175392151, -0.33431780338287354, 0.9634784460067749, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.690251886844635, 1.6079202890396118, -0.5572428107261658, 0.011119602248072624, 0.013516068458557129, 1.4401224851608276, -1.3500694036483765, -1.3989583253860474, -1.7602845430374146, -0.6344820261001587, 0.3755419850349426, -0.2564529478549957, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3242762088775635, -1.5173364877700806, 1.1267563104629517, -0.389733225107193, -0.402086079120636, -0.3343183994293213, 0.9634944200515747, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.690251886844635, 1.607536792755127, -0.5564759373664856, 0.010832025669515133, 0.010927884839475155, 1.4337713718414307, -1.3510774374008179, -1.3750890493392944, -1.7283692359924316, -0.6064765453338623, 0.37291085720062256, -0.2678293287754059, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.3242756128311157, -1.5173500776290894, 1.1267563104629517, -0.3897498846054077, -0.40208813548088074, -0.3343203365802765, 0.9635201692581177, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.690251886844635, 1.607536792755127, -0.5559966564178467, 0.010736167430877686, 0.008052125573158264, 1.4341899156570435, -1.3511404991149902, -1.3595974445343018, -1.6883130073547363, -0.568777322769165, 0.36135411262512207, -0.2878149449825287, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32427993416786194, -1.517347812652588, 1.1267545223236084, -0.3897519111633301, -0.4020991623401642, -0.3343208134174347, 0.9636200070381165, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6901560425758362, 1.607536792755127, -0.5559008121490479, 0.010832025669515133, 0.0054639424197375774, 1.433071255683899, -1.351272463798523, -1.351719617843628, -1.655946969985962, -0.5453677773475647, 0.3599066436290741, -0.30202510952949524, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.32428407669067383, -1.5173399448394775, 1.1267532110214233, -0.38975095748901367, -0.4021186828613281, -0.33432069420814514, 0.9636878371238708, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6900601983070374, 1.607536792755127, -0.5559008121490479, 0.010927884839475155, 0.003163335146382451, 1.4286555051803589, -1.3513630628585815, -1.3523563146591187, -1.6409858465194702, -0.5391436815261841, 0.358081579208374, -0.3083387613296509, 0.09659998600299546, -0.09659998600299546, 0.09659998600299546, 0.09659998600299546, -0.09659998600299546, -0.09659998600299546, 0.09659998600299546, 0.09659998600299546, -0.3242921233177185, -1.5173166990280151, 1.1267516613006592, -0.38974928855895996, -0.4021393060684204, -0.33431923389434814, 0.9636965990066528, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6896767616271973, 1.607536792755127, -0.5559008121490479, 0.011311319656670094, 0.001629596808925271, 1.4221532344818115, -1.3517401218414307, -1.3770965337753296, -1.6414259672164917, -0.5366435050964355, 0.3585473895072937, -0.31625938415527344, 0.508800000672812, -0.508800000672812, 0.508800000672812, 0.508800000672812, -0.508800000672812, -0.508800000672812, 0.508800000672812, 0.508800000672812, -0.32429221272468567, -1.5172967910766602, 1.1267521381378174, -0.38974976539611816, -0.40214216709136963, -0.3343169689178467, 0.9636940956115723, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6891015768051147, 1.607536792755127, -0.5559008121490479, 0.011886470951139927, 0.0, 1.4217699766159058, -1.3458632230758667, -1.4217625856399536, -1.669679880142212, -0.5182677507400513, 0.3762931525707245, -0.35016322135925293, 0.5748000003151841, -0.5748000003151841, 0.5748000003151841, 0.5748000003151841, -0.5748000003151841, -0.5748000003151841, 0.5748000003151841, 0.5748000003151841, -0.32429322600364685, -1.5172532796859741, 1.1267532110214233, -0.3897501230239868, -0.4021380841732025, -0.3343162536621094, 0.9636885523796082, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.6070574522018433, -0.5559008121490479, 0.012845057062804699, 0.0, 1.4225090742111206, -1.3307814598083496, -1.4689637422561646, -1.6934583187103271, -0.457875519990921, 0.38620278239250183, -0.42344534397125244, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.32430300116539, -1.5172441005706787, 1.1267536878585815, -0.38974976539611816, -0.40213149785995483, -0.3343149423599243, 0.9636733531951904, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6879513263702393, 1.6063865423202515, -0.5560925006866455, 0.014474654570221901, -0.0019171728054061532, 1.4196348190307617, -1.3122810125350952, -1.5138880014419556, -1.6907219886779785, -0.3546040952205658, 0.36605754494667053, -0.5184892416000366, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.3243032693862915, -1.5172457695007324, 1.1267547607421875, -0.3897498846054077, -0.4021174907684326, -0.3343132436275482, 0.9636477828025818, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6875678896903992, 1.605811357498169, -0.5560925006866455, 0.016295967623591423, -0.0030674764420837164, 1.4014321565628052, -1.3002489805221558, -1.5389574766159058, -1.6651053428649902, -0.25432297587394714, 0.30689743161201477, -0.5979655981063843, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.32430335879325867, -1.5172432661056519, 1.1267573833465576, -0.38974976539611816, -0.4021029770374298, -0.3343118131160736, 0.9636245369911194, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6874719858169556, 1.6053320169448853, -0.5560925006866455, 0.01754213124513626, -0.003642628202214837, 1.3880528211593628, -1.2981140613555908, -1.5490435361862183, -1.6554604768753052, -0.21045929193496704, 0.27579453587532043, -0.6479253172874451, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.3243047595024109, -1.517244577407837, 1.126761555671692, -0.3897498846054077, -0.40209218859672546, -0.334310382604599, 0.9635883569717407, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6878554224967957, 1.6052361726760864, -0.5560925006866455, 0.017637988552451134, -0.004313638899475336, 1.3862837553024292, -1.2981725931167603, -1.5487871170043945, -1.6554591655731201, -0.21525298058986664, 0.2773783504962921, -0.6479121446609497, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.3243078589439392, -1.5172189474105835, 1.1267743110656738, -0.3897486925125122, -0.4020833373069763, -0.334310382604599, 0.9634794592857361, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6881430149078369, 1.6051403284072876, -0.5560925006866455, 0.017733847722411156, -0.004505355842411518, 1.3868820667266846, -1.2983393669128418, -1.5481737852096558, -1.655524492263794, -0.21932604908943176, 0.2796750068664551, -0.6424746513366699, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.3243114948272705, -1.517223834991455, 1.1267781257629395, -0.38974809646606445, -0.4020731449127197, -0.33431312441825867, 0.9634780883789062, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6884306073188782, 1.6050444841384888, -0.5560925006866455, 0.017733847722411156, -0.004697073251008987, 1.388179898262024, -1.2985787391662598, -1.5479450225830078, -1.6555507183074951, -0.2194291204214096, 0.279947429895401, -0.6421365737915039, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.3243132531642914, -1.5172276496887207, 1.1267789602279663, -0.3897484540939331, -0.40206414461135864, -0.3343113362789154, 0.9634801745414734, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.60494863986969, -0.5559966564178467, 0.017829706892371178, -0.004697073251008987, 1.3882087469100952, -1.2986066341400146, -1.5478453636169434, -1.6555678844451904, -0.21945859491825104, 0.27995988726615906, -0.6421395540237427, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.3243153989315033, -1.517228603363037, 1.1267788410186768, -0.3897479772567749, -0.4020579159259796, -0.3343125283718109, 0.9634866118431091, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.60494863986969, -0.5559966564178467, 0.017829706892371178, -0.004697073251008987, 1.3882067203521729, -1.2986077070236206, -1.547831416130066, -1.655580759048462, -0.21950054168701172, 0.27996107935905457, -0.642143189907074, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.3243170380592346, -1.517229676246643, 1.1267783641815186, -0.389748215675354, -0.4020574390888214, -0.33431386947631836, 0.9634991884231567, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.60494863986969, -0.5559966564178467, 0.017829706892371178, -0.004697073251008987, 1.3882040977478027, -1.2986077070236206, -1.5478227138519287, -1.6555863618850708, -0.21953243017196655, 0.27996107935905457, -0.6421456933021545, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.3243202269077301, -1.5172291994094849, 1.12677800655365, -0.389748215675354, -0.40205827355384827, -0.33431312441825867, 0.9635132551193237, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.60494863986969, -0.5559966564178467, 0.017829706892371178, -0.004792931955307722, 1.388200283050537, -1.2986068725585938, -1.5478124618530273, -1.6555904150009155, -0.21956825256347656, 0.27996084094047546, -0.6421484351158142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3243233859539032, -1.5172290802001953, 1.1267768144607544, -0.3897484540939331, -0.40206068754196167, -0.33431360125541687, 0.963532030582428, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6887181997299194, 1.60494863986969, -0.5559966564178467, 0.017829706892371178, -0.004601214546710253, 1.3824902772903442, -1.2981199026107788, -1.547736644744873, -1.6534950733184814, -0.21278375387191772, 0.2777349054813385, -0.6511222124099731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3243273198604584, -1.5172295570373535, 1.1267749071121216, -0.3897486925125122, -0.4020649790763855, -0.33431240916252136, 0.9635471701622009, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6887181997299194, 1.604565143585205, -0.5561884045600891, 0.017829706892371178, -0.003642628202214837, 1.353042483329773, -1.293078064918518, -1.551703691482544, -1.6351523399353027, -0.15081703662872314, 0.25940993428230286, -0.7122657299041748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3244013786315918, -1.5172103643417358, 1.1267728805541992, -0.38974544405937195, -0.4020814001560211, -0.334310382604599, 0.9635934233665466, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.6034148931503296, -0.5576262474060059, 0.017637988552451134, -0.0030674764420837164, 1.2977813482284546, -1.2825714349746704, -1.550267219543457, -1.5926237106323242, -0.07718871533870697, 0.22439071536064148, -0.8097980618476868, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3246241807937622, -1.5172200202941895, 1.1267660856246948, -0.3897400498390198, -0.40210598707199097, -0.33430665731430054, 0.9636979103088379, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6884306073188782, 1.6025521755218506, -0.5593517422676086, 0.01696697808802128, -0.0030674764420837164, 1.2241579294204712, -1.2750335931777954, -1.538975477218628, -1.527320146560669, -0.022327089682221413, 0.20235291123390198, -0.8922255635261536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32461854815483093, -1.5172302722930908, 1.126762866973877, -0.3897398114204407, -0.40211352705955505, -0.33430343866348267, 0.9636942148208618, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6878554224967957, 1.602072834968567, -0.5605978965759277, 0.01572081632912159, -0.004026062786579132, 1.1470822095870972, -1.2746477127075195, -1.5183387994766235, -1.4470078945159912, 0.028551695868372917, 0.1664116233587265, -0.9428744912147522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3246004581451416, -1.517310380935669, 1.126761555671692, -0.3897427022457123, -0.40211543440818787, -0.33430415391921997, 0.963685929775238, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6869927048683167, 1.601114273071289, -0.561748206615448, 0.014282937161624432, -0.005559801124036312, 1.084365963935852, -1.2746171951293945, -1.5071109533309937, -1.3900738954544067, 0.08390036225318909, 0.14692576229572296, -0.9982256293296814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3245936930179596, -1.517322063446045, 1.1267595291137695, -0.3897402882575989, -0.40211689472198486, -0.3343037962913513, 0.963675856590271, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.68593829870224, 1.599388837814331, -0.5628985166549683, 0.012940916232764721, -0.00853141862899065, 1.0446316003799438, -1.2743128538131714, -1.5045992136001587, -1.3466308116912842, 0.11590878665447235, 0.14112430810928345, -1.0484627485275269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32456377148628235, -1.5173373222351074, 1.126755714416504, -0.3897421061992645, -0.4021162986755371, -0.3343047499656677, 0.963657021522522, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6845962405204773, 1.5980467796325684, -0.5641446709632874, 0.011886470951139927, -0.011503036133944988, 1.0406417846679688, -1.2743011713027954, -1.5051336288452148, -1.3386629819869995, 0.11140559613704681, 0.14103983342647552, -1.0486499071121216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32443487644195557, -1.5173357725143433, 1.1267554759979248, -0.3897422254085541, -0.402114599943161, -0.33430713415145874, 0.9636428952217102, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6836376786231995, 1.597375750541687, -0.5647197961807251, 0.011311319656670094, -0.01332435104995966, 1.0446176528930664, -1.274383783340454, -1.5054510831832886, -1.341952919960022, 0.10900946706533432, 0.14126788079738617, -1.0445735454559326, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32410016655921936, -1.5173137187957764, 1.126757264137268, -0.38974329829216003, -0.40211114287376404, -0.33430859446525574, 0.963626503944397, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.683445930480957, 1.597375750541687, -0.5650073885917664, 0.010927884839475155, -0.013803644105792046, 1.063712477684021, -1.2745120525360107, -1.4805830717086792, -1.3738117218017578, 0.14214585721492767, 0.1416473090648651, -1.0258071422576904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32406845688819885, -1.517227292060852, 1.1267586946487427, -0.3897450864315033, -0.402107298374176, -0.33430954813957214, 0.9634534120559692, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.684308648109436, 1.5977592468261719, -0.5651032328605652, 0.010927884839475155, -0.012845057062804699, 1.0523638725280762, -1.2761445045471191, -1.4655040502548218, -1.35503351688385, 0.15621724724769592, 0.1468999981880188, -1.0145034790039062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32407721877098083, -1.5169708728790283, 1.1267646551132202, -0.38974353671073914, -0.40210452675819397, -0.33430954813957214, 0.9634160399436951, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6869927048683167, 1.5998680591583252, -0.5648156404495239, 0.011982330121099949, -0.00853141862899065, 1.0206801891326904, -1.2770004272460938, -1.4741301536560059, -1.3087290525436401, 0.1592172533273697, 0.14040201902389526, -1.013863205909729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3240746259689331, -1.5169727802276611, 1.126778244972229, -0.3897455632686615, -0.4021008312702179, -0.3343122899532318, 0.9634218811988831, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6900601983070374, 1.6025521755218506, -0.5637612342834473, 0.013899502344429493, -0.002875759033486247, 0.9864201545715332, -1.2769017219543457, -1.4805203676223755, -1.2657053470611572, 0.16586706042289734, 0.12009967118501663, -1.0161083936691284, 0.5448000009243305, -0.5448000009243305, 0.5448000009243305, 0.5448000009243305, -0.5448000009243305, -0.5448000009243305, 0.5448000009243305, 0.5448000009243305, -0.32407575845718384, -1.5170615911483765, 1.1267870664596558, -0.38975250720977783, -0.40208739042282104, -0.3343151807785034, 0.9634408354759216, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6928400993347168, 1.60494863986969, -0.5622274875640869, 0.015529099851846695, 0.002013031393289566, 0.9576927423477173, -1.2768244743347168, -1.485348105430603, -1.239885687828064, 0.15700508654117584, 0.10707677155733109, -1.0173258781433105, 0.508800000672812, -0.508800000672812, 0.508800000672812, 0.508800000672812, -0.508800000672812, -0.508800000672812, 0.508800000672812, 0.508800000672812, -0.3241041600704193, -1.5171972513198853, 1.1267865896224976, -0.3897530138492584, -0.4020724296569824, -0.33431529998779297, 0.9634849429130554, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945531362627, 0.009676209652896915, -0.00391219563247983, 0.04987088963389397], [-0.009685126887224648, 0.9999505286109929, -0.002266858569552548, 0.14060735702514648], [0.0038900674919553676, 0.0023046252079633603, 0.9999897779865347, -0.007822774350643158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6952365636825562, 1.6060030460357666, -0.5608854293823242, 0.016391826793551445, 0.005080507602542639, 0.9366614818572998, -1.2754038572311401, -1.4875071048736572, -1.2263463735580444, 0.17220205068588257, 0.09524666517972946, -1.0258479118347168, 0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -0.3242581784725189, -1.517470359802246, 1.126785159111023, -0.3897538483142853, -0.40206092596054077, -0.3343161344528198, 0.9635069966316223, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945095965499, 0.009720055482334202, -0.003914789390184113, 0.04974987357854843], [-0.009728926813840957, 0.999950133674794, -0.002253474386932497, 0.14060162007808685], [0.0038926902779542654, 0.002291437361565712, 0.9999897980865694, -0.007824488915503025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.697057843208313, 1.6065782308578491, -0.5591599941253662, 0.01696697808802128, 0.005655659828335047, 0.9099727869033813, -1.2721784114837646, -1.4897634983062744, -1.2039697170257568, 0.19164560735225677, 0.07623021304607391, -1.0305484533309937, 0.489600001848661, -0.489600001848661, 0.489600001848661, 0.489600001848661, -0.489600001848661, -0.489600001848661, 0.489600001848661, 0.489600001848661, -0.3242788016796112, -1.5175384283065796, 1.126784086227417, -0.3897586464881897, -0.40202760696411133, -0.3343149423599243, 0.9635215997695923, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453577554281, 0.009696402864341338, -0.003906568169285761, 0.04989508539438248], [-0.00970523503518789, 0.9999503756086343, -0.002248273351471538, 0.1406034380197525], [0.0038845741440530004, 0.0022860646630331045, 0.9999898419444448, -0.00782611221075058], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6983999013900757, 1.6067699193954468, -0.5573387145996094, 0.01696697808802128, 0.004409497138112783, 0.8727774620056152, -1.268282175064087, -1.4971359968185425, -1.1727567911148071, 0.22501616179943085, 0.06344664096832275, -1.0183249711990356, 0.4595999950891012, -0.4595999950891012, 0.4595999950891012, 0.4595999950891012, -0.4595999950891012, -0.4595999950891012, 0.4595999950891012, 0.4595999950891012, -0.32430416345596313, -1.5175340175628662, 1.1267805099487305, -0.3897651135921478, -0.4020097553730011, -0.33431506156921387, 0.9635313153266907, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449086194901, 0.009738935914006867, -0.003915718736366485, 0.04991457238793373], [-0.009747786222721226, 0.9999499634435036, -0.002247503746828151, 0.14060086011886597], [0.0038936345123278585, 0.002285549517894442, 0.9999898078849032, -0.007825835607945919], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6991667747497559, 1.6067699193954468, -0.5556132197380066, 0.0170628372579813, 0.0015337382210418582, 0.8148410320281982, -1.2667903900146484, -1.4848088026046753, -1.0900018215179443, 0.25980326533317566, 0.043201930820941925, -0.9978124499320984, 0.4007999999182565, -0.4007999999182565, 0.4007999999182565, 0.4007999999182565, -0.4007999999182565, -0.4007999999182565, 0.4007999999182565, 0.4007999999182565, -0.324306458234787, -1.517520785331726, 1.1267766952514648, -0.3897787630558014, -0.40200111269950867, -0.3343154191970825, 0.9635369777679443, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450460443847, 0.00972619355815116, -0.003912294743842577, 0.0498935729265213], [-0.009734892485094687, 0.9999501712706395, -0.002210620755021613, 0.1405995637178421], [0.0038905988738196008, 0.002248585041368068, 0.9999899035018878, -0.007830907590687275], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6993584632873535, 1.6067699193954468, -0.5539836287498474, 0.0170628372579813, -0.0013420209288597107, 0.7663545608520508, -1.2666990756988525, -1.4460581541061401, -1.0149257183074951, 0.3102453351020813, -0.009339306503534317, -0.9744047522544861, 0.3096000005910685, -0.3096000005910685, 0.3096000005910685, 0.3096000005910685, -0.3096000005910685, -0.3096000005910685, 0.3096000005910685, 0.3096000005910685, -0.3243066668510437, -1.5174944400787354, 1.126774549484253, -0.3897849917411804, -0.4020002782344818, -0.3343160152435303, 0.9635404348373413, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452764949096, 0.009694865648414335, -0.00393110615197118, 0.049867529422044754], [-0.009703639177293921, 0.9999504566530784, -0.0022189245180973334, 0.1406029611825943], [0.00390939921672838, 0.0022569491264365408, 0.999989811337298, -0.007829613983631134], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6996460556983948, 1.6067699193954468, -0.5531209111213684, 0.015624958090484142, -0.0019171728054061532, 0.7337979078292847, -1.2713282108306885, -1.4114570617675781, -0.9702052474021912, 0.3672935962677002, -0.0533621571958065, -0.9505777955055237, 0.2849999977992131, -0.2849999977992131, 0.2849999977992131, 0.2849999977992131, -0.2849999977992131, -0.2849999977992131, 0.2849999977992131, 0.2849999977992131, -0.32437610626220703, -1.5167263746261597, 1.1267750263214111, -0.3897762596607208, -0.4020256996154785, -0.33431193232536316, 0.9635390043258667, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999460334080702, 0.009626618657673544, -0.0039062110396442095, 0.049746446311473846], [-0.009635274739657576, 0.9999511524051408, -0.002203244045120184, 0.14059939980506897], [0.0038848104403977476, 0.0022407625601059346, 0.9999899435649298, -0.007833081297576427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7009880542755127, 1.606674075126648, -0.5519706010818481, 0.012653340585529804, -0.0010544450487941504, 0.7076054811477661, -1.2808687686920166, -1.3948860168457031, -0.9355286359786987, 0.36250877380371094, -0.05622207373380661, -0.9572979807853699, 0.2664000081491994, -0.2664000081491994, 0.2664000081491994, 0.2664000081491994, -0.2664000081491994, -0.2664000081491994, 0.2664000081491994, 0.2664000081491994, -0.3243955969810486, -1.516701102256775, 1.1267759799957275, -0.389769047498703, -0.4020823836326599, -0.3343091905117035, 0.9635295271873474, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449227680669, 0.009736365901220616, -0.003918495808623021, 0.049761559814214706], [-0.00974508292432791, 0.9999500696845152, -0.002211672835509124, 0.140600323677063], [0.003896766500910764, 0.0022497370892850654, 0.9999898768956946, -0.007829993031919003], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7022342085838318, 1.606290578842163, -0.5500534176826477, 0.009969298727810383, 0.0, 0.6791411638259888, -1.2918705940246582, -1.3656485080718994, -0.8917161226272583, 0.365651398897171, -0.0662582591176033, -0.9384991526603699, 0.26099998453161216, -0.26099998453161216, 0.26099998453161216, 0.26099998453161216, -0.26099998453161216, -0.26099998453161216, 0.26099998453161216, 0.26099998453161216, -0.3243703842163086, -1.5168859958648682, 1.1268035173416138, -0.3897683322429657, -0.4021288752555847, -0.33427417278289795, 0.9627032279968262, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450562576199, 0.009729547114862487, -0.003901330399391365, 0.04984653741121292], [-0.009738148007771865, 0.9999501812151134, -0.0021917028176005075, 0.14060184359550476], [0.0038798117640258052, 0.002229574130102016, 0.9999899879798168, -0.007833837531507015], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7040555477142334, 1.6061947345733643, -0.5472735166549683, 0.007572832517325878, 0.0018213141011074185, 0.6479369401931763, -1.3064334392547607, -1.3286075592041016, -0.8332669734954834, 0.3979734480381012, -0.09398160874843597, -0.9066490530967712, 0.2682000160217285, -0.2682000160217285, 0.2682000160217285, 0.2682000160217285, -0.2682000160217285, -0.2682000160217285, 0.2682000160217285, 0.2682000160217285, -0.3243236839771271, -1.5169061422348022, 1.1269896030426025, -0.38976773619651794, -0.4021996855735779, -0.3342105448246002, 0.9622858166694641, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452408223962, 0.009705946140728137, -0.0039127951841864085, 0.04983175918459892], [-0.009714528753739382, 0.9999504355174831, -0.0021804677224515115, 0.14059726893901825], [0.0038914377462421997, 0.002218359283156511, 0.9999899677468559, -0.007836245000362396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7053975462913513, 1.6060988903045654, -0.5434392094612122, 0.005368083715438843, 0.0024923246819525957, 0.6296535134315491, -1.321289300918579, -1.3081269264221191, -0.8018361926078796, 0.4220195710659027, -0.11754056066274643, -0.8786979913711548, 0.2693999950702374, -0.2693999950702374, 0.2693999950702374, 0.2693999950702374, -0.2693999950702374, -0.2693999950702374, 0.2693999950702374, 0.2693999950702374, -0.3243194818496704, -1.5168883800506592, 1.1269619464874268, -0.3897170424461365, -0.4029863476753235, -0.3340107798576355, 0.9623221158981323, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450311839622, 0.009723261926146205, -0.003923364375175344, 0.04983281344175339], [-0.009731853148255046, 0.9999502753960551, -0.002176641829597584, 0.1405983418226242], [0.0039020052288070745, 0.002214703788119574, 0.9999899346705072, -0.007835405878722668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7068354487419128, 1.6052361726760864, -0.5397965312004089, 0.0037384869065135717, 0.0024923246819525957, 0.6316295266151428, -1.3320045471191406, -1.3077635765075684, -0.8123359680175781, 0.4191485047340393, -0.12030951678752899, -0.880799412727356, 0.2526000132927528, -0.2526000132927528, 0.2526000132927528, 0.2526000132927528, -0.2526000132927528, -0.2526000132927528, 0.2526000132927528, 0.2526000132927528, -0.3243200480937958, -1.5168770551681519, 1.1268376111984253, -0.3895327150821686, -0.40305596590042114, -0.3339889645576477, 0.9624320268630981, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450925939113, 0.00971771268776597, -0.00392146113995638, 0.04974745959043503], [-0.009726420320564014, 0.9999502604344349, -0.002207578957465704, 0.14060644805431366], [0.003899813470138689, 0.0022455995243493873, 0.9999898743175725, -0.00783261377364397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7078899145126343, 1.6043734550476074, -0.5361539125442505, 0.0026840418577194214, 0.0012461623409762979, 0.6452783346176147, -1.3381738662719727, -1.3062692880630493, -0.8379096984863281, 0.42409786581993103, -0.1210019588470459, -0.8795403838157654, 0.23099999742193536, -0.23099999742193536, 0.23099999742193536, 0.23099999742193536, -0.23099999742193536, -0.23099999742193536, 0.23099999742193536, 0.23099999742193536, -0.32426127791404724, -1.5170241594314575, 1.126794695854187, -0.38953667879104614, -0.40272149443626404, -0.33403629064559937, 0.962838888168335, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945310974967, 0.009698472391933288, -0.003913399090231604, 0.049748338758945465], [-0.009707159407557345, 0.9999504489672864, -0.002206958621864572, 0.14060519635677338], [0.00389180105000097, 0.0022448259142435227, 0.9999899072696694, -0.007831261493265629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7083691954612732, 1.6034148931503296, -0.5327030420303345, 0.0018213141011074185, 0.0, 0.6599751710891724, -1.3418998718261719, -1.316026210784912, -0.85056072473526, 0.4327278435230255, -0.12694673240184784, -0.8795328140258789, 0.2225999868833102, -0.2225999868833102, 0.2225999868833102, 0.2225999868833102, -0.2225999868833102, -0.2225999868833102, 0.2225999868833102, 0.2225999868833102, -0.32425668835639954, -1.5170201063156128, 1.1267869472503662, -0.3895432651042938, -0.40261805057525635, -0.3340824544429779, 0.9631959795951843, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945310974967, 0.009698472391933288, -0.003913399090231604, 0.049748338758945465], [-0.009707159407557345, 0.9999504489672864, -0.002206958621864572, 0.14060519635677338], [0.00389180105000097, 0.0022448259142435227, 0.9999899072696694, -0.007831261493265629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7083691954612732, 1.6026480197906494, -0.5296355485916138, 0.001629596808925271, -0.002396465977653861, 0.6668633222579956, -1.3421615362167358, -1.3396824598312378, -0.8456095457077026, 0.42613986134529114, -0.15285734832286835, -0.9042323231697083, 0.21720000256548874, -0.21720000256548874, 0.21720000256548874, 0.21720000256548874, -0.21720000256548874, -0.21720000256548874, 0.21720000256548874, 0.21720000256548874, -0.32426756620407104, -1.5170222520828247, 1.1267614364624023, -0.389545202255249, -0.4026029706001282, -0.3341187536716461, 0.9634379744529724, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999448853839469, 0.009735858471342795, -0.003929281653358949, 0.049859143793582916], [-0.0097445416568459, 0.9999501077347456, -0.0021968043082439986, 0.14059847593307495], [0.003907697836762141, 0.002234972280970642, 0.9999898673469246, -0.007831909693777561], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7088484764099121, 1.6017853021621704, -0.5269514918327332, 0.0012461623409762979, -0.003642628202214837, 0.6638919711112976, -1.3422249555587769, -1.355221152305603, -0.8195620775222778, 0.4139581322669983, -0.19064457714557648, -0.9101331830024719, 0.21720000256548874, -0.21720000256548874, 0.21720000256548874, 0.21720000256548874, -0.21720000256548874, -0.21720000256548874, 0.21720000256548874, 0.21720000256548874, -0.3242732882499695, -1.5170284509658813, 1.1267449855804443, -0.38955143094062805, -0.4024704098701477, -0.33415529131889343, 0.9634827971458435, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452772568184, 0.00970361226820045, -0.003909271125547809, 0.049809232354164124], [-0.009712260047414, 0.9999504164381203, -0.002199243051839922, 0.1406022161245346], [0.0038877366881024627, 0.0022370905609943696, 0.9999899404140353, -0.00783239770680666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7094236612319946, 1.6009225845336914, -0.5236923098564148, 0.0, -0.004217780195176601, 0.6508830785751343, -1.3448649644851685, -1.3546887636184692, -0.7819306254386902, 0.3923245668411255, -0.22891919314861298, -0.9027189612388611, 0.2082000025026091, -0.2082000025026091, 0.2082000025026091, 0.2082000025026091, -0.2082000025026091, -0.2082000025026091, 0.2082000025026091, 0.2082000025026091, -0.32427969574928284, -1.5170173645019531, 1.1267445087432861, -0.3895699977874756, -0.40227988362312317, -0.33417364954948425, 0.963481605052948, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7099029421806335, 1.60025155544281, -0.5208165645599365, 0.0, -0.003930204082280397, 0.6415712833404541, -1.348766565322876, -1.334466814994812, -0.7682302594184875, 0.41177868843078613, -0.2477787584066391, -0.8869092464447021, 0.19860001291547505, -0.19860001291547505, 0.19860001291547505, 0.19860001291547505, -0.19860001291547505, -0.19860001291547505, 0.19860001291547505, 0.19860001291547505, -0.32429254055023193, -1.5170315504074097, 1.126740574836731, -0.3895811438560486, -0.402284175157547, -0.33417123556137085, 0.9634777307510376, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7104780673980713, 1.5992929935455322, -0.5183241963386536, -0.0014378795167431235, -0.0030674764420837164, 0.6358594298362732, -1.3563735485076904, -1.3230727910995483, -0.7592490911483765, 0.43659311532974243, -0.24437835812568665, -0.8628983497619629, 0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -0.32451874017715454, -1.5169090032577515, 1.1267008781433105, -0.3895736038684845, -0.4026471972465515, -0.3341352939605713, 0.9633954167366028, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7107656598091125, 1.598526120185852, -0.5164070725440979, -0.0023006072733551264, -0.0022047485690563917, 0.6319912672042847, -1.3638025522232056, -1.3115041255950928, -0.7574294805526733, 0.46197736263275146, -0.2279011309146881, -0.8464968800544739, 0.18300001018649928, -0.18300001018649928, 0.18300001018649928, 0.18300001018649928, -0.18300001018649928, -0.18300001018649928, 0.18300001018649928, 0.18300001018649928, -0.32481953501701355, -1.5168561935424805, 1.1265217065811157, -0.38951799273490906, -0.4033965468406677, -0.33396703004837036, 0.9630326628684998, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7109573483467102, 1.5980467796325684, -0.5155442953109741, -0.0033550523221492767, 0.0, 0.6254551410675049, -1.3726868629455566, -1.3055411577224731, -0.7491409778594971, 0.47301173210144043, -0.21476593613624573, -0.8360089659690857, 0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.32533082365989685, -1.516273856163025, 1.1263861656188965, -0.38885465264320374, -0.4041615128517151, -0.3336479067802429, 0.9626975655555725, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7109573483467102, 1.5978550910949707, -0.5157360434532166, -0.004313638899475336, 0.0011503036366775632, 0.6230849027633667, -1.3785827159881592, -1.305306315422058, -0.7455423474311829, 0.4676934778690338, -0.2139754593372345, -0.8440316915512085, 0.1643999812367198, -0.1643999812367198, 0.1643999812367198, 0.1643999812367198, -0.1643999812367198, -0.1643999812367198, 0.1643999812367198, 0.1643999812367198, -0.32541489601135254, -1.51593017578125, 1.1263724565505981, -0.388750284910202, -0.40435877442359924, -0.3335914611816406, 0.9625481367111206, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7108615040779114, 1.5979509353637695, -0.5175573825836182, -0.004888790659606457, 0.0023006072733551264, 0.6190330982208252, -1.3835290670394897, -1.2996553182601929, -0.735171914100647, 0.46328580379486084, -0.21364469826221466, -0.8408084511756897, 0.14700000993498083, -0.14700000993498083, 0.14700000993498083, 0.14700000993498083, -0.14700000993498083, -0.14700000993498083, 0.14700000993498083, 0.14700000993498083, -0.32541346549987793, -1.5159269571304321, 1.1263716220855713, -0.38874608278274536, -0.40447813272476196, -0.3335908353328705, 0.9625492095947266, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7104780673980713, 1.5978550910949707, -0.5206248164176941, -0.005368083715438843, 0.003163335146382451, 0.6147993803024292, -1.3863983154296875, -1.3030866384506226, -0.7239745855331421, 0.46628522872924805, -0.22183795273303986, -0.8386216759681702, 0.13499998365129745, -0.13499998365129745, 0.13499998365129745, 0.13499998365129745, -0.13499998365129745, -0.13499998365129745, 0.13499998365129745, 0.13499998365129745, -0.3254043757915497, -1.515856385231018, 1.1263670921325684, -0.3887160122394562, -0.40491148829460144, -0.3335433900356293, 0.9625489711761475, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7094236612319946, 1.5979509353637695, -0.5241715908050537, -0.005272225011140108, 0.003259193617850542, 0.6097346544265747, -1.3876265287399292, -1.3176486492156982, -0.7090951800346375, 0.46825602650642395, -0.23493120074272156, -0.838140606880188, 0.11159999920771672, -0.11159999920771672, 0.11159999920771672, 0.11159999920771672, -0.11159999920771672, -0.11159999920771672, 0.11159999920771672, 0.11159999920771672, -0.3253389596939087, -1.5159666538238525, 1.1263686418533325, -0.38872116804122925, -0.40480196475982666, -0.3335588574409485, 0.9625393748283386, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7087526321411133, 1.5988136529922485, -0.5275266766548157, -0.005080507602542639, 0.002875759033486247, 0.6080635786056519, -1.3872514963150024, -1.3353099822998047, -0.6987034678459167, 0.4579513967037201, -0.24975603818893433, -0.8547611832618713, 0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.3238680958747864, -1.5166481733322144, 1.1265437602996826, -0.3892970085144043, -0.4037916660308838, -0.33373454213142395, 0.9618414044380188, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.708465039730072, 1.5999640226364136, -0.5305941104888916, -0.004601214546710253, 0.0014378795167431235, 0.6110812425613403, -1.3813095092773438, -1.3524941205978394, -0.7042209506034851, 0.4506519138813019, -0.26227429509162903, -0.8735328912734985, 0.10079999127230806, -0.10079999127230806, 0.10079999127230806, 0.10079999127230806, -0.10079999127230806, -0.10079999127230806, 0.10079999127230806, 0.10079999127230806, -0.32349103689193726, -1.5177849531173706, 1.1268129348754883, -0.39027372002601624, -0.40194395184516907, -0.3348351716995239, 0.9633507132530212, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7081774473190308, 1.601210117340088, -0.5330864787101746, -0.004313638899475336, 0.0, 0.6121149063110352, -1.3767406940460205, -1.362156867980957, -0.702997624874115, 0.4423711895942688, -0.28122949600219727, -0.8742644190788269, 0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -0.32288187742233276, -1.5178816318511963, 1.1272656917572021, -0.3904302418231964, -0.40147775411605835, -0.3348723351955414, 0.9629291296005249, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7076981663703918, 1.602072834968567, -0.5349077582359314, -0.004505355842411518, 0.0, 0.6156349778175354, -1.3742541074752808, -1.3632920980453491, -0.7041119337081909, 0.43030378222465515, -0.2896100580692291, -0.8763439059257507, 0.13499998365129745, -0.13499998365129745, 0.13499998365129745, 0.13499998365129745, -0.13499998365129745, -0.13499998365129745, 0.13499998365129745, 0.13499998365129745, -0.32213854789733887, -1.5177924633026123, 1.127526044845581, -0.3904460370540619, -0.40144121646881104, -0.33482271432876587, 0.9622958898544312, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.707602322101593, 1.6027438640594482, -0.5361539125442505, -0.004792931955307722, 0.0, 0.6177095174789429, -1.372790813446045, -1.3610392808914185, -0.7075325846672058, 0.43014344573020935, -0.28940895199775696, -0.877803385257721, 0.1356000124753177, -0.1356000124753177, 0.1356000124753177, 0.1356000124753177, -0.1356000124753177, -0.1356000124753177, 0.1356000124753177, 0.1356000124753177, -0.3222663998603821, -1.5176136493682861, 1.1273704767227173, -0.39039283990859985, -0.40194597840309143, -0.3347364068031311, 0.9626638889312744, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.707602322101593, 1.6031272411346436, -0.5370166301727295, -0.005368083715438843, 0.0, 0.6156831383705139, -1.371565341949463, -1.3605040311813354, -0.7038908004760742, 0.4301079511642456, -0.2934894859790802, -0.8799955248832703, 0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -0.3228037357330322, -1.5175856351852417, 1.1271110773086548, -0.39020732045173645, -0.4022180438041687, -0.3346942365169525, 0.9630253314971924, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.707602322101593, 1.603702425956726, -0.5377835035324097, -0.006039094179868698, 0.0012461623409762979, 0.606784999370575, -1.369873046875, -1.3595943450927734, -0.6893158555030823, 0.4298584461212158, -0.30073994398117065, -0.8882290720939636, 0.09300000955770305, -0.09300000955770305, 0.09300000955770305, 0.09300000955770305, -0.09300000955770305, -0.09300000955770305, 0.09300000955770305, 0.09300000955770305, -0.3226875364780426, -1.517531394958496, 1.1271311044692993, -0.3902197778224945, -0.4020804464817047, -0.33469483256340027, 0.9623770117759705, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7076981663703918, 1.6043734550476074, -0.5381669402122498, -0.006039094179868698, 0.0018213141011074185, 0.5965414047241211, -1.3695225715637207, -1.3549972772598267, -0.6757866144180298, 0.4267626702785492, -0.3013295531272888, -0.8964481949806213, 0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.3219805657863617, -1.517685055732727, 1.1271330118179321, -0.3906090259552002, -0.4019584655761719, -0.3347841203212738, 0.9621593952178955, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7081774473190308, 1.6048527956008911, -0.5382628440856934, -0.006039094179868698, 0.0024923246819525957, 0.5903464555740356, -1.3695759773254395, -1.3488163948059082, -0.6689983606338501, 0.42777198553085327, -0.30671119689941406, -0.8895480036735535, 0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.32130804657936096, -1.51763916015625, 1.127217173576355, -0.39086392521858215, -0.40196898579597473, -0.33484870195388794, 0.9611289501190186, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7085608839988708, 1.6048527956008911, -0.5388379693031311, -0.0059432354755699635, 0.0030674764420837164, 0.5978209972381592, -1.3693897724151611, -1.3445314168930054, -0.6870694160461426, 0.44649243354797363, -0.307618647813797, -0.873052716255188, 0.08459999901907786, -0.08459999901907786, 0.08459999901907786, 0.08459999901907786, -0.08459999901907786, -0.08459999901907786, 0.08459999901907786, 0.08459999901907786, -0.3199799656867981, -1.5176117420196533, 1.1273305416107178, -0.39101457595825195, -0.4020204246044159, -0.33484235405921936, 0.9592932462692261, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7082733511924744, 1.6048527956008911, -0.5410427451133728, -0.005847376771271229, 0.0021088900975883007, 0.6143304109573364, -1.3671956062316895, -1.3462721109390259, -0.7253310680389404, 0.46589404344558716, -0.29757943749427795, -0.8681949973106384, 0.08339998067080323, -0.08339998067080323, 0.08339998067080323, 0.08339998067080323, -0.08339998067080323, -0.08339998067080323, 0.08339998067080323, 0.08339998067080323, -0.31934449076652527, -1.5175601243972778, 1.1274021863937378, -0.39108192920684814, -0.40206727385520935, -0.3348388969898224, 0.9588610529899597, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.708465039730072, 1.6050444841384888, -0.5441101789474487, -0.0059432354755699635, -0.0012461623409762979, 0.6396175622940063, -1.3612861633300781, -1.3578507900238037, -0.7825709581375122, 0.471620112657547, -0.2699180543422699, -0.8819926977157593, 0.08160001209803991, -0.08160001209803991, 0.08160001209803991, 0.08160001209803991, -0.08160001209803991, -0.08160001209803991, 0.08160001209803991, 0.08160001209803991, -0.3195670545101166, -1.52010178565979, 1.1364918947219849, -0.39128613471984863, -0.41502052545547485, -0.33495861291885376, 0.9525145888328552, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7096153497695923, 1.6072492599487305, -0.5455480813980103, -0.006039094179868698, -0.004313638899475336, 0.6585686206817627, -1.357181429862976, -1.3621952533721924, -0.8220071196556091, 0.49018558859825134, -0.24777792394161224, -0.8807976245880127, 0.08099998327401967, -0.08099998327401967, 0.08099998327401967, 0.08099998327401967, -0.08099998327401967, -0.08099998327401967, 0.08099998327401967, 0.08099998327401967, -0.32010748982429504, -1.5310004949569702, 1.1508691310882568, -0.38659778237342834, -0.43610653281211853, -0.3369404375553131, 0.9446965456008911, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7107656598091125, 1.6094539165496826, -0.5459315180778503, -0.0064225285314023495, -0.006134952884167433, 0.6601237654685974, -1.355741024017334, -1.3621271848678589, -0.820881187915802, 0.4927189350128174, -0.24378669261932373, -0.8802555799484253, 0.07980000422551081, -0.07980000422551081, 0.07980000422551081, 0.07980000422551081, -0.07980000422551081, -0.07980000422551081, 0.07980000422551081, 0.07980000422551081, -0.3208622336387634, -1.538256287574768, 1.16400146484375, -0.37447479367256165, -0.4456455111503601, -0.3412604033946991, 0.9404735565185547, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.711820125579834, 1.6110835075378418, -0.5457397699356079, -0.006614245939999819, -0.006614245939999819, 0.6595138311386108, -1.3571665287017822, -1.3590742349624634, -0.8128743767738342, 0.49269917607307434, -0.24281130731105804, -0.8794572949409485, 0.07980000422551081, -0.07980000422551081, 0.07980000422551081, 0.07980000422551081, -0.07980000422551081, -0.07980000422551081, 0.07980000422551081, 0.07980000422551081, -0.32047948241233826, -1.5414903163909912, 1.1743361949920654, -0.3574644923210144, -0.4507080018520355, -0.3478868305683136, 0.9408127069473267, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7125869989395142, 1.6120421886444092, -0.5448770523071289, -0.006614245939999819, -0.006518387235701084, 0.6569808125495911, -1.3594123125076294, -1.3560510873794556, -0.8046251535415649, 0.4935670793056488, -0.24280531704425812, -0.8779573440551758, 0.07980000422551081, -0.07980000422551081, 0.07980000422551081, 0.07980000422551081, -0.07980000422551081, -0.07980000422551081, 0.07980000422551081, 0.07980000422551081, -0.3136536180973053, -1.5451148748397827, 1.1829825639724731, -0.33621108531951904, -0.4553294777870178, -0.35692736506462097, 0.9374308586120605, 0.06840000676584768, 0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -0.06840000676584768, -0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7128745317459106, 1.6122338771820068, -0.5438226461410522, -0.006518387235701084, -0.006039094179868698, 0.6552392244338989, -1.3589872121810913, -1.3571408987045288, -0.7938403487205505, 0.49785909056663513, -0.24269062280654907, -0.8763978481292725, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.3013298511505127, -1.5449888706207275, 1.1960488557815552, -0.3108879327774048, -0.45225071907043457, -0.3721204996109009, 0.9266824722290039, 0.22199999735905573, 0.22199999735905573, 0.22199999735905573, 0.22199999735905573, -0.22199999735905573, -0.22199999735905573, -0.22199999735905573, 0.22199999735905573, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7124910950660706, 1.6122338771820068, -0.542672336101532, -0.006614245939999819, -0.005368083715438843, 0.6486594676971436, -1.3553169965744019, -1.3606992959976196, -0.7859891057014465, 0.5046693682670593, -0.2423376888036728, -0.8728243112564087, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.294916033744812, -1.544291377067566, 1.2123147249221802, -0.2851159870624542, -0.43747538328170776, -0.3915698230266571, 0.922103762626648, 0.3690000049360506, 0.3690000049360506, 0.3690000049360506, 0.3690000049360506, -0.3690000049360506, -0.3690000049360506, -0.3690000049360506, 0.3690000049360506, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7119159698486328, 1.6122338771820068, -0.5420013070106506, -0.008052125573158264, -0.003642628202214837, 0.642322838306427, -1.3537594079971313, -1.3618520498275757, -0.7818141579627991, 0.5066020488739014, -0.24269062280654907, -0.8723046183586121, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.29427704215049744, -1.5411123037338257, 1.2393347024917603, -0.26239484548568726, -0.39804548025131226, -0.41269728541374207, 0.928877592086792, 0.5615999998954626, 0.5615999998954626, 0.5615999998954626, 0.5615999998954626, -0.5615999998954626, -0.5615999998954626, -0.5615999998954626, 0.5615999998954626, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7116283774375916, 1.6120421886444092, -0.5406593084335327, -0.009969298727810383, -0.0013420209288597107, 0.6424757242202759, -1.3528361320495605, -1.3662279844284058, -0.7858343720436096, 0.5057429075241089, -0.24191296100616455, -0.8806802034378052, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.29573601484298706, -1.5307624340057373, 1.2709747552871704, -0.2569010257720947, -0.3498758375644684, -0.4212217628955841, 0.9552876353263855, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7116283774375916, 1.611275315284729, -0.5381669402122498, -0.011407177895307541, 0.0014378795167431235, 0.644122838973999, -1.3501430749893188, -1.3742010593414307, -0.791511058807373, 0.4988783597946167, -0.23663438856601715, -0.8945346474647522, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.3158758580684662, -1.5164964199066162, 1.2907993793487549, -0.3057004511356354, -0.32497742772102356, -0.39524322748184204, 0.9960759282112122, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7117242217063904, 1.6100291013717651, -0.5352911949157715, -0.012461623176932335, 0.0030674764420837164, 0.644607424736023, -1.3475522994995117, -1.377684473991394, -0.7906437516212463, 0.4930287301540375, -0.2294914424419403, -0.9061229228973389, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.31967151165008545, -1.5134209394454956, 1.2934472560882568, -0.31025299429893494, -0.3200269937515259, -0.38903501629829407, 1.0028643608093262, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7116283774375916, 1.6097415685653687, -0.533374011516571, -0.012749198824167252, 0.0037384869065135717, 0.6452682614326477, -1.3472917079925537, -1.3776779174804688, -0.7898128032684326, 0.4928900897502899, -0.22910518944263458, -0.9063470363616943, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.3202671706676483, -1.5134689807891846, 1.2922462224960327, -0.30549922585487366, -0.3229733109474182, -0.3897048234939575, 0.9997011423110962, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7116283774375916, 1.6096457242965698, -0.5324154496192932, -0.013036774471402168, 0.004121921490877867, 0.645660400390625, -1.3472918272018433, -1.3775449991226196, -0.7897216081619263, 0.4929398000240326, -0.22911883890628815, -0.9055794477462769, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.32117387652397156, -1.5135267972946167, 1.2919450998306274, -0.3054608702659607, -0.32364046573638916, -0.3897973299026489, 0.9991044402122498, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.711820125579834, 1.6091663837432861, -0.532127857208252, -0.013228491879999638, 0.004505355842411518, 0.6456642150878906, -1.3473615646362305, -1.37698233127594, -0.7897112965583801, 0.49302083253860474, -0.22915899753570557, -0.905335545539856, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.32340848445892334, -1.5093255043029785, 1.3016499280929565, -0.2916033864021301, -0.31236475706100464, -0.38550159335136414, 0.989311933517456, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7122035622596741, 1.6091663837432861, -0.530785858631134, -0.016487685963511467, 0.0077645499259233475, 0.6455813050270081, -1.3484013080596924, -1.3769514560699463, -0.7897828221321106, 0.4930688738822937, -0.2292482703924179, -0.9052526354789734, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.3426367938518524, -1.4834489822387695, 1.367267370223999, -0.2841257154941559, -0.21949587762355804, -0.3726874589920044, 0.9849041104316711, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7122994065284729, 1.6089746952056885, -0.5281018018722534, -0.02406051754951477, 0.017829706892371178, 0.64531409740448, -1.3493549823760986, -1.3766483068466187, -0.7899855971336365, 0.49308136105537415, -0.2293025702238083, -0.9052553772926331, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.4348545968532562, -1.4384407997131348, 1.4057133197784424, -0.43967533111572266, -0.17314796149730682, -0.3153896927833557, 1.0146554708480835, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451928707429, 0.009711090419408786, -0.003912285464905572, 0.04988868907094002], [-0.009719767579124378, 0.9999503306999262, -0.0022050513182133766, 0.1406044214963913], [0.003890677691694235, 0.0022429569711028296, 0.9999899158347174, -0.007831625640392303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7115325331687927, 1.607536792755127, -0.5257053375244141, -0.030483046546578407, 0.029428601264953613, 0.6454241871833801, -1.3480535745620728, -1.3767365217208862, -0.7895643711090088, 0.49323463439941406, -0.22930759191513062, -0.9052757620811462, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.6095455288887024, -1.406026840209961, 1.4414705038070679, -0.7546828389167786, -0.1616288423538208, -0.16334618628025055, 1.018353819847107, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453225315196, 0.009696572684678105, -0.003915153318332907, 0.04965797811746597], [-0.009705252098400785, 0.9999504740123341, -0.0022039973264273657, 0.14060787856578827], [0.0038935881962254143, 0.00224187436739133, 0.9999899069342045, -0.007829836569726467], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7114366888999939, 1.6053320169448853, -0.525321900844574, -0.03393395617604256, 0.036713857203722, 0.6454952359199524, -1.3467586040496826, -1.3773279190063477, -0.7893648147583008, 0.49335625767707825, -0.22929057478904724, -0.9052599668502808, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.7396561503410339, -1.3937273025512695, 1.4496383666992188, -0.9458189010620117, -0.14132720232009888, -0.06332021206617355, 1.0127651691436768, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451600589426, 0.009717110012250016, -0.0039057198703204726, 0.04945138841867447], [-0.00972576532176764, 0.9999502764425952, -0.0022032093145062906, 0.1405966728925705], [0.0038841168367452217, 0.002241074605508648, 0.9999899455599597, -0.00783129408955574], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7109573483467102, 1.603990077972412, -0.525321900844574, -0.036713857203722, 0.040452346205711365, 0.6455019116401672, -1.3460924625396729, -1.3775306940078735, -0.7893898487091064, 0.4933511018753052, -0.22928470373153687, -0.9052590131759644, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.8188873529434204, -1.3826929330825806, 1.4483572244644165, -1.0380717515945435, -0.11861182749271393, -0.036704566329717636, 1.0046799182891846, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455804889513, 0.009672193050191055, -0.003909570592024103, 0.04994628578424454], [-0.009680701799944416, 0.999950800740107, -0.0021633566232740127, 0.14059916138648987], [0.0038884538411477596, 0.0022010862815315677, 0.9999900175231283, -0.007837589830160141], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7100946307182312, 1.602935552597046, -0.526184618473053, -0.03939789906144142, 0.042657092213630676, 0.6457123160362244, -1.3461339473724365, -1.377515435218811, -0.7894130945205688, 0.4933421313762665, -0.22927716374397278, -0.9052608013153076, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.874232828617096, -1.370152473449707, 1.4434635639190674, -1.0958925485610962, -0.08579111099243164, -0.021224062889814377, 0.9912039637565613, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454101466326, 0.009688171423809119, -0.003913573960668509, 0.05016607418656349], [-0.009696605823582647, 0.999950692682648, -0.0021419708201910175, 0.14060893654823303], [0.0038926292123444427, 0.0021798022743760655, 0.9999900479004078, -0.007840867154300213], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7094236612319946, 1.6022645235061646, -0.5281018018722534, -0.041794367134571075, 0.04409497231245041, 0.6458117961883545, -1.3464263677597046, -1.3774482011795044, -0.7894299030303955, 0.49333757162094116, -0.22926804423332214, -0.9052660465240479, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9303909540176392, -1.360795497894287, 1.433085560798645, -1.1480828523635864, -0.04554041475057602, 0.0051788631826639175, 0.9815390706062317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999450758766615, 0.009726368646649535, -0.003904226295586458, 0.04984109848737717], [-0.009734634970176542, 0.9999504040436445, -0.002103885678817693, 0.1406034678220749], [0.0038835694940469127, 0.002141776342569678, 0.9999901652926809, -0.007846415042877197], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7094236612319946, 1.6017853021621704, -0.5306900143623352, -0.04399911314249039, 0.045628711581230164, 0.6458197236061096, -1.3468177318572998, -1.3772014379501343, -0.7894537448883057, 0.49333181977272034, -0.22926373779773712, -0.9052703976631165, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9716777801513672, -1.3562037944793701, 1.4099756479263306, -1.178735375404358, -0.019407134503126144, 0.0413520485162735, 0.9740328788757324, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453552503049, 0.009696477693564284, -0.003907023634389768, 0.049674391746520996], [-0.009704718959858836, 0.9999507115224011, -0.00209593791745631, 0.14059431850910187], [0.003886507847879175, 0.002133739951794713, 0.9999901710569792, -0.007846069522202015], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.709327757358551, 1.6017853021621704, -0.5336616039276123, -0.04601214453577995, 0.047450024634599686, 0.6460819244384766, -1.3476885557174683, -1.377040982246399, -0.7971842885017395, 0.49321436882019043, -0.22917480766773224, -0.9052479863166809, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9640839695930481, -1.355800986289978, 1.4000301361083984, -1.1535390615463257, 0.008205119520425797, 0.10372275114059448, 1.0224603414535522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455445434007, 0.009675030740855474, -0.0039117423183889785, 0.05001431331038475], [-0.009683287218385819, 0.9999509164589708, -0.002097289086053953, 0.14059777557849884], [0.0038912589798443652, 0.002135053401612426, 0.9999901497767486, -0.007847698405385017], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7095195055007935, 1.602072834968567, -0.5366332530975342, -0.048312753438949585, 0.049271341413259506, 0.6515861749649048, -1.3476125001907349, -1.3836480379104614, -0.8228627443313599, 0.5046491026878357, -0.2293637990951538, -0.9039905667304993, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9590569734573364, -1.3557937145233154, 1.4001044034957886, -1.1520124673843384, 0.007558210752904415, 0.09703183174133301, 1.0207180976867676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456049554641, 0.009670249190646076, -0.003908121139596605, 0.04994668811559677], [-0.009678409124400291, 0.9999510113233101, -0.0020744518095474765, 0.1406005173921585], [0.0038878692199813213, 0.0021121633649456416, 0.9999902115715174, -0.00784987211227417], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7111490964889526, 1.604085922241211, -0.5388379693031311, -0.050996795296669006, 0.050517503172159195, 0.6585581302642822, -1.3471566438674927, -1.3953075408935547, -0.8495159149169922, 0.5056283473968506, -0.22870227694511414, -0.9097208380699158, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9591639041900635, -1.355690836906433, 1.4009090662002563, -1.1602718830108643, 0.006258521694689989, 0.09562153369188309, 1.019389033317566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453781762009, 0.009690602435646328, -0.003915723239561084, 0.04977022856473923], [-0.00969867165285688, 0.9999508715430109, -0.0020470145439337112, 0.1406024843454361], [0.0038956940619950804, 0.002084880046249942, 0.9999902383738394, -0.007853731513023376], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7124910950660706, 1.6056196689605713, -0.5403717160224915, -0.05329740419983864, 0.051859524101018906, 0.6629018187522888, -1.3472052812576294, -1.3996608257293701, -0.8591296672821045, 0.49217042326927185, -0.22101007401943207, -0.9102340936660767, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0145988464355469, -1.354183316230774, 1.3860409259796143, -1.2383369207382202, 0.01404922641813755, 0.13210786879062653, 0.9795207977294922, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453094219951, 0.009701788503416547, -0.0039055684330723053, 0.04961805045604706], [-0.009709841903402565, 0.9999507603490606, -0.0020483768077489764, 0.14060324430465698], [0.003885503205681857, 0.0020861872328654407, 0.9999902752965492, -0.007853141985833645], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7143124341964722, 1.6069616079330444, -0.5414261817932129, -0.05454356595873833, 0.05521457642316818, 0.6627727746963501, -1.3476179838180542, -1.3997961282730103, -0.8546825647354126, 0.489425927400589, -0.22149783372879028, -0.9077053070068359, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.082653284072876, -1.3559166193008423, 1.349553108215332, -1.2940020561218262, 0.005878861527889967, 0.16696302592754364, 0.868621289730072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458548101329, 0.009650240687134796, -0.003893623339899587, 0.04948968440294266], [-0.009658170589610026, 0.9999513124176426, -0.002023001506692239, 0.14060546457767487], [0.0038739113173425405, 0.002060497249319995, 0.9999903735347611, -0.007857195101678371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7155585885047913, 1.608399510383606, -0.5420971512794495, -0.05511871725320816, 0.05943235754966736, 0.6594479084014893, -1.3477295637130737, -1.4004851579666138, -0.8475846648216248, 0.4917948544025421, -0.22618402540683746, -0.9024538397789001, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1015177965164185, -1.3637086153030396, 1.3111796379089355, -1.2789149284362793, 0.003519886638969183, 0.18871188163757324, 0.8002298474311829, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999464042690066, 0.009592795015434053, -0.0038944670079702685, 0.04999471828341484], [-0.009600766234607181, 0.9999518443368552, -0.00203329659176978, 0.14060384035110474], [0.003874774469918476, 0.00207057748310453, 0.9999903493692796, -0.00785610917955637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.716133713722229, 1.610124945640564, -0.5424805879592896, -0.05521457642316818, 0.06278740614652634, 0.6542838215827942, -1.3476260900497437, -1.404380202293396, -0.843454897403717, 0.4925766885280609, -0.226431742310524, -0.8927633762359619, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0933959484100342, -1.380759596824646, 1.2710691690444946, -1.2431695461273193, 0.0032645028550177813, 0.170064777135849, 0.7093005180358887, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455112491313, 0.009679781142986213, -0.003908499678558232, 0.05025409534573555], [-0.009687767841537234, 0.9999510125725664, -0.0020296820804324217, 0.14060959219932556], [0.0038886613328854274, 0.0020674361230857935, 0.9999903019634316, -0.007855496369302273], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7167088985443115, 1.6110835075378418, -0.5428640246391296, -0.055789727717638016, 0.06460872292518616, 0.6548140645027161, -1.3471137285232544, -1.404653549194336, -0.8501657247543335, 0.48686933517456055, -0.22742979228496552, -0.8953604698181152, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.068544864654541, -1.4007519483566284, 1.2373594045639038, -1.1969987154006958, -0.0008282297640107572, 0.1404593139886856, 0.6171759366989136, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945220862108, 0.009704295460633344, -0.003921979684119524, 0.049992695450782776], [-0.009712319933248986, 0.9999507693205354, -0.002032185223776708, 0.14060287177562714], [0.0039020656765525654, 0.002070165423885984, 0.999990244101698, -0.007854613475501537], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7169005870819092, 1.6119463443756104, -0.543535053730011, -0.056652456521987915, 0.06585488468408585, 0.6551615595817566, -1.346736192703247, -1.403328537940979, -0.8542084693908691, 0.48539406061172485, -0.22870095074176788, -0.8966649770736694, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0446977615356445, -1.4181842803955078, 1.2238103151321411, -1.1520522832870483, 0.003163475776091218, 0.09590987116098404, 0.5360924601554871, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453899458017, 0.009691684103093103, -0.003910036493991258, 0.04985589161515236], [-0.009699585758685266, 0.9999509438136519, -0.002006988364846909, 0.14060205221176147], [0.003890393585281702, 0.002044804497396587, 0.9999903417595187, -0.007859883829951286], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7172840237617493, 1.612138032913208, -0.5447812080383301, -0.057994477450847626, 0.06758034229278564, 0.6562376618385315, -1.3467997312545776, -1.4029394388198853, -0.8541029095649719, 0.4853998124599457, -0.22871796786785126, -0.8966652154922485, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0108146667480469, -1.4354114532470703, 1.2112387418746948, -1.087996006011963, 0.01766594685614109, 0.07321486622095108, 0.48011261224746704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456169023119, 0.00966831528903732, -0.003909848760079153, 0.04984365776181221], [-0.009676152053549224, 0.9999512039235381, -0.001990440479716587, 0.14059701561927795], [0.0038904137686781386, 0.0020281645245064433, 0.9999903755683701, -0.007861007004976273], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7172840237617493, 1.6123297214508057, -0.5457397699356079, -0.059240639209747314, 0.06940165162086487, 0.6565133333206177, -1.3470280170440674, -1.4029405117034912, -0.8537684082984924, 0.48540976643562317, -0.22872324287891388, -0.8966615200042725, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9758545160293579, -1.4526677131652832, 1.1920907497406006, -1.0143696069717407, 0.021180320531129837, 0.05653773993253708, 0.4551776349544525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457261793324, 0.00965862865813769, -0.003905840259388004, 0.04989832639694214], [-0.00966640984717415, 0.9999513223456616, -0.001978246655260899, 0.14060206711292267], [0.003886542982408589, 0.0020158947410015325, 0.9999904154300876, -0.007862471044063568], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7171881794929504, 1.6128090620040894, -0.5471776723861694, -0.060582660138607025, 0.07122296839952469, 0.6566904187202454, -1.347113013267517, -1.4029409885406494, -0.8535963296890259, 0.48543110489845276, -0.22873438894748688, -0.8966550230979919, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9554706811904907, -1.4681652784347534, 1.1843054294586182, -0.9650263786315918, 0.015582728199660778, 0.04131969064474106, 0.44417229294776917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452523129727, 0.009704674232335442, -0.003913013517685376, 0.04981536045670509], [-0.00971242216422331, 0.9999509007919539, -0.001965924989353486, 0.1405968964099884], [0.003893742730233701, 0.0020038221987255223, 0.9999904116861055, -0.0078646345064044], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7169964909553528, 1.613000750541687, -0.548999011516571, -0.06240397319197655, 0.07314014434814453, 0.656771719455719, -1.3473283052444458, -1.4029417037963867, -0.853586733341217, 0.48545974493026733, -0.22875836491584778, -0.8966468572616577, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9561952948570251, -1.4754422903060913, 1.1959114074707031, -0.9599732160568237, 0.0020916068460792303, 0.03492526710033417, 0.43055352568626404, 0.5490000012811723, 0.5490000012811723, 0.5490000012811723, 0.5490000012811723, -0.5490000012811723, -0.5490000012811723, -0.5490000012811723, 0.5490000012811723, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452425197645, 0.009706208361223843, -0.003911710794255326, 0.049754753708839417], [-0.009713935275656085, 0.9999508953842934, -0.00196119392471169, 0.14060145616531372], [0.003892482954330001, 0.001999084640146601, 0.9999904260726958, -0.007865233346819878], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7167088985443115, 1.6132882833480835, -0.550724446773529, -0.06470458209514618, 0.07563246786594391, 0.6567833423614502, -1.3473328351974487, -1.4029430150985718, -0.8535851836204529, 0.4854968786239624, -0.2288113236427307, -0.8966353535652161, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.9801949262619019, -1.4737073183059692, 1.2360725402832031, -0.9969022274017334, -0.013355699367821217, 0.043130386620759964, 0.4340517222881317, 0.47280000042129344, 0.47280000042129344, 0.47280000042129344, 0.47280000042129344, -0.47280000042129344, -0.47280000042129344, -0.47280000042129344, 0.47280000042129344, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452951335567, 0.009702666261340793, -0.003907045902627688, 0.04978672042489052], [-0.009710329424073478, 0.9999509577541384, -0.0019472003125443921, 0.1405959129333496], [0.0038879612575453432, 0.0019850324940008475, 0.9999904716562341, -0.007867631502449512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.716133713722229, 1.6135759353637695, -0.5525457859039307, -0.06585488468408585, 0.07783721387386322, 0.6568127274513245, -1.347241997718811, -1.4029500484466553, -0.8535858988761902, 0.4855153560638428, -0.22884561121463776, -0.8966264128684998, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0031933784484863, -1.4694100618362427, 1.2675422430038452, -1.025180697441101, -0.030987130478024483, 0.05865858495235443, 0.441074013710022, 0.34679999954097873, 0.34679999954097873, 0.34679999954097873, 0.34679999954097873, -0.34679999954097873, -0.34679999954097873, -0.34679999954097873, 0.34679999954097873, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451645743853, 0.009718925311714583, -0.003900042960132007, 0.04980199411511421], [-0.009726571816824061, 0.9999508013243291, -0.001946466419988945, 0.14059652388095856], [0.003880933521425677, 0.0019842937326147833, 0.9999905004215714, -0.0078688720241189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7158461809158325, 1.6145344972610474, -0.5541753768920898, -0.0665258914232254, 0.07898751646280289, 0.6569115519523621, -1.3470314741134644, -1.4029529094696045, -0.8535870909690857, 0.4855239689350128, -0.22886118292808533, -0.8966217041015625, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.018544316291809, -1.4648122787475586, 1.2840124368667603, -1.0413899421691895, -0.06204976141452789, 0.07174691557884216, 0.4321489930152893, 0.3048000057975014, 0.3048000057975014, 0.3048000057975014, 0.3048000057975014, -0.3048000057975014, -0.3048000057975014, -0.3048000057975014, 0.3048000057975014, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458872204986, 0.009638158122973264, -0.003915167787772311, 0.0498015433549881], [-0.009645768124595588, 0.9999516168983968, -0.0019295127800142827, 0.14060042798519135], [0.003896381410537367, 0.00196717316936441, 0.999990474175442, -0.007869805209338665], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7156544327735901, 1.6153972148895264, -0.5555173754692078, -0.06671760976314545, 0.07889165729284286, 0.6569748520851135, -1.346977949142456, -1.4029603004455566, -0.8535853028297424, 0.4855279326438904, -0.22887185215950012, -0.8966233730316162, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.025083303451538, -1.4624860286712646, 1.2857698202133179, -1.0494803190231323, -0.08350548148155212, 0.07397215068340302, 0.4214509129524231, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, -0.29160000046530926, -0.29160000046530926, -0.29160000046530926, 0.29160000046530926, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456715103316, 0.0096607444689878, -0.003914593728190465, 0.049783285707235336], [-0.009668340109123383, 0.9999514055210801, -0.001926083059145378, 0.1406036913394928], [0.0038957961042876098, 0.0019638260415149856, 0.9999904830347099, -0.007870770990848541], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7157502770423889, 1.61587655544281, -0.556667685508728, -0.06710104644298553, 0.07850822806358337, 0.6570219993591309, -1.3469680547714233, -1.4029724597930908, -0.8535850644111633, 0.4855375289916992, -0.2288770079612732, -0.8966244459152222, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0270071029663086, -1.4626377820968628, 1.2968846559524536, -1.0502666234970093, -0.05618372559547424, 0.0718836560845375, 0.4280923306941986, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, -0.2849999977992131, -0.2849999977992131, -0.2849999977992131, 0.2849999977992131, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453990180618, 0.009692864761539284, -0.0039047862071567457, 0.04977763816714287], [-0.00970037099295201, 0.9999511300045745, -0.0019079845842135223, 0.14059953391551971], [0.0038861015437307808, 0.0019457582812392837, 0.9999905560751575, -0.007873530499637127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7160378694534302, 1.616451621055603, -0.5577221512794495, -0.06729276478290558, 0.07783721387386322, 0.6570452451705933, -1.3469984531402588, -1.4029747247695923, -0.8535856604576111, 0.48555561900138855, -0.22887784242630005, -0.8966302275657654, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0330572128295898, -1.4621262550354004, 1.3081591129302979, -1.063542366027832, -0.0438062958419323, 0.07302959263324738, 0.43195244669914246, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, -0.2508000054202237, -0.2508000054202237, -0.2508000054202237, 0.2508000054202237, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455410568915, 0.009677818623552045, -0.003905732598397434, 0.04980899393558502], [-0.009685187708430172, 0.9999513447215634, -0.0018722522772058653, 0.14059850573539734], [0.0038874232459340297, 0.00190997806968003, 0.9999906199181472, -0.007878823205828667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7162296175956726, 1.616739273071289, -0.5582972764968872, -0.06758034229278564, 0.07726205885410309, 0.6570486426353455, -1.3470004796981812, -1.4029802083969116, -0.8535839915275574, 0.48557573556900024, -0.2288755625486374, -0.8966370820999146, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0416806936264038, -1.4600489139556885, 1.3198047876358032, -1.0792393684387207, -0.037919286638498306, 0.07698330283164978, 0.43766772747039795, 0.21660001304123427, 0.21660001304123427, 0.21660001304123427, 0.21660001304123427, -0.21660001304123427, -0.21660001304123427, -0.21660001304123427, 0.21660001304123427, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999459838882457, 0.009630790200766843, -0.003908604082928814, 0.04975445196032524], [-0.009638055768337839, 0.9999518520499683, -0.0018443055182684534, 0.1406031847000122], [0.003890653772142176, 0.0018818772401830905, 0.9999906606320272, -0.007882487960159779], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7168047428131104, 1.6172184944152832, -0.558872401714325, -0.06777206063270569, 0.07726205885410309, 0.6570504307746887, -1.347011923789978, -1.4029816389083862, -0.853582501411438, 0.4855818450450897, -0.22887496650218964, -0.8966453075408936, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0449073314666748, -1.4563508033752441, 1.3311119079589844, -1.0824670791625977, -0.03787578269839287, 0.08390359580516815, 0.43837204575538635, 0.160200015267173, 0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454832913024, 0.009680334124072716, -0.0039142785503890245, 0.04979841038584709], [-0.009687539506960632, 0.9999514073911425, -0.0018260434755235455, 0.14060060679912567], [0.0038964116344143147, 0.0018638636537414636, 0.9999906719508215, -0.007885363884270191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7169964909553528, 1.617697834968567, -0.5593517422676086, -0.06767620146274567, 0.07659105211496353, 0.657061755657196, -1.3469927310943604, -1.402998924255371, -0.8535758256912231, 0.48559144139289856, -0.22887161374092102, -0.8966546654701233, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0423195362091064, -1.4525326490402222, 1.3484265804290771, -1.0723276138305664, -0.02618984505534172, 0.08203453570604324, 0.43866974115371704, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, -0.12059999927059636, -0.12059999927059636, -0.12059999927059636, 0.12059999927059636, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458818240654, 0.00963827565833896, -0.003916256557732024, 0.0498175211250782], [-0.009645366831567187, 0.9999518697216904, -0.001795867138749674, 0.1406017541885376], [0.0038987590046849468, 0.0018335436808017598, 0.9999907188548272, -0.00788810569792986], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7173799276351929, 1.6179853677749634, -0.5597351789474487, -0.0673886239528656, 0.07563246786594391, 0.6570701599121094, -1.3469949960708618, -1.4030059576034546, -0.8535647988319397, 0.48560631275177, -0.22886765003204346, -0.8966662883758545, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.043274998664856, -1.4472858905792236, 1.3498775959014893, -1.0756524801254272, -0.025653552263975143, 0.08459927886724472, 0.44318538904190063, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, -0.022800016927195133, -0.022800016927195133, -0.022800016927195133, 0.022800016927195133, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7179550528526306, 1.618464708328247, -0.5598310232162476, -0.06662175059318542, 0.07496145367622375, 0.6570747494697571, -1.3470234870910645, -1.4030046463012695, -0.8535642027854919, 0.4856835901737213, -0.22889018058776855, -0.8966577649116516, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0531680583953857, -1.4439289569854736, 1.3619580268859863, -1.0991239547729492, -0.004213413689285517, 0.08701469749212265, 0.45654577016830444, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7185301780700684, 1.618560552597046, -0.5597351789474487, -0.06556730717420578, 0.0742904469370842, 0.6572406888008118, -1.3432458639144897, -1.4004572629928589, -0.8566451072692871, 0.5056968927383423, -0.24910278618335724, -0.897831380367279, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0737812519073486, -1.4384559392929077, 1.3932609558105469, -1.1299183368682861, 0.039707452058792114, 0.09174738824367523, 0.46195483207702637, 0.007800003722473803, 0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -0.007800003722473803, -0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7191053628921509, 1.618464708328247, -0.559255838394165, -0.06470458209514618, 0.07333185523748398, 0.6652430295944214, -1.3344558477401733, -1.3995131254196167, -0.8827632665634155, 0.5360126495361328, -0.28108400106430054, -0.9091413021087646, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.089056372642517, -1.4298889636993408, 1.413626790046692, -1.1420220136642456, 0.06116388738155365, 0.10165619105100632, 0.4550286829471588, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7192012071609497, 1.618464708328247, -0.5585848689079285, -0.06412942707538605, 0.07246913015842438, 0.6721250414848328, -1.3301173448562622, -1.3993566036224365, -0.8928031921386719, 0.54691481590271, -0.2856946885585785, -0.9074279069900513, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0928428173065186, -1.4217816591262817, 1.4322593212127686, -1.1367121934890747, 0.08039724826812744, 0.10121217370033264, 0.44734570384025574, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.719009518623352, 1.6179853677749634, -0.5579138398170471, -0.06403356790542603, 0.07189397513866425, 0.6725220680236816, -1.3280043601989746, -1.3956773281097412, -0.8815565705299377, 0.5488696098327637, -0.2898293733596802, -0.9012604355812073, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0978740453720093, -1.4147613048553467, 1.451047420501709, -1.1385587453842163, 0.10697874426841736, 0.09749430418014526, 0.4343603253364563, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7184343338012695, 1.6163557767868042, -0.5576262474060059, -0.06403356790542603, 0.07160640507936478, 0.6726574301719666, -1.327465295791626, -1.3946537971496582, -0.8743724226951599, 0.5427675843238831, -0.29502105712890625, -0.8987285494804382, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1016676425933838, -1.4078788757324219, 1.4599266052246094, -1.144219994544983, 0.12111173570156097, 0.09548311680555344, 0.42454978823661804, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7176674604415894, 1.6149178743362427, -0.557530403137207, -0.06412942707538605, 0.07160640507936478, 0.6727373600006104, -1.3262925148010254, -1.3946551084518433, -0.8667710423469543, 0.5389708876609802, -0.30550283193588257, -0.8921763896942139, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1051406860351562, -1.4041918516159058, 1.467901349067688, -1.1443179845809937, 0.14549808204174042, 0.082129567861557, 0.4165281653404236, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7166130542755127, 1.6139593124389648, -0.5573387145996094, -0.0648004412651062, 0.07131882756948471, 0.6720278263092041, -1.3242062330245972, -1.392156720161438, -0.858441174030304, 0.5383387207984924, -0.3134397268295288, -0.8939560651779175, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1126887798309326, -1.399633526802063, 1.4801194667816162, -1.152854084968567, 0.1741899847984314, 0.06808549910783768, 0.40581029653549194, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7160378694534302, 1.6132882833480835, -0.5570511221885681, -0.06527972966432571, 0.07122296839952469, 0.670352041721344, -1.321732521057129, -1.3920925855636597, -0.8495618104934692, 0.5297510623931885, -0.31880471110343933, -0.9029438495635986, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1147282123565674, -1.3924908638000488, 1.4830195903778076, -1.1549139022827148, 0.17850778996944427, 0.06954577565193176, 0.4059532880783081, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7156544327735901, 1.6129049062728882, -0.5569552779197693, -0.06585488468408585, 0.0708395317196846, 0.6664248108863831, -1.3213238716125488, -1.3941195011138916, -0.8354253768920898, 0.52623450756073, -0.3205215632915497, -0.903325080871582, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1150017976760864, -1.3867586851119995, 1.488324761390686, -1.152200698852539, 0.1868334710597992, 0.06813834607601166, 0.40522846579551697, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7154627442359924, 1.6129049062728882, -0.5568593740463257, -0.06662175059318542, 0.0708395317196846, 0.6611736416816711, -1.3212257623672485, -1.3884518146514893, -0.8233204483985901, 0.552283525466919, -0.3125283420085907, -0.8779662251472473, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1302549839019775, -1.3820056915283203, 1.5012534856796265, -1.1803457736968994, 0.21220946311950684, 0.057228270918130875, 0.39953967928886414, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7154627442359924, 1.613000750541687, -0.5568593740463257, -0.06719690561294556, 0.07112710922956467, 0.6562831401824951, -1.3214038610458374, -1.3756194114685059, -0.8152356743812561, 0.5669339895248413, -0.29846078157424927, -0.8543798327445984, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.155139446258545, -1.3768088817596436, 1.5052553415298462, -1.2261134386062622, 0.23684890568256378, 0.06605429202318192, 0.4168494641780853, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458316150296, 0.009645838165584909, -0.00391045289066999, 0.0497857891023159], [-0.009652891179260124, 0.9999518098054775, -0.001788786916206719, 0.14060355722904205], [0.003893010096078072, 0.0018264371967236725, 0.9999907542570372, -0.007890134118497372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7155585885047913, 1.6134799718856812, -0.5568593740463257, -0.06719690561294556, 0.07131882756948471, 0.6491385698318481, -1.324255108833313, -1.368176817893982, -0.8068540096282959, 0.5620383620262146, -0.2852086126804352, -0.842412531375885, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1827056407928467, -1.3722399473190308, 1.4982266426086426, -1.2833491563796997, 0.2450602650642395, 0.08720992505550385, 0.4392310678958893, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454106045079, 0.00968825025337976, -0.0039132618120986465, 0.049690019339323044], [-0.009695339970355588, 0.9999513847175567, -0.00179682617413054, 0.14059923589229584], [0.003895663466133577, 0.0018346684901371958, 0.9999907288558679, -0.007889334112405777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7155585885047913, 1.614726185798645, -0.5568593740463257, -0.06662175059318542, 0.07103125005960464, 0.6371297836303711, -1.332336187362671, -1.3552892208099365, -0.795360267162323, 0.5545989871025085, -0.26565369963645935, -0.8272445797920227, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2036834955215454, -1.3690476417541504, 1.4798803329467773, -1.3372070789337158, 0.24848535656929016, 0.1074724942445755, 0.46045440435409546, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999460437252269, 0.00962761047934219, -0.0039011222391283347, 0.049753088504076004], [-0.009634799855032598, 0.9999519127906945, -0.0018283156140920494, 0.14060236513614655], [0.003883332334480918, 0.0018658034969764217, 0.9999907192105788, -0.007885370403528214], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.716133713722229, 1.6154930591583252, -0.5561884045600891, -0.06489630043506622, 0.06882650405168533, 0.6271990537643433, -1.3423478603363037, -1.33974027633667, -0.7867879867553711, 0.5540309548377991, -0.25250211358070374, -0.8141288757324219, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2123547792434692, -1.3688989877700806, 1.4497183561325073, -1.3781194686889648, 0.23396898806095123, 0.12657666206359863, 0.4757423400878906, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456036076256, 0.009672520640679772, -0.0039028413030518993, 0.049654390662908554], [-0.009679734803290445, 0.9999514687740454, -0.0018338022705147686, 0.14059516787528992], [0.003884914403066276, 0.0018714809870797955, 0.9999907024562757, -0.007884310558438301], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7171881794929504, 1.61587655544281, -0.5556132197380066, -0.06288326531648636, 0.06451286375522614, 0.6176048517227173, -1.35149347782135, -1.330251932144165, -0.7755559086799622, 0.55394047498703, -0.24831385910511017, -0.8061543703079224, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2123278379440308, -1.3699909448623657, 1.4116674661636353, -1.3983820676803589, 0.2192566692829132, 0.1371982842683792, 0.4906010925769806, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454228958345, 0.009691062037168342, -0.0039031456880773943, 0.04963689297437668], [-0.009698312777122072, 0.9999512717750666, -0.0018430422415004549, 0.1405952274799347], [0.003885094458016855, 0.001880795581289709, 0.9999906842811256, -0.007883131504058838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7180508971214294, 1.6162599325180054, -0.5551339387893677, -0.06115781143307686, 0.058377910405397415, 0.6060712337493896, -1.359999656677246, -1.3224976062774658, -0.758990466594696, 0.5525438189506531, -0.23842975497245789, -0.7957228422164917, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2099027633666992, -1.3726274967193604, 1.3739858865737915, -1.415931224822998, 0.20094752311706543, 0.13920515775680542, 0.5040114521980286, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945753119032, 0.009649997273819062, -0.0039202515004926955, 0.04969422519207001], [-0.009657316146584336, 0.999951651410363, -0.0018523192308140257, 0.1405981034040451], [0.0039021870863340264, 0.0018900778563875765, 0.9999906002266421, -0.007881169207394123], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.718626081943512, 1.6165474653244019, -0.55494225025177, -0.05943235754966736, 0.051763664931058884, 0.5934142470359802, -1.3682880401611328, -1.3143354654312134, -0.737306535243988, 0.5527371168136597, -0.23163601756095886, -0.7814905643463135, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1960698366165161, -1.378538966178894, 1.3421483039855957, -1.419649600982666, 0.20049811899662018, 0.13661357760429382, 0.5139409899711609, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454510737386, 0.00968695671528784, -0.003906116554018407, 0.04972662776708603], [-0.009694254321063163, 0.9999512914932277, -0.001853665068065269, 0.1406017690896988], [0.0038879699196347926, 0.0018914308399085272, 0.9999906530459581, -0.007881524972617626], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7192970514297485, 1.6172184944152832, -0.5548463463783264, -0.05809033662080765, 0.04457426816225052, 0.5836929678916931, -1.3755369186401367, -1.311214566230774, -0.7203534245491028, 0.5561397075653076, -0.22965189814567566, -0.7740359306335449, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1757590770721436, -1.387284278869629, 1.318684458732605, -1.41982102394104, 0.2133418470621109, 0.11857970803976059, 0.5171001553535461, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453796435108, 0.009689657433790038, -0.003917686614678965, 0.049683909863233566], [-0.009696949045628714, 0.9999512785997359, -0.0018465118358611862, 0.14059801399707794], [0.0038996036723643675, 0.0018844005862057335, 0.999990621018832, -0.007882960140705109], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7202556729316711, 1.617314338684082, -0.5548463463783264, -0.05626901984214783, 0.03748072683811188, 0.5736813545227051, -1.3811086416244507, -1.3104982376098633, -0.7002822160720825, 0.5580219626426697, -0.22930987179279327, -0.7648630738258362, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1582822799682617, -1.3960528373718262, 1.3018511533737183, -1.420678734779358, 0.21807706356048584, 0.10602575540542603, 0.5168609023094177, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.721214234828949, 1.6175061464309692, -0.55494225025177, -0.05463942512869835, 0.03192092478275299, 0.5657684803009033, -1.3853058815002441, -1.31171715259552, -0.6851807832717896, 0.560702919960022, -0.22855114936828613, -0.7589537501335144, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1309925317764282, -1.4053919315338135, 1.2752597332000732, -1.3861472606658936, 0.20760992169380188, 0.09687604010105133, 0.509131669998169, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7221728563308716, 1.6179853677749634, -0.5546546578407288, -0.05339326336979866, 0.02837415784597397, 0.5616347193717957, -1.3889069557189941, -1.312827467918396, -0.6765310764312744, 0.5624802112579346, -0.22853916883468628, -0.7553198933601379, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0913722515106201, -1.4183952808380127, 1.2390576601028442, -1.3052797317504883, 0.19145673513412476, 0.09160861372947693, 0.5075393319129944, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7228438258171082, 1.6187522411346436, -0.5542712211608887, -0.052722252905368805, 0.026744559407234192, 0.5596246719360352, -1.391403317451477, -1.3128297328948975, -0.6701791882514954, 0.5640888214111328, -0.22852742671966553, -0.7542558312416077, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0649142265319824, -1.4286068677902222, 1.2201225757598877, -1.259444236755371, 0.16197411715984344, 0.0953715369105339, 0.5315046906471252, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7240899801254272, 1.6191357374191284, -0.5537919402122498, -0.05205123871564865, 0.02616940811276436, 0.55962735414505, -1.3919274806976318, -1.3128308057785034, -0.669127345085144, 0.5644888877868652, -0.22856086492538452, -0.753882884979248, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0553808212280273, -1.435282826423645, 1.2170544862747192, -1.246490478515625, 0.1344389170408249, 0.10186795145273209, 0.54879230260849, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.724952757358551, 1.6191357374191284, -0.5534085035324097, -0.051380228251218796, 0.02626526728272438, 0.5596281290054321, -1.3919274806976318, -1.3128385543823242, -0.6692229509353638, 0.5644862055778503, -0.22863347828388214, -0.7538160085678101, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.050311803817749, -1.4388909339904785, 1.2266747951507568, -1.2332875728607178, 0.11772667616605759, 0.1071954146027565, 0.5622268319129944, 0.25619998973804514, 0.25619998973804514, 0.25619998973804514, 0.25619998973804514, -0.25619998973804514, -0.25619998973804514, -0.25619998973804514, 0.25619998973804514, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7253361940383911, 1.6197108030319214, -0.5530250668525696, -0.05080507695674896, 0.02626526728272438, 0.5596301555633545, -1.391912817955017, -1.3129075765609741, -0.6695684790611267, 0.5644837021827698, -0.228662371635437, -0.7537142634391785, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0601412057876587, -1.4372279644012451, 1.2674072980880737, -1.2546716928482056, 0.10232922434806824, 0.10639211535453796, 0.5961365699768066, 0.5231999997909252, 0.5231999997909252, 0.5231999997909252, 0.5231999997909252, -0.5231999997909252, -0.5231999997909252, -0.5231999997909252, 0.5231999997909252, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7255278825759888, 1.620285987854004, -0.5526416301727295, -0.05022992566227913, 0.026073548942804337, 0.5596329569816589, -1.3918848037719727, -1.3129782676696777, -0.6696493625640869, 0.5644809603691101, -0.22866860032081604, -0.7536916136741638, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.0867148637771606, -1.4264625310897827, 1.3112679719924927, -1.3011353015899658, 0.07912261039018631, 0.10396698862314224, 0.6393499970436096, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456522707043, 0.00966298539991199, -0.003913977270870243, 0.04964980483055115], [-0.009670282688150884, 0.9999515307556729, -0.0018498032646504109, 0.14060288667678833], [0.003895912941410584, 0.0018875519986876455, 0.9999906294609991, -0.007881511002779007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7259113192558289, 1.6207653284072876, -0.5525457859039307, -0.05013406649231911, 0.025498397648334503, 0.5596338510513306, -1.39187753200531, -1.3130463361740112, -0.6696785092353821, 0.564479410648346, -0.2286684811115265, -0.7536617517471313, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.1223275661468506, -1.4073655605316162, 1.3515691757202148, -1.346655249595642, 0.032744016498327255, 0.08516577631235123, 0.7069690823554993, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456343375155, 0.009670607008654568, -0.0038997088901416106, 0.049581196159124374], [-0.009677813608269685, 0.9999514881678376, -0.0018333670364699202, 0.14059415459632874], [0.0038817899360061277, 0.0018710080200217082, 0.9999907154748396, -0.007884192280471325], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7260071635246277, 1.6209570169448853, -0.5524498820304871, -0.05013406649231911, 0.02492324635386467, 0.5596386790275574, -1.3918628692626953, -1.3130762577056885, -0.6697104573249817, 0.5644785761833191, -0.22866643965244293, -0.7536333799362183, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.162217140197754, -1.3868348598480225, 1.3967777490615845, -1.3885064125061035, -0.007634550333023071, 0.08041319251060486, 0.773705005645752, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457338421157, 0.00965140087285897, -0.00392171290945051, 0.049657464027404785], [-0.00965862478392356, 0.9999516848328687, -0.0018272841023310074, 0.1406003087759018], [0.00390388757985565, 0.0018650632961460625, 0.999990640556533, -0.007885437458753586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7260071635246277, 1.6209570169448853, -0.5525457859039307, -0.05013406649231911, 0.02492324635386467, 0.5596439242362976, -1.391856074333191, -1.3130935430526733, -0.6697210073471069, 0.5644786953926086, -0.22866548597812653, -0.7536185383796692, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.201082468032837, -1.3710341453552246, 1.441831111907959, -1.431013584136963, -0.030813001096248627, 0.09124992787837982, 0.7925052642822266, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458335004009, 0.009647345701170373, -0.0039062496221610823, 0.04965817183256149], [-0.00965452343853685, 0.9999517325647885, -0.0018228323709046637, 0.1405988335609436], [0.0038884755834731233, 0.0018604466129897058, 0.999990709204859, -0.007885584607720375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.724952757358551, 1.6209570169448853, -0.5531209111213684, -0.04975063353776932, 0.02444395236670971, 0.5596663951873779, -1.3918315172195435, -1.3131449222564697, -0.6697261929512024, 0.5644797682762146, -0.22866500914096832, -0.7536109685897827, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2221777439117432, -1.3610663414001465, 1.4627407789230347, -1.4541198015213013, -0.037436921149492264, 0.08357977867126465, 0.80159592628479, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458038986083, 0.009647948186235164, -0.0039123345155669, 0.04966743662953377], [-0.009655088749997452, 0.9999517497289072, -0.0018103798846290631, 0.14060327410697937], [0.0038946792930416143, 0.001848055706064755, 0.9999907080384856, -0.007887182757258415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7238982915878296, 1.6209570169448853, -0.5543670654296875, -0.049175482243299484, 0.02358122542500496, 0.5596774816513062, -1.3918228149414062, -1.3131881952285767, -0.6697267889976501, 0.5644785761833191, -0.22866427898406982, -0.7536120414733887, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2234411239624023, -1.3606396913528442, 1.4630789756774902, -1.4531307220458984, -0.03310666233301163, 0.07330702245235443, 0.8012821674346924, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945434576496, 0.009681443167852893, -0.003923968375290182, 0.049782320857048035], [-0.009688581701596064, 0.999951436755437, -0.0018043046718565446, 0.14059992134571075], [0.0039063095415162435, 0.0018422239074064727, 0.999990673434928, -0.00788872130215168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7229397296905518, 1.6208611726760864, -0.55494225025177, -0.048792045563459396, 0.02319779060781002, 0.5596767067909241, -1.3918282985687256, -1.3132036924362183, -0.6697266697883606, 0.5644791722297668, -0.22866356372833252, -0.7536144256591797, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2214608192443848, -1.3606497049331665, 1.4607651233673096, -1.4519240856170654, -0.032529741525650024, 0.07425437867641449, 0.8003219962120056, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456886976251, 0.009656329092189995, -0.003921092130452446, 0.04967793822288513], [-0.009663454830309472, 0.9999516832893721, -0.0018024226734664173, 0.14059987664222717], [0.0039034978896804176, 0.0018402160782317004, 0.9999906881111497, -0.007888147607445717], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7228438258171082, 1.620285987854004, -0.5556132197380066, -0.048792045563459396, 0.023006072267889977, 0.5596767663955688, -1.3918291330337524, -1.3132039308547974, -0.6697261929512024, 0.564479649066925, -0.22866427898406982, -0.753615140914917, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2205121517181396, -1.3606841564178467, 1.4607576131820679, -1.451897382736206, -0.0325126014649868, 0.07429656386375427, 0.800238847732544, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456990211267, 0.009658191742158973, -0.0039138652789718845, 0.04965807870030403], [-0.009665358251394338, 0.9999516397875999, -0.0018162973220865607, 0.1406002640724182], [0.003896133855818206, 0.0018540276054330033, 0.9999906913179821, -0.007885809056460857], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7228438258171082, 1.620190143585205, -0.5557090640068054, -0.048696186393499374, 0.022814355790615082, 0.5596763491630554, -1.3918346166610718, -1.313204288482666, -0.6697261929512024, 0.564480721950531, -0.22866356372833252, -0.7536147832870483, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2205132246017456, -1.3607087135314941, 1.460762858390808, -1.4518965482711792, -0.032495107501745224, 0.07429512590169907, 0.8002177476882935, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456542851778, 0.009660488159276203, -0.0039196230318905454, 0.04972994327545166], [-0.009667691752240852, 0.9999516049196884, -0.0018230619087270955, 0.14059941470623016], [0.0039018216734362397, 0.0018608565403818022, 0.9999906564566315, -0.007885062135756016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7228438258171082, 1.6200942993164062, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596755146980286, -1.3918383121490479, -1.3132030963897705, -0.6697261929512024, 0.5644834637641907, -0.22866368293762207, -0.7536163330078125, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2205232381820679, -1.3607261180877686, 1.460781455039978, -1.4518945217132568, -0.03248108550906181, 0.0742902085185051, 0.8002108931541443, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455170291369, 0.009671492550170174, -0.003927493498927897, 0.049725085496902466], [-0.009678864681888494, 0.9999514243265349, -0.0018624086028154762, 0.14059992134571075], [0.003909290447358654, 0.0019003208113769537, 0.9999905530698838, -0.007879597134888172], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7228438258171082, 1.6200942993164062, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596747398376465, -1.3918383121490479, -1.3132030963897705, -0.6697261929512024, 0.5644844174385071, -0.22866392135620117, -0.7536158561706543, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.2205417156219482, -1.360743522644043, 1.4608194828033447, -1.4518905878067017, -0.03246910125017166, 0.07428661733865738, 0.8002086281776428, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456885834728, 0.00965683035203445, -0.0039198865897630926, 0.049695853143930435], [-0.009664122524751127, 0.9999515979978661, -0.0018456427987134955, 0.14059974253177643], [0.0039018738000063807, 0.0018834248235252934, 0.999990614001843, -0.00788209494203329], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7228438258171082, 1.6200942993164062, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596741437911987, -1.391839623451233, -1.3132033348083496, -0.6697273850440979, 0.5644845366477966, -0.22866404056549072, -0.7536149024963379, 0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -1.220569372177124, -1.3607513904571533, 1.4608601331710815, -1.451882243156433, -0.0324544794857502, 0.07428397983312607, 0.800207793712616, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945571438877, 0.009670151012262257, -0.003916929815269736, 0.049713172018527985], [-0.009677483688537778, 0.999951446935246, -0.001857439518824583, 0.14059816300868988], [0.0038987779156796007, 0.0018952444454606206, 0.9999906037454833, -0.007880453951656818], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6200942993164062, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.559673011302948, -1.3918423652648926, -1.3132027387619019, -0.669726550579071, 0.5644837021827698, -0.22866427898406982, -0.7536143064498901, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.220599889755249, -1.3607546091079712, 1.46089768409729, -1.4518741369247437, -0.03243674337863922, 0.074280746281147, 0.8002080321311951, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457000221988, 0.009659085266262012, -0.0039114037037692164, 0.049708060920238495], [-0.009666430815947289, 0.9999515426553444, -0.0018634528374901521, 0.14059898257255554], [0.0038932149176848802, 0.001901160965338168, 0.9999906141882475, -0.00787944346666336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6200942993164062, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596724152565002, -1.3918436765670776, -1.3132026195526123, -0.6697272658348083, 0.564484179019928, -0.22866415977478027, -0.7536132335662842, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.220619559288025, -1.3607555627822876, 1.4609143733978271, -1.4518647193908691, -0.03240630403161049, 0.07427966594696045, 0.8002089858055115, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6199984550476074, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596719980239868, -1.3918442726135254, -1.3132025003433228, -0.6697279810905457, 0.5644839406013489, -0.22866415977478027, -0.7536115646362305, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.220636248588562, -1.3607556819915771, 1.460927128791809, -1.4518600702285767, -0.0323619619011879, 0.074278824031353, 0.8002089858055115, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6199984550476074, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596715211868286, -1.391844630241394, -1.313201904296875, -0.6697295308113098, 0.5644838213920593, -0.22866356372833252, -0.7536096572875977, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.2206429243087769, -1.360755443572998, 1.4609322547912598, -1.4518580436706543, -0.03232385218143463, 0.0742795467376709, 0.8002094626426697, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6199026107788086, -0.5559008121490479, -0.04860033094882965, 0.02271849662065506, 0.5596711039543152, -1.391844630241394, -1.3132028579711914, -0.6697314381599426, 0.5644829869270325, -0.22866392135620117, -0.7536054253578186, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.220645785331726, -1.3607549667358398, 1.4609335660934448, -1.4518576860427856, -0.032297126948833466, 0.07428301870822906, 0.8002105355262756, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6199026107788086, -0.5559008121490479, -0.04860033094882965, 0.022622639313340187, 0.559670090675354, -1.3918449878692627, -1.3132035732269287, -0.6697327494621277, 0.564484179019928, -0.22866356372833252, -0.7535943984985352, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.220646858215332, -1.3607548475265503, 1.460934042930603, -1.4518567323684692, -0.03228706121444702, 0.07428565621376038, 0.8002110123634338, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7227479815483093, 1.6199026107788086, -0.5559008121490479, -0.04850447177886963, 0.02271849662065506, 0.5596697926521301, -1.391844391822815, -1.3132052421569824, -0.6697329878807068, 0.5644833445549011, -0.22866296768188477, -0.7535756230354309, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.2178751230239868, -1.3607585430145264, 1.4586732387542725, -1.4511655569076538, -0.03228957578539848, 0.07241012156009674, 0.785746693611145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7232272624969482, 1.6199984550476074, -0.555804967880249, -0.04850447177886963, 0.02310193143785, 0.5596687197685242, -1.3918803930282593, -1.3132070302963257, -0.6697345972061157, 0.5644828677177429, -0.22866320610046387, -0.7535502314567566, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.2075719833374023, -1.360002040863037, 1.4557037353515625, -1.4508620500564575, -0.01630357839167118, 0.08189024776220322, 0.7591224908828735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7247610092163086, 1.6200942993164062, -0.5555173754692078, -0.04850447177886963, 0.024252235889434814, 0.5596587061882019, -1.3919188976287842, -1.313209056854248, -0.6697423458099365, 0.5644823908805847, -0.22866439819335938, -0.753520131111145, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.2059104442596436, -1.3594908714294434, 1.4579769372940063, -1.4553053379058838, -0.00962572917342186, 0.0949452593922615, 0.7694984674453735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456456775846, 0.009662451156141642, -0.0039169794604595925, 0.04971522092819214], [-0.009669786688358729, 0.9999515200591952, -0.001858159494398908, 0.1406026929616928], [0.0038988351901722653, 0.0018959348512439767, 0.9999906022134407, -0.007880238816142082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7259113192558289, 1.620285987854004, -0.5550380945205688, -0.04850447177886963, 0.024827387183904648, 0.5596354007720947, -1.3919155597686768, -1.3133578300476074, -0.6698334217071533, 0.5644814372062683, -0.22866596281528473, -0.7534302473068237, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.2001880407333374, -1.3597732782363892, 1.453975796699524, -1.455003261566162, -0.018320884555578232, 0.09496743232011795, 0.7561438083648682, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999459995760249, 0.00962951580556158, -0.003907730448068742, 0.049686260521411896], [-0.009636737741990363, 0.9999518845994302, -0.00183351349599857, 0.14060211181640625], [0.003889886578863485, 0.0018710722589868512, 0.9999906838921077, -0.007884391583502293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7265823483467102, 1.6209570169448853, -0.5542712211608887, -0.04850447177886963, 0.024827387183904648, 0.5595670938491821, -1.3919901847839355, -1.3133673667907715, -0.6701020002365112, 0.5644782185554504, -0.2286706417798996, -0.7533765435218811, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.141050934791565, -1.3627196550369263, 1.429510235786438, -1.4051874876022339, -0.025288153439760208, 0.10511807352304459, 0.6388459801673889, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999451809054134, 0.00971357418269983, -0.003909176465365131, 0.050161004066467285], [-0.009720880198232968, 0.9999510318329466, -0.001854298896346218, 0.1405959129333496], [0.0038909731702723768, 0.0018921978814531936, 0.9999906399136772, -0.007881649769842625], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.727540910243988, 1.622011423110962, -0.5532167553901672, -0.048696186393499374, 0.023677082732319832, 0.5595652461051941, -1.3919790983200073, -1.3133810758590698, -0.6700997352600098, 0.5644773840904236, -0.22867915034294128, -0.7533567547798157, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0646448135375977, -1.3680784702301025, 1.428432822227478, -1.337978720664978, -0.018019959330558777, 0.12667804956436157, 0.5604133009910583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999460829371432, 0.009611989385357154, -0.003929488353445149, 0.05013987049460411], [-0.009619268848859672, 0.999952044858331, -0.0018378385281943635, 0.1405993551015854], [0.003911634629849468, 0.0018755382422491699, 0.9999905906911447, -0.0078837089240551], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7285953760147095, 1.6222031116485596, -0.5523540377616882, -0.04898376390337944, 0.022143345326185226, 0.5595658421516418, -1.3919672966003418, -1.3133795261383057, -0.6700660586357117, 0.5644785761833191, -0.22868262231349945, -0.753358006477356, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0161640644073486, -1.370359182357788, 1.4303025007247925, -1.2868688106536865, -0.026541583240032196, 0.14861565828323364, 0.5118598937988281, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452643641986, 0.009705404786956825, -0.003908118925288082, 0.04953209310770035], [-0.009712691106416807, 0.999951119810765, -0.0018497623275334984, 0.1405971795320511], [0.0038899752035470845, 0.0018876194315448841, 0.9999906524492104, -0.007882357574999332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7291705012321472, 1.6222031116485596, -0.5519706010818481, -0.04946305602788925, 0.021088900044560432, 0.5595580339431763, -1.3919702768325806, -1.3133784532546997, -0.670006275177002, 0.5644797682762146, -0.22868262231349945, -0.7533591985702515, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0022345781326294, -1.3701919317245483, 1.4350900650024414, -1.252947449684143, -0.03850854933261871, 0.17934691905975342, 0.4910786747932434, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452961034799, 0.00969909311998124, -0.003915659992097788, 0.04931523650884628], [-0.00970634865700279, 0.999951202677524, -0.0018382218369975053, 0.14059922099113464], [0.003897639833602225, 0.0018761280402059312, 0.9999906442298869, -0.007883072830736637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.729266345500946, 1.6222031116485596, -0.5518747568130493, -0.04984649270772934, 0.02137647569179535, 0.5595555901527405, -1.392009973526001, -1.313369631767273, -0.6699153184890747, 0.564480721950531, -0.2286832183599472, -0.7533632516860962, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0119389295578003, -1.3697717189788818, 1.437560796737671, -1.2487032413482666, -0.03904927894473076, 0.21055060625076294, 0.479749858379364, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455989357211, 0.009668028978383059, -0.0039151481140825475, 0.049511272460222244], [-0.0096752338432518, 0.9999515275006451, -0.001825513408606878, 0.14060021936893463], [0.003897309220533275, 0.0018632940722693092, 0.9999906695144909, -0.007885366678237915], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7289788126945496, 1.6222031116485596, -0.5524498820304871, -0.04984649270772934, 0.022910214960575104, 0.5595563650131226, -1.3920177221298218, -1.3133511543273926, -0.6698274612426758, 0.5644821524620056, -0.2286825031042099, -0.7533720135688782, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0328857898712158, -1.36880362033844, 1.4422556161880493, -1.2634024620056152, -0.03635462746024132, 0.22448310256004333, 0.47746098041534424, 0.39720000382308124, 0.39720000382308124, 0.39720000382308124, 0.39720000382308124, -0.39720000382308124, -0.39720000382308124, -0.39720000382308124, 0.39720000382308124, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945928185981, 0.009634769962859467, -0.003913043833092321, 0.04959721490740776], [-0.009641975152365222, 0.9999518466660035, -0.0018266538836321385, 0.1406029760837555], [0.0038952560170151243, 0.0018642845845518578, 0.9999906756683032, -0.007883426733314991], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.728020191192627, 1.6216280460357666, -0.5541753768920898, -0.04984649270772934, 0.023868801072239876, 0.5595569610595703, -1.392039179801941, -1.3133248090744019, -0.6697893142700195, 0.564483106136322, -0.22868262231349945, -0.753382682800293, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0433906316757202, -1.3686237335205078, 1.4404879808425903, -1.268647313117981, -0.03623957559466362, 0.2435610294342041, 0.4801193177700043, 0.2759999977363335, 0.2759999977363335, 0.2759999977363335, 0.2759999977363335, -0.2759999977363335, -0.2759999977363335, -0.2759999977363335, 0.2759999977363335, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457082983061, 0.009656816128293756, -0.003914889278546833, 0.04960991442203522], [-0.009663993999033877, 0.9999516485560753, -0.0018187275699690967, 0.14060108363628387], [0.0038971368702667595, 0.0018564622946491641, 0.9999906828925772, -0.007885859347879887], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7269657850265503, 1.6215322017669678, -0.5561884045600891, -0.04994235187768936, 0.023868801072239876, 0.5595560669898987, -1.3920453786849976, -1.3133219480514526, -0.66978919506073, 0.5644838213920593, -0.22868262231349945, -0.7533864974975586, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0436065196990967, -1.3685977458953857, 1.4364240169525146, -1.2664176225662231, -0.035680513828992844, 0.26268282532691956, 0.4689186215400696, 0.2225999868833102, 0.2225999868833102, 0.2225999868833102, 0.2225999868833102, -0.2225999868833102, -0.2225999868833102, -0.2225999868833102, 0.2225999868833102, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456892530181, 0.00965825161946851, -0.003916212451034917, 0.04965277016162872], [-0.009665400821914144, 0.9999516494518936, -0.0018107416682139757, 0.14060088992118835], [0.0038985345013669427, 0.001848495088524407, 0.9999906922040072, -0.007887049578130245], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7259113192558289, 1.6215322017669678, -0.5582014322280884, -0.04984649270772934, 0.023389507085084915, 0.5595575571060181, -1.392013669013977, -1.3133209943771362, -0.6697874069213867, 0.5644863247871399, -0.2286801040172577, -0.7533945441246033, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0459470748901367, -1.369142770767212, 1.4397170543670654, -1.2676540613174438, -0.026744835078716278, 0.26501089334487915, 0.42679744958877563, 0.2183999816139976, 0.2183999816139976, 0.2183999816139976, 0.2183999816139976, -0.2183999816139976, -0.2183999816139976, -0.2183999816139976, 0.2183999816139976, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457999263326, 0.00965220309881726, -0.003902843197727916, 0.04967585206031799], [-0.009659373691407546, 0.9999516861160518, -0.0018226172266241605, 0.14060236513614655], [0.003885062364571814, 0.001860217461542032, 0.9999907228976773, -0.007885699160397053], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7253361940383911, 1.6215322017669678, -0.5604061484336853, -0.04946305602788925, 0.023006072267889977, 0.559559166431427, -1.392011046409607, -1.3133182525634766, -0.6697829961776733, 0.5644934177398682, -0.22867687046527863, -0.7534124851226807, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.051200032234192, -1.3691294193267822, 1.4424948692321777, -1.2771027088165283, -0.031029315665364265, 0.2645419239997864, 0.4058730900287628, 0.21119998942364707, 0.21119998942364707, 0.21119998942364707, 0.21119998942364707, -0.21119998942364707, -0.21119998942364707, -0.21119998942364707, 0.21119998942364707, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456388689895, 0.009663729652139871, -0.003915563318203193, 0.049600083380937576], [-0.009670822598006298, 0.9999516225231959, -0.0017966088906235219, 0.14059962332248688], [0.003898011950519975, 0.001834377943153848, 0.9999907202371406, -0.007888555526733398], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7247610092163086, 1.6215322017669678, -0.5629943609237671, -0.048792045563459396, 0.023389507085084915, 0.559561014175415, -1.3920069932937622, -1.3133121728897095, -0.6697627305984497, 0.5645074248313904, -0.22867123782634735, -0.75345778465271, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0525866746902466, -1.369066834449768, 1.4408875703811646, -1.2811880111694336, -0.0424935445189476, 0.27301323413848877, 0.398905485868454, 0.21539999469295965, 0.21539999469295965, 0.21539999469295965, 0.21539999469295965, -0.21539999469295965, -0.21539999469295965, -0.21539999469295965, 0.21539999469295965, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456006847464, 0.009666477835756299, -0.00391853001425238, 0.04966374859213829], [-0.009673557678779109, 0.9999516046052254, -0.0017918507946656644, 0.14060038328170776], [0.0039010194894537856, 0.0018296594453182954, 0.9999907171535429, -0.007890789769589901], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7235148549079895, 1.6221072673797607, -0.5655825138092041, -0.04812103509902954, 0.024348093196749687, 0.5595608353614807, -1.3920161724090576, -1.3132941722869873, -0.669763445854187, 0.5645169019699097, -0.2286684811115265, -0.7535058856010437, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0365636348724365, -1.3692158460617065, 1.4245344400405884, -1.245642066001892, -0.049884214997291565, 0.27948063611984253, 0.39783743023872375, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, -0.19920000243972946, -0.19920000243972946, -0.19920000243972946, 0.19920000243972946, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452571896329, 0.00970042886841948, -0.003922282973937151, 0.04978766664862633], [-0.009707406153632591, 0.9999513264955245, -0.0017637759521168218, 0.14059697091579437], [0.0039049826795159266, 0.0018017545919418309, 0.9999907523525721, -0.007894190959632397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7223645448684692, 1.6230659484863281, -0.5677872896194458, -0.04812103509902954, 0.02578597329556942, 0.5595640540122986, -1.3920258283615112, -1.313275933265686, -0.6697626113891602, 0.5645309090614319, -0.2286672741174698, -0.7535264492034912, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.029921531677246, -1.3705652952194214, 1.4187684059143066, -1.2323863506317139, -0.05488211661577225, 0.2855604588985443, 0.39004218578338623, 0.160200015267173, 0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453736962589, 0.009686052751300684, -0.003928104574495172, 0.049791883677244186], [-0.009693078411821252, 0.9999514483108705, -0.0017734858033981796, 0.1405966728925705], [0.003910735781337604, 0.001811464350074418, 0.9999907123281481, -0.007891387678682804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7221728563308716, 1.6235451698303223, -0.5699920058250427, -0.04812103509902954, 0.02712799422442913, 0.5595692992210388, -1.3920280933380127, -1.3132449388504028, -0.6697580814361572, 0.5645407438278198, -0.22866512835025787, -0.7535305619239807, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0296498537063599, -1.3718034029006958, 1.4274628162384033, -1.231155276298523, -0.05033458396792412, 0.2919328510761261, 0.39190298318862915, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, -0.10139998079656244, -0.10139998079656244, -0.10139998079656244, 0.10139998079656244, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454718058637, 0.009682373811127649, -0.0039121672165592656, 0.0495888777077198], [-0.009689413803860214, 0.999951464082919, -0.0017845835828519114, 0.14059607684612274], [0.003894698330589262, 0.0018223928797629918, 0.9999907550618183, -0.007889912463724613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7221728563308716, 1.624024510383606, -0.5718133449554443, -0.04840861260890961, 0.02799072302877903, 0.5595694184303284, -1.3920403718948364, -1.3132325410842896, -0.6697613000869751, 0.564542293548584, -0.22866500914096832, -0.7535266876220703, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0350396633148193, -1.371883749961853, 1.4415594339370728, -1.2407106161117554, -0.02784690447151661, 0.2936493456363678, 0.4004780352115631, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454429401945, 0.009681167609575301, -0.003922516647970064, 0.049715377390384674], [-0.009688211425740726, 0.9999514825949253, -0.0017807345621817707, 0.14059749245643616], [0.0039050867478762964, 0.0018186395811462858, 0.9999907213807363, -0.00789130199700594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7221728563308716, 1.624599575996399, -0.5729636549949646, -0.04888790473341942, 0.02837415784597397, 0.5595695972442627, -1.3920444250106812, -1.3132333755493164, -0.6697653532028198, 0.5645409822463989, -0.22866572439670563, -0.7535191774368286, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.049816608428955, -1.3714072704315186, 1.4523816108703613, -1.2787545919418335, 0.003169228322803974, 0.29463276267051697, 0.4107153117656708, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457421781901, 0.009652169091502377, -0.003917694671317001, 0.04978835955262184], [-0.009659178885484796, 0.9999517748898407, -0.001774304910544694, 0.14059904217720032], [0.0039003798490434465, 0.0018120503542739827, 0.999990751712508, -0.00789237953722477], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7224603891372681, 1.6251747608184814, -0.5735387802124023, -0.04907962307333946, 0.02837415784597397, 0.5595685243606567, -1.3920483589172363, -1.3132346868515015, -0.6697720885276794, 0.5645393133163452, -0.22866752743721008, -0.7535095810890198, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.057263731956482, -1.3712674379348755, 1.4585163593292236, -1.3054872751235962, 0.054533734917640686, 0.3045620620250702, 0.4446060061454773, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456467797646, 0.009658824885997166, -0.003925632180928343, 0.04975404590368271], [-0.009665870752497207, 0.9999517003825567, -0.0017798439902630657, 0.14059937000274658], [0.003908251372969435, 0.0018176919032933754, 0.99999071074053, -0.00789075717329979], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7233231663703918, 1.6259416341781616, -0.5735387802124023, -0.04907962307333946, 0.027799004688858986, 0.5595682859420776, -1.3920493125915527, -1.313238263130188, -0.6697797775268555, 0.564537763595581, -0.22866979241371155, -0.7535006999969482, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0624889135360718, -1.3709825277328491, 1.4584424495697021, -1.3252873420715332, 0.10582969337701797, 0.3237079381942749, 0.4919344484806061, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455389974282, 0.009673992759386196, -0.003915725122390035, 0.04976029694080353], [-0.00968103452680803, 0.999951547374249, -0.0017833884422401782, 0.1405954211950302], [0.003898282908348731, 0.0018211995872249864, 0.9999907432683715, -0.007890726439654827], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7245693206787109, 1.626612663269043, -0.5735387802124023, -0.048792045563459396, 0.027319712564349174, 0.5595681071281433, -1.392051339149475, -1.3132416009902954, -0.669780969619751, 0.5645382404327393, -0.22867026925086975, -0.7534893155097961, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0665299892425537, -1.3710623979568481, 1.4472521543502808, -1.337294340133667, 0.16243574023246765, 0.3470088541507721, 0.5352718234062195, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456861228887, 0.009661030705765843, -0.003910152161693782, 0.049710001796483994], [-0.00966802209775314, 0.9999516916100224, -0.0017730750046024374, 0.14059916138648987], [0.0038928335364751938, 0.0018107821395293609, 0.9999907834150775, -0.007892594672739506], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.726294755935669, 1.6269960403442383, -0.5725802183151245, -0.047929320484399796, 0.026744559407234192, 0.5595671534538269, -1.3920958042144775, -1.3132449388504028, -0.6697964072227478, 0.5645376443862915, -0.2286708801984787, -0.753480076789856, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0587670803070068, -1.3721535205841064, 1.422269582748413, -1.3196985721588135, 0.19287782907485962, 0.35935476422309875, 0.5651182532310486, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999459668269902, 0.009635722654174951, -0.0039008044513337806, 0.04975685477256775], [-0.009642595124941335, 0.9999519832815513, -0.0017468516103492737, 0.14059998095035553], [0.003883784969869393, 0.00178437110039977, 0.9999908660753276, -0.00789626408368349], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.727540910243988, 1.6278588771820068, -0.5713340640068054, -0.046970732510089874, 0.02616940811276436, 0.5595675706863403, -1.392090916633606, -1.3132636547088623, -0.6698082685470581, 0.5645384788513184, -0.2286708801984787, -0.7534753084182739, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0528055429458618, -1.372761607170105, 1.4147738218307495, -1.3087235689163208, 0.18399439752101898, 0.3567267656326294, 0.5732161402702332, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999460948333238, 0.009615148241280251, -0.003918718142917436, 0.0499064102768898], [-0.009622053444657875, 0.9999521807561471, -0.001747080002099324, 0.14060218632221222], [0.0039017323195694085, 0.0017846919408663162, 0.9999907956374312, -0.007895473390817642], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7282119393348694, 1.6281464099884033, -0.5706630349159241, -0.04668315500020981, 0.025881832465529442, 0.559567391872406, -1.3920975923538208, -1.3132637739181519, -0.6698077917098999, 0.5645389556884766, -0.22867052257061005, -0.7534730434417725, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0526659488677979, -1.3729459047317505, 1.4168998003005981, -1.3101392984390259, 0.18219880759716034, 0.35657742619514465, 0.5712404251098633, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458026844408, 0.009649639308846283, -0.003908472205169898, 0.049811530858278275], [-0.009656559434055259, 0.999951833274622, -0.0017555599161286567, 0.14060039818286896], [0.003891343426886834, 0.0017932071636394755, 0.9999908208850731, -0.007895449176430702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7285953760147095, 1.628338098526001, -0.5703754425048828, -0.046108003705739975, 0.025690114125609398, 0.5591074824333191, -1.3923966884613037, -1.315443515777588, -0.669937252998352, 0.5622634291648865, -0.2290053516626358, -0.757381796836853, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0495901107788086, -1.3746063709259033, 1.400085687637329, -1.3148609399795532, 0.19444021582603455, 0.3781448304653168, 0.5920552015304565, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999460684990228, 0.009619339654138536, -0.003915149801227404, 0.04982556402683258], [-0.009626160087720551, 0.999952176179005, -0.001726961736030948, 0.14060167968273163], [0.0038983503322955588, 0.0017645564571464158, 0.9999908445606871, -0.00789994839578867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7296497821807861, 1.6285297870635986, -0.5698961615562439, -0.04601214453577995, 0.025690114125609398, 0.5549159646034241, -1.393857717514038, -1.3196543455123901, -0.665760338306427, 0.5516576170921326, -0.23062190413475037, -0.7660046815872192, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0370497703552246, -1.379280686378479, 1.3629100322723389, -1.3180842399597168, 0.22987301647663116, 0.4126105010509491, 0.6188356280326843, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452784146597, 0.009700880267558595, -0.003915750025619256, 0.04984106495976448], [-0.009707841586225167, 0.999951324167338, -0.0017626989884851948, 0.1405932754278183], [0.003898459691391221, 0.001800616011742036, 0.9999907798545009, -0.007893485017120838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.6291049718856812, -0.5691292881965637, -0.04553285241127014, 0.025594256818294525, 0.5503522753715515, -1.396280288696289, -1.318730354309082, -0.6662300229072571, 0.549100399017334, -0.23263801634311676, -0.7671957015991211, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0167289972305298, -1.3922722339630127, 1.33780837059021, -1.305791974067688, 0.2698831856250763, 0.4235794246196747, 0.6287595629692078, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455369007038, 0.009676753875582355, -0.0039094330528504475, 0.04985986649990082], [-0.00968367917835572, 0.9999515695260455, -0.0017564054113295442, 0.14059767127037048], [0.0038922474142836275, 0.001794167447500286, 0.9999908156444419, -0.007895124144852161], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7331965565681458, 1.6298718452453613, -0.5677872896194458, -0.04543699324131012, 0.024635670706629753, 0.5501184463500977, -1.3998627662658691, -1.3162577152252197, -0.6728521585464478, 0.5444807410240173, -0.2332717329263687, -0.7704868912696838, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.0008054971694946, -1.403800129890442, 1.3245913982391357, -1.3032678365707397, 0.3164059519767761, 0.4286099374294281, 0.6170765161514282, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454725690955, 0.009677650500992764, -0.0039236423574231785, 0.049831509590148926], [-0.009684534944013506, 0.9999515909313125, -0.0017394185394254197, 0.14060111343860626], [0.0039066189328512855, 0.0017773223449194734, 0.999990789684483, -0.00789789017289877], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7354013323783875, 1.630351185798645, -0.5658701062202454, -0.04543699324131012, 0.023677082732319832, 0.5463967323303223, -1.4040642976760864, -1.3141621351242065, -0.6713984608650208, 0.5394263863563538, -0.23491297662258148, -0.7747315764427185, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.986987292766571, -1.4183030128479004, 1.3259879350662231, -1.3013046979904175, 0.40799635648727417, 0.4312271773815155, 0.5666779279708862, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999454350957164, 0.009687427628408407, -0.003909037884542525, 0.04983774200081825], [-0.009694320391663193, 0.9999514807795066, -0.0017482102321538663, 0.1406068652868271], [0.003891912560968254, 0.001786010306905786, 0.9999908315498705, -0.007895353250205517], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7371267676353455, 1.630351185798645, -0.5645281076431274, -0.0453411340713501, 0.023006072267889977, 0.5382024645805359, -1.4077496528625488, -1.3141634464263916, -0.6642309427261353, 0.5344826579093933, -0.2380724996328354, -0.7782585620880127, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.9723110795021057, -1.429686427116394, 1.3184518814086914, -1.2856742143630981, 0.4737996757030487, 0.4423711895942688, 0.5394631624221802, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999946003199272, 0.009633860779314765, -0.003896076524695149, 0.049855124205350876], [-0.00964066531780867, 0.9999520285595458, -0.0017315172188765767, 0.14060068130493164], [0.0038792084284684962, 0.0017689844923135089, 0.9999909111766139, -0.007899424992501736], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7383729219436646, 1.630351185798645, -0.5630902051925659, -0.04543699324131012, 0.021759910508990288, 0.5371122360229492, -1.4083571434020996, -1.3142322301864624, -0.6639959216117859, 0.5338826179504395, -0.240126833319664, -0.7801894545555115, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.9555550217628479, -1.437156081199646, 1.2812721729278564, -1.247775673866272, 0.4803137183189392, 0.44799718260765076, 0.5258862376213074, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455714417606, 0.00967722914822409, -0.003899408932603504, 0.04981352388858795], [-0.009683959375478262, 0.9999516458919396, -0.001710791867838244, 0.14059758186340332], [0.003882664655232617, 0.001748460469595139, 0.9999909338594832, -0.007901959121227264], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7396191358566284, 1.6306387186050415, -0.5621316432952881, -0.04553285241127014, 0.02099304087460041, 0.5321623086929321, -1.4106608629226685, -1.3143413066864014, -0.6483122706413269, 0.5314331650733948, -0.24173212051391602, -0.7779796719551086, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.9282856583595276, -1.449448823928833, 1.237099051475525, -1.169333577156067, 0.4332188367843628, 0.42961204051971436, 0.5129374265670776, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456888362338, 0.009658713383180282, -0.003915179895163161, 0.0498119592666626], [-0.009665514981579167, 0.9999518050122044, -0.0017220548700175725, 0.14060047268867493], [0.0038983583686962864, 0.0017598035731457896, 0.9999908529048719, -0.007899652235209942], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.740290105342865, 1.631213903427124, -0.5615564584732056, -0.04601214453577995, 0.02013031393289566, 0.521526038646698, -1.415897250175476, -1.308862566947937, -0.6167922019958496, 0.5314344763755798, -0.24702830612659454, -0.7681044340133667, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.9087101221084595, -1.4594571590423584, 1.2140742540359497, -1.1206445693969727, 0.37521108984947205, 0.39666298031806946, 0.5174382328987122, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999449459186455, 0.009731471814451588, -0.003924740511378602, 0.04992584511637688], [-0.009738294115335342, 0.9999510973700904, -0.0017229324059227966, 0.1405988186597824], [0.00390778191309944, 0.001761057828888129, 0.9999908139157294, -0.00789924431592226], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7413445711135864, 1.6314055919647217, -0.5611730217933655, -0.046108003705739975, 0.01917172782123089, 0.5008501410484314, -1.423578143119812, -1.2933884859085083, -0.5655500888824463, 0.5443080067634583, -0.25700050592422485, -0.7398219108581543, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.917823076248169, -1.4603526592254639, 1.224644422531128, -1.1505694389343262, 0.3280307650566101, 0.3850865960121155, 0.5376975536346436, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999456204182862, 0.009668518436942468, -0.0039084469451672755, 0.04967460036277771], [-0.009675242834822302, 0.999951739739848, -0.0017052470022110677, 0.1405966877937317], [0.0038917711104204927, 0.0017429694448938815, 0.9999909080462374, -0.007903882302343845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7424948811531067, 1.6313097476959229, -0.5608854293823242, -0.04629972204566002, 0.01917172782123089, 0.4919142723083496, -1.4278340339660645, -1.288864016532898, -0.5512723326683044, 0.5555179715156555, -0.2601328194141388, -0.728145182132721, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.9486880302429199, -1.4547219276428223, 1.2584024667739868, -1.2161505222320557, 0.277727335691452, 0.3809381127357483, 0.5751108527183533, 0.3773999958247929, 0.3773999958247929, 0.3773999958247929, 0.3773999958247929, -0.3773999958247929, -0.3773999958247929, -0.3773999958247929, 0.3773999958247929, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945578507685, 0.009677654596336325, -0.0038965400607705097, 0.049664996564388275], [-0.009684324691956292, 0.9999516665578636, -0.0016965858103639537, 0.1405949592590332], [0.0038799327561112023, 0.00173422883875603, 0.9999909692452942, -0.007903428748250008], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7433575987815857, 1.6314055919647217, -0.5602144598960876, -0.0462038628757, 0.019363444298505783, 0.49182599782943726, -1.4278886318206787, -1.2889539003372192, -0.5556363463401794, 0.5554225444793701, -0.2600891888141632, -0.7299553155899048, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.9959173202514648, -1.437929630279541, 1.3046540021896362, -1.2926733493804932, 0.2308371514081955, 0.35913893580436707, 0.6344919800758362, 0.5574000019948561, 0.5574000019948561, 0.5574000019948561, 0.5574000019948561, -0.5574000019948561, -0.5574000019948561, -0.5574000019948561, 0.5574000019948561, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453444782556, 0.00969352944869592, -0.003917083492865965, 0.04976535961031914], [-0.009700136019835626, 0.9999515561518473, -0.0016711405373785622, 0.14059656858444214], [0.0039006944842560473, 0.0017090454430024363, 0.9999909318319913, -0.007907952181994915], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7438368797302246, 1.6315014362335205, -0.5596392750740051, -0.04553285241127014, 0.020322030410170555, 0.49185705184936523, -1.4278595447540283, -1.2894693613052368, -0.5560219883918762, 0.5549725294113159, -0.2599848210811615, -0.7305815815925598, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.051923155784607, -1.4098572731018066, 1.3439079523086548, -1.3694636821746826, 0.15096420049667358, 0.33619970083236694, 0.7467864155769348, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457708417604, 0.009653810298190865, -0.003906318267139323, 0.04973554238677025], [-0.0096603754048544, 0.9999519508505108, -0.0016652739398967656, 0.1406024694442749], [0.003890054333158668, 0.0017029201344041728, 0.9999909837295039, -0.007907303981482983], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7444120645523071, 1.6315014362335205, -0.5590641498565674, -0.044765982776880264, 0.021088900044560432, 0.49204227328300476, -1.427789330482483, -1.289639949798584, -0.5560151934623718, 0.5545810461044312, -0.25995832681655884, -0.7305928468704224, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.1051348447799683, -1.389003038406372, 1.390312671661377, -1.4398795366287231, 0.11869320273399353, 0.31316518783569336, 0.8245812058448792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999946106058894, 0.009619315661088488, -0.003905604161631544, 0.0497744157910347], [-0.009625854732535414, 0.9999522942688309, -0.001658947609050608, 0.1405978947877884], [0.00388945990121269, 0.001696452980128519, 0.9999909970339549, -0.007908647879958153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.744507908821106, 1.6315014362335205, -0.5582972764968872, -0.04399911314249039, 0.02147233486175537, 0.4922007620334625, -1.4276851415634155, -1.289686918258667, -0.5560092926025391, 0.5544542670249939, -0.2599566578865051, -0.7305836081504822, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.1349568367004395, -1.3719377517700195, 1.4330023527145386, -1.4829647541046143, 0.11204363405704498, 0.3035704791545868, 0.9028339982032776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458411513937, 0.009643356259093752, -0.003914133887822589, 0.049855489283800125], [-0.00964982395998507, 0.9999520996006516, -0.001636887836717809, 0.14059871435165405], [0.0038981613066806117, 0.001674569887730575, 0.9999910000365594, -0.007911507040262222], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7446995973587036, 1.6315014362335205, -0.5577221512794495, -0.04294466972351074, 0.02147233486175537, 0.49254000186920166, -1.4279415607452393, -1.290618896484375, -0.5555144548416138, 0.5490137338638306, -0.26027601957321167, -0.7354298233985901, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.1406170129776, -1.360691785812378, 1.4597446918487549, -1.4879435300827026, 0.1236749216914177, 0.3082042932510376, 0.9330605864524841, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457250309065, 0.00965411527817702, -0.003917275917072937, 0.049879491329193115], [-0.009660478798028773, 0.9999520422757915, -0.0016088187799289085, 0.14059098064899445], [0.003901556331471728, 0.0016465742222822625, 0.9999910332855605, -0.007916129194200039], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7454664707183838, 1.6316931247711182, -0.5568593740463257, -0.04236951842904091, 0.02137647569179535, 0.4923708736896515, -1.4343063831329346, -1.2950798273086548, -0.5492128133773804, 0.4969945549964905, -0.27409467101097107, -0.7827326059341431, 0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -1.1394367218017578, -1.3594350814819336, 1.4626507759094238, -1.4871842861175537, 0.1294877529144287, 0.30994176864624023, 0.9312022924423218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452610747364, 0.009700427810713919, -0.0039212949986568366, 0.04975907504558563], [-0.009706894182792762, 0.9999515529559307, -0.0016333849351955721, 0.14059168100357056], [0.0039052604908542564, 0.001671359121071154, 0.9999909777088927, -0.00791203510016203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7469043731689453, 1.6327476501464844, -0.555804967880249, -0.04169850796461105, 0.021088900044560432, 0.49237996339797974, -1.445288896560669, -1.281140923500061, -0.5549459457397461, 0.47372275590896606, -0.28370901942253113, -0.8009917736053467, 0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -1.1386679410934448, -1.3595290184020996, 1.4603503942489624, -1.486961007118225, 0.12944364547729492, 0.30992645025253296, 0.9280269742012024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457715098458, 0.009650128746575616, -0.003915233678065772, 0.04980992525815964], [-0.009656486328064335, 0.9999520818909152, -0.0016081647366762836, 0.14059661328792572], [0.003899527070716665, 0.0016458849288141135, 0.999991042335593, -0.007916389964520931], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7486298084259033, 1.633802056312561, -0.5545588135719299, -0.04141093045473099, 0.020417889580130577, 0.48911911249160767, -1.4594495296478271, -1.2732141017913818, -0.5528414249420166, 0.4519630968570709, -0.2878818213939667, -0.7963378429412842, 0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -1.1386655569076538, -1.3599227666854858, 1.4602787494659424, -1.4866849184036255, 0.12915675342082977, 0.3099174499511719, 0.9277074933052063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455991543632, 0.00967575421783617, -0.0038959610030931554, 0.04978231340646744], [-0.009681974765819055, 0.9999518787702811, -0.0015809833709116276, 0.1406014859676361], [0.0038804763181393225, 0.0016186179601998755, 0.9999911609506572, -0.00792057253420353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7505469918251038, 1.635048270225525, -0.552929162979126, -0.04112335667014122, 0.01917172782123089, 0.4595802426338196, -1.4777334928512573, -1.2612091302871704, -0.49300357699394226, 0.43073880672454834, -0.3011155128479004, -0.7786501049995422, 0.06539998054504394, -0.06539998054504394, 0.06539998054504394, 0.06539998054504394, -0.06539998054504394, -0.06539998054504394, 0.06539998054504394, 0.06539998054504394, -1.1386762857437134, -1.359932541847229, 1.4602563381195068, -1.4866770505905151, 0.12896127998828888, 0.30991002917289734, 0.9276917576789856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458204363333, 0.009650047790290764, -0.0039029180818289087, 0.04982900619506836], [-0.009656255356375364, 0.999952137240694, -0.0015747889575314596, 0.14059488475322723], [0.0038875344887003664, 0.001612391209786028, 0.9999911435958749, -0.007922257296741009], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7527517676353455, 1.6361026763916016, -0.5506286025047302, -0.04064406082034111, 0.017637988552451134, 0.40518254041671753, -1.4992082118988037, -1.2341021299362183, -0.3855375349521637, 0.44158250093460083, -0.3313060402870178, -0.7341097593307495, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.1386826038360596, -1.3599307537078857, 1.4602454900741577, -1.4866783618927002, 0.1289179027080536, 0.3098997175693512, 0.9276727437973022, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457860351636, 0.009651605738134504, -0.0039078763023570546, 0.04985753074288368], [-0.009657815125239787, 0.9999521246778, -0.0015732003560191546, 0.1405988484621048], [0.0038925053019365718, 0.0016108566134508426, 0.9999911267323552, -0.007920584641397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7548606395721436, 1.6370612382888794, -0.5476569533348083, -0.03968547657132149, 0.015337382443249226, 0.34621691703796387, -1.5201348066329956, -1.220279574394226, -0.2751240134239197, 0.4564441442489624, -0.35580265522003174, -0.6923381686210632, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.1386804580688477, -1.3599284887313843, 1.4602316617965698, -1.486680507659912, 0.128909632563591, 0.3099028170108795, 0.9276627898216248, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458101368024, 0.0096470869522993, -0.0039128638091332725, 0.049805428832769394], [-0.009653272625032674, 0.9999521813110472, -0.0015650619493561852, 0.14059513807296753], [0.003897578412404695, 0.0016027490799574407, 0.9999911199995257, -0.007921790704131126], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7568736672401428, 1.6378281116485596, -0.5438226461410522, -0.03834345564246178, 0.012365764006972313, 0.3038800358772278, -1.535898208618164, -1.2178341150283813, -0.196528822183609, 0.46131452918052673, -0.3574374318122864, -0.6640172600746155, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.138680100440979, -1.3599278926849365, 1.4602158069610596, -1.4866846799850464, 0.12890639901161194, 0.3099040389060974, 0.9276400208473206, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457876055933, 0.00965878650427029, -0.0038896906168420647, 0.049801863729953766], [-0.009664943110480622, 0.9999520653457965, -0.0015671264617352937, 0.14059174060821533], [0.0038743676259482937, 0.0016046351425866136, 0.9999912071721222, -0.007922977209091187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7584074139595032, 1.6380198001861572, -0.5397965312004089, -0.03680971637368202, 0.009394146502017975, 0.30308765172958374, -1.5393766164779663, -1.2178614139556885, -0.19581863284111023, 0.47057846188545227, -0.33951008319854736, -0.6538741588592529, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.1386950016021729, -1.359918236732483, 1.4601749181747437, -1.4866845607757568, 0.12890507280826569, 0.3099079728126526, 0.9276084899902344, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457437137151, 0.009650958672160833, -0.00392028385876715, 0.04982946440577507], [-0.009657119103029535, 0.9999521590188967, -0.0015555462311194184, 0.14059610664844513], [0.003905083796151974, 0.0015933204810995721, 0.9999911057856412, -0.007923341356217861], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7596535682678223, 1.6380198001861572, -0.5360580682754517, -0.03556355461478233, 0.006901822052896023, 0.30934736132621765, -1.5393697023391724, -1.2214919328689575, -0.20146776735782623, 0.47607356309890747, -0.31928563117980957, -0.643122136592865, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.1387112140655518, -1.3599079847335815, 1.460170865058899, -1.486687421798706, 0.12890352308750153, 0.3099113404750824, 0.9275766015052795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945735208915, 0.009657472743826778, -0.003906386783780591, 0.049806252121925354], [-0.00966357822174756, 0.999952109716494, -0.0015471035792442344, 0.14059923589229584], [0.0038912585951616043, 0.0015847693002411848, 0.9999911732674497, -0.007925048470497131], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7603245973587036, 1.637636423110962, -0.5323196053504944, -0.035180121660232544, 0.0054639424197375774, 0.31402334570884705, -1.5401408672332764, -1.2273441553115845, -0.20142629742622375, 0.4794400632381439, -0.2857837378978729, -0.6208271980285645, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.1388107538223267, -1.3598741292953491, 1.4601699113845825, -1.4866875410079956, 0.12890112400054932, 0.30992117524147034, 0.9275593757629395, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7604204416275024, 1.6361985206604004, -0.5290603637695312, -0.03508426249027252, 0.004697073251008987, 0.31540387868881226, -1.5434476137161255, -1.2302464246749878, -0.2010440081357956, 0.48482024669647217, -0.2526502311229706, -0.5891905426979065, 0.1079999834626586, -0.1079999834626586, 0.1079999834626586, 0.1079999834626586, -0.1079999834626586, -0.1079999834626586, 0.1079999834626586, 0.1079999834626586, -1.1388252973556519, -1.3598319292068481, 1.460170030593872, -1.4866842031478882, 0.1288939267396927, 0.309938907623291, 0.9275522828102112, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7608997225761414, 1.6347606182098389, -0.5259929299354553, -0.03537183627486229, 0.004984649363905191, 0.31540441513061523, -1.5440683364868164, -1.2338464260101318, -0.2009844332933426, 0.49205225706100464, -0.2459830492734909, -0.5692957639694214, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -1.1388224363327026, -1.359813928604126, 1.4601706266403198, -1.4866828918457031, 0.128887340426445, 0.3099488615989685, 0.9275506138801575, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7610914707183838, 1.6335145235061646, -0.5230212807655334, -0.03633042424917221, 0.005751518066972494, 0.3154032230377197, -1.5440452098846436, -1.237489938735962, -0.2009972631931305, 0.4962233603000641, -0.24594709277153015, -0.5543831586837769, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.1388157606124878, -1.3598068952560425, 1.4601695537567139, -1.4866831302642822, 0.12888267636299133, 0.3099602460861206, 0.9275509715080261, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7610914707183838, 1.6324599981307983, -0.5209124088287354, -0.037289008498191833, 0.007381115108728409, 0.3159688711166382, -1.5440086126327515, -1.2402416467666626, -0.20100995898246765, 0.5030778646469116, -0.2476656287908554, -0.535933792591095, 0.36599999836512975, -0.36599999836512975, 0.36599999836512975, 0.36599999836512975, -0.36599999836512975, -0.36599999836512975, 0.36599999836512975, 0.36599999836512975, -1.1388176679611206, -1.3598045110702515, 1.4601691961288452, -1.4866766929626465, 0.1288759559392929, 0.3099815547466278, 0.9275514483451843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7608038783073425, 1.6316931247711182, -0.5194745063781738, -0.037864163517951965, 0.009777581319212914, 0.3188389539718628, -1.5435938835144043, -1.2402037382125854, -0.20109157264232635, 0.519563615322113, -0.25604739785194397, -0.5070737600326538, 0.512999996117183, -0.512999996117183, 0.512999996117183, 0.512999996117183, -0.512999996117183, -0.512999996117183, 0.512999996117183, 0.512999996117183, -1.1388025283813477, -1.3598065376281738, 1.4601625204086304, -1.4866753816604614, 0.12887127697467804, 0.30998754501342773, 0.9275526404380798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7594618201255798, 1.6306387186050415, -0.5184201002120972, -0.03805587813258171, 0.012174046598374844, 0.32068073749542236, -1.5403928756713867, -1.2466486692428589, -0.201249897480011, 0.5206842422485352, -0.2666611075401306, -0.5045185089111328, 0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -1.1388040781021118, -1.3598110675811768, 1.4601314067840576, -1.4866762161254883, 0.12887020409107208, 0.3099882900714874, 0.9275546669960022, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7583115696907043, 1.6299676895141602, -0.517653226852417, -0.03805587813258171, 0.014091219753026962, 0.32072022557258606, -1.5312422513961792, -1.2632025480270386, -0.20122328400611877, 0.5076645612716675, -0.2944857180118561, -0.5365042686462402, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -1.1387702226638794, -1.3598214387893677, 1.4600270986557007, -1.4866756200790405, 0.12886984646320343, 0.30998682975769043, 0.9275544285774231, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7572571039199829, 1.6292966604232788, -0.5171739459037781, -0.03805587813258171, 0.01620011031627655, 0.3200201392173767, -1.51715087890625, -1.2810516357421875, -0.20126882195472717, 0.48325175046920776, -0.34812137484550476, -0.6020562052726746, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.138724684715271, -1.3598344326019287, 1.4600216150283813, -1.4866771697998047, 0.12886960804462433, 0.30998480319976807, 0.9275534749031067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7565860748291016, 1.6291049718856812, -0.5170780420303345, -0.03805587813258171, 0.01888415217399597, 0.31545546650886536, -1.509981632232666, -1.2863268852233887, -0.20127205550670624, 0.4708888530731201, -0.35588881373405457, -0.6508938074111938, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.1387053728103638, -1.3598437309265137, 1.4600224494934082, -1.486677885055542, 0.12887032330036163, 0.30998408794403076, 0.9275488257408142, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7562026381492615, 1.6291049718856812, -0.516790509223938, -0.03805587813258171, 0.02099304087460041, 0.31342947483062744, -1.5098243951797485, -1.286889910697937, -0.2012622356414795, 0.46931421756744385, -0.34548628330230713, -0.6537675261497498, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.138685703277588, -1.3598557710647583, 1.4600212574005127, -1.4866772890090942, 0.12887141108512878, 0.30998432636260986, 0.9275437593460083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7562026381492615, 1.6290091276168823, -0.5165029168128967, -0.03805587813258171, 0.021759910508990288, 0.31509843468666077, -1.5101903676986694, -1.2868037223815918, -0.22176700830459595, 0.46970072388648987, -0.35832101106643677, -0.6653423309326172, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.1386765241622925, -1.3599035739898682, 1.4600207805633545, -1.4866777658462524, 0.12887141108512878, 0.3099842071533203, 0.927524983882904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7564902305603027, 1.6290091276168823, -0.5163111686706543, -0.03805587813258171, 0.022526780143380165, 0.34088563919067383, -1.5056746006011963, -1.2872215509414673, -0.2950308918952942, 0.4650128483772278, -0.38530048727989197, -0.7127377986907959, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.138670802116394, -1.3599119186401367, 1.4600247144699097, -1.486680030822754, 0.1288742870092392, 0.30998238921165466, 0.9274880290031433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7570653557777405, 1.6290091276168823, -0.5152567625045776, -0.038247596472501755, 0.024827387183904648, 0.41189756989479065, -1.4915441274642944, -1.3038465976715088, -0.43209758400917053, 0.46462780237197876, -0.36305275559425354, -0.75844407081604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1386756896972656, -1.3598825931549072, 1.4600350856781006, -1.4866795539855957, 0.1288757175207138, 0.3099825084209442, 0.9274352192878723, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7581198215484619, 1.6291049718856812, -0.5142022967338562, -0.039206184446811676, 0.029620319604873657, 0.51499342918396, -1.4703532457351685, -1.3284815549850464, -0.6240160465240479, 0.4639539420604706, -0.29269012808799744, -0.8077707886695862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1386858224868774, -1.3597201108932495, 1.4601398706436157, -1.4866764545440674, 0.12888039648532867, 0.309994637966156, 0.9273708462715149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7591742873191833, 1.6293926239013672, -0.5128602981567383, -0.039973050355911255, 0.035659413784742355, 0.5980262756347656, -1.4514250755310059, -1.344344139099121, -0.7766754627227783, 0.4599758982658386, -0.2493216097354889, -0.8491804599761963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1386895179748535, -1.3597297668457031, 1.460159182548523, -1.4866582155227661, 0.12889057397842407, 0.31003260612487793, 0.9273675084114075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7597494125366211, 1.6297760009765625, -0.5115182399749756, -0.0410274975001812, 0.04236951842904091, 0.6433357000350952, -1.4380220174789429, -1.3621503114700317, -0.8631716966629028, 0.42513126134872437, -0.24422135949134827, -0.9159775376319885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1386958360671997, -1.359779715538025, 1.4601571559906006, -1.4866634607315063, 0.12889166176319122, 0.31003430485725403, 0.9273804426193237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945605216796, 0.00967021605821072, -0.003908136256976886, 0.04983273521065712], [-0.009676327308881705, 0.9999519852672069, -0.0015478533467444793, 0.1405981183052063], [0.0038929805325693453, 0.0015855855571874676, 0.9999911652714807, -0.00792446918785572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.76022869348526, 1.6299676895141602, -0.5102720856666565, -0.04150678962469101, 0.047833461314439774, 0.691169798374176, -1.4210588932037354, -1.389685034751892, -0.9571332931518555, 0.40118342638015747, -0.2645889222621918, -0.9766908288002014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.138693928718567, -1.3598335981369019, 1.4601423740386963, -1.4866604804992676, 0.12889190018177032, 0.3100436329841614, 0.9273911118507385, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457984736183, 0.009647628745057917, -0.003914508213742258, 0.04986422136425972], [-0.009653668903099374, 0.9999522362287989, -0.0015270683460958758, 0.14059899747371674], [0.0038995886535961094, 0.001564774942874559, 0.9999911723048913, -0.007926078513264656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7606121301651001, 1.630063533782959, -0.5093135237693787, -0.04198608174920082, 0.05195538327097893, 0.7387747168540955, -1.399017095565796, -1.4289014339447021, -1.0448145866394043, 0.36198171973228455, -0.2672271132469177, -1.064985752105713, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1387032270431519, -1.359940528869629, 1.4600952863693237, -1.4866517782211304, 0.1289328783750534, 0.3100552558898926, 0.9275194406509399, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455643181245, 0.00967442625001698, -0.003908180809582254, 0.04976963996887207], [-0.00968045783859156, 0.99995197679116, -0.0015273661926919783, 0.14059583842754364], [0.0038932167346110843, 0.001565116029024559, 0.9999911965988866, -0.007926569320261478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7609955668449402, 1.630351185798645, -0.5089300870895386, -0.043423961848020554, 0.055789727717638016, 0.7898324728012085, -1.3710646629333496, -1.4671839475631714, -1.1305923461914062, 0.3252178430557251, -0.2821561098098755, -1.1842683553695679, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1386455297470093, -1.3542054891586304, 1.4625126123428345, -1.4817020893096924, 0.13652920722961426, 0.30779924988746643, 0.9596420526504517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453709576638, 0.00969288124060987, -0.003911924538576809, 0.0498163141310215], [-0.00969895449291918, 0.9999517835261129, -0.0015365235728997315, 0.14059510827064514], [0.0038968425788539316, 0.0015743812121678075, 0.9999911679318545, -0.00792607944458723], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7610914707183838, 1.6310222148895264, -0.5087383389472961, -0.0453411340713501, 0.061445388942956924, 0.8299365639686584, -1.3438283205032349, -1.4972567558288574, -1.189228892326355, 0.2882734537124634, -0.2855580747127533, -1.286383867263794, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1472715139389038, -1.3374545574188232, 1.4907925128936768, -1.4886112213134766, 0.11940769851207733, 0.3014827072620392, 1.0336856842041016, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999453211784175, 0.009701320616442154, -0.0039037202369505363, 0.049856893718242645], [-0.009707414049045232, 0.9999516883443824, -0.0015450209381896226, 0.1405876725912094], [0.003888542898282327, 0.001582831486937118, 0.9999911869004707, -0.007923517376184464], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7612831592559814, 1.6313097476959229, -0.5085466504096985, -0.04821689426898956, 0.06930579245090485, 0.8370587825775146, -1.3226004838943481, -1.5193870067596436, -1.1948184967041016, 0.2296387255191803, -0.27808231115341187, -1.3719125986099243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1794490814208984, -1.3155450820922852, 1.5570099353790283, -1.5200754404067993, 0.10927072167396545, 0.31040963530540466, 1.0620940923690796, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999457417707528, 0.009655596911471174, -0.003909343016696628, 0.04984448105096817], [-0.009661691685909381, 0.9999521340475226, -0.0015431550705415427, 0.14059172570705414], [0.003894255808936531, 0.001580842208601747, 0.9999911678157993, -0.0079252440482378], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7621458768844604, 1.632076621055603, -0.507492184638977, -0.05157194659113884, 0.08023367822170258, 0.8267304301261902, -1.3057966232299805, -1.5236939191818237, -1.1906523704528809, 0.1920086145401001, -0.24976538121700287, -1.4562759399414062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2087262868881226, -1.295188069343567, 1.6050143241882324, -1.5289052724838257, 0.10635747760534286, 0.33857113122940063, 1.0826992988586426, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455350635427, 0.009683061076065879, -0.0038942566277243794, 0.04984896257519722], [-0.009688975953957728, 0.9999519313855669, -0.0015028849716549613, 0.14059436321258545], [0.003879516909233201, 0.0015405344759450393, 0.9999912880130903, -0.007932253181934357], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7640630602836609, 1.632939338684082, -0.5063418745994568, -0.05463942512869835, 0.0915450006723404, 0.8221245408058167, -1.3022714853286743, -1.5238208770751953, -1.190962791442871, 0.1918676793575287, -0.24697162210941315, -1.4586375951766968, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.218574047088623, -1.2897138595581055, 1.61392080783844, -1.5365577936172485, 0.10654407739639282, 0.3409337103366852, 1.0938827991485596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452317367243, 0.00970741915475943, -0.003911462685806798, 0.04985307529568672], [-0.009713367549693224, 0.9999516921030414, -0.0015046431832669775, 0.14059771597385406], [0.0038966675292120903, 0.001542554251297132, 0.9999912182157145, -0.007932044565677643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7651175260543823, 1.6336103677749634, -0.5056709051132202, -0.05626901984214783, 0.09739237278699875, 0.8220020532608032, -1.3020005226135254, -1.524957299232483, -1.1912860870361328, 0.19556744396686554, -0.2486208975315094, -1.4498651027679443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2172554731369019, -1.2908599376678467, 1.6086883544921875, -1.5365710258483887, 0.10722310096025467, 0.33969631791114807, 1.091830849647522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455783148049, 0.009672032958442269, -0.0039105226148314284, 0.04989781603217125], [-0.009678058782397412, 0.9999520037018073, -0.0015249494894037945, 0.1406017392873764], [0.0038955855625004442, 0.0015627127668189768, 0.9999911911321687, -0.007927555590867996], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.76530921459198, 1.634185552597046, -0.5054791569709778, -0.057035889476537704, 0.09998056292533875, 0.8223562240600586, -1.3020846843719482, -1.5249379873275757, -1.1912897825241089, 0.19575835764408112, -0.24873797595500946, -1.4497078657150269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2161275148391724, -1.2912367582321167, 1.6082651615142822, -1.5365389585494995, 0.10732856392860413, 0.3396906852722168, 1.0913286209106445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999458532412264, 0.009646579285955496, -0.003903087720705235, 0.04990679398179054], [-0.009652610372683047, 0.999952242986368, -0.0015293330326552532, 0.14059653878211975], [0.0038881484885376107, 0.0015669252092468207, 0.9999912134847584, -0.007927252911031246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7655968070030212, 1.6342813968658447, -0.505383312702179, -0.05741932615637779, 0.10141843557357788, 0.8227621912956238, -1.302623987197876, -1.5245829820632935, -1.1912877559661865, 0.1958012580871582, -0.248733788728714, -1.4497051239013672, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158145904541016, -1.2912275791168213, 1.6090779304504395, -1.5364484786987305, 0.10739076137542725, 0.3396598994731903, 1.0911388397216797, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945738553085, 0.00965456266056443, -0.003912718921490591, 0.049806561321020126], [-0.009660545228779932, 0.9999521912046979, -0.0015130005968116485, 0.14059491455554962], [0.0038979245000452093, 0.0015507174973186455, 0.9999912006912038, -0.007929008454084396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.634185552597046, -0.505383312702179, -0.057515181601047516, 0.10208944976329803, 0.8227992057800293, -1.3028756380081177, -1.524338722229004, -1.1912875175476074, 0.19583038985729218, -0.24872815608978271, -1.449699878692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158071994781494, -1.2911672592163086, 1.6093435287475586, -1.536164402961731, 0.10750580579042435, 0.33954474329948425, 1.0908042192459106, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, -0.10139998079656244, -0.10139998079656244, -0.10139998079656244, 0.10139998079656244, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945778853608, 0.009656652714219855, -0.0038972312233496106, 0.04985485225915909], [-0.009662537554875197, 0.999952200505794, -0.0014940119212427019, 0.14059600234031677], [0.0038826177833939856, 0.0015315880572592568, 0.999991289720651, -0.007933388464152813], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.505383312702179, -0.057515181601047516, 0.10218530893325806, 0.8228015899658203, -1.302950382232666, -1.5242637395858765, -1.1912907361984253, 0.19586309790611267, -0.2487248033285141, -1.449695348739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158126831054688, -1.2911319732666016, 1.6093618869781494, -1.5361568927764893, 0.10746290534734726, 0.3395249545574188, 1.0908071994781494, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999455615111061, 0.009677097783122294, -0.0039022804530825296, 0.04987901821732521], [-0.009683007629497907, 0.9999519958968744, -0.0014984208701949552, 0.14059442281723022], [0.003887592762328087, 0.0015361251098266937, 0.9999912634329168, -0.007932058535516262], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05761104077100754, 0.1023770272731781, 0.8228012323379517, -1.3029823303222656, -1.5242382287979126, -1.1912927627563477, 0.195871964097023, -0.24872083961963654, -1.4496933221817017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158172130584717, -1.2911293506622314, 1.6093608140945435, -1.5361601114273071, 0.10742790997028351, 0.33952245116233826, 1.0908141136169434, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945860674461, 0.009644917133499646, -0.003905290450068452, 0.04983067139983177], [-0.009650864336150143, 0.999952293916177, -0.0015068873019684743, 0.14059649407863617], [0.003890570340797879, 0.0015444951484331556, 0.9999912389602019, -0.007930310443043709], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8228009939193726, -1.3029956817626953, -1.5242284536361694, -1.191293716430664, 0.19587856531143188, -0.24872156977653503, -1.4496877193450928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158241271972656, -1.2911266088485718, 1.609357476234436, -1.5361655950546265, 0.10737721621990204, 0.33951428532600403, 1.090828776359558, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8228002190589905, -1.3030046224594116, -1.5242242813110352, -1.1912956237792969, 0.19589102268218994, -0.248722642660141, -1.4496798515319824, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158300876617432, -1.291124701499939, 1.609352707862854, -1.5361703634262085, 0.10732029378414154, 0.33950111269950867, 1.0908459424972534, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8227993845939636, -1.3030123710632324, -1.5242211818695068, -1.1912959814071655, 0.19590599834918976, -0.24872419238090515, -1.4496673345565796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158349752426147, -1.2911237478256226, 1.609345555305481, -1.5361741781234741, 0.10730231553316116, 0.3394884169101715, 1.0908559560775757, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05780275911092758, 0.10247288644313812, 0.8227985501289368, -1.3030184507369995, -1.5242210626602173, -1.191295862197876, 0.19592013955116272, -0.24872635304927826, -1.449647068977356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158393859863281, -1.2911232709884644, 1.6093336343765259, -1.5361778736114502, 0.10729824006557465, 0.33947545289993286, 1.0908639430999756, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05780275911092758, 0.10247288644313812, 0.8227970600128174, -1.3030246496200562, -1.5242210626602173, -1.191296100616455, 0.1959393173456192, -0.24872839450836182, -1.4496238231658936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158429622650146, -1.291123867034912, 1.6093167066574097, -1.5361803770065308, 0.1072995588183403, 0.33947041630744934, 1.090868353843689, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6342813968658447, -0.5052874684333801, -0.05780275911092758, 0.10247288644313812, 0.822795033454895, -1.30302894115448, -1.524221658706665, -1.1912962198257446, 0.19596005976200104, -0.24872910976409912, -1.4496068954467773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158461809158325, -1.2911237478256226, 1.6092956066131592, -1.5361840724945068, 0.10730135440826416, 0.33947041630744934, 1.0908697843551636, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7657884955406189, 1.6342813968658447, -0.5051915645599365, -0.05770689994096756, 0.10247288644313812, 0.8227196931838989, -1.3030444383621216, -1.5242221355438232, -1.1913057565689087, 0.19597071409225464, -0.24872922897338867, -1.4495304822921753, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2158054113388062, -1.2911229133605957, 1.6092861890792847, -1.5361998081207275, 0.10731513798236847, 0.33946695923805237, 1.0908687114715576, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999945771361972, 0.00965518641294882, -0.0039027824230916976, 0.04983631521463394], [-0.00966110916216052, 0.9999522029753646, -0.0015015773280522564, 0.1405981332063675], [0.003888097872688272, 0.0015392011065845127, 0.9999912567392206, -0.007931473664939404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7654050588607788, 1.6344730854034424, -0.50490403175354, -0.05770689994096756, 0.10247288644313812, 0.8209657669067383, -1.3034570217132568, -1.524221420288086, -1.1913093328475952, 0.1959967315196991, -0.2487279176712036, -1.4492071866989136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2134720087051392, -1.291101098060608, 1.6092877388000488, -1.5362032651901245, 0.10732268542051315, 0.33946359157562256, 1.0908303260803223, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999452721520992, 0.009682972804425125, -0.003961406105556282, 0.05357232317328453], [-0.009688902970578452, 0.9999519654226247, -0.001480542689980409, 0.14059212803840637], [0.003946879766485318, 0.0015188433424490528, 0.9999910575875216, -0.007934953086078167], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7654050588607788, 1.6343772411346436, -0.50490403175354, -0.05770689994096756, 0.10247288644313812, 0.8187424540519714, -1.303731083869934, -1.5242209434509277, -1.1913450956344604, 0.19602201879024506, -0.2487257570028305, -1.448911190032959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2095304727554321, -1.2910367250442505, 1.6093177795410156, -1.5362300872802734, 0.10733599215745926, 0.3394511342048645, 1.0904605388641357, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999679214099009, 0.006995843576621157, -0.003900554295716067, 0.06581353396177292], [-0.00700140368136297, 0.9999744906627202, -0.0014136372675057037, 0.14075128734111786], [0.0038905652099634077, 0.0014409012752206332, 0.9999913936158962, -0.007941294461488724], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7662678360939026, 1.634185552597046, -0.5051915645599365, -0.05770689994096756, 0.10247288644313812, 0.8187214136123657, -1.3037221431732178, -1.524221658706665, -1.1914620399475098, 0.19603687524795532, -0.24872444570064545, -1.4489030838012695, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2101048231124878, -1.2910244464874268, 1.609347939491272, -1.536357045173645, 0.10738357156515121, 0.3394307494163513, 1.0904152393341064, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999964533787874, 0.007448230255455846, -0.003931288905901431, 0.08504507690668106], [-0.007452581102299249, 0.9999716315325012, -0.001093236086672583, 0.14071914553642273], [0.003923034707162765, 0.0011224955631374289, 0.9999916748665446, -0.007988653145730495], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7663636803627014, 1.6342813968658447, -0.5052874684333801, -0.057515181601047516, 0.10247288644313812, 0.8201009631156921, -1.303836703300476, -1.523963212966919, -1.1916393041610718, 0.19604681432247162, -0.2487228810787201, -1.4489790201187134, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2129530906677246, -1.2908499240875244, 1.6096340417861938, -1.536637544631958, 0.10748723149299622, 0.3394169807434082, 1.0904240608215332, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999648482507538, 0.007466975924049584, -0.003813991792930908, 0.10999534279108047], [-0.007470007669757467, 0.9999717938996624, -0.0007812749227893117, 0.1407007873058319], [0.003808050454057178, 0.0008097380075547195, 0.9999924215093324, -0.008038761094212532], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7665553689002991, 1.634185552597046, -0.505383312702179, -0.05770689994096756, 0.10256874561309814, 0.8218113780021667, -1.303296685218811, -1.523787021636963, -1.19160795211792, 0.1960451453924179, -0.24872204661369324, -1.4491671323776245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2144838571548462, -1.2911499738693237, 1.609527587890625, -1.5365148782730103, 0.10748063772916794, 0.33941590785980225, 1.090521216392517, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999578204158338, 0.008339230331710848, -0.0038489773563665035, 0.13247822225093842], [-0.00834322173381829, 0.9999646723429312, -0.001022114081022539, 0.14061933755874634], [0.00384031773626746, 0.0010541838402082424, 0.9999920702966176, -0.008004947565495968], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7667471170425415, 1.6339937448501587, -0.5054791569709778, -0.05780275911092758, 0.10256874561309814, 0.8240673542022705, -1.3033336400985718, -1.523934245109558, -1.1914613246917725, 0.19604550302028656, -0.2487221658229828, -1.4494024515151978, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2164180278778076, -1.2911399602890015, 1.6094253063201904, -1.5363283157348633, 0.10746818035840988, 0.33941471576690674, 1.0907336473464966, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999580561470447, 0.008309245591120422, -0.003852581515062833, 0.1536962389945984], [-0.0083132290737869, 0.9999649251943044, -0.0010191189901782739, 0.14061960577964783], [0.0038439782765387993, 0.0010511036370613603, 0.9999920594745508, -0.008010728284716606], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7660760879516602, 1.6339937448501587, -0.505383312702179, -0.05770689994096756, 0.10247288644313812, 0.8259149193763733, -1.3033243417739868, -1.5240800380706787, -1.1914246082305908, 0.19604142010211945, -0.248722642660141, -1.4495548009872437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2174283266067505, -1.2911421060562134, 1.609305500984192, -1.5363128185272217, 0.10745439678430557, 0.3394099175930023, 1.0909165143966675, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999616963912002, 0.007813686225384885, -0.0039436097682583465, 0.17047381401062012], [-0.007817434262392382, 0.9999690054358935, -0.0009358894716262294, 0.1407020092010498], [0.003936174791119644, 0.0009666825338019165, 0.9999917859927113, -0.008009576238691807], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7657884955406189, 1.6339937448501587, -0.505383312702179, -0.05770689994096756, 0.10247288644313812, 0.8255753517150879, -1.3033430576324463, -1.5240768194198608, -1.1912355422973633, 0.19604669511318207, -0.2487248033285141, -1.4495463371276855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2169106006622314, -1.291141390800476, 1.609302043914795, -1.5362191200256348, 0.10739339888095856, 0.3394101560115814, 1.0909100770950317, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999616369674003, 0.007842704544661506, -0.003900843357831965, 0.1847786009311676], [-0.007846289396060623, 0.9999688082880158, -0.0009045406341372731, 0.14070190489292145], [0.0038936276389072728, 0.0009351130790896884, 0.9999919825815299, -0.008016856387257576], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7657884955406189, 1.6338979005813599, -0.505383312702179, -0.05770689994096756, 0.10247288644313812, 0.8240476846694946, -1.3033701181411743, -1.5240732431411743, -1.1912424564361572, 0.19604597985744476, -0.24872587621212006, -1.4495201110839844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2157797813415527, -1.2911343574523926, 1.609305739402771, -1.5362080335617065, 0.10732005536556244, 0.33940452337265015, 1.0908839702606201, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999655591738879, 0.007331232550063489, -0.003890179346863109, 0.19863152503967285], [-0.00733471074693192, 0.9999727129223861, -0.0008805844093986098, 0.14079830050468445], [0.003883617426152078, 0.000909087421607018, 0.9999920455062365, -0.008023453876376152], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7656926512718201, 1.6340895891189575, -0.5052874684333801, -0.05780275911092758, 0.10247288644313812, 0.8227368593215942, -1.3034589290618896, -1.5240689516067505, -1.191272258758545, 0.1960446685552597, -0.2487279176712036, -1.4493772983551025, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2155780792236328, -1.2911150455474854, 1.6093347072601318, -1.5362110137939453, 0.10731430351734161, 0.3393944501876831, 1.0907528400421143, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999697765898834, 0.006711391422272574, -0.003924682401883708, 0.21213817596435547], [-0.006715038980696972, 0.9999770334617386, -0.0009169517700322431, 0.14092658460140228], [0.00391843824327113, 0.0009432784519383448, 0.9999918780007645, -0.008011610247194767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6339937448501587, -0.505383312702179, -0.05770689994096756, 0.10247288644313812, 0.8224241137504578, -1.3034652471542358, -1.5240669250488281, -1.1913950443267822, 0.19604621827602386, -0.24873150885105133, -1.4493190050125122, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2153406143188477, -1.2911136150360107, 1.609351396560669, -1.5362123250961304, 0.10730639100074768, 0.3393866717815399, 1.0906813144683838, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999777629136304, 0.005443633677082306, -0.003852340929994045, 0.22751867771148682], [-0.005446718231594536, 0.9999848539453575, -0.0007906581989913107, 0.14120802283287048], [0.0038479785286287278, 0.0008116232326343674, 0.9999922671345871, -0.008043164387345314], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7658843994140625, 1.6340895891189575, -0.5052874684333801, -0.05780275911092758, 0.10247288644313812, 0.8226034045219421, -1.3035163879394531, -1.5240637063980103, -1.1914461851119995, 0.19604837894439697, -0.2487342655658722, -1.4493204355239868, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2155770063400269, -1.2910962104797363, 1.6094107627868652, -1.5362184047698975, 0.10730818659067154, 0.3393862843513489, 1.0906814336776733, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999727673089858, 0.00626603662333412, -0.0038989005429692167, 0.24212965369224548], [-0.00626937553664326, 0.9999799904711827, -0.000844741163921946, 0.14102378487586975], [0.0038935293487360727, 0.0008691618310307384, 0.9999920424617998, -0.008026447147130966], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.766171932220459, 1.6339937448501587, -0.505383312702179, -0.05770689994096756, 0.10247288644313812, 0.8239180445671082, -1.3035132884979248, -1.5240620374679565, -1.191443920135498, 0.19604705274105072, -0.24873773753643036, -1.4493392705917358, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2169281244277954, -1.2910964488983154, 1.6094105243682861, -1.5362223386764526, 0.10731034725904465, 0.3393884599208832, 1.0906867980957031, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999746281904182, 0.005983143967427736, -0.0038658716610741437, 0.2542445659637451], [-0.005986300883035206, 0.9999817574734325, -0.0008055570016736907, 0.14108906686306], [0.0038609813742926775, 0.000828678834173226, 0.9999922030267122, -0.008039530366659164], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7660760879516602, 1.6340895891189575, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.825171947479248, -1.3034781217575073, -1.524061679840088, -1.1914334297180176, 0.19604909420013428, -0.24874073266983032, -1.4493834972381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2173810005187988, -1.2911052703857422, 1.6093963384628296, -1.536226749420166, 0.10730914771556854, 0.33939218521118164, 1.0907087326049805, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999738418352269, 0.006094348654676187, -0.0038954537312097135, 0.26245737075805664], [-0.00609763620165009, 0.9999810626042419, -0.0008326257523709849, 0.1410624235868454], [0.003890305649826937, 0.0008563570321026373, 0.9999920660558185, -0.008028685115277767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7660760879516602, 1.6340895891189575, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8252595663070679, -1.30345618724823, -1.5240615606307983, -1.1914188861846924, 0.1960514932870865, -0.24874025583267212, -1.4494422674179077, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.217368483543396, -1.2911105155944824, 1.609365463256836, -1.536228060722351, 0.1073111817240715, 0.3393920361995697, 1.0907366275787354, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999745729433684, 0.005969371205387994, -0.0039012913426316204, 0.2671442925930023], [-0.005972732428129342, 0.9999818014061166, -0.0008504845207792404, 0.14109724760055542], [0.0038961434868058863, 0.0008737642647748823, 0.9999920282691956, -0.008025461807847023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7659802436828613, 1.6340895891189575, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.825151264667511, -1.3034471273422241, -1.5240613222122192, -1.1914061307907104, 0.1960550844669342, -0.24874001741409302, -1.4494597911834717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.217200517654419, -1.2911133766174316, 1.609331727027893, -1.5362299680709839, 0.10731238126754761, 0.33939361572265625, 1.0907564163208008, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756903859746, 0.005785861915587654, -0.0038913286917523194, 0.2684476673603058], [-0.005789127310222693, 0.9999828997274018, -0.0008284067617794764, 0.14114385843276978], [0.003886469101837326, 0.0008509140207333181, 0.9999920856203062, -0.008031103760004044], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7657884955406189, 1.634185552597046, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8242506980895996, -1.303439736366272, -1.5240591764450073, -1.1913915872573853, 0.1960650384426117, -0.24873918294906616, -1.4494582414627075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2161532640457153, -1.291111946105957, 1.6093100309371948, -1.5362341403961182, 0.10732220858335495, 0.33939599990844727, 1.090774655342102, 0.09899998339977896, 0.09899998339977896, 0.09899998339977896, 0.09899998339977896, -0.09899998339977896, -0.09899998339977896, -0.09899998339977896, 0.09899998339977896, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754838696663, 0.005805995238152844, -0.00391434271895022, 0.26791027188301086], [-0.0058092487570346255, 0.9999827897022419, -0.000820322010486883, 0.14114032685756683], [0.003909512566259861, 0.0008430412899402274, 0.9999920024644585, -0.008027056232094765], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7655968070030212, 1.634185552597046, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8230828642845154, -1.303434133529663, -1.5240466594696045, -1.191356897354126, 0.19612400233745575, -0.24873726069927216, -1.4494255781173706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2155898809432983, -1.2911102771759033, 1.6090662479400635, -1.5363428592681885, 0.10731657594442368, 0.33932074904441833, 1.0908007621765137, 0.42239999613919094, 0.42239999613919094, 0.42239999613919094, 0.42239999613919094, -0.42239999613919094, -0.42239999613919094, -0.42239999613919094, 0.42239999613919094, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755758797368, 0.005803410370971987, -0.003894620912844489, 0.2668688893318176], [-0.005806681140666779, 0.9999827974289155, -0.0008290358080994475, 0.14114294946193695], [0.003889742680344757, 0.0008516303814338285, 0.9999920722823628, -0.00803051982074976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7655968070030212, 1.634185552597046, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8228942155838013, -1.3034526109695435, -1.524033546447754, -1.1913633346557617, 0.19614066183567047, -0.24873583018779755, -1.4493281841278076, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2155195474624634, -1.291128158569336, 1.6091872453689575, -1.5363417863845825, 0.10741928219795227, 0.33928802609443665, 1.0907257795333862, 0.5862000002310825, 0.5862000002310825, 0.5862000002310825, 0.5862000002310825, -0.5862000002310825, -0.5862000002310825, -0.5862000002310825, 0.5862000002310825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975591292436, 0.005803434155252983, -0.0038906260869936656, 0.2664656937122345], [-0.005806690056373212, 0.9999827998192458, -0.0008260848936211985, 0.14113983511924744], [0.0038857650382349423, 0.0008486563897690193, 0.999992090274918, -0.00803244300186634], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7656926512718201, 1.634185552597046, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.82289719581604, -1.3034545183181763, -1.5240310430526733, -1.1913647651672363, 0.1961442530155182, -0.2487342655658722, -1.449329137802124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2155300378799438, -1.2911263704299927, 1.6092082262039185, -1.5363404750823975, 0.10741760581731796, 0.3392864763736725, 1.0907237529754639, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754434743959, 0.005821593056037787, -0.003901474397586067, 0.26671290397644043], [-0.005824765152832834, 0.9999827141581994, -0.0008021818466793521, 0.14113575220108032], [0.003896736981048534, 0.0008248873199960238, 0.9999920674694424, -0.008032158017158508], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7656926512718201, 1.634185552597046, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.8229149580001831, -1.3034555912017822, -1.524030327796936, -1.19136643409729, 0.19614197313785553, -0.2487335503101349, -1.4493297338485718, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.215566873550415, -1.2911255359649658, 1.6092828512191772, -1.536339282989502, 0.10741784423589706, 0.3392859995365143, 1.0907223224639893, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755879874526, 0.005798281235384863, -0.0038991491204925827, 0.26695340871810913], [-0.0058013974865778785, 0.9999828609766115, -0.0007883782300941789, 0.1411408931016922], [0.00389451105418667, 0.0008109794981023517, 0.9999920875166476, -0.008035600185394287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7656926512718201, 1.634185552597046, -0.5052874684333801, -0.05770689994096756, 0.10247288644313812, 0.822996199131012, -1.3034584522247314, -1.5240296125411987, -1.1913695335388184, 0.19613993167877197, -0.2487342655658722, -1.4493308067321777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2156531810760498, -1.2911241054534912, 1.609418511390686, -1.5363364219665527, 0.10741640627384186, 0.3392820358276367, 1.0907212495803833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975658909905, 0.005781074732079904, -0.003906502610183205, 0.2669782340526581], [-0.0057843113135299185, 0.9999829363915408, -0.0008177214561609615, 0.14114679396152496], [0.0039017086423041285, 0.0008402979791737416, 0.9999920352527698, -0.008028869517147541], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7657884955406189, 1.634185552597046, -0.5052874684333801, -0.05780275911092758, 0.10256874561309814, 0.8230487704277039, -1.303483247756958, -1.5240272283554077, -1.191373586654663, 0.19613562524318695, -0.2487349808216095, -1.4493317604064941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.216744303703308, -1.2909760475158691, 1.611443281173706, -1.5356751680374146, 0.11073891073465347, 0.34092891216278076, 1.0892802476882935, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754275917624, 0.005824458437070169, -0.003901268586857851, 0.2669519782066345], [-0.005827770289359094, 0.999982667201257, -0.000838087414732362, 0.14113499224185944], [0.0038963195616408524, 0.0008608025180675686, 0.9999920388247591, -0.00802707951515913], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7685683965682983, 1.636677861213684, -0.5038495659828186, -0.05809033662080765, 0.10352732986211777, 0.8230152726173401, -1.3035838603973389, -1.5240188837051392, -1.191627860069275, 0.19611525535583496, -0.2487364262342453, -1.4493292570114136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2192500829696655, -1.2895807027816772, 1.6061865091323853, -1.540159821510315, 0.14503955841064453, 0.34108805656433105, 1.0685226917266846, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758726689906, 0.005747760358178164, -0.0039009397272525078, 0.2669035792350769], [-0.0057509421426620005, 0.9999831392426531, -0.0008049191762422538, 0.14115501940250397], [0.0038962474719215997, 0.0008273338343642937, 0.9999920673557187, -0.008032546378672123], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7796880006790161, 1.6451133489608765, -0.4982897639274597, -0.05866548791527748, 0.10515692830085754, 0.8226779699325562, -1.3037036657333374, -1.5240155458450317, -1.1917204856872559, 0.19609631597995758, -0.2487390637397766, -1.4493197202682495, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.210426926612854, -1.2864878177642822, 1.5828180313110352, -1.533610224723816, 0.16133031249046326, 0.3329712748527527, 1.0529571771621704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753285557028, 0.005841728710544303, -0.0039008313968395304, 0.26667091250419617], [-0.005845073598999802, 0.999982559012589, -0.0008466317122452369, 0.1411287784576416], [0.003895817569707565, 0.0008694114712299244, 0.9999920333328447, -0.008028632029891014], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.796654999256134, 1.655561923980713, -0.4874577522277832, -0.0587613470852375, 0.10515692830085754, 0.8223556876182556, -1.3036766052246094, -1.5240187644958496, -1.1917028427124023, 0.19608911871910095, -0.24874085187911987, -1.44929039478302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2049163579940796, -1.2849857807159424, 1.5717220306396484, -1.5215110778808594, 0.1676470786333084, 0.3201240599155426, 1.0464012622833252, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755901909408, 0.0058016738443311695, -0.003893533470201979, 0.26636815071105957], [-0.005804911382900422, 0.9999828145540292, -0.000820731648421389, 0.1411396861076355], [0.0038887049407550305, 0.0008433132312794413, 0.9999920833670023, -0.00803187396377325], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8159225583076477, 1.6650519371032715, -0.4722162187099457, -0.06000750884413719, 0.10458177328109741, 0.8221030235290527, -1.3036437034606934, -1.524023175239563, -1.1917017698287964, 0.19606658816337585, -0.24874289333820343, -1.4492686986923218, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2091264724731445, -1.2812047004699707, 1.570656657218933, -1.5250903367996216, 0.17141756415367126, 0.31480005383491516, 1.0423780679702759, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758047256131, 0.00576894372311931, -0.0038870620887782896, 0.26646846532821655], [-0.0057721593263958025, 0.9999830075686862, -0.0008165479751188, 0.14115086197853088], [0.0038822854188270456, 0.000838964960204513, 0.9999921119677506, -0.00803523138165474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8327937126159668, 1.6709952354431152, -0.45314034819602966, -0.06269154697656631, 0.10467763245105743, 0.8222876787185669, -1.3036383390426636, -1.5240223407745361, -1.1913586854934692, 0.1960747390985489, -0.24874325096607208, -1.449271321296692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2269030809402466, -1.2763570547103882, 1.5712224245071411, -1.5428701639175415, 0.175645112991333, 0.3152430057525635, 1.0339312553405762, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754315709628, 0.005815481328280208, -0.003913621262606021, 0.267002135515213], [-0.005818744210877861, 0.999982732413287, -0.0008228554337400627, 0.14114074409008026], [0.003908768383400717, 0.0008456075785400883, 0.9999920032067997, -0.008026682771742344], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.847555935382843, 1.6731040477752686, -0.4348313510417938, -0.06547144800424576, 0.10573207587003708, 0.822949230670929, -1.3036378622055054, -1.524019479751587, -1.1913286447525024, 0.19607414305210114, -0.24874289333820343, -1.449277400970459, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2426778078079224, -1.2751473188400269, 1.5714480876922607, -1.5573627948760986, 0.18160618841648102, 0.3263026475906372, 1.0300902128219604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975669745019, 0.00578924234759355, -0.0038916052011450696, 0.26707425713539124], [-0.005792387195823901, 0.9999829061146864, -0.0007973261565065627, 0.141146719455719], [0.0038869227641419838, 0.0008198484414961862, 0.9999921098088518, -0.00803698692470789], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8561832308769226, 1.673966884613037, -0.42016497254371643, -0.0673886239528656, 0.1066906675696373, 0.8245012164115906, -1.3034669160842896, -1.5240211486816406, -1.191324234008789, 0.19608289003372192, -0.24874241650104523, -1.449309229850769, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.244060754776001, -1.2750537395477295, 1.5711716413497925, -1.5575257539749146, 0.1831459254026413, 0.3285065293312073, 1.0311205387115479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758309552167, 0.005756590906822727, -0.0038986108494388156, 0.2678242325782776], [-0.005759736567266828, 0.9999830956704518, -0.0007961206036441606, 0.14115582406520844], [0.0038939620054085646, 0.0008185563336406941, 0.9999920834813789, -0.008033687248826027], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8596341013908386, 1.674637794494629, -0.41431760787963867, -0.06815548986196518, 0.10707409679889679, 0.8256820440292358, -1.303377389907837, -1.5240203142166138, -1.1909372806549072, 0.19611896574497223, -0.24873977899551392, -1.4493659734725952, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.243488073348999, -1.2750203609466553, 1.5707238912582397, -1.5570968389511108, 0.18310397863388062, 0.3282378613948822, 1.0314522981643677, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756771739181, 0.005776290835896429, -0.0039089032660029575, 0.26806196570396423], [-0.005779398843663167, 0.9999829915808206, -0.0007842818870212355, 0.14114812016487122], [0.0039043065414609167, 0.000806853922084827, 0.9999920526570092, -0.008034043945372105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8614554405212402, 1.6748296022415161, -0.4119211435317993, -0.06853892654180527, 0.10736167430877686, 0.8254659175872803, -1.3033794164657593, -1.5240199565887451, -1.1909512281417847, 0.19612807035446167, -0.2487385869026184, -1.4493811130523682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2419764995574951, -1.2748610973358154, 1.57072913646698, -1.5570770502090454, 0.18301528692245483, 0.3281078338623047, 1.0314692258834839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758191010634, 0.005745805489205123, -0.0039175161056006986, 0.2675987482070923], [-0.005748963796584188, 0.9999831582211104, -0.0007954177514790794, 0.14115430414676666], [0.003912879811977991, 0.0008179201758264523, 0.9999920101571627, -0.008028005249798298], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8625099062919617, 1.6748296022415161, -0.4104832410812378, -0.06853892654180527, 0.10745753347873688, 0.8239988088607788, -1.3033866882324219, -1.5240190029144287, -1.191066026687622, 0.1961338222026825, -0.24873630702495575, -1.4493823051452637, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2415968179702759, -1.2746498584747314, 1.5708054304122925, -1.5570807456970215, 0.18295273184776306, 0.3280787169933319, 1.031471610069275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975644041477, 0.005782790674080645, -0.003907768653982318, 0.2671583592891693], [-0.005785877668643714, 0.9999829581500631, -0.000779120691889884, 0.14114531874656677], [0.003903196566504285, 0.0008017115870479301, 0.9999920611260343, -0.008033761754631996], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8629891872406006, 1.6748296022415161, -0.40981224179267883, -0.06863478571176529, 0.1075533926486969, 0.8231154680252075, -1.3034087419509888, -1.5240191221237183, -1.191305160522461, 0.19613322615623474, -0.24873462319374084, -1.4493780136108398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2416025400161743, -1.2746007442474365, 1.5709593296051025, -1.5570842027664185, 0.18287867307662964, 0.328078955411911, 1.031470537185669, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756973799405, 0.005777981490971648, -0.0039012279338227563, 0.2670726478099823], [-0.005781146651655675, 0.9999829685982532, -0.0008005353315619448, 0.141148641705513], [0.0038965360121138762, 0.0008230694472629027, 0.9999920697504512, -0.008032449521124363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8632767796516418, 1.6748296022415161, -0.40971639752388, -0.06863478571176529, 0.10764925181865692, 0.8231180906295776, -1.3034241199493408, -1.524018406867981, -1.191329836845398, 0.1961333453655243, -0.24873462319374084, -1.4493728876113892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.241612195968628, -1.2745695114135742, 1.5710209608078003, -1.5570881366729736, 0.1828496754169464, 0.32808026671409607, 1.031469702720642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755605927901, 0.0058000629349386325, -0.0039035223947001436, 0.2671068608760834], [-0.005803159316332072, 0.999982855473373, -0.0007823690104550671, 0.14114269614219666], [0.0038989176811575236, 0.0008050026521715472, 0.9999920751744213, -0.008034154772758484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8633726239204407, 1.6748296022415161, -0.4096205234527588, -0.06920993328094482, 0.10784097015857697, 0.8231224417686462, -1.303487777709961, -1.5240169763565063, -1.1913959980010986, 0.1961316615343094, -0.2487345039844513, -1.4493672847747803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2559951543807983, -1.2753574848175049, 1.575485348701477, -1.5668392181396484, 0.21181446313858032, 0.3565322458744049, 1.007538080215454, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754024549219, 0.005826481454289673, -0.0039046893576523307, 0.26709023118019104], [-0.005829555810661846, 0.9999827065671241, -0.0007764314132506822, 0.14113463461399078], [0.00390009796893919, 0.0007991749194777263, 0.9999920752462396, -0.008034820668399334], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8624140024185181, 1.6747337579727173, -0.4104832410812378, -0.07189397513866425, 0.10793682932853699, 0.8231231570243835, -1.3039166927337646, -1.5239734649658203, -1.191502571105957, 0.19613046944141388, -0.24873606860637665, -1.4493603706359863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.272610068321228, -1.2837063074111938, 1.589563012123108, -1.5799936056137085, 0.3393147587776184, 0.48225095868110657, 0.8950868844985962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999760523292025, 0.005716543581272198, -0.0039007560276930033, 0.26708871126174927], [-0.0057194977328498256, 0.9999833648336487, -0.000746593368451328, 0.14116549491882324], [0.0038964232044393456, 0.0007688858545359111, 0.9999921133192774, -0.008040242828428745], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8600175380706787, 1.6747337579727173, -0.4125921428203583, -0.07544074952602386, 0.10803268849849701, 0.8232197165489197, -1.3037521839141846, -1.5239678621292114, -1.1915069818496704, 0.19612663984298706, -0.24873773753643036, -1.4493581056594849, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2712044715881348, -1.2948698997497559, 1.5916779041290283, -1.5457007884979248, 0.4998210370540619, 0.6109192371368408, 0.8106343150138855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755816177844, 0.005792159757818299, -0.003909866175919027, 0.267335444688797], [-0.005795048863956349, 0.9999829435647408, -0.0007280029263874596, 0.14114387333393097], [0.00390558277828593, 0.00075064301527473, 0.9999920914478402, -0.008039717562496662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8579086661338806, 1.6747337579727173, -0.4157554805278778, -0.07879579812288284, 0.10803268849849701, 0.8233485221862793, -1.3036309480667114, -1.523934006690979, -1.1914674043655396, 0.19612842798233032, -0.24873965978622437, -1.4493581056594849, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2777031660079956, -1.296754002571106, 1.5893745422363281, -1.5590299367904663, 0.5666379928588867, 0.6540290117263794, 0.7696996927261353, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999752224033022, 0.005860554148635727, -0.0038998057050788296, 0.26707854866981506], [-0.00586351836594365, 0.999982528852085, -0.000749094761108654, 0.14112694561481476], [0.00389534746058658, 0.0007719427827161163, 0.9999921151551654, -0.008040021173655987], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8568542003631592, 1.6748296022415161, -0.4191105365753174, -0.08176741749048233, 0.1084161177277565, 0.823357880115509, -1.303626298904419, -1.5239344835281372, -1.1914411783218384, 0.19612830877304077, -0.24874097108840942, -1.4493550062179565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2878496646881104, -1.2968239784240723, 1.581167459487915, -1.5686156749725342, 0.6046287417411804, 0.6887218952178955, 0.7207168936729431, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975551489453, 0.005796084375893383, -0.003911755267368704, 0.2666926681995392], [-0.005799126705965123, 0.9999828908915739, -0.0007668465157735266, 0.14114034175872803], [0.003907243633614914, 0.0007895125319565953, 0.9999920550270134, -0.00803461391478777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8573335409164429, 1.6765550374984741, -0.4214111268520355, -0.08425974100828171, 0.10947056859731674, 0.8233486413955688, -1.3035964965820312, -1.5239524841308594, -1.1914455890655518, 0.19612424075603485, -0.24874289333820343, -1.4493498802185059, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3029474020004272, -1.2990319728851318, 1.5693271160125732, -1.5719541311264038, 0.6654008626937866, 0.7467043399810791, 0.6526643633842468, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754263967694, 0.005812993467581741, -0.003918636184325539, 0.2668096423149109], [-0.005816054405647379, 0.999982790018288, -0.0007701807520803754, 0.14114053547382355], [0.003914091688987771, 0.0007929528272081337, 0.9999920255242358, -0.008031838573515415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8591548204421997, 1.6794307231903076, -0.42208215594291687, -0.08627277612686157, 0.11110015958547592, 0.8233455419540405, -1.3035883903503418, -1.5239572525024414, -1.1914421319961548, 0.1961250752210617, -0.24874469637870789, -1.4493463039398193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3161972761154175, -1.3041746616363525, 1.5633970499038696, -1.5737355947494507, 0.7214310169219971, 0.7969499826431274, 0.5957629084587097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997555418491, 0.005794380223893876, -0.0039135904746130865, 0.26692354679107666], [-0.005797457605049708, 0.9999828939383929, -0.000775445623143062, 0.14114487171173096], [0.0039090303017098775, 0.0007981155416028422, 0.9999920412151702, -0.008032572455704212], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.862030565738678, 1.6820189952850342, -0.42246559262275696, -0.08751893788576126, 0.11311319470405579, 0.823346734046936, -1.3035756349563599, -1.5239745378494263, -1.1914092302322388, 0.19612687826156616, -0.24874384701251984, -1.4493430852890015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3161906003952026, -1.3070507049560547, 1.5631839036941528, -1.5649826526641846, 0.7658151984214783, 0.814825177192688, 0.5823758244514465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756295290376, 0.005793758915072923, -0.0038952157371497467, 0.26687878370285034], [-0.005796810909793701, 0.9999828998197615, -0.000772690971086801, 0.14114317297935486], [0.003890672343056243, 0.0007952519693250369, 0.9999921150904262, -0.008038218133151531], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8635643124580383, 1.6830734014511108, -0.42246559262275696, -0.08799822628498077, 0.11407177895307541, 0.823348879814148, -1.3035697937011719, -1.5239943265914917, -1.1913068294525146, 0.19612818956375122, -0.24874313175678253, -1.4493438005447388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3152780532836914, -1.307814359664917, 1.5634181499481201, -1.5645662546157837, 0.7542994618415833, 0.8125279545783997, 0.5869410634040833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755796567077, 0.005799546301146243, -0.003899404176582481, 0.2669760286808014], [-0.0058026134587793035, 0.9999828638225186, -0.000775717965656892, 0.14114254713058472], [0.003894838543441981, 0.0007983257575141303, 0.9999920964231195, -0.00803644210100174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8644270300865173, 1.6834567785263062, -0.4225614368915558, -0.08818994462490082, 0.11455107480287552, 0.8233508467674255, -1.303550362586975, -1.524021029472351, -1.191306471824646, 0.19612854719161987, -0.24874182045459747, -1.4493440389633179, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.314821481704712, -1.3078593015670776, 1.5650663375854492, -1.5636531114578247, 0.7537494897842407, 0.8136610388755798, 0.586920440196991, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755258117659, 0.005795889786537797, -0.00391860167210727, 0.266976922750473], [-0.00579887511680205, 0.9999829044495817, -0.0007509034281560712, 0.1411440223455429], [0.00391418252794489, 0.0007736085321332666, 0.9999920403208102, -0.00803499948233366], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8654814958572388, 1.6840319633483887, -0.42246559262275696, -0.08876509964466095, 0.11464693397283554, 0.8233499526977539, -1.303541898727417, -1.5240347385406494, -1.191309928894043, 0.19612902402877808, -0.24874037504196167, -1.449343204498291, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.318442463874817, -1.315298080444336, 1.5683797597885132, -1.5566494464874268, 0.855389416217804, 0.8201688528060913, 0.5336264967918396, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757081659553, 0.005769990921321276, -0.003910279115877174, 0.26691338419914246], [-0.00577305078083247, 0.9999830380519726, -0.0007716819481166831, 0.14115016162395477], [0.0039057601920912577, 0.0007942374424500518, 0.9999920570805585, -0.00803413800895214], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.868836522102356, 1.6851823329925537, -0.42150700092315674, -0.08914853632450104, 0.11435935646295547, 0.8233474493026733, -1.303541660308838, -1.524035096168518, -1.1913106441497803, 0.1961342990398407, -0.24873749911785126, -1.4493365287780762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3344800472259521, -1.327336072921753, 1.565040946006775, -1.5688269138336182, 0.9989045858383179, 0.8497689366340637, 0.42901501059532166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754387718099, 0.005819482776515845, -0.0039058255644571598, 0.26666614413261414], [-0.005822519801087863, 0.9999827551123742, -0.0007666427011772854, 0.14113402366638184], [0.0039012967449389723, 0.0007893656181796085, 0.9999920783614382, -0.008035984821617603], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8741087913513184, 1.6863325834274292, -0.41949397325515747, -0.08924439549446106, 0.11397591978311539, 0.8233372569084167, -1.3035497665405273, -1.5240342617034912, -1.1913255453109741, 0.19613203406333923, -0.24873726069927216, -1.4493236541748047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3502553701400757, -1.3300375938415527, 1.5485453605651855, -1.573468565940857, 1.0539172887802124, 0.8489944934844971, 0.371633917093277, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755464882827, 0.0057970451671171255, -0.003911609999844208, 0.2666383683681488], [-0.00580003230768432, 0.9999828963509114, -0.0007527488772153531, 0.14114318788051605], [0.003907179377798686, 0.0007754179342360214, 0.9999920663066968, -0.008035717532038689], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8790934085845947, 1.6882498264312744, -0.4170016348361969, -0.088956817984581, 0.11349663138389587, 0.8233296275138855, -1.3035471439361572, -1.524035096168518, -1.1913375854492188, 0.19613178074359894, -0.248735710978508, -1.4493190050125122, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3596844673156738, -1.3318079710006714, 1.5422643423080444, -1.5723984241485596, 1.0865907669067383, 0.8389731645584106, 0.3179340660572052, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753906457043, 0.005820703006978279, -0.003916314527157916, 0.2670682668685913], [-0.005823751443707467, 0.9999827473278285, -0.0007674410792404488, 0.14113491773605347], [0.003911779913669646, 0.0007902298353925772, 0.9999920367256503, -0.008032966405153275], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8833112120628357, 1.68940007686615, -0.4147968888282776, -0.08818994462490082, 0.11282561719417572, 0.8233319520950317, -1.3035472631454468, -1.5240341424942017, -1.1913375854492188, 0.19613251090049744, -0.24873557686805725, -1.4493186473846436, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3696321249008179, -1.3326466083526611, 1.533335566520691, -1.5677238702774048, 1.1070672273635864, 0.8272939324378967, 0.2710059881210327, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756596205375, 0.005781226420571699, -0.0039060962027502913, 0.26719701290130615], [-0.005784239298026258, 0.9999829819851915, -0.0007604707405536761, 0.14114713668823242], [0.003901633275209909, 0.0007830460255651003, 0.9999920820170066, -0.008037014864385128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.886570394039154, 1.69016695022583, -0.4130714535713196, -0.08703964203596115, 0.11205875128507614, 0.8233337998390198, -1.3035460710525513, -1.5240325927734375, -1.1913424730300903, 0.19613118469715118, -0.24873726069927216, -1.4493184089660645, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.382118582725525, -1.334588885307312, 1.507859706878662, -1.55950129032135, 1.0963793992996216, 0.7943865656852722, 0.2074514925479889, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755322084343, 0.00579436680450779, -0.003919221580039209, 0.26712292432785034], [-0.005797427150088713, 0.9999828983646613, -0.0007699458752921389, 0.1411435753107071], [0.003914693206119876, 0.0007926484380122782, 0.9999920234109648, -0.00803217850625515], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8888710141181946, 1.6905503273010254, -0.41153770685195923, -0.08588933944702148, 0.11042915284633636, 0.8233380913734436, -1.3035365343093872, -1.5240334272384644, -1.191358208656311, 0.19613046944141388, -0.248738095164299, -1.4493203163146973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3929039239883423, -1.3378791809082031, 1.4953513145446777, -1.5376440286636353, 1.1135196685791016, 0.771923840045929, 0.1853387951850891, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756709890038, 0.005765739530157863, -0.003926025695535755, 0.26718685030937195], [-0.0057686669506317985, 0.9999830911842373, -0.0007347293582390304, 0.14115038514137268], [0.003921723052985823, 0.0007573594176775629, 0.9999920232156895, -0.0080353869125247], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8903088569641113, 1.6905503273010254, -0.4100998342037201, -0.08435560017824173, 0.10822439938783646, 0.823341429233551, -1.3035186529159546, -1.5240345001220703, -1.1913702487945557, 0.19613011181354523, -0.2487390637397766, -1.4493213891983032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4040931463241577, -1.3430625200271606, 1.4918906688690186, -1.5311579704284668, 1.1608784198760986, 0.7588997483253479, 0.1564219444990158, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754865734836, 0.0058085350103879605, -0.003909881476197911, 0.26718974113464355], [-0.005811433050847866, 0.9999828468384236, -0.0007302566790822549, 0.14113976061344147], [0.0039055726878821874, 0.0007529607924244884, 0.9999920897447263, -0.008039929904043674], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8910757303237915, 1.6907421350479126, -0.4087578058242798, -0.08243843168020248, 0.10601965337991714, 0.823347270488739, -1.3035087585449219, -1.5240362882614136, -1.1913745403289795, 0.19612999260425568, -0.24874205887317657, -1.4493234157562256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4122897386550903, -1.3446369171142578, 1.4876189231872559, -1.5358004570007324, 1.190729022026062, 0.7341361045837402, 0.14061115682125092, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754942636698, 0.005801129335482542, -0.003918899151827769, 0.2671879231929779], [-0.005804128515925855, 0.9999828713601275, -0.0007543729350977035, 0.14114384353160858], [0.003914455811451812, 0.0007771002429516225, 0.999992036543748, -0.008034249767661095], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8920343518257141, 1.6913172006607056, -0.4075116515159607, -0.07994610071182251, 0.10343147069215775, 0.8233525156974792, -1.3034863471984863, -1.524039387702942, -1.1913843154907227, 0.19612890481948853, -0.24874433875083923, -1.4493261575698853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.415871024131775, -1.346802830696106, 1.484175205230713, -1.5449624061584473, 1.2106715440750122, 0.7050671577453613, 0.12073471397161484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754114913408, 0.0058094506657438046, -0.0039276832466347686, 0.2671772241592407], [-0.005812480042612589, 0.9999828183515771, -0.0007603140080992655, 0.14113886654376984], [0.003923198755841581, 0.0007831248935964621, 0.9999919975814422, -0.008031051605939865], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8922260403633118, 1.6914130449295044, -0.4061696231365204, -0.07707034796476364, 0.10017227381467819, 0.8233667612075806, -1.3034874200820923, -1.524040699005127, -1.191385269165039, 0.19613011181354523, -0.24874505400657654, -1.4493300914764404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4126158952713013, -1.3481425046920776, 1.4792712926864624, -1.5410661697387695, 1.2370970249176025, 0.710748553276062, 0.1085667684674263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755568204703, 0.005797159790959203, -0.003908797762543147, 0.2671862244606018], [-0.005800130100611977, 0.9999828986013526, -0.0007489964305886701, 0.14114287495613098], [0.0039043888646433963, 0.0007716496582941814, 0.999992080120837, -0.008037042804062366], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8918426036834717, 1.6915090084075928, -0.40559446811676025, -0.07486559450626373, 0.09777580946683884, 0.8233683109283447, -1.303510308265686, -1.5240389108657837, -1.1913868188858032, 0.19613094627857208, -0.2487454116344452, -1.4493330717086792, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4060050249099731, -1.3481475114822388, 1.480459213256836, -1.529534935951233, 1.2730833292007446, 0.7459996938705444, 0.10849582403898239, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754477265039, 0.005804131989747585, -0.00392632092723385, 0.2671359181404114], [-0.005807079564101336, 0.999982865160243, -0.0007397383641022567, 0.14113987982273102], [0.003921960111250798, 0.0007625206598622688, 0.9999920183637112, -0.008034318685531616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.891650915145874, 1.6915090084075928, -0.405306875705719, -0.07390701025724411, 0.09643378853797913, 0.8233665823936462, -1.3035799264907837, -1.5240353345870972, -1.1913950443267822, 0.19613094627857208, -0.24874408543109894, -1.4493346214294434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.405565857887268, -1.3481478691101074, 1.4809056520462036, -1.529737949371338, 1.2674155235290527, 0.7417953610420227, 0.10940710455179214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754683393485, 0.005809535300651553, -0.003913057511859776, 0.2671111524105072], [-0.005812438707700074, 0.9999828404387691, -0.0007310159236430732, 0.14114049077033997], [0.003908743502696058, 0.0007537423975558939, 0.9999920767669254, -0.008038921281695366], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8915550708770752, 1.6915090084075928, -0.40511515736579895, -0.07333185523748398, 0.09605035185813904, 0.8233656287193298, -1.3036060333251953, -1.5240319967269897, -1.1914011240005493, 0.19613130390644073, -0.24874325096607208, -1.4493350982666016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4055795669555664, -1.3482744693756104, 1.4808393716812134, -1.5307620763778687, 1.2656493186950684, 0.741158127784729, 0.10960125178098679, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755576857907, 0.0057925943213628485, -0.003915339323724494, 0.26713287830352783], [-0.005795446803243487, 0.9999829487869022, -0.0007175874877633024, 0.14114321768283844], [0.003911115869232634, 0.0007402610890317465, 0.9999920775617063, -0.008040469139814377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8911716341972351, 1.6914130449295044, -0.4049234688282013, -0.07314014434814453, 0.09585864096879959, 0.8233630061149597, -1.3036596775054932, -1.5240219831466675, -1.1914156675338745, 0.19613130390644073, -0.24874229729175568, -1.4493361711502075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.403618574142456, -1.3486900329589844, 1.4711276292800903, -1.5318299531936646, 1.2660093307495117, 0.7260237336158752, 0.09941789507865906, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755691160954, 0.005791666520637519, -0.0039137922600410045, 0.2671341896057129], [-0.005794505530588591, 0.9999829564979599, -0.0007144363199545188, 0.14114293456077576], [0.003909587778399227, 0.0007370973565401112, 0.9999920858741282, -0.008040765300393105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8905006051063538, 1.6914130449295044, -0.40444415807724, -0.07409872859716415, 0.09537934511899948, 0.8233587145805359, -1.3036638498306274, -1.5240198373794556, -1.1914509534835815, 0.19613094627857208, -0.24874037504196167, -1.4493367671966553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3967574834823608, -1.3497891426086426, 1.466328501701355, -1.5256558656692505, 1.2879374027252197, 0.6984571814537048, 0.059920765459537506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755599493864, 0.005790852825464543, -0.003917336782182087, 0.2671852111816406], [-0.005793645648220756, 0.9999829703110259, -0.0007019672646866613, 0.14114463329315186], [0.003913205082036984, 0.0007246457697718876, 0.9999920808258905, -0.0080424714833498], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8892544507980347, 1.691125512123108, -0.4041565954685211, -0.07572832703590393, 0.09537934511899948, 0.8233571648597717, -1.3036588430404663, -1.5240144729614258, -1.191458821296692, 0.1961331069469452, -0.2487390637397766, -1.449337124824524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3893623352050781, -1.3524575233459473, 1.480349063873291, -1.510510802268982, 1.3231157064437866, 0.702633798122406, 0.040212586522102356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754866138327, 0.0058008163714614895, -0.003921313664186379, 0.2672106623649597], [-0.005803598832741588, 0.9999829149760293, -0.0006985675572257856, 0.14114244282245636], [0.003917194406325903, 0.000721308164373777, 0.9999920676197962, -0.008041567169129848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8878165483474731, 1.6900711059570312, -0.4039648771286011, -0.07707034796476364, 0.09662550687789917, 0.8233552575111389, -1.3036932945251465, -1.5239691734313965, -1.1914502382278442, 0.1961335837841034, -0.24873797595500946, -1.449336051940918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3959360122680664, -1.352368950843811, 1.4954532384872437, -1.5161762237548828, 1.3286142349243164, 0.6854546666145325, 0.04326305165886879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755126540948, 0.00579802513037391, -0.003918800424604832, 0.2670309245586395], [-0.005800762322710449, 0.9999829391236699, -0.0006874722264041026, 0.1411420702934265], [0.0039147475851903, 0.0007101874218871638, 0.9999920851612627, -0.008043083362281322], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8866662383079529, 1.689016580581665, -0.4040607213973999, -0.07841236889362335, 0.09959712624549866, 0.8233475685119629, -1.3036937713623047, -1.523949384689331, -1.191447138786316, 0.19613227248191833, -0.2487371414899826, -1.4493346214294434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4054406881332397, -1.3508213758468628, 1.5031019449234009, -1.5241544246673584, 1.3396440744400024, 0.665611743927002, 0.051847949624061584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8855159282684326, 1.688537359237671, -0.40444415807724, -0.07908337563276291, 0.10276045650243759, 0.8233487010002136, -1.3036640882492065, -1.5239454507827759, -1.1914254426956177, 0.19613298773765564, -0.2487373799085617, -1.4493340253829956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4011634588241577, -1.3507823944091797, 1.493243932723999, -1.5172840356826782, 1.3455231189727783, 0.6448326706886292, 0.059094931930303574, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8847491145133972, 1.688441514968872, -0.40559446811676025, -0.07927509397268295, 0.10506106913089752, 0.8233489394187927, -1.3036433458328247, -1.5239461660385132, -1.191401481628418, 0.1961359828710556, -0.2487385869026184, -1.449332594871521, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3774302005767822, -1.3516265153884888, 1.4629106521606445, -1.4851858615875244, 1.3428069353103638, 0.627571702003479, 0.06944271177053452, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8846532106399536, 1.688441514968872, -0.40693649649620056, -0.07937095314264297, 0.10659480839967728, 0.8233482837677002, -1.3036017417907715, -1.5239492654800415, -1.1913245916366577, 0.19613417983055115, -0.24873989820480347, -1.4493306875228882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3451049327850342, -1.3541408777236938, 1.4366436004638672, -1.4513137340545654, 1.3396852016448975, 0.6271260976791382, 0.09586984664201736, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8846532106399536, 1.688537359237671, -0.40808677673339844, -0.07965853065252304, 0.10745753347873688, 0.8233482837677002, -1.3035460710525513, -1.5239571332931519, -1.1913156509399414, 0.1961340606212616, -0.24874241650104523, -1.449329137802124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3264615535736084, -1.356103777885437, 1.4135022163391113, -1.4344334602355957, 1.3314911127090454, 0.6240384578704834, 0.1200360357761383, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.884844958782196, 1.6887290477752686, -0.40866193175315857, -0.07965853065252304, 0.10803268849849701, 0.8233481049537659, -1.303513526916504, -1.5239742994308472, -1.1913188695907593, 0.19613465666770935, -0.24874469637870789, -1.4493277072906494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3171305656433105, -1.3575624227523804, 1.4026116132736206, -1.419525146484375, 1.3137152194976807, 0.6163199543952942, 0.141437828540802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8855159282684326, 1.689016580581665, -0.4091412425041199, -0.07965853065252304, 0.10908713191747665, 0.8233474493026733, -1.303526520729065, -1.5239808559417725, -1.1913248300552368, 0.1961347907781601, -0.24874624609947205, -1.4493275880813599, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3216513395309448, -1.357773780822754, 1.4038200378417969, -1.4230847358703613, 1.2894402742385864, 0.6180375218391418, 0.1527339071035385, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8860911130905151, 1.68940007686615, -0.40971639752388, -0.07975438982248306, 0.11033329367637634, 0.8233464360237122, -1.303519606590271, -1.5240027904510498, -1.191329836845398, 0.1961364597082138, -0.2487475723028183, -1.449326992034912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3306981325149536, -1.3577768802642822, 1.4080719947814941, -1.4343397617340088, 1.2860873937606812, 0.6207660436630249, 0.1525811105966568, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8864745497703552, 1.6894959211349487, -0.40990811586380005, -0.07985024899244308, 0.11090844124555588, 0.8233466744422913, -1.3035162687301636, -1.5240103006362915, -1.191341519355774, 0.19613705575466156, -0.2487461268901825, -1.4493279457092285, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3313277959823608, -1.3577755689620972, 1.4083614349365234, -1.4335150718688965, 1.2879188060760498, 0.6208086013793945, 0.15129101276397705, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8864745497703552, 1.6896876096725464, -0.40990811586380005, -0.07985024899244308, 0.11110015958547592, 0.8233470320701599, -1.3035173416137695, -1.5240195989608765, -1.1913516521453857, 0.19613873958587646, -0.24874505400657654, -1.4493287801742554, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3261260986328125, -1.3565071821212769, 1.4175395965576172, -1.4340790510177612, 1.2722744941711426, 0.6193830966949463, 0.15094874799251556, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8868579864501953, 1.6897834539413452, -0.41038739681243896, -0.07985024899244308, 0.11090844124555588, 0.8233469128608704, -1.3035141229629517, -1.5240321159362793, -1.191352367401123, 0.19614653289318085, -0.24874469637870789, -1.449329137802124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.312647819519043, -1.3564958572387695, 1.438031792640686, -1.4293793439865112, 1.2616186141967773, 0.6305608749389648, 0.140712171792984, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8873372673988342, 1.6900711059570312, -0.4108666777610779, -0.07975438982248306, 0.10918299108743668, 0.8233470320701599, -1.3035030364990234, -1.5240452289581299, -1.1913551092147827, 0.19615527987480164, -0.24874229729175568, -1.4493303298950195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2966117858886719, -1.356673240661621, 1.4377295970916748, -1.4143825769424438, 1.2754606008529663, 0.6328921914100647, 0.13041317462921143, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8880082964897156, 1.6903586387634277, -0.4110583961009979, -0.07937095314264297, 0.10736167430877686, 0.8233464956283569, -1.3035050630569458, -1.5240477323532104, -1.1913622617721558, 0.19616343080997467, -0.24874109029769897, -1.449331283569336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2784298658370972, -1.357470154762268, 1.4234627485275269, -1.384777545928955, 1.280490756034851, 0.6331142783164978, 0.13770760595798492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8887751698493958, 1.6908379793167114, -0.4113459885120392, -0.07879579812288284, 0.10621137171983719, 0.8233455419540405, -1.3035128116607666, -1.5240464210510254, -1.1913760900497437, 0.19616737961769104, -0.24874013662338257, -1.4493314027786255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2635880708694458, -1.3576724529266357, 1.4042619466781616, -1.3652573823928833, 1.2625681161880493, 0.6401175856590271, 0.15754401683807373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8890627026557922, 1.691029667854309, -0.41163355112075806, -0.0786040797829628, 0.10554035753011703, 0.8233455419540405, -1.3035231828689575, -1.5240435600280762, -1.1913985013961792, 0.19616642594337463, -0.24873918294906616, -1.4493308067321777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2601369619369507, -1.3568668365478516, 1.401283860206604, -1.3659199476242065, 1.2206891775131226, 0.6577654480934143, 0.18292254209518433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8890627026557922, 1.6913172006607056, -0.41211286187171936, -0.07841236889362335, 0.10563621670007706, 0.8233448266983032, -1.3035446405410767, -1.5240390300750732, -1.1914201974868774, 0.19616533815860748, -0.2487393021583557, -1.4493309259414673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2604423761367798, -1.3548612594604492, 1.4035155773162842, -1.3665558099746704, 1.179784893989563, 0.6797115802764893, 0.22058308124542236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8890627026557922, 1.6915090084075928, -0.4126880168914795, -0.07822065055370331, 0.10573207587003708, 0.8233447670936584, -1.3035504817962646, -1.524033784866333, -1.191420078277588, 0.19616545736789703, -0.24874001741409302, -1.4493305683135986, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2569224834442139, -1.3541669845581055, 1.4046252965927124, -1.3529058694839478, 1.158413052558899, 0.6953892111778259, 0.25084853172302246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8889668583869934, 1.6917006969451904, -0.41335901618003845, -0.07812479138374329, 0.10563621670007706, 0.823344349861145, -1.3035509586334229, -1.5240306854248047, -1.1914219856262207, 0.19616414606571198, -0.24874158203601837, -1.4493294954299927, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2439345121383667, -1.3535945415496826, 1.4048445224761963, -1.3328540325164795, 1.150611400604248, 0.7031902074813843, 0.26704245805740356, 0.5711999993075382, 0.5711999993075382, 0.5711999993075382, 0.5711999993075382, -0.5711999993075382, -0.5711999993075382, -0.5711999993075382, 0.5711999993075382, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8884875774383545, 1.6921799182891846, -0.41383829712867737, -0.07812479138374329, 0.10515692830085754, 0.8233441710472107, -1.303551197052002, -1.5240297317504883, -1.1914219856262207, 0.19616103172302246, -0.24874384701251984, -1.4493286609649658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.230162262916565, -1.3534899950027466, 1.4036638736724854, -1.3136895895004272, 1.1438251733779907, 0.705720067024231, 0.2785763144493103, 0.5274000001477671, 0.5274000001477671, 0.5274000001477671, 0.5274000001477671, -0.5274000001477671, -0.5274000001477671, -0.5274000001477671, 0.5274000001477671, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8882958292961121, 1.692850947380066, -0.4144134521484375, -0.07812479138374329, 0.10506106913089752, 0.8233432769775391, -1.3035532236099243, -1.5240286588668823, -1.1914174556732178, 0.19615910947322845, -0.24874576926231384, -1.4493263959884644, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2213597297668457, -1.353258728981018, 1.404421091079712, -1.298889398574829, 1.1399205923080444, 0.7065363526344299, 0.2946445047855377, 0.42180000661493655, 0.42180000661493655, 0.42180000661493655, 0.42180000661493655, -0.42180000661493655, -0.42180000661493655, -0.42180000661493655, 0.42180000661493655, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8881041407585144, 1.6932344436645508, -0.41498860716819763, -0.07812479138374329, 0.10515692830085754, 0.8233419060707092, -1.303565263748169, -1.5240229368209839, -1.1914106607437134, 0.19615599513053894, -0.24874769151210785, -1.4493244886398315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.217194676399231, -1.3532840013504028, 1.405606746673584, -1.2918097972869873, 1.128800392150879, 0.7080692052841187, 0.30843883752822876, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8881999850273132, 1.6933302879333496, -0.41508448123931885, -0.07812479138374329, 0.10630723088979721, 0.8233389854431152, -1.3035856485366821, -1.5240203142166138, -1.191412329673767, 0.19615718722343445, -0.24874840676784515, -1.4493224620819092, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2136882543563843, -1.3533201217651367, 1.4050925970077515, -1.2832144498825073, 1.1177971363067627, 0.7100808024406433, 0.31806302070617676, 0.2717999924670209, 0.2717999924670209, 0.2717999924670209, 0.2717999924670209, -0.2717999924670209, -0.2717999924670209, -0.2717999924670209, 0.2717999924670209, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8881999850273132, 1.693617820739746, -0.41498860716819763, -0.07831650972366333, 0.10736167430877686, 0.8233370184898376, -1.3035928010940552, -1.5240190029144287, -1.1914108991622925, 0.19615744054317474, -0.24874864518642426, -1.449323058128357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.211730718612671, -1.3533234596252441, 1.4034655094146729, -1.2770463228225708, 1.1086406707763672, 0.7144507169723511, 0.32672375440597534, 0.24120001583308964, 0.24120001583308964, 0.24120001583308964, 0.24120001583308964, -0.24120001583308964, -0.24120001583308964, -0.24120001583308964, 0.24120001583308964, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8881041407585144, 1.693617820739746, -0.41508448123931885, -0.07879579812288284, 0.10832025855779648, 0.8233360052108765, -1.3035966157913208, -1.52401864528656, -1.1914063692092896, 0.1961594671010971, -0.24874697625637054, -1.4493229389190674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2118617296218872, -1.3533233404159546, 1.4036239385604858, -1.2764509916305542, 1.1019313335418701, 0.7205994725227356, 0.3329964280128479, 0.21359998682043055, 0.21359998682043055, 0.21359998682043055, 0.21359998682043055, -0.21359998682043055, -0.21359998682043055, -0.21359998682043055, 0.21359998682043055, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.887912392616272, 1.693617820739746, -0.415659636259079, -0.07908337563276291, 0.10908713191747665, 0.8233364820480347, -1.3035953044891357, -1.5240193605422974, -1.1913998126983643, 0.1961599439382553, -0.2487461268901825, -1.4493235349655151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2139593362808228, -1.3533310890197754, 1.40507972240448, -1.278104305267334, 1.0964231491088867, 0.729533314704895, 0.33506932854652405, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, -0.19920000243972946, -0.19920000243972946, -0.19920000243972946, 0.19920000243972946, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8874331116676331, 1.693617820739746, -0.4162347614765167, -0.07927509397268295, 0.10975813865661621, 0.8233363032341003, -1.303592562675476, -1.524019479751587, -1.1913970708847046, 0.19615982472896576, -0.24874505400657654, -1.4493242502212524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.216441035270691, -1.353330373764038, 1.4051707983016968, -1.2798742055892944, 1.0924714803695679, 0.7346611618995667, 0.3359972834587097, 0.19079999190110428, 0.19079999190110428, 0.19079999190110428, 0.19079999190110428, -0.19079999190110428, -0.19079999190110428, -0.19079999190110428, 0.19079999190110428, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8872414231300354, 1.693617820739746, -0.4162347614765167, -0.07927509397268295, 0.10994985699653625, 0.8233354687690735, -1.3035898208618164, -1.5240190029144287, -1.1913964748382568, 0.19616055488586426, -0.24874360859394073, -1.449325442314148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2167558670043945, -1.3533269166946411, 1.4062238931655884, -1.27961003780365, 1.0886096954345703, 0.7371665835380554, 0.33756348490715027, 0.18480001805902838, 0.18480001805902838, 0.18480001805902838, 0.18480001805902838, -0.18480001805902838, -0.18480001805902838, -0.18480001805902838, 0.18480001805902838, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8872414231300354, 1.6935219764709473, -0.4162347614765167, -0.07965853065252304, 0.11033329367637634, 0.8233353495597839, -1.303576946258545, -1.5240190029144287, -1.1913942098617554, 0.19616198539733887, -0.24874253571033478, -1.4493262767791748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2167729139328003, -1.3533117771148682, 1.4102568626403809, -1.2786264419555664, 1.0843267440795898, 0.7388361096382141, 0.33834198117256165, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, -0.1661999891092489, -0.1661999891092489, -0.1661999891092489, 0.1661999891092489, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8873372673988342, 1.6935219764709473, -0.4162347614765167, -0.07985024899244308, 0.11042915284633636, 0.8233353495597839, -1.303573727607727, -1.52401864528656, -1.1913918256759644, 0.19616198539733887, -0.24874134361743927, -1.4493263959884644, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.216761827468872, -1.3530972003936768, 1.4123802185058594, -1.277229905128479, 1.0782160758972168, 0.7427761554718018, 0.3420875370502472, 0.1560000099978604, 0.1560000099978604, 0.1560000099978604, 0.1560000099978604, -0.1560000099978604, -0.1560000099978604, -0.1560000099978604, 0.1560000099978604, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.887912392616272, 1.6935219764709473, -0.41594719886779785, -0.07994610071182251, 0.11042915284633636, 0.8233342170715332, -1.3035703897476196, -1.524017333984375, -1.1913871765136719, 0.19616055488586426, -0.24874085187911987, -1.449326992034912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2167670726776123, -1.3529772758483887, 1.4160021543502808, -1.2772314548492432, 1.076277494430542, 0.7446547746658325, 0.34216147661209106, 0.13800000987210118, 0.13800000987210118, 0.13800000987210118, 0.13800000987210118, -0.13800000987210118, -0.13800000987210118, -0.13800000987210118, 0.13800000987210118, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8885834217071533, 1.6935219764709473, -0.41556376218795776, -0.07994610071182251, 0.11052501201629639, 0.8233343958854675, -1.3035674095153809, -1.5240169763565063, -1.1913844347000122, 0.1961609125137329, -0.24874170124530792, -1.4493262767791748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2167905569076538, -1.3523752689361572, 1.416911005973816, -1.2772365808486938, 1.0750741958618164, 0.7450383901596069, 0.34189316630363464, 0.12359998619163431, 0.12359998619163431, 0.12359998619163431, 0.12359998619163431, -0.12359998619163431, -0.12359998619163431, -0.12359998619163431, 0.12359998619163431, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8888710141181946, 1.6935219764709473, -0.41508448123931885, -0.07994610071182251, 0.11062087118625641, 0.823334813117981, -1.3035632371902466, -1.5240156650543213, -1.1913845539093018, 0.1961599439382553, -0.24874337017536163, -1.4493260383605957, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2176162004470825, -1.3520574569702148, 1.4172556400299072, -1.2772414684295654, 1.0729278326034546, 0.7449487447738647, 0.34223267436027527, 0.11820000187381287, 0.11820000187381287, 0.11820000187381287, 0.11820000187381287, -0.11820000187381287, -0.11820000187381287, -0.11820000187381287, 0.11820000187381287, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8888710141181946, 1.6935219764709473, -0.4148927628993988, -0.07985024899244308, 0.11062087118625641, 0.8233353495597839, -1.3035621643066406, -1.5240150690078735, -1.1913844347000122, 0.19615958631038666, -0.24874384701251984, -1.4493257999420166, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.218300461769104, -1.3520543575286865, 1.418148398399353, -1.277259349822998, 1.072636604309082, 0.745017409324646, 0.3413989245891571, 0.10680000441414973, 0.10680000441414973, 0.10680000441414973, 0.10680000441414973, -0.10680000441414973, -0.10680000441414973, -0.10680000441414973, 0.10680000441414973, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8886792659759521, 1.6933302879333496, -0.4148927628993988, -0.079466812312603, 0.11062087118625641, 0.8233359456062317, -1.3035615682601929, -1.5240150690078735, -1.1913833618164062, 0.19615910947322845, -0.24874600768089294, -1.4493259191513062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.218945860862732, -1.3520528078079224, 1.4184638261795044, -1.2779570817947388, 1.0719025135040283, 0.7453442215919495, 0.3405162990093231, 0.10499999654162064, 0.10499999654162064, 0.10499999654162064, 0.10499999654162064, -0.10499999654162064, -0.10499999654162064, -0.10499999654162064, 0.10499999654162064, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8883917331695557, 1.692850947380066, -0.4148927628993988, -0.07898751646280289, 0.11062087118625641, 0.8233357071876526, -1.3035612106323242, -1.524015188217163, -1.1913834810256958, 0.1961580365896225, -0.24874816834926605, -1.4493252038955688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.219537615776062, -1.3520469665527344, 1.4185274839401245, -1.278173804283142, 1.0684189796447754, 0.7452638149261475, 0.3405168950557709, 0.095999996478741, 0.095999996478741, 0.095999996478741, 0.095999996478741, -0.095999996478741, -0.095999996478741, -0.095999996478741, 0.095999996478741, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8878165483474731, 1.6926592588424683, -0.4148927628993988, -0.07879579812288284, 0.11062087118625641, 0.8233353495597839, -1.3035612106323242, -1.5240154266357422, -1.1913846731185913, 0.19615839421749115, -0.24874912202358246, -1.4493244886398315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2208753824234009, -1.3520466089248657, 1.4187110662460327, -1.2796823978424072, 1.0684163570404053, 0.7440075278282166, 0.3382778763771057, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8873372673988342, 1.6925634145736694, -0.4147968888282776, -0.07879579812288284, 0.11062087118625641, 0.8233350515365601, -1.3035613298416138, -1.5240155458450317, -1.1913851499557495, 0.1961585134267807, -0.24874888360500336, -1.4493238925933838, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2219889163970947, -1.352042555809021, 1.419008731842041, -1.2800028324127197, 1.0678048133850098, 0.7438430786132812, 0.3380114734172821, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8872414231300354, 1.6924675703048706, -0.41470104455947876, -0.07869993895292282, 0.11062087118625641, 0.8233346939086914, -1.3035613298416138, -1.5240155458450317, -1.191383957862854, 0.1961599439382553, -0.2487478107213974, -1.4493223428726196, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2224500179290771, -1.3520349264144897, 1.419352412223816, -1.2802401781082153, 1.0676292181015015, 0.7438576221466064, 0.33803412318229675, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, -0.052200014512617555, -0.052200014512617555, -0.052200014512617555, 0.052200014512617555, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8872414231300354, 1.6921799182891846, -0.41470104455947876, -0.07869993895292282, 0.11052501201629639, 0.8233347535133362, -1.3035609722137451, -1.52401602268219, -1.1913849115371704, 0.1961589902639389, -0.2487466037273407, -1.4493216276168823, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2226771116256714, -1.3520139455795288, 1.4196616411209106, -1.2805789709091187, 1.0675833225250244, 0.7437768578529358, 0.34043803811073303, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8871455788612366, 1.6921799182891846, -0.41460517048835754, -0.07869993895292282, 0.11052501201629639, 0.8233344554901123, -1.3035614490509033, -1.5240155458450317, -1.1913847923278809, 0.1961606740951538, -0.2487458884716034, -1.4493217468261719, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2227821350097656, -1.3520077466964722, 1.4199804067611694, -1.2826857566833496, 1.06765878200531, 0.7437957525253296, 0.3409629464149475, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, -0.03839998035640508, -0.03839998035640508, -0.03839998035640508, 0.03839998035640508, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8871455788612366, 1.6921799182891846, -0.41460517048835754, -0.07869993895292282, 0.11042915284633636, 0.8233345150947571, -1.303558588027954, -1.5240163803100586, -1.19138503074646, 0.19616246223449707, -0.24874481558799744, -1.44932222366333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.222219467163086, -1.3520039319992065, 1.4198458194732666, -1.2830066680908203, 1.0677577257156372, 0.7437728643417358, 0.34421271085739136, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8869538307189941, 1.6921799182891846, -0.41460517048835754, -0.07879579812288284, 0.10975813865661621, 0.8233344554901123, -1.3035582304000854, -1.5240156650543213, -1.1913845539093018, 0.19616366922855377, -0.24874337017536163, -1.4493224620819092, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2241390943527222, -1.3512272834777832, 1.4215788841247559, -1.291343331336975, 1.0677741765975952, 0.7422107458114624, 0.34759896993637085, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8868579864501953, 1.6921799182891846, -0.41460517048835754, -0.07889165729284286, 0.10966227948665619, 0.8233346343040466, -1.3035590648651123, -1.5240144729614258, -1.1913851499557495, 0.19616402685642242, -0.24874217808246613, -1.4493235349655151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2328975200653076, -1.3504230976104736, 1.4342371225357056, -1.3094923496246338, 1.0707111358642578, 0.7396737933158875, 0.3662903904914856, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8868579864501953, 1.6921799182891846, -0.41460517048835754, -0.07927509397268295, 0.10966227948665619, 0.8233346939086914, -1.3035602569580078, -1.5240130424499512, -1.1913851499557495, 0.19616307318210602, -0.24874085187911987, -1.4493237733840942, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2427946329116821, -1.3473992347717285, 1.4417530298233032, -1.3237559795379639, 1.0670192241668701, 0.7330726385116577, 0.391149640083313, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8868579864501953, 1.692275881767273, -0.41470104455947876, -0.07927509397268295, 0.10956642031669617, 0.8233350515365601, -1.3035588264465332, -1.5240124464035034, -1.191383719444275, 0.19616450369358063, -0.24874158203601837, -1.4493238925933838, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2532835006713867, -1.3425483703613281, 1.447007656097412, -1.338112711906433, 1.0590527057647705, 0.7222392559051514, 0.41197440028190613, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8869538307189941, 1.6924675703048706, -0.4147968888282776, -0.07927509397268295, 0.1092788502573967, 0.8233345150947571, -1.3035584688186646, -1.5240097045898438, -1.191383957862854, 0.19616378843784332, -0.24874337017536163, -1.449324607849121, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.260598063468933, -1.3390775918960571, 1.4526238441467285, -1.3465921878814697, 1.0429075956344604, 0.711886465549469, 0.44549691677093506, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8871455788612366, 1.6926592588424683, -0.41498860716819763, -0.07927509397268295, 0.10870369523763657, 0.8233345150947571, -1.3035589456558228, -1.5240089893341064, -1.1913846731185913, 0.19616246223449707, -0.24874457716941833, -1.449324607849121, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2680984735488892, -1.3343497514724731, 1.452654242515564, -1.351806640625, 1.01479971408844, 0.6830737590789795, 0.4979972839355469, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8873372673988342, 1.6932344436645508, -0.4153720438480377, -0.07927509397268295, 0.10822439938783646, 0.823334813117981, -1.3035573959350586, -1.5240086317062378, -1.1913822889328003, 0.19616281986236572, -0.2487468421459198, -1.4493240118026733, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2756046056747437, -1.331728219985962, 1.450110912322998, -1.3606072664260864, 0.9805203080177307, 0.6297857761383057, 0.5485591888427734, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8881041407585144, 1.6939054727554321, -0.4160430431365967, -0.07889165729284286, 0.10745753347873688, 0.8233353495597839, -1.3035560846328735, -1.5240095853805542, -1.1913824081420898, 0.19616307318210602, -0.24874912202358246, -1.4493237733840942, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2765984535217285, -1.3309890031814575, 1.445816159248352, -1.362613558769226, 0.953051745891571, 0.5709884166717529, 0.5698810815811157, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8886792659759521, 1.694480538368225, -0.416714072227478, -0.07841236889362335, 0.10688237845897675, 0.8233352899551392, -1.303555965423584, -1.5240095853805542, -1.1913825273513794, 0.19616234302520752, -0.2487502098083496, -1.449323058128357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2748585939407349, -1.3310229778289795, 1.4400837421417236, -1.3645648956298828, 0.9231671094894409, 0.5261734127998352, 0.5865594744682312, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8890627026557922, 1.6950557231903076, -0.4170016348361969, -0.07783721387386322, 0.10649894922971725, 0.8233344554901123, -1.3035591840744019, -1.5240094661712646, -1.1913849115371704, 0.1961613893508911, -0.24875104427337646, -1.4493228197097778, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2640900611877441, -1.3316175937652588, 1.433100938796997, -1.3561742305755615, 0.8942707777023315, 0.5006759762763977, 0.5751235485076904, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8893502950668335, 1.695343255996704, -0.41728922724723816, -0.07764549553394318, 0.10640309005975723, 0.823334813117981, -1.303557276725769, -1.5240098237991333, -1.19138503074646, 0.19616174697875977, -0.24875032901763916, -1.4493217468261719, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2561537027359009, -1.3324083089828491, 1.432690143585205, -1.3489447832107544, 0.8912876844406128, 0.507915198802948, 0.5632333755493164, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8895420432090759, 1.6954392194747925, -0.4174809455871582, -0.07745377719402313, 0.10630723088979721, 0.823334813117981, -1.3035571575164795, -1.5240100622177124, -1.191384196281433, 0.19616293907165527, -0.2487490028142929, -1.4493205547332764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2556862831115723, -1.3323549032211304, 1.432903528213501, -1.3490488529205322, 0.8933137059211731, 0.5096166729927063, 0.5637732744216919, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8896378874778748, 1.6954392194747925, -0.4174809455871582, -0.07726205885410309, 0.10611551254987717, 0.8233348727226257, -1.3035575151443481, -1.5240099430084229, -1.191384196281433, 0.19616366922855377, -0.24874840676784515, -1.4493194818496704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.256138801574707, -1.3321501016616821, 1.4331886768341064, -1.3494409322738647, 0.8937059640884399, 0.5096105933189392, 0.5643251538276672, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8896378874778748, 1.6955350637435913, -0.4174809455871582, -0.07726205885410309, 0.10621137171983719, 0.8233349323272705, -1.3035557270050049, -1.5240105390548706, -1.1913843154907227, 0.19616498053073883, -0.2487463653087616, -1.4493197202682495, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2586487531661987, -1.330793857574463, 1.434930443763733, -1.346832036972046, 0.8757826089859009, 0.48477184772491455, 0.59061199426651, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8890627026557922, 1.6954392194747925, -0.41757678985595703, -0.07745377719402313, 0.10745753347873688, 0.8233329653739929, -1.3036024570465088, -1.5239918231964111, -1.1913889646530151, 0.19616414606571198, -0.24874469637870789, -1.44931960105896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2657554149627686, -1.3295844793319702, 1.4528138637542725, -1.3365166187286377, 0.8522855043411255, 0.4098697304725647, 0.6680271625518799, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8875290155410767, 1.6955350637435913, -0.41805610060691833, -0.07764549553394318, 0.11205875128507614, 0.8233329057693481, -1.3036973476409912, -1.5238181352615356, -1.1913944482803345, 0.19616270065307617, -0.24874445796012878, -1.4493207931518555, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.283226728439331, -1.3250128030776978, 1.485856056213379, -1.334850549697876, 0.850068986415863, 0.36776110529899597, 0.7156920433044434, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.885324239730835, 1.6955350637435913, -0.4193022549152374, -0.0777413547039032, 0.1179061233997345, 0.8233333230018616, -1.3036959171295166, -1.5238010883331299, -1.1913868188858032, 0.19617170095443726, -0.24874337017536163, -1.4493231773376465, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3132281303405762, -1.3143965005874634, 1.520872950553894, -1.351338505744934, 0.8270631432533264, 0.29517948627471924, 0.8124698996543884, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8833112120628357, 1.6954392194747925, -0.42150700092315674, -0.07735791802406311, 0.12260320037603378, 0.8233367800712585, -1.303605079650879, -1.5238261222839355, -1.1913708448410034, 0.19617313146591187, -0.24874360859394073, -1.449324369430542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3395731449127197, -1.3070014715194702, 1.5557174682617188, -1.3823161125183105, 0.8120611310005188, 0.2425813227891922, 0.8649856448173523, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.881106436252594, 1.695343255996704, -0.424382746219635, -0.07563246786594391, 0.1235617846250534, 0.8233442306518555, -1.3032366037368774, -1.5241869688034058, -1.1913188695907593, 0.19617959856987, -0.24874469637870789, -1.4493272304534912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3595737218856812, -1.3007960319519043, 1.5900753736495972, -1.4127624034881592, 0.7941539287567139, 0.19497135281562805, 0.9057120084762573, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8788058757781982, 1.6951515674591064, -0.4277378022670746, -0.07294842600822449, 0.12030258774757385, 0.8233882784843445, -1.3029025793075562, -1.5243734121322632, -1.191235899925232, 0.1962028592824936, -0.2487456500530243, -1.449331283569336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.384885549545288, -1.2935419082641602, 1.6294187307357788, -1.4609959125518799, 0.7891929745674133, 0.17059795558452606, 0.9494053721427917, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8772721290588379, 1.694480538368225, -0.43147629499435425, -0.06940165162086487, 0.1118670329451561, 0.8235520124435425, -1.3028925657272339, -1.5244054794311523, -1.1912310123443604, 0.19622717797756195, -0.24874672293663025, -1.4493322372436523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4076368808746338, -1.2863495349884033, 1.660555124282837, -1.4900871515274048, 0.785910964012146, 0.15804843604564667, 0.9679412841796875, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8756425380706787, 1.6943846940994263, -0.4355023503303528, -0.06527972966432571, 0.09959712624549866, 0.8235624432563782, -1.30289888381958, -1.5244157314300537, -1.191240906715393, 0.19623233377933502, -0.24874864518642426, -1.4493341445922852, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4178475141525269, -1.2794926166534424, 1.6836751699447632, -1.4883662462234497, 0.7652525901794434, 0.15731656551361084, 0.9907115697860718, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755849042982, 0.005786526737364103, -0.00391735926671663, 0.26699739694595337], [-0.00578929879013892, 0.9999829991950719, -0.0006966637260638193, 0.14114637672901154], [0.003913261405178083, 0.0007193254802156175, 0.9999920844466862, -0.00804264284670353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8745880722999573, 1.694480538368225, -0.4398159980773926, -0.0613495297729969, 0.08473903685808182, 0.8235622048377991, -1.3029600381851196, -1.5244096517562866, -1.1912531852722168, 0.1962370127439499, -0.24874936044216156, -1.4493330717086792, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.416355013847351, -1.2742480039596558, 1.7022755146026611, -1.465287685394287, 0.7462698817253113, 0.15796718001365662, 1.000834345817566, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754487328553, 0.005798796168569836, -0.00393394134682165, 0.2671475410461426], [-0.005801593658277194, 0.9999829255553783, -0.0007000776607578145, 0.14114224910736084], [0.003929814569301074, 0.0007228836021338981, 0.99999201696651, -0.008037447929382324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.6958225965499878, -0.4441296458244324, -0.05761104077100754, 0.06940165162086487, 0.8235440254211426, -1.3031421899795532, -1.524391770362854, -1.1913057565689087, 0.19623102247714996, -0.24874959886074066, -1.4493306875228882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4146323204040527, -1.2695287466049194, 1.716554880142212, -1.4499151706695557, 0.7350193858146667, 0.15096396207809448, 1.0016365051269531, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975630224215, 0.005779109368283584, -0.003916740046719162, 0.26708588004112244], [-0.0057818284451605795, 0.9999830516695052, -0.0006832522040720705, 0.14114713668823242], [0.0039127250753009345, 0.000705881472383473, 0.9999920961256804, -0.008044963702559471], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8746839165687561, 1.6984107494354248, -0.4477722644805908, -0.05387255549430847, 0.05454356595873833, 0.8234824538230896, -1.3034697771072388, -1.5241721868515015, -1.1914894580841064, 0.1962258666753769, -0.24875009059906006, -1.449328899383545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4147019386291504, -1.2669479846954346, 1.725643515586853, -1.4482280015945435, 0.725719690322876, 0.1375730335712433, 1.000495195388794, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975529426477, 0.005794894381120717, -0.003919151355655922, 0.2671332061290741], [-0.00579773054172472, 0.9999829390488185, -0.0007126933790457907, 0.141142800450325], [0.003914954508348276, 0.0007353981225423876, 0.9999920661289263, -0.008039992302656174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8760259747505188, 1.7010948657989502, -0.45007288455963135, -0.049558915197849274, 0.04064406082034111, 0.8233376145362854, -1.3035048246383667, -1.524101734161377, -1.1914960145950317, 0.19621819257736206, -0.24874912202358246, -1.4493247270584106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4138991832733154, -1.26484215259552, 1.7243520021438599, -1.4446861743927002, 0.7210976481437683, 0.13117381930351257, 1.0031373500823975, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756230706408, 0.005786561998131285, -0.003907552267789156, 0.26707932353019714], [-0.005789455463660002, 0.9999829748177227, -0.0007295753093638922, 0.14114691317081451], [0.003903264008239599, 0.0007521801243844027, 0.999992099346361, -0.00804094411432743], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8775596618652344, 1.702916145324707, -0.45093560218811035, -0.04390325769782066, 0.027415569871664047, 0.8233366012573242, -1.3035050630569458, -1.5240782499313354, -1.1914829015731812, 0.19621436297893524, -0.248749241232872, -1.4493188858032227, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4060180187225342, -1.2646548748016357, 1.7055271863937378, -1.4404168128967285, 0.7127549648284912, 0.1536976844072342, 1.012287974357605, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975795025694, 0.005746382287826155, -0.003922811916653456, 0.2671113610267639], [-0.005749268198405944, 0.9999832101534657, -0.0007247940069308742, 0.14115551114082336], [0.0039185811097996424, 0.0007473297611113029, 0.9999920430785008, -0.008037303574383259], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8790934085845947, 1.7038747072219849, -0.4507438838481903, -0.037864163517951965, 0.014570512808859348, 0.8233368396759033, -1.3035019636154175, -1.5239975452423096, -1.1914652585983276, 0.1962151974439621, -0.24874769151210785, -1.449310541152954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3905798196792603, -1.2647347450256348, 1.6768313646316528, -1.4284372329711914, 0.7109929323196411, 0.15892651677131653, 1.0121874809265137, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756778985401, 0.005770711963898499, -0.003916949678610882, 0.267120361328125], [-0.005773589844856064, 0.9999830707323837, -0.0007238155399920323, 0.14115078747272491], [0.003912706436525245, 0.0007464127961642704, 0.9999920667666715, -0.008038823492825031], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8799561262130737, 1.7042582035064697, -0.4501687288284302, -0.03355052322149277, 0.006805963348597288, 0.8229836225509644, -1.3046549558639526, -1.523256778717041, -1.1914680004119873, 0.19621136784553528, -0.24874624609947205, -1.4493037462234497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3896381855010986, -1.2649215459823608, 1.6791492700576782, -1.4284347295761108, 0.7139300107955933, 0.15885941684246063, 1.0111217498779297, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975632995551, 0.005777895204388226, -0.0039178236502116605, 0.2670688033103943], [-0.0057806705036292285, 0.9999830485803104, -0.0006974242302885551, 0.1411495953798294], [0.003913727593423087, 0.0007200548837624324, 0.9999920820972978, -0.00804228987544775], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8805313110351562, 1.7042582035064697, -0.4494977295398712, -0.031729210168123245, 0.0033550523221492767, 0.8228472471237183, -1.3049248456954956, -1.5230518579483032, -1.1915209293365479, 0.1956636905670166, -0.24814680218696594, -1.4486438035964966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903971910476685, -1.264928936958313, 1.6810486316680908, -1.4287482500076294, 0.7139884829521179, 0.15873488783836365, 1.0111079216003418, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756214298161, 0.005769520973754111, -0.003933087055538441, 0.26711559295654297], [-0.0057723600708588264, 0.9999830871111139, -0.0007108803968165447, 0.1411527395248413], [0.003928919096314828, 0.0007335662612435004, 0.999992012705739, -0.008036244660615921], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8804354667663574, 1.7044498920440674, -0.44930601119995117, -0.030291330069303513, 0.0024923246819525957, 0.8363623023033142, -1.302103042602539, -1.513472557067871, -1.2098088264465332, 0.15280964970588684, -0.17797724902629852, -1.4277284145355225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390717625617981, -1.2650012969970703, 1.6810647249221802, -1.428969144821167, 0.7139866948127747, 0.15871188044548035, 1.0111064910888672, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755627185706, 0.005789873215873764, -0.0039180778223886015, 0.26713132858276367], [-0.005792713230695703, 0.9999829672726618, -0.0007138893398967722, 0.14114540815353394], [0.0039138777580691965, 0.0007365681956227095, 0.9999920694826475, -0.008039452135562897], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8792851567268372, 1.7043540477752686, -0.4497852921485901, -0.027894863858819008, 0.005368083715438843, 0.8685728311538696, -1.3019570112228394, -1.5021482706069946, -1.2421746253967285, 0.05130770429968834, -0.010192583315074444, -1.3594781160354614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3907002210617065, -1.2650576829910278, 1.6810592412948608, -1.4290869235992432, 0.7139872908592224, 0.15869642794132233, 1.0111069679260254, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975523903621, 0.00579814938307772, -0.003915744809128766, 0.2671108841896057], [-0.005800974246046501, 0.99998292184098, -0.0007104394225955755, 0.1411433219909668], [0.003911558701516397, 0.0007331371686036428, 0.9999920810778536, -0.008040986955165863], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8774638175964355, 1.704641580581665, -0.45131903886795044, -0.02530668117105961, 0.0102568743750453, 0.9018579125404358, -1.302984595298767, -1.4887986183166504, -1.2697514295578003, -0.045059606432914734, 0.17302308976650238, -1.3001142740249634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3906280994415283, -1.265230655670166, 1.6809955835342407, -1.4291197061538696, 0.7139857411384583, 0.1586923450231552, 1.011107087135315, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758756639316, 0.0057471945928370205, -0.003901005571016573, 0.26718443632125854], [-0.005750025913517607, 0.9999832128723308, -0.0007149654010081832, 0.14115701615810394], [0.0038968310390512743, 0.0007373790360646938, 0.9999921354590796, -0.008043310604989529], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8758342266082764, 1.7053126096725464, -0.45304450392723083, -0.023293649777770042, 0.014570512808859348, 0.9405204653739929, -1.3063743114471436, -1.4757429361343384, -1.3073275089263916, -0.1491040140390396, 0.3551105558872223, -1.2564918994903564, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902816772460938, -1.2653340101242065, 1.6805651187896729, -1.4291447401046753, 0.7139825820922852, 0.15869678556919098, 1.0111083984375, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754193153838, 0.005816479511949794, -0.00391526897026211, 0.26710641384124756], [-0.005819295491634701, 0.9999828169626945, -0.0007082226593472549, 0.1411382555961609], [0.003911082331461341, 0.0007309893578166109, 0.9999920845134502, -0.00804100465029478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8748756647109985, 1.7060794830322266, -0.45515337586402893, -0.021568194031715393, 0.017254555597901344, 0.9865370988845825, -1.3155680894851685, -1.4676272869110107, -1.349694013595581, -0.25726690888404846, 0.5085656642913818, -1.1658194065093994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3901159763336182, -1.265402913093567, 1.6805223226547241, -1.4291824102401733, 0.7139828205108643, 0.15869690477848053, 1.0111089944839478, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756007803056, 0.00578946674070915, -0.003908953686745541, 0.2670312523841858], [-0.005792282931866186, 0.9999829728820052, -0.0007095100450980812, 0.14114537835121155], [0.0039047794437215857, 0.000732134499327807, 0.999992108307146, -0.008042875677347183], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8738211989402771, 1.706750512123108, -0.4566871225833893, -0.0205137487500906, 0.019075868651270866, 0.9925526976585388, -1.3183362483978271, -1.4661070108413696, -1.34964919090271, -0.26383692026138306, 0.5227586030960083, -1.1477031707763672, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3901193141937256, -1.2654263973236084, 1.680525779724121, -1.429210901260376, 0.7139819860458374, 0.15869870781898499, 1.0111099481582642, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755070706604, 0.005801208108743232, -0.003915513153415381, 0.2670322358608246], [-0.005804057430704467, 0.9999828994612107, -0.000716730417453296, 0.14114262163639069], [0.0039112882937213074, 0.0007394387258389274, 0.999992077495744, -0.00804015714675188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8733419179916382, 1.7071338891983032, -0.4572622776031494, -0.02003445476293564, 0.019746879115700722, 0.9904868602752686, -1.3183605670928955, -1.4661129713058472, -1.3464491367340088, -0.25134381651878357, 0.5025418400764465, -1.16415274143219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3901913166046143, -1.2654279470443726, 1.6805444955825806, -1.4292131662368774, 0.7139817476272583, 0.15869785845279694, 1.011110544204712, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755389193682, 0.005795613753965155, -0.003915663945480444, 0.26719483733177185], [-0.00579843242940598, 0.9999829376914647, -0.0007088774997802027, 0.14114418625831604], [0.0039114887550264835, 0.0007315648726746521, 0.9999920825029348, -0.00804133154451847], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8731501698493958, 1.707229733467102, -0.4576457142829895, -0.019842738285660744, 0.02013031393289566, 0.9879279136657715, -1.3183494806289673, -1.4661924839019775, -1.346459150314331, -0.2508023977279663, 0.5016741752624512, -1.1648063659667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390197992324829, -1.2654277086257935, 1.6805628538131714, -1.4292140007019043, 0.713982343673706, 0.15869690477848053, 1.0111106634140015, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755352351576, 0.0057972355841646095, -0.003914203717458611, 0.26713475584983826], [-0.0058000738898650915, 0.9999829244076003, -0.0007141681144775982, 0.1411432921886444], [0.003909996679305037, 0.0007368533133038642, 0.9999920844552533, -0.008041005581617355], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8730543255805969, 1.707229733467102, -0.45783743262290955, -0.019746879115700722, 0.020226173102855682, 1.0056278705596924, -1.3188927173614502, -1.4674453735351562, -1.376412272453308, -0.27548906207084656, 0.5093122720718384, -1.1281418800354004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902958631515503, -1.265426516532898, 1.6806718111038208, -1.4292151927947998, 0.7139827013015747, 0.15869642794132233, 1.0111128091812134, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755875146039, 0.005781801372805513, -0.0039236650861298895, 0.26715877652168274], [-0.00578474317811115, 0.9999829952971658, -0.0007388253323967445, 0.14114627242088318], [0.0039193266240499635, 0.0007615046906742899, 0.9999920294629453, -0.008035182021558285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8730543255805969, 1.707517385482788, -0.45774155855178833, -0.018692433834075928, 0.019746879115700722, 1.070188283920288, -1.3342396020889282, -1.466689109802246, -1.4387271404266357, -0.4179571568965912, 0.5839756727218628, -0.9668512940406799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390299916267395, -1.2654225826263428, 1.6807273626327515, -1.429221749305725, 0.7139843106269836, 0.15869462490081787, 1.0111167430877686, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975619223211, 0.005769511587041973, -0.0039336618058392345, 0.2669448256492615], [-0.005772344306478902, 0.9999830884306654, -0.0007091501079053185, 0.1411500722169876], [0.003929503831680355, 0.0007318392686033775, 0.9999920116735542, -0.008036156184971333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8731501698493958, 1.708092451095581, -0.4571664035320282, -0.017829706892371178, 0.019555162638425827, 1.1368216276168823, -1.358744740486145, -1.4452749490737915, -1.4702073335647583, -0.5895900726318359, 0.6540632843971252, -0.7778561115264893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902947902679443, -1.2654156684875488, 1.6808220148086548, -1.4292508363723755, 0.7139882445335388, 0.15869151055812836, 1.0111230611801147, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755394504118, 0.00578947850053583, -0.003924594189170711, 0.267076313495636], [-0.005792299453642715, 0.9999829739955965, -0.0007078036177548866, 0.14114679396152496], [0.003920429555185171, 0.0007305187292670988, 0.9999920482556294, -0.00803927518427372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8737253546714783, 1.708475947380066, -0.45611196756362915, -0.01696697808802128, 0.019746879115700722, 1.197618842124939, -1.3818200826644897, -1.409348726272583, -1.5059788227081299, -0.745820164680481, 0.6701058745384216, -0.5993031859397888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903052806854248, -1.2654048204421997, 1.68082857131958, -1.4292587041854858, 0.7139945030212402, 0.15869055688381195, 1.0111278295516968, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754229819469, 0.005815155967974244, -0.003916298398321318, 0.2670573592185974], [-0.005817886664133993, 0.9999828404919643, -0.0006862334777365787, 0.1411372423171997], [0.003912240641863999, 0.0007090011923883705, 0.9999920958139966, -0.00804455392062664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8743963241577148, 1.708475947380066, -0.45524924993515015, -0.01658354513347149, 0.021759910508990288, 1.2346056699752808, -1.404853343963623, -1.3705265522003174, -1.5180678367614746, -0.8729488253593445, 0.6561986207962036, -0.4509262442588806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903177976608276, -1.2653963565826416, 1.6808315515518188, -1.4292606115341187, 0.7140098214149475, 0.15869222581386566, 1.0111321210861206, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755222583518, 0.00580115228638799, -0.003911715261438406, 0.26710623502731323], [-0.005803883428186184, 0.999982921196975, -0.0006872055854372341, 0.14114098250865936], [0.003907661869770788, 0.0007098919035781, 0.9999921130849967, -0.008044934831559658], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8748756647109985, 1.7085717916488647, -0.45438650250434875, -0.016391826793551445, 0.025210822001099586, 1.2505475282669067, -1.4230530261993408, -1.328276515007019, -1.5024843215942383, -0.9844456911087036, 0.6001235842704773, -0.3299325406551361, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903814554214478, -1.2653783559799194, 1.6808358430862427, -1.429256796836853, 0.7140510678291321, 0.15869510173797607, 1.011143684387207, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755461245234, 0.005799594297952244, -0.0039079225862779935, 0.2672090530395508], [-0.005802371883361518, 0.9999829212378764, -0.0006997950345283082, 0.14114277064800262], [0.003903797316505759, 0.0007224531419646476, 0.999992119182931, -0.008044642396271229], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8750673532485962, 1.7089552879333496, -0.4537155032157898, -0.016391826793551445, 0.028949309140443802, 1.2618024349212646, -1.4415054321289062, -1.3009321689605713, -1.4915555715560913, -1.0850505828857422, 0.5562883019447327, -0.19397342205047607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904794454574585, -1.2653026580810547, 1.680868148803711, -1.4292545318603516, 0.7140730619430542, 0.15869654715061188, 1.0111533403396606, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754350582455, 0.0058052781780036505, -0.003927852511067631, 0.26716482639312744], [-0.0058082131809869715, 0.9999828611623786, -0.0007362344377044562, 0.1411401778459549], [0.003923511146526141, 0.0007590301568761321, 0.9999920149348713, -0.008033658377826214], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8755466341972351, 1.7090511322021484, -0.45304450392723083, -0.016391826793551445, 0.03287951275706291, 1.2734657526016235, -1.4540305137634277, -1.2737743854522705, -1.4924516677856445, -1.1797760725021362, 0.4992218315601349, -0.0902194008231163, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904483318328857, -1.2653052806854248, 1.6808621883392334, -1.4292528629302979, 0.7140973210334778, 0.1587015837430954, 1.0111616849899292, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755872353374, 0.005776413700453693, -0.003931663528755198, 0.2670871317386627], [-0.005779267140286973, 0.9999830444330808, -0.0007147850504397964, 0.14114676415920258], [0.003927467971012892, 0.0007374897343989754, 0.9999920155202382, -0.008036467246711254], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8761218190193176, 1.709242820739746, -0.4523734748363495, -0.016487685963511467, 0.037384867668151855, 1.2773245573043823, -1.4576233625411987, -1.2594788074493408, -1.490861415863037, -1.2182215452194214, 0.4719092845916748, -0.08679095655679703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904134035110474, -1.2653162479400635, 1.6808525323867798, -1.4292536973953247, 0.7141097784042358, 0.15870241820812225, 1.0111650228500366, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756220761883, 0.005776477342663638, -0.003922698414355151, 0.2671496868133545], [-0.005779322221355919, 0.9999830444703415, -0.000714287399239113, 0.14114731550216675], [0.003918505837947991, 0.000736940524509075, 0.999992051083738, -0.008038787171244621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8762176632881165, 1.7095303535461426, -0.45189419388771057, -0.01658354513347149, 0.04054820537567139, 1.2772691249847412, -1.457958459854126, -1.260120153427124, -1.488749623298645, -1.2161641120910645, 0.4778096079826355, -0.0900236964225769, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390289068222046, -1.2653522491455078, 1.6806679964065552, -1.4292545318603516, 0.7141170501708984, 0.15870684385299683, 1.0111666917800903, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755427840168, 0.005782397836184232, -0.003934171968177945, 0.2671826183795929], [-0.005785311572842216, 0.9999829987489869, -0.0007296457967790147, 0.14114715158939362], [0.00392988598005631, 0.000752388362291223, 0.9999919949219274, -0.00803358480334282], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8762176632881165, 1.7096261978149414, -0.45141488313674927, -0.01667940244078636, 0.04208194091916084, 1.2765899896621704, -1.4577386379241943, -1.260778546333313, -1.4887514114379883, -1.2109967470169067, 0.4799782633781433, -0.09256207942962646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902647495269775, -1.265386939048767, 1.680649757385254, -1.4292542934417725, 0.7141204476356506, 0.15870900452136993, 1.0111674070358276, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754219085508, 0.005804279623937717, -0.00393267299210593, 0.2671089768409729], [-0.005807269805735729, 0.9999828568980871, -0.0007493512816085272, 0.14114242792129517], [0.003928256129517025, 0.0007721709571070894, 0.9999919862457868, -0.008031204342842102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8763135075569153, 1.7096261978149414, -0.45131903886795044, -0.016775261610746384, 0.04284881055355072, 1.2763890027999878, -1.4574116468429565, -1.2501875162124634, -1.494373083114624, -1.20974600315094, 0.48723939061164856, -0.08259276300668716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902565240859985, -1.2654063701629639, 1.680640459060669, -1.4292538166046143, 0.7141228318214417, 0.15871009230613708, 1.0111671686172485, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753415897772, 0.005818752558663697, -0.0039317084161314434, 0.2671179473400116], [-0.00582169962937038, 0.9999827810404717, -0.0007385363833002611, 0.14113746583461761], [0.003927343355733355, 0.0007614073975961421, 0.9999919980844552, -0.008033212274312973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8763135075569153, 1.7096261978149414, -0.45131903886795044, -0.017254555597901344, 0.04284881055355072, 1.270044207572937, -1.4656195640563965, -1.2167245149612427, -1.488879680633545, -1.281313180923462, 0.45560044050216675, 0.01054204348474741, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390260100364685, -1.2654106616973877, 1.6806387901306152, -1.4292532205581665, 0.7141237854957581, 0.15870781242847443, 1.0111674070358276, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753847398918, 0.005805702149257152, -0.00394001736792043, 0.26713699102401733], [-0.00580865689299442, 0.9999828566166187, -0.0007389032186545142, 0.14114010334014893], [0.003935659970687526, 0.0007617712394022809, 0.9999919651103073, -0.008030650205910206], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8763135075569153, 1.7096261978149414, -0.45131903886795044, -0.017254555597901344, 0.0418902263045311, 1.244924545288086, -1.482393503189087, -1.179198145866394, -1.4418222904205322, -1.303053617477417, 0.3900870084762573, 0.05966334417462349, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390259027481079, -1.2654210329055786, 1.680637240409851, -1.4292538166046143, 0.7141246199607849, 0.15870624780654907, 1.0111658573150635, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755675787905, 0.005776829150020025, -0.003936050107315924, 0.2671765685081482], [-0.005779786509863825, 0.9999830227996732, -0.000740392010154199, 0.1411495804786682], [0.003931706166058055, 0.0007631234498971593, 0.9999919796324489, -0.008031724952161312], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8763135075569153, 1.7096261978149414, -0.4515107572078705, -0.0170628372579813, 0.03978133574128151, 1.2142009735107422, -1.4998904466629028, -1.1607400178909302, -1.3995163440704346, -1.347675085067749, 0.3281133472919464, 0.1006031334400177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390257477760315, -1.2654294967651367, 1.6806379556655884, -1.4292528629302979, 0.7141239047050476, 0.15870600938796997, 1.011164665222168, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754325665017, 0.005805616607614577, -0.0039279866653605024, 0.26713529229164124], [-0.005808586224509588, 0.9999828524813846, -0.0007450297079369421, 0.14114229381084442], [0.003923593953290472, 0.0007678274537036084, 0.9999920078938086, -0.008032497949898243], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8763135075569153, 1.7096261978149414, -0.4520859122276306, -0.01667940244078636, 0.037289008498191833, 1.1771355867385864, -1.5117942094802856, -1.158290982246399, -1.3528603315353394, -1.3899562358856201, 0.2841184139251709, 0.1065603718161583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902612924575806, -1.2654337882995605, 1.680641531944275, -1.429251790046692, 0.7141245007514954, 0.15870361030101776, 1.011163353919983, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757107722569, 0.005761427461854067, -0.003922221197407965, 0.2671459913253784], [-0.005764442697086112, 0.9999830982611916, -0.000757886759332219, 0.14115168154239655], [0.003917788395461546, 0.0007804777701858728, 0.999992020862436, -0.008031965233385563], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8765052556991577, 1.7096261978149414, -0.4524693489074707, -0.01581667549908161, 0.034796684980392456, 1.144557237625122, -1.5203081369400024, -1.1633069515228271, -1.3086020946502686, -1.4005537033081055, 0.23320727050304413, 0.11180610954761505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902629613876343, -1.2654352188110352, 1.6806468963623047, -1.4292515516281128, 0.7141223549842834, 0.15870505571365356, 1.0111608505249023, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755968706604, 0.0057774456161262065, -0.0039276946570739315, 0.2671528160572052], [-0.005780493505301825, 0.9999830001209781, -0.0007650907679597302, 0.14114919304847717], [0.003923207616436639, 0.0007877761108067877, 0.9999919938933499, -0.008030084893107414], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8773679733276367, 1.7096261978149414, -0.45266106724739075, -0.015049805864691734, 0.032591935247182846, 1.1299002170562744, -1.5277409553527832, -1.176488995552063, -1.2886967658996582, -1.4120526313781738, 0.2004789412021637, 0.13158954679965973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390261173248291, -1.265433669090271, 1.6806522607803345, -1.4292505979537964, 0.7141222357749939, 0.15870313346385956, 1.011155128479004, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755968706604, 0.0057774456161262065, -0.0039276946570739315, 0.2671528160572052], [-0.005780493505301825, 0.9999830001209781, -0.0007650907679597302, 0.14114919304847717], [0.003923207616436639, 0.0007877761108067877, 0.9999919938933499, -0.008030084893107414], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8787099719047546, 1.7096261978149414, -0.45314034819602966, -0.013899502344429493, 0.0315374918282032, 1.1285879611968994, -1.5308949947357178, -1.1964187622070312, -1.2888054847717285, -1.4330527782440186, 0.19620884954929352, 0.1288939267396927, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902708292007446, -1.2654304504394531, 1.680677890777588, -1.4292489290237427, 0.714121401309967, 0.15870541334152222, 1.011147379875183, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757827429564, 0.0057530264623746104, -0.003916198939643224, 0.2670011520385742], [-0.005756065474174199, 0.9999831409610255, -0.0007651823173377223, 0.14115433394908905], [0.003911730802172483, 0.0007877056842273361, 0.9999920389092537, -0.008033275604248047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8796685934066772, 1.710201382637024, -0.4537155032157898, -0.012940916232764721, 0.03163335099816322, 1.1329110860824585, -1.5297526121139526, -1.2202608585357666, -1.3022255897521973, -1.4445055723190308, 0.2130998969078064, 0.1298532783985138, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902924060821533, -1.265427589416504, 1.6807098388671875, -1.4292489290237427, 0.7141218781471252, 0.15870805084705353, 1.0111448764801025, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755344382647, 0.005786944137499938, -0.003929605890704728, 0.26713666319847107], [-0.005789985113895637, 0.9999829468611499, -0.0007629280906859513, 0.14114609360694885], [0.003925123856348118, 0.000785661784832306, 0.9999919880370404, -0.00802974309772253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8800520300865173, 1.711351752281189, -0.45438650250434875, -0.01179061271250248, 0.03249607980251312, 1.141046404838562, -1.5210978984832764, -1.2443097829818726, -1.3234045505523682, -1.4293192625045776, 0.24022546410560608, 0.1319049745798111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390426516532898, -1.2654216289520264, 1.6808602809906006, -1.4292488098144531, 0.714121401309967, 0.15870864689350128, 1.011143684387207, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756868880443, 0.0057629153529719715, -0.003926122695301465, 0.2671416103839874], [-0.005765897669883512, 0.9999830967830773, -0.0007487136883938659, 0.14115194976329803], [0.003921741557588055, 0.0007713331065346527, 0.9999920124622967, -0.008033087477087975], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.880243718624115, 1.712214469909668, -0.4554409682750702, -0.010544450022280216, 0.03441325202584267, 1.158922791481018, -1.5026215314865112, -1.2836354970932007, -1.3666458129882812, -1.3766065835952759, 0.29441776871681213, 0.13155442476272583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904370069503784, -1.2654191255569458, 1.6808620691299438, -1.4292466640472412, 0.7141212821006775, 0.15871140360832214, 1.0111404657363892, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997569957201, 0.0057615771896126705, -0.003924855889998458, 0.2671448290348053], [-0.005764548137559604, 0.9999831065427596, -0.0007460655881339072, 0.1411532312631607], [0.003920491071138758, 0.0007686724791316874, 0.9999920194143456, -0.008033552207052708], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.880243718624115, 1.712693691253662, -0.45697468519210815, -0.009010711684823036, 0.036713857203722, 1.178355097770691, -1.4757719039916992, -1.3413516283035278, -1.410097360610962, -1.3078235387802124, 0.3902243375778198, 0.11570996791124344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390425443649292, -1.2654166221618652, 1.680856704711914, -1.4292405843734741, 0.7141215205192566, 0.15871691703796387, 1.0111356973648071, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997569957201, 0.0057615771896126705, -0.003924855889998458, 0.2671448290348053], [-0.005764548137559604, 0.9999831065427596, -0.0007460655881339072, 0.1411532312631607], [0.003920491071138758, 0.0007686724791316874, 0.9999920194143456, -0.008033552207052708], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8800520300865173, 1.7132688760757446, -0.4587959945201874, -0.007956267334520817, 0.039206184446811676, 1.1890534162521362, -1.4482054710388184, -1.39299476146698, -1.4339641332626343, -1.252197504043579, 0.4903087913990021, 0.08789422363042831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904149532318115, -1.265415906906128, 1.6808480024337769, -1.4292376041412354, 0.7141215205192566, 0.15871883928775787, 1.0111291408538818, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997569957201, 0.0057615771896126705, -0.003924855889998458, 0.2671448290348053], [-0.005764548137559604, 0.9999831065427596, -0.0007460655881339072, 0.1411532312631607], [0.003920491071138758, 0.0007686724791316874, 0.9999920194143456, -0.008033552207052708], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8796685934066772, 1.7143232822418213, -0.46090489625930786, -0.007668691221624613, 0.04256123676896095, 1.1855778694152832, -1.4262571334838867, -1.4272849559783936, -1.4350045919418335, -1.2076975107192993, 0.58573317527771, 0.05979492887854576, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904191255569458, -1.2654143571853638, 1.6808388233184814, -1.4292367696762085, 0.7141217589378357, 0.15871822834014893, 1.011125922203064, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997569957201, 0.0057615771896126705, -0.003924855889998458, 0.2671448290348053], [-0.005764548137559604, 0.9999831065427596, -0.0007460655881339072, 0.1411532312631607], [0.003920491071138758, 0.0007686724791316874, 0.9999920194143456, -0.008033552207052708], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8792851567268372, 1.7158570289611816, -0.4628220796585083, -0.008147983811795712, 0.04649144038558006, 1.1627599000930786, -1.4135934114456177, -1.4374920129776, -1.4062920808792114, -1.191114068031311, 0.6563192009925842, 0.029118310660123825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904088735580444, -1.2654106616973877, 1.6807845830917358, -1.429234266281128, 0.7141227126121521, 0.15871715545654297, 1.0111243724822998, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975447804471, 0.005805592933529154, -0.003924140534936943, 0.26716792583465576], [-0.005808635977304623, 0.9999828374845326, -0.0007645158375457872, 0.1411420851945877], [0.003919634719070289, 0.0007872909708946928, 0.9999920082863644, -0.008030370809137821], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8792851567268372, 1.7174866199493408, -0.46521854400634766, -0.0102568743750453, 0.05061336234211922, 1.132327675819397, -1.4130619764328003, -1.4280569553375244, -1.3732434511184692, -1.2563724517822266, 0.6660007834434509, 0.03287488594651222, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390405535697937, -1.265408992767334, 1.6807729005813599, -1.4292205572128296, 0.7141229510307312, 0.1587156057357788, 1.01111900806427, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999752942475635, 0.005830827754995155, -0.0039258555997804005, 0.2671063244342804], [-0.005833857852146267, 0.9999826934762025, -0.0007608223447484473, 0.14113424718379974], [0.003921351432822657, 0.000783706431577121, 0.9999920043716196, -0.008031494915485382], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.879381000995636, 1.719403862953186, -0.4671356976032257, -0.012940916232764721, 0.05473528429865837, 1.1258772611618042, -1.413041591644287, -1.4055051803588867, -1.369886875152588, -1.2556959390640259, 0.6625780463218689, 0.03180265799164772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390372633934021, -1.2654081583023071, 1.6807441711425781, -1.4292197227478027, 0.7141264081001282, 0.15871356427669525, 1.0111160278320312, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756357035451, 0.005769385915911414, -0.003929654621475312, 0.2670687437057495], [-0.005772274433378825, 0.9999830781118666, -0.0007241117194917293, 0.1411495804786682], [0.003925410444343421, 0.00074677712192268, 0.9999920167065203, -0.008034910075366497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8799561262130737, 1.7207458019256592, -0.4683818817138672, -0.014570512808859348, 0.057131748646497726, 1.127798318862915, -1.413119912147522, -1.404254674911499, -1.3713834285736084, -1.2492516040802002, 0.6596976518630981, 0.030148355290293694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3900384902954102, -1.2654106616973877, 1.680527687072754, -1.4292207956314087, 0.7141262888908386, 0.15871164202690125, 1.0111145973205566, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754025173176, 0.0058171213091818596, -0.00391860434374489, 0.2670513987541199], [-0.005820078359347566, 0.999982786697123, -0.0007436379140117077, 0.1411386877298355], [0.003914211059665554, 0.0007664262067308709, 0.9999920457396899, -0.008035826496779919], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8803395628929138, 1.721129298210144, -0.4689570367336273, -0.015529099851846695, 0.058377910405397415, 1.1297047138214111, -1.4133193492889404, -1.4063953161239624, -1.3714109659194946, -1.2492039203643799, 0.6596990823745728, 0.030171364545822144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3900458812713623, -1.265411615371704, 1.6805254220962524, -1.4292223453521729, 0.7141271233558655, 0.15870924293994904, 1.0111136436462402, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755413674875, 0.0057891159138291895, -0.003924640586949487, 0.2671089768409729], [-0.005792031447835923, 0.9999829581866518, -0.0007319207472032518, 0.14114588499069214], [0.00392033652991185, 0.0007546344871237323, 0.9999920307123867, -0.008035581558942795], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8803395628929138, 1.7213209867477417, -0.4692445993423462, -0.01572081632912159, 0.05885720252990723, 1.130571961402893, -1.4134535789489746, -1.4065521955490112, -1.3716673851013184, -1.2493094205856323, 0.6598308086395264, 0.030229369178414345, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3901128768920898, -1.2654122114181519, 1.6805315017700195, -1.4292250871658325, 0.7141287922859192, 0.15870817005634308, 1.0111138820648193, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756691263443, 0.005763096415201743, -0.003930378484208686, 0.267108678817749], [-0.005766017391884337, 0.9999831082815256, -0.0007322534091016861, 0.1411523073911667], [0.003926092046364819, 0.0007548982234331405, 0.9999920079330213, -0.00803366769105196], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8804354667663574, 1.7214168310165405, -0.4693404734134674, -0.01620011031627655, 0.05952821299433708, 1.1241995096206665, -1.412154197692871, -1.4001883268356323, -1.3794190883636475, -1.2536194324493408, 0.6988997459411621, 0.02562958374619484, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902190923690796, -1.2654129266738892, 1.680546522140503, -1.4292269945144653, 0.7141304016113281, 0.15870817005634308, 1.0111151933670044, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8803395628929138, 1.7213209867477417, -0.46943631768226624, -0.016775261610746384, 0.06087023392319679, 1.093841791152954, -1.4050688743591309, -1.3786187171936035, -1.3649680614471436, -1.2316447496414185, 0.7855509519577026, -0.009605595842003822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903968334197998, -1.2654106616973877, 1.6807568073272705, -1.4292277097702026, 0.7141329050064087, 0.15870900452136993, 1.0111160278320312, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8795726895332336, 1.720266580581665, -0.46943631768226624, -0.018021423369646072, 0.063937708735466, 1.0505303144454956, -1.4002660512924194, -1.3594008684158325, -1.3311452865600586, -1.2111432552337646, 0.8625308871269226, -0.04874235764145851, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390539288520813, -1.265410304069519, 1.6808533668518066, -1.4292256832122803, 0.7141350507736206, 0.15871188044548035, 1.0111157894134521, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8789017200469971, 1.7184451818466187, -0.4696280360221863, -0.01878829300403595, 0.06690932810306549, 1.004911184310913, -1.4012352228164673, -1.3426357507705688, -1.2863969802856445, -1.2321250438690186, 0.9119331240653992, -0.04282982274889946, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3904649019241333, -1.265410304069519, 1.6808505058288574, -1.4292248487472534, 0.7141351699829102, 0.1587129682302475, 1.0111150741577148, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8787099719047546, 1.7171032428741455, -0.4701073169708252, -0.019555162638425827, 0.06882650405168533, 0.9465723037719727, -1.4097033739089966, -1.3210946321487427, -1.2038346529006958, -1.2568496465682983, 0.9143387079238892, -0.02873002178966999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.39024019241333, -1.2654130458831787, 1.680836796760559, -1.4292274713516235, 0.7141364812850952, 0.15871655941009521, 1.0111154317855835, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8786141276359558, 1.7163363695144653, -0.4702031910419464, -0.019746879115700722, 0.07064781337976456, 0.8921251893043518, -1.4231829643249512, -1.3116559982299805, -1.1141597032546997, -1.2909786701202393, 0.9008310437202454, -0.039783790707588196, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390237808227539, -1.2654129266738892, 1.6808264255523682, -1.429232120513916, 0.7141371965408325, 0.15871703624725342, 1.0111171007156372, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.878518283367157, 1.7162405252456665, -0.4704907536506653, -0.0196510199457407, 0.07179812341928482, 0.8686268329620361, -1.4330648183822632, -1.3083183765411377, -1.076434850692749, -1.3311278820037842, 0.9183878302574158, -0.046427007764577866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902407884597778, -1.265411615371704, 1.680809497833252, -1.4292343854904175, 0.714138388633728, 0.15871860086917877, 1.0111173391342163, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756290921016, 0.005773613929229667, -0.003925124718011934, 0.2671132981777191], [-0.005776534364963846, 0.9999830469586778, -0.000733107065239007, 0.14115005731582642], [0.003920825498046915, 0.0007557628165746053, 0.9999920279432126, -0.008035320788621902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8786141276359558, 1.7155694961547852, -0.4705866277217865, -0.01878829300403595, 0.07189397513866425, 0.8727847933769226, -1.440213918685913, -1.2963080406188965, -1.0862188339233398, -1.3454242944717407, 0.9181344509124756, -0.030199768021702766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902121782302856, -1.2654149532318115, 1.680721402168274, -1.4292359352111816, 0.7141381502151489, 0.15872003138065338, 1.0111150741577148, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754996230498, 0.005793817622813042, -0.0039283369236417795, 0.26695045828819275], [-0.005796644626488102, 0.9999829482244886, -0.0007086404827875519, 0.14114347100257874], [0.0039241642048050114, 0.0007313942939480643, 0.9999920329671035, -0.008037782274186611], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8789017200469971, 1.7148984670639038, -0.4706824719905853, -0.01754213124513626, 0.07179812341928482, 0.8788787722587585, -1.4545491933822632, -1.2918959856033325, -1.0758689641952515, -1.4073377847671509, 0.9014449119567871, 0.03210465982556343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902231454849243, -1.2654169797897339, 1.6806530952453613, -1.4292372465133667, 0.7141389846801758, 0.15871775150299072, 1.0111130475997925, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753926602367, 0.005810592595078819, -0.003930787160280379, 0.26705697178840637], [-0.0058134215833142875, 0.9999828508198852, -0.0007086576252499011, 0.1411365419626236], [0.003926602029753651, 0.0007314915099879294, 0.9999920233265217, -0.008038477040827274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8788058757781982, 1.7142274379730225, -0.4706824719905853, -0.016391826793551445, 0.07160640507936478, 0.8853914141654968, -1.4652115106582642, -1.2856642007827759, -1.063094973564148, -1.4469311237335205, 0.8765177130699158, 0.09059163182973862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902616500854492, -1.2654160261154175, 1.6806617975234985, -1.429236888885498, 0.7141388654708862, 0.1587163209915161, 1.0111068487167358, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757254031943, 0.00576693693051955, -0.003910376298346576, 0.2671196460723877], [-0.0057697200683937385, 0.9999831094451211, -0.0007008243712285893, 0.14114920794963837], [0.003906268639972866, 0.0007233691356030876, 0.9999921088700681, -0.008043431676924229], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8786141276359558, 1.71365225315094, -0.4706824719905853, -0.015624958090484142, 0.0717022642493248, 0.8853970170021057, -1.4671956300735474, -1.2857190370559692, -1.056412935256958, -1.4552744626998901, 0.873065173625946, 0.09819730371236801, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902909755706787, -1.2654169797897339, 1.6806601285934448, -1.4292372465133667, 0.7141389846801758, 0.15871572494506836, 1.0111010074615479, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755752648478, 0.005783568598773598, -0.003924182462637058, 0.2671267092227936], [-0.005786289983593052, 0.9999830263821934, -0.0006824922968145095, 0.1411464512348175], [0.003920168614046973, 0.0007051820847982647, 0.9999920674666698, -0.008042493835091591], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8784224390983582, 1.7131730318069458, -0.4706824719905853, -0.015145665034651756, 0.07179812341928482, 0.8851099610328674, -1.4671400785446167, -1.2864205837249756, -1.056532621383667, -1.4517314434051514, 0.8741777539253235, 0.09394218027591705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3902919292449951, -1.2654166221618652, 1.6806612014770508, -1.429237723350525, 0.7141393423080444, 0.15871308743953705, 1.0110912322998047, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755235151343, 0.0057904115468504075, -0.003927277014829153, 0.2670811414718628], [-0.005793178716165412, 0.9999829788596571, -0.0006935930572586615, 0.14114493131637573], [0.003923193978848353, 0.0007163274981534865, 0.9999920476803401, -0.008040573447942734], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8782306909561157, 1.713077187538147, -0.4706824719905853, -0.015049805864691734, 0.07179812341928482, 0.884601354598999, -1.467018485069275, -1.2866168022155762, -1.0574793815612793, -1.4508696794509888, 0.8741189241409302, 0.09285173565149307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390297770500183, -1.2654167413711548, 1.6806640625, -1.4292380809783936, 0.7141399383544922, 0.158712238073349, 1.0110822916030884, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756580595145, 0.005772750772568079, -0.003919009691079382, 0.2671208679676056], [-0.005775493330656083, 0.9999830844362518, -0.0006888527764845483, 0.1411496102809906], [0.003914966823423486, 0.0007114702228048654, 0.9999920833911105, -0.008043203502893448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8780390024185181, 1.713077187538147, -0.4706824719905853, -0.014953947626054287, 0.07189397513866425, 0.8847125768661499, -1.4696552753448486, -1.2865642309188843, -1.0595968961715698, -1.4632145166397095, 0.8559625744819641, 0.09393343329429626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903058767318726, -1.2654155492782593, 1.6806738376617432, -1.4292367696762085, 0.7141404151916504, 0.1587127298116684, 1.0110737085342407, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975573074356, 0.00578363384436553, -0.003924644463828531, 0.267088919878006], [-0.005786419063073359, 0.9999830144486291, -0.0006986906749584531, 0.1411462426185608], [0.003920536830543946, 0.0007213832456345705, 0.9999920544670209, -0.008040468208491802], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8780390024185181, 1.713077187538147, -0.4706824719905853, -0.015241523273289204, 0.07266084849834442, 0.8784015774726868, -1.482851266860962, -1.2754876613616943, -1.040158748626709, -1.5265661478042603, 0.8236696720123291, 0.11558760702610016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903149366378784, -1.2654155492782593, 1.6806813478469849, -1.4292372465133667, 0.7141416668891907, 0.1587124764919281, 1.0110664367675781, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754239468274, 0.005814367397579436, -0.0039172227571039634, 0.2671017348766327], [-0.0058172176034370976, 0.9999828230783893, -0.0007166083512704631, 0.14113777875900269], [0.003912988847041272, 0.0007393780770447279, 0.9999920708877357, -0.008039937354624271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8780390024185181, 1.7132688760757446, -0.4706824719905853, -0.016295967623591423, 0.07371529191732407, 0.8697715401649475, -1.498039722442627, -1.244558572769165, -1.0081044435501099, -1.5351462364196777, 0.784625768661499, 0.11413919925689697, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903703689575195, -1.2654153108596802, 1.680699110031128, -1.4292364120483398, 0.7141421437263489, 0.15871523320674896, 1.0110646486282349, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754767874891, 0.0057988017363568055, -0.003926795392712964, 0.26709404587745667], [-0.005801616169453446, 0.9999829214630566, -0.0007057138462664308, 0.14114248752593994], [0.003922636034115679, 0.0007284782995403058, 0.9999920410912834, -0.008038818836212158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8782306909561157, 1.7140357494354248, -0.4706824719905853, -0.01744627207517624, 0.07438630610704422, 0.8647608757019043, -1.5099012851715088, -1.2334548234939575, -0.9861317873001099, -1.5283845663070679, 0.7533866167068481, 0.1066778153181076, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903640508651733, -1.265413522720337, 1.6807175874710083, -1.4292356967926025, 0.7141439318656921, 0.158716082572937, 1.0110639333724976, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756175590576, 0.005775516276507762, -0.003925264210367401, 0.26709944009780884], [-0.005778378701709897, 0.999983047061652, -0.000718281890073785, 0.1411503404378891], [0.003921049216858, 0.0007409460397197914, 0.9999920381543072, -0.008037363179028034], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8786141276359558, 1.7146109342575073, -0.4706824719905853, -0.01830899901688099, 0.07438630610704422, 0.8640945553779602, -1.513700246810913, -1.2362289428710938, -0.9866365194320679, -1.5353132486343384, 0.7386749982833862, 0.12593598663806915, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903257846832275, -1.2654147148132324, 1.680737853050232, -1.4292356967926025, 0.7141452431678772, 0.15871798992156982, 1.0110642910003662, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975702006962, 0.005760045015381535, -0.003926484063937141, 0.2670687735080719], [-0.005762885121404064, 0.999983140685318, -0.0007123904862258888, 0.14115308225154877], [0.003922314464837523, 0.0007350010531583076, 0.9999920375796453, -0.00803759042173624], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8790934085845947, 1.7148984670639038, -0.47077834606170654, -0.01888415217399597, 0.0742904469370842, 0.8640859127044678, -1.5137648582458496, -1.2382431030273438, -0.9881517291069031, -1.536039113998413, 0.739885687828064, 0.12718427181243896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390299916267395, -1.2654153108596802, 1.6807408332824707, -1.429235816001892, 0.714146077632904, 0.15871991217136383, 1.011064887046814, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755980027699, 0.005778496790789689, -0.0039258596309071385, 0.2670780420303345], [-0.005781351060692193, 0.9999830314576993, -0.0007160842010323992, 0.1411474347114563], [0.0039216551245343225, 0.0007387634998889828, 0.9999920373930862, -0.0080370819196105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8791893124580383, 1.7148984670639038, -0.47087419033050537, -0.01917172782123089, 0.0742904469370842, 0.8679971694946289, -1.5158751010894775, -1.2384840250015259, -0.9908766746520996, -1.536427617073059, 0.7260787487030029, 0.11753612756729126, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390299916267395, -1.2654155492782593, 1.6807459592819214, -1.4292354583740234, 0.714145839214325, 0.15872159600257874, 1.0110657215118408, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8789017200469971, 1.7148984670639038, -0.4713535010814667, -0.019363444298505783, 0.07390701025724411, 0.8775508403778076, -1.5224770307540894, -1.2321491241455078, -0.989556610584259, -1.5403845310211182, 0.6975470781326294, 0.1050867885351181, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390303134918213, -1.2654149532318115, 1.6807670593261719, -1.4292349815368652, 0.7141453623771667, 0.15872147679328918, 1.01106595993042, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8782306909561157, 1.7147067785263062, -0.4719286561012268, -0.019459303468465805, 0.07390701025724411, 0.8803765177726746, -1.532939076423645, -1.217674732208252, -0.968978762626648, -1.5444893836975098, 0.6690080761909485, 0.07351195812225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903169631958008, -1.2654143571853638, 1.6808313131332397, -1.4292347431182861, 0.7141459584236145, 0.1587217152118683, 1.0110658407211304, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8768886923789978, 1.7138440608978271, -0.47250378131866455, -0.019363444298505783, 0.07400286942720413, 0.8761279582977295, -1.5462658405303955, -1.2049825191497803, -0.9395006895065308, -1.5525614023208618, 0.6499797701835632, 0.041258689016103745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390328288078308, -1.2654154300689697, 1.6808353662490845, -1.4292328357696533, 0.714145839214325, 0.15871979296207428, 1.0110645294189453, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8755466341972351, 1.7125978469848633, -0.4730789363384247, -0.01917172782123089, 0.07438630610704422, 0.8620729446411133, -1.555633783340454, -1.199094533920288, -0.9082316756248474, -1.5464552640914917, 0.6251801252365112, 0.0020922059193253517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903264999389648, -1.2654143571853638, 1.680834412574768, -1.4292339086532593, 0.714144766330719, 0.15871775150299072, 1.0110639333724976, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8745880722999573, 1.711830973625183, -0.47374996542930603, -0.018500717356801033, 0.07448216527700424, 0.8491706848144531, -1.559571385383606, -1.2091753482818604, -0.8924881219863892, -1.5398989915847778, 0.6175476908683777, -0.02179666794836521, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3903168439865112, -1.2654151916503906, 1.6808300018310547, -1.4292347431182861, 0.7141451239585876, 0.15871679782867432, 1.0110644102096558, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8736295104026794, 1.7115434408187866, -0.47432512044906616, -0.0179255660623312, 0.07371529191732407, 0.8351848125457764, -1.5602935552597046, -1.2152976989746094, -0.869353175163269, -1.5239567756652832, 0.6283698081970215, -0.04285462945699692, 0.55079999932876, -0.55079999932876, 0.55079999932876, 0.55079999932876, -0.55079999932876, -0.55079999932876, 0.55079999932876, 0.55079999932876, -1.3902983665466309, -1.2654180526733398, 1.6808128356933594, -1.4292354583740234, 0.7141450047492981, 0.1587134450674057, 1.011064052581787, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8729584813117981, 1.7111599445343018, -0.4748044013977051, -0.01744627207517624, 0.07227741181850433, 0.8166407346725464, -1.559881567955017, -1.2151942253112793, -0.8339260220527649, -1.482765555381775, 0.6564195156097412, -0.08305774629116058, 0.436800000169775, -0.436800000169775, 0.436800000169775, 0.436800000169775, -0.436800000169775, -0.436800000169775, 0.436800000169775, 0.436800000169775, -1.3902658224105835, -1.2654192447662354, 1.6807968616485596, -1.4292353391647339, 0.7141450047492981, 0.1587143987417221, 1.0110623836517334, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8724792003631592, 1.7111599445343018, -0.475283682346344, -0.017350412905216217, 0.07074367254972458, 0.802137553691864, -1.5570608377456665, -1.2163794040679932, -0.8113019466400146, -1.4256318807601929, 0.6860427260398865, -0.12718090415000916, 0.2802000030056461, -0.2802000030056461, 0.2802000030056461, 0.2802000030056461, -0.2802000030056461, -0.2802000030056461, 0.2802000030056461, 0.2802000030056461, -1.3902628421783447, -1.2654190063476562, 1.6807860136032104, -1.4292346239089966, 0.7141457200050354, 0.15871475636959076, 1.0110596418380737, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8726708889007568, 1.711351752281189, -0.47547540068626404, -0.017254555597901344, 0.07007266581058502, 0.7939128279685974, -1.55295729637146, -1.2205755710601807, -0.8027433156967163, -1.3669060468673706, 0.716898500919342, -0.16768759489059448, 0.2262000026283683, -0.2262000026283683, 0.2262000026283683, 0.2262000026283683, -0.2262000026283683, -0.2262000026283683, 0.2262000026283683, 0.2262000026283683, -1.390263319015503, -1.2654184103012085, 1.6807773113250732, -1.4292347431182861, 0.7141450047492981, 0.1587163209915161, 1.011057734489441, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8736295104026794, 1.7121186256408691, -0.47547540068626404, -0.017350412905216217, 0.06949751079082489, 0.7866778373718262, -1.5485557317733765, -1.221678376197815, -0.7930599451065063, -1.3208056688308716, 0.7422995567321777, -0.20760811865329742, 0.2243999947558393, -0.2243999947558393, 0.2243999947558393, 0.2243999947558393, -0.2243999947558393, -0.2243999947558393, 0.2243999947558393, 0.2243999947558393, -1.390263319015503, -1.265417218208313, 1.6807690858840942, -1.4292347431182861, 0.7141451239585876, 0.15871798992156982, 1.0110578536987305, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8748756647109985, 1.7133647203445435, -0.47518783807754517, -0.0179255660623312, 0.069976806640625, 0.7748415470123291, -1.5485891103744507, -1.219954252243042, -0.7678805589675903, -1.2954723834991455, 0.7440147399902344, -0.23412644863128662, 0.2339999843429733, -0.2339999843429733, 0.2339999843429733, 0.2339999843429733, -0.2339999843429733, -0.2339999843429733, 0.2339999843429733, 0.2339999843429733, -1.390281319618225, -1.2654129266738892, 1.6807605028152466, -1.4292329549789429, 0.7141465544700623, 0.15871763229370117, 1.011057734489441, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8761218190193176, 1.7142274379730225, -0.47432512044906616, -0.018500717356801033, 0.07122296839952469, 0.7646125555038452, -1.5508092641830444, -1.217002272605896, -0.7448894381523132, -1.2743357419967651, 0.7316939830780029, -0.25483423471450806, 0.21539999469295965, -0.21539999469295965, 0.21539999469295965, 0.21539999469295965, -0.21539999469295965, -0.21539999469295965, 0.21539999469295965, 0.21539999469295965, -1.3902820348739624, -1.2654118537902832, 1.6807557344436646, -1.4292347431182861, 0.7141478657722473, 0.15871883928775787, 1.0110588073730469, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8773679733276367, 1.714802622795105, -0.4730789363384247, -0.01917172782123089, 0.07189397513866425, 0.7565333843231201, -1.5547373294830322, -1.2163043022155762, -0.7249252796173096, -1.256787896156311, 0.7143264412879944, -0.27359482645988464, 0.19499999717041686, -0.19499999717041686, 0.19499999717041686, 0.19499999717041686, -0.19499999717041686, -0.19499999717041686, 0.19499999717041686, 0.19499999717041686, -1.3902884721755981, -1.2654114961624146, 1.6807423830032349, -1.4292337894439697, 0.7141513228416443, 0.1587231457233429, 1.0110586881637573, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8783265352249146, 1.7150901556015015, -0.4722162187099457, -0.0196510199457407, 0.07246913015842438, 0.7478973865509033, -1.5599358081817627, -1.216878056526184, -0.705252468585968, -1.2387043237686157, 0.6976643800735474, -0.29849863052368164, 0.18780000498006633, -0.18780000498006633, 0.18780000498006633, 0.18780000498006633, -0.18780000498006633, -0.18780000498006633, 0.18780000498006633, 0.18780000498006633, -1.390285611152649, -1.265411138534546, 1.6806377172470093, -1.4292329549789429, 0.7141520380973816, 0.1587241142988205, 1.011059045791626, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8789017200469971, 1.7150901556015015, -0.4719286561012268, -0.019938597455620766, 0.07266084849834442, 0.736015796661377, -1.5651181936264038, -1.2172223329544067, -0.6851106882095337, -1.2211493253707886, 0.6914254426956177, -0.3245775103569031, 0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -1.3902919292449951, -1.2654123306274414, 1.6806395053863525, -1.4292337894439697, 0.7141536474227905, 0.1587238609790802, 1.0110599994659424, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8790934085845947, 1.7150901556015015, -0.4713535010814667, -0.019938597455620766, 0.07285256683826447, 0.7274654507637024, -1.5675454139709473, -1.2134109735488892, -0.6739803552627563, -1.1956082582473755, 0.686486005783081, -0.3437105715274811, 0.13800000987210118, -0.13800000987210118, 0.13800000987210118, 0.13800000987210118, -0.13800000987210118, -0.13800000987210118, 0.13800000987210118, 0.13800000987210118, -1.3902981281280518, -1.2654128074645996, 1.680641531944275, -1.4292336702346802, 0.7141556739807129, 0.1587221920490265, 1.0110591650009155, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8791893124580383, 1.7150901556015015, -0.4709700644016266, -0.019938597455620766, 0.07285256683826447, 0.717695951461792, -1.5718417167663574, -1.214536190032959, -0.6556532382965088, -1.1830716133117676, 0.6802021861076355, -0.35226166248321533, 0.11699998352553817, -0.11699998352553817, 0.11699998352553817, 0.11699998352553817, -0.11699998352553817, -0.11699998352553817, 0.11699998352553817, 0.11699998352553817, -1.3902989625930786, -1.2654131650924683, 1.6806491613388062, -1.429233193397522, 0.7141566276550293, 0.15872111916542053, 1.011059284210205, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8791893124580383, 1.7150901556015015, -0.47077834606170654, -0.019938597455620766, 0.07294842600822449, 0.7048877477645874, -1.577000617980957, -1.2153905630111694, -0.6274374723434448, -1.1707794666290283, 0.6781785488128662, -0.37044256925582886, 0.08820001476413605, -0.08820001476413605, 0.08820001476413605, 0.08820001476413605, -0.08820001476413605, -0.08820001476413605, 0.08820001476413605, 0.08820001476413605, -1.3903003931045532, -1.2654142379760742, 1.6806594133377075, -1.4292330741882324, 0.7141560316085815, 0.15871895849704742, 1.011059045791626, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8791893124580383, 1.7149943113327026, -0.4706824719905853, -0.019938597455620766, 0.07285256683826447, 0.6937954425811768, -1.5793274641036987, -1.2153218984603882, -0.6073813438415527, -1.1493620872497559, 0.6802120208740234, -0.39095237851142883, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.3903027772903442, -1.265415072441101, 1.6806707382202148, -1.429233193397522, 0.7141566276550293, 0.15871763229370117, 1.0110585689544678, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8788058757781982, 1.7146109342575073, -0.47039490938186646, -0.019938597455620766, 0.07285256683826447, 0.6870083808898926, -1.5795254707336426, -1.2217378616333008, -0.5975713133811951, -1.1313022375106812, 0.6834826469421387, -0.40566661953926086, 0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -1.3903141021728516, -1.265415072441101, 1.6806883811950684, -1.429231882095337, 0.7141562700271606, 0.15871596336364746, 1.0110576152801514, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8782306909561157, 1.71365225315094, -0.47001147270202637, -0.019938597455620766, 0.07285256683826447, 0.6841702461242676, -1.5795938968658447, -1.2294567823410034, -0.5921259522438049, -1.1180108785629272, 0.6899303793907166, -0.4193629026412964, 0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -1.3903130292892456, -1.2654163837432861, 1.6807047128677368, -1.4292320013046265, 0.7141563892364502, 0.15871620178222656, 1.011056900024414, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8777514100074768, 1.7129813432693481, -0.46943631768226624, -0.02013031393289566, 0.07294842600822449, 0.6828358769416809, -1.5808871984481812, -1.2311733961105347, -0.5898385047912598, -1.1110326051712036, 0.6920636892318726, -0.425913006067276, 0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -1.390313744544983, -1.2654160261154175, 1.6808801889419556, -1.4292328357696533, 0.7141561508178711, 0.15871572494506836, 1.0110564231872559, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8773679733276367, 1.7128853797912598, -0.46866944432258606, -0.020226173102855682, 0.07285256683826447, 0.6780881285667419, -1.5847910642623901, -1.2313798666000366, -0.5816141963005066, -1.106662631034851, 0.6904829740524292, -0.4267243444919586, 0.046799990895030265, -0.046799990895030265, 0.046799990895030265, 0.046799990895030265, -0.046799990895030265, -0.046799990895030265, 0.046799990895030265, 0.046799990895030265, -1.3903146982192993, -1.265416145324707, 1.6808809041976929, -1.4292337894439697, 0.7141561508178711, 0.15871679782867432, 1.0110570192337036, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8773679733276367, 1.7128853797912598, -0.46780672669410706, -0.02060960792005062, 0.07246913015842438, 0.6721557974815369, -1.5890883207321167, -1.2314445972442627, -0.5732016563415527, -1.1047143936157227, 0.6876622438430786, -0.42800819873809814, 0.05159998568859731, -0.05159998568859731, 0.05159998568859731, 0.05159998568859731, -0.05159998568859731, -0.05159998568859731, 0.05159998568859731, 0.05159998568859731, -1.3903030157089233, -1.2654163837432861, 1.6808741092681885, -1.429234504699707, 0.7141568660736084, 0.15871836245059967, 1.011056900024414, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8777514100074768, 1.7128853797912598, -0.4670398533344269, -0.021088900044560432, 0.07131882756948471, 0.665235161781311, -1.5953092575073242, -1.2314424514770508, -0.5626357793807983, -1.1046327352523804, 0.6825277209281921, -0.428387850522995, 0.05099999616434285, -0.05099999616434285, 0.05099999616434285, 0.05099999616434285, -0.05099999616434285, -0.05099999616434285, 0.05099999616434285, 0.05099999616434285, -1.3902989625930786, -1.2654160261154175, 1.6808542013168335, -1.4292341470718384, 0.7141567468643188, 0.15871979296207428, 1.0110582113265991, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8786141276359558, 1.7129813432693481, -0.4666564166545868, -0.02147233486175537, 0.07064781337976456, 0.6602361798286438, -1.5992623567581177, -1.2315267324447632, -0.550892174243927, -1.0994184017181396, 0.677112877368927, -0.4343608021736145, 0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -1.3902943134307861, -1.2654157876968384, 1.6808239221572876, -1.4292339086532593, 0.7141571044921875, 0.15872254967689514, 1.0110586881637573, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8797644376754761, 1.713077187538147, -0.4663688540458679, -0.021664051339030266, 0.07007266581058502, 0.6572204232215881, -1.6008597612380981, -1.2362205982208252, -0.5425630211830139, -1.0921732187271118, 0.6768335700035095, -0.43853622674942017, 0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -1.3902941942214966, -1.2654153108596802, 1.6808046102523804, -1.4292337894439697, 0.7141574621200562, 0.15872350335121155, 1.0110584497451782, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.881106436252594, 1.7135564088821411, -0.4661771357059479, -0.02195162884891033, 0.06949751079082489, 0.6577764749526978, -1.5996190309524536, -1.244315505027771, -0.5451210737228394, -1.0796984434127808, 0.6812541484832764, -0.4448588490486145, 0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -1.3902912139892578, -1.2654143571853638, 1.6807889938354492, -1.429235577583313, 0.7141580581665039, 0.158723384141922, 1.0110583305358887, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8825443387031555, 1.7147067785263062, -0.46560198068618774, -0.022047486156225204, 0.06949751079082489, 0.6759327054023743, -1.589009404182434, -1.2645623683929443, -0.5847675204277039, -1.0647881031036377, 0.6985992789268494, -0.4501440227031708, 0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -1.3902894258499146, -1.2654139995574951, 1.6807669401168823, -1.4292359352111816, 0.7141586542129517, 0.1587245911359787, 1.0110595226287842, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8841739296913147, 1.7153778076171875, -0.4649309515953064, -0.022047486156225204, 0.06949751079082489, 0.6992954015731812, -1.5776304006576538, -1.2870166301727295, -0.6224788427352905, -1.06819748878479, 0.7232832312583923, -0.4388769268989563, 0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -1.3902627229690552, -1.2654132843017578, 1.6805320978164673, -1.429234504699707, 0.7141598463058472, 0.1587221920490265, 1.0110585689544678, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.885324239730835, 1.7158570289611816, -0.4646433889865875, -0.022143345326185226, 0.06940165162086487, 0.7022554874420166, -1.574940800666809, -1.2876070737838745, -0.6185504198074341, -1.0709254741668701, 0.7252543568611145, -0.43553251028060913, 0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -1.3902952671051025, -1.2654130458831787, 1.6805179119110107, -1.429233193397522, 0.7141613960266113, 0.15872074663639069, 1.011057734489441, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8858035206794739, 1.7160487174987793, -0.4644516706466675, -0.02223920449614525, 0.06940165162086487, 0.7022468447685242, -1.5748987197875977, -1.2857080698013306, -0.6163467764854431, -1.0709072351455688, 0.7237418293952942, -0.43565306067466736, 0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -1.39030122756958, -1.265413761138916, 1.6805315017700195, -1.4292323589324951, 0.7141619920730591, 0.15871979296207428, 1.0110576152801514, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8858993649482727, 1.7162405252456665, -0.46435579657554626, -0.02233506180346012, 0.06940165162086487, 0.7071914076805115, -1.5706634521484375, -1.2820836305618286, -0.627799391746521, -1.0591673851013184, 0.739407479763031, -0.46416953206062317, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.3903007507324219, -1.2654156684875488, 1.680545449256897, -1.4292325973510742, 0.7141621112823486, 0.15871955454349518, 1.0110564231872559, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8858993649482727, 1.7162405252456665, -0.46435579657554626, -0.02223920449614525, 0.06892236322164536, 0.7575867176055908, -1.5384255647659302, -1.2729507684707642, -0.7389166355133057, -0.9452438950538635, 0.7669037580490112, -0.5520837306976318, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.3903017044067383, -1.2654163837432861, 1.6806726455688477, -1.4292306900024414, 0.7141633033752441, 0.15871739387512207, 1.0110512971878052, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8858993649482727, 1.7162405252456665, -0.46387651562690735, -0.02223920449614525, 0.06805963069200516, 0.8330862522125244, -1.4950860738754272, -1.3035633563995361, -0.8759590983390808, -0.8157805800437927, 0.812146008014679, -0.6082385778427124, 0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -1.3902946710586548, -1.2654200792312622, 1.6808364391326904, -1.4292285442352295, 0.7141629457473755, 0.15871883928775787, 1.011033058166504, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8858993649482727, 1.7159528732299805, -0.4631096422672272, -0.022143345326185226, 0.06671760976314545, 0.9072903990745544, -1.4467960596084595, -1.3294262886047363, -0.9976832270622253, -0.7000482082366943, 0.8609617948532104, -0.6872687935829163, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.3902812004089355, -1.265425682067871, 1.680843472480774, -1.4292303323745728, 0.714164674282074, 0.15872015058994293, 1.0110270977020264, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.884844958782196, 1.714802622795105, -0.46253448724746704, -0.02195162884891033, 0.0665258914232254, 0.9441142678260803, -1.4083224534988403, -1.3399360179901123, -1.0537983179092407, -0.589422881603241, 0.8809083700180054, -0.7725171446800232, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.3903369903564453, -1.2654229402542114, 1.6808899641036987, -1.4292293787002563, 0.7141644358634949, 0.15872038900852203, 1.0110204219818115, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755665035951, 0.005785020289923874, -0.003924275227253598, 0.267094224691391], [-0.005787886048421187, 0.9999829913458388, -0.0007193011321380446, 0.14114674925804138], [0.00392004730896944, 0.0007419968149344044, 0.9999920413032406, -0.008037436753511429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8833112120628357, 1.71365225315094, -0.46224692463874817, -0.021568194031715393, 0.06758034229278564, 0.9466342926025391, -1.3849934339523315, -1.3405660390853882, -1.0522764921188354, -0.5202682614326477, 0.8881807327270508, -0.8402148485183716, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.3904775381088257, -1.2654197216033936, 1.6808876991271973, -1.42922842502594, 0.7141641974449158, 0.1587219536304474, 1.0110199451446533, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754908442618, 0.005796849961493887, -0.00392609746459087, 0.2673393189907074], [-0.005799641617681204, 0.9999829369051919, -0.0007000396941118155, 0.14114241302013397], [0.0039219724481437505, 0.0007227924949806435, 0.999992047819944, -0.008040199987590313], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8810105919837952, 1.712214469909668, -0.4620552062988281, -0.02147233486175537, 0.07007266581058502, 0.9421043395996094, -1.3727420568466187, -1.348466157913208, -1.025767207145691, -0.48829832673072815, 0.8842621445655823, -0.8738919496536255, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.3904956579208374, -1.2654175758361816, 1.6808868646621704, -1.4292289018630981, 0.7141645550727844, 0.1587221920490265, 1.0110218524932861, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754393470713, 0.005800246425807678, -0.003934189119957498, 0.26723966002464294], [-0.00580306114414612, 0.9999829139957964, -0.0007044131123519922, 0.14114318788051605], [0.003930036130748445, 0.0007272261515217691, 0.9999920129471712, -0.008037027902901173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.878518283367157, 1.7112557888031006, -0.46215105056762695, -0.02099304087460041, 0.07198983430862427, 0.937192440032959, -1.3685121536254883, -1.3558635711669922, -0.9913915395736694, -0.5099433660507202, 0.8668424487113953, -0.8796662092208862, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.3903898000717163, -1.2654179334640503, 1.6808444261550903, -1.4292298555374146, 0.7141645550727844, 0.1587238609790802, 1.0110243558883667, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755445646008, 0.0057896359416019574, -0.003923058550902744, 0.26718518137931824], [-0.005792440080230272, 0.9999829760075309, -0.0007037990045194074, 0.141144797205925], [0.003918917024771289, 0.0007265058743956575, 0.999992057107739, -0.008039938285946846], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8762176632881165, 1.7103930711746216, -0.46301379799842834, -0.020801324397325516, 0.07285256683826447, 0.9285410642623901, -1.3694995641708374, -1.3516110181808472, -0.9533865451812744, -0.5485744476318359, 0.8576799631118774, -0.8595821857452393, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.3902373313903809, -1.2654184103012085, 1.6807843446731567, -1.4292289018630981, 0.7141651511192322, 0.15872494876384735, 1.0110278129577637, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755866691907, 0.005779323682293278, -0.003927528915616257, 0.2671893835067749], [-0.005782187184687361, 0.9999830251623508, -0.0007181215179745952, 0.14114804565906525], [0.0039233119897549565, 0.000740813693599781, 0.9999920293772858, -0.008036740124225616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8749715089797974, 1.7098180055618286, -0.4640682339668274, -0.02060960792005062, 0.07285256683826447, 0.9262348413467407, -1.3713173866271973, -1.3499723672866821, -0.9506947994232178, -0.5560764074325562, 0.8611307740211487, -0.8516563177108765, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.390204906463623, -1.265418529510498, 1.680669903755188, -1.4292292594909668, 0.7141649127006531, 0.15872637927532196, 1.0110323429107666, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997550105076, 0.005785180697104198, -0.003940683009747055, 0.2671559154987335], [-0.0057881330980354105, 0.9999829761296583, -0.0007382182000292612, 0.1411464959383011], [0.003936345198389379, 0.0007610093122166333, 0.9999919629933561, -0.008030170574784279], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8743963241577148, 1.7096261978149414, -0.4646433889865875, -0.02060960792005062, 0.07285256683826447, 0.9262373447418213, -1.3740031719207764, -1.348055124282837, -0.9534401297569275, -0.5542851686477661, 0.8605928421020508, -0.8524386286735535, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.3901931047439575, -1.2654181718826294, 1.6806176900863647, -1.4292289018630981, 0.7141653895378113, 0.1587245911359787, 1.0110398530960083, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755191821003, 0.0057881905615026685, -0.0039316518809168295, 0.26710546016693115], [-0.005791115453796041, 0.9999829627319944, -0.0007329580775861358, 0.14114563167095184], [0.003927342395283369, 0.000755708784139434, 0.9999920024109912, -0.00803369004279375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.7095303535461426, -0.46483510732650757, -0.02060960792005062, 0.07246913015842438, 0.9254981875419617, -1.3738640546798706, -1.3311907052993774, -0.9533169269561768, -0.5401167869567871, 0.8425880670547485, -0.8590322136878967, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.3901931047439575, -1.265418291091919, 1.6806179285049438, -1.4292315244674683, 0.7141661047935486, 0.1587219536304474, 1.011048436164856, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755148733469, 0.005792763369722913, -0.003926008956592042, 0.26714491844177246], [-0.0057956797746304654, 0.9999829370836505, -0.0007318726021281665, 0.14114388823509216], [0.003921702402628717, 0.0007546085728395481, 0.9999920253762862, -0.008035397157073021], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.7095303535461426, -0.46483510732650757, -0.020897183567285538, 0.07141468673944473, 0.9210014939308167, -1.373868703842163, -1.3224021196365356, -0.9508500695228577, -0.5417603254318237, 0.8354098796844482, -0.8660792112350464, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.390197992324829, -1.2654184103012085, 1.6806198358535767, -1.429230809211731, 0.7141684889793396, 0.1587219536304474, 1.0110524892807007, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754289085846, 0.005805419618088197, -0.003929208845339109, 0.2671321630477905], [-0.005808399479835998, 0.9999828517964064, -0.0007474012368280383, 0.14114129543304443], [0.003924802488663003, 0.0007702052869773588, 0.999992001322631, -0.00803232379257679], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8749715089797974, 1.7098180055618286, -0.46473923325538635, -0.02147233486175537, 0.07064781337976456, 0.911976158618927, -1.3740150928497314, -1.3196451663970947, -0.9455650448799133, -0.5509936809539795, 0.8315269947052002, -0.8583688139915466, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.390202522277832, -1.2654178142547607, 1.6806273460388184, -1.4292311668395996, 0.7141712307929993, 0.15871872007846832, 1.0110536813735962, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754955647462, 0.005796750801169255, -0.003925041425198903, 0.2671303451061249], [-0.005799821520775542, 0.9999828833513908, -0.0007714107633227642, 0.14114345610141754], [0.003920502565683731, 0.0007941564000654643, 0.999991999455618, -0.008029651828110218], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8761218190193176, 1.7104889154434204, -0.46425995230674744, -0.02185576967895031, 0.07007266581058502, 0.9038402438163757, -1.3740053176879883, -1.3134492635726929, -0.9393793940544128, -0.5449574589729309, 0.8252910375595093, -0.8608067631721497, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3902193307876587, -1.2654173374176025, 1.6806410551071167, -1.4292336702346802, 0.7141740918159485, 0.15871739387512207, 1.0110539197921753, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755400447081, 0.005788586435401649, -0.003925758445736962, 0.2671356499195099], [-0.0057916927160914355, 0.9999829235290421, -0.0007803497885523195, 0.141144797205925], [0.003921174285435992, 0.0008030674878266886, 0.9999919897053342, -0.008027825504541397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.876792848110199, 1.7108724117279053, -0.4632055163383484, -0.022047486156225204, 0.06988094747066498, 0.9011098146438599, -1.3739471435546875, -1.3122704029083252, -0.9382141828536987, -0.5413505434989929, 0.8247676491737366, -0.8791775703430176, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3902438879013062, -1.2654170989990234, 1.680657982826233, -1.429235577583313, 0.714177131652832, 0.15871715545654297, 1.0110548734664917, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756180164727, 0.005772391304440232, -0.003929741874700616, 0.26717233657836914], [-0.0057754645443736695, 0.9999830245261143, -0.00077114778184545, 0.14115044474601746], [0.003925223798719681, 0.0007938250645988098, 0.9999919811977978, -0.008028548210859299], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8773679733276367, 1.7111599445343018, -0.46253448724746704, -0.02223920449614525, 0.06949751079082489, 0.9070616364479065, -1.3735133409500122, -1.3145496845245361, -0.9464017748832703, -0.5467804074287415, 0.8198053240776062, -0.8834907412528992, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3902854919433594, -1.2654176950454712, 1.6806689500808716, -1.4292353391647339, 0.7141798734664917, 0.15871848165988922, 1.0110536813735962, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755217013794, 0.0057867649815680836, -0.0039331093427813135, 0.26709842681884766], [-0.0057898009912937375, 0.9999829494241027, -0.0007609635692040147, 0.14114613831043243], [0.003928638763667432, 0.0007837168624822302, 0.9999919757604778, -0.008029057644307613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8777514100074768, 1.7111599445343018, -0.46253448724746704, -0.02271849662065506, 0.06892236322164536, 0.9104201197624207, -1.3732117414474487, -1.3155090808868408, -0.9494892954826355, -0.5468119978904724, 0.8183392286300659, -0.8827831745147705, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3902909755706787, -1.2654181718826294, 1.680680751800537, -1.429235577583313, 0.714181661605835, 0.15872062742710114, 1.011053442955017, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755104489906, 0.005790480456973282, -0.003930501031431947, 0.26713159680366516], [-0.005793464330438247, 0.9999829378399926, -0.0007481978010649253, 0.14114448428153992], [0.0039261015438494225, 0.0007709506955630627, 0.9999919956488114, -0.008031191304326057], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8778472542762756, 1.711351752281189, -0.4624386429786682, -0.023006072267889977, 0.06863478571176529, 0.924985945224762, -1.3721615076065063, -1.3151843547821045, -0.9825854301452637, -0.5448064804077148, 0.7987868189811707, -0.8785120248794556, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3903586864471436, -1.2654184103012085, 1.6809558868408203, -1.4292370080947876, 0.7141834497451782, 0.15872111916542053, 1.0110535621643066, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753191040174, 0.0058208450116090165, -0.0039343291892568934, 0.26718392968177795], [-0.005823876109216303, 0.999982752736142, -0.0007594058943440503, 0.14113713800907135], [0.003929840948831383, 0.0007823001972972689, 0.9999919721460359, -0.008029606193304062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8787099719047546, 1.7120226621627808, -0.460617333650589, -0.022430920973420143, 0.06719690561294556, 0.9690569639205933, -1.3662049770355225, -1.3359543085098267, -1.0592575073242188, -0.5498600602149963, 0.7417135238647461, -0.9229142665863037, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3902376890182495, -1.2654215097427368, 1.6809468269348145, -1.4292545318603516, 0.7141874432563782, 0.15872135758399963, 1.0110546350479126, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755051761321, 0.005792393889631589, -0.003929022876841464, 0.2669556736946106], [-0.005795304154265024, 0.9999829408269436, -0.0007297293038399658, 0.14114293456077576], [0.003924728971399618, 0.0007524813118495587, 0.9999920151053089, -0.008034953847527504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8786141276359558, 1.711926817893982, -0.45735812187194824, -0.02060960792005062, 0.06240397319197655, 1.0039011240005493, -1.3520333766937256, -1.3673663139343262, -1.1196372509002686, -0.5477078557014465, 0.6977529525756836, -0.9770299792289734, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3900758028030396, -1.2654435634613037, 1.680841088294983, -1.429353952407837, 0.7141891121864319, 0.1587238609790802, 1.011059045791626, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755023826424, 0.005792753106663243, -0.003929204248591696, 0.2672072947025299], [-0.005795533652167744, 0.9999829630927924, -0.0006966447053095752, 0.1411442756652832], [0.003925101816322591, 0.000719399474623104, 0.9999920379883669, -0.008038668893277645], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8774638175964355, 1.7100096940994263, -0.4540989398956299, -0.02003445476293564, 0.05770689994096756, 1.050497055053711, -1.3340879678726196, -1.4088246822357178, -1.202535629272461, -0.5332506895065308, 0.6502265334129333, -1.0327863693237305, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.390294075012207, -1.26546049118042, 1.6808102130889893, -1.4293395280838013, 0.7141916155815125, 0.15872614085674286, 1.0110629796981812, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756684391315, 0.005763352643191594, -0.003930177606950043, 0.2672216296195984], [-0.005766202680467888, 0.9999831202541135, -0.0007142223007691402, 0.14115232229232788], [0.003925994951565786, 0.0007368671232776657, 0.9999920217634153, -0.008036551997065544], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8764094114303589, 1.7081884145736694, -0.45189419388771057, -0.020226173102855682, 0.054831139743328094, 1.086573600769043, -1.3178871870040894, -1.4435443878173828, -1.2506892681121826, -0.5111157894134521, 0.5754229426383972, -1.084574580192566, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3903937339782715, -1.2654521465301514, 1.6808115243911743, -1.429319977760315, 0.7141930460929871, 0.1587262600660324, 1.0110660791397095, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754586150872, 0.005801321209187201, -0.003927701589213407, 0.2669784128665924], [-0.0058042680503926705, 0.9999828818159597, -0.0007392884737516528, 0.1411415934562683], [0.003923345504192266, 0.0007620677634344047, 0.9999920132744955, -0.008033256977796555], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8749715089797974, 1.706750512123108, -0.45045632123947144, -0.021280618384480476, 0.05435184761881828, 1.0926562547683716, -1.309819221496582, -1.4527443647384644, -1.2432575225830078, -0.5078249573707581, 0.49657881259918213, -1.114282250404358, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3905863761901855, -1.2654380798339844, 1.680814266204834, -1.4292632341384888, 0.714194118976593, 0.15872722864151, 1.0110740661621094, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755042863434, 0.005793134156673938, -0.0039281578272694065, 0.26723045110702515], [-0.005796125609542911, 0.9999829206293044, -0.0007505848418330221, 0.14114393293857574], [0.003923742498121019, 0.0007733345519026243, 0.9999920030672642, -0.008031419478356838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.872575044631958, 1.7056959867477417, -0.45007288455963135, -0.023293649777770042, 0.05761104077100754, 1.0872139930725098, -1.307370662689209, -1.4415844678878784, -1.2265547513961792, -0.49549952149391174, 0.47021543979644775, -1.1442331075668335, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3907705545425415, -1.2653907537460327, 1.6808305978775024, -1.4292402267456055, 0.7141967415809631, 0.15872374176979065, 1.0110933780670166, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755196221294, 0.005791716270296843, -0.00392634424073632, 0.2672612965106964], [-0.005794792376689488, 0.9999829116433723, -0.0007725299700483642, 0.14114435017108917], [0.003921802871568869, 0.0007952634078972586, 0.9999919934771221, -0.008029220625758171], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8704661726951599, 1.7049291133880615, -0.4501687288284302, -0.02492324635386467, 0.061924681067466736, 1.0850733518600464, -1.3070005178451538, -1.4376057386398315, -1.2258135080337524, -0.4928949773311615, 0.4654880166053772, -1.1501235961914062, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.390512228012085, -1.2653816938400269, 1.680824875831604, -1.4292352199554443, 0.7141988277435303, 0.15872207283973694, 1.0111024379730225, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754829986506, 0.005800120393959261, -0.003923264588450823, 0.26710593700408936], [-0.0058032271411275664, 0.999982856182565, -0.0007809581986415788, 0.14114345610141754], [0.003918667677144198, 0.0008037066474298913, 0.9999919990176226, -0.008028787560760975], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8696992993354797, 1.7042582035064697, -0.4503604471683502, -0.025881832465529442, 0.063937708735466, 1.0841224193572998, -1.3067954778671265, -1.4387526512145996, -1.226443886756897, -0.49390909075737, 0.46814852952957153, -1.1478146314620972, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.389937162399292, -1.2653871774673462, 1.6808079481124878, -1.4292372465133667, 0.7141989469528198, 0.15872074663639069, 1.011106252670288, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754712629669, 0.00580089963094152, -0.003925103295308368, 0.26694926619529724], [-0.005804046860914756, 0.9999828436069383, -0.0007909056946217535, 0.14114199578762054], [0.003920447990141384, 0.0008136677781638529, 0.9999919839840234, -0.00802682340145111], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8693158626556396, 1.7038747072219849, -0.45083972811698914, -0.025977691635489464, 0.06470458209514618, 1.0850000381469727, -1.3065614700317383, -1.440581202507019, -1.2293282747268677, -0.5014427304267883, 0.46332499384880066, -1.1500883102416992, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3899496793746948, -1.2653943300247192, 1.6807746887207031, -1.4292417764663696, 0.7141996622085571, 0.15871895849704742, 1.0111082792282104, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755879360693, 0.005787163879223156, -0.003915643771770609, 0.2670436203479767], [-0.005790302924639625, 0.9999829233625678, -0.0007908067360327231, 0.14114618301391602], [0.003911000377563391, 0.0008134601943916565, 0.9999920211474483, -0.008029690012335777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8684531450271606, 1.7032036781311035, -0.4511273205280304, -0.02578597329556942, 0.06470458209514618, 1.1079999208450317, -1.3020124435424805, -1.4596540927886963, -1.2722901105880737, -0.5278024077415466, 0.40354493260383606, -1.1945960521697998, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3900258541107178, -1.26541006565094, 1.6790549755096436, -1.4307613372802734, 0.7114660143852234, 0.1556789129972458, 1.0124160051345825, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975595245199, 0.005776162675727977, -0.003929994752359963, 0.267078161239624], [-0.0057793892631862135, 0.9999829710092752, -0.000810155051501574, 0.1411486715078354], [0.003925248241145742, 0.0008328482493423586, 0.999991949362613, -0.008022853173315525], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8669193983078003, 1.7018617391586304, -0.45256519317626953, -0.024635670706629753, 0.06403356790542603, 1.1409313678741455, -1.292404055595398, -1.490267038345337, -1.32053804397583, -0.5350307822227478, 0.3593997061252594, -1.2452421188354492, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3899253606796265, -1.2650398015975952, 1.6700483560562134, -1.4464197158813477, 0.680706262588501, 0.1331005096435547, 1.037191390991211, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756887803527, 0.005766414062055707, -0.003920499601328886, 0.26693227887153625], [-0.005769651763863438, 0.9999830232772591, -0.0008150311628829498, 0.14115044474601746], [0.003915733236935487, 0.0008376312659213627, 0.999991982671401, -0.008024708367884159], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8650980591773987, 1.700903058052063, -0.45438650250434875, -0.023964660242199898, 0.06403356790542603, 1.1742030382156372, -1.2801344394683838, -1.5269429683685303, -1.35581636428833, -0.5314931869506836, 0.3073465824127197, -1.2814096212387085, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3885997533798218, -1.264580249786377, 1.6401182413101196, -1.469329595565796, 0.6296396851539612, 0.09020023047924042, 1.0823150873184204, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756424445405, 0.0057692396115955405, -0.003928153756220112, 0.26709339022636414], [-0.005772520660602516, 0.9999829990073891, -0.0008244400590795522, 0.14114952087402344], [0.0039233305814609, 0.0008470953264508941, 0.9999919449208861, -0.008021463640034199], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8631808757781982, 1.7005196809768677, -0.4567829668521881, -0.023868801072239876, 0.06345842033624649, 1.222409725189209, -1.267404556274414, -1.5730751752853394, -1.3990386724472046, -0.5349312424659729, 0.27227500081062317, -1.302095651626587, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3846534490585327, -1.2650172710418701, 1.5925886631011963, -1.4884384870529175, 0.5851184129714966, 0.05685855448246002, 1.124220371246338, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755988377186, 0.005771553777599248, -0.00393584757561202, 0.26703742146492004], [-0.005774887914933834, 0.9999829755055112, -0.0008362826760084294, 0.1411518007516861], [0.003930953919358803, 0.0008589913483385625, 0.9999919048348078, -0.008017638698220253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8614554405212402, 1.7005196809768677, -0.45994630455970764, -0.023677082732319832, 0.06211639940738678, 1.273543119430542, -1.2535969018936157, -1.6110657453536987, -1.4448646306991577, -0.5173197984695435, 0.24448321759700775, -1.3290324211120605, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3850538730621338, -1.2687100172042847, 1.5472733974456787, -1.5039308071136475, 0.54767906665802, 0.014442908577620983, 1.1488105058670044, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756118545596, 0.005777788925356259, -0.003923372431103131, 0.2669522166252136], [-0.005781087815287565, 0.9999829449076126, -0.0008300105845072637, 0.1411515772342682], [0.003918509891660754, 0.0008526717026446971, 0.9999919590832701, -0.008021697402000427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.859825849533081, 1.7005196809768677, -0.46387651562690735, -0.023868801072239876, 0.05991164967417717, 1.3138537406921387, -1.243058204650879, -1.6397045850753784, -1.47939932346344, -0.5026001930236816, 0.22492064535617828, -1.3558655977249146, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.386238932609558, -1.2715544700622559, 1.514286756515503, -1.509713053703308, 0.508756697177887, -0.022876087576150894, 1.1811772584915161, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754013092466, 0.0058084127530618965, -0.003931808451749983, 0.26705360412597656], [-0.0058117319804271645, 0.9999827645424988, -0.0008333002634540627, 0.1411420702934265], [0.003926900533355135, 0.0008561303822785265, 0.9999919232138677, -0.008019008673727512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8586755394935608, 1.7015740871429443, -0.46828600764274597, -0.025114962831139565, 0.058377910405397415, 1.3409404754638672, -1.2373874187469482, -1.6563931703567505, -1.5028045177459717, -0.4944533109664917, 0.1933007538318634, -1.3719491958618164, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.391247272491455, -1.272538423538208, 1.4971516132354736, -1.5303585529327393, 0.4772742688655853, -0.0445912629365921, 1.2050613164901733, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757155436918, 0.005760762271217638, -0.003921981761323667, 0.2670985758304596], [-0.005764097985624733, 0.9999830348566079, -0.0008397460212243532, 0.14115259051322937], [0.003917077647144231, 0.0008623323156188934, 0.9999919564104922, -0.00802080798894167], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8580045104026794, 1.703778862953186, -0.4730789363384247, -0.027223853394389153, 0.057898618280887604, 1.3588930368423462, -1.2351866960525513, -1.668009638786316, -1.5225963592529297, -0.5046550035476685, 0.17290084064006805, -1.3844302892684937, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4014791250228882, -1.2737935781478882, 1.4965046644210815, -1.5720466375350952, 0.4671172797679901, -0.04371078312397003, 1.2101110219955444, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755906504387, 0.005775691645242576, -0.0039318557101365925, 0.267074316740036], [-0.005779068463959134, 0.9999829414719902, -0.0008480169308838866, 0.14114844799041748], [0.0039268907541631, 0.0008707186946814748, 0.999991910656261, -0.008017503656446934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8581003546714783, 1.706367015838623, -0.4779677391052246, -0.029812036082148552, 0.058377910405397415, 1.3663625717163086, -1.2306421995162964, -1.680450439453125, -1.5449903011322021, -0.5190783739089966, 0.16963250935077667, -1.401879072189331, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.41192626953125, -1.2757642269134521, 1.4992796182632446, -1.6139569282531738, 0.47173744440078735, -0.02757486328482628, 1.2045397758483887, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753280172899, 0.005825840898988689, -0.003924657250390491, 0.2669937312602997], [-0.00582911793649164, 0.9999826709992968, -0.0008240662561602457, 0.1411363035440445], [0.003919788361103625, 0.000846923214784655, 0.999991958957807, -0.008022566325962543], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8591548204421997, 1.7095303535461426, -0.4826648235321045, -0.03182506933808327, 0.059240639209747314, 1.361756443977356, -1.2256041765213013, -1.6911364793777466, -1.5465518236160278, -0.520053505897522, 0.17326731979846954, -1.4189062118530273, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4143670797348022, -1.276631236076355, 1.501260757446289, -1.6404668092727661, 0.4895971715450287, 0.009660483337938786, 1.1969037055969238, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754892001409, 0.005795446565582742, -0.003928587283543117, 0.26704171299934387], [-0.005798778489698324, 0.9999828364318017, -0.0008372633014264139, 0.14114467799663544], [0.003923667540242612, 0.0008600237868679154, 0.999991932563518, -0.008019785396754742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.86030513048172, 1.7125020027160645, -0.48688259720802307, -0.03364638239145279, 0.059624072164297104, 1.3437132835388184, -1.2226459980010986, -1.6884633302688599, -1.518417477607727, -0.5311928391456604, 0.18353576958179474, -1.4444231986999512, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3967816829681396, -1.277279019355774, 1.5033456087112427, -1.6389907598495483, 0.4987910985946655, 0.04626869410276413, 1.1973347663879395, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754232816613, 0.005805645351061977, -0.003930307204283349, 0.2671065330505371], [-0.005808932137078265, 0.999982787388979, -0.0008253685205380865, 0.1411413848400116], [0.0039254477565200735, 0.0008481791235159834, 0.9999919356935261, -0.008020632900297642], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8608802556991577, 1.7148984670639038, -0.4903334975242615, -0.03537183627486229, 0.05943235754966736, 1.3225669860839844, -1.2212774753570557, -1.6658424139022827, -1.4870080947875977, -0.5394026637077332, 0.20725637674331665, -1.4520833492279053, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3756909370422363, -1.2776683568954468, 1.5028975009918213, -1.6218518018722534, 0.5048854351043701, 0.06487839668989182, 1.1997148990631104, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758388761085, 0.005733181856243925, -0.003930940069027388, 0.26708245277404785], [-0.005736570241628124, 0.9999831834299069, -0.0008512457060298994, 0.14115864038467407], [0.003925993617661169, 0.00087377525279854, 0.999991911512749, -0.008017351850867271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8612636923789978, 1.7159528732299805, -0.4925382435321808, -0.036522142589092255, 0.0587613470852375, 1.3198813199996948, -1.2212820053100586, -1.6630514860153198, -1.4875726699829102, -0.5394830703735352, 0.20918920636177063, -1.4509836435317993, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3740955591201782, -1.2780464887619019, 1.503552794456482, -1.6213749647140503, 0.5077810883522034, 0.06564515084028244, 1.1998175382614136, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975597977827, 0.005785881775249225, -0.0039149739424625095, 0.26688095927238464], [-0.005789286267603964, 0.9999828731369393, -0.0008588348523225822, 0.14114640653133392], [0.003909937774319909, 0.0008814787998985985, 0.9999919676586039, -0.008020460605621338], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8616471290588379, 1.7161446809768677, -0.4938802719116211, -0.03709729388356209, 0.058377910405397415, 1.32083261013031, -1.221306562423706, -1.6647944450378418, -1.4896937608718872, -0.5392149686813354, 0.2070721834897995, -1.4506813287734985, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3751784563064575, -1.2781040668487549, 1.5037815570831299, -1.621978998184204, 0.5077381730079651, 0.06488463282585144, 1.199815273284912, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755573221628, 0.005789064899941891, -0.003920648647105647, 0.2668348550796509], [-0.005792491718350616, 0.9999828507697732, -0.0008632531785383702, 0.14114558696746826], [0.00391558398232372, 0.0008859424031379573, 0.9999919416215991, -0.00801766011863947], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8619347214698792, 1.7164322137832642, -0.4944554269313812, -0.037289008498191833, 0.057994477450847626, 1.32277512550354, -1.2213482856750488, -1.6653345823287964, -1.4907445907592773, -0.5392284989356995, 0.20708128809928894, -1.4500335454940796, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3759702444076538, -1.2784265279769897, 1.5035998821258545, -1.623630166053772, 0.5057402849197388, 0.0658654198050499, 1.198799729347229, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756573840789, 0.005759832748102727, -0.003938142454658043, 0.26703113317489624], [-0.005763232218858221, 0.9999830291283276, -0.0008524140576930089, 0.14115427434444427], [0.003933165858543374, 0.0008750897371821354, 0.999991882179191, -0.008014701306819916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8616471290588379, 1.7166239023208618, -0.49464714527130127, -0.037289008498191833, 0.05770689994096756, 1.3284049034118652, -1.2214347124099731, -1.6660107374191284, -1.5113528966903687, -0.5603189468383789, 0.19905270636081696, -1.443202257156372, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3771090507507324, -1.2786072492599487, 1.4888763427734375, -1.6579644680023193, 0.48022839426994324, 0.11511638760566711, 1.177772045135498, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755887475568, 0.0057809364953951125, -0.003924625104818939, 0.2670570909976959], [-0.005784395797283255, 0.9999828912144636, -0.0008706570063487358, 0.14114582538604736], [0.003919524746386738, 0.0008933373374829895, 0.9999919196044356, -0.008016097359359264], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8608802556991577, 1.716528058052063, -0.49464714527130127, -0.03556355461478233, 0.05646073818206787, 1.3455989360809326, -1.2237688302993774, -1.672101378440857, -1.535106897354126, -0.6110904812812805, 0.16283924877643585, -1.4218378067016602, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3924524784088135, -1.2834192514419556, 1.4810025691986084, -1.6902989149093628, 0.5185735821723938, 0.18670786917209625, 1.1408631801605225, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754385354761, 0.0058042347169882024, -0.003928509276085191, 0.2668735980987549], [-0.005807763730497673, 0.9999827409654604, -0.000887497411632121, 0.14113937318325043], [0.003923290230520074, 0.0009102914670845014, 0.9999918895487163, -0.00801183097064495], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.858963131904602, 1.7155694961547852, -0.49416783452033997, -0.033071231096982956, 0.055789727717638016, 1.361871361732483, -1.2247742414474487, -1.672294020652771, -1.545706033706665, -0.6247243285179138, 0.14166708290576935, -1.4076865911483765, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4106849431991577, -1.285217523574829, 1.4813650846481323, -1.7018380165100098, 0.5556713342666626, 0.22089874744415283, 1.124173879623413, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755056154752, 0.005789376360752671, -0.003933356127823361, 0.26704472303390503], [-0.00579286813124137, 0.9999828366969016, -0.0008769209952852609, 0.14114612340927124], [0.003928211792759593, 0.0008996849290068954, 0.9999918798266013, -0.00801206473261118], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8569501042366028, 1.7141315937042236, -0.4934009909629822, -0.030483046546578407, 0.05636487901210785, 1.377216100692749, -1.2280999422073364, -1.6703495979309082, -1.546826958656311, -0.6547795534133911, 0.12966391444206238, -1.4051603078842163, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4200329780578613, -1.2857613563537598, 1.4819804430007935, -1.7145094871520996, 0.5903229117393494, 0.24381594359874725, 1.139333724975586, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755976237938, 0.00577648876298501, -0.003928910091559278, 0.2670126259326935], [-0.005780000664118901, 0.9999829057217924, -0.0008830948554015483, 0.14114592969417572], [0.003923741742168244, 0.0009057824087271371, 0.9999918918716135, -0.008011925965547562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8551287651062012, 1.7123103141784668, -0.4931133985519409, -0.027415569871664047, 0.057898618280887604, 1.3970586061477661, -1.2318507432937622, -1.667999505996704, -1.5543816089630127, -0.7072139382362366, 0.14380110800266266, -1.415991187095642, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4310412406921387, -1.2871819734573364, 1.4743138551712036, -1.7457271814346313, 0.5854781866073608, 0.24213610589504242, 1.1376910209655762, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756270996712, 0.005782008383824001, -0.003913257679820941, 0.26689180731773376], [-0.005785514512964126, 0.9999828719434337, -0.0008852353260759914, 0.14114677906036377], [0.003908072215245013, 0.0009078539594231938, 0.999991951353984, -0.008016691543161869], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.853499174118042, 1.7117351293563843, -0.493496835231781, -0.024348093196749687, 0.05856962874531746, 1.4144933223724365, -1.2319589853286743, -1.6661630868911743, -1.562829852104187, -0.7265381217002869, 0.16302068531513214, -1.4342738389968872, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.430251955986023, -1.2916065454483032, 1.449749231338501, -1.742423176765442, 0.605488121509552, 0.2339954674243927, 1.1293799877166748, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757725864262, 0.005741506559706197, -0.003935650213716905, 0.26698827743530273], [-0.005745019881815169, 0.9999831082965204, -0.0008819683595210976, 0.14115700125694275], [0.003930519906758852, 0.0009045573804345663, 0.999991866361526, -0.008010612800717354], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8520612716674805, 1.711830973625183, -0.4944554269313812, -0.02137647569179535, 0.05828205123543739, 1.4197566509246826, -1.2323625087738037, -1.6682296991348267, -1.5530914068222046, -0.7696477770805359, 0.20463304221630096, -1.4488469362258911, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.422480583190918, -1.2968742847442627, 1.4317364692687988, -1.7250843048095703, 0.6156342029571533, 0.23309150338172913, 1.1276806592941284, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755363013536, 0.005779582203035948, -0.00393995283962577, 0.2671547532081604], [-0.005783181048409971, 0.9999828698792316, -0.0009026433720216938, 0.14114658534526825], [0.003934668446189181, 0.0009254067506200084, 0.9999918309699157, -0.008006381802260876], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8512943983078003, 1.712214469909668, -0.49627673625946045, -0.018980009481310844, 0.05646073818206787, 1.421008586883545, -1.2335716485977173, -1.6721240282058716, -1.5363759994506836, -0.795886754989624, 0.24456603825092316, -1.4556241035461426, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4155124425888062, -1.2978297472000122, 1.425907850265503, -1.7131297588348389, 0.6205555200576782, 0.22160330414772034, 1.132462739944458, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753788219302, 0.005823541978019099, -0.003915112867760032, 0.2669271230697632], [-0.005827136396464438, 0.9999826104849522, -0.0009073087222068942, 0.14113911986351013], [0.00390976103541511, 0.0009301002798852713, 0.9999919243084493, -0.008013073354959488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8509109616279602, 1.7129813432693481, -0.49800220131874084, -0.017158696427941322, 0.054926998913288116, 1.4203526973724365, -1.2335693836212158, -1.672111988067627, -1.5329298973083496, -0.7939068675041199, 0.24649225175380707, -1.4569579362869263, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.415174126625061, -1.29789400100708, 1.428213119506836, -1.7123591899871826, 0.6251962780952454, 0.220510333776474, 1.1394706964492798, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755632165946, 0.00578872382902503, -0.0039196487196766746, 0.26696011424064636], [-0.0057922775901422755, 0.9999828232863609, -0.0008959087885270733, 0.14114488661289215], [0.003914395224440272, 0.0009185905888382702, 0.9999919168180096, -0.008012998849153519], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8508151173591614, 1.7132688760757446, -0.4991524815559387, -0.016391826793551445, 0.05416012927889824, 1.4200773239135742, -1.2335460186004639, -1.6716668605804443, -1.5337979793548584, -0.7920490503311157, 0.24441395699977875, -1.4569073915481567, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4157418012619019, -1.2979053258895874, 1.428842544555664, -1.712578535079956, 0.6251940131187439, 0.22067667543888092, 1.1395416259765625, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755416920235, 0.005791876316222803, -0.0039204829398594284, 0.266968309879303], [-0.005795375119337044, 0.9999828179945803, -0.0008816704849918556, 0.14114443957805634], [0.003915309051699572, 0.0009043695901090465, 0.999991926202744, -0.008015837520360947], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8507192730903625, 1.7138440608978271, -0.49944007396698, -0.01610425114631653, 0.053584977984428406, 1.4200729131698608, -1.2335240840911865, -1.6714611053466797, -1.5341042280197144, -0.7917821407318115, 0.24426066875457764, -1.4568170309066772, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161872863769531, -1.29792320728302, 1.428841233253479, -1.712764859199524, 0.6251232028007507, 0.22075122594833374, 1.1394621133804321, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755666479091, 0.0057804650327441046, -0.003930945331380856, 0.26698800921440125], [-0.00578397115149072, 0.9999828844841873, -0.000881144938854515, 0.1411479264497757], [0.00392578462371605, 0.0009038598839247749, 0.9999918855932775, -0.008012854494154453], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8506234288215637, 1.713939905166626, -0.4996317923069, -0.01581667549908161, 0.053489118814468384, 1.42646324634552, -1.234858751296997, -1.6692276000976562, -1.5367639064788818, -0.8126427531242371, 0.23636499047279358, -1.4491677284240723, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161888360977173, -1.2980138063430786, 1.428832769393921, -1.7128604650497437, 0.6249988079071045, 0.22076284885406494, 1.1393096446990967, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756428580028, 0.005769056155421044, -0.003928317935147832, 0.2669477164745331], [-0.005772559482715, 0.9999829504998121, -0.0008810599916025378, 0.14115087687969208], [0.003923168074722609, 0.0009037149804468713, 0.9999918959929084, -0.008013471029698849], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8506234288215637, 1.713939905166626, -0.4996317923069, -0.01581667549908161, 0.052242957055568695, 1.4482126235961914, -1.2407009601593018, -1.661203384399414, -1.5455322265625, -0.8497756123542786, 0.19696325063705444, -1.4407697916030884, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161738157272339, -1.2981337308883667, 1.4287879467010498, -1.7129364013671875, 0.6248778700828552, 0.22077159583568573, 1.1392199993133545, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755173353971, 0.005797754422551395, -0.003918006311967376, 0.2668895125389099], [-0.005801163591226058, 0.9999828038831716, -0.0008593246989576707, 0.14114096760749817], [0.003912956783899311, 0.0008820326559664601, 0.9999919553614425, -0.00801917351782322], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8511985540390015, 1.7148984670639038, -0.4996317923069, -0.01620011031627655, 0.05042164400219917, 1.4552953243255615, -1.2496161460876465, -1.643120288848877, -1.5274436473846436, -0.8828875422477722, 0.16660457849502563, -1.4377821683883667, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416144847869873, -1.2982436418533325, 1.4286442995071411, -1.7130423784255981, 0.624856173992157, 0.2207755446434021, 1.139209508895874, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757203253418, 0.00576268406157873, -0.003917937240478867, 0.2670416831970215], [-0.005766124867833224, 0.9999829994871984, -0.0008674909765549822, 0.14115209877490997], [0.003912871557112497, 0.0008900612295092376, 0.99999194858118, -0.008017724379897118], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.852636456489563, 1.7161446809768677, -0.49924835562705994, -0.016871120780706406, 0.04850447177886963, 1.4587408304214478, -1.2569775581359863, -1.6297640800476074, -1.514650821685791, -0.8987236022949219, 0.1490422934293747, -1.4351062774658203, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161403179168701, -1.298249363899231, 1.4286129474639893, -1.713056206703186, 0.6248493194580078, 0.22078274190425873, 1.1392103433609009, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754282199067, 0.005806671168623041, -0.00392753438606976, 0.26701071858406067], [-0.005810233350190873, 0.9999827188797443, -0.0008961753681635211, 0.14114193618297577], [0.003922262718203381, 0.0009189732388134135, 0.9999918856387564, -0.008011940866708755], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8544577360153198, 1.717390775680542, -0.49838563799858093, -0.017637988552451134, 0.04773760214447975, 1.457394003868103, -1.259824275970459, -1.615277886390686, -1.4920940399169922, -0.900835394859314, 0.13470077514648438, -1.4345524311065674, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161278009414673, -1.2982511520385742, 1.4286068677902222, -1.7130577564239502, 0.6248461008071899, 0.22079353034496307, 1.1392110586166382, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754003420103, 0.005811526790078256, -0.003927450471290099, 0.2669314742088318], [-0.005815113518936466, 0.9999826848743688, -0.0009024445748866253, 0.14114010334014893], [0.003922137886168263, 0.0009252609453892809, 0.9999918803303279, -0.008010516874492168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.856087327003479, 1.7186369895935059, -0.4969477355480194, -0.018213141709566116, 0.04764174297451973, 1.452916145324707, -1.2642035484313965, -1.6031111478805542, -1.4716622829437256, -0.9216601252555847, 0.1417687088251114, -1.4282509088516235, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161262512207031, -1.2982571125030518, 1.428605079650879, -1.7130619287490845, 0.6248444318771362, 0.22079867124557495, 1.139216661453247, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754371756212, 0.005803994021684405, -0.003929210966788881, 0.26712438464164734], [-0.005807572221897805, 0.9999827310203679, -0.0008998699538599296, 0.14114241302013397], [0.00392392027349223, 0.0009226670269769885, 0.9999918757346205, -0.008010344579815865], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8572376370429993, 1.7193080186843872, -0.4955098628997803, -0.018692433834075928, 0.047833461314439774, 1.449208378791809, -1.2684377431869507, -1.589997410774231, -1.4636071920394897, -0.9334399104118347, 0.14067167043685913, -1.4229412078857422, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161262512207031, -1.2982813119888306, 1.4286038875579834, -1.7130610942840576, 0.624842643737793, 0.22080180048942566, 1.1392213106155396, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755387263108, 0.005788843584644872, -0.003925715091161501, 0.26701197028160095], [-0.005792408209731197, 0.9999828213198646, -0.000897258210105874, 0.14114439487457275], [0.003920453565124307, 0.0009199756063503362, 0.9999918918114924, -0.008011547848582268], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8581003546714783, 1.7195955514907837, -0.4942637085914612, -0.019363444298505783, 0.047929320484399796, 1.4484505653381348, -1.271834373474121, -1.5782009363174438, -1.4566049575805664, -0.9338846206665039, 0.13506785035133362, -1.421425700187683, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161229133605957, -1.298327088356018, 1.428601622581482, -1.713059902191162, 0.6248410940170288, 0.22080539166927338, 1.1392267942428589, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753307636078, 0.00581933858939135, -0.00393359410655553, 0.2670018672943115], [-0.005822819063472774, 0.9999826653576024, -0.0008739350430659959, 0.1411374807357788], [0.003928440195187621, 0.0008968180905074429, 0.9999918815045177, -0.008013110607862473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8587713837623596, 1.7195955514907837, -0.49244239926338196, -0.019746879115700722, 0.047929320484399796, 1.4495848417282104, -1.2749593257904053, -1.569350004196167, -1.460158109664917, -0.9336511492729187, 0.13426946103572845, -1.4151960611343384, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161207675933838, -1.2983934879302979, 1.4285997152328491, -1.7130603790283203, 0.6248407363891602, 0.22080551087856293, 1.1392308473587036, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756825498284, 0.00576323195011743, -0.003926762851751646, 0.2670518457889557], [-0.005766601997511928, 0.9999830139254675, -0.0008474443583299376, 0.141152486205101], [0.003921812133063301, 0.0008700678291486474, 0.9999919311532297, -0.00801866129040718], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.7194997072219849, -0.4908128082752228, -0.02003445476293564, 0.047450024634599686, 1.4506866931915283, -1.2762662172317505, -1.567476749420166, -1.4610660076141357, -0.9359321594238281, 0.13721482455730438, -1.4109070301055908, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161208868026733, -1.2984198331832886, 1.4285938739776611, -1.7130601406097412, 0.624840497970581, 0.22080515325069427, 1.1392351388931274, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754774916862, 0.005801644751078451, -0.003922414238230466, 0.2670511305332184], [-0.00580500024027781, 0.9999827941447219, -0.0008446222381049027, 0.14114205539226532], [0.003917446551564396, 0.0008673711414444439, 0.999991950607513, -0.008020251989364624], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.7186369895935059, -0.48899146914482117, -0.02013031393289566, 0.046970732510089874, 1.4564480781555176, -1.2763745784759521, -1.5706567764282227, -1.4634549617767334, -0.9365096688270569, 0.14509959518909454, -1.4102985858917236, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161200523376465, -1.2984262704849243, 1.4285866022109985, -1.7130597829818726, 0.624839723110199, 0.22080275416374207, 1.1392377614974976, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755598297471, 0.0057817866379503, -0.003930736121545982, 0.2669634222984314], [-0.005785101907819625, 0.9999829195607123, -0.0008325759725951799, 0.14114686846733093], [0.003925855206212874, 0.0008552953333325523, 0.999991928032818, -0.008019783534109592], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.717390775680542, -0.4878411889076233, -0.02013031393289566, 0.04639558121562004, 1.4580461978912354, -1.276380181312561, -1.5726069211959839, -1.4655382633209229, -0.9357095956802368, 0.1468186229467392, -1.410217046737671, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161187410354614, -1.298429250717163, 1.4285873174667358, -1.7130582332611084, 0.6248407363891602, 0.2207983136177063, 1.1392384767532349, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754851184882, 0.0058055089326215625, -0.0039147449568921215, 0.26699119806289673], [-0.005808803702187348, 0.9999827836485004, -0.0008307864623449132, 0.14114119112491608], [0.003909854421038667, 0.0008535060807119414, 0.9999919922508262, -0.008023889735341072], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.7168155908584595, -0.4874577522277832, -0.02013031393289566, 0.04629972204566002, 1.4580516815185547, -1.2763786315917969, -1.572603464126587, -1.4655404090881348, -0.9355945587158203, 0.1466810405254364, -1.410209059715271, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161200523376465, -1.2984308004379272, 1.4285879135131836, -1.7130581140518188, 0.6248418092727661, 0.22079388797283173, 1.1392385959625244, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.716528058052063, -0.48717015981674194, -0.02013031393289566, 0.046108003705739975, 1.4576901197433472, -1.276382327079773, -1.5713502168655396, -1.46456778049469, -0.934302031993866, 0.14664843678474426, -1.410233736038208, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161208868026733, -1.2984304428100586, 1.4285904169082642, -1.7130577564239502, 0.6248416900634766, 0.22078897058963776, 1.1392375230789185, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.7163363695144653, -0.4870743155479431, -0.02013031393289566, 0.04629972204566002, 1.4492932558059692, -1.2766563892364502, -1.5621044635772705, -1.4467123746871948, -0.9265866875648499, 0.14495687186717987, -1.4148305654525757, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161218404769897, -1.2984329462051392, 1.4286028146743774, -1.7130577564239502, 0.6248435974121094, 0.22078537940979004, 1.1392362117767334, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8590589761734009, 1.7163363695144653, -0.48688259720802307, -0.020226173102855682, 0.047929320484399796, 1.4383176565170288, -1.279121994972229, -1.5526368618011475, -1.4262123107910156, -0.9372735023498535, 0.1451822966337204, -1.4233245849609375, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416131854057312, -1.2984298467636108, 1.428692102432251, -1.7130558490753174, 0.6248451471328735, 0.22078369557857513, 1.1392351388931274, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8591548204421997, 1.7163363695144653, -0.486690878868103, -0.020322030410170555, 0.05042164400219917, 1.436846375465393, -1.2817083597183228, -1.5519267320632935, -1.4255259037017822, -0.9472106099128723, 0.1497041881084442, -1.422655463218689, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161263704299927, -1.2984317541122437, 1.4287186861038208, -1.7130534648895264, 0.6248456239700317, 0.22078537940979004, 1.1392302513122559, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8595382571220398, 1.7162405252456665, -0.486690878868103, -0.020417889580130577, 0.05147608742117882, 1.4371103048324585, -1.2817617654800415, -1.5519291162490845, -1.4260237216949463, -0.9478100538253784, 0.15086473524570465, -1.4225414991378784, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161231517791748, -1.2984353303909302, 1.4287235736846924, -1.7130502462387085, 0.624847412109375, 0.22078873217105865, 1.1392245292663574, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8597300052642822, 1.7163363695144653, -0.4865950047969818, -0.020417889580130577, 0.05157194659113884, 1.4376134872436523, -1.2817673683166504, -1.550286889076233, -1.4253654479980469, -0.9479734301567078, 0.15273307263851166, -1.4257491827011108, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161202907562256, -1.2984510660171509, 1.428726077079773, -1.7130482196807861, 0.6248476505279541, 0.22079184651374817, 1.1392130851745605, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8602092862129211, 1.7163363695144653, -0.486499160528183, -0.020417889580130577, 0.05128437280654907, 1.4376072883605957, -1.2819238901138306, -1.5477674007415771, -1.4241691827774048, -0.9457020163536072, 0.15364615619182587, -1.429739236831665, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416115641593933, -1.298462986946106, 1.4287285804748535, -1.7130464315414429, 0.6248475313186646, 0.22079388797283173, 1.139198660850525, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8607844114303589, 1.7167197465896606, -0.48640328645706177, -0.0205137487500906, 0.050996795296669006, 1.4364138841629028, -1.2825192213058472, -1.5469744205474854, -1.4218223094940186, -0.9446709156036377, 0.15035025775432587, -1.4319514036178589, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161063432693481, -1.2984683513641357, 1.428731918334961, -1.7130448818206787, 0.6248476505279541, 0.22079555690288544, 1.1391799449920654, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8609761595726013, 1.7171032428741455, -0.4861157238483429, -0.020417889580130577, 0.050517503172159195, 1.4338704347610474, -1.2831121683120728, -1.5448939800262451, -1.4197521209716797, -0.9453725814819336, 0.14672142267227173, -1.4286513328552246, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161080121994019, -1.2984728813171387, 1.4287338256835938, -1.713044285774231, 0.624847412109375, 0.2207978367805481, 1.1391677856445312, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8609761595726013, 1.7175824642181396, -0.4860198497772217, -0.0205137487500906, 0.05013406649231911, 1.432204008102417, -1.283618688583374, -1.544816493988037, -1.4195774793624878, -0.9457104206085205, 0.14663346111774445, -1.4284268617630005, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161078929901123, -1.2984769344329834, 1.428734302520752, -1.7130447626113892, 0.6248466968536377, 0.2207987904548645, 1.139160394668579, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8609761595726013, 1.7174866199493408, -0.48592400550842285, -0.0205137487500906, 0.04994235187768936, 1.4292430877685547, -1.2838326692581177, -1.5445177555084229, -1.4168435335159302, -0.9450234770774841, 0.1473139226436615, -1.4320613145828247, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416107416152954, -1.2984806299209595, 1.4287333488464355, -1.7130436897277832, 0.6248472929000854, 0.2207968831062317, 1.1391544342041016, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8609761595726013, 1.7174866199493408, -0.48582813143730164, -0.0205137487500906, 0.04994235187768936, 1.4285959005355835, -1.283833384513855, -1.5443295240402222, -1.4143534898757935, -0.9395904541015625, 0.1461859792470932, -1.4362609386444092, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416108250617981, -1.2984838485717773, 1.4287328720092773, -1.7130441665649414, 0.6248459815979004, 0.22079364955425262, 1.1391502618789673, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8610720038414001, 1.7174866199493408, -0.4851571321487427, -0.0205137487500906, 0.04975063353776932, 1.427173376083374, -1.2838460206985474, -1.543676733970642, -1.4120211601257324, -0.9344870448112488, 0.1426905393600464, -1.4398226737976074, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161072969436646, -1.2984925508499146, 1.4287315607070923, -1.713043212890625, 0.6248462200164795, 0.22079089283943176, 1.1391494274139404, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8615512847900391, 1.7174866199493408, -0.4843902587890625, -0.02060960792005062, 0.04936719685792923, 1.4227193593978882, -1.2839045524597168, -1.541391372680664, -1.4078959226608276, -0.9308089017868042, 0.1405854970216751, -1.443559169769287, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161081314086914, -1.298495888710022, 1.428730845451355, -1.7130435705184937, 0.6248468160629272, 0.22078609466552734, 1.1391491889953613, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8617430329322815, 1.7171990871429443, -0.4839109778404236, -0.020897183567285538, 0.04946305602788925, 1.4223246574401855, -1.2840659618377686, -1.5408204793930054, -1.4062213897705078, -0.9285565614700317, 0.13935939967632294, -1.4441720247268677, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161087274551392, -1.2984962463378906, 1.428730845451355, -1.713043451309204, 0.6248459815979004, 0.22078357636928558, 1.1391477584838867, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8621264696121216, 1.7166239023208618, -0.48371925950050354, -0.021184759214520454, 0.049558915197849274, 1.4223098754882812, -1.2843328714370728, -1.5393768548965454, -1.4055991172790527, -0.9283375144004822, 0.1369660347700119, -1.444210171699524, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161090850830078, -1.2984964847564697, 1.4287317991256714, -1.7130427360534668, 0.624845027923584, 0.22078153491020203, 1.1391433477401733, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8621264696121216, 1.7162405252456665, -0.48371925950050354, -0.02147233486175537, 0.04994235187768936, 1.4215922355651855, -1.284653663635254, -1.5365396738052368, -1.4027878046035767, -0.9283408522605896, 0.13702930510044098, -1.4446030855178833, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161134958267212, -1.2984956502914429, 1.4287340641021729, -1.71304190158844, 0.6248461008071899, 0.22078022360801697, 1.1391334533691406, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8621264696121216, 1.7162405252456665, -0.4835275411605835, -0.02195162884891033, 0.05070921778678894, 1.4213706254959106, -1.285335659980774, -1.5364528894424438, -1.4026275873184204, -0.9292291402816772, 0.137483149766922, -1.4442036151885986, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161148071289062, -1.2984954118728638, 1.4287409782409668, -1.7130409479141235, 0.6248457431793213, 0.22078309953212738, 1.1391212940216064, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.862030565738678, 1.7162405252456665, -0.4835275411605835, -0.022526780143380165, 0.05080507695674896, 1.4213287830352783, -1.285589337348938, -1.5364552736282349, -1.4034011363983154, -0.9311065673828125, 0.1390646994113922, -1.4423766136169434, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161145687103271, -1.2984957695007324, 1.4287594556808472, -1.7130403518676758, 0.6248461008071899, 0.22078585624694824, 1.139111042022705, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8616471290588379, 1.7162405252456665, -0.4835275411605835, -0.023293649777770042, 0.050517503172159195, 1.4192876815795898, -1.2858271598815918, -1.5363718271255493, -1.4036391973495483, -0.9275413751602173, 0.13376599550247192, -1.4427555799484253, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161152839660645, -1.298496961593628, 1.4287865161895752, -1.7130389213562012, 0.6248464584350586, 0.2207888513803482, 1.1391061544418335, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8610720038414001, 1.7162405252456665, -0.48333582282066345, -0.023964660242199898, 0.049654774367809296, 1.4166518449783325, -1.285864233970642, -1.5342353582382202, -1.4043751955032349, -0.9197637438774109, 0.1260373741388321, -1.4431862831115723, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161148071289062, -1.2984987497329712, 1.4287941455841064, -1.7130393981933594, 0.6248475313186646, 0.22079065442085266, 1.1391067504882812, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8610720038414001, 1.7161446809768677, -0.48295238614082336, -0.02444395236670971, 0.049175482243299484, 1.4159883260726929, -1.2864290475845337, -1.531055212020874, -1.4049593210220337, -0.916711688041687, 0.1229836717247963, -1.4432159662246704, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161144495010376, -1.2984973192214966, 1.4290196895599365, -1.713039517402649, 0.6248506307601929, 0.22079125046730042, 1.1391087770462036, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8610720038414001, 1.7158570289611816, -0.48247310519218445, -0.02492324635386467, 0.049271341413259506, 1.4156440496444702, -1.286597728729248, -1.5287634134292603, -1.4040884971618652, -0.9145166873931885, 0.11645694822072983, -1.444271445274353, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161158800125122, -1.2984938621520996, 1.4291311502456665, -1.7130389213562012, 0.6248589158058167, 0.22079065442085266, 1.1391113996505737, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8613595962524414, 1.7157611846923828, -0.48208966851234436, -0.02530668117105961, 0.04984649270772934, 1.4146015644073486, -1.2868869304656982, -1.5304830074310303, -1.4011867046356201, -0.9107445478439331, 0.10692852735519409, -1.4435336589813232, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161182641983032, -1.2984881401062012, 1.429149866104126, -1.7130368947982788, 0.6248628497123718, 0.22079172730445862, 1.1391123533248901, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8619347214698792, 1.7157611846923828, -0.4817062318325043, -0.025498397648334503, 0.050517503172159195, 1.413051962852478, -1.2869871854782104, -1.532531499862671, -1.4011558294296265, -0.9045256972312927, 0.09666691720485687, -1.4420464038848877, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.41611909866333, -1.2984806299209595, 1.429154872894287, -1.7130296230316162, 0.6248637437820435, 0.22078920900821686, 1.13910973072052, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8627015948295593, 1.7157611846923828, -0.48122692108154297, -0.025881832465529442, 0.050996795296669006, 1.4120796918869019, -1.2869952917099, -1.532540202140808, -1.4011709690093994, -0.9043452143669128, 0.09414399415254593, -1.440739393234253, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161187410354614, -1.2984774112701416, 1.4291763305664062, -1.7130216360092163, 0.6248650550842285, 0.22078369557857513, 1.1390961408615112, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8635643124580383, 1.7157611846923828, -0.4804600477218628, -0.02616940811276436, 0.05118851363658905, 1.4120819568634033, -1.28704833984375, -1.5323920249938965, -1.4017373323440552, -0.9044399857521057, 0.09417156130075455, -1.4386407136917114, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161187410354614, -1.2984766960144043, 1.4292305707931519, -1.7130151987075806, 0.624868631362915, 0.22077806293964386, 1.1389073133468628, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8643311858177185, 1.7157611846923828, -0.4799807667732239, -0.026552842929959297, 0.051380228251218796, 1.412348747253418, -1.2870700359344482, -1.531981348991394, -1.4034467935562134, -0.9045180082321167, 0.09967686980962753, -1.438550591468811, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161181449890137, -1.2984755039215088, 1.4293100833892822, -1.7130029201507568, 0.6248704195022583, 0.22076727449893951, 1.1387978792190552, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8646187782287598, 1.7158570289611816, -0.479693204164505, -0.02664870209991932, 0.05147608742117882, 1.4126960039138794, -1.2870771884918213, -1.5319527387619019, -1.4037950038909912, -0.9045105576515198, 0.10081944614648819, -1.4384139776229858, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161205291748047, -1.2984706163406372, 1.429409384727478, -1.7129876613616943, 0.624871015548706, 0.2207639217376709, 1.1387722492218018, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8648104667663574, 1.7158570289611816, -0.47940561175346375, -0.026840418577194214, 0.05147608742117882, 1.412777066230774, -1.2870867252349854, -1.5319477319717407, -1.403794765472412, -0.904509961605072, 0.10074622184038162, -1.4383665323257446, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161267280578613, -1.2984638214111328, 1.4294263124465942, -1.712960124015808, 0.6248694658279419, 0.2207648754119873, 1.138768196105957, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.864906370639801, 1.7159528732299805, -0.4793097674846649, -0.026840418577194214, 0.05147608742117882, 1.4127764701843262, -1.2870995998382568, -1.5319457054138184, -1.4037938117980957, -0.9045063853263855, 0.10068906098604202, -1.4383234977722168, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161291122436523, -1.2984572649002075, 1.4294344186782837, -1.712937593460083, 0.6248687505722046, 0.22076788544654846, 1.1387685537338257, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8650022149085999, 1.7159528732299805, -0.4792138934135437, -0.026936277747154236, 0.05147608742117882, 1.4126700162887573, -1.2871105670928955, -1.5319522619247437, -1.403201937675476, -0.9038750529289246, 0.09920170158147812, -1.4371709823608398, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161354303359985, -1.2984532117843628, 1.4294414520263672, -1.7129292488098145, 0.6248668432235718, 0.2207736372947693, 1.1387696266174316, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8650022149085999, 1.7160487174987793, -0.4792138934135437, -0.026936277747154236, 0.05157194659113884, 1.4095208644866943, -1.2871179580688477, -1.5319809913635254, -1.3971339464187622, -0.8924860954284668, 0.08804319053888321, -1.436722993850708, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161912202835083, -1.2983458042144775, 1.4294666051864624, -1.7129082679748535, 0.6248549818992615, 0.22078333795070648, 1.1387728452682495, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.864906370639801, 1.7160487174987793, -0.4792138934135437, -0.026840418577194214, 0.05233881622552872, 1.407637357711792, -1.2871198654174805, -1.5324506759643555, -1.395958423614502, -0.888935387134552, 0.0825888067483902, -1.4366868734359741, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4163862466812134, -1.2982782125473022, 1.429734230041504, -1.7128626108169556, 0.624832808971405, 0.2207888513803482, 1.1387784481048584, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.864906370639801, 1.7160487174987793, -0.47902217507362366, -0.026840418577194214, 0.053201545029878616, 1.4063496589660645, -1.2871166467666626, -1.53307044506073, -1.3966587781906128, -0.8844659924507141, 0.07751480489969254, -1.4364467859268188, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416383147239685, -1.2982821464538574, 1.4297741651535034, -1.7128562927246094, 0.6248325705528259, 0.22078777849674225, 1.138787865638733, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.864906370639801, 1.7162405252456665, -0.47854289412498474, -0.026840418577194214, 0.053584977984428406, 1.4052945375442505, -1.2871092557907104, -1.5333889722824097, -1.396103024482727, -0.8844332695007324, 0.07126131653785706, -1.4355090856552124, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4163639545440674, -1.298296570777893, 1.4297919273376465, -1.7128574848175049, 0.6248366236686707, 0.22078585624694824, 1.1388072967529297, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8650022149085999, 1.7164322137832642, -0.4779677391052246, -0.026936277747154236, 0.05377669632434845, 1.4027345180511475, -1.287095069885254, -1.5347490310668945, -1.3919703960418701, -0.8802142143249512, 0.06604062765836716, -1.4348477125167847, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416332483291626, -1.2983360290527344, 1.4297857284545898, -1.7128592729568481, 0.6248410940170288, 0.22078609466552734, 1.138845443725586, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8655773401260376, 1.7169115543365479, -0.4774884581565857, -0.027032136917114258, 0.053968414664268494, 1.4018502235412598, -1.2869808673858643, -1.5390211343765259, -1.391363263130188, -0.8703798651695251, 0.05639680474996567, -1.434838056564331, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4162039756774902, -1.2984716892242432, 1.4297435283660889, -1.7128605842590332, 0.6248427629470825, 0.22078657150268555, 1.1388880014419556, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8663442134857178, 1.7169115543365479, -0.4770091474056244, -0.027223853394389153, 0.053968414664268494, 1.4003878831863403, -1.2861803770065308, -1.5416380167007446, -1.3923425674438477, -0.8552801012992859, 0.04170018807053566, -1.4364049434661865, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161183834075928, -1.298477292060852, 1.42952299118042, -1.7128620147705078, 0.6248434782028198, 0.22078286111354828, 1.1388994455337524, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.867111086845398, 1.7169115543365479, -0.47643399238586426, -0.02760728821158409, 0.05416012927889824, 1.3990817070007324, -1.2855175733566284, -1.542192816734314, -1.3931890726089478, -0.8484471440315247, 0.033131469041109085, -1.4368724822998047, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161319732666016, -1.2984707355499268, 1.4295215606689453, -1.7128626108169556, 0.6248453855514526, 0.22077926993370056, 1.138901948928833, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.867494523525238, 1.7169115543365479, -0.47595471143722534, -0.02799072302877903, 0.05511871725320816, 1.398431420326233, -1.2854938507080078, -1.54380202293396, -1.393118143081665, -0.8446909785270691, 0.02317257784307003, -1.4350817203521729, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416138768196106, -1.2984669208526611, 1.4295216798782349, -1.7128627300262451, 0.6248471736907959, 0.22077734768390656, 1.1388999223709106, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.867973804473877, 1.7169115543365479, -0.47547540068626404, -0.02837415784597397, 0.055693868547677994, 1.395397424697876, -1.285449743270874, -1.5448884963989258, -1.3910771608352661, -0.832813024520874, 0.010594294406473637, -1.4362927675247192, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4162468910217285, -1.2984493970870972, 1.4295216798782349, -1.7128615379333496, 0.6248403787612915, 0.22078129649162292, 1.13889741897583, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8684531450271606, 1.7169115543365479, -0.4745168387889862, -0.028661733493208885, 0.05598144605755806, 1.3905643224716187, -1.284960150718689, -1.545379400253296, -1.3875023126602173, -0.8293675780296326, 0.0011283147614449263, -1.4374277591705322, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4163483381271362, -1.2984381914138794, 1.429520606994629, -1.7128589153289795, 0.6248024702072144, 0.22078514099121094, 1.1388870477676392, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8686448335647583, 1.7168155908584595, -0.47336652874946594, -0.029141025617718697, 0.056173160672187805, 1.3874634504318237, -1.2842326164245605, -1.5479917526245117, -1.384695291519165, -0.813348114490509, -0.009140847250819206, -1.441048264503479, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4163645505905151, -1.2984241247177124, 1.42951500415802, -1.7128549814224243, 0.6244929432868958, 0.22079388797283173, 1.1388633251190186, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8691241145133972, 1.7163363695144653, -0.4723120629787445, -0.029620319604873657, 0.056173160672187805, 1.3833167552947998, -1.283650517463684, -1.547946810722351, -1.3775205612182617, -0.8060982823371887, -0.011893504299223423, -1.4504402875900269, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4163744449615479, -1.2982697486877441, 1.4294992685317993, -1.7128379344940186, 0.6244238018989563, 0.2208101898431778, 1.1388436555862427, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8694117069244385, 1.7157611846923828, -0.4713535010814667, -0.03009961172938347, 0.05646073818206787, 1.3827474117279053, -1.2829713821411133, -1.5468053817749023, -1.3730947971343994, -0.8101917505264282, -0.005861004814505577, -1.4593260288238525, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4164142608642578, -1.2982559204101562, 1.4295005798339844, -1.7128219604492188, 0.624427855014801, 0.2208184450864792, 1.1388455629348755, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8695075511932373, 1.7155694961547852, -0.4706824719905853, -0.03067476488649845, 0.05722760781645775, 1.3827508687973022, -1.2819212675094604, -1.546808123588562, -1.3730814456939697, -0.8040257096290588, -0.00380127620883286, -1.4675774574279785, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4165310859680176, -1.2982441186904907, 1.4295324087142944, -1.7128201723098755, 0.624457836151123, 0.22081618010997772, 1.138883113861084, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8695075511932373, 1.7151859998703003, -0.47029903531074524, -0.031249916180968285, 0.05828205123543739, 1.3814334869384766, -1.2809419631958008, -1.5468111038208008, -1.3699556589126587, -0.7899110913276672, -0.011155395768582821, -1.4678568840026855, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4170423746109009, -1.298071026802063, 1.4295473098754883, -1.712671160697937, 0.624379575252533, 0.2210303395986557, 1.139066457748413, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.869219958782196, 1.7149943113327026, -0.4702031910419464, -0.031729210168123245, 0.05904892086982727, 1.378277063369751, -1.2809110879898071, -1.5467724800109863, -1.3677210807800293, -0.7900905609130859, -0.010709462687373161, -1.4680293798446655, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.417567491531372, -1.2980473041534424, 1.4295003414154053, -1.7124049663543701, 0.6237598657608032, 0.22115449607372284, 1.1390860080718994, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8686448335647583, 1.7148984670639038, -0.4702031910419464, -0.03182506933808327, 0.05943235754966736, 1.378023386001587, -1.2809219360351562, -1.54214346408844, -1.3637738227844238, -0.8195805549621582, 0.013231783173978329, -1.4632186889648438, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4172325134277344, -1.2981778383255005, 1.4294928312301636, -1.71242094039917, 0.6241035461425781, 0.2210315316915512, 1.1390928030014038, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8680697083473206, 1.7148984670639038, -0.46991559863090515, -0.03182506933808327, 0.05943235754966736, 1.3780635595321655, -1.2810697555541992, -1.5410324335098267, -1.362492561340332, -0.8218914270401001, 0.01627613604068756, -1.4627437591552734, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4163882732391357, -1.298417091369629, 1.4294657707214355, -1.712512493133545, 0.6244083046913147, 0.22094932198524475, 1.1390904188156128, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.867973804473877, 1.714802622795105, -0.46991559863090515, -0.03182506933808327, 0.059336498379707336, 1.3781671524047852, -1.2814818620681763, -1.541039228439331, -1.3625158071517944, -0.82000333070755, 0.015357185155153275, -1.4627537727355957, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416394591331482, -1.2984827756881714, 1.4294027090072632, -1.71262526512146, 0.6244558691978455, 0.220924511551857, 1.1390879154205322, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8678779602050781, 1.7147067785263062, -0.46991559863090515, -0.03182506933808327, 0.059336498379707336, 1.378269910812378, -1.2815450429916382, -1.5410901308059692, -1.3625863790512085, -0.819831371307373, 0.015195757150650024, -1.462760329246521, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416437029838562, -1.2984774112701416, 1.4293955564498901, -1.7126860618591309, 0.6244791150093079, 0.22089779376983643, 1.1390866041183472, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8677821159362793, 1.7147067785263062, -0.46991559863090515, -0.03182506933808327, 0.059240639209747314, 1.3783303499221802, -1.281550645828247, -1.5412718057632446, -1.3627145290374756, -0.8198127746582031, 0.015147221274673939, -1.462766170501709, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4165167808532715, -1.2984702587127686, 1.4293947219848633, -1.7127095460891724, 0.6244956851005554, 0.22089430689811707, 1.1390841007232666, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8677821159362793, 1.7147067785263062, -0.46991559863090515, -0.03182506933808327, 0.05914478003978729, 1.3783421516418457, -1.2815537452697754, -1.5413621664047241, -1.3627612590789795, -0.8197858333587646, 0.015126489102840424, -1.4627737998962402, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.41654634475708, -1.2984662055969238, 1.4293941259384155, -1.7127234935760498, 0.6245061159133911, 0.2208889126777649, 1.1390783786773682, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8676862716674805, 1.7147067785263062, -0.46991559863090515, -0.03182506933808327, 0.05914478003978729, 1.3783503770828247, -1.2815563678741455, -1.5413687229156494, -1.3627787828445435, -0.8197635412216187, 0.015114384703338146, -1.4627845287322998, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4165700674057007, -1.298464298248291, 1.429394245147705, -1.7127339839935303, 0.6245153546333313, 0.22088579833507538, 1.1390705108642578, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8676862716674805, 1.7147067785263062, -0.46991559863090515, -0.03182506933808327, 0.05914478003978729, 1.3783538341522217, -1.2815583944320679, -1.541368842124939, -1.3630683422088623, -0.8195135593414307, 0.015030255541205406, -1.462868332862854, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.416577935218811, -1.2984627485275269, 1.4293943643569946, -1.7127403020858765, 0.6245235800743103, 0.22088640928268433, 1.1390599012374878, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8676862716674805, 1.7147067785263062, -0.4698197543621063, -0.03182506933808327, 0.05914478003978729, 1.3788983821868896, -1.2812262773513794, -1.5420914888381958, -1.3767633438110352, -0.7957710027694702, 0.0011467704316601157, -1.4684677124023438, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4166007041931152, -1.298437237739563, 1.4296703338623047, -1.7128089666366577, 0.6259205937385559, 0.22092463076114655, 1.1390495300292969, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8677821159362793, 1.7147067785263062, -0.4696280360221863, -0.03230436146259308, 0.05914478003978729, 1.3794806003570557, -1.27903151512146, -1.544519066810608, -1.392544150352478, -0.7825332283973694, -0.009367349557578564, -1.4690271615982056, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4174938201904297, -1.2983359098434448, 1.433213472366333, -1.7174303531646729, 0.6340773105621338, 0.22665417194366455, 1.1387218236923218, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8684531450271606, 1.7148984670639038, -0.46866944432258606, -0.033071231096982956, 0.05943235754966736, 1.378637433052063, -1.2770882844924927, -1.5505485534667969, -1.3945319652557373, -0.7751827836036682, -0.02025226131081581, -1.4690430164337158, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4179513454437256, -1.2982769012451172, 1.4314841032028198, -1.7238627672195435, 0.6364268064498901, 0.23451678454875946, 1.1364995241165161, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8696992993354797, 1.7152819633483887, -0.467615008354187, -0.03374224156141281, 0.05991164967417717, 1.3732712268829346, -1.2770044803619385, -1.5542569160461426, -1.384958267211914, -0.7747940421104431, -0.026462247595191002, -1.4804022312164307, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.418271541595459, -1.2983113527297974, 1.42888605594635, -1.727224588394165, 0.6371258497238159, 0.238719642162323, 1.1297686100006104, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8704661726951599, 1.7158570289611816, -0.4662729799747467, -0.034317392855882645, 0.06067851930856705, 1.3693389892578125, -1.2769640684127808, -1.5578562021255493, -1.3795146942138672, -0.7754520773887634, -0.02751985564827919, -1.4876596927642822, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4182910919189453, -1.2991359233856201, 1.4288952350616455, -1.728166937828064, 0.630098283290863, 0.24238453805446625, 1.1215084791183472, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8711371421813965, 1.7162405252456665, -0.4649309515953064, -0.03537183627486229, 0.06154124438762665, 1.3682918548583984, -1.2762651443481445, -1.5581327676773071, -1.3767361640930176, -0.7752663493156433, -0.03381732478737831, -1.49313485622406, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4160703420639038, -1.2995346784591675, 1.4288922548294067, -1.722778081893921, 0.626701831817627, 0.24261057376861572, 1.1192020177841187, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719040155410767, 1.7162405252456665, -0.4640682339668274, -0.03594698756933212, 0.06278740614652634, 1.3661094903945923, -1.2752652168273926, -1.55804443359375, -1.3744100332260132, -0.7726064324378967, -0.03969115391373634, -1.5006262063980103, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4156426191329956, -1.2995818853378296, 1.4288325309753418, -1.7223291397094727, 0.6247041821479797, 0.24340499937534332, 1.1137402057647705, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8726708889007568, 1.7162405252456665, -0.4631096422672272, -0.036042846739292145, 0.06403356790542603, 1.3619946241378784, -1.2744776010513306, -1.5579825639724731, -1.369792103767395, -0.7590671181678772, -0.04939969256520271, -1.502751111984253, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4164173603057861, -1.2996057271957397, 1.4274605512619019, -1.727725863456726, 0.6247146129608154, 0.24499590694904327, 1.1131547689437866, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.873437762260437, 1.7162405252456665, -0.46224692463874817, -0.036042846739292145, 0.06537558883428574, 1.3565090894699097, -1.2743737697601318, -1.5576125383377075, -1.3616917133331299, -0.7551641464233398, -0.05518867447972298, -1.5021588802337646, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.41714346408844, -1.2995959520339966, 1.4254897832870483, -1.7295036315917969, 0.6265144348144531, 0.24832405149936676, 1.1163952350616455, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.7162405252456665, -0.46128833293914795, -0.036042846739292145, 0.06643003970384598, 1.3559342622756958, -1.2743242979049683, -1.5573132038116455, -1.361042857170105, -0.7547154426574707, -0.055462032556533813, -1.500959038734436, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4171032905578613, -1.299599528312683, 1.4254828691482544, -1.7301169633865356, 0.6265213489532471, 0.25094330310821533, 1.1169419288635254, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8754507899284363, 1.7162405252456665, -0.46032974123954773, -0.03546769544482231, 0.06700518727302551, 1.3553996086120605, -1.2743136882781982, -1.5568455457687378, -1.3611302375793457, -0.7567251920700073, -0.05617785081267357, -1.5008665323257446, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4168099164962769, -1.2996208667755127, 1.4254915714263916, -1.7313497066497803, 0.6267762780189514, 0.2514380216598511, 1.116938829421997, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8763135075569153, 1.7162405252456665, -0.4594670236110687, -0.034700825810432434, 0.06758034229278564, 1.3553733825683594, -1.2738739252090454, -1.5568424463272095, -1.3649927377700806, -0.7584733366966248, -0.05579075962305069, -1.5010572671890259, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161330461502075, -1.3000832796096802, 1.4260168075561523, -1.7322883605957031, 0.6268750429153442, 0.25226590037345886, 1.1164132356643677, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8772721290588379, 1.7162405252456665, -0.4586043059825897, -0.03393395617604256, 0.06786791235208511, 1.3554054498672485, -1.2730543613433838, -1.5568413734436035, -1.3669583797454834, -0.7601912617683411, -0.05554424598813057, -1.5031306743621826, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4161372184753418, -1.3003950119018555, 1.4269447326660156, -1.734586477279663, 0.6252606511116028, 0.2525816857814789, 1.1141343116760254, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8778472542762756, 1.7162405252456665, -0.4579332768917084, -0.03364638239145279, 0.0682513490319252, 1.3554176092147827, -1.2723050117492676, -1.5566149950027466, -1.366956353187561, -0.760461151599884, -0.0557929202914238, -1.5051040649414062, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4162145853042603, -1.3003933429718018, 1.4281307458877563, -1.7345623970031738, 0.6229473352432251, 0.25258418917655945, 1.1142103672027588, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8782306909561157, 1.7162405252456665, -0.45707055926322937, -0.03355052322149277, 0.0682513490319252, 1.3554102182388306, -1.2722043991088867, -1.5555847883224487, -1.3658208847045898, -0.7623649835586548, -0.055681824684143066, -1.507436752319336, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4168570041656494, -1.3003901243209839, 1.4292685985565186, -1.7344543933868408, 0.6218569874763489, 0.2541641891002655, 1.1142406463623047, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8787099719047546, 1.7162405252456665, -0.4567829668521881, -0.03355052322149277, 0.06834720820188522, 1.3552225828170776, -1.2722065448760986, -1.5548510551452637, -1.3650586605072021, -0.7633541226387024, -0.05542991682887077, -1.5080182552337646, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.417362093925476, -1.300382375717163, 1.4309433698654175, -1.7344290018081665, 0.6223839521408081, 0.25539690256118774, 1.1142491102218628, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8790934085845947, 1.7162405252456665, -0.4566871225833893, -0.03355052322149277, 0.06844306737184525, 1.3544458150863647, -1.2722268104553223, -1.5545076131820679, -1.365053653717041, -0.7635030746459961, -0.05539707839488983, -1.5080246925354004, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4174714088439941, -1.3003512620925903, 1.43269944190979, -1.734439730644226, 0.6241507530212402, 0.2595992982387543, 1.1148171424865723, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8792851567268372, 1.7162405252456665, -0.45659124851226807, -0.03383810073137283, 0.06844306737184525, 1.3538814783096313, -1.2723615169525146, -1.5543135404586792, -1.3650624752044678, -0.7636098861694336, -0.055384136736392975, -1.5080432891845703, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4174726009368896, -1.30025315284729, 1.432832956314087, -1.7344369888305664, 0.626806378364563, 0.2617914378643036, 1.1154065132141113, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8798602819442749, 1.7164322137832642, -0.45659124851226807, -0.034700825810432434, 0.0682513490319252, 1.3537967205047607, -1.272761583328247, -1.5542198419570923, -1.3651299476623535, -0.7639033794403076, -0.05537862330675125, -1.508130669593811, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4174684286117554, -1.3002220392227173, 1.4336128234863281, -1.7344255447387695, 0.6296805143356323, 0.26440736651420593, 1.1159058809280396, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8798602819442749, 1.7167197465896606, -0.45649540424346924, -0.03546769544482231, 0.06796377152204514, 1.353181004524231, -1.2734915018081665, -1.5540825128555298, -1.3656493425369263, -0.7651863098144531, -0.055377185344696045, -1.5081454515457153, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4180208444595337, -1.3002058267593384, 1.4339631795883179, -1.7343051433563232, 0.6362748742103577, 0.2654602825641632, 1.1141151189804077, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8798602819442749, 1.7169115543365479, -0.45611196756362915, -0.03633042424917221, 0.06767620146274567, 1.352064609527588, -1.2736412286758423, -1.553451418876648, -1.365960717201233, -0.765478253364563, -0.05537670478224754, -1.5081473588943481, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4207868576049805, -1.3001892566680908, 1.4362788200378418, -1.7343631982803345, 0.6406905651092529, 0.2656974494457245, 1.1145013570785522, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8797644376754761, 1.7168155908584595, -0.455536812543869, -0.03719315305352211, 0.06767620146274567, 1.3518834114074707, -1.2737056016921997, -1.5528618097305298, -1.3661500215530396, -0.7654391527175903, -0.05537658557295799, -1.508502721786499, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4218943119049072, -1.3001302480697632, 1.4381400346755981, -1.735842227935791, 0.6438312530517578, 0.26781290769577026, 1.1151957511901855, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8791893124580383, 1.7163363695144653, -0.45486581325531006, -0.03767244517803192, 0.06815548986196518, 1.3520541191101074, -1.2737064361572266, -1.5520553588867188, -1.366139531135559, -0.7643557786941528, -0.05537335202097893, -1.5096336603164673, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4219043254852295, -1.30010986328125, 1.4428868293762207, -1.7391059398651123, 0.6478063464164734, 0.27293846011161804, 1.1157172918319702, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8784224390983582, 1.7153778076171875, -0.4542906582355499, -0.03776830434799194, 0.06844306737184525, 1.3524386882781982, -1.2737072706222534, -1.5516400337219238, -1.3661035299301147, -0.7635409832000732, -0.05536460131406784, -1.509765863418579, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4217910766601562, -1.300049066543579, 1.4474538564682007, -1.7408366203308105, 0.6526064872741699, 0.2815564274787903, 1.1194782257080078, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, -0.11159999920771672, -0.11159999920771672, -0.11159999920771672, 0.11159999920771672, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8779430985450745, 1.7145150899887085, -0.45390722155570984, -0.037864163517951965, 0.0682513490319252, 1.3525580167770386, -1.2737092971801758, -1.5513838529586792, -1.3660517930984497, -0.7634440064430237, -0.05535297840833664, -1.5097935199737549, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4217638969421387, -1.2993991374969482, 1.4500187635421753, -1.7408232688903809, 0.655360221862793, 0.28549012541770935, 1.1236344575881958, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, -0.12900000980922155, -0.12900000980922155, -0.12900000980922155, 0.12900000980922155, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8772721290588379, 1.7138440608978271, -0.4537155032157898, -0.038247596472501755, 0.06767620146274567, 1.3527756929397583, -1.2737089395523071, -1.5513265132904053, -1.3659074306488037, -0.7632321119308472, -0.05534327030181885, -1.5099520683288574, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4219285249710083, -1.2992631196975708, 1.4537020921707153, -1.7416776418685913, 0.6564365029335022, 0.2907944619655609, 1.1278671026229858, 0.16379999171246543, 0.16379999171246543, 0.16379999171246543, 0.16379999171246543, -0.16379999171246543, -0.16379999171246543, -0.16379999171246543, 0.16379999171246543, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8766969442367554, 1.7128853797912598, -0.4533320665359497, -0.03853517398238182, 0.06710104644298553, 1.3529126644134521, -1.273709774017334, -1.5510976314544678, -1.365767002105713, -0.7627795934677124, -0.05533440038561821, -1.5100820064544678, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4245394468307495, -1.2979742288589478, 1.4618109464645386, -1.749535083770752, 0.6546000838279724, 0.30346453189849854, 1.129647970199585, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, -0.20100001031225856, -0.20100001031225856, -0.20100001031225856, 0.20100001031225856, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8759300708770752, 1.7123103141784668, -0.4532362222671509, -0.039110325276851654, 0.06700518727302551, 1.353297472000122, -1.273697018623352, -1.5510566234588623, -1.3655424118041992, -0.7621432542800903, -0.05531822517514229, -1.5103819370269775, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4273079633712769, -1.2963783740997314, 1.4699921607971191, -1.7541342973709106, 0.6433376669883728, 0.3170510530471802, 1.1381125450134277, 0.2802000030056461, 0.2802000030056461, 0.2802000030056461, 0.2802000030056461, -0.2802000030056461, -0.2802000030056461, -0.2802000030056461, 0.2802000030056461, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8749715089797974, 1.711830973625183, -0.45314034819602966, -0.03987719491124153, 0.06700518727302551, 1.3540313243865967, -1.2736564874649048, -1.550990104675293, -1.3653039932250977, -0.7617923617362976, -0.055296413600444794, -1.510551929473877, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4268980026245117, -1.2932881116867065, 1.4742881059646606, -1.7553213834762573, 0.62373948097229, 0.334274560213089, 1.1511365175247192, 0.3420000047474117, 0.3420000047474117, 0.3420000047474117, 0.3420000047474117, -0.3420000047474117, -0.3420000047474117, -0.3420000047474117, 0.3420000047474117, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8738211989402771, 1.710968255996704, -0.45314034819602966, -0.04054820537567139, 0.06671760976314545, 1.354220986366272, -1.2733147144317627, -1.5509835481643677, -1.3651156425476074, -0.761529803276062, -0.05527400225400925, -1.5106137990951538, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4210973978042603, -1.286971926689148, 1.4775080680847168, -1.7559759616851807, 0.5910924077033997, 0.3627921938896179, 1.1707987785339355, 0.5021999980067159, 0.5021999980067159, 0.5021999980067159, 0.5021999980067159, -0.5021999980067159, -0.5021999980067159, -0.5021999980067159, 0.5021999980067159, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8730543255805969, 1.7097221612930298, -0.45314034819602966, -0.04141093045473099, 0.06604660302400589, 1.3542503118515015, -1.272897481918335, -1.5509846210479736, -1.364881992340088, -0.7612473368644714, -0.05525374785065651, -1.5106287002563477, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4158046245574951, -1.2809139490127563, 1.4820446968078613, -1.7618554830551147, 0.5543881058692932, 0.39223313331604004, 1.1911206245422363, 0.5766000008190071, 0.5766000008190071, 0.5766000008190071, 0.5766000008190071, -0.5766000008190071, -0.5766000008190071, -0.5766000008190071, 0.5766000008190071, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8722874522209167, 1.7091469764709473, -0.4532362222671509, -0.04198608174920082, 0.06527972966432571, 1.354285717010498, -1.2728463411331177, -1.550986647605896, -1.3648778200149536, -0.7612016797065735, -0.05523864924907684, -1.5106369256973267, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4103608131408691, -1.275292158126831, 1.4828081130981445, -1.7682280540466309, 0.5190483927726746, 0.41812002658843994, 1.2119990587234497, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.871712327003479, 1.7088593244552612, -0.4538113474845886, -0.04256123676896095, 0.06470458209514618, 1.354343295097351, -1.2728462219238281, -1.5509895086288452, -1.3648779392242432, -0.7611700296401978, -0.055232178419828415, -1.5106499195098877, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.405346393585205, -1.2701367139816284, 1.4806879758834839, -1.7711776494979858, 0.48660722374916077, 0.44773903489112854, 1.2382055521011353, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7088593244552612, -0.45438650250434875, -0.04284881055355072, 0.06403356790542603, 1.354396939277649, -1.272845983505249, -1.5509984493255615, -1.3648765087127686, -0.7611480951309204, -0.055227622389793396, -1.5106621980667114, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4025498628616333, -1.2619500160217285, 1.4738959074020386, -1.7762396335601807, 0.44153526425361633, 0.4984186291694641, 1.282780647277832, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7088593244552612, -0.45476993918418884, -0.04284881055355072, 0.06278740614652634, 1.3544251918792725, -1.27284836769104, -1.551004409790039, -1.3648757934570312, -0.7611234188079834, -0.05522582679986954, -1.5106712579727173, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4118715524673462, -1.249455213546753, 1.466666579246521, -1.7973219156265259, 0.42505013942718506, 0.5252431631088257, 1.3076112270355225, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7088593244552612, -0.45476993918418884, -0.04284881055355072, 0.06202054023742676, 1.354455590248108, -1.2728508710861206, -1.5510185956954956, -1.3648664951324463, -0.7611048221588135, -0.055224865674972534, -1.5106841325759888, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4350212812423706, -1.2122026681900024, 1.460159182548523, -1.8571897745132446, 0.502021074295044, 0.5339287519454956, 1.2867791652679443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7088593244552612, -0.45476993918418884, -0.04227365925908089, 0.06019922345876694, 1.3545277118682861, -1.2728465795516968, -1.5510823726654053, -1.3648580312728882, -0.7610920071601868, -0.05522247031331062, -1.510693073272705, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4322806596755981, -1.1680212020874023, 1.4724081754684448, -1.9124079942703247, 0.5779198408126831, 0.537856936454773, 1.280046820640564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7088593244552612, -0.4542906582355499, -0.040931638330221176, 0.057131748646497726, 1.3548163175582886, -1.2728440761566162, -1.5511614084243774, -1.3648476600646973, -0.7610769271850586, -0.055220913141965866, -1.5107475519180298, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4108994007110596, -1.166408658027649, 1.517493724822998, -1.9471142292022705, 0.5775474905967712, 0.4928086996078491, 1.28035569190979, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7089552879333496, -0.45352378487586975, -0.03968547657132149, 0.05291396751999855, 1.3548210859298706, -1.2728288173675537, -1.5511888265609741, -1.3648386001586914, -0.7610711455345154, -0.05521983280777931, -1.5107717514038086, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4058716297149658, -1.1777729988098145, 1.5378161668777466, -1.9903554916381836, 0.4598451256752014, 0.35308894515037537, 1.2333792448043823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755426168252, 0.005790057435113275, -0.0039229329696281795, 0.2670256197452545], [-0.005793379562392959, 0.9999828687701161, -0.0008360140757442521, 0.14114566147327423], [0.003918025195446535, 0.0008587206687185434, 0.9999919558063359, -0.00802116934210062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7089552879333496, -0.4527569115161896, -0.038631029427051544, 0.048696186393499374, 1.354814052581787, -1.2728267908096313, -1.5511882305145264, -1.3648347854614258, -0.7610663771629333, -0.05521863326430321, -1.5107859373092651, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4096028804779053, -1.1874784231185913, 1.5306556224822998, -2.0142698287963867, 0.3080693483352661, 0.21341268718242645, 1.195135474205017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754077631572, 0.0058257600533038936, -0.0039044063196496514, 0.26694560050964355], [-0.005829078102741475, 0.9999826588288564, -0.000838981551162988, 0.14113537967205048], [0.0038994509074652232, 0.0008617200081120503, 0.9999920258288303, -0.008026298135519028], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.7088593244552612, -0.4524693489074707, -0.037289008498191833, 0.045724570751190186, 1.3547919988632202, -1.2728312015533447, -1.551181435585022, -1.3648333549499512, -0.7610605955123901, -0.055218156427145004, -1.5108044147491455, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.420928955078125, -1.1959141492843628, 1.5193678140640259, -2.027172327041626, 0.20959295332431793, 0.1385287642478943, 1.1490788459777832, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755958340123, 0.005782318298936724, -0.003920782001305171, 0.2670014500617981], [-0.0057856926069045425, 0.9999829016325223, -0.0008498256641468416, 0.14114587008953094], [0.00391580099984501, 0.000872489364298509, 0.999991952600039, -0.008019334636628628], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8711371421813965, 1.7088593244552612, -0.4520859122276306, -0.03594698756933212, 0.04467012360692024, 1.3546820878982544, -1.2728432416915894, -1.5511598587036133, -1.3648326396942139, -0.7610489726066589, -0.055217195302248, -1.5108214616775513, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4291400909423828, -1.2044605016708374, 1.5205940008163452, -2.0253748893737793, 0.18402856588363647, 0.07365288585424423, 1.1317657232284546, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755085282935, 0.005802798478042959, -0.003912783332095195, 0.2670366168022156], [-0.005806209362395401, 0.9999827732150016, -0.000860933257985424, 0.14114169776439667], [0.003907720105218852, 0.0008836306116787306, 0.9999919744280558, -0.00802047923207283], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8705620169639587, 1.7088593244552612, -0.4519900381565094, -0.03537183627486229, 0.04495770111680031, 1.3546619415283203, -1.2728461027145386, -1.5511449575424194, -1.3648329973220825, -0.7610349655151367, -0.05521635711193085, -1.510839581489563, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4295848608016968, -1.2057075500488281, 1.5222499370574951, -2.0216524600982666, 0.15820567309856415, 0.050404809415340424, 1.141258955001831, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756410189844, 0.005774582471954039, -0.003920658866292817, 0.2670501470565796], [-0.005778044159912413, 0.9999829266054101, -0.0008721831029242432, 0.14114928245544434], [0.00391555543407846, 0.0008948155974979891, 0.999991933832813, -0.008016693405807018], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8703702688217163, 1.7087634801864624, -0.45189419388771057, -0.03489254415035248, 0.04505356028676033, 1.3546608686447144, -1.2728455066680908, -1.55113685131073, -1.3648332357406616, -0.7610083222389221, -0.055215638130903244, -1.5108788013458252, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4293675422668457, -1.2056986093521118, 1.522619605064392, -2.021604299545288, 0.16240458190441132, 0.06029012054204941, 1.1429359912872314, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756439949951, 0.005772715424071503, -0.003922648776989364, 0.26697614789009094], [-0.005776189668871318, 0.9999829349131942, -0.0008749373141126091, 0.1411496102809906], [0.003917531072519203, 0.0008975739674752642, 0.9999919236230205, -0.008015912026166916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8702744245529175, 1.7086676359176636, -0.45179831981658936, -0.034796684980392456, 0.045245278626680374, 1.3546606302261353, -1.2728458642959595, -1.551119089126587, -1.3648326396942139, -0.7609776854515076, -0.05521431937813759, -1.5109063386917114, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4289249181747437, -1.2056915760040283, 1.5226279497146606, -2.021601438522339, 0.1644851714372635, 0.060768529772758484, 1.1429330110549927, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975522380544, 0.005800293767028135, -0.003912956934898144, 0.26698338985443115], [-0.005803761337397629, 0.9999827748625532, -0.0008754042077189331, 0.14114317297935486], [0.003907811932107454, 0.0008980926480815301, 0.9999919611854381, -0.008018177933990955], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8701785802841187, 1.7085717916488647, -0.45179831981658936, -0.034700825810432434, 0.045628711581230164, 1.3546642065048218, -1.2728447914123535, -1.5510634183883667, -1.3648303747177124, -0.7609419822692871, -0.05521420016884804, -1.5109297037124634, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4398024082183838, -1.206405520439148, 1.531031608581543, -2.026702642440796, 0.15022070705890656, 0.05190319940447807, 1.1457146406173706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754616152946, 0.005811147054204878, -0.00391238254685477, 0.26700955629348755], [-0.005814572734826446, 0.9999827212873337, -0.0008647951724034864, 0.1411391943693161], [0.003907289494002299, 0.0008875227846120072, 0.9999919726638393, -0.008020356297492981], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8703702688217163, 1.7085717916488647, -0.45141488313674927, -0.03460496664047241, 0.04629972204566002, 1.3546528816223145, -1.2728643417358398, -1.5509880781173706, -1.364829421043396, -0.7609047889709473, -0.055213719606399536, -1.5109530687332153, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4643652439117432, -1.2144967317581177, 1.535728931427002, -2.043851375579834, 0.1297520101070404, 0.0334453359246254, 1.1361225843429565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756826218562, 0.00577106715446516, -0.003915220153629953, 0.2669428288936615], [-0.005774516178677637, 0.9999829487159149, -0.0008701955677589191, 0.14114859700202942], [0.0039101314370398035, 0.0008927829090044598, 0.9999919568730653, -0.008018357679247856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8710412979125977, 1.7088593244552612, -0.4506480395793915, -0.0341256745159626, 0.04687487334012985, 1.3546562194824219, -1.2728631496429443, -1.5509889125823975, -1.3648245334625244, -0.7608792781829834, -0.055213361978530884, -1.5109806060791016, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4837852716445923, -1.223555564880371, 1.5147788524627686, -2.073899507522583, 0.06731311231851578, -0.005349039100110531, 1.0988444089889526, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753650191042, 0.005821159365144595, -0.003922175232549113, 0.26703372597694397], [-0.005824618530045215, 0.9999826573463838, -0.0008711058742525364, 0.14113818109035492], [0.0039170363655046956, 0.0008939295891135559, 0.9999919288254285, -0.008016309700906277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719998598098755, 1.7095303535461426, -0.44940185546875, -0.033454664051532745, 0.04687487334012985, 1.354655146598816, -1.272861123085022, -1.5509922504425049, -1.364819049835205, -0.7608724236488342, -0.055213600397109985, -1.5109930038452148, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5115361213684082, -1.2316474914550781, 1.4947543144226074, -2.115203857421875, -0.03357572481036186, -0.052212271839380264, 1.0527633428573608, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755691959674, 0.005793134273141703, -0.0039115989689971695, 0.2669420540332794], [-0.005796623497415901, 0.9999828111094394, -0.0008812727684578427, 0.14114339649677277], [0.003906426401471634, 0.0009039253047516941, 0.9999919613435967, -0.008017515763640404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8728626370429993, 1.710201382637024, -0.44834741950035095, -0.03249607980251312, 0.04687487334012985, 1.354661226272583, -1.2728607654571533, -1.5509932041168213, -1.3648122549057007, -0.7608749866485596, -0.055213961750268936, -1.5110136270523071, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5236244201660156, -1.2384114265441895, 1.4673562049865723, -2.129547357559204, -0.12419683486223221, -0.0792926624417305, 1.0135716199874878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756018180201, 0.005782701951685464, -0.003918689427140271, 0.2671215534210205], [-0.005786257760937305, 0.9999828574564448, -0.0008966684825147173, 0.1411474645137787], [0.003913437084252233, 0.0009193211525443987, 0.9999919198967591, -0.008013851009309292], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8730543255805969, 1.710968255996704, -0.4471971094608307, -0.03192092478275299, 0.04649144038558006, 1.3546736240386963, -1.2728585004806519, -1.550997257232666, -1.364809513092041, -0.7608766555786133, -0.055213361978530884, -1.5110489130020142, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.535873293876648, -1.2458598613739014, 1.463140845298767, -2.136606216430664, -0.1257857084274292, -0.08774825185537338, 0.9927769303321838, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757263651463, 0.0057670486245082865, -0.003909965557460969, 0.26710790395736694], [-0.005770531417367559, 0.9999829630925219, -0.0008800521922773411, 0.14115214347839355], [0.0039048236399545563, 0.0009025934093019271, 0.9999919688064891, -0.008018788881599903], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8731501698493958, 1.710968255996704, -0.4464302361011505, -0.03192092478275299, 0.04668315500020981, 1.3546730279922485, -1.2728592157363892, -1.5509979724884033, -1.3648031949996948, -0.7608798742294312, -0.05521312355995178, -1.5110512971878052, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5483317375183105, -1.2509279251098633, 1.4870256185531616, -2.1411378383636475, -0.058507826179265976, -0.0651291087269783, 0.9990528225898743, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757344844126, 0.005768859253418684, -0.003905215137961663, 0.2669505178928375], [-0.005772411302457152, 0.9999829354722705, -0.000898906010735566, 0.14115355908870697], [0.003899962835051666, 0.0009214267063186476, 0.9999919705991194, -0.008017062209546566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8731501698493958, 1.7108724117279053, -0.4458550810813904, -0.03192092478275299, 0.04725831001996994, 1.3546780347824097, -1.272857427597046, -1.5510015487670898, -1.364802360534668, -0.7608829736709595, -0.05521288141608238, -1.5110591650009155, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.548620343208313, -1.2509081363677979, 1.4894368648529053, -2.1410415172576904, -0.05371365696191788, -0.06239766627550125, 1.0025262832641602, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754089812352, 0.005829624761706717, -0.0038983211706155683, 0.2670757472515106], [-0.005833251178313518, 0.999982563671801, -0.0009195287179660167, 0.14113621413707733], [0.0038928926908248576, 0.0009422459923799962, 0.9999919787473235, -0.008016080595552921], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8730543255805969, 1.7108724117279053, -0.44566336274147034, -0.03192092478275299, 0.047450024634599686, 1.3546823263168335, -1.2728588581085205, -1.551001787185669, -1.364802598953247, -0.7608885169029236, -0.05521240457892418, -1.511066198348999, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5492061376571655, -1.2509187459945679, 1.486003041267395, -2.1413581371307373, -0.08437997102737427, -0.06336706876754761, 1.0158052444458008, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.872575044631958, 1.7102972269058228, -0.44566336274147034, -0.03201678395271301, 0.04773760214447975, 1.3546961545944214, -1.2728575468063354, -1.5510047674179077, -1.3648021221160889, -0.7608943581581116, -0.05521180480718613, -1.5110679864883423, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5610238313674927, -1.2526729106903076, 1.4766833782196045, -2.1499905586242676, -0.10186208039522171, -0.06309490650892258, 1.0166914463043213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719040155410767, 1.7095303535461426, -0.4460467994213104, -0.03192092478275299, 0.047833461314439774, 1.3547101020812988, -1.2728582620620728, -1.551007628440857, -1.3648024797439575, -0.7608988285064697, -0.05521192401647568, -1.51106858253479, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5656232833862305, -1.2554937601089478, 1.4749484062194824, -2.1507482528686523, -0.10011633485555649, -0.061833567917346954, 1.0166904926300049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8713288903236389, 1.7094345092773438, -0.4463343918323517, -0.03192092478275299, 0.047929320484399796, 1.3547377586364746, -1.2728573083877563, -1.551011562347412, -1.364803671836853, -0.7609034776687622, -0.055211324244737625, -1.5110700130462646, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5655232667922974, -1.2557423114776611, 1.4749674797058105, -2.1507418155670166, -0.09950969368219376, -0.06238076835870743, 1.016034483909607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8710412979125977, 1.709338665008545, -0.44662195444107056, -0.03182506933808327, 0.047929320484399796, 1.3547416925430298, -1.2728562355041504, -1.5510153770446777, -1.3648035526275635, -0.7609035968780518, -0.05521048605442047, -1.5110721588134766, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5676697492599487, -1.2580512762069702, 1.4734716415405273, -2.156822919845581, -0.1057329848408699, -0.09551307559013367, 0.9829431176185608, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8709454536437988, 1.7091469764709473, -0.4468136727809906, -0.031154057011008263, 0.047929320484399796, 1.354742407798767, -1.272855281829834, -1.5510196685791016, -1.3648042678833008, -0.7609027624130249, -0.05520988628268242, -1.5110743045806885, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5711547136306763, -1.2623956203460693, 1.4550745487213135, -2.1782546043395996, -0.15663033723831177, -0.10457026958465576, 0.9582893252372742, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8709454536437988, 1.709242820739746, -0.4469095468521118, -0.030003754422068596, 0.047929320484399796, 1.354749083518982, -1.2728551626205444, -1.5510209798812866, -1.3648052215576172, -0.7609015703201294, -0.055208805948495865, -1.5110925436019897, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5779225826263428, -1.2667709589004517, 1.4409422874450684, -2.1905148029327393, -0.19433127343654633, -0.11031562834978104, 0.9558525681495667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8711371421813965, 1.7095303535461426, -0.4471971094608307, -0.029428601264953613, 0.04812103509902954, 1.35474693775177, -1.2728567123413086, -1.5510213375091553, -1.3648067712783813, -0.760900616645813, -0.055208805948495865, -1.5111088752746582, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6024360656738281, -1.2689878940582275, 1.439073920249939, -2.2165451049804688, -0.22825837135314941, -0.13671867549419403, 0.9441649317741394, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8715205788612366, 1.7104889154434204, -0.44738882780075073, -0.029428601264953613, 0.04946305602788925, 1.354744553565979, -1.272855520248413, -1.5510207414627075, -1.3648077249526978, -0.7608969211578369, -0.05520844832062721, -1.5111297369003296, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.628038763999939, -1.2694575786590576, 1.4341715574264526, -2.2307207584381104, -0.27349090576171875, -0.15957258641719818, 0.9246976375579834, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8716164231300354, 1.7115434408187866, -0.44748470187187195, -0.029428601264953613, 0.05070921778678894, 1.3547484874725342, -1.272855520248413, -1.5510191917419434, -1.3648089170455933, -0.7608891129493713, -0.055208805948495865, -1.511247992515564, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6526480913162231, -1.270133137702942, 1.4420795440673828, -2.2412502765655518, -0.29680514335632324, -0.1797596514225006, 0.9039002060890198, 0.4974000032131488, 0.4974000032131488, 0.4974000032131488, 0.4974000032131488, -0.4974000032131488, -0.4974000032131488, -0.4974000032131488, 0.4974000032131488, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8716164231300354, 1.7123103141784668, -0.44748470187187195, -0.029524460434913635, 0.051859524101018906, 1.3547483682632446, -1.2728561162948608, -1.551019549369812, -1.3648109436035156, -0.7608920931816101, -0.055208686739206314, -1.5113184452056885, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6824907064437866, -1.270338773727417, 1.4592275619506836, -2.2581870555877686, -0.3200903832912445, -0.2012760192155838, 0.884215772151947, 0.4595999950891012, 0.4595999950891012, 0.4595999950891012, 0.4595999950891012, -0.4595999950891012, -0.4595999950891012, -0.4595999950891012, 0.4595999950891012, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8718081712722778, 1.7125978469848633, -0.44748470187187195, -0.030387189239263535, 0.05291396751999855, 1.3547455072402954, -1.2728543281555176, -1.5510191917419434, -1.3648109436035156, -0.7608906626701355, -0.05520749092102051, -1.511322259902954, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7050063610076904, -1.2706100940704346, 1.4735511541366577, -2.265479326248169, -0.32441943883895874, -0.2243582308292389, 0.8647152781486511, 0.39240000902951416, 0.39240000902951416, 0.39240000902951416, 0.39240000902951416, -0.39240000902951416, -0.39240000902951416, -0.39240000902951416, 0.39240000902951416, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719998598098755, 1.712693691253662, -0.44710126519203186, -0.031154057011008263, 0.053105685859918594, 1.35474693775177, -1.272848129272461, -1.5510189533233643, -1.3648134469985962, -0.7608928084373474, -0.05520784854888916, -1.5113428831100464, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7128010988235474, -1.2710447311401367, 1.4751299619674683, -2.2657880783081055, -0.3228968381881714, -0.23227596282958984, 0.8602685332298279, 0.32459999414590684, 0.32459999414590684, 0.32459999414590684, 0.32459999414590684, -0.32459999414590684, -0.32459999414590684, -0.32459999414590684, 0.32459999414590684, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8721916079521179, 1.7128853797912598, -0.4464302361011505, -0.03144163265824318, 0.05291396751999855, 1.354748010635376, -1.272842526435852, -1.551019310951233, -1.3648128509521484, -0.7608931660652161, -0.05520749092102051, -1.5113502740859985, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7137587070465088, -1.2716237306594849, 1.4641252756118774, -2.2655296325683594, -0.3351057767868042, -0.23392093181610107, 0.8543979525566101, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8722874522209167, 1.7129813432693481, -0.44566336274147034, -0.03182506933808327, 0.052722252905368805, 1.354748249053955, -1.272842526435852, -1.5510187149047852, -1.3648124933242798, -0.7608943581581116, -0.05520724877715111, -1.5113524198532104, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.713848352432251, -1.2732740640640259, 1.4500457048416138, -2.2650649547576904, -0.35743993520736694, -0.23891523480415344, 0.8442556858062744, 0.2729999911654126, 0.2729999911654126, 0.2729999911654126, 0.2729999911654126, -0.2729999911654126, -0.2729999911654126, -0.2729999911654126, 0.2729999911654126, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8722874522209167, 1.7129813432693481, -0.44527995586395264, -0.03201678395271301, 0.05233881622552872, 1.3547487258911133, -1.272842526435852, -1.551018476486206, -1.3648126125335693, -0.7608951926231384, -0.055206649005413055, -1.5113533735275269, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.716713786125183, -1.2751517295837402, 1.4461357593536377, -2.2681407928466797, -0.38366609811782837, -0.2421068698167801, 0.8307057023048401, 0.26460000027667036, 0.26460000027667036, 0.26460000027667036, 0.26460000027667036, -0.26460000027667036, -0.26460000027667036, -0.26460000027667036, 0.26460000027667036, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8721916079521179, 1.7129813432693481, -0.4449923634529114, -0.03249607980251312, 0.052242957055568695, 1.354750394821167, -1.272841215133667, -1.5510179996490479, -1.3648121356964111, -0.7608968019485474, -0.055206771939992905, -1.511353611946106, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7241027355194092, -1.2752761840820312, 1.4376349449157715, -2.274137496948242, -0.4261704087257385, -0.252931147813797, 0.8054023385047913, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719040155410767, 1.712693691253662, -0.44480064511299133, -0.033071231096982956, 0.052242957055568695, 1.3547507524490356, -1.2728439569473267, -1.5510157346725464, -1.364814281463623, -0.7608983516693115, -0.0552062913775444, -1.5113539695739746, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7367981672286987, -1.275567650794983, 1.4328937530517578, -2.2858710289001465, -0.45612308382987976, -0.2584810256958008, 0.7846137881278992, 0.21299999729617616, 0.21299999729617616, 0.21299999729617616, 0.21299999729617616, -0.21299999729617616, -0.21299999729617616, -0.21299999729617616, 0.21299999729617616, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8714247345924377, 1.7121186256408691, -0.44441720843315125, -0.033454664051532745, 0.05262639373540878, 1.354751467704773, -1.27284574508667, -1.551012635231018, -1.3648154735565186, -0.7608973979949951, -0.05520617216825485, -1.5113533735275269, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7444627285003662, -1.2756189107894897, 1.4290766716003418, -2.2938084602355957, -0.4651132822036743, -0.2592553496360779, 0.7792501449584961, 0.21119998942364707, 0.21119998942364707, 0.21119998942364707, 0.21119998942364707, -0.21119998942364707, -0.21119998942364707, -0.21119998942364707, 0.21119998942364707, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8709454536437988, 1.711830973625183, -0.4443213641643524, -0.03364638239145279, 0.05300982668995857, 1.3547536134719849, -1.2728456258773804, -1.5510120391845703, -1.364815592765808, -0.7608964443206787, -0.0552062913775444, -1.511353850364685, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7517478466033936, -1.2756807804107666, 1.4246469736099243, -2.303142547607422, -0.4845215082168579, -0.2640414834022522, 0.7672280669212341, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, -0.2105999998993926, -0.2105999998993926, -0.2105999998993926, 0.2105999998993926, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8705620169639587, 1.7112557888031006, -0.4441296458244324, -0.03364638239145279, 0.053489118814468384, 1.354755163192749, -1.2728456258773804, -1.551010012626648, -1.3648180961608887, -0.7608960270881653, -0.05520617216825485, -1.5113548040390015, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.753758192062378, -1.2756904363632202, 1.4165760278701782, -2.309170961380005, -0.5076553821563721, -0.2643204629421234, 0.7599793672561646, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, -0.2105999998993926, -0.2105999998993926, -0.2105999998993926, 0.2105999998993926, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8702744245529175, 1.711064100265503, -0.44403377175331116, -0.03355052322149277, 0.05339326336979866, 1.3547604084014893, -1.2728455066680908, -1.5510083436965942, -1.3648194074630737, -0.7608936429023743, -0.055206771939992905, -1.5113571882247925, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7567071914672852, -1.2757817506790161, 1.4076474905014038, -2.311636447906494, -0.5353538990020752, -0.26707661151885986, 0.7452316880226135, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, -0.20100001031225856, -0.20100001031225856, -0.20100001031225856, 0.20100001031225856, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8699868321418762, 1.7108724117279053, -0.44403377175331116, -0.03335880488157272, 0.05291396751999855, 1.3547708988189697, -1.2728451490402222, -1.551004409790039, -1.3648207187652588, -0.7608891129493713, -0.0552058108150959, -1.5113669633865356, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7601433992385864, -1.2758703231811523, 1.3897444009780884, -2.3134360313415527, -0.5811176896095276, -0.2699612081050873, 0.726885199546814, 0.18960001285259542, 0.18960001285259542, 0.18960001285259542, 0.18960001285259542, -0.18960001285259542, -0.18960001285259542, -0.18960001285259542, 0.18960001285259542, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8699868321418762, 1.7108724117279053, -0.4441296458244324, -0.03316709026694298, 0.05291396751999855, 1.354782223701477, -1.272843837738037, -1.5510015487670898, -1.3648202419281006, -0.7608712315559387, -0.0552062913775444, -1.5113778114318848, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7667423486709595, -1.2760168313980103, 1.3847575187683105, -2.3171892166137695, -0.6044598817825317, -0.26901206374168396, 0.7077269554138184, 0.1782000153929323, 0.1782000153929323, 0.1782000153929323, 0.1782000153929323, -0.1782000153929323, -0.1782000153929323, -0.1782000153929323, 0.1782000153929323, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8699868321418762, 1.710968255996704, -0.4441296458244324, -0.03316709026694298, 0.05339326336979866, 1.354783535003662, -1.272843837738037, -1.550995111465454, -1.3648196458816528, -0.7608605623245239, -0.05520569160580635, -1.5113788843154907, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7710975408554077, -1.2760242223739624, 1.3874847888946533, -2.317821741104126, -0.5971919298171997, -0.2690475285053253, 0.6945381760597229, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, -0.16559999958499452, -0.16559999958499452, -0.16559999958499452, 0.16559999958499452, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8699868321418762, 1.710968255996704, -0.4442254900932312, -0.0332629457116127, 0.05377669632434845, 1.3547818660736084, -1.2728450298309326, -1.5509936809539795, -1.3648203611373901, -0.7608631253242493, -0.05520617216825485, -1.5113792419433594, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7752689123153687, -1.2760180234909058, 1.3895995616912842, -2.3220250606536865, -0.5922998189926147, -0.270870566368103, 0.6848273873329163, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, -0.16199998383993633, -0.16199998383993633, -0.16199998383993633, 0.16199998383993633, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8702744245529175, 1.711351752281189, -0.44441720843315125, -0.0332629457116127, 0.05416012927889824, 1.3547759056091309, -1.272844672203064, -1.5509964227676392, -1.364821434020996, -0.7608802318572998, -0.055206529796123505, -1.5113788843154907, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7773350477218628, -1.2759361267089844, 1.3879696130752563, -2.3267972469329834, -0.5940309166908264, -0.27119821310043335, 0.6799975037574768, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, -0.16559999958499452, -0.16559999958499452, -0.16559999958499452, 0.16559999958499452, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8707537055015564, 1.711926817893982, -0.44451308250427246, -0.03335880488157272, 0.05454356595873833, 1.3547717332839966, -1.2728447914123535, -1.5509978532791138, -1.3648229837417603, -0.7608949542045593, -0.055206649005413055, -1.5113781690597534, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7808220386505127, -1.275659203529358, 1.3873423337936401, -2.330852508544922, -0.5922787189483643, -0.27136754989624023, 0.6795531511306763, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, -0.1661999891092489, -0.1661999891092489, -0.1661999891092489, 0.1661999891092489, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8713288903236389, 1.7123103141784668, -0.4447048008441925, -0.033454664051532745, 0.05454356595873833, 1.3547683954238892, -1.2728445529937744, -1.5509980916976929, -1.3648223876953125, -0.7608991861343384, -0.05520736798644066, -1.5113774538040161, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7807153463363647, -1.2754031419754028, 1.3873393535614014, -2.330928087234497, -0.5857928395271301, -0.27164342999458313, 0.6815041899681091, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, -0.16559999958499452, -0.16559999958499452, -0.16559999958499452, 0.16559999958499452, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719040155410767, 1.7125020027160645, -0.4447048008441925, -0.03364638239145279, 0.054064273834228516, 1.3547674417495728, -1.2728444337844849, -1.551000714302063, -1.3648228645324707, -0.7609177231788635, -0.055207010358572006, -1.511375904083252, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7808277606964111, -1.275183081626892, 1.3906525373458862, -2.330095052719116, -0.5697313547134399, -0.27082741260528564, 0.6809358596801758, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, -0.1661999891092489, -0.1661999891092489, -0.1661999891092489, 0.1661999891092489, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8723832964897156, 1.712693691253662, -0.4449923634529114, -0.03374224156141281, 0.053489118814468384, 1.3547661304473877, -1.2728443145751953, -1.5510021448135376, -1.3648229837417603, -0.7609286308288574, -0.055206891149282455, -1.5113738775253296, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7815500497817993, -1.275107979774475, 1.4075415134429932, -2.3241517543792725, -0.5283145904541016, -0.2669416666030884, 0.6844562292098999, 0.16379999171246543, 0.16379999171246543, 0.16379999171246543, 0.16379999171246543, -0.16379999171246543, -0.16379999171246543, -0.16379999171246543, 0.16379999171246543, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8727667331695557, 1.713077187538147, -0.44527995586395264, -0.03402981534600258, 0.053489118814468384, 1.3547632694244385, -1.2728450298309326, -1.5510013103485107, -1.3648217916488647, -0.7609291076660156, -0.055206891149282455, -1.5113718509674072, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7811487913131714, -1.2747113704681396, 1.417481780052185, -2.3203155994415283, -0.5028620362281799, -0.2633490264415741, 0.696086585521698, 0.15959998644315282, 0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8731501698493958, 1.7132688760757446, -0.4455675184726715, -0.03422153368592262, 0.053584977984428406, 1.3547614812850952, -1.2728456258773804, -1.5510010719299316, -1.364821195602417, -0.7609272003173828, -0.055206891149282455, -1.5113701820373535, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7763084173202515, -1.2746634483337402, 1.4205673933029175, -2.312305212020874, -0.47009944915771484, -0.25096285343170166, 0.7128866314888, 0.16080000479142745, 0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.16080000479142745, -0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8737253546714783, 1.7135564088821411, -0.44575923681259155, -0.034317392855882645, 0.05416012927889824, 1.3547604084014893, -1.27284574508667, -1.5510014295578003, -1.3648207187652588, -0.7609243392944336, -0.055206529796123505, -1.5113698244094849, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7662039995193481, -1.2746673822402954, 1.4280543327331543, -2.2975728511810303, -0.43450137972831726, -0.23958730697631836, 0.7295479774475098, 0.16139999431568186, 0.16139999431568186, 0.16139999431568186, 0.16139999431568186, -0.16139999431568186, -0.16139999431568186, -0.16139999431568186, 0.16139999431568186, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8739170432090759, 1.7140357494354248, -0.4458550810813904, -0.034700825810432434, 0.05435184761881828, 1.3547604084014893, -1.27284574508667, -1.5510011911392212, -1.3648213148117065, -0.7609148621559143, -0.055206410586833954, -1.511366844177246, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7649554014205933, -1.274717092514038, 1.432833194732666, -2.292851209640503, -0.4163811206817627, -0.2383151799440384, 0.7301613092422485, 0.14520000206245173, 0.14520000206245173, 0.14520000206245173, 0.14520000206245173, -0.14520000206245173, -0.14520000206245173, -0.14520000206245173, 0.14520000206245173, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.7141315937042236, -0.4459509551525116, -0.03489254415035248, 0.05473528429865837, 1.3547601699829102, -1.2728455066680908, -1.5510014295578003, -1.3648194074630737, -0.7609026432037354, -0.0552058108150959, -1.511365532875061, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7662216424942017, -1.2748439311981201, 1.4352271556854248, -2.2928614616394043, -0.4068043828010559, -0.23764850199222565, 0.7299840450286865, 0.1283999809852013, 0.1283999809852013, 0.1283999809852013, 0.1283999809852013, -0.1283999809852013, -0.1283999809852013, -0.1283999809852013, 0.1283999809852013, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.7141315937042236, -0.4459509551525116, -0.03489254415035248, 0.05502285808324814, 1.3547608852386475, -1.2728456258773804, -1.5510013103485107, -1.3648186922073364, -0.7608911395072937, -0.05520593002438545, -1.5113646984100342, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7661207914352417, -1.2750293016433716, 1.4355943202972412, -2.292900800704956, -0.39923107624053955, -0.23763424158096313, 0.7303142547607422, 0.10200000962058269, 0.10200000962058269, 0.10200000962058269, 0.10200000962058269, -0.10200000962058269, -0.10200000962058269, -0.10200000962058269, 0.10200000962058269, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.874300479888916, 1.7141315937042236, -0.4459509551525116, -0.03508426249027252, 0.054926998913288116, 1.3547614812850952, -1.2728447914123535, -1.5510010719299316, -1.3648179769515991, -0.7608804702758789, -0.0552058108150959, -1.5113656520843506, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7660655975341797, -1.2750604152679443, 1.4377444982528687, -2.2934188842773438, -0.3921988606452942, -0.23707900941371918, 0.7369098663330078, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, -0.08160001209803991, -0.08160001209803991, -0.08160001209803991, 0.08160001209803991, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8741087913513184, 1.7141315937042236, -0.4459509551525116, -0.03527597710490227, 0.05473528429865837, 1.3547618389129639, -1.2728444337844849, -1.5510008335113525, -1.3648185729980469, -0.7608711123466492, -0.0552058108150959, -1.5113680362701416, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7659916877746582, -1.275059700012207, 1.4405994415283203, -2.2940540313720703, -0.3884534239768982, -0.23572227358818054, 0.743611216545105, 0.07080000416263123, 0.07080000416263123, 0.07080000416263123, 0.07080000416263123, -0.07080000416263123, -0.07080000416263123, -0.07080000416263123, 0.07080000416263123, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8737253546714783, 1.7141315937042236, -0.4459509551525116, -0.03546769544482231, 0.05425598844885826, 1.3547625541687012, -1.2728440761566162, -1.551000952720642, -1.3648182153701782, -0.7608585357666016, -0.05520617216825485, -1.511370301246643, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.766012191772461, -1.2750575542449951, 1.4414525032043457, -2.2942864894866943, -0.3864195942878723, -0.22947166860103607, 0.7451640963554382, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8731501698493958, 1.7141315937042236, -0.4459509551525116, -0.03575527295470238, 0.05416012927889824, 1.3547625541687012, -1.272843837738037, -1.5509999990463257, -1.3648185729980469, -0.7608535289764404, -0.0552053302526474, -1.5113734006881714, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7645078897476196, -1.275068998336792, 1.4425941705703735, -2.2924489974975586, -0.3818454444408417, -0.22623005509376526, 0.7468580007553101, 0.04980001711583399, 0.04980001711583399, 0.04980001711583399, 0.04980001711583399, -0.04980001711583399, -0.04980001711583399, -0.04980001711583399, 0.04980001711583399, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8726708889007568, 1.7140357494354248, -0.4459509551525116, -0.036042846739292145, 0.05416012927889824, 1.3547629117965698, -1.2728441953659058, -1.5509986877441406, -1.3648178577423096, -0.7608500123023987, -0.05520497262477875, -1.5113780498504639, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.764561414718628, -1.275200605392456, 1.4460850954055786, -2.2918179035186768, -0.3802127242088318, -0.2231142669916153, 0.7481423020362854, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8724792003631592, 1.7132688760757446, -0.44575923681259155, -0.036522142589092255, 0.05463942512869835, 1.3547629117965698, -1.272844910621643, -1.5509965419769287, -1.3648165464401245, -0.7608410716056824, -0.05520497262477875, -1.5113800764083862, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7647531032562256, -1.2752399444580078, 1.4481422901153564, -2.291808605194092, -0.37986794114112854, -0.2216157615184784, 0.7505356669425964, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8724792003631592, 1.7128853797912598, -0.4455675184726715, -0.037001434713602066, 0.05511871725320816, 1.3547629117965698, -1.2728441953659058, -1.5509958267211914, -1.3648158311843872, -0.7608392238616943, -0.055204734206199646, -1.5113813877105713, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7635159492492676, -1.2752835750579834, 1.4481377601623535, -2.289757490158081, -0.3754679262638092, -0.22148680686950684, 0.7525972127914429, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719998598098755, 1.712789535522461, -0.4449923634529114, -0.037384867668151855, 0.05521457642316818, 1.3547661304473877, -1.2728434801101685, -1.5509958267211914, -1.3648141622543335, -0.7608387470245361, -0.05520401522517204, -1.511385440826416, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.756395697593689, -1.2753701210021973, 1.447831153869629, -2.2859716415405273, -0.37273335456848145, -0.2182275801897049, 0.7633854150772095, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8718081712722778, 1.7125020027160645, -0.4447048008441925, -0.03776830434799194, 0.055310435593128204, 1.3547661304473877, -1.2728428840637207, -1.5509977340698242, -1.364810824394226, -0.7608430981636047, -0.05520377308130264, -1.511387825012207, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7480868101119995, -1.2753945589065552, 1.4471356868743896, -2.2854883670806885, -0.37389031052589417, -0.21555198729038239, 0.7691958546638489, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8716164231300354, 1.7121186256408691, -0.4441296458244324, -0.03776830434799194, 0.055406294763088226, 1.3547570705413818, -1.2728428840637207, -1.551006555557251, -1.3648111820220947, -0.760887086391449, -0.0552050918340683, -1.5113816261291504, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7420841455459595, -1.275394320487976, 1.4474308490753174, -2.29069185256958, -0.3790280818939209, -0.2122572809457779, 0.7760619521141052, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8716164231300354, 1.7117351293563843, -0.443266898393631, -0.03796001896262169, 0.05550215020775795, 1.354589581489563, -1.2728455066680908, -1.551033616065979, -1.364815354347229, -0.7611676454544067, -0.0552062913775444, -1.5113730430603027, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7362842559814453, -1.2753878831863403, 1.4495524168014526, -2.2957053184509277, -0.3836670517921448, -0.2077895551919937, 0.7858859300613403, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8715205788612366, 1.7112557888031006, -0.442595899105072, -0.038247596472501755, 0.05550215020775795, 1.3544421195983887, -1.272857427597046, -1.5511903762817383, -1.3648203611373901, -0.7613329887390137, -0.05520712956786156, -1.5113391876220703, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.726913332939148, -1.275382399559021, 1.4504934549331665, -2.2963311672210693, -0.3889079988002777, -0.20407721400260925, 0.7966433167457581, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8714247345924377, 1.7107765674591064, -0.4416373074054718, -0.03834345564246178, 0.055310435593128204, 1.3542684316635132, -1.2728631496429443, -1.5513657331466675, -1.3648320436477661, -0.761532187461853, -0.05520832911133766, -1.5111943483352661, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7165428400039673, -1.2753844261169434, 1.4504115581512451, -2.2965328693389893, -0.39223337173461914, -0.2000531405210495, 0.8063768148422241, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8714247345924377, 1.7103930711746216, -0.44106215238571167, -0.038726888597011566, 0.05454356595873833, 1.3542699813842773, -1.2728687524795532, -1.5513670444488525, -1.3648419380187988, -0.7615421414375305, -0.05521024391055107, -1.511069655418396, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.709187388420105, -1.275439977645874, 1.449332356452942, -2.296581268310547, -0.3956734538078308, -0.19487716257572174, 0.8121590614318848, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8714247345924377, 1.7102972269058228, -0.4402952790260315, -0.03882274776697159, 0.053584977984428406, 1.3542696237564087, -1.2728828191757202, -1.5513664484024048, -1.3648790121078491, -0.7615573406219482, -0.05521252378821373, -1.5109286308288574, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7072017192840576, -1.2758125066757202, 1.4491955041885376, -2.2966833114624023, -0.3971402049064636, -0.19447855651378632, 0.8134230375289917, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8716164231300354, 1.7102972269058228, -0.4394325613975525, -0.03901446610689163, 0.05291396751999855, 1.3542572259902954, -1.2731341123580933, -1.551365613937378, -1.3650485277175903, -0.7617467045783997, -0.05521456152200699, -1.5107930898666382, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7072668075561523, -1.2758902311325073, 1.4497826099395752, -2.2973413467407227, -0.39568817615509033, -0.19410189986228943, 0.8123680353164673, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8718081712722778, 1.7102972269058228, -0.4389532804489136, -0.0393020398914814, 0.05281810835003853, 1.354156255722046, -1.2733064889907837, -1.5513643026351929, -1.3650686740875244, -0.7618808150291443, -0.055216237902641296, -1.5107790231704712, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.70732581615448, -1.2759112119674683, 1.449918270111084, -2.297386407852173, -0.3953484296798706, -0.1940399408340454, 0.8122514486312866, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8718081712722778, 1.7102972269058228, -0.43885740637779236, -0.03939789906144142, 0.05281810835003853, 1.3541436195373535, -1.2733079195022583, -1.551362156867981, -1.3650773763656616, -0.7619132995605469, -0.0552174374461174, -1.5107795000076294, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073614597320557, -1.2759530544281006, 1.4499577283859253, -2.2974534034729004, -0.39532601833343506, -0.1940012276172638, 0.8122182488441467, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8719998598098755, 1.7102972269058228, -0.43876156210899353, -0.03939789906144142, 0.05281810835003853, 1.3541412353515625, -1.273306965827942, -1.5513606071472168, -1.3650832176208496, -0.7619324326515198, -0.05521899461746216, -1.5107829570770264, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073792219161987, -1.2759982347488403, 1.4499742984771729, -2.2975080013275146, -0.3953164219856262, -0.19391171634197235, 0.812201738357544, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.3541388511657715, -1.2733051776885986, -1.5513596534729004, -1.3650871515274048, -0.7619436979293823, -0.05521887540817261, -1.5107849836349487, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073839902877808, -1.2760155200958252, 1.4499813318252563, -2.2975447177886963, -0.395311176776886, -0.19387191534042358, 0.8121964335441589, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.3541369438171387, -1.2733025550842285, -1.5513585805892944, -1.3650901317596436, -0.7619501948356628, -0.05521947517991066, -1.5107872486114502, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073861360549927, -1.276035189628601, 1.4499841928482056, -2.2975735664367676, -0.39530566334724426, -0.19384267926216125, 0.8121958374977112, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.3541311025619507, -1.2732981443405151, -1.5513571500778198, -1.3650915622711182, -0.7619566321372986, -0.05521995201706886, -1.5107883214950562, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073858976364136, -1.2760505676269531, 1.449986457824707, -2.297591209411621, -0.39530062675476074, -0.19380708038806915, 0.8121961951255798, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.3541243076324463, -1.2732934951782227, -1.5513570308685303, -1.3650918006896973, -0.7619608640670776, -0.05522079020738602, -1.510789155960083, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.707385540008545, -1.2760651111602783, 1.4499876499176025, -2.2976067066192627, -0.39530014991760254, -0.19376838207244873, 0.8121965527534485, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.354116439819336, -1.2732890844345093, -1.5513566732406616, -1.3650914430618286, -0.7619638442993164, -0.05521983280777931, -1.510788917541504, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.707384705543518, -1.2760788202285767, 1.4499880075454712, -2.297619104385376, -0.395298570394516, -0.1937481313943863, 0.8121976256370544, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4385698437690735, -0.03939789906144142, 0.052722252905368805, 1.3541066646575928, -1.273284673690796, -1.5513566732406616, -1.365091323852539, -0.7619642019271851, -0.05521995201706886, -1.5107866525650024, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073841094970703, -1.2760896682739258, 1.449988603591919, -2.297631025314331, -0.39529940485954285, -0.19372667372226715, 0.8121994733810425, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.3541010618209839, -1.2732808589935303, -1.5513556003570557, -1.365090250968933, -0.7619646787643433, -0.05521995201706886, -1.510783076286316, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073838710784912, -1.2760999202728271, 1.4499887228012085, -2.297640800476074, -0.39530229568481445, -0.1937061846256256, 0.8122012615203857, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4386656880378723, -0.03939789906144142, 0.052722252905368805, 1.3540966510772705, -1.2732768058776855, -1.5513545274734497, -1.365089774131775, -0.7619643211364746, -0.055220313370227814, -1.5107789039611816, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073830366134644, -1.276108980178833, 1.449988842010498, -2.297649383544922, -0.39530444145202637, -0.1936798095703125, 0.8122022151947021, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8720957636833191, 1.7102972269058228, -0.4385698437690735, -0.03939789906144142, 0.052722252905368805, 1.3548364639282227, -1.2732388973236084, -1.551340103149414, -1.3654844760894775, -0.7619619369506836, -0.05380401760339737, -1.5120158195495605, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7073503732681274, -1.276113748550415, 1.4500411748886108, -2.303471803665161, -0.3948625922203064, -0.18801438808441162, 0.8193615674972534, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.710201382637024, -0.43876156210899353, -0.0410274975001812, 0.052722252905368805, 1.363281488418579, -1.2714412212371826, -1.5562740564346313, -1.3866430521011353, -0.7634085416793823, -0.03958461433649063, -1.5160911083221436, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6995184421539307, -1.2761132717132568, 1.4497061967849731, -2.335796594619751, -0.39748677611351013, -0.16376502811908722, 0.8518913388252258, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8698909878730774, 1.7099138498306274, -0.43876156210899353, -0.043423961848020554, 0.052722252905368805, 1.3734183311462402, -1.2695807218551636, -1.5695425271987915, -1.4039262533187866, -0.7701920866966248, -0.021282905712723732, -1.5205135345458984, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6834394931793213, -1.2761167287826538, 1.4408444166183472, -2.3518800735473633, -0.4050712287425995, -0.14627273380756378, 0.8720069527626038, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8690282702445984, 1.7097221612930298, -0.43751537799835205, -0.0453411340713501, 0.05253053456544876, 1.3783825635910034, -1.2672762870788574, -1.5773311853408813, -1.4086695909500122, -0.7694867253303528, -0.013434316031634808, -1.5206983089447021, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6594531536102295, -1.276324987411499, 1.429614543914795, -2.349684000015259, -0.40618276596069336, -0.1393377035856247, 0.8866851329803467, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8685489892959595, 1.7091469764709473, -0.4346396327018738, -0.04677901417016983, 0.051380228251218796, 1.3786643743515015, -1.2623307704925537, -1.5829286575317383, -1.413801670074463, -0.7663137912750244, -0.007817788980901241, -1.5207618474960327, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6304664611816406, -1.2766956090927124, 1.4111593961715698, -2.3482820987701416, -0.42210152745246887, -0.1077241599559784, 0.8998145461082458, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8685489892959595, 1.7081884145736694, -0.43051770329475403, -0.04773760214447975, 0.049175482243299484, 1.3785101175308228, -1.261165738105774, -1.5857127904891968, -1.414915919303894, -0.7648637890815735, -0.0006370813935063779, -1.5170162916183472, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.6060017347335815, -1.277485966682434, 1.403908371925354, -2.3482913970947266, -0.42891576886177063, -0.07622410356998444, 0.9178013205528259, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8686448335647583, 1.7068463563919067, -0.4252454936504364, -0.04840861260890961, 0.04649144038558006, 1.3770633935928345, -1.2611593008041382, -1.5883748531341553, -1.4141148328781128, -0.7526355981826782, 0.0012034558458253741, -1.5150549411773682, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5798864364624023, -1.2787197828292847, 1.406398892402649, -2.3484416007995605, -0.42896154522895813, -0.041863054037094116, 0.9606003165245056, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8691241145133972, 1.705504298210144, -0.4196856915950775, -0.04888790473341942, 0.04323224723339081, 1.3776040077209473, -1.2602404356002808, -1.5967717170715332, -1.4157217741012573, -0.7372403740882874, 0.007628678344190121, -1.5183392763137817, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5264790058135986, -1.2803653478622437, 1.4028830528259277, -2.3491568565368652, -0.44935667514801025, -0.005795331671833992, 1.033367395401001, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.869219958782196, 1.7034913301467896, -0.41422173380851746, -0.04907962307333946, 0.039206184446811676, 1.3789845705032349, -1.2566825151443481, -1.6050432920455933, -1.419743537902832, -0.7313037514686584, 0.012829232960939407, -1.5211776494979858, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.474717378616333, -1.281768798828125, 1.393758773803711, -2.34918212890625, -0.4598035514354706, 0.019012613222002983, 1.093921184539795, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8693158626556396, 1.70032799243927, -0.40894952416419983, -0.04898376390337944, 0.03489254415035248, 1.3789234161376953, -1.2549941539764404, -1.6094805002212524, -1.424299955368042, -0.7295265197753906, 0.016263432800769806, -1.52251398563385, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4376920461654663, -1.2827467918395996, 1.387798547744751, -2.349104881286621, -0.45685315132141113, 0.0397157222032547, 1.1301015615463257, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.869219958782196, 1.6964936256408691, -0.40377315878868103, -0.048792045563459396, 0.03009961172938347, 1.3782687187194824, -1.2534337043762207, -1.6113834381103516, -1.4295008182525635, -0.7326746582984924, 0.017414158210158348, -1.5204299688339233, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.427571415901184, -1.2829800844192505, 1.3865633010864258, -2.3482141494750977, -0.450284481048584, 0.04857338219881058, 1.1347439289093018, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8693158626556396, 1.6940971612930298, -0.3998429477214813, -0.04812103509902954, 0.02578597329556942, 1.377974510192871, -1.2525811195373535, -1.609247088432312, -1.4294579029083252, -0.73609459400177, 0.016000019386410713, -1.5191845893859863, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4283748865127563, -1.2834699153900146, 1.386651635169983, -2.348222255706787, -0.44980356097221375, 0.04803457111120224, 1.1313966512680054, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8693158626556396, 1.693138599395752, -0.39773404598236084, -0.04754588380455971, 0.02358122542500496, 1.3775421380996704, -1.2525808811187744, -1.6087168455123901, -1.429482102394104, -0.7361083626747131, 0.015950882807374, -1.5191013813018799, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.4287010431289673, -1.283526062965393, 1.3872658014297485, -2.348294734954834, -0.45029035210609436, 0.047897472977638245, 1.1319797039031982, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8693158626556396, 1.6930427551269531, -0.3962003290653229, -0.047354165464639664, 0.02271849662065506, 1.3785784244537354, -1.2505719661712646, -1.6161367893218994, -1.4446650743484497, -0.730299711227417, 0.02498614974319935, -1.5226045846939087, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3882620334625244, -1.2847687005996704, 1.3883684873580933, -2.348590135574341, -0.4509736895561218, 0.06479834765195847, 1.1901471614837646, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8693158626556396, 1.6933302879333496, -0.3941873013973236, -0.04668315500020981, 0.02195162884891033, 1.383150339126587, -1.248941421508789, -1.630102515220642, -1.4635701179504395, -0.7210016250610352, 0.03519395366311073, -1.5272260904312134, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.3174182176589966, -1.2881137132644653, 1.3771836757659912, -2.348797559738159, -0.4555535912513733, 0.11420175433158875, 1.2657309770584106, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8697951436042786, 1.694001317024231, -0.390640527009964, -0.04582042992115021, 0.019842738285660744, 1.3851791620254517, -1.2435743808746338, -1.636345624923706, -1.4724096059799194, -0.7097869515419006, 0.042805254459381104, -1.52898371219635, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.2517954111099243, -1.2908076047897339, 1.3513330221176147, -2.3490731716156006, -0.4926244020462036, 0.16355447471141815, 1.3373937606811523, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8704661726951599, 1.6942888498306274, -0.38651859760284424, -0.044861841946840286, 0.016391826793551445, 1.3853808641433716, -1.241827130317688, -1.6418029069900513, -1.4723533391952515, -0.7043827772140503, 0.04571346566081047, -1.5296592712402344, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1945874691009521, -1.2954518795013428, 1.3211580514907837, -2.349043130874634, -0.5328700542449951, 0.20321577787399292, 1.3877595663070679, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8707537055015564, 1.6939054727554321, -0.38268426060676575, -0.04419083148241043, 0.01179061271250248, 1.3835877180099487, -1.241829752922058, -1.642722249031067, -1.4709168672561646, -0.7030060291290283, 0.04876968264579773, -1.529780387878418, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1509761810302734, -1.3015663623809814, 1.3047255277633667, -2.3484582901000977, -0.5594510436058044, 0.2290155440568924, 1.429789423942566, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8706578612327576, 1.6923717260360718, -0.3789457678794861, -0.04332810267806053, 0.008147983811795712, 1.3826693296432495, -1.2418724298477173, -1.6426880359649658, -1.4734493494033813, -0.7037030458450317, 0.054803621023893356, -1.5275402069091797, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1212419271469116, -1.307620644569397, 1.2950098514556885, -2.3479151725769043, -0.579957127571106, 0.24681583046913147, 1.4576268196105957, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8706578612327576, 1.6904544830322266, -0.3758782744407654, -0.04294466972351074, 0.005751518066972494, 1.3826754093170166, -1.2418824434280396, -1.643678903579712, -1.4795929193496704, -0.7066099047660828, 0.058403320610523224, -1.5272397994995117, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1139382123947144, -1.3153045177459717, 1.2926522493362427, -2.3478586673736572, -0.5897051095962524, 0.254567950963974, 1.4613118171691895, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755425404474, 0.005797175138971249, -0.003912426529142325, 0.2670784890651703], [-0.005800742570914829, 0.9999827695627846, -0.0009010899892366934, 0.14114415645599365], [0.003907135339839075, 0.0009237629299879009, 0.9999919404452645, -0.008014864288270473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8709454536437988, 1.6894959211349487, -0.3729066550731659, -0.0427529513835907, 0.0038343456108123064, 1.383508563041687, -1.2418497800827026, -1.6446245908737183, -1.482857584953308, -0.7068233489990234, 0.06013180688023567, -1.5292092561721802, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.118188738822937, -1.3229057788848877, 1.2994208335876465, -2.3478660583496094, -0.5866129398345947, 0.2562685012817383, 1.4509565830230713, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757114763634, 0.005764906993936559, -0.003916925413139035, 0.2670353651046753], [-0.005768472377951456, 0.9999829576105175, -0.000899563753677664, 0.14115121960639954], [0.003911672757995501, 0.0009221365806543588, 0.9999919242075713, -0.00801373366266489], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8718081712722778, 1.6892083883285522, -0.37012675404548645, -0.0427529513835907, 0.003642628202214837, 1.384608268737793, -1.2412548065185547, -1.6442766189575195, -1.4827892780303955, -0.7054339051246643, 0.059941139072179794, -1.5308268070220947, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1352111101150513, -1.32860267162323, 1.3159135580062866, -2.348039150238037, -0.5780866742134094, 0.25134047865867615, 1.4371519088745117, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758252171265, 0.00574676818210534, -0.003914541708567218, 0.2669581472873688], [-0.00575020707783013, 0.9999830908736339, -0.0008678049180467787, 0.14115680754184723], [0.0039094884433954966, 0.0008902933644903728, 0.9999919616066102, -0.00801869947463274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8735336065292358, 1.6892083883285522, -0.3672510087490082, -0.04284881055355072, 0.0038343456108123064, 1.386669397354126, -1.2396408319473267, -1.6436063051223755, -1.4822050333023071, -0.7033966779708862, 0.06050990894436836, -1.5311126708984375, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1472883224487305, -1.3305798768997192, 1.314215064048767, -2.3487815856933594, -0.5941492319107056, 0.24617227911949158, 1.4331263303756714, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756240748293, 0.0057844758101926125, -0.003910383070358082, 0.266975462436676], [-0.005787823064682156, 0.9999828932093323, -0.0008452176436318323, 0.1411459743976593], [0.003905427035239531, 0.0008678296459961593, 0.9999919972236667, -0.008023208007216454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8750673532485962, 1.6892083883285522, -0.3647586703300476, -0.04284881055355072, 0.004984649363905191, 1.389731764793396, -1.238439679145813, -1.643618106842041, -1.4810816049575806, -0.697435736656189, 0.06279074400663376, -1.5303444862365723, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.156014084815979, -1.3344389200210571, 1.3132319450378418, -2.348837375640869, -0.6012575626373291, 0.2474336177110672, 1.4212690591812134, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754923161163, 0.005808588185261187, -0.003908333460039317, 0.26702404022216797], [-0.005811926068455449, 0.9999827550925431, -0.0008432276689867525, 0.14113999903202057], [0.0039033680989149265, 0.0008659219485502183, 0.999992006916387, -0.008024285547435284], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8766010999679565, 1.6886332035064697, -0.36284151673316956, -0.04284881055355072, 0.005655659828335047, 1.3898837566375732, -1.2380365133285522, -1.6439727544784546, -1.4795801639556885, -0.6905626654624939, 0.06304001808166504, -1.530440092086792, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.1584186553955078, -1.3378407955169678, 1.3259960412979126, -2.348850965499878, -0.6028509736061096, 0.25549083948135376, 1.3986018896102905, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975710617034, 0.005778093837770509, -0.0038976669380281284, 0.26700302958488464], [-0.005781323008092212, 0.9999829536653184, -0.0008177304334017923, 0.14114804565906525], [0.0038928755739148294, 0.0008402442427808348, 0.9999920697232446, -0.008030551485717297], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8777514100074768, 1.688153862953186, -0.36102020740509033, -0.04256123676896095, 0.006134952884167433, 1.3941534757614136, -1.23676335811615, -1.645281434059143, -1.4807337522506714, -0.6813173294067383, 0.060628075152635574, -1.530645728111267, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.145705223083496, -1.3409420251846313, 1.3356822729110718, -2.336550712585449, -0.6105607748031616, 0.2651241421699524, 1.3834575414657593, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758935738555, 0.005738487248123449, -0.003909224382449694, 0.26702943444252014], [-0.005741877493246948, 0.999983148421775, -0.0008565718457004815, 0.1411575973033905], [0.00390424307923556, 0.0008789974843121858, 0.9999919920926371, -0.008022096008062363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.878518283367157, 1.6878663301467896, -0.35948646068573, -0.0418902263045311, 0.006805963348597288, 1.4051885604858398, -1.231998085975647, -1.6452953815460205, -1.481683611869812, -0.6723052859306335, 0.05348571389913559, -1.5307482481002808, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.109131097793579, -1.34292471408844, 1.3394745588302612, -2.290250301361084, -0.625670850276947, 0.2600080668926239, 1.377229928970337, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756906890694, 0.005774237715053704, -0.00390847920917455, 0.26710203289985657], [-0.005777585609972624, 0.9999829518978062, -0.0008458240178932742, 0.14114664494991302], [0.0039035285880771532, 0.0008683850297300349, 0.9999920041540343, -0.008023728616535664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.878518283367157, 1.687291145324707, -0.35795271396636963, -0.04169850796461105, 0.009490004740655422, 1.4177004098892212, -1.2235069274902344, -1.6478947401046753, -1.4762181043624878, -0.6655821800231934, 0.04354168474674225, -1.5308061838150024, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0823904275894165, -1.3446168899536133, 1.346745491027832, -2.245405673980713, -0.6380720138549805, 0.2424655556678772, 1.361501693725586, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754766688551, 0.005812774762734414, -0.0039061119356479223, 0.26700758934020996], [-0.005815986365424316, 0.9999827578632124, -0.0008113438734254074, 0.14113947749137878], [0.0039013284267402745, 0.0008340418703304766, 0.9999920419736675, -0.008029590360820293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8780390024185181, 1.6863325834274292, -0.35670655965805054, -0.04160264879465103, 0.014570512808859348, 1.4385075569152832, -1.2162076234817505, -1.6558939218521118, -1.472549557685852, -0.6650740504264832, 0.029205916449427605, -1.530818223953247, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.057254433631897, -1.347926139831543, 1.3472813367843628, -2.1861560344696045, -0.6578387022018433, 0.21620704233646393, 1.339855670928955, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758602383583, 0.005747251784053348, -0.003904873555713701, 0.2669585347175598], [-0.005750505275380589, 0.9999831274727343, -0.0008224712317004693, 0.1411580741405487], [0.00390008072137444, 0.0008449063734228047, 0.9999920377200945, -0.008027798496186733], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8755466341972351, 1.6845113039016724, -0.3557479679584503, -0.04169850796461105, 0.022814355790615082, 1.4668023586273193, -1.2102960348129272, -1.6653623580932617, -1.4725483655929565, -0.6672297716140747, 0.01115503627806902, -1.5307390689849854, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0320109128952026, -1.34940505027771, 1.3589153289794922, -2.125831127166748, -0.6585529446601868, 0.18939629197120667, 1.3244913816452026, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757377099029, 0.005764334011408253, -0.003911066982353112, 0.2669944763183594], [-0.0057676435175472015, 0.9999830180203848, -0.0008354394634938883, 0.14115233719348907], [0.003906184812579454, 0.0008579768339467283, 0.9999920027660033, -0.00802452303469181], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8712330460548401, 1.682114839553833, -0.35536453127861023, -0.041794367134571075, 0.03393395617604256, 1.493629813194275, -1.2100834846496582, -1.6744343042373657, -1.4754252433776855, -0.6705299615859985, -0.003852209309116006, -1.5306288003921509, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0167644023895264, -1.349362850189209, 1.3808329105377197, -2.085536003112793, -0.668255627155304, 0.16397391259670258, 1.3022979497909546, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757377099029, 0.005764334011408253, -0.003911066982353112, 0.2669944763183594], [-0.0057676435175472015, 0.9999830180203848, -0.0008354394634938883, 0.14115233719348907], [0.003906184812579454, 0.0008579768339467283, 0.9999920027660033, -0.00802452303469181], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8661525249481201, 1.6779929399490356, -0.3556521236896515, -0.043040528893470764, 0.05022992566227913, 1.5149354934692383, -1.2124384641647339, -1.679561734199524, -1.4831557273864746, -0.6751987934112549, -0.0075608473271131516, -1.5296496152877808, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0075123310089111, -1.3481556177139282, 1.3865938186645508, -2.064931631088257, -0.7190111875534058, 0.1412549465894699, 1.2847058773040771, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756517374994, 0.005780726351543011, -0.003908853413977392, 0.2669275104999542], [-0.005784089530673333, 0.9999829110608385, -0.0008496438032589717, 0.14114923775196075], [0.003903875057496285, 0.0008722322740173412, 0.9999919994531934, -0.008024299517273903], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8604968786239624, 1.6735833883285522, -0.3573775589466095, -0.0444784089922905, 0.07045610249042511, 1.5326505899429321, -1.2181634902954102, -1.6802822351455688, -1.4914164543151855, -0.6727573275566101, -0.00752129964530468, -1.5298110246658325, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0053118467330933, -1.3465570211410522, 1.394569993019104, -2.0430121421813965, -0.7911456823348999, 0.12307678908109665, 1.2718870639801025, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754190222124, 0.005826693204983631, -0.0039001279011962836, 0.26704141497612], [-0.005830060667263687, 0.9999826415720233, -0.0008526120185995273, 0.1411348283290863], [0.00389509229245175, 0.0008753290428364988, 0.9999920309957975, -0.008024741895496845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8534033298492432, 1.6703242063522339, -0.3604450523853302, -0.0462038628757, 0.09346216917037964, 1.5486170053482056, -1.2196310758590698, -1.6788489818572998, -1.499814510345459, -0.6636420488357544, -0.006563759874552488, -1.5301518440246582, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0097736120224, -1.3432506322860718, 1.4126801490783691, -2.028010368347168, -0.830865204334259, 0.11110227555036545, 1.2536290884017944, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755290507071, 0.005799227385883623, -0.003912832923242761, 0.2671831250190735], [-0.0058025722665317565, 0.9999828087291401, -0.0008440386671207632, 0.14114193618297577], [0.003907870884519037, 0.0008667225084973197, 0.9999919886365306, -0.008023535832762718], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8453511595726013, 1.6675442457199097, -0.36504626274108887, -0.04812103509902954, 0.11675582081079483, 1.5659476518630981, -1.2194223403930664, -1.6785897016525269, -1.5064870119094849, -0.6562681198120117, -0.0025223197881132364, -1.5302603244781494, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0172234773635864, -1.3411755561828613, 1.4231488704681396, -2.017327070236206, -0.8697478175163269, 0.10380291938781738, 1.2382988929748535, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754125858421, 0.00581304575990471, -0.0039220814331169035, 0.26700320839881897], [-0.005816527470683285, 0.9999826993790837, -0.0008768983429856136, 0.14114198088645935], [0.0039169161284782665, 0.0008996896767208617, 0.9999919241306542, -0.008015615865588188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8365321755409241, 1.6640933752059937, -0.37146878242492676, -0.04936719685792923, 0.13889916241168976, 1.5888700485229492, -1.2158350944519043, -1.6825064420700073, -1.511502981185913, -0.6568902134895325, -0.0021798107773065567, -1.5302445888519287, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0172754526138306, -1.3401206731796265, 1.4308677911758423, -1.9966896772384644, -0.8748420476913452, 0.09891922771930695, 1.2324391603469849, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755014278099, 0.005803238777736386, -0.003913944798884188, 0.26695358753204346], [-0.00580663051552959, 0.9999827752000648, -0.0008557717176326981, 0.14114072918891907], [0.003908911134351415, 0.0008784775837527947, 0.9999919743132335, -0.008022463880479336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8266587257385254, 1.6595879793167114, -0.38009607791900635, -0.05013406649231911, 0.15778331458568573, 1.6067883968353271, -1.208235263824463, -1.6834979057312012, -1.5067216157913208, -0.679744303226471, -0.0056503224186599255, -1.5302578210830688, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.011778712272644, -1.3380531072616577, 1.435955286026001, -1.983799934387207, -0.8747348189353943, 0.09744780510663986, 1.2304472923278809, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758397481183, 0.005752719922280107, -0.003902067854527678, 0.26710939407348633], [-0.005756220884414375, 0.9999830398132644, -0.00088657033165635, 0.14115290343761444], [0.003896901483918789, 0.0009090100763704607, 0.999991993897704, -0.008020881563425064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8167853355407715, 1.655561923980713, -0.3910239636898041, -0.05080507695674896, 0.17436686158180237, 1.6170809268951416, -1.1972377300262451, -1.6835012435913086, -1.499391794204712, -0.6993651986122131, -0.010975992307066917, -1.530266523361206, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9926019906997681, -1.3375980854034424, 1.4341330528259277, -1.9624232053756714, -0.8732674717903137, 0.0969499796628952, 1.2204571962356567, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754331579248, 0.005814639920925476, -0.003914465890864605, 0.2670801281929016], [-0.005818138059569113, 0.9999826847725723, -0.0008828502466866403, 0.14114026725292206], [0.0039092646547088635, 0.0009056034608265783, 0.9999919487337041, -0.008019057102501392], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.807678759098053, 1.653740644454956, -0.40176013112068176, -0.050996795296669006, 0.18769121170043945, 1.6176658868789673, -1.1878470182418823, -1.6837737560272217, -1.4853947162628174, -0.6998146176338196, -0.015538266859948635, -1.53042733669281, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9666838645935059, -1.3374842405319214, 1.4325822591781616, -1.941335916519165, -0.8798516988754272, 0.09694387018680573, 1.2137863636016846, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756731637648, 0.00577090744985496, -0.003917870324647848, 0.26711323857307434], [-0.005774502413104517, 0.9999829161903826, -0.0009068898827133239, 0.14114736020565033], [0.003912569814916767, 0.0009294915725955733, 0.9999919138887373, -0.008011989295482635], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8007768988609314, 1.653740644454956, -0.4118252694606781, -0.051380228251218796, 0.19929011166095734, 1.6194010972976685, -1.175376534461975, -1.6814227104187012, -1.4868617057800293, -0.702781081199646, -0.01678486540913582, -1.5305607318878174, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.957624614238739, -1.3369086980819702, 1.4438111782073975, -1.9265673160552979, -0.8899557590484619, 0.09523575752973557, 1.208655595779419, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754433341551, 0.005820938722215476, -0.003902486521724791, 0.26685771346092224], [-0.005824493958419914, 0.9999826322386276, -0.0009002728664704476, 0.14113624393939972], [0.0038971783110811242, 0.0009229807679390976, 0.9999919800216968, -0.00801698025316], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7955046892166138, 1.6540281772613525, -0.42208215594291687, -0.05262639373540878, 0.21108071506023407, 1.6241340637207031, -1.1561791896820068, -1.6711617708206177, -1.4937727451324463, -0.7094044089317322, -0.024005120620131493, -1.530409812927246, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9616426229476929, -1.332651138305664, 1.4569662809371948, -1.9209787845611572, -0.9239341020584106, 0.08742360025644302, 1.2009304761886597, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757436017235, 0.005760270297236486, -0.003915545208902278, 0.26664304733276367], [-0.005763841960142704, 0.9999829825638106, -0.00090150354648487, 0.1411542147397995], [0.003910285672259869, 0.0009240502630277053, 0.9999919278659567, -0.008016279898583889], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7908076047897339, 1.6551785469055176, -0.43099701404571533, -0.05454356595873833, 0.22450092434883118, 1.621097207069397, -1.1424586772918701, -1.6566259860992432, -1.4922345876693726, -0.7158032655715942, -0.03184867650270462, -1.5304546356201172, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9709852933883667, -1.3293153047561646, 1.4679592847824097, -1.9226821660995483, -0.9268437623977661, 0.09638504683971405, 1.2017102241516113, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757001324875, 0.005776919660964522, -0.0039020947928390033, 0.266924113035202], [-0.00578048666814756, 0.9999828847137278, -0.0009034674818979306, 0.14115025103092194], [0.003896808748310344, 0.0009260015346856726, 0.9999919786691975, -0.008018353953957558], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7879318594932556, 1.6560412645339966, -0.43626922369003296, -0.05598144605755806, 0.23351164162158966, 1.620959997177124, -1.1422719955444336, -1.656425952911377, -1.4912505149841309, -0.7158011198043823, -0.03197091445326805, -1.530962347984314, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9716336727142334, -1.3291577100753784, 1.4684873819351196, -1.9228416681289673, -0.9239033460617065, 0.09779738634824753, 1.2035174369812012, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754096313527, 0.005823590250236209, -0.003907163831441127, 0.2669457793235779], [-0.005827202820646745, 0.9999826041362646, -0.0009138556460581672, 0.14113669097423553], [0.0039017739421210148, 0.000936601010110243, 0.9999919494369205, -0.008014659397304058], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7866857051849365, 1.6565206050872803, -0.4386656880378723, -0.05646073818206787, 0.2375377118587494, 1.6205344200134277, -1.143258810043335, -1.6580097675323486, -1.4912818670272827, -0.7149749994277954, -0.031225617974996567, -1.531122088432312, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9709696769714355, -1.3291490077972412, 1.4683207273483276, -1.9228447675704956, -0.9238985180854797, 0.09775568544864655, 1.2035130262374878, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755853194705, 0.005798250724765153, -0.00389987865389696, 0.2668575942516327], [-0.005801832509533497, 0.9999827572165397, -0.0009077494909479103, 0.1411435902118683], [0.003894548049990016, 0.0009303537712915031, 0.9999919834365406, -0.008017896674573421], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7865898609161377, 1.656616449356079, -0.43962427973747253, -0.05694003030657768, 0.23945488035678864, 1.616303563117981, -1.1498557329177856, -1.6716456413269043, -1.4923880100250244, -0.7047134041786194, -0.004047312308102846, -1.531180739402771, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9558179974555969, -1.329147219657898, 1.4629383087158203, -1.9034669399261475, -0.9220454096794128, 0.09130241721868515, 1.1969530582427979, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999762701290077, 0.005679207870738598, -0.0038994585314847344, 0.2669294774532318], [-0.005682648437224652, 0.9999834735931691, -0.0008718069044830533, 0.14117431640625], [0.0038944429148129187, 0.0008939454685476438, 0.9999920170560775, -0.008023508824408054], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7876442670822144, 1.6591087579727173, -0.43847396969795227, -0.05732346698641777, 0.24165962636470795, 1.620358943939209, -1.1586089134216309, -1.695500135421753, -1.4910171031951904, -0.6902011036872864, 0.011469023302197456, -1.5314387083053589, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.9002524018287659, -1.3296787738800049, 1.444196105003357, -1.8245733976364136, -0.9114737510681152, 0.07698594033718109, 1.1633453369140625, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975447050651, 0.005810478156329506, -0.00391709579222, 0.26725342869758606], [-0.005814049274798309, 0.9999826924507463, -0.0009009050928328713, 0.14113901555538177], [0.003911793307528814, 0.000923657160905831, 0.9999919223326598, -0.008013349957764149], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7909993529319763, 1.6616969108581543, -0.43406447768211365, -0.057035889476537704, 0.24309751391410828, 1.6304618120193481, -1.1588101387023926, -1.7085868120193481, -1.4872647523880005, -0.6874071359634399, 0.008327597752213478, -1.5313639640808105, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.8480430245399475, -1.3305585384368896, 1.4337812662124634, -1.7624599933624268, -0.8976627588272095, 0.06641501933336258, 1.1397360563278198, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753515364049, 0.005841698604422757, -0.003894981008751008, 0.2669603228569031], [-0.00584521629342497, 0.9999825184148942, -0.0008923626443125942, 0.14113420248031616], [0.0038897000046950983, 0.0009151076553993745, 0.9999920163740571, -0.008021892048418522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7951212525367737, 1.6631348133087158, -0.4282171130180359, -0.055406294763088226, 0.24520640075206757, 1.6403486728668213, -1.158408761024475, -1.717402458190918, -1.4903119802474976, -0.6914290189743042, 0.003978642635047436, -1.53104829788208, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.8002598285675049, -1.3311365842819214, 1.4293166399002075, -1.6966873407363892, -0.9001373052597046, 0.05295122042298317, 1.1176214218139648, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975810613679, 0.005763191508696136, -0.0038940738500538017, 0.26675066351890564], [-0.005766676762400901, 0.999982981510499, -0.0008843802864461678, 0.14115361869335175], [0.0038889107258415633, 0.0009068147590119426, 0.9999920269983953, -0.008022702299058437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7985721826553345, 1.6633265018463135, -0.4213152825832367, -0.05435184761881828, 0.247890442609787, 1.6446155309677124, -1.1579358577728271, -1.726785659790039, -1.48788321018219, -0.6900638937950134, 0.0023229022044688463, -1.5307537317276, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.7608205080032349, -1.331665277481079, 1.422518253326416, -1.6302013397216797, -0.9147896766662598, 0.041150111705064774, 1.091414213180542, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755464330897, 0.005799401575401376, -0.00390812963075672, 0.2669352889060974], [-0.005802949246302709, 0.9999827604013047, -0.0008970397045956064, 0.14114412665367126], [0.0039028599626942067, 0.000919696446670422, 0.9999919608889651, -0.00801737792789936], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8007768988609314, 1.6633265018463135, -0.41460517048835754, -0.05329740419983864, 0.25153306126594543, 1.6465072631835938, -1.1560643911361694, -1.7310009002685547, -1.4834784269332886, -0.6826506853103638, 0.0013841779436916113, -1.5310548543930054, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.7219396829605103, -1.3321071863174438, 1.417582392692566, -1.5627847909927368, -0.932083249092102, 0.029196567833423615, 1.0649824142456055, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756912913814, 0.005777278495779772, -0.0039038288264342047, 0.26703688502311707], [-0.005780844899171683, 0.9999828831553702, -0.0009029000637058417, 0.14114786684513092], [0.003898545700080835, 0.000925445544329813, 0.9999919724137634, -0.008017300628125668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.801735520362854, 1.661888599395752, -0.40856608748435974, -0.05253053456544876, 0.255750834941864, 1.6526910066604614, -1.1498252153396606, -1.731381893157959, -1.4846113920211792, -0.6804111003875732, 0.0014005963457748294, -1.5311568975448608, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.691013753414154, -1.3321913480758667, 1.413232684135437, -1.5180555582046509, -0.9601646065711975, 0.02443092130124569, 1.0435377359390259, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756836596517, 0.005775191903083503, -0.003908867853329117, 0.2669494152069092], [-0.005778786125047963, 0.9999828896779662, -0.0009088356426494551, 0.1411474198102951], [0.003903552271096697, 0.0009314020544081121, 0.9999919473525174, -0.00801458302885294], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8026940822601318, 1.6589170694351196, -0.40291041135787964, -0.05205123871564865, 0.26025620102882385, 1.656784176826477, -1.1429481506347656, -1.7335950136184692, -1.4824178218841553, -0.6835824847221375, 0.0019427627557888627, -1.5310838222503662, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6726842522621155, -1.3323160409927368, 1.4099370241165161, -1.49833083152771, -0.9769477844238281, 0.020319253206253052, 1.0320550203323364, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756051940951, 0.005797156051471775, -0.003896408399809345, 0.26667994260787964], [-0.005800726607523631, 0.9999827654947255, -0.0009056955038072175, 0.14114326238632202], [0.00389109078896754, 0.0009282754094197459, 0.9999919988266087, -0.008019646629691124], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8035567998886108, 1.6559454202651978, -0.39782992005348206, -0.05205123871564865, 0.2639946937561035, 1.658378005027771, -1.1371268033981323, -1.737792730331421, -1.469529151916504, -0.686860978603363, 0.002542812842875719, -1.531154751777649, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.651329517364502, -1.3327865600585938, 1.4095056056976318, -1.4666908979415894, -0.991841197013855, 0.020172566175460815, 1.0065687894821167, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754891955526, 0.0058199249792595265, -0.003892233465637132, 0.2668741047382355], [-0.0058234907090706205, 0.9999826334444046, -0.0009054090539399376, 0.14113721251487732], [0.003886896458178788, 0.0009280532470603432, 0.9999920153446696, -0.008020791225135326], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8038443922996521, 1.654124140739441, -0.39303699135780334, -0.05243467539548874, 0.266966313123703, 1.661428689956665, -1.131008267402649, -1.7379423379898071, -1.4591573476791382, -0.6882025003433228, 0.0023902535904198885, -1.5311816930770874, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6310381293296814, -1.3340237140655518, 1.4076400995254517, -1.4316074848175049, -1.0025980472564697, 0.017509911209344864, 0.9888015985488892, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755698914585, 0.005801090884766882, -0.003899610852308986, 0.2671281099319458], [-0.005804728163131448, 0.9999827273205358, -0.0009220583142937993, 0.14114195108413696], [0.003894194551498426, 0.0009446719692487506, 0.9999919713896035, -0.008015207946300507], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8038443922996521, 1.6527820825576782, -0.3885316252708435, -0.053584977984428406, 0.2694586217403412, 1.6648794412612915, -1.1252228021621704, -1.7367126941680908, -1.457595944404602, -0.6903547644615173, 0.0005578656564466655, -1.5312563180923462, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6202240586280823, -1.3339953422546387, 1.4063432216644287, -1.407706379890442, -1.01411771774292, 0.014720103703439236, 0.9750950336456299, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755322874538, 0.005804880586017254, -0.003903612148450521, 0.26698580384254456], [-0.005808481964154088, 0.9999827148636476, -0.0009118723599774689, 0.1411421298980713], [0.0038982513638229086, 0.0009345241093060137, 0.9999919651182171, -0.008016381412744522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8044195175170898, 1.6516317129135132, -0.38450556993484497, -0.05511871725320816, 0.2721426784992218, 1.665761113166809, -1.118421196937561, -1.7295533418655396, -1.4607019424438477, -0.6911522746086121, -0.00035653068334795535, -1.5312609672546387, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.619292140007019, -1.333954095840454, 1.4136674404144287, -1.3981834650039673, -1.0265179872512817, 0.017984965816140175, 0.9585036039352417, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756199484534, 0.005792099482981933, -0.0039001400341033632, 0.2669045627117157], [-0.005795703578602894, 0.9999827875877052, -0.0009134267083149767, 0.14114490151405334], [0.0038947822449201157, 0.0009360084944774491, 0.9999919772474992, -0.008017237298190594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8057615756988525, 1.6504814624786377, -0.3812463581562042, -0.05636487901210785, 0.27540186047554016, 1.6657326221466064, -1.1115913391113281, -1.722692847251892, -1.4593937397003174, -0.6864492297172546, 0.0010486196260899305, -1.531223177909851, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6208513379096985, -1.3334941864013672, 1.4208354949951172, -1.3982094526290894, -1.0352332592010498, 0.025919122621417046, 0.9357821941375732, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757131298403, 0.005779638640529784, -0.003894730754755173, 0.26692092418670654], [-0.005783340567227222, 0.9999828346278654, -0.0009399050498144889, 0.1411486715078354], [0.0038892315887080666, 0.0009624067768349846, 0.9999919737932127, -0.008014636114239693], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8071035742759705, 1.6499062776565552, -0.3777954578399658, -0.057035889476537704, 0.27885279059410095, 1.6652820110321045, -1.1078873872756958, -1.7179557085037231, -1.4538378715515137, -0.6825141906738281, 0.0013981994707137346, -1.531092882156372, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6217517852783203, -1.3333498239517212, 1.4265992641448975, -1.4000414609909058, -1.0369843244552612, 0.03606676310300827, 0.9224703907966614, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756178800203, 0.005794102731531114, -0.003897694062904708, 0.26697492599487305], [-0.005797798911663573, 0.9999827530032276, -0.0009376693798697881, 0.14114294946193695], [0.003892193886672608, 0.0009602445638983735, 0.9999919643462771, -0.008014773949980736], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8082538843154907, 1.649427056312561, -0.3747279942035675, -0.05722760781645775, 0.2808658182621002, 1.6646283864974976, -1.105676531791687, -1.7148025035858154, -1.453781008720398, -0.6810956001281738, 0.00046906256466172636, -1.5303205251693726, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.622840166091919, -1.333565592765808, 1.4267385005950928, -1.4036927223205566, -1.0380151271820068, 0.04452570900321007, 0.9125686287879944, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755639278473, 0.005804298606776161, -0.0038963655972314324, 0.26699694991111755], [-0.005808052492930001, 0.9999826791898587, -0.0009528097981528548, 0.1411406248807907], [0.00389076771643874, 0.000975416811144246, 0.9999919552119513, -0.008012184873223305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8095959424972534, 1.6489477157592773, -0.37223565578460693, -0.05722760781645775, 0.28105753660202026, 1.6589990854263306, -1.1041228771209717, -1.7085673809051514, -1.4470185041427612, -0.6750929355621338, -0.0038478949572890997, -1.5297695398330688, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6237190961837769, -1.3344080448150635, 1.420342206954956, -1.4061801433563232, -1.0467339754104614, 0.04803900420665741, 0.9073502421379089, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756851070513, 0.005783271034662332, -0.0038965331800329475, 0.26693639159202576], [-0.005786976935617987, 0.9999828130556435, -0.000940473959574971, 0.1411476731300354], [0.003891027194724735, 0.0009630002396930437, 0.9999919662366834, -0.00801361445337534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8112255334854126, 1.6488518714904785, -0.3694557547569275, -0.05732346698641777, 0.2803865075111389, 1.6481045484542847, -1.1010336875915527, -1.7020399570465088, -1.4270133972167969, -0.6548547148704529, -0.0032905086409300566, -1.5297958850860596, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6256150603294373, -1.3348848819732666, 1.4023215770721436, -1.4061298370361328, -1.0719094276428223, 0.05788128823041916, 0.8965785503387451, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754834487042, 0.00581224240034823, -0.0039051683459081893, 0.26702237129211426], [-0.005816068806887534, 0.9999826168557224, -0.0009691903915610441, 0.1411384642124176], [0.0038994672923155635, 0.0009918793581573753, 0.999991905132324, -0.008008001372218132], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8125675320625305, 1.6488518714904785, -0.36677172780036926, -0.05732346698641777, 0.27799004316329956, 1.6321966648101807, -1.0997412204742432, -1.6923342943191528, -1.402891993522644, -0.6197159886360168, -0.0052641904912889, -1.5295368432998657, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6325222849845886, -1.3400382995605469, 1.3993221521377563, -1.4019346237182617, -1.0723494291305542, 0.07275467365980148, 0.8784899711608887, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975667530364, 0.005785885494760619, -0.0038971625889061335, 0.2669885754585266], [-0.005789682856555053, 0.9999827751677756, -0.0009638154255444012, 0.14114996790885925], [0.003891518935244105, 0.000986355308965022, 0.9999919415593214, -0.008009846322238445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8138136863708496, 1.6488518714904785, -0.3643752634525299, -0.057131748646497726, 0.2759770154953003, 1.620232105255127, -1.09984290599823, -1.686135172843933, -1.3829901218414307, -0.5923455953598022, -0.008028831332921982, -1.529457688331604, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6412124633789062, -1.3453211784362793, 1.3960829973220825, -1.390781044960022, -1.0740609169006348, 0.08600994199514389, 0.8617865443229675, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756672384817, 0.005794591854569104, -0.0038842806531231068, 0.2669759690761566], [-0.005798483230673331, 0.9999826972938485, -0.0009913148555935744, 0.14114530384540558], [0.00387846917956882, 0.0010138136703959672, 0.9999919647970502, -0.00800982303917408], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8150598406791687, 1.6488518714904785, -0.3625539243221283, -0.05636487901210785, 0.2743474245071411, 1.6048702001571655, -1.1038559675216675, -1.685815691947937, -1.3626747131347656, -0.5677015781402588, -0.018416518345475197, -1.5291119813919067, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6463955640792847, -1.3501193523406982, 1.3882427215576172, -1.3888802528381348, -1.078403115272522, 0.09795138239860535, 0.8404663801193237, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755746886094, 0.005812901545247987, -0.003880747583984833, 0.2669967710971832], [-0.005816805154238199, 0.9999825868635384, -0.000995363000883412, 0.14113888144493103], [0.0038748940608716626, 0.0010179122413809891, 0.9999919744931386, -0.008010489866137505], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8167853355407715, 1.6488518714904785, -0.36015745997428894, -0.05454356595873833, 0.27358055114746094, 1.5872865915298462, -1.1150529384613037, -1.690169095993042, -1.340049386024475, -0.542310357093811, -0.0243641696870327, -1.529134750366211, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.647337019443512, -1.3565424680709839, 1.3779122829437256, -1.3789921998977661, -1.0880712270736694, 0.10155480355024338, 0.8295625448226929, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999759420698885, 0.005737616854297102, -0.0038980808447641175, 0.26698052883148193], [-0.0057414567325856005, 0.9999830427771457, -0.0009745936327723606, 0.14115780591964722], [0.0038924228992850435, 0.00099695084857719, 0.999991927533907, -0.008008715696632862], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8184149265289307, 1.6489477157592773, -0.3574734330177307, -0.05253053456544876, 0.2730053961277008, 1.5765557289123535, -1.12698495388031, -1.6973886489868164, -1.3218631744384766, -0.51036137342453, -0.02600996196269989, -1.5314481258392334, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6362365484237671, -1.3583195209503174, 1.3631799221038818, -1.3469487428665161, -1.0890041589736938, 0.09954384714365005, 0.8380767703056335, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757616829011, 0.005770503524376736, -0.0038958100283237322, 0.2670033276081085], [-0.005774497396867151, 0.9999828126316259, -0.0010147024963901464, 0.14114950597286224], [0.0038898877252700466, 0.0010371742465765223, 0.9999918964887, -0.008003580383956432], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8203321099281311, 1.6496187448501587, -0.3547893762588501, -0.05022992566227913, 0.2717592418193817, 1.5713317394256592, -1.1373010873794556, -1.6994214057922363, -1.3181262016296387, -0.4815256893634796, -0.024899743497371674, -1.5327619314193726, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6117430329322815, -1.3638609647750854, 1.3446420431137085, -1.2984745502471924, -1.0885789394378662, 0.09917712956666946, 0.8495855331420898, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758225638437, 0.0057611106684143, -0.003894084183811471, 0.2670038938522339], [-0.005765046424329182, 0.999982881740175, -0.0010002331430106646, 0.1411527842283249], [0.0038882550700355322, 0.0010226585360376271, 0.9999919177883534, -0.008005009964108467], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8222492337226868, 1.6504814624786377, -0.3519136309623718, -0.04812103509902954, 0.26936277747154236, 1.5702117681503296, -1.1482148170471191, -1.7023812532424927, -1.3209455013275146, -0.4602627754211426, -0.02449815347790718, -1.5274560451507568, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.5891819596290588, -1.3766369819641113, 1.3212239742279053, -1.2466226816177368, -1.0890218019485474, 0.09302490949630737, 0.8342036604881287, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8240705728530884, 1.6512483358383179, -0.3491337299346924, -0.046108003705739975, 0.26639115810394287, 1.569749116897583, -1.1591490507125854, -1.705042839050293, -1.3257375955581665, -0.4499998688697815, -0.02195797674357891, -1.5170108079910278, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.5663976669311523, -1.3944765329360962, 1.3014854192733765, -1.1927493810653687, -1.0845876932144165, 0.08739891648292542, 0.8106076717376709, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8252208828926086, 1.6518235206604004, -0.3461621105670929, -0.044861841946840286, 0.2639946937561035, 1.5645966529846191, -1.1667119264602661, -1.7059268951416016, -1.3195292949676514, -0.4246242046356201, -0.010903367772698402, -1.5048609972000122, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.5398869514465332, -1.411808729171753, 1.27406644821167, -1.1262015104293823, -1.0796680450439453, 0.07378292083740234, 0.8070168495178223, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8257001638412476, 1.6518235206604004, -0.34386149048805237, -0.0436156801879406, 0.2626526653766632, 1.561226725578308, -1.1732267141342163, -1.7121930122375488, -1.3138608932495117, -0.4059321880340576, -0.004221203736960888, -1.507642149925232, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.5304129123687744, -1.426271915435791, 1.2653132677078247, -1.0913411378860474, -1.0808087587356567, 0.06205851212143898, 0.808169960975647, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8256043195724487, 1.6515358686447144, -0.34204018115997314, -0.04284881055355072, 0.2620775103569031, 1.5612300634384155, -1.1792705059051514, -1.7205172777175903, -1.3148109912872314, -0.3989925980567932, -1.4740596270712558e-05, -1.5072156190872192, 0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.5328830480575562, -1.4350087642669678, 1.2745479345321655, -1.079921007156372, -1.0876303911209106, 0.058924756944179535, 0.8125602602958679, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8247416019439697, 1.6496187448501587, -0.34079402685165405, -0.04227365925908089, 0.26246094703674316, 1.5613139867782593, -1.1845747232437134, -1.7312437295913696, -1.3134609460830688, -0.39436763525009155, 0.0003546132065821439, -1.4933576583862305, 0.22019998948652664, -0.22019998948652664, 0.22019998948652664, 0.22019998948652664, -0.22019998948652664, -0.22019998948652664, 0.22019998948652664, 0.22019998948652664, -0.5516717433929443, -1.4375174045562744, 1.2960485219955444, -1.1075935363769531, -1.0989693403244019, 0.05748916417360306, 0.8282936811447144, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8228244185447693, 1.6478933095932007, -0.340602308511734, -0.0418902263045311, 0.26418641209602356, 1.5612246990203857, -1.187347173690796, -1.7453598976135254, -1.2976192235946655, -0.39342376589775085, 0.00033124396577477455, -1.4968841075897217, 0.41940000921815307, -0.41940000921815307, 0.41940000921815307, 0.41940000921815307, -0.41940000921815307, -0.41940000921815307, 0.41940000921815307, 0.41940000921815307, -0.5867326855659485, -1.4370555877685547, 1.3205987215042114, -1.1719082593917847, -1.1071224212646484, 0.05372360348701477, 0.8598681092262268, 0.14759999945923521, 0.14759999945923521, 0.14759999945923521, 0.14759999945923521, -0.14759999945923521, -0.14759999945923521, -0.14759999945923521, 0.14759999945923521, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8194693326950073, 1.6458802223205566, -0.34165674448013306, -0.0418902263045311, 0.26629528403282166, 1.5712413787841797, -1.1888786554336548, -1.7652010917663574, -1.2946648597717285, -0.38221505284309387, 0.0038016359321773052, -1.5130293369293213, 0.5496000006303682, -0.5496000006303682, 0.5496000006303682, 0.5496000006303682, -0.5496000006303682, -0.5496000006303682, 0.5496000006303682, 0.5496000006303682, -0.6342130303382874, -1.4344549179077148, 1.3520541191101074, -1.248586654663086, -1.1018248796463013, 0.0465497262775898, 0.9060602784156799, 0.2405999870090694, 0.2405999870090694, 0.2405999870090694, 0.2405999870090694, -0.2405999870090694, -0.2405999870090694, -0.2405999870090694, 0.2405999870090694, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8142929673194885, 1.6430045366287231, -0.345874547958374, -0.04236951842904091, 0.2690751850605011, 1.5928831100463867, -1.188772201538086, -1.7918219566345215, -1.302244782447815, -0.3613404333591461, 0.018137285485863686, -1.5302045345306396, 0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.6946904063224792, -1.4263057708740234, 1.3966656923294067, -1.3408632278442383, -1.0713945627212524, 0.04420764744281769, 0.9711422920227051, 0.527999999496963, 0.527999999496963, 0.527999999496963, 0.527999999496963, -0.527999999496963, -0.527999999496963, -0.527999999496963, 0.527999999496963, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8078704476356506, 1.6388825178146362, -0.35325565934181213, -0.0444784089922905, 0.272909551858902, 1.6007304191589355, -1.185631513595581, -1.8112351894378662, -1.2973546981811523, -0.3163776695728302, 0.03327528014779091, -1.5364773273468018, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.7456789016723633, -1.410767674446106, 1.44749915599823, -1.4228426218032837, -1.0306745767593384, 0.046783655881881714, 1.030250072479248, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, -0.5855999996537691, -0.5855999996537691, -0.5855999996537691, 0.5855999996537691, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8020230531692505, 1.635910987854004, -0.3621704876422882, -0.04812103509902954, 0.279044508934021, 1.5946489572525024, -1.1792128086090088, -1.824263334274292, -1.2599220275878906, -0.2802062928676605, 0.03624221310019493, -1.5362786054611206, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.7843096852302551, -1.3927885293960571, 1.4805283546447754, -1.4863698482513428, -1.0195392370224, 0.05157674849033356, 1.06895112991333, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.796271562576294, 1.6348564624786377, -0.371756374835968, -0.05195538327097893, 0.28623390197753906, 1.5898927450180054, -1.1721537113189697, -1.8362210988998413, -1.238317608833313, -0.2896636426448822, 0.042298801243305206, -1.5361171960830688, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.81319659948349, -1.3795496225357056, 1.5004966259002686, -1.5285836458206177, -1.0124857425689697, 0.05695071443915367, 1.0884177684783936, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7912868857383728, 1.6347606182098389, -0.3821091055870056, -0.05550215020775795, 0.29351913928985596, 1.5921595096588135, -1.169084906578064, -1.842560052871704, -1.2452620267868042, -0.36255791783332825, 0.07106921076774597, -1.5359288454055786, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.8493685722351074, -1.3677974939346313, 1.5199741125106812, -1.5813870429992676, -0.9930505156517029, 0.06903213262557983, 1.1009724140167236, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7868773937225342, 1.6347606182098389, -0.3932287096977234, -0.05885720252990723, 0.29994168877601624, 1.592987298965454, -1.1723613739013672, -1.851535677909851, -1.2653006315231323, -0.3866654932498932, 0.07862754166126251, -1.5153717994689941, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.8834216594696045, -1.3561991453170776, 1.5416839122772217, -1.6340190172195435, -0.9489474892616272, 0.08812623471021652, 1.120678186416626, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7817010283470154, 1.6347606182098389, -0.4040607213973999, -0.06154124438762665, 0.3041594624519348, 1.6047815084457397, -1.1898871660232544, -1.85139799118042, -1.3152490854263306, -0.4732111394405365, 0.11154880374670029, -1.4695909023284912, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9198775291442871, -1.3458067178726196, 1.5639350414276123, -1.6904280185699463, -0.8755020499229431, 0.10624901950359344, 1.1565173864364624, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756959301468, 0.005783850470295614, -0.0038928938793425117, 0.26697564125061035], [-0.005787794184886323, 0.9999827480146509, -0.0010025525126251475, 0.14114807546138763], [0.0038870281053726965, 0.0010250594150760875, 0.9999919201002094, -0.008005977608263493], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7749909162521362, 1.63466477394104, -0.41546791791915894, -0.0622122548520565, 0.3055014908313751, 1.614622712135315, -1.2057795524597168, -1.836700439453125, -1.3568415641784668, -0.5190910696983337, 0.1405966430902481, -1.419182300567627, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9476628303527832, -1.3367849588394165, 1.5583412647247314, -1.7124491930007935, -0.8157563805580139, 0.10116315633058548, 1.1652363538742065, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758571632829, 0.005756934059966029, -0.003891375179411554, 0.26717671751976013], [-0.005760740298626759, 0.9999829386441633, -0.0009676217211792804, 0.14115522801876068], [0.0038857382528311047, 0.0009900155618591741, 0.9999919604213915, -0.008011126890778542], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7664595246315002, 1.6338979005813599, -0.4283129572868347, -0.061828821897506714, 0.30166712403297424, 1.6113022565841675, -1.2116711139678955, -1.834466814994812, -1.3395490646362305, -0.5324286818504333, 0.15129821002483368, -1.405322790145874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9515084624290466, -1.3351068496704102, 1.5509421825408936, -1.7104806900024414, -0.8095834255218506, 0.09622673690319061, 1.1583925485610962, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754113306584, 0.00582281214663389, -0.003907888532904668, 0.26733213663101196], [-0.005826689750661799, 0.9999825429217748, -0.0009815998422446142, 0.14113688468933105], [0.0039021046411042985, 0.001004345760072072, 0.9999918824015344, -0.008004365488886833], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7622417211532593, 1.6323641538619995, -0.43626922369003296, -0.060582660138607025, 0.29744935035705566, 1.6065049171447754, -1.2116647958755493, -1.8344676494598389, -1.338954210281372, -0.5293861031532288, 0.15167546272277832, -1.40840744972229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9497281312942505, -1.3350908756256104, 1.5526336431503296, -1.7089489698410034, -0.8157157301902771, 0.09636934846639633, 1.1579746007919312, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99997586240677, 0.00576722952329823, -0.0038747474062355925, 0.26670747995376587], [-0.0057708976892703, 0.9999829100143501, -0.0009361725760574283, 0.1411506086587906], [0.0038692820647384823, 0.0009585107499577454, 0.9999920549251607, -0.008019714616239071], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7605162858963013, 1.6317890882492065, -0.4391449987888336, -0.060103368014097214, 0.2966824769973755, 1.6037402153015137, -1.2112135887145996, -1.8345181941986084, -1.3413596153259277, -0.5286635756492615, 0.1510484516620636, -1.4092247486114502, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9481170177459717, -1.3350456953048706, 1.5532647371292114, -1.7089924812316895, -0.8166478872299194, 0.09646258503198624, 1.1576824188232422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754544285702, 0.005827400424802145, -0.0038899800338305915, 0.26665744185447693], [-0.005831064999457305, 0.9999825654550373, -0.0009313790497424496, 0.14113420248031616], [0.003884484695128666, 0.0009540389149353132, 0.9999920002622031, -0.008016503416001797], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7594618201255798, 1.6317890882492065, -0.4403911530971527, -0.059719931334257126, 0.29649075865745544, 1.6043435335159302, -1.2108014822006226, -1.8349334001541138, -1.341277837753296, -0.5285438895225525, 0.15095174312591553, -1.4093103408813477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9480946660041809, -1.33504319190979, 1.5532135963439941, -1.7090293169021606, -0.8166834712028503, 0.09648846834897995, 1.1576569080352783, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756104071148, 0.005797224280689424, -0.0038949687492304797, 0.26693010330200195], [-0.005800883662398711, 0.9999827433205488, -0.0009288755808940849, 0.14114367961883545], [0.003889516634932003, 0.0009514471865797905, 0.9999919831721641, -0.008015249855816364], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7590783834457397, 1.6316931247711182, -0.4411580264568329, -0.05952821299433708, 0.2962031960487366, 1.6050807237625122, -1.2107114791870117, -1.83501398563385, -1.3408324718475342, -0.5284202098846436, 0.15091842412948608, -1.4093996286392212, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9481582641601562, -1.3350439071655273, 1.5529189109802246, -1.7090367078781128, -0.8166983127593994, 0.09650392830371857, 1.1576563119888306, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755990595377, 0.005804514625025537, -0.0038870162704207913, 0.26691824197769165], [-0.00580812278647779, 0.9999827116959183, -0.0009176159191743588, 0.1411418467760086], [0.0038816227554785343, 0.0009401697962545887, 0.9999920245109649, -0.008019030094146729], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7587908506393433, 1.6316931247711182, -0.4412538707256317, -0.05943235754966736, 0.29601147770881653, 1.6050835847854614, -1.2106953859329224, -1.835018515586853, -1.3407596349716187, -0.5283405184745789, 0.15090595185756683, -1.4094617366790771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9483851790428162, -1.3350448608398438, 1.5527844429016113, -1.709041953086853, -0.8167116045951843, 0.09650740772485733, 1.1576558351516724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756932110508, 0.005790045126721357, -0.0038843744038088907, 0.26693272590637207], [-0.005793600077196804, 0.9999828078321451, -0.0009045652461756644, 0.14114508032798767], [0.0038790701493967086, 0.0009270477709449031, 0.9999920466669755, -0.008021782152354717], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7586949467658997, 1.6315014362335205, -0.44134974479675293, -0.05943235754966736, 0.29601147770881653, 1.605086088180542, -1.210687518119812, -1.8350218534469604, -1.3407446146011353, -0.5283101797103882, 0.1509006917476654, -1.4094860553741455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9484760165214539, -1.3350452184677124, 1.5527759790420532, -1.709041714668274, -0.8167212009429932, 0.09650656580924988, 1.1576563119888306, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756650346948, 0.005789325656832086, -0.003892691467220929, 0.26693299412727356], [-0.005792878649815414, 0.9999828142570473, -0.000902079544331907, 0.14114534854888916], [0.003887402136175475, 0.0009246074815482759, 0.9999920165709508, -0.008020127192139626], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7586949467658997, 1.6314055919647217, -0.44144558906555176, -0.05943235754966736, 0.29601147770881653, 1.6050896644592285, -1.2106802463531494, -1.8350263833999634, -1.3407422304153442, -0.5282918214797974, 0.15089841187000275, -1.4095402956008911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9484795331954956, -1.3350461721420288, 1.5527750253677368, -1.7090426683425903, -0.8167298436164856, 0.09650560468435287, 1.1576564311981201, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757274382843, 0.005780546192255856, -0.0038897069289754644, 0.26693275570869446], [-0.0057840436201766965, 0.9999828775554234, -0.0008885017586178804, 0.1411474198102951], [0.0038845043022265623, 0.0009109784269510074, 0.9999920403406377, -0.00802269671112299], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7585991024971008, 1.631213903427124, -0.441733181476593, -0.059336498379707336, 0.2958197593688965, 1.6126089096069336, -1.211990475654602, -1.833702564239502, -1.375537633895874, -0.5166084170341492, 0.1505187451839447, -1.3821264505386353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9487470388412476, -1.3343716859817505, 1.5475355386734009, -1.7033311128616333, -0.7944213151931763, 0.09679598361253738, 1.1587488651275635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753700220316, 0.005838856519213, -0.0038944966104756938, 0.26695516705513], [-0.005842367218919287, 0.9999825365604671, -0.0008906847778059327, 0.1411312073469162], [0.0038892280185481693, 0.000913415919590714, 0.9999920197565466, -0.008020993322134018], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7577363848686218, 1.6292966604232788, -0.4441296458244324, -0.05473528429865837, 0.29275229573249817, 1.6447571516036987, -1.222521185874939, -1.819321632385254, -1.4812020063400269, -0.5202344655990601, 0.17555978894233704, -1.2801002264022827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9554561376571655, -1.3269675970077515, 1.5535948276519775, -1.7123751640319824, -0.7143962979316711, 0.09298152476549149, 1.1915806531906128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975626594799, 0.005798185111137735, -0.003889378582258363, 0.2668757438659668], [-0.005801581949511419, 0.9999827985933027, -0.0008626496329077501, 0.1411437690258026], [0.0038843098772179158, 0.0008851931557763472, 0.9999920642534393, -0.008026567287743092], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7552440762519836, 1.6261333227157593, -0.4494977295398712, -0.04649144038558006, 0.2859463095664978, 1.6540343761444092, -1.2401762008666992, -1.8160678148269653, -1.5223079919815063, -0.534667432308197, 0.13371266424655914, -1.189091444015503, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9654382467269897, -1.3146376609802246, 1.576941967010498, -1.7287086248397827, -0.6393368244171143, 0.10376708954572678, 1.231644868850708, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755838903077, 0.005814185846017519, -0.003876450204256603, 0.2668377161026001], [-0.005817556817046328, 0.9999827090169363, -0.0008588945393283084, 0.14113952219486237], [0.0038713894041479896, 0.0008814250377767356, 0.9999921176859267, -0.00803122203797102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7494925260543823, 1.622011423110962, -0.4580291509628296, -0.03748072683811188, 0.27444326877593994, 1.6520721912384033, -1.2537389993667603, -1.8018065690994263, -1.5602540969848633, -0.5239098072052002, 0.0989188700914383, -1.036760926246643, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9743524789810181, -1.302024006843567, 1.5844773054122925, -1.7298343181610107, -0.5763515830039978, 0.12064531445503235, 1.2558561563491821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758323170017, 0.005762277580639452, -0.003889850768774856, 0.26739785075187683], [-0.005765536616727976, 0.9999830370716493, -0.0008271375228121999, 0.1411474496126175], [0.003885018589511164, 0.0008495446098557315, 0.9999920924209926, -0.008031168021261692], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7417280077934265, 1.6175061464309692, -0.47087419033050537, -0.027223853394389153, 0.2591058909893036, 1.6444634199142456, -1.2627111673355103, -1.7836880683898926, -1.608133316040039, -0.493634432554245, 0.058548569679260254, -0.9415348768234253, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9920530915260315, -1.2925759553909302, 1.5965943336486816, -1.7355873584747314, -0.5097211003303528, 0.13302454352378845, 1.2828515768051147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757069434333, 0.005785074299035842, -0.0038882436054681335, 0.26752611994743347], [-0.005788337371580563, 0.9999829042343603, -0.0008284862623885787, 0.1411418467760086], [0.003883384278383056, 0.0008509726016962822, 0.9999920975548645, -0.008031308650970459], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7346344590187073, 1.6153013706207275, -0.48582813143730164, -0.018117282539606094, 0.2406051754951477, 1.6341898441314697, -1.2707734107971191, -1.7593928575515747, -1.6546475887298584, -0.45867007970809937, 0.0387815497815609, -0.8842869400978088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015484094619751, -1.2803601026535034, 1.620028018951416, -1.7264496088027954, -0.4137033522129059, 0.141549751162529, 1.3287017345428467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753288436025, 0.005844530326981481, -0.0038965586593748564, 0.2671235501766205], [-0.005847711075897402, 0.99998257764788, -0.000805404168414799, 0.1411326676607132], [0.0038917835630700587, 0.0008281702473929072, 0.9999920840460386, -0.008031894452869892], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7274450659751892, 1.6153972148895264, -0.5026992559432983, -0.010161015205085278, 0.22210446000099182, 1.6198997497558594, -1.2816818952560425, -1.7266216278076172, -1.6818665266036987, -0.43407461047172546, -0.012697046622633934, -0.7816176414489746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0468581914901733, -1.267174243927002, 1.6380250453948975, -1.7183802127838135, -0.33792170882225037, 0.15478597581386566, 1.3504101037979126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999758095749909, 0.005769201579691346, -0.003885431504270609, 0.26704728603363037], [-0.005772294659865873, 0.9999830317930309, -0.0007853281975306885, 0.1411525160074234], [0.0038808348587869097, 0.0008077370556311944, 0.9999921433099601, -0.008039391599595547], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7208307981491089, 1.6159723997116089, -0.5210082530975342, -0.003546769730746746, 0.2056167721748352, 1.6064083576202393, -1.293197512626648, -1.6937978267669678, -1.720158338546753, -0.3976805508136749, -0.02467767708003521, -0.6749663949012756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0785844326019287, -1.2551867961883545, 1.6477466821670532, -1.729953408241272, -0.29070326685905457, 0.17279814183712006, 1.3641263246536255, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975690658583, 0.005785338359868056, -0.0038920369925756694, 0.26699692010879517], [-0.005788364076968892, 0.9999829534394855, -0.0007665975190842721, 0.14114686846733093], [0.003887535620697813, 0.0007891074107175104, 0.9999921321571946, -0.008040542714297771], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.713545560836792, 1.6172184944152832, -0.5397965312004089, 0.0021088900975883007, 0.19325101375579834, 1.601738452911377, -1.302018642425537, -1.6641559600830078, -1.7579584121704102, -0.3510795533657074, -0.07138331979513168, -0.5646613240242004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0905628204345703, -1.2482446432113647, 1.6456902027130127, -1.7299383878707886, -0.23741397261619568, 0.19253100454807281, 1.3780543804168701, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999760829325832, 0.005718622636086153, -0.0038898480630197916, 0.2671336829662323], [-0.005721602290951971, 0.9999833462471158, -0.0007553116210999674, 0.1411614865064621], [0.0038854639403176714, 0.0007775497198498341, 0.9999921492623838, -0.008041474968194962], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7056851387023926, 1.6182730197906494, -0.558872401714325, 0.008147983811795712, 0.18328171968460083, 1.5933407545089722, -1.311004400253296, -1.648998498916626, -1.7725956439971924, -0.3503014147281647, -0.07909828424453735, -0.456417053937912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0865947008132935, -1.241957187652588, 1.6263453960418701, -1.7055997848510742, -0.18937160074710846, 0.201127290725708, 1.3912429809570312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755670368032, 0.005805056767685491, -0.003894437744751049, 0.26714807748794556], [-0.005807933414933126, 0.9999828689957879, -0.0007277529805217274, 0.14114218950271606], [0.003890146381756859, 0.0007503538344700545, 0.999992151834329, -0.008044215850532055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6967703104019165, 1.6187522411346436, -0.5777565836906433, 0.014282937161624432, 0.17436686158180237, 1.5912929773330688, -1.3212004899978638, -1.6443769931793213, -1.7731521129608154, -0.3627382814884186, -0.12636490166187286, -0.34046080708503723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.086039423942566, -1.2377264499664307, 1.6038480997085571, -1.695341944694519, -0.13430637121200562, 0.21000029146671295, 1.4086612462997437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755900792354, 0.005802200438478027, -0.003892777383394089, 0.2670779526233673], [-0.005805023460718651, 0.9999828956011626, -0.0007142882714552627, 0.14113855361938477], [0.003888566356055301, 0.000736868499773111, 0.9999921680075843, -0.008046744391322136], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.687663733959198, 1.61903977394104, -0.5973117351531982, 0.01926758699119091, 0.1676567643880844, 1.5924625396728516, -1.3284047842025757, -1.6353740692138672, -1.7679027318954468, -0.3692608177661896, -0.15762898325920105, -0.27818429470062256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0858913660049438, -1.2360862493515015, 1.584584355354309, -1.6934072971343994, -0.10218217223882675, 0.21502910554409027, 1.4128693342208862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755196467855, 0.005814956235251047, -0.0038918364718011, 0.26692134141921997], [-0.005817660425842383, 0.9999828434226221, -0.0006838768728112685, 0.1411362737417221], [0.003887792987121832, 0.0007065015142897142, 0.9999921929301746, -0.008051556535065174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6791322827339172, 1.6198066473007202, -0.6150456070899963, 0.022910214960575104, 0.16516444087028503, 1.5967936515808105, -1.3315284252166748, -1.6224589347839355, -1.7658289670944214, -0.3578677773475647, -0.19190579652786255, -0.2543198764324188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0845811367034912, -1.231916904449463, 1.567023754119873, -1.6837893724441528, -0.0842837318778038, 0.21653085947036743, 1.4086328744888306, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756658282768, 0.005786926371110631, -0.0038960537046913227, 0.26710832118988037], [-0.005789556333801497, 0.999983019864907, -0.0006640928540788621, 0.14114241302013397], [0.0038921444927229524, 0.0006866331163321373, 0.9999921898426064, -0.008053353987634182], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6713677644729614, 1.6215322017669678, -0.631725013256073, 0.024348093196749687, 0.16650645434856415, 1.6036361455917358, -1.3369501829147339, -1.6112027168273926, -1.7683217525482178, -0.3679580092430115, -0.2036602795124054, -0.2164750099182129, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0842502117156982, -1.2313711643218994, 1.5473647117614746, -1.6702474355697632, -0.06153504177927971, 0.2164982557296753, 1.4076865911483765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975651698355, 0.0057822878520878964, -0.003906553166898282, 0.2670683264732361], [-0.005784796977653103, 0.9999830686535526, -0.0006312924455296202, 0.14114315807819366], [0.0039028367090542973, 0.0006538756915836447, 0.9999921701254477, -0.008054114878177643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6660955548286438, 1.622874140739441, -0.6460079550743103, 0.024252235889434814, 0.17120352387428284, 1.6046103239059448, -1.3377100229263306, -1.6110730171203613, -1.768622636795044, -0.3726334273815155, -0.19660839438438416, -0.21954452991485596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0800669193267822, -1.2310304641723633, 1.5313999652862549, -1.6630181074142456, -0.059274815022945404, 0.21199877560138702, 1.426754355430603, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999753868737641, 0.005827820836867974, -0.003906680299085649, 0.26683858036994934], [-0.005830374760283005, 0.9999827967094852, -0.000642662610648279, 0.14113344252109528], [0.0039028677687761026, 0.0006654242029245998, 0.9999921623861907, -0.008052965626120567], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6637949347496033, 1.623161792755127, -0.6547310948371887, 0.02406051754951477, 0.17388756573200226, 1.604529619216919, -1.3376634120941162, -1.612060546875, -1.7688863277435303, -0.37249091267585754, -0.1964011937379837, -0.22218956053256989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779144763946533, -1.2312411069869995, 1.5317960977554321, -1.6636384725570679, -0.060930315405130386, 0.21192999184131622, 1.4248539209365845, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757790121812, 0.005774965244991942, -0.003884734920247412, 0.26666826009750366], [-0.005777402086332029, 0.9999831207220347, -0.0006163571639499894, 0.1411464959383011], [0.003881109907526559, 0.0006387859108037136, 0.9999922644393034, -0.008062416687607765], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6625487804412842, 1.6233534812927246, -0.6583737134933472, 0.023677082732319832, 0.17513373494148254, 1.6044869422912598, -1.3373644351959229, -1.612571120262146, -1.768995761871338, -0.37210237979888916, -0.19641652703285217, -0.22229419648647308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0777937173843384, -1.2312893867492676, 1.5335804224014282, -1.6644283533096313, -0.06109725683927536, 0.21197852492332458, 1.4240105152130127, 0.5490000012811723, 0.5490000012811723, 0.5490000012811723, 0.5490000012811723, -0.5490000012811723, -0.5490000012811723, -0.5490000012811723, 0.5490000012811723, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755919698751, 0.00579864928314746, -0.0038975801452851592, 0.26700377464294434], [-0.005801048151825994, 0.9999829910936192, -0.0006044533057598822, 0.14113996922969818], [0.003894008838981216, 0.0006270486023437861, 0.9999922217223554, -0.008060765452682972], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6613984704017639, 1.62373685836792, -0.6599074602127075, 0.023485366255044937, 0.17590060830116272, 1.604353666305542, -1.3371946811676025, -1.6125885248184204, -1.7690123319625854, -0.3718518018722534, -0.19642731547355652, -0.2223319411277771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779345035552979, -1.2313345670700073, 1.5338417291641235, -1.6645582914352417, -0.06154462695121765, 0.21201388537883759, 1.423887014389038, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, -0.10139998079656244, -0.10139998079656244, -0.10139998079656244, 0.10139998079656244, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755914716473, 0.005807478919540331, -0.0038845398090860844, 0.26708319783210754], [-0.005809854873175875, 0.9999829422640947, -0.0006006389905893477, 0.14113709330558777], [0.003880985349355805, 0.0006231929424153805, 0.9999922747617976, -0.008064883761107922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6613026261329651, 1.6238328218460083, -0.6605784296989441, 0.023389507085084915, 0.1761881709098816, 1.604191541671753, -1.3371390104293823, -1.61258864402771, -1.7690118551254272, -0.37180471420288086, -0.19642503559589386, -0.2223454862833023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0780411958694458, -1.2313624620437622, 1.533769130706787, -1.664538860321045, -0.061568476259708405, 0.21200932562351227, 1.4238147735595703, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755367584086, 0.0058078038881832295, -0.0038981147660114845, 0.2669132947921753], [-0.005810060550641899, 0.9999829602336845, -0.0005678368384939337, 0.14113666117191315], [0.003894750458048342, 0.0005904712301880472, 0.9999922411011977, -0.008065782487392426], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6612067222595215, 1.6238328218460083, -0.6609618663787842, 0.023293649777770042, 0.17637988924980164, 1.6041827201843262, -1.3371392488479614, -1.6125884056091309, -1.7690112590789795, -0.37180134654045105, -0.19642144441604614, -0.22234955430030823, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.078177571296692, -1.231354832649231, 1.5335010290145874, -1.6644805669784546, -0.061566319316625595, 0.21199722588062286, 1.4238311052322388, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756584459487, 0.005787391181947355, -0.0038972578691336417, 0.26698464155197144], [-0.005789570591387202, 0.9999830900498723, -0.0005481666500794477, 0.1411428153514862], [0.003894019511860532, 0.0005707167563974942, 0.9999922554172234, -0.00806889683008194], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6612067222595215, 1.62373685836792, -0.6612494587898254, 0.023293649777770042, 0.17647574841976166, 1.6043100357055664, -1.3371394872665405, -1.6125881671905518, -1.7690073251724243, -0.37180158495903015, -0.19641868770122528, -0.22235135734081268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0786913633346558, -1.2313511371612549, 1.5333331823349, -1.6644258499145508, -0.061557330191135406, 0.21198032796382904, 1.4238979816436768, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975442566911, 0.005824033169110516, -0.0038980637187734915, 0.2667486071586609], [-0.005826150089088302, 0.9999828863639076, -0.0005319346272014442, 0.14113262295722961], [0.003894899003816924, 0.000554632268534833, 0.9999922610424526, -0.008070600219070911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6614943146705627, 1.623641014099121, -0.6613453030586243, 0.023293649777770042, 0.17647574841976166, 1.6061713695526123, -1.337139368057251, -1.6125940084457397, -1.7690050601959229, -0.3718019425868988, -0.19641916453838348, -0.22235387563705444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0802087783813477, -1.2313508987426758, 1.5330708026885986, -1.6644190549850464, -0.061517901718616486, 0.2119709849357605, 1.4242995977401733, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999752764156998, 0.00585106604968606, -0.0039002029981679083, 0.2631824314594269], [-0.005853146613181055, 0.9999827338161323, -0.0005222493071451409, 0.14112553000450134], [0.0038970799413553113, 0.0005450648552398151, 0.9999922578061463, -0.008072661235928535], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6612067222595215, 1.62373685836792, -0.6613453030586243, 0.023293649777770042, 0.17647574841976166, 1.607749104499817, -1.3371391296386719, -1.6126374006271362, -1.7689881324768066, -0.37180253863334656, -0.19641844928264618, -0.22235698997974396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0804165601730347, -1.2313507795333862, 1.532997727394104, -1.6644214391708374, -0.06148159131407738, 0.21196702122688293, 1.4244076013565063, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999742919480714, 0.006017606979504784, -0.003899211355320253, 0.25324565172195435], [-0.0060195559280445425, 0.9999817630940986, -0.0004882884876227847, 0.14108143746852875], [0.003896201917558546, 0.0005117474555056056, 0.9999922788327715, -0.008076893165707588], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6603440046310425, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6073975563049316, -1.3371394872665405, -1.612741470336914, -1.7689802646636963, -0.37180230021476746, -0.19641616940498352, -0.2223636955022812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.079445719718933, -1.2313487529754639, 1.5330066680908203, -1.6644213199615479, -0.06146097928285599, 0.21196965873241425, 1.424389123916626, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999737173434932, 0.006091399919139127, -0.003931853158592823, 0.23698821663856506], [-0.006093329730847035, 0.9999813207607336, -0.00047902234803712235, 0.14106547832489014], [0.0039288617978748145, 0.0005029678358058683, 0.9999921555033966, -0.00807163305580616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6603440046310425, 1.624024510383606, -0.6612494587898254, 0.02319779060781002, 0.17647574841976166, 1.6056840419769287, -1.3371442556381226, -1.61273992061615, -1.7689725160598755, -0.37180614471435547, -0.19640694558620453, -0.22236716747283936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0787527561187744, -1.2313146591186523, 1.533308744430542, -1.6644076108932495, -0.061466850340366364, 0.21197481453418732, 1.4241876602172852, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999741353486272, 0.006049121852330625, -0.003890598743255398, 0.22155612707138062], [-0.006051308686617679, 0.9999815391053719, -0.0005505557473252058, 0.14107270538806915], [0.0038871965405198874, 0.0005740847213639453, 0.9999922800350951, -0.008069784380495548], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6603440046310425, 1.624024510383606, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6055949926376343, -1.3371421098709106, -1.6127381324768066, -1.7689752578735352, -0.37180888652801514, -0.19640442728996277, -0.2223689705133438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0786032676696777, -1.2313059568405151, 1.5333998203277588, -1.6644032001495361, -0.061476677656173706, 0.21197673678398132, 1.424039602279663, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999710338228945, 0.00652377260708404, -0.003920702251205205, 0.20577871799468994], [-0.006525789879138882, 0.9999785808292171, -0.00050194545338512, 0.14096198976039886], [0.0039173436950150535, 0.0005275165930142519, 0.9999921880417962, -0.008069194853305817], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6606315970420837, 1.624024510383606, -0.6612494587898254, 0.02319779060781002, 0.17647574841976166, 1.6053770780563354, -1.337144136428833, -1.612735629081726, -1.7689752578735352, -0.3718138039112091, -0.19640035927295685, -0.22237196564674377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0786303281784058, -1.231250286102295, 1.533559799194336, -1.6643648147583008, -0.06152137741446495, 0.21197852492332458, 1.4239591360092163, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999661408522653, 0.007247470376549009, -0.0038976046706439243, 0.19014352560043335], [-0.007249645769493485, 0.999973572839068, -0.0005442974243418544, 0.1408115178346634], [0.003893556888559094, 0.0005725352481066437, 0.9999922561790893, -0.008068559691309929], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6608232855796814, 1.624024510383606, -0.6612494587898254, 0.023293649777770042, 0.17647574841976166, 1.605377435684204, -1.3371431827545166, -1.6127337217330933, -1.7689937353134155, -0.3718218505382538, -0.1964002400636673, -0.22237880527973175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0786947011947632, -1.2312488555908203, 1.5335637331008911, -1.6643600463867188, -0.061543069779872894, 0.2119792401790619, 1.423957347869873, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999653483267584, 0.007333586652343951, -0.003939625941282825, 0.17350174486637115], [-0.00733583994985231, 0.9999729367830473, -0.0005578115432354976, 0.14078661799430847], [0.003935428563043268, 0.0005866926794997081, 0.9999920840655315, -0.0080603351816535], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6608232855796814, 1.624024510383606, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6053454875946045, -1.3371447324752808, -1.6127268075942993, -1.7689918279647827, -0.37182915210723877, -0.19639351963996887, -0.22239114344120026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0786923170089722, -1.2312496900558472, 1.533562421798706, -1.6643325090408325, -0.06158561259508133, 0.21197961270809174, 1.4239541292190552, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999642590166824, 0.0074997628567373435, -0.0039031072634407803, 0.15708044171333313], [-0.007501994026423308, 0.9999717043436964, -0.0005573128299971513, 0.14075225591659546], [0.0038988171083971426, 0.0005865739984634139, 0.9999922275478443, -0.008064625784754753], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6607274413108826, 1.624024510383606, -0.6611536145210266, 0.02319779060781002, 0.17647574841976166, 1.6047667264938354, -1.3371468782424927, -1.6127153635025024, -1.7690092325210571, -0.3718363344669342, -0.19639112055301666, -0.22244291007518768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0783840417861938, -1.2312487363815308, 1.5335633754730225, -1.6643229722976685, -0.06161557510495186, 0.21197864413261414, 1.4239503145217896, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999612901152134, 0.007862936254433777, -0.003948734553838362, 0.14160668849945068], [-0.00786546613412099, 0.999968871073645, -0.0006255607028753395, 0.14069588482379913], [0.003943692890041253, 0.0006565951253984532, 0.9999920080526795, -0.008049177005887032], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6606315970420837, 1.624024510383606, -0.661057710647583, 0.023293649777770042, 0.17657160758972168, 1.6029938459396362, -1.337153673171997, -1.612621545791626, -1.7690366506576538, -0.3718411326408386, -0.19637122750282288, -0.22246555984020233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0775030851364136, -1.231244683265686, 1.5335701704025269, -1.6642084121704102, -0.0617060549557209, 0.21197445690631866, 1.4238219261169434, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999631613581501, 0.00762880162461123, -0.003934121552094861, 0.12825119495391846], [-0.007630857715698611, 0.9999707556041836, -0.000507884751612598, 0.14071904122829437], [0.003930131949068784, 0.0005378867636284315, 0.9999921323393962, -0.008068428374826908], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6606315970420837, 1.6241203546524048, -0.661057710647583, 0.023293649777770042, 0.17647574841976166, 1.6025149822235107, -1.3371554613113403, -1.6126017570495605, -1.7691658735275269, -0.3718431890010834, -0.1963646411895752, -0.22248809039592743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0772334337234497, -1.2312389612197876, 1.5336161851882935, -1.6641950607299805, -0.06174164637923241, 0.21196702122688293, 1.423741340637207, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999648426104198, 0.007397037462419407, -0.003949351832618685, 0.12011188268661499], [-0.007398899170755075, 0.9999725233465092, -0.00045699351862347245, 0.1407453864812851], [0.003945862919469527, 0.00048619830792368505, 0.9999920968572832, -0.008073261938989162], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6607274413108826, 1.624024510383606, -0.661057710647583, 0.023293649777770042, 0.17647574841976166, 1.6025296449661255, -1.3371626138687134, -1.6125922203063965, -1.7691808938980103, -0.37184256315231323, -0.1963624805212021, -0.22251972556114197, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.077236533164978, -1.2312301397323608, 1.5337034463882446, -1.6641902923583984, -0.06175507232546806, 0.21196067333221436, 1.4237253665924072, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999628188333194, 0.0076631924126378355, -0.0039542929796462095, 0.11499250680208206], [-0.007664856625293422, 0.9999705421836141, -0.0004058791968881678, 0.1407119184732437], [0.003951066164427639, 0.0004361731945694887, 0.9999920993833444, -0.008080022409558296], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.624024510383606, -0.661057710647583, 0.023293649777770042, 0.17647574841976166, 1.6028308868408203, -1.3371672630310059, -1.61258864402771, -1.7691819667816162, -0.3718416094779968, -0.19636176526546478, -0.22252991795539856, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0772626399993896, -1.2312215566635132, 1.5337109565734863, -1.6641886234283447, -0.06175878643989563, 0.21194905042648315, 1.4237233400344849, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640789769177, 0.007504309722227387, -0.003940316159597846, 0.11254411935806274], [-0.007505820862572836, 0.999971762899212, -0.00036885962245002287, 0.14072977006435394], [0.003937436859642423, 0.00039842167987085307, 0.9999921688949076, -0.008086844347417355], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6611108779907227, 1.624024510383606, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6033620834350586, -1.3371721506118774, -1.6125884056091309, -1.7691806554794312, -0.3718410134315491, -0.19636057317256927, -0.22253160178661346, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0774614810943604, -1.231217384338379, 1.5337104797363281, -1.6641892194747925, -0.06175914406776428, 0.21194137632846832, 1.4237250089645386, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999641481644002, 0.0074956072611816965, -0.0039393219761396404, 0.11242825537919998], [-0.00749707756262033, 0.9999718322192979, -0.00035860284498123686, 0.14072971045970917], [0.00393652306809338, 0.0003881233908102466, 0.9999921765425807, -0.008088135160505772], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6613026261329651, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6038792133331299, -1.3371732234954834, -1.612588882446289, -1.7691789865493774, -0.37183886766433716, -0.19636081159114838, -0.22253111004829407, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.077817440032959, -1.231217384338379, 1.5337069034576416, -1.6641921997070312, -0.0617511160671711, 0.21194401383399963, 1.4237315654754639, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638742671737, 0.007538379065037047, -0.0039272129628693, 0.11339656263589859], [-0.007539725746925017, 0.9999715219988251, -0.00032821793727766174, 0.14072521030902863], [0.003924626892466786, 0.0003578161888539542, 0.9999922346055142, -0.008094074204564095], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6613026261329651, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6040805578231812, -1.3371758460998535, -1.61259126663208, -1.7691746950149536, -0.3718370497226715, -0.19636081159114838, -0.22252848744392395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0781002044677734, -1.2311999797821045, 1.5336461067199707, -1.6642131805419922, -0.061766814440488815, 0.21191789209842682, 1.423828363418579, 0.32640000201843594, 0.32640000201843594, 0.32640000201843594, 0.32640000201843594, -0.32640000201843594, -0.32640000201843594, -0.32640000201843594, 0.32640000201843594, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635989181977, 0.007573519177036211, -0.003929713200839111, 0.1142248660326004], [-0.007574951698432953, 0.9999712484670191, -0.0003497800415623164, 0.14072129130363464], [0.003926951149707894, 0.0003795346968754613, 0.999992217473757, -0.008090686053037643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6612067222595215, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6042112112045288, -1.3371833562850952, -1.6125961542129517, -1.7691677808761597, -0.3718351423740387, -0.19636236131191254, -0.22251684963703156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0781549215316772, -1.2311686277389526, 1.5334081649780273, -1.6642603874206543, -0.06174907833337784, 0.21191741526126862, 1.4239795207977295, 0.5555999990347977, 0.5555999990347977, 0.5555999990347977, 0.5555999990347977, -0.5555999990347977, -0.5555999990347977, -0.5555999990347977, 0.5555999990347977, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637798182778, 0.007546891592018828, -0.003934905188338041, 0.11433566361665726], [-0.007548389562209587, 0.9999714435307548, -0.00036597545755775714, 0.14072437584400177], [0.00393203084423552, 0.0003956643991121137, 0.9999921912610734, -0.008087310008704662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6611108779907227, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.604210615158081, -1.3371820449829102, -1.6126010417938232, -1.769163966178894, -0.37183383107185364, -0.19636259973049164, -0.2225150614976883, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.078132152557373, -1.2311720848083496, 1.5334103107452393, -1.6642636060714722, -0.061748240143060684, 0.21192064881324768, 1.423972487449646, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638220728964, 0.0075384878992621595, -0.003940272269478103, 0.11404242366552353], [-0.007539796290470749, 0.999971524988705, -0.00031730688911511123, 0.14072492718696594], [0.003937768056036778, 0.00034700425985046313, 0.9999921867548669, -0.008093956857919693], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6611108779907227, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6042026281356812, -1.3371813297271729, -1.6126080751419067, -1.7691614627838135, -0.37183454632759094, -0.1963629573583603, -0.22251373529434204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.078087329864502, -1.231175422668457, 1.5334190130233765, -1.6642667055130005, -0.06174476444721222, 0.21192196011543274, 1.423957347869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638593789035, 0.007535260143123132, -0.0039369773461208875, 0.11387112736701965], [-0.007536524713105142, 0.9999715530322347, -0.00030646622885794245, 0.14072538912296295], [0.003934556048293703, 0.0003361262800420616, 0.9999922031135177, -0.0080958167091012], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6610150337219238, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.604189395904541, -1.3371812105178833, -1.6126161813735962, -1.7691590785980225, -0.37183621525764465, -0.19636283814907074, -0.22251133620738983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779554843902588, -1.231177568435669, 1.5334360599517822, -1.6642680168151855, -0.06173373758792877, 0.2119240015745163, 1.4239373207092285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638799856687, 0.0075373701932562615, -0.003927693289563861, 0.11386958509683609], [-0.007538567586742463, 0.9999715425028058, -0.00029014358404360686, 0.14072494208812714], [0.003925394597640959, 0.0003197422853765651, 0.9999922444909879, -0.008099203929305077], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6610150337219238, 1.6239286661148071, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041747331619263, -1.3371809720993042, -1.612625241279602, -1.7691584825515747, -0.3718368113040924, -0.19636307656764984, -0.22250834107398987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779520273208618, -1.2311789989471436, 1.5334603786468506, -1.664270043373108, -0.06171660125255585, 0.21192567050457, 1.42392098903656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638228005548, 0.007541972172474523, -0.00393341401967384, 0.1138705313205719], [-0.007543123747028265, 0.9999715115903753, -0.0002780140225930048, 0.14072434604167938], [0.0039312051889420704, 0.0003076741935229566, 0.9999922254509548, -0.00810031034052372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041579246520996, -1.3371806144714355, -1.612633228302002, -1.7691580057144165, -0.37183934450149536, -0.19636307656764984, -0.22250451147556305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779521465301514, -1.23117995262146, 1.5334892272949219, -1.6642714738845825, -0.0617048554122448, 0.2119254320859909, 1.423907995223999, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637125535558, 0.007552177240435162, -0.003941851727152613, 0.11386547982692719], [-0.0075533071204073095, 0.9999714364225148, -0.0002718283229544017, 0.14072352647781372], [0.003939686238091448, 0.00030159247571698213, 0.9999921939266946, -0.00810027401894331], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041374206542969, -1.337180256843567, -1.6126385927200317, -1.769158124923706, -0.37184208631515503, -0.1963631957769394, -0.222503200173378, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.07795250415802, -1.23117995262146, 1.5335313081741333, -1.6642719507217407, -0.061699941754341125, 0.21192340552806854, 1.423898458480835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637737971225, 0.007548932305525623, -0.003932520116140508, 0.11387164890766144], [-0.007550078942612138, 0.9999714594336624, -0.00027681414616861005, 0.14072363078594208], [0.003930318228538621, 0.00030649495556346265, 0.9999922292995405, -0.00810064934194088], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041228771209717, -1.3371803760528564, -1.612643837928772, -1.7691583633422852, -0.37184426188468933, -0.1963624805212021, -0.22250546514987946, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779529809951782, -1.23117995262146, 1.533576488494873, -1.6642729043960571, -0.06169946491718292, 0.21191777288913727, 1.4238941669464111, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639388864402, 0.007524574306676682, -0.003937220875058486, 0.1138743981719017], [-0.007525735138774446, 0.999971642024376, -0.00028010300617340475, 0.1407260149717331], [0.00393500156756141, 0.00030972338683563457, 0.9999922098867006, -0.008099621161818504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041104793548584, -1.3371801376342773, -1.6126493215560913, -1.7691587209701538, -0.3718458116054535, -0.19636224210262299, -0.22250810265541077, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779531002044678, -1.2311800718307495, 1.533591628074646, -1.664273977279663, -0.06170126050710678, 0.2119126170873642, 1.4238905906677246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638615229134, 0.007536976725006476, -0.003933145055858289, 0.11386983841657639], [-0.007538022235174494, 0.9999715571893796, -0.0002510637954638426, 0.14072497189044952], [0.003931140924175421, 0.0002807028572858493, 0.9999922336383119, -0.008104270324110985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041045188903809, -1.3371801376342773, -1.612653136253357, -1.7691593170166016, -0.3718460500240326, -0.19636152684688568, -0.22251038253307343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.077953577041626, -1.2311795949935913, 1.533596158027649, -1.6642754077911377, -0.06170174106955528, 0.21190589666366577, 1.4238895177841187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639658944857, 0.007532743439435985, -0.003914676084638627, 0.1138690859079361], [-0.007533761835012821, 0.9999715906857701, -0.00024546686943221737, 0.1407252848148346], [0.003912715832425315, 0.00027495026153603186, 0.9999923074989969, -0.008107177913188934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041035652160645, -1.3371800184249878, -1.612657070159912, -1.7691593170166016, -0.37184497714042664, -0.19636069238185883, -0.22251565754413605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779541730880737, -1.2311794757843018, 1.5335983037948608, -1.664276361465454, -0.06170294061303139, 0.21190182864665985, 1.4238885641098022, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963947020836, 0.007531411060492495, -0.003922053792159004, 0.11386898159980774], [-0.007532291812489594, 0.9999716098703775, -0.00020984112334712686, 0.14072497189044952], [0.003920362044786137, 0.0002393756116163021, 0.9999922867006297, -0.008111078292131424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041030883789062, -1.3371801376342773, -1.6126599311828613, -1.7691599130630493, -0.37184497714042664, -0.19636093080043793, -0.22252464294433594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779547691345215, -1.231179118156433, 1.5335978269577026, -1.6642777919769287, -0.061706773936748505, 0.21189799904823303, 1.4238876104354858, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963862282947, 0.007537123750994264, -0.003932670051471004, 0.11386992037296295], [-0.007537978679044792, 0.9999715685083066, -0.00020261409443498226, 0.14072474837303162], [0.0039310311122916506, 0.00023225115542387301, 0.999992246496839, -0.008111094124615192], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.6238328218460083, -0.6611536145210266, 0.023293649777770042, 0.17647574841976166, 1.6041030883789062, -1.3371797800064087, -1.6126625537872314, -1.7691599130630493, -0.3718436658382416, -0.19636020064353943, -0.22253386676311493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779554843902588, -1.2311787605285645, 1.533597707748413, -1.6642804145812988, -0.06171073019504547, 0.2118995487689972, 1.4238864183425903, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638952631335, 0.007530262258247998, -0.0039374256187232, 0.11386914551258087], [-0.007531111920541908, 0.9999716205716135, -0.0002010090081279776, 0.14072541892528534], [0.003935800226287352, 0.00023065494376404476, 0.9999922281072366, -0.008110676892101765], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.660919189453125, 1.62373685836792, -0.6611536145210266, 0.02319779060781002, 0.17637988924980164, 1.6040934324264526, -1.3371778726577759, -1.6127116680145264, -1.7691588401794434, -0.3718417286872864, -0.19635960459709167, -0.22254513204097748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.071776270866394, -1.2314561605453491, 1.5266965627670288, -1.6543437242507935, -0.06174727901816368, 0.2154070883989334, 1.4187934398651123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999642469633936, 0.007489140233811907, -0.003926521805803324, 0.11386372148990631], [-0.007489908512803402, 0.9999719338616729, -0.00018099562390342175, 0.14072999358177185], [0.003925056101890059, 0.00021039844185924924, 0.999992274803707, -0.008114784955978394], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6602481603622437, 1.6224907636642456, -0.6611536145210266, 0.02185576967895031, 0.17637988924980164, 1.6040751934051514, -1.3371803760528564, -1.6127235889434814, -1.7691645622253418, -0.37183862924575806, -0.19636140763759613, -0.22259511053562164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0256195068359375, -1.2316066026687622, 1.496117115020752, -1.587458610534668, -0.0727248340845108, 0.2401595562696457, 1.4002676010131836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639767517121, 0.0075251011889759575, -0.003926582610482484, 0.11402589827775955], [-0.007525840166375895, 0.9999716654198261, -0.00017345688135731195, 0.14072658121585846], [0.00392516607182856, 0.00020300146600356976, 0.9999922759010258, -0.008115394972264767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6565096974372864, 1.6199984550476074, -0.6609618663787842, 0.01917172782123089, 0.17781777679920197, 1.604088544845581, -1.3371769189834595, -1.612722396850586, -1.769163727760315, -0.3718372881412506, -0.19636188447475433, -0.2226056605577469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9902500510215759, -1.2331043481826782, 1.4711850881576538, -1.5547151565551758, -0.10411678999662399, 0.2638159394264221, 1.37431800365448, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635861923323, 0.007573878534172773, -0.003932258043373029, 0.1141490563750267], [-0.007574649413076575, 0.9999712955173814, -0.00018118377120848953, 0.14072050154209137], [0.003930772906064876, 0.0002109626496977934, 0.9999922522295467, -0.008113691583275795], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6497036814689636, 1.61587655544281, -0.6592364311218262, 0.01754213124513626, 0.1823231279850006, 1.6040974855422974, -1.337175726890564, -1.612719178199768, -1.769165277481079, -0.3718368113040924, -0.19636332988739014, -0.22260542213916779, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9784737229347229, -1.2355128526687622, 1.4574742317199707, -1.5413368940353394, -0.13810621201992035, 0.28184211254119873, 1.346573829650879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636816553772, 0.007565232753207081, -0.003924617639121378, 0.11406492441892624], [-0.007565942791612082, 0.9999713640496084, -0.00016610370157390137, 0.14071965217590332], [0.003923248640801782, 0.0001957911014989685, 0.9999922848632118, -0.008116187527775764], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6405971050262451, 1.6114670038223267, -0.6565523743629456, 0.016391826793551445, 0.18826636672019958, 1.6042077541351318, -1.337174892425537, -1.6127175092697144, -1.7691667079925537, -0.3718380331993103, -0.1963648796081543, -0.22260050475597382, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9760488271713257, -1.2396483421325684, 1.4457870721817017, -1.5149163007736206, -0.14188148081302643, 0.2894367575645447, 1.327046275138855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637311665811, 0.007557496886199054, -0.003926906189952242, 0.1141698956489563], [-0.007558189423000167, 0.9999714234293984, -0.00016154636770914546, 0.14072145521640778], [0.00392557308626932, 0.0001912208094408565, 0.999992276625448, -0.008115782402455807], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6303402781486511, 1.6074409484863281, -0.6523345708847046, 0.01572081632912159, 0.19344273209571838, 1.6042916774749756, -1.33716881275177, -1.612719178199768, -1.7691676616668701, -0.371839702129364, -0.19636715948581696, -0.22259558737277985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9759935736656189, -1.2452707290649414, 1.4395908117294312, -1.495526671409607, -0.14335589110851288, 0.2991134226322174, 1.313408613204956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636361359937, 0.007565103032151431, -0.003936447865124864, 0.11410102248191833], [-0.007565691270748852, 0.9999713706942338, -0.00013456407780533823, 0.14072149991989136], [0.0039353171762422775, 0.00016434113378644593, 0.9999922431052723, -0.008121620863676071], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6207544207572937, 1.6024563312530518, -0.6472541093826294, 0.015529099851846695, 0.1982356607913971, 1.6042895317077637, -1.3371673822402954, -1.6127190589904785, -1.7691646814346313, -0.3718413710594177, -0.1963655948638916, -0.22258229553699493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9756630063056946, -1.2480076551437378, 1.4395712614059448, -1.4854854345321655, -0.15484409034252167, 0.3150200843811035, 1.291361689567566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638279088896, 0.007540060116859793, -0.003935780384456672, 0.1138693317770958], [-0.007540510859597812, 0.9999715649738908, -9.969776261483087e-05, 0.14072169363498688], [0.003934916743315049, 0.00012937195106826565, 0.999992249816528, -0.00812447164207697], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6167283058166504, 1.598238468170166, -0.6379557847976685, 0.01572081632912159, 0.20350788533687592, 1.6038647890090942, -1.3371702432632446, -1.6127116680145264, -1.7691636085510254, -0.3718429207801819, -0.19636152684688568, -0.2225741446018219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.976679801940918, -1.2496520280838013, 1.4446083307266235, -1.4938884973526, -0.1752052903175354, 0.3365029990673065, 1.2758339643478394, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640387341604, 0.007506840008451498, -0.003945705457096847, 0.11331887543201447], [-0.007507328016310262, 0.9999718136879093, -0.00010888419832368676, 0.14072883129119873], [0.003944776865955152, 0.00013850198783225655, 0.9999922097459946, -0.00812261737883091], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6181662082672119, 1.596513032913208, -0.6230018734931946, 0.01610425114631653, 0.20762981474399567, 1.6035137176513672, -1.3371572494506836, -1.6127148866653442, -1.7691818475723267, -0.37184953689575195, -0.196364164352417, -0.22255268692970276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9788734912872314, -1.2503361701965332, 1.4615265130996704, -1.498299241065979, -0.17155753076076508, 0.34655383229255676, 1.2907040119171143, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999642739222546, 0.007482540441286512, -0.003932234438920919, 0.11276183277368546], [-0.007482888150277181, 0.9999720000831308, -7.372023761093565e-05, 0.14072860777378082], [0.003931572722024254, 0.00010314207436310854, 0.9999922660189148, -0.008128514513373375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6200833916664124, 1.5962255001068115, -0.6085271835327148, 0.016295967623591423, 0.20973870158195496, 1.6037096977233887, -1.3371511697769165, -1.6127188205718994, -1.7691816091537476, -0.3718552887439728, -0.19636224210262299, -0.22254621982574463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9813679456710815, -1.2503074407577515, 1.4624766111373901, -1.4989694356918335, -0.17063871026039124, 0.34464508295059204, 1.2941924333572388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999633998380014, 0.007596713081227752, -0.003935598402622754, 0.11333528906106949], [-0.007597151756554954, 0.9999711365674602, -9.65254883416053e-05, 0.1407158523797989], [0.0039347515313038, 0.00012642129381067532, 0.999992250843997, -0.008126437664031982], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6222881078720093, 1.5962255001068115, -0.603350818157196, 0.015912534669041634, 0.2103138566017151, 1.6041440963745117, -1.3371684551239014, -1.6125850677490234, -1.769155502319336, -0.37185612320899963, -0.1962830275297165, -0.22253386676311493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9384230375289917, -1.252245545387268, 1.4143882989883423, -1.4630645513534546, -0.2224847376346588, 0.371612012386322, 1.2762447595596313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999964250370378, 0.007488917144838473, -0.003926079622958309, 0.1138317883014679], [-0.007489181813155265, 0.9999719542951481, -5.2715385468297194e-05, 0.14072644710540771], [0.0039255747321339475, 8.211662502205016e-05, 0.999992291530231, -0.008132541552186012], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6278479099273682, 1.597375750541687, -0.5981744527816772, 0.012078188359737396, 0.21156001091003418, 1.60404372215271, -1.3371703624725342, -1.6125863790512085, -1.7691824436187744, -0.37185660004615784, -0.19627919793128967, -0.22255364060401917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8517916798591614, -1.268629550933838, 1.3650693893432617, -1.3744620084762573, -0.27807319164276123, 0.3997236490249634, 1.215082049369812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637213376837, 0.007555910147505496, -0.003932458560989673, 0.11374401301145554], [-0.0075562092500440345, 0.9999714495701126, -6.120798323327756e-05, 0.14072345197200775], [0.0039318838055856205, 9.09202424434878e-05, 0.999992265981717, -0.008131248876452446], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6339828968048096, 1.5994846820831299, -0.5888761878013611, 0.0069976807571947575, 0.2151067852973938, 1.6039422750473022, -1.3371776342391968, -1.612585425376892, -1.7693926095962524, -0.3718545734882355, -0.1962880641222, -0.22258144617080688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7742089033126831, -1.288136601448059, 1.342095971107483, -1.2705121040344238, -0.30543211102485657, 0.39591002464294434, 1.1519547700881958, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999634406911372, 0.00758924838903398, -0.003939618005864403, 0.11394105851650238], [-0.007589603087535793, 0.9999711957282998, -7.50911967978744e-05, 0.14071805775165558], [0.003938934642292639, 0.00010498858849663787, 0.9999922368555068, -0.008128768764436245], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6395426988601685, 1.6005390882492065, -0.5776607394218445, 0.002875759033486247, 0.22267961502075195, 1.6039443016052246, -1.337177038192749, -1.612581491470337, -1.7693688869476318, -0.3718527555465698, -0.19627846777439117, -0.22261500358581543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7177264094352722, -1.305279016494751, 1.325785517692566, -1.165242314338684, -0.3142322599887848, 0.39732810854911804, 1.1000776290893555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640424228998, 0.007510419685330149, -0.0039379509142642224, 0.11393291503190994], [-0.007510723945586795, 0.9999717921631532, -6.248059454927285e-05, 0.140726700425148], [0.003937370577700068, 9.205521012678679e-05, 0.9999922442893106, -0.008131087757647038], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.644431471824646, 1.6006349325180054, -0.5673080086708069, 0.0, 0.2323613464832306, 1.6039553880691528, -1.3371766805648804, -1.612560510635376, -1.7692854404449463, -0.3718484342098236, -0.1962626576423645, -0.222677081823349, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6805071234703064, -1.3251584768295288, 1.2931419610977173, -1.0725401639938354, -0.3290017247200012, 0.38862743973731995, 1.0433546304702759, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640211378925, 0.007514935577947618, -0.003934739253852964, 0.113741934299469], [-0.007515247227600898, 0.999971758055453, -6.442510852316277e-05, 0.1407264620065689], [0.003934143978624997, 9.399332884991787e-05, 0.9999922568082262, -0.00812985934317112], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6480740904808044, 1.5998680591583252, -0.5577221512794495, -0.002396465977653861, 0.24252235889434814, 1.6042388677597046, -1.337172269821167, -1.6125680208206177, -1.769181489944458, -0.37184521555900574, -0.1962602585554123, -0.22269409894943237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6658604741096497, -1.3505901098251343, 1.2734962701797485, -1.0126491785049438, -0.33079540729522705, 0.38136908411979675, 0.9899384379386902, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963688506505, 0.007556967709567051, -0.003938769795518196, 0.11380674690008163], [-0.007557310219277272, 0.9999714405253752, -7.20822824471662e-05, 0.14072303473949432], [0.0039381125828412845, 0.00010184617025888634, 0.9999922404182157, -0.008129142224788666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6501830220222473, 1.5969923734664917, -0.550341010093689, -0.0033550523221492767, 0.2504786252975464, 1.6044888496398926, -1.3371680974960327, -1.612585425376892, -1.7690389156341553, -0.3718426823616028, -0.19625534117221832, -0.22268787026405334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6459338665008545, -1.3729913234710693, 1.2524139881134033, -0.9433947205543518, -0.3291182219982147, 0.3815406858921051, 0.9437204599380493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636145054899, 0.0075719885844808404, -0.0039286962204514875, 0.11392702907323837], [-0.007572272421741373, 0.9999713282880706, -5.7377370679709776e-05, 0.14072030782699585], [0.003928149117209402, 8.712444101922827e-05, 0.9999922809971309, -0.008132865652441978], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.651237428188324, 1.5946917533874512, -0.5450688004493713, -0.003546769730746746, 0.25594255328178406, 1.604688048362732, -1.33714759349823, -1.6129226684570312, -1.7690470218658447, -0.3718424439430237, -0.19625714421272278, -0.22267325222492218, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6440885663032532, -1.3796827793121338, 1.263918161392212, -0.9267184138298035, -0.39657777547836304, 0.3926093280315399, 0.9178624153137207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99996339423756, 0.007600082618931548, -0.00393051257263294, 0.11396481096744537], [-0.007600326552890146, 0.9999711159904551, -4.7128476457408256e-05, 0.14071440696716309], [0.003930040863355495, 7.699993035584558e-05, 0.9999922743950691, -0.008132989518344402], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.651237428188324, 1.593062162399292, -0.5421929955482483, -0.0034509110264480114, 0.25853073596954346, 1.6047247648239136, -1.3371254205703735, -1.6129603385925293, -1.7690467834472656, -0.3718430697917938, -0.19625785946846008, -0.22263166308403015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6654207706451416, -1.372930645942688, 1.3126106262207031, -0.9590914249420166, -0.46156835556030273, 0.40700212121009827, 0.9320532083511353, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999634314941949, 0.007597136935482405, -0.003926726975247703, 0.11396684497594833], [-0.007597308417079663, 0.9999711396225033, -2.8755658559569865e-05, 0.14071641862392426], [0.0039263951877491245, 5.858716290872604e-05, 0.9999922899644647, -0.008136535994708538], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6509498953819275, 1.5918159484863281, -0.5417137145996094, -0.0030674764420837164, 0.2595852017402649, 1.6047160625457764, -1.3371000289916992, -1.6129536628723145, -1.7690837383270264, -0.3718443810939789, -0.19625966250896454, -0.22258493304252625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6853362321853638, -1.360733985900879, 1.3437880277633667, -0.9776555895805359, -0.5181645750999451, 0.4210776090621948, 0.9560915231704712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636674380127, 0.007563403865930976, -0.0039317586243907176, 0.11386091262102127], [-0.007563534211901766, 0.9999713958988654, -1.828387018707632e-05, 0.14071913063526154], [0.003931507871674932, 4.802119675574839e-05, 0.9999922704400368, -0.008137064054608345], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6500871181488037, 1.5909532308578491, -0.5424805879592896, -0.0025881831534206867, 0.25929760932922363, 1.6047031879425049, -1.3370376825332642, -1.61293625831604, -1.7691254615783691, -0.37184545397758484, -0.19626133143901825, -0.22254717350006104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.711281418800354, -1.347493052482605, 1.3670250177383423, -1.0195976495742798, -0.5834553241729736, 0.45479461550712585, 1.0113670825958252, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638896361592, 0.007537043206060983, -0.003925863399692087, 0.11391882598400116], [-0.007537101318023218, 0.9999715956484573, -7.467441178207644e-09, 0.14072002470493317], [0.003925751831805546, 2.959709737572452e-05, 0.9999922937685904, -0.008140068501234055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.648649275302887, 1.5907615423202515, -0.5448770523071289, -0.002396465977653861, 0.2588183283805847, 1.6046689748764038, -1.3370280265808105, -1.6129153966903687, -1.7691841125488281, -0.37184616923332214, -0.1962636113166809, -0.2225523293018341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7301352620124817, -1.3380578756332397, 1.3828850984573364, -1.053202748298645, -0.6330679059028625, 0.4667811393737793, 1.0727310180664062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635423894041, 0.007575147088900492, -0.003940943873741322, 0.11394651234149933], [-0.007575194871460498, 0.9999713077957822, 2.802191024726699e-06, 0.14071598649024963], [0.00394085202638407, 2.7051328957541432e-05, 0.999992234446614, -0.008138909935951233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6468279361724854, 1.5906656980514526, -0.5478487014770508, -0.002396465977653861, 0.25843489170074463, 1.6043959856033325, -1.3370345830917358, -1.6128140687942505, -1.7691940069198608, -0.37184831500053406, -0.1962626576423645, -0.22255352139472961, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7549179792404175, -1.3338459730148315, 1.416483998298645, -1.1038120985031128, -0.6119421124458313, 0.4686857759952545, 1.0852954387664795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637182903888, 0.0075542095959134905, -0.003936498474668371, 0.11389876902103424], [-0.007554247873003464, 0.9999714662492127, 5.145182656812584e-06, 0.1407206654548645], [0.003936425019390119, 2.4592289248555393e-05, 0.9999922519466269, -0.008140192367136478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6456776261329651, 1.590474009513855, -0.551203727722168, -0.0019171728054061532, 0.25843489170074463, 1.60427725315094, -1.3370381593704224, -1.612764596939087, -1.7691948413848877, -0.3718494176864624, -0.19626206159591675, -0.22255568206310272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7638574838638306, -1.3290141820907593, 1.4368458986282349, -1.1144742965698242, -0.5726895332336426, 0.4854724407196045, 1.0747103691101074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638893529166, 0.007539409823997106, -0.0039213887455575545, 0.11384759098291397], [-0.007539394063366474, 0.9999715781879243, 1.880184406118044e-05, 0.14072242379188538], [0.003921419047391377, 1.0763729913983703e-05, 0.9999923111488392, -0.008143676444888115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.644431471824646, 1.590474009513855, -0.5541753768920898, -0.0015337382210418582, 0.25891417264938354, 1.6042741537094116, -1.3370531797409058, -1.6127257347106934, -1.7692160606384277, -0.3718506097793579, -0.19626230001449585, -0.2225641906261444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7516914010047913, -1.3247644901275635, 1.4498788118362427, -1.0879285335540771, -0.552956223487854, 0.49782267212867737, 1.101207971572876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963450095819, 0.007588601249808196, -0.003938477312092987, 0.11402583867311478], [-0.007588529259276436, 0.9999712061454353, 3.322234913547756e-05, 0.14071694016456604], [0.003938616019310228, -3.333884541985951e-06, 0.9999922436162881, -0.008143938146531582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6443356275558472, 1.5908573865890503, -0.5563800930976868, -0.0011503036366775632, 0.26035207509994507, 1.6042680740356445, -1.337066650390625, -1.6126054525375366, -1.7692277431488037, -0.37185072898864746, -0.19626230001449585, -0.22257006168365479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7430488467216492, -1.3149592876434326, 1.477419137954712, -1.090378761291504, -0.5425896048545837, 0.5115809440612793, 1.129494309425354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636126907817, 0.007574899041745456, -0.003923544176859995, 0.11383908987045288], [-0.007574760793772523, 0.9999713098331658, 5.009450896192523e-05, 0.14071719348430634], [0.003923811070570912, -2.0372777554023915e-05, 0.9999923016161837, -0.00814848206937313], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6449107527732849, 1.5916242599487305, -0.5579138398170471, 0.0, 0.2627485394477844, 1.6042368412017822, -1.33707594871521, -1.612575888633728, -1.7692581415176392, -0.3718494176864624, -0.1962619423866272, -0.22258731722831726, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.707330584526062, -1.3032032251358032, 1.490242838859558, -1.0338795185089111, -0.5384429693222046, 0.5222171545028687, 1.162124752998352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999964182688664, 0.007501579191791472, -0.003919138862228748, 0.11387946456670761], [-0.00750136952300513, 0.9999718620064418, 6.819566655189097e-05, 0.14072547852993011], [0.003919540160717864, -3.87943151489226e-05, 0.9999923178204568, -0.00815117359161377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6456776261329651, 1.593062162399292, -0.5579138398170471, 0.0, 0.26552844047546387, 1.604243516921997, -1.3370765447616577, -1.6125929355621338, -1.7693623304367065, -0.37184906005859375, -0.1962626576423645, -0.22261835634708405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6537994742393494, -1.2969796657562256, 1.4598902463912964, -0.9401187300682068, -0.5634583234786987, 0.5125993490219116, 1.1745717525482178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999634765947593, 0.007583488466052807, -0.003941596022878774, 0.1141040027141571], [-0.007583340043882124, 0.9999712446801021, 5.2599488683608197e-05, 0.1407163441181183], [0.003941881568639981, -2.2707104614064425e-05, 0.9999922304968605, -0.008146298117935658], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6474031209945679, 1.5937331914901733, -0.5574345588684082, 0.0, 0.26754146814346313, 1.6042424440383911, -1.337081789970398, -1.6125965118408203, -1.7693524360656738, -0.3718474805355072, -0.1962612122297287, -0.22263310849666595, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6303942203521729, -1.2986822128295898, 1.4309407472610474, -0.8983733057975769, -0.5718570351600647, 0.508862316608429, 1.1709426641464233, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637588765683, 0.007554607060810586, -0.003925410246231597, 0.11367274820804596], [-0.007554422533599753, 0.9999714630312134, 6.183363501282207e-05, 0.14072123169898987], [0.003925765355737589, -3.217718647466801e-05, 0.9999922936358061, -0.008149975910782814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6487451195716858, 1.5937331914901733, -0.5563800930976868, 0.0, 0.26888346672058105, 1.6042498350143433, -1.3370826244354248, -1.6127375364303589, -1.7693442106246948, -0.3718458116054535, -0.1962607353925705, -0.22263705730438232, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6205906271934509, -1.302069902420044, 1.4179490804672241, -0.8721393942832947, -0.5689414739608765, 0.5101110339164734, 1.1722601652145386, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640475303236, 0.0075181622585416075, -0.003921846889773571, 0.11353536695241928], [-0.007517909453092314, 0.9999717369830763, 7.919914329083426e-05, 0.14072617888450623], [0.0039223314785585515, -4.9712206079827276e-05, 0.9999923063926386, -0.008152044378221035], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6494161486625671, 1.5942124128341675, -0.5555173754692078, 0.0, 0.2705130875110626, 1.6042861938476562, -1.3370826244354248, -1.612806797027588, -1.7693333625793457, -0.37184497714042664, -0.19626301527023315, -0.2226441353559494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6121217012405396, -1.3040580749511719, 1.3988349437713623, -0.8582585453987122, -0.5718716382980347, 0.5132871270179749, 1.168954849243164, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636656521032, 0.007568062949829888, -0.003923238304792254, 0.11383087933063507], [-0.007567895820087332, 0.999971361416449, 5.744379553699604e-05, 0.14071932435035706], [0.003923560687064974, -2.7751049586100683e-05, 0.9999923024210807, -0.008148778229951859], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6496078372001648, 1.5943082571029663, -0.5551339387893677, 0.001629596808925271, 0.2711840867996216, 1.6044056415557861, -1.337082862854004, -1.6128257513046265, -1.7693119049072266, -0.37184256315231323, -0.1962628960609436, -0.22264820337295532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6161749362945557, -1.3051810264587402, 1.3844828605651855, -0.8875423669815063, -0.5887770652770996, 0.5267018675804138, 1.173194169998169, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637501045261, 0.007557119226503601, -0.003922808418641429, 0.1138392835855484], [-0.007556948712299069, 0.9999714441566128, 5.8288059971629884e-05, 0.14072172343730927], [0.003923136889357276, -2.864148500770024e-05, 0.9999923040586925, -0.008149023167788982], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6496078372001648, 1.5943082571029663, -0.5551339387893677, 0.0017254555132240057, 0.2711840867996216, 1.6044080257415771, -1.337083339691162, -1.6128274202346802, -1.7692898511886597, -0.3718424439430237, -0.1962636113166809, -0.22265072166919708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6241946816444397, -1.3070566654205322, 1.3779066801071167, -0.9144627451896667, -0.6071410775184631, 0.5419818758964539, 1.1984026432037354, 0.5592000000424437, 0.5592000000424437, 0.5592000000424437, 0.5592000000424437, -0.5592000000424437, -0.5592000000424437, -0.5592000000424437, 0.5592000000424437, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638118713161, 0.007546248257769343, -0.003927987400591244, 0.11374760419130325], [-0.007546080481614942, 0.9999715262743417, 5.753197763685171e-05, 0.1407216638326645], [0.003928309706741619, -2.788898660661056e-05, 0.9999922837727561, -0.00814874842762947], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6492244005203247, 1.5942124128341675, -0.5559008121490479, 0.001629596808925271, 0.2711840867996216, 1.604412317276001, -1.337084412574768, -1.6128268241882324, -1.7692755460739136, -0.3718429207801819, -0.1962643265724182, -0.2226533591747284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6330604553222656, -1.3082388639450073, 1.3771134614944458, -0.9206328392028809, -0.6097379326820374, 0.5440974831581116, 1.224790096282959, 0.5256000021001794, 0.5256000021001794, 0.5256000021001794, 0.5256000021001794, -0.5256000021001794, -0.5256000021001794, -0.5256000021001794, 0.5256000021001794, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637291330722, 0.007556975182668499, -0.003928427722179305, 0.11380858719348907], [-0.007556869086642705, 0.9999714455814098, 4.185012371677149e-05, 0.1407209038734436], [0.003928631808556044, -1.216199176365624e-05, 0.999992282822322, -0.008146208710968494], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6480740904808044, 1.593924880027771, -0.5571469664573669, 0.0011503036366775632, 0.2711840867996216, 1.6044137477874756, -1.3370922803878784, -1.6128227710723877, -1.76926851272583, -0.3718436658382416, -0.19626589119434357, -0.22265347838401794, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6451360583305359, -1.3085789680480957, 1.3804458379745483, -0.927804172039032, -0.6094748973846436, 0.5458893775939941, 1.2234975099563599, 0.46559999840600147, 0.46559999840600147, 0.46559999840600147, 0.46559999840600147, -0.46559999840600147, -0.46559999840600147, -0.46559999840600147, 0.46559999840600147, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639288337456, 0.007529622425487721, -0.003930116729726763, 0.1138058751821518], [-0.007529313079998357, 0.9999716499491531, 9.350139955235763e-05, 0.14072395861148834], [0.003930709340952526, -6.390694754877728e-05, 0.9999922726901338, -0.008154652081429958], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6472113728523254, 1.5936373472213745, -0.5587765574455261, 0.0, 0.2712799608707428, 1.6044116020202637, -1.3371208906173706, -1.6128135919570923, -1.7692657709121704, -0.37184450030326843, -0.19626684486865997, -0.22265060245990753, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6475392580032349, -1.3103559017181396, 1.3867369890213013, -0.9221510887145996, -0.6042681336402893, 0.5478233695030212, 1.216396450996399, 0.42180000661493655, 0.42180000661493655, 0.42180000661493655, 0.42180000661493655, -0.42180000661493655, -0.42180000661493655, -0.42180000661493655, 0.42180000661493655, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639217310833, 0.007525838494786023, -0.003939161223191389, 0.11374357342720032], [-0.007525514195179199, 0.9999716781986083, 9.714297203341815e-05, 0.14072401821613312], [0.003939780741368004, -6.74952535809235e-05, 0.9999922367559164, -0.008153007365763187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6467320919036865, 1.5936373472213745, -0.5605020523071289, -0.0014378795167431235, 0.2717592418193817, 1.6044098138809204, -1.337131142616272, -1.6128100156784058, -1.7692581415176392, -0.37184593081474304, -0.19626493752002716, -0.2226450890302658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6406958103179932, -1.3106096982955933, 1.3937889337539673, -0.9019603133201599, -0.5934807658195496, 0.5505257844924927, 1.221513032913208, 0.3102000097652058, 0.3102000097652058, 0.3102000097652058, 0.3102000097652058, -0.3102000097652058, -0.3102000097652058, -0.3102000097652058, 0.3102000097652058, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637469500566, 0.007557302644404032, -0.003923259148197637, 0.11379116773605347], [-0.007556996220555772, 0.9999714411789317, 9.292283326492526e-05, 0.14071974158287048], [0.003923849350515177, -6.327140997361963e-05, 0.999992299671854, -0.008153801783919334], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6464444994926453, 1.5936373472213745, -0.5619398951530457, -0.002875759033486247, 0.27185508608818054, 1.604408621788025, -1.3371391296386719, -1.6127996444702148, -1.769247055053711, -0.37184831500053406, -0.1962648183107376, -0.22263862192630768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6244323253631592, -1.3102976083755493, 1.3993827104568481, -0.877070426940918, -0.6051339507102966, 0.5493689775466919, 1.2334604263305664, 0.2766000069104708, 0.2766000069104708, 0.2766000069104708, 0.2766000069104708, -0.2766000069104708, -0.2766000069104708, -0.2766000069104708, 0.2766000069104708, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637206984343, 0.007557890574999438, -0.003928813688633737, 0.11379070580005646], [-0.007557520070073094, 0.9999714355812125, 0.0001091422903970508, 0.14072085916996002], [0.003929526349842123, -7.944624248755655e-05, 0.9999922762256519, -0.008155851624906063], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6465403437614441, 1.5938290357589722, -0.5628985166549683, -0.004121921490877867, 0.2725261151790619, 1.6043968200683594, -1.337141990661621, -1.612789511680603, -1.7692453861236572, -0.3718501329421997, -0.1962636113166809, -0.22263465821743011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6131377220153809, -1.3102538585662842, 1.3872466087341309, -0.8774133920669556, -0.6459218263626099, 0.5472872853279114, 1.2608555555343628, 0.22019998948652664, 0.22019998948652664, 0.22019998948652664, 0.22019998948652664, -0.22019998948652664, -0.22019998948652664, -0.22019998948652664, 0.22019998948652664, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638449135566, 0.007548419914985812, -0.003915382801662537, 0.11370294541120529], [-0.007548027313976477, 0.9999715066189451, 0.00011503870940948285, 0.14072179794311523], [0.003916139599653493, -8.548113384337725e-05, 0.9999923282423779, -0.008157867938280106], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6466362476348877, 1.5945959091186523, -0.563473641872406, -0.004792931955307722, 0.2733888328075409, 1.6043965816497803, -1.3371412754058838, -1.6127854585647583, -1.769242525100708, -0.3718525171279907, -0.19626420736312866, -0.22261980175971985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6076182126998901, -1.3105250597000122, 1.3665156364440918, -0.8801524043083191, -0.6708579659461975, 0.5361933708190918, 1.2813727855682373, 0.1823999813624791, 0.1823999813624791, 0.1823999813624791, 0.1823999813624791, -0.1823999813624791, -0.1823999813624791, -0.1823999813624791, 0.1823999813624791, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636342326562, 0.007572904976202063, -0.003921902910577971, 0.1137593686580658], [-0.007572450442424769, 0.9999713200403529, 0.00013073274654370684, 0.140717551112175], [0.003922780457227609, -0.00010102957691670866, 0.9999923007636153, -0.008159074001014233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6467320919036865, 1.5954586267471313, -0.5639529228210449, -0.005080507602542639, 0.2733888328075409, 1.6043956279754639, -1.3371381759643555, -1.61278235912323, -1.7692270278930664, -0.3718513250350952, -0.1962621808052063, -0.2225993126630783, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6053213477134705, -1.3105612993240356, 1.3622561693191528, -0.8793590664863586, -0.6738033294677734, 0.5303581357002258, 1.2852654457092285, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, -0.10259999914483708, -0.10259999914483708, -0.10259999914483708, 0.10259999914483708, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636768304337, 0.0075646637128686835, -0.003926943171369398, 0.11374667286872864], [-0.007564120232278601, 0.9999713798930334, 0.00015323163616369766, 0.14071843028068542], [0.003927989927633532, -0.0001235222000114308, 0.999992277788881, -0.008161533623933792], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6467320919036865, 1.5957461595535278, -0.5642405152320862, -0.005080507602542639, 0.273101270198822, 1.604393482208252, -1.3371367454528809, -1.6127744913101196, -1.7692210674285889, -0.3718503713607788, -0.19626182317733765, -0.2225945144891739, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6121020913124084, -1.310383915901184, 1.3691785335540771, -0.8949018716812134, -0.6735679507255554, 0.5264247059822083, 1.2897053956985474, 0.08519998854333233, 0.08519998854333233, 0.08519998854333233, 0.08519998854333233, -0.08519998854333233, -0.08519998854333233, -0.08519998854333233, 0.08519998854333233, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639754992723, 0.007527022120903513, -0.0039232182812340595, 0.11372257769107819], [-0.007526378857953998, 0.9999716604419869, 0.0001787013772474739, 0.14072275161743164], [0.003924452188181558, -0.00014916731249256055, 0.9999922881823318, -0.008166113868355751], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6467320919036865, 1.5957461595535278, -0.565199077129364, -0.004792931955307722, 0.2730053961277008, 1.6043936014175415, -1.3371305465698242, -1.6127732992172241, -1.7692015171051025, -0.3718498945236206, -0.19625918567180634, -0.22259128093719482, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6367480754852295, -1.3084590435028076, 1.3910136222839355, -0.9384977221488953, -0.6662797331809998, 0.5124267339706421, 1.3000519275665283, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, -0.08160001209803991, -0.08160001209803991, -0.08160001209803991, 0.08160001209803991, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638680358177, 0.007545291577966458, -0.003915507355287248, 0.11371352523565292], [-0.007544676617642831, 0.9999715237634818, 0.00017180475997879402, 0.14072251319885254], [0.003916692173382233, -0.0001422573155457159, 0.9999923196131434, -0.008165214210748672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6462528109550476, 1.5957461595535278, -0.5663493871688843, -0.003546769730746746, 0.27271783351898193, 1.604393720626831, -1.3371213674545288, -1.61277174949646, -1.7691962718963623, -0.37184855341911316, -0.19625894725322723, -0.22259463369846344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6794248819351196, -1.3025639057159424, 1.4129081964492798, -1.016018271446228, -0.6536521315574646, 0.49887681007385254, 1.300388216972351, 0.08039999374976527, 0.08039999374976527, 0.08039999374976527, 0.08039999374976527, -0.08039999374976527, -0.08039999374976527, -0.08039999374976527, 0.08039999374976527, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636758450615, 0.007570421327771268, -0.00391608367540907, 0.11374402791261673], [-0.007569777697027404, 0.9999713327742153, 0.0001791518267852156, 0.14071744680404663], [0.003917327666964559, -0.00014950143638069727, 0.9999923160671137, -0.00816680584102869], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6447190642356873, 1.595650315284729, -0.5688417553901672, -0.0022047485690563917, 0.2724302411079407, 1.6043956279754639, -1.3371164798736572, -1.6127699613571167, -1.7691835165023804, -0.3718462884426117, -0.19625809788703918, -0.22260433435440063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7191793322563171, -1.2978326082229614, 1.43154776096344, -1.105444073677063, -0.6411645412445068, 0.493442177772522, 1.2951531410217285, 0.07859998587723617, 0.07859998587723617, 0.07859998587723617, 0.07859998587723617, -0.07859998587723617, -0.07859998587723617, -0.07859998587723617, 0.07859998587723617, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638067507106, 0.007548812701336118, -0.0039243617860236415, 0.11384554952383041], [-0.007548147323135169, 0.9999714953401994, 0.00018433413639772198, 0.14072035253047943], [0.003925641427296125, -0.00015470580383618248, 0.9999922826729707, -0.00816674716770649], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6428018808364868, 1.5948834419250488, -0.5723884701728821, 0.0, 0.2720468044281006, 1.6043957471847534, -1.3371151685714722, -1.6127691268920898, -1.7691843509674072, -0.3718439042568207, -0.19625894725322723, -0.2226114124059677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7199284434318542, -1.2972513437271118, 1.4201068878173828, -1.1137698888778687, -0.6393491625785828, 0.4883207380771637, 1.3087639808654785, 0.07740000682872732, 0.07740000682872732, 0.07740000682872732, 0.07740000682872732, -0.07740000682872732, -0.07740000682872732, -0.07740000682872732, 0.07740000682872732, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638067507106, 0.007548812701336118, -0.0039243617860236415, 0.11384554952383041], [-0.007548147323135169, 0.9999714953401994, 0.00018433413639772198, 0.14072035253047943], [0.003925641427296125, -0.00015470580383618248, 0.9999922826729707, -0.00816674716770649], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6409805417060852, 1.5945000648498535, -0.5764145851135254, 0.0, 0.27099236845970154, 1.6043983697891235, -1.3371007442474365, -1.6127671003341675, -1.76919424533844, -0.3718429207801819, -0.19625990092754364, -0.22263477742671967, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6908107399940491, -1.2990667819976807, 1.405275583267212, -1.0630332231521606, -0.6355429887771606, 0.47806236147880554, 1.3102037906646729, 0.07619998848045269, 0.07619998848045269, 0.07619998848045269, 0.07619998848045269, -0.07619998848045269, -0.07619998848045269, -0.07619998848045269, 0.07619998848045269, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638067507106, 0.007548812701336118, -0.0039243617860236415, 0.11384554952383041], [-0.007548147323135169, 0.9999714953401994, 0.00018433413639772198, 0.14072035253047943], [0.003925641427296125, -0.00015470580383618248, 0.9999922826729707, -0.00816674716770649], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6403095722198486, 1.5944042205810547, -0.5792903304100037, 0.0, 0.2700337767601013, 1.6043915748596191, -1.3371044397354126, -1.6127640008926392, -1.7692031860351562, -0.3718429207801819, -0.1962602585554123, -0.22265036404132843, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.685300886631012, -1.2991467714309692, 1.4066740274429321, -1.0648263692855835, -0.63233482837677, 0.47753241658210754, 1.308031678199768, 0.07619998848045269, 0.07619998848045269, 0.07619998848045269, 0.07619998848045269, -0.07619998848045269, -0.07619998848045269, -0.07619998848045269, 0.07619998848045269, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638972264089, 0.007538913809880676, -0.003920334467767408, 0.11361671984195709], [-0.007538276069776685, 0.9999715710528466, 0.00017742603383189617, 0.14072291553020477], [0.0039215606163626885, -0.0001478670647560758, 0.9999922997191845, -0.008166744373738766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6401178240776062, 1.5942124128341675, -0.5804406404495239, 0.0, 0.2694586217403412, 1.604375958442688, -1.3371080160140991, -1.6127597093582153, -1.7692241668701172, -0.3718439042568207, -0.19626109302043915, -0.22266246378421783, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6866509914398193, -1.3008604049682617, 1.406864047050476, -1.0732072591781616, -0.6284729838371277, 0.4777318239212036, 1.3056377172470093, 0.07559999895619822, 0.07559999895619822, 0.07559999895619822, 0.07559999895619822, -0.07559999895619822, -0.07559999895619822, -0.07559999895619822, 0.07559999895619822, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639983684968, 0.007523479650772237, -0.003924184097786293, 0.11362870037555695], [-0.007522782959553933, 0.9999716849838508, 0.0001922683063996411, 0.14072279632091522], [0.003925519511140877, -0.0001627405991659451, 0.9999922818762478, -0.008167417719960213], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6400219798088074, 1.5942124128341675, -0.5813033580780029, 0.0, 0.2694586217403412, 1.6043680906295776, -1.3371108770370483, -1.6127523183822632, -1.7692407369613647, -0.3718448579311371, -0.19626109302043915, -0.222665935754776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7227524518966675, -1.2993617057800293, 1.418850302696228, -1.1608905792236328, -0.6103607416152954, 0.48648905754089355, 1.2821297645568848, 0.07379999108366912, 0.07379999108366912, 0.07379999108366912, 0.07379999108366912, -0.07379999108366912, -0.07379999108366912, -0.07379999108366912, 0.07379999108366912, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635634511791, 0.007584968524497679, -0.00391663407814177, 0.11371545493602753], [-0.007584361136677376, 0.9999712238845747, 0.0001699086057312102, 0.14071674644947052], [0.003917810124053973, -0.00014019724755915772, 0.9999923155247562, -0.008165762759745121], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6404054164886475, 1.5935413837432861, -0.5821660757064819, 0.0, 0.27060893177986145, 1.6040667295455933, -1.337129831314087, -1.6125552654266357, -1.7693004608154297, -0.3718455731868744, -0.1962612122297287, -0.22266869246959686, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7801281809806824, -1.2960375547409058, 1.4659390449523926, -1.258622169494629, -0.5762729644775391, 0.47948068380355835, 1.2529526948928833, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636663644393, 0.007567724417032908, -0.003923709741580586, 0.11352811008691788], [-0.007566990928652213, 0.9999713495623105, 0.0002017493919434172, 0.14071857929229736], [0.003925124109378656, -0.00017205138563333112, 0.9999922818697385, -0.008169086650013924], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6406930088996887, 1.5936373472213745, -0.5832205414772034, 0.0, 0.27358055114746094, 1.6040282249450684, -1.3371309041976929, -1.6125396490097046, -1.7693207263946533, -0.371847003698349, -0.19625990092754364, -0.2226656973361969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.820429801940918, -1.2878159284591675, 1.4865020513534546, -1.30863356590271, -0.5536746382713318, 0.41517525911331177, 1.2249120473861694, 0.06479999102078955, 0.06479999102078955, 0.06479999102078955, 0.06479999102078955, -0.06479999102078955, -0.06479999102078955, -0.06479999102078955, 0.06479999102078955, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638454146765, 0.007543733447303039, -0.003924276897581493, 0.1138230413198471], [-0.007543001016495782, 0.9999715308799617, 0.00020140816988270836, 0.14072111248970032], [0.003925684546419137, -0.00017180006342637738, 0.9999922797129887, -0.008169075474143028], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6412681341171265, 1.5938290357589722, -0.5841791033744812, 0.0, 0.27626460790634155, 1.6041288375854492, -1.3371357917785645, -1.6125558614730835, -1.7693196535110474, -0.37184906005859375, -0.1962597817182541, -0.22266139090061188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8691543340682983, -1.2818790674209595, 1.477647304534912, -1.3755327463150024, -0.5474175810813904, 0.32794663310050964, 1.2155295610427856, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639467924736, 0.0075271757054617165, -0.003930234231971396, 0.11377841979265213], [-0.007526481152370131, 0.9999716573065291, 0.0001914813215640189, 0.14072133600711823], [0.003931564152099017, -0.0001618935841768625, 0.9999922582669255, -0.008166881278157234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6415557265281677, 1.5946917533874512, -0.5853294134140015, 0.0, 0.27799004316329956, 1.6041967868804932, -1.3371301889419556, -1.6125752925872803, -1.769319772720337, -0.37185120582580566, -0.1962607353925705, -0.2226559966802597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9210609197616577, -1.275908350944519, 1.4501665830612183, -1.450148105621338, -0.590663492679596, 0.275607705116272, 1.2564163208007812, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, -0.052200014512617555, -0.052200014512617555, -0.052200014512617555, 0.052200014512617555, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638732494635, 0.007542117498281915, -0.0039202882002576395, 0.11370573937892914], [-0.007541441413326086, 0.9999715454017152, 0.0001872119516046146, 0.1407199651002884], [0.0039215886245678264, -0.00015764056445954498, 0.9999922981163966, -0.008167123422026634], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6414598822593689, 1.5953627824783325, -0.5860004425048828, 0.0, 0.27923622727394104, 1.604307770729065, -1.3371250629425049, -1.612647533416748, -1.769315481185913, -0.37185215950012207, -0.1962621808052063, -0.2226453274488449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9586585760116577, -1.2742465734481812, 1.4452369213104248, -1.4948874711990356, -0.6173163056373596, 0.25350087881088257, 1.2996106147766113, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, -0.052200014512617555, -0.052200014512617555, -0.052200014512617555, 0.052200014512617555, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639240379409, 0.007540586271613783, -0.003910266144840551, 0.11389811336994171], [-0.007539862448984894, 0.9999715548691556, 0.0001998169506750305, 0.1407214105129242], [0.00391166165376352, -0.000170326873215279, 0.9999923349165546, -0.008171227760612965], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6406930088996887, 1.5954586267471313, -0.5863838791847229, 0.0, 0.2802906632423401, 1.6044459342956543, -1.3371223211288452, -1.6128166913986206, -1.7693109512329102, -0.37185120582580566, -0.1962609738111496, -0.22263886034488678, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9638938307762146, -1.2731118202209473, 1.4465352296829224, -1.4916950464248657, -0.6236528158187866, 0.2525886297225952, 1.3268985748291016, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, -0.052200014512617555, -0.052200014512617555, -0.052200014512617555, 0.052200014512617555, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638325045482, 0.007542477996544113, -0.0039299756344477865, 0.11401182413101196], [-0.007541668219081902, 0.9999715368321389, 0.00022083035027253034, 0.1407216638326645], [0.003931529382949513, -0.00019118379104776014, 0.9999922532327283, -0.008171305991709232], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6394468545913696, 1.5955544710159302, -0.5862879753112793, 0.0010544450487941504, 0.28096166253089905, 1.6045173406600952, -1.3371063470840454, -1.6128376722335815, -1.7693045139312744, -0.371850848197937, -0.19626133143901825, -0.22262507677078247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9498829245567322, -1.276100516319275, 1.448983907699585, -1.452897548675537, -0.5802854895591736, 0.25657445192337036, 1.3355979919433594, 0.08880000428839045, 0.08880000428839045, 0.08880000428839045, 0.08880000428839045, -0.08880000428839045, -0.08880000428839045, -0.08880000428839045, 0.08880000428839045, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637846405478, 0.007544976276387288, -0.0039373519452544714, 0.11404403299093246], [-0.007544220115827876, 0.999971520569305, 0.00020686506694313656, 0.1407209038734436], [0.0039388006037351245, -0.0001771533255018963, 0.9999922272030435, -0.008168629370629787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6379131078720093, 1.5953627824783325, -0.5859045386314392, 0.0011503036366775632, 0.2808658182621002, 1.6045222282409668, -1.3371039628982544, -1.612838625907898, -1.7692961692810059, -0.371850848197937, -0.1962614506483078, -0.2226203978061676, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9399796724319458, -1.2767627239227295, 1.4351574182510376, -1.4315474033355713, -0.5806565284729004, 0.24974524974822998, 1.3346214294433594, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636710665506, 0.007565805340406117, -0.003926211489267263, 0.11384492367506027], [-0.0075650767540056665, 0.9999713643191809, 0.00020038797850558036, 0.14071716368198395], [0.003927615155966158, -0.00017067860735527944, 0.9999922723241413, -0.008168384432792664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6366669535636902, 1.5945000648498535, -0.585137665271759, 0.0012461623409762979, 0.280769944190979, 1.6045053005218506, -1.3371028900146484, -1.6128309965133667, -1.769271731376648, -0.3718484342098236, -0.1962612122297287, -0.22261440753936768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9422913789749146, -1.2767064571380615, 1.4506847858428955, -1.4370540380477905, -0.577130913734436, 0.24176627397537231, 1.348793387413025, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, -0.022800016927195133, -0.022800016927195133, -0.022800016927195133, 0.022800016927195133, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999632886865729, 0.007616410153127875, -0.00392575795395449, 0.1137547492980957], [-0.007615631093482665, 0.9999709778993812, 0.00021335886043783714, 0.14071083068847656], [0.003927269048803043, -0.00018345390341421646, 0.9999922714213764, -0.008170419372618198], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6353248953819275, 1.5932538509368896, -0.5845625400543213, 0.0011503036366775632, 0.2808658182621002, 1.604486107826233, -1.3370991945266724, -1.6128346920013428, -1.7691925764083862, -0.37184473872184753, -0.19626061618328094, -0.22261248528957367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9585097432136536, -1.2712409496307373, 1.5178653001785278, -1.4764765501022339, -0.5242751836776733, 0.23171475529670715, 1.3928066492080688, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639515857864, 0.0075329533889083745, -0.003917925749615532, 0.11378446966409683], [-0.007532136271495432, 0.9999716081332802, 0.00022327232021491857, 0.14072148501873016], [0.003919496412371044, -0.00019375392095413195, 0.9999922999740005, -0.008172545582056046], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.633407711982727, 1.5921036005020142, -0.5839874148368835, 0.0, 0.2817285358905792, 1.6043673753738403, -1.3371139764785767, -1.612801432609558, -1.7692087888717651, -0.3718429207801819, -0.19626206159591675, -0.22263489663600922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.96158367395401, -1.2549644708633423, 1.5651899576187134, -1.4868940114974976, -0.49161496758461, 0.22661462426185608, 1.433471918106079, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636144067531, 0.007573976968688075, -0.003924886681207046, 0.11391062289476395], [-0.007573261341960797, 0.9999713030083648, 0.00019716084645432744, 0.14071568846702576], [0.003926267340476958, -0.000167429480065602, 0.9999922781662568, -0.008168322965502739], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6307237148284912, 1.5909532308578491, -0.5838915109634399, -0.0015337382210418582, 0.2828788459300995, 1.6043691635131836, -1.337106466293335, -1.6128047704696655, -1.7692081928253174, -0.3718422055244446, -0.1962626576423645, -0.22263513505458832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9615901708602905, -1.23883056640625, 1.612797737121582, -1.4865034818649292, -0.46895015239715576, 0.21006213128566742, 1.4731605052947998, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635805294704, 0.0075826863094144705, -0.003916692866978067, 0.11407354474067688], [-0.007581957068501077, 0.9999712363487795, 0.0002010027484475378, 0.1407136470079422], [0.003918104349379311, -0.00017129923086593225, 0.9999923095278688, -0.008170496672391891], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6283272504806519, 1.5898988246917725, -0.5837956666946411, -0.0034509110264480114, 0.28402915596961975, 1.6043633222579956, -1.3371150493621826, -1.6127971410751343, -1.7692162990570068, -0.37184208631515503, -0.19626230001449585, -0.2226431667804718, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9641382694244385, -1.2195051908493042, 1.6553579568862915, -1.4968842267990112, -0.458561509847641, 0.20047929883003235, 1.5080498456954956, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636455864451, 0.007573195471443996, -0.003918445586916539, 0.11387795209884644], [-0.007572468218608002, 0.9999713083707691, 0.0002004004249305847, 0.14071983098983765], [0.003919850831919158, -0.0001707208348173899, 0.9999923027823024, -0.008169053122401237], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6276562213897705, 1.5889402627944946, -0.5826453566551208, -0.005368083715438843, 0.28575459122657776, 1.6041812896728516, -1.3371169567108154, -1.6127805709838867, -1.7692281007766724, -0.3718430697917938, -0.1962619423866272, -0.22265323996543884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9701036214828491, -1.2058465480804443, 1.6862294673919678, -1.4997467994689941, -0.42706841230392456, 0.20195192098617554, 1.531122088432312, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999643416928794, 0.0074798094326926625, -0.003920177748121234, 0.11362551897764206], [-0.0074790509955852645, 0.99997200985477, 0.0002080942510440935, 0.14072774350643158], [0.003921624527118585, -0.00017876762146542245, 0.999992294421915, -0.008170372806489468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6274644732475281, 1.588460922241211, -0.5812075138092041, -0.006805963348597288, 0.286713182926178, 1.6041418313980103, -1.3371155261993408, -1.6127439737319946, -1.7692580223083496, -0.37184426188468933, -0.19626182317733765, -0.22266127169132233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711293578147888, -1.2041711807250977, 1.6852905750274658, -1.4995983839035034, -0.4239855706691742, 0.20251159369945526, 1.5307555198669434, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999634068637888, 0.007602548837621858, -0.003922522726055083, 0.11371587961912155], [-0.007601922740020822, 0.9999710897421259, 0.00017450100247623789, 0.14071404933929443], [0.003923735977305095, -0.00014467590222783867, 0.9999922916527225, -0.008165259845554829], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6273686289787292, 1.588460922241211, -0.5806323289871216, -0.007381115108728409, 0.28709661960601807, 1.604158639907837, -1.3371165990829468, -1.6127429008483887, -1.7692584991455078, -0.37184593081474304, -0.1962600201368332, -0.2226628214120865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711336493492126, -1.2047046422958374, 1.6838964223861694, -1.4992097616195679, -0.4265611171722412, 0.2024955302476883, 1.5293339490890503, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637593853676, 0.007559524162431679, -0.003915802640604808, 0.11378898471593857], [-0.0075587793336430115, 0.9999714110113056, 0.00020497571518316045, 0.1407194584608078], [0.003917240210639025, -0.00017536959866282914, 0.999992312207767, -0.008170503191649914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6272727847099304, 1.588460922241211, -0.5804406404495239, -0.007860408164560795, 0.2873842120170593, 1.6041781902313232, -1.3371162414550781, -1.612743616104126, -1.7692586183547974, -0.3718491792678833, -0.196259543299675, -0.22266115248203278, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711342453956604, -1.2048521041870117, 1.6836062669754028, -1.4991456270217896, -0.4268684983253479, 0.202485591173172, 1.5291314125061035, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637845594872, 0.007552771864609086, -0.003922398071155223, 0.11374346166849136], [-0.007552101366822323, 0.9999714652286357, 0.00018572409863090394, 0.14072023332118988], [0.003923688878169782, -0.00015609502471646558, 0.9999922901202442, -0.008166718296706676], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6271769404411316, 1.588365077972412, -0.5803447365760803, -0.007860408164560795, 0.287575900554657, 1.6042709350585938, -1.3371158838272095, -1.612743854522705, -1.769258975982666, -0.371850848197937, -0.19625966250896454, -0.22265863418579102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711335301399231, -1.2048646211624146, 1.6835685968399048, -1.4991294145584106, -0.42689162492752075, 0.2024831920862198, 1.5290286540985107, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637604719828, 0.00755765955359004, -0.003919122963512756, 0.11374999582767487], [-0.007556964346378519, 0.9999714272727053, 0.00019216674094612752, 0.14071902632713318], [0.003920463314286678, -0.00016254310440979582, 0.9999923017439387, -0.008168473839759827], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6271769404411316, 1.5882692337036133, -0.5801530480384827, -0.007956267334520817, 0.287575900554657, 1.6044120788574219, -1.3371158838272095, -1.6127431392669678, -1.769258737564087, -0.371853232383728, -0.19625869393348694, -0.2226555198431015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711322784423828, -1.2048677206039429, 1.6835393905639648, -1.499121069908142, -0.4269104599952698, 0.20248258113861084, 1.5289649963378906, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637413291014, 0.007561722321214962, -0.0039161693838416015, 0.11376204341650009], [-0.0075609591392498555, 0.9999713935630725, 0.00020964832751041096, 0.14071863889694214], [0.003917642658626866, -0.00018003072924709166, 0.9999923098028983, -0.008171021938323975], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5801530480384827, -0.007956267334520817, 0.287575900554657, 1.604412317276001, -1.33711576461792, -1.612743854522705, -1.7692588567733765, -0.3718527555465698, -0.19625797867774963, -0.22265252470970154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711315631866455, -1.204869031906128, 1.683498740196228, -1.4991180896759033, -0.426933228969574, 0.20248198509216309, 1.5289342403411865, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638158944859, 0.007553704996532202, -0.003912600486117801, 0.11376219242811203], [-0.007552867125778573, 0.9999714504988778, 0.0002288784629413472, 0.1407196968793869], [0.0039142176637149495, -0.00019931882959098985, 0.999992319556548, -0.008174569346010685], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5801530480384827, -0.007956267334520817, 0.287575900554657, 1.6044114828109741, -1.3371158838272095, -1.612743616104126, -1.7692588567733765, -0.3718515634536743, -0.19625821709632874, -0.22264964878559113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711302518844604, -1.204869270324707, 1.68345308303833, -1.4991133213043213, -0.4269551634788513, 0.20248295366764069, 1.5289207696914673, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637796394079, 0.007547822162996882, -0.003933165374801604, 0.1137494295835495], [-0.007547022594968086, 0.9999714970368884, 0.00021809116326331322, 0.1407202035188675], [0.003934699381249646, -0.00018839957596936404, 0.9999922412930907, -0.008170492947101593], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5800572037696838, -0.007956267334520817, 0.287575900554657, 1.6044107675552368, -1.3371158838272095, -1.6127440929412842, -1.7692588567733765, -0.3718513250350952, -0.19625750184059143, -0.222645565867424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711291790008545, -1.2048696279525757, 1.6834179162979126, -1.4991087913513184, -0.4269740879535675, 0.2024839073419571, 1.528913140296936, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637585402814, 0.00755691097791943, -0.003921058844951739, 0.11376199126243591], [-0.007556134300667158, 0.9999714293554601, 0.0002128549467864412, 0.14071917533874512], [0.003922555343657335, -0.00018321918537918716, 0.9999922899654307, -0.00817132368683815], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5800572037696838, -0.007956267334520817, 0.287575900554657, 1.6044095754623413, -1.3371161222457886, -1.6127445697784424, -1.7692584991455078, -0.3718496561050415, -0.19625785946846008, -0.2226414978504181, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711278676986694, -1.2048699855804443, 1.6833937168121338, -1.4991068840026855, -0.4269880950450897, 0.20248594880104065, 1.528907299041748, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637816639867, 0.007553470310831317, -0.003921791238979636, 0.11376190185546875], [-0.007552698320737616, 0.9999714555752776, 0.00021161931985529478, 0.1407197266817093], [0.003923277753954564, -0.00018199154925073634, 0.9999922873556282, -0.00817109365016222], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5800572037696838, -0.007956267334520817, 0.287575900554657, 1.6044076681137085, -1.3371164798736572, -1.612744688987732, -1.7692581415176392, -0.37184807658195496, -0.19625785946846008, -0.22263993322849274, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711272120475769, -1.2048698663711548, 1.6833696365356445, -1.499101996421814, -0.4270029664039612, 0.2024872601032257, 1.5289032459259033, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963655509241, 0.007574611082858291, -0.003913173589215542, 0.11375883221626282], [-0.007573861517274909, 0.9999712966122694, 0.00020633296890056616, 0.14071710407733917], [0.003914624159869746, -0.00017668763497610856, 0.9999923222201091, -0.008171172812581062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5800572037696838, -0.007956267334520817, 0.287575900554657, 1.604405403137207, -1.3371164798736572, -1.612746000289917, -1.7692573070526123, -0.37184593081474304, -0.1962585747241974, -0.22263969480991364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711264967918396, -1.2048697471618652, 1.6833536624908447, -1.4990994930267334, -0.42701998353004456, 0.2024887055158615, 1.528899073600769, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638313272553, 0.0075522208542457055, -0.003911521121659685, 0.1137605831027031], [-0.007551537942591099, 0.9999714688074798, 0.00018932964158728036, 0.14071977138519287], [0.003912839380565039, -0.00015978479362197331, 0.9999923320490021, -0.008169051259756088], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.627081036567688, 1.5881733894348145, -0.5801530480384827, -0.007860408164560795, 0.287575900554657, 1.6044012308120728, -1.3371163606643677, -1.6127468347549438, -1.769256830215454, -0.3718439042568207, -0.19625894725322723, -0.2226402908563614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9711258411407471, -1.2048701047897339, 1.6833429336547852, -1.4990984201431274, -0.42703938484191895, 0.20249122381210327, 1.5288939476013184, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637693217531, 0.00754832941838088, -0.003934814712715325, 0.11376185715198517], [-0.0075476980894375505, 0.9999715003605391, 0.0001752719118205272, 0.14072063565254211], [0.0039360255820428776, -0.0001455667681108321, 0.999992243226383, -0.00816449522972107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6269851922988892, 1.5881733894348145, -0.5801530480384827, -0.007860408164560795, 0.287575900554657, 1.6043965816497803, -1.3371164798736572, -1.6127475500106812, -1.76925790309906, -0.37184402346611023, -0.196259543299675, -0.22264364361763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.971129298210144, -1.2048704624176025, 1.6833313703536987, -1.4990978240966797, -0.42706504464149475, 0.20249493420124054, 1.5288803577423096, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637788983974, 0.007555822694386275, -0.0039179630738551885, 0.11376263946294785], [-0.007555159917321196, 0.9999714424551746, 0.00018393678582366463, 0.14071962237358093], [0.003919240980189742, -0.00015432928585752158, 0.9999923078367207, -0.008167285472154617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6268893480300903, 1.5878857374191284, -0.5800572037696838, -0.007860408164560795, 0.2876717746257782, 1.6043920516967773, -1.3371195793151855, -1.612745761871338, -1.769250750541687, -0.371843546628952, -0.19625809788703918, -0.22264616191387177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9710820913314819, -1.201646089553833, 1.6737072467803955, -1.4949201345443726, -0.4287709891796112, 0.2011583298444748, 1.5309865474700928, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637931805043, 0.007553560290563301, -0.003918680261820329, 0.11376520246267319], [-0.007552895310313815, 0.9999714594650518, 0.00018446616383661202, 0.1407196819782257], [0.003919961796879474, -0.00015486210313139285, 0.9999923049290129, -0.008167452178895473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6231508851051331, 1.5802171230316162, -0.5794820189476013, -0.007956267334520817, 0.2886303663253784, 1.6043946743011475, -1.3371365070343018, -1.6127287149429321, -1.7690293788909912, -0.3718433082103729, -0.19624671339988708, -0.2226523905992508, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9601888656616211, -1.1866629123687744, 1.650523066520691, -1.4705605506896973, -0.4338270127773285, 0.2094610035419464, 1.5358394384384155, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637931805043, 0.007553560290563301, -0.003918680261820329, 0.11376520246267319], [-0.007552895310313815, 0.9999714594650518, 0.00018446616383661202, 0.1407196819782257], [0.003919961796879474, -0.00015486210313139285, 0.9999923049290129, -0.008167452178895473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6127981543540955, 1.5607577562332153, -0.575743556022644, -0.00853141862899065, 0.2907392382621765, 1.604413390159607, -1.3372750282287598, -1.6124413013458252, -1.7688666582107544, -0.3718436658382416, -0.19620944559574127, -0.22266006469726562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9397118091583252, -1.173629879951477, 1.6359760761260986, -1.4507073163986206, -0.4261924624443054, 0.2174580693244934, 1.5357352495193481, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637931805043, 0.007553560290563301, -0.003918680261820329, 0.11376520246267319], [-0.007552895310313815, 0.9999714594650518, 0.00018446616383661202, 0.1407196819782257], [0.003919961796879474, -0.00015486210313139285, 0.9999923049290129, -0.008167452178895473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5993779301643372, 1.532862901687622, -0.5680748820304871, -0.009010711684823036, 0.2933274209499359, 1.6044466495513916, -1.3374375104904175, -1.6123241186141968, -1.768864631652832, -0.3718441426753998, -0.1961609125137329, -0.22269003093242645, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9327089786529541, -1.168348789215088, 1.6216533184051514, -1.4606493711471558, -0.4262436330318451, 0.22187821567058563, 1.5273547172546387, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637931805043, 0.007553560290563301, -0.003918680261820329, 0.11376520246267319], [-0.007552895310313815, 0.9999714594650518, 0.00018446616383661202, 0.1407196819782257], [0.003919961796879474, -0.00015486210313139285, 0.9999923049290129, -0.008167452178895473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5851908326148987, 1.501900553703308, -0.5576262474060059, -0.00833970122039318, 0.2951487600803375, 1.604467749595642, -1.337390661239624, -1.6126128435134888, -1.7688804864883423, -0.37184664607048035, -0.19615958631038666, -0.22269302606582642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.935661792755127, -1.1632251739501953, 1.6223030090332031, -1.4675010442733765, -0.4202636480331421, 0.2221943587064743, 1.5287394523620605, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637931805043, 0.007553560290563301, -0.003918680261820329, 0.11376520246267319], [-0.007552895310313815, 0.9999714594650518, 0.00018446616383661202, 0.1407196819782257], [0.003919961796879474, -0.00015486210313139285, 0.9999923049290129, -0.008167452178895473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5686072707176208, 1.4683500528335571, -0.5464107990264893, -0.006039094179868698, 0.29649075865745544, 1.604548454284668, -1.3372714519500732, -1.6128658056259155, -1.7689807415008545, -0.37184783816337585, -0.19616509974002838, -0.2226915806531906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9454958438873291, -1.1581008434295654, 1.6248795986175537, -1.4659242630004883, -0.4105083644390106, 0.22130177915096283, 1.5324653387069702, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637931805043, 0.007553560290563301, -0.003918680261820329, 0.11376520246267319], [-0.007552895310313815, 0.9999714594650518, 0.00018446616383661202, 0.1407196819782257], [0.003919961796879474, -0.00015486210313139285, 0.9999923049290129, -0.008167452178895473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5506817102432251, 1.4332658052444458, -0.5352911949157715, -0.003259193617850542, 0.29649075865745544, 1.6046322584152222, -1.3370708227157593, -1.6129155158996582, -1.7691994905471802, -0.37184929847717285, -0.19617170095443726, -0.22266966104507446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.953333854675293, -1.154882550239563, 1.6153483390808105, -1.460436224937439, -0.40458959341049194, 0.22179731726646423, 1.5260217189788818, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999631187891163, 0.0076278845577747185, -0.003946699724707694, 0.11396194994449615], [-0.007627229652170978, 0.9999708958866967, 0.00018096239957042612, 0.14073669910430908], [0.003947965219804952, -0.00015085334028949998, 0.9999921953764904, -0.00816882960498333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5326603055000305, 1.397606372833252, -0.5257053375244141, 0.0, 0.2955321669578552, 1.6046438217163086, -1.3370321989059448, -1.612876534461975, -1.7692461013793945, -0.37184929847717285, -0.19617733359336853, -0.22261548042297363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9530988335609436, -1.1524335145950317, 1.6006590127944946, -1.4549708366394043, -0.4044037163257599, 0.22416923940181732, 1.520957112312317, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637116718837, 0.007561614538190122, -0.0039239425283370336, 0.11373211443424225], [-0.00756074442105101, 0.9999713891887957, 0.0002365325131067712, 0.14072152972221375], [0.003925618828848042, -0.0002068560031576764, 0.9999922733338515, -0.008173889480531216], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5149264335632324, 1.361946940422058, -0.5160236358642578, 0.0, 0.29275229573249817, 1.6045163869857788, -1.3370468616485596, -1.6128145456314087, -1.769349217414856, -0.3718481957912445, -0.19618451595306396, -0.22259631752967834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9532917141914368, -1.1520837545394897, 1.5983810424804688, -1.4555118083953857, -0.39856991171836853, 0.22826269268989563, 1.5232739448547363, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638880508795, 0.0075411682103958206, -0.003918338447689584, 0.11368884146213531], [-0.007540381928472685, 0.9999715477164963, 0.00021540159613103686, 0.1407051831483841], [0.00391985134168242, -0.00018584804913895865, 0.9999923000833365, -0.008173083886504173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.49728846549987793, 1.3261916637420654, -0.507108747959137, 0.0, 0.28882208466529846, 1.6043788194656372, -1.3370985984802246, -1.6127519607543945, -1.7693668603897095, -0.3718472421169281, -0.1961955428123474, -0.22262567281723022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9536094069480896, -1.1496623754501343, 1.5989599227905273, -1.4563452005386353, -0.3908609449863434, 0.23112931847572327, 1.5348848104476929, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639765089029, 0.007547369271125999, -0.0038836711482323452, 0.11369527876377106], [-0.0075467320072840445, 0.9999715070422647, 0.0001787166253487648, 0.14070726931095123], [0.0038849093313208577, -0.00014940116199187203, 0.9999924425508326, -0.008170440793037415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.47840431332588196, 1.2900530099868774, -0.4995359182357788, 0.0, 0.2834540009498596, 1.6043986082077026, -1.3371071815490723, -1.6128758192062378, -1.7693766355514526, -0.37184616923332214, -0.1962054967880249, -0.22261153161525726, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9459081292152405, -1.1444882154464722, 1.5936517715454102, -1.4390603303909302, -0.38047611713409424, 0.22928375005722046, 1.537376046180725, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640808755237, 0.0075217031976400174, -0.0039065252815818265, 0.11390695720911026], [-0.007521053649916652, 0.9999717001065019, 0.00018093674947514078, 0.14072641730308533], [0.003907775679859508, -0.00015154906415798137, 0.9999923531318212, -0.008163726888597012], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.459520161151886, 1.2539142370224, -0.49148380756378174, -0.003259193617850542, 0.2780859172344208, 1.6042770147323608, -1.33719003200531, -1.612662672996521, -1.7694536447525024, -0.37184426188468933, -0.19622190296649933, -0.22264663875102997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9294440746307373, -1.142642855644226, 1.5788781642913818, -1.425296425819397, -0.38036802411079407, 0.22588370740413666, 1.5349445343017578, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999641173717078, 0.007507078920846282, -0.003925268793040721, 0.11396835744380951], [-0.0075063799712725005, 0.9999718081530377, 0.0001927663647854992, 0.14073805510997772], [0.003926605244777352, -0.0001632948887717425, 0.9999922775231972, -0.008167514577507973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.44159460067749023, 1.2172962427139282, -0.4795973300933838, -0.007381115108728409, 0.27233439683914185, 1.6041278839111328, -1.337186336517334, -1.6128253936767578, -1.7694271802902222, -0.37184378504753113, -0.19624143838882446, -0.22262650728225708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9117557406425476, -1.1428234577178955, 1.5666086673736572, -1.4203389883041382, -0.3807511627674103, 0.22517962753772736, 1.5311309099197388, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636172428721, 0.0075714039085522855, -0.003929126290205536, 0.11381390690803528], [-0.007570725247228391, 0.9999713240571214, 0.00018757046259664303, 0.14073221385478973], [0.003930433790538108, -0.00015781730266125013, 0.9999922633620308, -0.008170006796717644], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4258737862110138, 1.1807740926742554, -0.46301379799842834, -0.009106570854783058, 0.26581600308418274, 1.6040863990783691, -1.3371607065200806, -1.6129149198532104, -1.7693718671798706, -0.371843546628952, -0.1962389200925827, -0.22259019315242767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8980804085731506, -1.1436059474945068, 1.5656812191009521, -1.4131386280059814, -0.3807559609413147, 0.22647176682949066, 1.5297346115112305, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637089389606, 0.007561974962425553, -0.003923944406496919, 0.11371184885501862], [-0.007561255745005815, 0.9999713936763419, 0.00019809228412038396, 0.14071868360042572], [0.003925330125765978, -0.00016841514795450126, 0.9999922816800846, -0.008167918771505356], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.41005709767341614, 1.1442519426345825, -0.4447048008441925, -0.009873439557850361, 0.26111891865730286, 1.6040782928466797, -1.3371697664260864, -1.6127666234970093, -1.7693389654159546, -0.37184402346611023, -0.19622406363487244, -0.2226230353116989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8907123804092407, -1.142191767692566, 1.566665530204773, -1.4137141704559326, -0.380046010017395, 0.23498213291168213, 1.5365322828292847, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637323211705, 0.007558331093813625, -0.003925006164418281, 0.11384131759405136], [-0.00755771100938789, 0.9999714251654683, 0.0001727913212255132, 0.14070986211299896], [0.003926200022032557, -0.00014312099218463108, 0.9999922822051022, -0.008164679631590843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3943362832069397, 1.1082091331481934, -0.4261082112789154, -0.01006515696644783, 0.2574763000011444, 1.6041337251663208, -1.3371691703796387, -1.6126060485839844, -1.7692979574203491, -0.37184521555900574, -0.19621866941452026, -0.2226806879043579, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.890588104724884, -1.1383402347564697, 1.559584140777588, -1.4151666164398193, -0.3690902888774872, 0.24121201038360596, 1.5372353792190552, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640600371998, 0.007528352852872222, -0.003899043118761751, 0.11379978805780411], [-0.007527588412681717, 0.9999716451077795, 0.00021069677335381956, 0.14071205258369446], [0.0039005187614691247, -0.0001813388091182858, 0.999992376505755, -0.008177603594958782], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3778485953807831, 1.0721663236618042, -0.4088536500930786, -0.010448591783642769, 0.25469639897346497, 1.6041889190673828, -1.3371881246566772, -1.6125608682632446, -1.769289255142212, -0.3718458116054535, -0.196214959025383, -0.22270633280277252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8891260027885437, -1.1376382112503052, 1.5483617782592773, -1.413963794708252, -0.36480772495269775, 0.24395915865898132, 1.5366597175598145, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639845194715, 0.007548000528454504, -0.003880380389155584, 0.11386328935623169], [-0.007547356219492568, 0.9999715019820526, 0.00018065949676831223, 0.14071305096149445], [0.003881633423982689, -0.0001513663771656337, 0.9999924549766271, -0.008166691288352013], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3616484999656677, 1.0361233949661255, -0.39140740036964417, -0.010544450022280216, 0.25153306126594543, 1.6042602062225342, -1.337191104888916, -1.61271071434021, -1.7692968845367432, -0.3718477189540863, -0.19620837271213531, -0.2227024883031845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8746118545532227, -1.137758493423462, 1.543695330619812, -1.4074255228042603, -0.35667869448661804, 0.2464434802532196, 1.5366661548614502, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637487145351, 0.007565180395021718, -0.00390759547098457, 0.11386363208293915], [-0.007564548419944518, 0.9999713728204599, 0.00017648446700336523, 0.14072109758853912], [0.0039088187443772505, -0.0001469188740687531, 0.9999923497461708, -0.008160756900906563], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3464069664478302, 0.9997930526733398, -0.3721398115158081, -0.010352732613682747, 0.24856144189834595, 1.6041631698608398, -1.3372185230255127, -1.612682819366455, -1.769376516342163, -0.371850848197937, -0.19620393216609955, -0.2227148413658142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8555629253387451, -1.1371586322784424, 1.5448999404907227, -1.4034148454666138, -0.3461921513080597, 0.24440844357013702, 1.5367097854614258, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636456947011, 0.007567705438162522, -0.003929010481468347, 0.11377763003110886], [-0.007566962221714381, 0.9999713493244898, 0.00020399238786700819, 0.1407288759946823], [0.003930441666966972, -0.0001742542979834702, 0.9999922606019219, -0.008171089924871922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.330973744392395, 0.9631750583648682, -0.35200947523117065, -0.009298288263380527, 0.24808216094970703, 1.6041220426559448, -1.3372058868408203, -1.6126044988632202, -1.7693842649459839, -0.371854692697525, -0.19619877636432648, -0.22272178530693054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8467331528663635, -1.1327598094940186, 1.5462937355041504, -1.400614857673645, -0.3371643126010895, 0.2453712522983551, 1.5368068218231201, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963680925428, 0.007563371703687995, -0.0039283887970289755, 0.1137356385588646], [-0.007562621058482679, 0.999971381774086, 0.00020590179974597835, 0.1407265067100525], [0.003929833685356841, -0.0001761854057408401, 0.9999922626530209, -0.008173463866114616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3153487741947174, 0.926365315914154, -0.3319750428199768, -0.0071893977001309395, 0.2501910328865051, 1.6041898727416992, -1.3372299671173096, -1.6125993728637695, -1.769360899925232, -0.37185636162757874, -0.19618895649909973, -0.2227344959974289, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8591684699058533, -1.1267685890197754, 1.5436323881149292, -1.403759479522705, -0.3264765441417694, 0.252032071352005, 1.5368294715881348, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635043955399, 0.007587422310900552, -0.003926945335365395, 0.11384187638759613], [-0.007586666799389995, 0.9999711993519215, 0.00020725239389209033, 0.140710711479187], [0.0039284047482321715, -0.0001774524042918634, 0.9999922680434976, -0.008170181885361671], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.2975190579891205, 0.8898431658744812, -0.31452876329421997, -0.005368083715438843, 0.25297093391418457, 1.6043301820755005, -1.3372355699539185, -1.6126132011413574, -1.769330620765686, -0.3718571960926056, -0.19617709517478943, -0.222723588347435, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8822137117385864, -1.1242871284484863, 1.5427136421203613, -1.4181686639785767, -0.3196716606616974, 0.2601940631866455, 1.5365023612976074, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999641408987388, 0.007514861804007693, -0.003904326922012279, 0.11390179395675659], [-0.007514169806926755, 0.9999717498185443, 0.00019187743811554552, 0.14071670174598694], [0.0039056585564990155, -0.00016253278208930647, 0.9999923596779802, -0.008170243352651596], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.2797852158546448, 0.8538002967834473, -0.29890379309654236, -0.004217780195176601, 0.2553673982620239, 1.604377269744873, -1.337234616279602, -1.6126823425292969, -1.769299864768982, -0.3718562424182892, -0.19617745280265808, -0.2227114737033844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8830147385597229, -1.1225780248641968, 1.5429261922836304, -1.4187086820602417, -0.31307709217071533, 0.2630290389060974, 1.5364922285079956, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637457956476, 0.007567107692304777, -0.003904609520861119, 0.11389397084712982], [-0.007566493510055969, 0.9999713588780633, 0.00017204511566132206, 0.14071309566497803], [0.003905799572381861, -0.00014249467570364265, 0.9999923621833158, -0.008169710636138916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.262530654668808, 0.8176616430282593, -0.28500428795814514, -0.0037384869065135717, 0.25728458166122437, 1.6042721271514893, -1.3372410535812378, -1.6127598285675049, -1.7693222761154175, -0.3718552887439728, -0.19617876410484314, -0.22269973158836365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8706780672073364, -1.1196995973587036, 1.546463966369629, -1.4141634702682495, -0.3046058118343353, 0.2609887421131134, 1.536764144897461, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999640289267062, 0.007542332855322603, -0.003879957186487196, 0.11371874064207077], [-0.007541635168493156, 0.9999715425654716, 0.00019441763431169015, 0.1407208889722824], [0.003881313135370512, -0.00016514941933085713, 0.9999924540385364, -0.008171198889613152], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.24518024921417236, 0.7813311815261841, -0.27072134613990784, -0.0037384869065135717, 0.25766801834106445, 1.6042498350143433, -1.3372385501861572, -1.6127772331237793, -1.7693636417388916, -0.3718540668487549, -0.19617971777915955, -0.2226685732603073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8595852851867676, -1.117783784866333, 1.544113039970398, -1.4074957370758057, -0.29852116107940674, 0.2590101361274719, 1.5368430614471436, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636700740829, 0.007584766758356107, -0.0038897101681165985, 0.11376328021287918], [-0.007584053342205589, 0.9999712210258854, 0.00019812849983131924, 0.14072203636169434], [0.003891100984707761, -0.00016862153243688254, 0.9999924154211899, -0.00816606730222702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.22782984375953674, 0.7449049353599548, -0.2567259967327118, -0.004026062786579132, 0.25546327233314514, 1.6043107509613037, -1.3372182846069336, -1.6128865480422974, -1.7693668603897095, -0.37185370922088623, -0.19618560373783112, -0.2226291447877884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8611742258071899, -1.1153234243392944, 1.5394166707992554, -1.4065731763839722, -0.29304221272468567, 0.2594830393791199, 1.5367991924285889, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635631279665, 0.00758307356174245, -0.00392038413659815, 0.11383800953626633], [-0.007582297954892121, 0.9999712313519079, 0.00021266469479183287, 0.14072369039058685], [0.00392188400447113, -0.00018293142533424303, 0.999992292651273, -0.008173905313014984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.2094249725341797, 0.7086703181266785, -0.24436023831367493, -0.004792931955307722, 0.25067034363746643, 1.604396939277649, -1.3371340036392212, -1.6129738092422485, -1.7693805694580078, -0.3718538284301758, -0.19618739187717438, -0.22258684039115906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8691052794456482, -1.1146893501281738, 1.539291501045227, -1.4066191911697388, -0.2875891625881195, 0.2609461843967438, 1.5366501808166504, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636805832286, 0.007563807097767374, -0.003927637538089818, 0.11383315175771713], [-0.007563005198666569, 0.9999713760902176, 0.00021898082456464431, 0.14072157442569733], [0.0039291814424623865, -0.00018926812818976073, 0.999992262825452, -0.008173423819243908], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.19121183454990387, 0.6721482276916504, -0.23285719752311707, -0.0069976807571947575, 0.24511054158210754, 1.6043661832809448, -1.3371217250823975, -1.6129339933395386, -1.7693456411361694, -0.3718513250350952, -0.19618511199951172, -0.22259140014648438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8694771528244019, -1.1130272150039673, 1.5417181253433228, -1.406813144683838, -0.2850829064846039, 0.2625899612903595, 1.5366449356079102, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638087150376, 0.007547486439901283, -0.003926411663977886, 0.11380194127559662], [-0.007546751344356415, 0.9999715024639027, 0.00020200057302246222, 0.14071553945541382], [0.003927824367505498, -0.0001723616098585396, 0.9999922712137397, -0.008167189545929432], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.17271111905574799, 0.6357219219207764, -0.2222168892621994, -0.009394146502017975, 0.24079689383506775, 1.6041470766067505, -1.3371620178222656, -1.6126322746276855, -1.7693278789520264, -0.37184882164001465, -0.1961810439825058, -0.22261932492256165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8568534851074219, -1.1091440916061401, 1.5442193746566772, -1.3974229097366333, -0.2762297987937927, 0.2585752308368683, 1.536664605140686, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639977027458, 0.007533149883530768, -0.003905758719535061, 0.11375794559717178], [-0.007532495245496536, 0.999971613739675, 0.00018229165306711274, 0.14071562886238098], [0.0039070210799963525, -0.00015286498116387758, 0.9999923558800727, -0.008169690147042274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.15488141775131226, 0.5994873642921448, -0.21243931353092194, -0.011311319656670094, 0.23830457031726837, 1.6040334701538086, -1.337180733680725, -1.6125544309616089, -1.769339919090271, -0.37184906005859375, -0.19618332386016846, -0.22266438603401184, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8401732444763184, -1.1067143678665161, 1.5476356744766235, -1.3845289945602417, -0.27447158098220825, 0.25124460458755493, 1.5366888046264648, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639103681832, 0.007545147202663087, -0.0039049602894620727, 0.11376237869262695], [-0.007544401276970378, 0.9999715194397089, 0.00020571536653790038, 0.1407202035188675], [0.003906401226727492, -0.00017624735495172668, 0.9999923544539356, -0.008171413093805313], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.13590140640735626, 0.5629652142524719, -0.20141556859016418, -0.012653340585529804, 0.23744185268878937, 1.6040606498718262, -1.3371946811676025, -1.6125599145889282, -1.7693324089050293, -0.37185049057006836, -0.19618643820285797, -0.22270236909389496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8326587677001953, -1.1064951419830322, 1.552489161491394, -1.3815171718597412, -0.274436354637146, 0.24733930826187134, 1.5366880893707275, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639103681832, 0.007545147202663087, -0.0039049602894620727, 0.11376237869262695], [-0.007544401276970378, 0.9999715194397089, 0.00020571536653790038, 0.1407202035188675], [0.003906401226727492, -0.00017624735495172668, 0.9999923544539356, -0.008171413093805313], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.11720896512269974, 0.5259637832641602, -0.18962495028972626, -0.012749198824167252, 0.23619568347930908, 1.6041332483291626, -1.3371896743774414, -1.6125826835632324, -1.7693068981170654, -0.37185192108154297, -0.19618546962738037, -0.2226988971233368, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8281130194664001, -1.1065267324447632, 1.5527926683425903, -1.3735802173614502, -0.2725665867328644, 0.2473674714565277, 1.53648042678833, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639099125021, 0.007545438816086475, -0.0039045134875024404, 0.11381488293409348], [-0.007544689867670663, 0.9999715170985797, 0.00020650996491397995, 0.1407202035188675], [0.0039059604839348522, -0.0001770441686039339, 0.9999923560348151, -0.008171084336936474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.09784552454948425, 0.4889623522758484, -0.17927221953868866, -0.012078188359737396, 0.23341578245162964, 1.6042739152908325, -1.3372043371200562, -1.6126283407211304, -1.7692488431930542, -0.37185564637184143, -0.1961822360754013, -0.22269026935100555, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8151763081550598, -1.1066759824752808, 1.5488383769989014, -1.3559712171554565, -0.27687251567840576, 0.24202477931976318, 1.5337105989456177, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639099125021, 0.007545438816086475, -0.0039045134875024404, 0.11381488293409348], [-0.007544689867670663, 0.9999715170985797, 0.00020650996491397995, 0.1407202035188675], [0.0039059604839348522, -0.0001770441686039339, 0.9999923560348151, -0.008171084336936474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07953652739524841, 0.4519609212875366, -0.16891948878765106, -0.009394146502017975, 0.22900629043579102, 1.6043893098831177, -1.3371944427490234, -1.6129347085952759, -1.7691946029663086, -0.3718631863594055, -0.19618259370326996, -0.22268152236938477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8030228018760681, -1.1071141958236694, 1.5462064743041992, -1.339463472366333, -0.278722882270813, 0.23534728586673737, 1.5289043188095093, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639099125021, 0.007545438816086475, -0.0039045134875024404, 0.11381488293409348], [-0.007544689867670663, 0.9999715170985797, 0.00020650996491397995, 0.1407202035188675], [0.0039059604839348522, -0.0001770441686039339, 0.9999923560348151, -0.008171084336936474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06065237149596214, 0.4152470529079437, -0.15751230716705322, -0.004984649363905191, 0.22363820672035217, 1.6044315099716187, -1.3371858596801758, -1.6129422187805176, -1.7692198753356934, -0.3718736171722412, -0.1961803287267685, -0.22268259525299072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8036264181137085, -1.1071215867996216, 1.5461920499801636, -1.3438187837600708, -0.28421691060066223, 0.23373720049858093, 1.5274714231491089, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639099125021, 0.007545438816086475, -0.0039045134875024404, 0.11381488293409348], [-0.007544689867670663, 0.9999715170985797, 0.00020650996491397995, 0.1407202035188675], [0.0039059604839348522, -0.0001770441686039339, 0.9999923560348151, -0.008171084336936474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04205579683184624, 0.37853318452835083, -0.14600926637649536, 0.0, 0.2164487987756729, 1.6044570207595825, -1.3371737003326416, -1.6129446029663086, -1.7692002058029175, -0.37189313769340515, -0.19617660343647003, -0.22267720103263855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8024739027023315, -1.1071380376815796, 1.541782021522522, -1.3482195138931274, -0.2885384261608124, 0.2367270290851593, 1.5270873308181763, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639099125021, 0.007545438816086475, -0.0039045134875024404, 0.11381488293409348], [-0.007544689867670663, 0.9999715170985797, 0.00020650996491397995, 0.1407202035188675], [0.0039059604839348522, -0.0001770441686039339, 0.9999923560348151, -0.008171084336936474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.023555079475045204, 0.3421069085597992, -0.13546481728553772, 0.0071893977001309395, 0.20657536387443542, 1.604415774345398, -1.3371690511703491, -1.6129463911056519, -1.7692053318023682, -0.3719007074832916, -0.19617493450641632, -0.22265683114528656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7879048585891724, -1.108742594718933, 1.527711272239685, -1.3353744745254517, -0.2861884534358978, 0.24123214185237885, 1.5253790616989136, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639099125021, 0.007545438816086475, -0.0039045134875024404, 0.11381488293409348], [-0.007544689867670663, 0.9999715170985797, 0.00020650996491397995, 0.1407202035188675], [0.0039059604839348522, -0.0001770441686039339, 0.9999923560348151, -0.008171084336936474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.010997598059475422, 0.309323251247406, -0.11955229192972183, 0.013516068458557129, 0.19411374628543854, 1.6036537885665894, -1.3372056484222412, -1.6129140853881836, -1.7693787813186646, -0.37189924716949463, -0.19617709517478943, -0.2226637899875641, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7739194631576538, -1.1122057437896729, 1.5197726488113403, -1.3252815008163452, -0.2791095972061157, 0.2387910783290863, 1.5163592100143433, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638742126097, 0.007557351047335814, -0.003890593123857466, 0.1133885458111763], [-0.0075566199151324166, 0.99997142781841, 0.00020258891543903327, 0.14071790874004364], [0.00389201299667651, -0.00017318186327352792, 0.9999924110926423, -0.008170991204679012], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0057253725826740265, 0.2803739607334137, -0.0960669219493866, 0.0179255660623312, 0.18117283284664154, 1.6028341054916382, -1.337207555770874, -1.6128995418548584, -1.7696104049682617, -0.37189817428588867, -0.1961819976568222, -0.2226656973361969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7739716172218323, -1.1134676933288574, 1.518750548362732, -1.3235981464385986, -0.2721844017505646, 0.23821882903575897, 1.5090110301971436, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999642441264363, 0.007501524204126758, -0.0039035372753206147, 0.11258112639188766], [-0.0075007272716501395, 0.99997184522167, 0.00021875640508768761, 0.14073172211647034], [0.003905068378561499, -0.00018946921476442583, 0.9999923572419819, -0.008174079470336437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.003520623780786991, 0.26062706112861633, -0.07526560127735138, 0.020801324397325516, 0.16794432699680328, 1.6033072471618652, -1.3372061252593994, -1.6128222942352295, -1.7696735858917236, -0.37189507484436035, -0.19618895649909973, -0.22266845405101776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.784342885017395, -1.114561676979065, 1.514054298400879, -1.32509183883667, -0.26971983909606934, 0.23861801624298096, 1.4972115755081177, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999964789215627, 0.007434346902784801, -0.0038924047933921483, 0.11335352063179016], [-0.007433505150488275, 0.9999723445120534, 0.0002306777943235068, 0.1407322734594345], [0.0038940120857840718, -0.00020173546089796547, 0.9999923979574442, -0.008174333721399307], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.00189102697186172, 0.25056192278862, -0.06385841965675354, 0.023006072267889977, 0.15538685023784637, 1.6052007675170898, -1.3372069597244263, -1.6128041744232178, -1.7696534395217896, -0.37188848853111267, -0.1961905062198639, -0.22266942262649536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8000128865242004, -1.1190781593322754, 1.5100555419921875, -1.3350577354431152, -0.2704690992832184, 0.2420608550310135, 1.4889824390411377, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999630575682712, 0.00765863722536249, -0.003902406253147798, 0.11482619494199753], [-0.00765776434123463, 0.9999706504337701, 0.00023857149239723762, 0.14070503413677216], [0.0039041188517295994, -0.00020867897153580106, 0.9999923571253324, -0.00817700382322073], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24548140168190002, -0.0610785186290741, 0.025498397648334503, 0.14455482363700867, 1.6053231954574585, -1.3372063636779785, -1.6127853393554688, -1.7695456743240356, -0.3718816339969635, -0.1961900293827057, -0.2226680964231491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8176048994064331, -1.1225463151931763, 1.5095285177230835, -1.3517630100250244, -0.27076929807662964, 0.24448958039283752, 1.4832189083099365, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999634886409479, 0.007599301106267318, -0.003907941622022418, 0.11483417451381683], [-0.007598505642808113, 0.9999711070985431, 0.0002183577574892772, 0.14071378111839294], [0.003909488076598284, -0.00018865526848408964, 0.9999923401267474, -0.008173275738954544], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24433110654354095, -0.06299569457769394, 0.028757590800523758, 0.1343938112258911, 1.6052579879760742, -1.3372087478637695, -1.6127424240112305, -1.7694132328033447, -0.37187206745147705, -0.19618859887123108, -0.22266821563243866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8338770866394043, -1.1257505416870117, 1.518876314163208, -1.3703773021697998, -0.27246206998825073, 0.2425156533718109, 1.4804997444152832, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638808353238, 0.007551231108891996, -0.003900760630758844, 0.11392868310213089], [-0.0075503440499519615, 0.9999714664432082, 0.0002420829340304941, 0.1407199501991272], [0.003902477352366238, -0.00021262210537839767, 0.9999923627020131, -0.008177145384252071], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24471452832221985, -0.06903478503227234, 0.033071231096982956, 0.12576653063297272, 1.6046366691589355, -1.3372091054916382, -1.6127201318740845, -1.7691285610198975, -0.3718646168708801, -0.1961829662322998, -0.22266294062137604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8370716571807861, -1.1269092559814453, 1.5200695991516113, -1.3748314380645752, -0.2747921645641327, 0.24159227311611176, 1.4711296558380127, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637727590343, 0.00756756339580983, -0.003896813283815059, 0.11339697241783142], [-0.007566557525486672, 0.9999713359815867, 0.0002728047181033913, 0.1407187134027481], [0.0038987660524862624, -0.0002433093732630647, 0.9999923701828014, -0.008180856704711914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24605655670166016, -0.07727862894535065, 0.037384867668151855, 0.11781026422977448, 1.6043905019760132, -1.337209939956665, -1.6126800775527954, -1.7691380977630615, -0.3718634247779846, -0.1961817592382431, -0.22266210615634918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8418992757797241, -1.1272556781768799, 1.5196558237075806, -1.3899755477905273, -0.28558167815208435, 0.2441393882036209, 1.461258888244629, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99996391330061, 0.007549001809258648, -0.003896750981766737, 0.11340653896331787], [-0.007548054862017129, 0.9999714798331281, 0.00025765896812127793, 0.14071981608867645], [0.0038985849137949976, -0.00022823677986555577, 0.9999923744427466, -0.008179320953786373], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24730272591114044, -0.08600176870822906, 0.040835779160261154, 0.11081258952617645, 1.604391098022461, -1.3372159004211426, -1.6125690937042236, -1.769157886505127, -0.3718639016151428, -0.1961805671453476, -0.22266115248203278, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8556771278381348, -1.129422664642334, 1.5287103652954102, -1.407909870147705, -0.2927061915397644, 0.2502392530441284, 1.4595279693603516, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637434432841, 0.007568960868997736, -0.003901618927768416, 0.11363723129034042], [-0.0075680450852088415, 0.9999713308282735, 0.00024942958905685057, 0.1407194286584854], [0.0039033949943845054, -0.00021989291764815274, 0.9999923575481078, -0.008178233169019222], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24759028851985931, -0.09568348526954651, 0.0427529513835907, 0.10506106913089752, 1.6043903827667236, -1.3372390270233154, -1.6125068664550781, -1.7692146301269531, -0.37186533212661743, -0.19617660343647003, -0.22266246378421783, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8692042231559753, -1.1314857006072998, 1.535380244255066, -1.408798098564148, -0.2930738627910614, 0.25419920682907104, 1.459210991859436, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637865579747, 0.007553698863144451, -0.003920102820344957, 0.11360284686088562], [-0.007552781735289502, 0.999971446408927, 0.00024870644845393817, 0.14072149991989136], [0.003921869540949005, -0.00021908976095542752, 0.999992285439733, -0.00817557517439127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2474944293498993, -0.1064196527004242, 0.04284881055355072, 0.09930954873561859, 1.6043922901153564, -1.337249994277954, -1.6125073432922363, -1.7693758010864258, -0.3718659579753876, -0.19617469608783722, -0.2226669043302536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8788599371910095, -1.1324084997177124, 1.5368374586105347, -1.4093750715255737, -0.29054364562034607, 0.2563084065914154, 1.4573620557785034, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637848498754, 0.0075616690573412785, -0.003905144015184256, 0.11357835680246353], [-0.007560791963650331, 0.9999713881675235, 0.00023931401634027518, 0.14071986079216003], [0.003906841895250245, -0.00020977936806034416, 0.9999923462602213, -0.008176201954483986], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2466317117214203, -0.1181144118309021, 0.0427529513835907, 0.09259944409132004, 1.6043962240219116, -1.3372503519058228, -1.612518072128296, -1.7693756818771362, -0.3718676269054413, -0.19617348909378052, -0.2226683348417282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8823323249816895, -1.134804129600525, 1.5361716747283936, -1.4066725969314575, -0.2894130349159241, 0.2565188705921173, 1.4528435468673706, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637800077346, 0.007564131578857106, -0.003901613268999276, 0.11364654451608658], [-0.007563268169943621, 0.9999713702288374, 0.00023600265030677048, 0.1407187134027481], [0.0039032867218040993, -0.00020648515484374984, 0.9999923608291457, -0.008175859227776527], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24519382417201996, -0.1293298751115799, 0.04169850796461105, 0.08483489602804184, 1.6044045686721802, -1.337249755859375, -1.612558364868164, -1.7693747282028198, -0.37186893820762634, -0.1961725354194641, -0.22266905009746552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8823801875114441, -1.1378854513168335, 1.5351250171661377, -1.3981941938400269, -0.2900720536708832, 0.25696468353271484, 1.4525572061538696, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636671648635, 0.007580337485555536, -0.0038990811485642967, 0.11362691223621368], [-0.007579481387121017, 0.9999712478707502, 0.000234294082176729, 0.140717014670372], [0.0039007450698929262, -0.00020473255661605032, 0.99999237110714, -0.008175371214747429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2440435290336609, -0.13987432420253754, 0.040452346205711365, 0.07611175626516342, 1.6044502258300781, -1.3372480869293213, -1.6129807233810425, -1.7693709135055542, -0.3718700110912323, -0.1961708515882492, -0.22267073392868042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8814874291419983, -1.1403039693832397, 1.5339159965515137, -1.3871759176254272, -0.29020926356315613, 0.2596985101699829, 1.4479862451553345, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99996380602476, 0.007560673218680552, -0.003901648492165933, 0.11365581303834915], [-0.007559913274297256, 0.999971401504348, 0.0002094867896567188, 0.14071987569332123], [0.0039031207720487196, -0.00017998308326947377, 0.9999923665980298, -0.008172154426574707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2431807965040207, -0.15070635080337524, 0.0401647686958313, 0.06662175059318542, 1.604504108428955, -1.3372446298599243, -1.6130298376083374, -1.7693679332733154, -0.371869295835495, -0.1961706131696701, -0.22267109155654907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8798547983169556, -1.1415457725524902, 1.5327354669570923, -1.3739253282546997, -0.29419055581092834, 0.2602301239967346, 1.4407798051834106, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639175992336, 0.007551642245875036, -0.0038905268259414065, 0.11367294192314148], [-0.007550868306963186, 0.9999714689788203, 0.00021357937897680085, 0.14071998000144958], [0.0038920287002992644, -0.00018419481681266212, 0.9999924090636216, -0.00817412044852972], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24203048646450043, -0.16067564487457275, 0.04035648703575134, 0.05646073818206787, 1.604507565498352, -1.3372418880462646, -1.6130212545394897, -1.769363284111023, -0.37186822295188904, -0.19617097079753876, -0.22267121076583862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8800105452537537, -1.1432974338531494, 1.5354002714157104, -1.3664143085479736, -0.298046350479126, 0.26056724786758423, 1.4348798990249634, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963771003016, 0.007567724225335374, -0.003896951562058459, 0.11365129053592682], [-0.007566955575977796, 0.9999713477197163, 0.00021195028974621557, 0.1407182365655899], [0.00389844388685233, -0.00018245455164797396, 0.9999923843938001, -0.00817298237234354], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2414553463459015, -0.16978222131729126, 0.04198608174920082, 0.04649144038558006, 1.60453200340271, -1.3372336626052856, -1.6130162477493286, -1.7693570852279663, -0.3718681037425995, -0.19617120921611786, -0.22266845405101776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8793037533760071, -1.1446939706802368, 1.5370171070098877, -1.3551594018936157, -0.2981116771697998, 0.26269206404685974, 1.4337996244430542, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637784967852, 0.007563575828610662, -0.003903077646835247, 0.1137363463640213], [-0.0075628693730411325, 0.9999713819393211, 0.00019572738847393418, 0.1407199651002884], [0.003904446347266774, -0.0001662018325378516, 0.9999923638086804, -0.008170794695615768], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2414553463459015, -0.17831362783908844, 0.04543699324131012, 0.036522142589092255, 1.6045429706573486, -1.3372302055358887, -1.612965703010559, -1.7693496942520142, -0.3718660771846771, -0.1961710900068283, -0.22266726195812225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8786302804946899, -1.1448652744293213, 1.538793921470642, -1.3487352132797241, -0.2980022430419922, 0.26373085379600525, 1.4338654279708862, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636976353532, 0.007574919482072487, -0.003901795262693559, 0.11383393406867981], [-0.007574205397496569, 0.9999712957400931, 0.00019775862971564616, 0.14071637392044067], [0.003903181270245217, -0.00016819845187113807, 0.9999923684135057, -0.008170616813004017], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2414553463459015, -0.18684504926204681, 0.050038207322359085, 0.028949309140443802, 1.6045390367507935, -1.337230920791626, -1.6127508878707886, -1.7693463563919067, -0.37186306715011597, -0.19617073237895966, -0.2226656973361969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.878612220287323, -1.1448675394058228, 1.5392272472381592, -1.3502000570297241, -0.30426785349845886, 0.26717740297317505, 1.4304028749465942, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963847535313, 0.007555594867376093, -0.003900847161002616, 0.11378201842308044], [-0.007554916080362212, 0.9999714434068315, 0.00018871639198697441, 0.14071814715862274], [0.003902161630699913, -0.0001592389964805833, 0.999992373859696, -0.008169812150299549], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2419346421957016, -0.19518475234508514, 0.054064273834228516, 0.023293649777770042, 1.6045315265655518, -1.3372318744659424, -1.612725019454956, -1.7693508863449097, -0.37185755372047424, -0.1961715817451477, -0.2226654589176178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8804935216903687, -1.144870400428772, 1.5394763946533203, -1.3505973815917969, -0.3083011507987976, 0.2717551290988922, 1.4280235767364502, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99996371931085, 0.007575753749501398, -0.0038946138625624875, 0.11384157836437225], [-0.007575097970079589, 0.9999712917695963, 0.0001831048564981477, 0.1407167762517929], [0.003895889212393556, -0.00015359613176322632, 0.9999923991988504, -0.00816933624446392], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2431807965040207, -0.20266172289848328, 0.05674831569194794, 0.020226173102855682, 1.6044902801513672, -1.3372349739074707, -1.6126660108566284, -1.769359827041626, -0.37185192108154297, -0.196172297000885, -0.2226669043302536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.88480544090271, -1.1450878381729126, 1.5426840782165527, -1.3461251258850098, -0.3107233941555023, 0.2798546552658081, 1.426818609237671, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999639346175898, 0.007542131297122126, -0.00390457675114521, 0.11386308819055557], [-0.007541377790345322, 0.9999715418426511, 0.0002076676534209578, 0.1407194882631302], [0.003906031890793911, -0.00017821427541583776, 0.9999923555480512, -0.00817199144512415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24442696571350098, -0.20994699001312256, 0.05809033662080765, 0.020897183567285538, 1.6042426824569702, -1.3372459411621094, -1.6123106479644775, -1.7693634033203125, -0.3718465268611908, -0.19617097079753876, -0.22266821563243866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8849037289619446, -1.1455308198928833, 1.5431592464447021, -1.3273942470550537, -0.31123560667037964, 0.2843570113182068, 1.4206262826919556, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637121458688, 0.007573637440285075, -0.0039005650074236706, 0.11380912363529205], [-0.007572970223190804, 0.9999713073889502, 0.00018579782631098133, 0.14071714878082275], [0.003901860255402711, -0.00015625222145172277, 0.9999923755068288, -0.008168711327016354], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24471452832221985, -0.2165612280368805, 0.05818619206547737, 0.025881832465529442, 1.6039143800735474, -1.3372671604156494, -1.6123082637786865, -1.769364595413208, -0.3718450963497162, -0.19616714119911194, -0.22267037630081177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8865341544151306, -1.1458429098129272, 1.5416014194488525, -1.3079447746276855, -0.3171284794807434, 0.28847789764404297, 1.4187049865722656, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636944537201, 0.0075772039217601615, -0.0038981733151642484, 0.11375700682401657], [-0.007576490892129, 0.9999712784478961, 0.0001976487837640363, 0.14071811735630035], [0.0038995589787157348, -0.00016810713339868798, 0.9999923825608689, -0.008171169087290764], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24471452832221985, -0.2234630584716797, 0.05780275911092758, 0.033454664051532745, 1.603920340538025, -1.3372766971588135, -1.6123194694519043, -1.7693647146224976, -0.37184593081474304, -0.19615887105464935, -0.22266928851604462, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8964975476264954, -1.1464996337890625, 1.5415583848953247, -1.3013352155685425, -0.3236220180988312, 0.2980651557445526, 1.421013355255127, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637651809161, 0.007562881178789843, -0.0039078323251175405, 0.11375876516103745], [-0.0075621529738191355, 0.9999713862937408, 0.00020108748014236081, 0.14072057604789734], [0.003909241308270138, -0.00017152856793532366, 0.9999923441758662, -0.00817141029983759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.244522824883461, -0.22892700135707855, 0.057035889476537704, 0.039206184446811676, 1.6041061878204346, -1.3372756242752075, -1.6128393411636353, -1.7693758010864258, -0.3718496561050415, -0.19615958631038666, -0.22266115248203278, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8986400365829468, -1.1476972103118896, 1.5406116247177124, -1.3006486892700195, -0.32453855872154236, 0.30005815625190735, 1.4230211973190308, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963704278497, 0.007578620329774404, -0.0038928960329898087, 0.11382033675909042], [-0.007578019410220137, 0.9999712721024788, 0.000169090415608628, 0.14071695506572723], [0.0038940656703328135, -0.0001395838366500285, 0.9999924083556373, -0.008167557418346405], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.244522824883461, -0.23094002902507782, 0.05646073818206787, 0.04208194091916084, 1.60453462600708, -1.3372701406478882, -1.6131106615066528, -1.7693840265274048, -0.3718540668487549, -0.19616150856018066, -0.22264496982097626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8986384868621826, -1.1487431526184082, 1.540427565574646, -1.3006761074066162, -0.32448452711105347, 0.29995471239089966, 1.423182725906372, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636850364331, 0.007579605104599795, -0.003895920278388881, 0.11400249600410461], [-0.007578905467689323, 0.9999712608039713, 0.00019431425064953296, 0.14071504771709442], [0.0038972811380584074, -0.0001647803826350369, 0.9999923919946373, -0.00817069597542286], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.244522824883461, -0.23180274665355682, 0.05636487901210785, 0.04323224723339081, 1.6045422554016113, -1.3372671604156494, -1.6131049394607544, -1.769383430480957, -0.3718583881855011, -0.19616222381591797, -0.22263850271701813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8986365795135498, -1.1487642526626587, 1.5404629707336426, -1.300695776939392, -0.32422372698783875, 0.2998928725719452, 1.4231855869293213, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637491581259, 0.007568873963967046, -0.003900322620265102, 0.11394131928682327], [-0.007568077136467688, 0.9999713377093291, 0.00021901660054432517, 0.14071762561798096], [0.0039018685371299865, -0.00018949071856089498, 0.9999923697284827, -0.008173716254532337], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.244522824883461, -0.2321861833333969, 0.05607730522751808, 0.04371153935790062, 1.6045382022857666, -1.3372710943222046, -1.61294424533844, -1.769325852394104, -0.37181752920150757, -0.19620968401432037, -0.22255472838878632, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8986361622810364, -1.1487629413604736, 1.5406709909439087, -1.3006993532180786, -0.324120432138443, 0.29986506700515747, 1.4231841564178467, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635226073036, 0.00759490461129762, -0.003907797172046355, 0.11390455812215805], [-0.007594121971836503, 0.9999711411105145, 0.000215075829331445, 0.1407150775194168], [0.003909317877767603, -0.00018539169556024121, 0.9999923414024978, -0.008172216825187206], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.244522824883461, -0.232569620013237, 0.05588558688759804, 0.04428669065237045, 1.6007810831069946, -1.3386991024017334, -1.5966110229492188, -1.7570151090621948, -0.3556159436702728, -0.22069884836673737, -0.20240552723407745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8981629610061646, -1.1488037109375, 1.5408767461776733, -1.2990683317184448, -0.3203674554824829, 0.29761695861816406, 1.4243398904800415, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999633963285021, 0.007616553117396186, -0.003897963798836716, 0.11393499374389648], [-0.007615756226987182, 0.9999709756742428, 0.00021924003747141111, 0.1407109946012497], [0.003899520516456489, -0.00018954607040753897, 0.9999923788769737, -0.008174188435077667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.244522824883461, -0.232569620013237, 0.05473528429865837, 0.04457426816225052, 1.5935336351394653, -1.3446134328842163, -1.5599089860916138, -1.7467399835586548, -0.3405984938144684, -0.22287517786026, -0.16240938007831573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8767006993293762, -1.1516894102096558, 1.536731243133545, -1.2577403783798218, -0.2711004316806793, 0.27256083488464355, 1.463644027709961, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636928204111, 0.00757595478662709, -0.0039010191024414155, 0.11401551216840744], [-0.007575081049889423, 0.9999712801714778, 0.00023870337953479874, 0.1407185047864914], [0.0039027154718525026, -0.00020914417701016887, 0.9999923625061639, -0.00817661639302969], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24461868405342102, -0.23352821171283722, 0.053584977984428406, 0.04323224723339081, 1.5895816087722778, -1.352720022201538, -1.5260939598083496, -1.7269684076309204, -0.3262838125228882, -0.2202693372964859, -0.1134181022644043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8487469553947449, -1.1537667512893677, 1.5123357772827148, -1.2310421466827393, -0.23822025954723358, 0.25439417362213135, 1.5220894813537598, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999633676287398, 0.007615786741486003, -0.0039068136502785145, 0.1138673648238182], [-0.00761490465685598, 0.9999709772465811, 0.00024060670100528958, 0.14071285724639893], [0.003908532673112718, -0.00021084787355231627, 0.9999923394284166, -0.008176229894161224], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24471452832221985, -0.23534952104091644, 0.052242957055568695, 0.040452346205711365, 1.5914772748947144, -1.3569748401641846, -1.5014002323150635, -1.6987625360488892, -0.31301286816596985, -0.2428915947675705, -0.08678987622261047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524008989334106, -1.1492236852645874, 1.4876595735549927, -1.2501587867736816, -0.20110908150672913, 0.2497244030237198, 1.5411328077316284, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636743779766, 0.007572995888027171, -0.003911477697209363, 0.11364269256591797], [-0.0075721268987089824, 0.9999713029684951, 0.00023692555805666934, 0.14071711897850037], [0.003913159685687588, -0.0002072987461036604, 0.9999923220747768, -0.00817570649087429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2457689791917801, -0.23803356289863586, 0.050900936126708984, 0.03805587813258171, 1.5937530994415283, -1.360143780708313, -1.4896788597106934, -1.662562370300293, -0.29074352979660034, -0.26653072237968445, -0.05674087256193161, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8902331590652466, -1.1135178804397583, 1.4790990352630615, -1.3072224855422974, -0.13018570840358734, 0.2722781002521515, 1.536329984664917, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999635439740672, 0.007602779203288413, -0.003886961693900203, 0.11364574730396271], [-0.007601982086150023, 0.9999710803582146, 0.00021980806877275859, 0.14071188867092133], [0.0038885204365743616, -0.00019025144227752247, 0.9999924215778853, -0.008176388218998909], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.24806958436965942, -0.2411969006061554, 0.04975063353776932, 0.037289008498191833, 1.6084775924682617, -1.3606698513031006, -1.4904872179031372, -1.6478410959243774, -0.29900282621383667, -0.2713629901409149, -0.06749611347913742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9263902902603149, -1.0596296787261963, 1.47829270362854, -1.3459646701812744, -0.05706049129366875, 0.2832243740558624, 1.5363800525665283, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999636641658043, 0.0075772676296461524, -0.0039058114864112545, 0.11386394500732422], [-0.007576424082806894, 0.9999712718697805, 0.0002307233210030513, 0.1407172530889511], [0.003907447532101902, -0.00020112285327016422, 0.9999923456723965, -0.008175147697329521], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2504660487174988, -0.2459898293018341, 0.04898376390337944, 0.03719315305352211, 1.6180533170700073, -1.3606520891189575, -1.493310809135437, -1.6479078531265259, -0.3040798008441925, -0.273276150226593, -0.07679383456707001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9346752762794495, -1.0198901891708374, 1.4602917432785034, -1.3532429933547974, -0.014476943761110306, 0.2825244963169098, 1.5364964008331299, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999964015744545, 0.007537728984182372, -0.0038922818249010503, 0.11387629806995392], [-0.007536791592373881, 0.9999715653558379, 0.0002554452749659602, 0.1407206803560257], [0.003894096626505364, -0.00022610076602486712, 0.9999923924160159, -0.008180225268006325], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25199979543685913, -0.2499200403690338, 0.04821689426898956, 0.037289008498191833, 1.6183130741119385, -1.3604594469070435, -1.4934468269348145, -1.6480761766433716, -0.3040733337402344, -0.27322858572006226, -0.07634478807449341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.931311309337616, -1.0190303325653076, 1.4574509859085083, -1.3522534370422363, -0.016509467735886574, 0.2823866903781891, 1.5365676879882812, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963743453428, 0.007570777782624792, -0.0038980895799146558, 0.11388535797595978], [-0.007569949740579102, 0.9999713217245031, 0.00022713316661405095, 0.14071734249591827], [0.00389969736415927, -0.0001976165893455885, 0.9999923766250178, -0.008174906484782696], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25295838713645935, -0.25145378708839417, 0.04773760214447975, 0.037384867668151855, 1.617395043373108, -1.3602771759033203, -1.4934643507003784, -1.648325800895691, -0.3040037155151367, -0.2731625437736511, -0.07603152096271515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292517304420471, -1.0237374305725098, 1.4579992294311523, -1.3520922660827637, -0.02030487172305584, 0.2823871672153473, 1.5365656614303589, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963647193058, 0.007582484540587597, -0.0039000282754330503, 0.11383058875799179], [-0.007581618193674033, 0.9999712310640251, 0.00023687520667666238, 0.14071594178676605], [0.0039017121783619683, -0.00020729807026913832, 0.9999923668056608, -0.008176490664482117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25334182381629944, -0.25231650471687317, 0.04773760214447975, 0.037384867668151855, 1.6166490316390991, -1.360203742980957, -1.4934717416763306, -1.6483807563781738, -0.30387571454048157, -0.27312418818473816, -0.07599160820245743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292275905609131, -1.024520993232727, 1.4583426713943481, -1.3520561456680298, -0.02065780758857727, 0.28239065408706665, 1.5365558862686157, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638115208956, 0.007556978539742101, -0.003907393498563945, 0.11380645632743835], [-0.007556083853038404, 0.9999714226989663, 0.0002436846547548759, 0.14071901142597198], [0.003909123355510126, -0.00021415124325587298, 0.9999923364175529, -0.008176525123417377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25343766808509827, -0.2527957856655121, 0.04764174297451973, 0.03748072683811188, 1.6166188716888428, -1.3601934909820557, -1.493477463722229, -1.6484020948410034, -0.3037749230861664, -0.27311354875564575, -0.07598346471786499, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292296767234802, -1.0245132446289062, 1.4585399627685547, -1.351994514465332, -0.020749486982822418, 0.2823917269706726, 1.5365421772003174, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638950932885, 0.007552576826810775, -0.0038944952347939395, 0.11383131146430969], [-0.007551683415054264, 0.9999714558492632, 0.00024405799289184784, 0.14071953296661377], [0.0038962273364764265, -0.00021463918612618104, 0.9999923866422995, -0.008178411982953548], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6166218519210815, -1.3601913452148438, -1.4934792518615723, -1.6484112739562988, -0.30373382568359375, -0.27311208844184875, -0.07597902417182922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292320609092712, -1.0244929790496826, 1.4586149454116821, -1.351953387260437, -0.020798981189727783, 0.2823929190635681, 1.5365281105041504, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637339735857, 0.007570958890085446, -0.0039001691102331813, 0.11385921388864517], [-0.007570060032438984, 0.9999713166282252, 0.0002451773212892511, 0.14071734249591827], [0.0039019134676528708, -0.0002156439153809117, 0.9999923642553441, -0.008177943527698517], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6166248321533203, -1.3601897954940796, -1.4934802055358887, -1.648413062095642, -0.30372053384780884, -0.27311208844184875, -0.07597770541906357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292336702346802, -1.024465799331665, 1.458634376525879, -1.351910948753357, -0.02085135318338871, 0.2823947072029114, 1.5365105867385864, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999638115136458, 0.007558539955928148, -0.0039043740646319963, 0.11383285373449326], [-0.007557690786889147, 0.9999714132879074, 0.00023220024729801196, 0.1407189816236496], [0.0039060175462616877, -0.000202683792425693, 0.9999923509438503, -0.008175495080649853], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6166307926177979, -1.3601893186569214, -1.4934818744659424, -1.6484143733978271, -0.30371716618537903, -0.27311137318611145, -0.07597579061985016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292343854904175, -1.0244555473327637, 1.4586422443389893, -1.3518818616867065, -0.020883949473500252, 0.2823931574821472, 1.5364958047866821, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637866891071, 0.007567382004355989, -0.0038935896011177977, 0.11383338272571564], [-0.0075665584301675, 0.9999713476012775, 0.00022620788656900237, 0.14071816205978394], [0.0038951898419261506, -0.00019673862161252923, 0.9999923943660822, -0.008175875060260296], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6166388988494873, -1.3601891994476318, -1.4934852123260498, -1.648413896560669, -0.30371764302253723, -0.2731110155582428, -0.07597315311431885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292351007461548, -1.024448275566101, 1.4586482048034668, -1.3518584966659546, -0.02092937007546425, 0.28239160776138306, 1.5364911556243896, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637789022524, 0.007562545521390711, -0.0039049697520257168, 0.11383284628391266], [-0.0075617110463373155, 0.9999713837666826, 0.00022841584387877322, 0.14071835577487946], [0.0039065854117173344, -0.00019887931749665904, 0.9999923494894538, -0.008174821734428406], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166452169418335, -1.360189437866211, -1.4934961795806885, -1.6484150886535645, -0.3037194609642029, -0.2731119692325592, -0.07596932351589203, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292347431182861, -1.0244464874267578, 1.4586529731750488, -1.3518401384353638, -0.020962687209248543, 0.2823876440525055, 1.536492109298706, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637428131045, 0.007572260212144167, -0.003895373472061491, 0.11383452266454697], [-0.007571436337099155, 0.9999713106801188, 0.00022620450599241578, 0.14071740210056305], [0.0038969745958264287, -0.00019670273220042696, 0.9999923874195417, -0.008175725117325783], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616652011871338, -1.360189437866211, -1.4935191869735718, -1.648417592048645, -0.30372148752212524, -0.27311304211616516, -0.0759633257985115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292342066764832, -1.0244454145431519, 1.45865797996521, -1.351830005645752, -0.020995523780584335, 0.28238141536712646, 1.536494255065918, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999963735324876, 0.0075701247622528035, -0.003901441554757389, 0.11383350938558578], [-0.007569301655913964, 0.999971326955441, 0.00022569762158987207, 0.14071764051914215], [0.0039030382477038238, -0.00019615824871807222, 0.999992363878034, -0.008174873888492584], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166576147079468, -1.360189437866211, -1.4935531616210938, -1.6484211683273315, -0.303725928068161, -0.27311569452285767, -0.07595254480838776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292342066764832, -1.0244455337524414, 1.4586615562438965, -1.3518227338790894, -0.021032433956861496, 0.28237229585647583, 1.5364981889724731, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637911257072, 0.007564218028361218, -0.0038985950190174963, 0.11383281648159027], [-0.007563396955547356, 0.9999713717216261, 0.00022530792754074793, 0.14071840047836304], [0.003900187687241461, -0.00019581314769657343, 0.9999923750675379, -0.008175186812877655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616661548614502, -1.3601895570755005, -1.4935842752456665, -1.6484277248382568, -0.30373096466064453, -0.2731180787086487, -0.07594319432973862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.929233193397522, -1.02444589138031, 1.4586646556854248, -1.3518174886703491, -0.021060718223452568, 0.2823643982410431, 1.5365042686462402, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637281794242, 0.0075735297414444526, -0.003896661745893336, 0.11383415013551712], [-0.00757272688811984, 0.9999713021268075, 0.00022074939410246882, 0.14071740210056305], [0.003898221772090319, -0.0001912330319430193, 0.999992383619467, -0.008174444548785686], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166656017303467, -1.3601895570755005, -1.493598222732544, -1.6484323740005493, -0.30373623967170715, -0.27312013506889343, -0.07593504339456558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292322397232056, -1.0244461297988892, 1.4586659669876099, -1.3518153429031372, -0.021076656877994537, 0.28235793113708496, 1.5365115404129028, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637541839754, 0.007570294436228325, -0.0038962752005934818, 0.1138366237282753], [-0.007569497209837527, 0.9999713268946244, 0.0002193184772571494, 0.14071732759475708], [0.003897823787732225, -0.00018981768362032046, 0.9999923854404926, -0.008174441754817963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166695356369019, -1.36018967628479, -1.4936037063598633, -1.6484379768371582, -0.3037429451942444, -0.27312418818473816, -0.07593192905187607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292314052581787, -1.0244462490081787, 1.4586665630340576, -1.3518149852752686, -0.021091995760798454, 0.2823573350906372, 1.53651762008667, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637541839754, 0.007570294436228325, -0.0038962752005934818, 0.1138366237282753], [-0.007569497209837527, 0.9999713268946244, 0.0002193184772571494, 0.14071732759475708], [0.003897823787732225, -0.00018981768362032046, 0.9999923854404926, -0.008174441754817963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616672158241272, -1.3601895570755005, -1.4936054944992065, -1.6484404802322388, -0.30374664068222046, -0.27312469482421875, -0.07593037188053131, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292308688163757, -1.0244462490081787, 1.4586670398712158, -1.3518152236938477, -0.021105539053678513, 0.28235960006713867, 1.53651762008667, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637541839754, 0.007570294436228325, -0.0038962752005934818, 0.1138366237282753], [-0.007569497209837527, 0.9999713268946244, 0.0002193184772571494, 0.14071732759475708], [0.003897823787732225, -0.00018981768362032046, 0.9999923854404926, -0.008174441754817963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166741847991943, -1.360189437866211, -1.4936046600341797, -1.648442268371582, -0.3037501275539398, -0.2731248140335083, -0.07593025267124176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292293787002563, -1.0244464874267578, 1.4586665630340576, -1.3518153429031372, -0.021115964278578758, 0.2823629677295685, 1.5365171432495117, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999637541839754, 0.007570294436228325, -0.0038962752005934818, 0.1138366237282753], [-0.007569497209837527, 0.9999713268946244, 0.0002193184772571494, 0.14071732759475708], [0.003897823787732225, -0.00018981768362032046, 0.9999923854404926, -0.008174441754817963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166739463806152, -1.360185980796814, -1.4936046600341797, -1.6484425067901611, -0.3037510812282562, -0.2731248140335083, -0.07592952996492386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.929226279258728, -1.0244524478912354, 1.4586657285690308, -1.3518155813217163, -0.021122796460986137, 0.28236618638038635, 1.5365140438079834, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999574649020861, 0.008351128682151356, -0.003914975903789232, 0.11197542399168015], [-0.008350570340909913, 0.999965120747997, 0.00015894157767784448, 0.14044028520584106], [0.00391616669392623, -0.00012624253541471602, 0.999992323821162, -0.008163651451468468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166728734970093, -1.3601747751235962, -1.4936048984527588, -1.648442268371582, -0.3037509620189667, -0.2731235921382904, -0.07593025267124176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292230010032654, -1.024457335472107, 1.4586650133132935, -1.3518152236938477, -0.021124472841620445, 0.28236714005470276, 1.5365097522735596, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999350196622812, 0.010716218055925257, -0.00388833172082665, 0.11070585995912552], [-0.010715750200136553, 0.9999425747401757, 0.0001411369422227276, 0.1389389932155609], [0.0038896208866159043, -9.946137968091186e-05, 0.9999924304497472, -0.008162048645317554], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6166741847991943, -1.3601726293563843, -1.4936023950576782, -1.6484416723251343, -0.3037503659725189, -0.273122638463974, -0.07593133300542831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292224645614624, -1.024457335472107, 1.4586654901504517, -1.3518139123916626, -0.021122556179761887, 0.28236836194992065, 1.536503553390503, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999138597081927, 0.012533677388338646, -0.0038961640866232014, 0.11131075024604797], [-0.012534311085652594, 0.9999214328770948, -0.00013827011883248884, 0.13748136162757874], [0.0038941249431586555, 0.00018709394090658707, 0.999992400364515, -0.008120627142488956], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25298750400543213, 0.04773760214447975, 0.0375765860080719, 1.6167609691619873, -1.360223650932312, -1.4934974908828735, -1.6484520435333252, -0.3037486970424652, -0.27312061190605164, -0.07594175636768341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292169809341431, -1.0242942571640015, 1.4586726427078247, -1.351792573928833, -0.021120039746165276, 0.2823699116706848, 1.5364853143692017, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999378591931893, 0.010465247504144428, -0.0038413990704521854, 0.1116175428032875], [-0.010465639949422982, 0.999945230322269, -8.20743160766748e-05, 0.13599297404289246], [0.0038403297502315847, 0.00012227191548585606, 0.9999926184312503, -0.00813488382846117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.047833461314439774, 0.0375765860080719, 1.6168084144592285, -1.3617475032806396, -1.4914467334747314, -1.6487183570861816, -0.3037398159503937, -0.27312132716178894, -0.07616598159074783, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.929221510887146, -1.0212806463241577, 1.4610545635223389, -1.3512905836105347, -0.021121596917510033, 0.28236955404281616, 1.536484956741333, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999750682178533, 0.005871374151072803, -0.003922997358859908, 0.1110195443034172], [-0.005868666816072839, 0.9999825333294049, 0.0007012744880039155, 0.13169445097446442], [0.003927046282058968, -0.0006782342395616731, 0.9999920591213787, -0.008240007795393467], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25382110476493835, -0.25298750400543213, 0.04773760214447975, 0.0375765860080719, 1.6166421175003052, -1.3634912967681885, -1.4903430938720703, -1.6490991115570068, -0.30372267961502075, -0.2731185555458069, -0.07639751583337784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290290474891663, -1.0199929475784302, 1.462120771408081, -1.350840449333191, -0.021345581859350204, 0.28236812353134155, 1.536426067352295, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999776072296644, 0.005492553829297766, -0.0038232043716170095, 0.11066737025976181], [-0.005489215661294521, 0.9999845442211893, 0.0008830799307624766, 0.1198294535279274], [0.003827995645071179, -0.0008620737628433894, 0.9999923016094517, -0.008264163509011269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25308337807655334, 0.047450024634599686, 0.0375765860080719, 1.6166408061981201, -1.3638757467269897, -1.4905067682266235, -1.6490639448165894, -0.30369776487350464, -0.2731174826622009, -0.076423279941082, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287953972816467, -1.0202841758728027, 1.461797833442688, -1.3506543636322021, -0.021702952682971954, 0.28236427903175354, 1.5363599061965942, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999769950416313, 0.005498395150080016, -0.003972032009297799, 0.11059928685426712], [-0.005498033565989909, 0.9999848805026509, 0.00010194609498573453, 0.10178934037685394], [0.003972532494084603, -8.010538440775788e-05, 0.9999921062531998, -0.00817292369902134], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25382110476493835, -0.25308337807655334, 0.04754588380455971, 0.03767244517803192, 1.6166735887527466, -1.3628135919570923, -1.4923475980758667, -1.648838996887207, -0.3036952316761017, -0.2731141448020935, -0.07630475610494614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285753965377808, -1.022020697593689, 1.460202693939209, -1.350898265838623, -0.021687133237719536, 0.2823598384857178, 1.536368489265442, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999693167816864, 0.006743835749667968, -0.003985746423045063, 0.11066634953022003], [-0.0067437921393683434, 0.9999772600780172, 2.4381191619173344e-05, 0.077678382396698], [0.0039858202102340205, 2.4986018714986443e-06, 0.9999920565839554, -0.008175771683454514], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25308337807655334, 0.04754588380455971, 0.03767244517803192, 1.6166468858718872, -1.3615418672561646, -1.4931949377059937, -1.6486434936523438, -0.30369824171066284, -0.2731176018714905, -0.07600454986095428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9286038875579834, -1.0227774381637573, 1.4599597454071045, -1.3511689901351929, -0.02166939526796341, 0.28235650062561035, 1.5363893508911133, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999771281409565, 0.00549521895969162, -0.003942811630051097, 0.11055181920528412], [-0.0054959785445114675, 0.9999848804624552, -0.00018184149026690818, 0.05191115289926529], [0.0039417527577576515, 0.00020350693933778564, 0.9999922105547234, -0.008159366436302662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25308337807655334, 0.047450024634599686, 0.03767244517803192, 1.6166061162948608, -1.361153244972229, -1.4936221837997437, -1.6485846042633057, -0.30370795726776123, -0.273120254278183, -0.07586014270782471, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9286935329437256, -1.0232409238815308, 1.4599251747131348, -1.3515102863311768, -0.021600846201181412, 0.28235384821891785, 1.536428689956665, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999713953697051, 0.00646696576063104, -0.003922600695418612, 0.11057582497596741], [-0.006469045698704083, 0.9999789414495709, -0.0005177887057014965, 0.026575887575745583], [0.0039191695693030415, 0.0005431493777034305, 0.9999921725186856, -0.008153971284627914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25308337807655334, 0.047450024634599686, 0.0375765860080719, 1.6165813207626343, -1.3609122037887573, -1.4939502477645874, -1.6484664678573608, -0.3037211298942566, -0.2731224000453949, -0.07582227140665054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287737607955933, -1.02394700050354, 1.4596890211105347, -1.3515790700912476, -0.02153864875435829, 0.2823513448238373, 1.5365440845489502, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999962826129571, 0.007694147358162483, -0.0038918447287034866, 0.11058293282985687], [-0.007696440656092151, 0.9999702168607373, -0.000574623979147219, 0.0018026037141680717], [0.0038873075757788504, 0.0006045559701470642, 0.9999922616460041, -0.008157762698829174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25308337807655334, 0.047066591680049896, 0.0375765860080719, 1.6163216829299927, -1.360390305519104, -1.4943710565567017, -1.6483944654464722, -0.3037436604499817, -0.27314504981040955, -0.07577445358037949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9291994571685791, -1.024538516998291, 1.4592939615249634, -1.3516582250595093, -0.021505212411284447, 0.28235024213790894, 1.5366108417510986, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999506360932204, 0.008995784225118025, -0.004219151921762117, 0.11054481565952301], [-0.009002943175674032, 0.999958059978534, -0.001680862320995816, -0.02025006338953972], [0.004203854295688141, 0.0017187641320660534, 0.9999896866762772, -0.008171121589839458], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04802517592906952, 0.0375765860080719, 1.6164910793304443, -1.3568427562713623, -1.4964220523834229, -1.6478239297866821, -0.3037964999675751, -0.27314648032188416, -0.0755363330245018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9278805255889893, -1.0286668539047241, 1.457876443862915, -1.352227807044983, -0.021394237875938416, 0.2823525369167328, 1.5365924835205078, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999393500965983, 0.01029818535613858, -0.0039042933756609265, 0.11050570011138916], [-0.010296885446956186, 0.9999469233975975, 0.00035289909540727154, -0.04137157276272774], [0.003907720369330282, -0.0003126756304707341, 0.9999923159482103, -0.008104181848466396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.616418480873108, -1.3579277992248535, -1.4950768947601318, -1.6481876373291016, -0.3038085997104645, -0.27314600348472595, -0.07561434805393219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284196496009827, -1.0269496440887451, 1.4585086107254028, -1.351597547531128, -0.02141377329826355, 0.2823537290096283, 1.536558985710144, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999290451204121, 0.011252700432978595, -0.003909150489112913, 0.11044265329837799], [-0.011251462834520972, 0.9999366430146404, 0.00033843861353761756, -0.05980677902698517], [0.003912711165455696, -0.0002944309382237427, 0.9999923019712493, -0.008096284233033657], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616421103477478, -1.3600140810012817, -1.4949381351470947, -1.6486599445343018, -0.30380645394325256, -0.27314576506614685, -0.07576235383749008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284570217132568, -1.0258420705795288, 1.4593037366867065, -1.3515952825546265, -0.02150401473045349, 0.2823551595211029, 1.5365192890167236, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999275985456381, 0.01137640573381986, -0.003921104351161974, 0.1104099452495575], [-0.011373874337474943, 0.9999350927542325, 0.0006672789070221375, -0.07799864560365677], [0.003928441078662077, -0.0006226324469045616, 0.9999920898084782, -0.008071343414485455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164209842681885, -1.3600194454193115, -1.4949078559875488, -1.6486233472824097, -0.30380526185035706, -0.27313774824142456, -0.07580501586198807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284594058990479, -1.025914192199707, 1.459288477897644, -1.35159432888031, -0.021675027906894684, 0.2823573350906372, 1.5363913774490356, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999251914432885, 0.011591194214918644, -0.0039058589036078343, 0.11038157343864441], [-0.01158754191220438, 0.9999324047822643, 0.0009564197775616652, -0.09528980404138565], [0.003916680933617507, -0.000911088925429783, 0.9999919147310313, -0.008046774193644524], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164395809173584, -1.3599787950515747, -1.4947534799575806, -1.648603081703186, -0.30380356311798096, -0.2731356918811798, -0.07583077996969223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284520745277405, -1.0259617567062378, 1.4592188596725464, -1.351600170135498, -0.021748971194028854, 0.28235697746276855, 1.5363850593566895, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999228968728862, 0.01177660672382082, -0.0039385077641168, 0.11034674942493439], [-0.011772774012721338, 0.999930203536656, 0.000994910642769638, -0.11190084367990494], [0.003949949541569253, -0.000948466770193586, 0.9999917491206639, -0.00803668424487114], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164400577545166, -1.35996413230896, -1.4946620464324951, -1.6485421657562256, -0.3037983179092407, -0.2731286287307739, -0.07584084570407867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284508228302002, -1.0259661674499512, 1.45907461643219, -1.3515987396240234, -0.02178048901259899, 0.28235793113708496, 1.5363857746124268, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999225937534961, 0.011810756353551662, -0.003913123514252655, 0.11033042520284653], [-0.011806746072937909, 0.9999297504819847, 0.0010463499438585601, -0.12809951603412628], [0.003925206803459311, -0.001000067694152053, 0.999991796274428, -0.008035262115299702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.61644446849823, -1.359959363937378, -1.4945812225341797, -1.6484862565994263, -0.30379170179367065, -0.2731231153011322, -0.07585199177265167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284670352935791, -1.0259275436401367, 1.4590208530426025, -1.3515971899032593, -0.021804098039865494, 0.2823582887649536, 1.5363916158676147, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999922598420331, 0.011825785033752518, -0.00386626132960656, 0.11031454056501389], [-0.011821400458565678, 0.9999294577983194, 0.0011549538333473306, -0.1441299021244049], [0.003879646830777171, -0.0011091598146414391, 0.9999918590193493, -0.008029112592339516], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.047929320484399796, 0.0375765860080719, 1.6165704727172852, -1.359942078590393, -1.4945361614227295, -1.6483572721481323, -0.3037894368171692, -0.27310994267463684, -0.07583761215209961, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285008907318115, -1.0259251594543457, 1.4589543342590332, -1.3515852689743042, -0.021870611235499382, 0.2823539674282074, 1.5364153385162354, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999924673049578, 0.011681710371785937, -0.003766413344861863, 0.11033062636852264], [-0.011676343211120413, 0.9999307867430615, 0.0014438603181120473, -0.1603705883026123], [0.0037830194171807876, -0.0013997736216278972, 0.9999918646658569, -0.008018027991056442], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25343766808509827, -0.25308337807655334, 0.04764174297451973, 0.03767244517803192, 1.616987943649292, -1.3598026037216187, -1.4943069219589233, -1.648391842842102, -0.30378055572509766, -0.2731173634529114, -0.07586745172739029, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9283971190452576, -1.0252232551574707, 1.4589730501174927, -1.3517779111862183, -0.02191399410367012, 0.2823501229286194, 1.5365068912506104, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999210750768422, 0.011896953811036523, -0.004038082117809801, 0.11028361320495605], [-0.01189265293302255, 0.9999286886125377, 0.0010874262389676949, -0.176324725151062], [0.004050731216309201, -0.0010393169047931878, 0.9999912556602606, -0.008017539978027344], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04773760214447975, 0.0375765860080719, 1.6168800592422485, -1.359879970550537, -1.493997573852539, -1.6484287977218628, -0.30377721786499023, -0.2731093466281891, -0.07590556144714355, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284404516220093, -1.0247362852096558, 1.4593347311019897, -1.3516188859939575, -0.02190428599715233, 0.2823471426963806, 1.5365839004516602, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999229318853857, 0.011788223785387027, -0.003894620613085727, 0.11027878522872925], [-0.011783720125815326, 0.9999298764815807, 0.0011773102935327174, -0.19249014556407928], [0.003908225905790432, -0.0011313264411472452, 0.9999917229011213, -0.008019786328077316], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25298750400543213, 0.04773760214447975, 0.0375765860080719, 1.616446614265442, -1.360068678855896, -1.4939873218536377, -1.648427128791809, -0.3037790060043335, -0.2731110155582428, -0.07591383159160614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284400343894958, -1.024776816368103, 1.4593327045440674, -1.351578712463379, -0.021905845031142235, 0.28234055638313293, 1.536556363105774, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999137151218249, 0.012541019345462248, -0.003909622110480118, 0.11010877043008804], [-0.012537217834510124, 0.9999209106013977, 0.0009953446849256418, -0.21024228632450104], [0.003921795537767693, -0.0009462430176810544, 0.9999918620388425, -0.008058285340666771], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164491176605225, -1.36014986038208, -1.4939900636672974, -1.6484876871109009, -0.30377817153930664, -0.2731183171272278, -0.07591479271650314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284475445747375, -1.024701476097107, 1.459337592124939, -1.3515770435333252, -0.02189997211098671, 0.28233659267425537, 1.536553144454956, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999103037191014, 0.012807336304772677, -0.00391875658224566, 0.11003328114748001], [-0.012804392797020477, 0.9999177198300425, 0.0007753031589568529, -0.2298964112997055], [0.003928363714582963, -0.0007250563185919426, 0.9999920210940989, -0.008103999309241772], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164497137069702, -1.3601665496826172, -1.494016170501709, -1.64849054813385, -0.30377840995788574, -0.2731207311153412, -0.07589945197105408, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284893274307251, -1.024824857711792, 1.4593305587768555, -1.3515660762786865, -0.02189338207244873, 0.282336950302124, 1.5365426540374756, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998924351231809, 0.01413018926696956, -0.00393140365709098, 0.10970365256071091], [-0.014127723291099915, 0.9998999846499668, 0.000654317664627818, -0.24885296821594238], [0.003940256088820006, -0.0005987055000158222, 0.9999920579353012, -0.008136452175676823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164565086364746, -1.3600620031356812, -1.4945517778396606, -1.6484835147857666, -0.3037804365158081, -0.2731250524520874, -0.07586050033569336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285104274749756, -1.0256450176239014, 1.4591162204742432, -1.3515690565109253, -0.02185611054301262, 0.2823392450809479, 1.5365335941314697, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998685951266368, 0.01573558469225559, -0.0038966464913298138, 0.1092665046453476], [-0.015733933695396576, 0.9998761109367047, 0.0004539918054602902, -0.2672653794288635], [0.00390330756595042, -0.0003926225711956028, 0.9999923049891745, -0.008192863315343857], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164636611938477, -1.3594551086425781, -1.4947988986968994, -1.6484709978103638, -0.30378618836402893, -0.2731301784515381, -0.07578691840171814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285508990287781, -1.026279091835022, 1.458581805229187, -1.3515806198120117, -0.02174561657011509, 0.2823423445224762, 1.5365300178527832, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998310477218693, 0.017956190226305273, -0.0039308070349531685, 0.10864716023206711], [-0.017954880851843668, 0.9998387303577452, 0.00036814427626889084, -0.2837041914463043], [0.00393678358376428, -0.00029750490549056136, 0.9999922065825543, -0.00821496732532978], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04754588380455971, 0.0375765860080719, 1.61647629737854, -1.3591417074203491, -1.4948644638061523, -1.6484501361846924, -0.30379340052604675, -0.2731318771839142, -0.07571788877248764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285540580749512, -1.0262856483459473, 1.458531141281128, -1.3516056537628174, -0.021654175594449043, 0.2823432981967926, 1.5365264415740967, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998244633301897, 0.018328014165183648, -0.0038892702733124064, 0.10852879285812378], [-0.018326630646846035, 0.9998319767203736, 0.00039107104784260856, -0.2980674207210541], [0.0038957843410701836, -0.00031972518074845665, 0.9999923602909058, -0.00821173470467329], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6164844036102295, -1.358634114265442, -1.4951622486114502, -1.6483182907104492, -0.3038022518157959, -0.2731328308582306, -0.07567162811756134, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928571879863739, -1.026468276977539, 1.4584169387817383, -1.351845383644104, -0.02159593254327774, 0.2823454737663269, 1.5365171432495117, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997780980237309, 0.02068422791129427, -0.003989665119375484, 0.10779201239347458], [-0.020679827601608098, 0.9997854983632509, 0.001141049040908745, -0.30948686599731445], [0.004012411048097418, -0.001058290253014713, 0.9999913902525969, -0.007974756881594658], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04754588380455971, 0.0375765860080719, 1.6164737939834595, -1.3586918115615845, -1.4950053691864014, -1.6483328342437744, -0.3038041889667511, -0.27313295006752014, -0.07568158209323883, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288322925567627, -1.0255651473999023, 1.4584813117980957, -1.3518463373184204, -0.021555546671152115, 0.2823473811149597, 1.5365198850631714, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996674030876935, 0.025486893924924592, -0.003937187062665361, 0.10681962966918945], [-0.025482796524550034, 0.9996746694187837, 0.001087383894495862, -0.316691517829895], [0.003963620213284595, -0.0009866916971730687, 0.9999916580423557, -0.008003827184438705], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03748072683811188, 1.615201473236084, -1.360493779182434, -1.4931753873825073, -1.6483702659606934, -0.30379733443260193, -0.2731193006038666, -0.07594618946313858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9294114708900452, -1.0219709873199463, 1.460180401802063, -1.3517261743545532, -0.02170870453119278, 0.28234928846359253, 1.5365277528762817, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9990667327148415, 0.043016250676152064, -0.003907142211122812, 0.10169537365436554], [-0.043011020175203064, 0.9990735986149767, 0.0014130442345289822, -0.318618506193161], [0.003964306494175934, -0.0012436753141024236, 0.9999913687356173, -0.007921881973743439], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03748072683811188, 1.6142585277557373, -1.3615931272506714, -1.4918103218078613, -1.6488193273544312, -0.3037809133529663, -0.2731173634529114, -0.07623381167650223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9294003248214722, -1.019770622253418, 1.4615578651428223, -1.3510768413543701, -0.02228490635752678, 0.2823515832424164, 1.5365253686904907, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9973242567351983, 0.07299755173629986, -0.003960349490957768, 0.0905546322464943], [-0.07299225978285465, 0.9973314314066472, 0.0014649027819237108, -0.3204655945301056], [0.004056715343299624, -0.0011719082192965034, 0.9999910848061342, -0.00793370883911848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6142619848251343, -1.3616043329238892, -1.4918599128723145, -1.6488170623779297, -0.3037654757499695, -0.27310946583747864, -0.07624687254428864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9293037056922913, -1.0201489925384521, 1.4614866971969604, -1.3510490655899048, -0.022450048476457596, 0.28235170245170593, 1.5365155935287476, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9934620619138342, 0.11409690252168402, -0.0038766445375130183, 0.07610882818698883], [-0.11409257090035053, 0.993469244138672, 0.0013214446202165179, -0.3235541880130768], [0.004002099856498018, -0.000870508755353585, 0.9999916126704491, -0.008034060709178448], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6144537925720215, -1.3613991737365723, -1.4931777715682983, -1.6487957239151, -0.30375707149505615, -0.27310165762901306, -0.076203852891922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287164211273193, -1.0218157768249512, 1.4598726034164429, -1.3510445356369019, -0.02245771884918213, 0.2823494076728821, 1.5363738536834717, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9873613345380674, 0.15844008402755325, -0.0037861368898285523, 0.06113903224468231], [-0.15843626321691198, 0.9873683633770818, 0.0012905424922553153, -0.32660770416259766], [0.0039427854453456725, -0.0006743703765791546, 0.999991999801762, -0.008100517094135284], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6151050329208374, -1.3608598709106445, -1.49357271194458, -1.6486743688583374, -0.303757905960083, -0.27310094237327576, -0.07598502188920975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9286116361618042, -1.022383451461792, 1.4594542980194092, -1.3510569334030151, -0.022449569776654243, 0.28234773874282837, 1.5363757610321045, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9793062643461402, 0.20234962574159632, -0.0037241877830846643, 0.046177785843610764], [-0.20234623692645526, 0.9793132233673304, 0.0012692279511814148, -0.32906603813171387], [0.003903974143180207, -0.000489387499960517, 0.9999922597129262, -0.008163109421730042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.6152781248092651, -1.36055326461792, -1.4938597679138184, -1.648540735244751, -0.30375924706459045, -0.2731013000011444, -0.0758933424949646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9286001920700073, -1.0228638648986816, 1.4594167470932007, -1.3511027097702026, -0.022422844544053078, 0.2823466658592224, 1.5363860130310059, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9698446264696409, 0.2436964703250695, -0.0036648136467351544, 0.03189244866371155], [-0.2436932408863295, 0.9698514771796145, 0.001310175116978379, -0.33092767000198364], [0.003873609980389465, -0.0003775759821183766, 0.9999924262623681, -0.008202831260859966], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.6160651445388794, -1.3601864576339722, -1.4944922924041748, -1.6484942436218262, -0.30376535654067993, -0.2731049060821533, -0.07576942443847656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285513758659363, -1.0240683555603027, 1.4588797092437744, -1.351276159286499, -0.022315464913845062, 0.2823440134525299, 1.5364060401916504, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9593247823446366, 0.2822806586350863, -0.0036866977035713232, 0.018376750871539116], [-0.2822778445116981, 0.9593318492764591, 0.0012733662626330828, -0.33212679624557495], [0.0038962131929901173, -0.000180898731615145, 0.9999923933702715, -0.00826113112270832], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6162711381912231, -1.3600208759307861, -1.4945621490478516, -1.648371696472168, -0.3037733733654022, -0.2731093466281891, -0.07571884989738464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284783601760864, -1.0249383449554443, 1.4587589502334595, -1.3514260053634644, -0.022227980196475983, 0.2823449969291687, 1.5364270210266113, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9487458435753016, 0.31601938261542617, -0.003615813871622532, 0.006365535315126181], [-0.3160168688644317, 0.9487527322021863, 0.0012616386199141721, -0.33268529176712036], [0.0038292155475854973, -5.4316218630919724e-05, 0.9999926670521332, -0.008307714015245438], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6162610054016113, -1.3600214719772339, -1.494559645652771, -1.6483224630355835, -0.30378103256225586, -0.2731136679649353, -0.07571908831596375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284775853157043, -1.0249419212341309, 1.4587595462799072, -1.351426601409912, -0.022214917466044426, 0.2823449969291687, 1.5366096496582031, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9382343013560588, 0.34598227388853103, -0.00355835830542266, -0.004446478094905615], [-0.34598004243759034, 0.9382410469029311, 0.0012442432941987386, -0.332821786403656], [0.003769083945932932, 6.372921966876895e-05, 0.9999928949471566, -0.008352575823664665], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616180181503296, -1.360031008720398, -1.4945321083068848, -1.6483246088027954, -0.30378618836402893, -0.27312061190605164, -0.07572400569915771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284822940826416, -1.0248771905899048, 1.4587677717208862, -1.3514251708984375, -0.022191189229488373, 0.282348096370697, 1.536632776260376, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9275894687941864, 0.37358433495647886, -0.00353865189650065, -0.014282576739788055], [-0.37358224104208254, 0.9275962059207756, 0.0012601346584534998, -0.33280566334724426], [0.00375320664160232, 0.00015308986731850282, 0.9999929449768123, -0.008381035178899765], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159433126449585, -1.360077977180481, -1.4943517446517944, -1.6483280658721924, -0.3037920594215393, -0.27312517166137695, -0.07573646306991577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284902811050415, -1.024674654006958, 1.4588391780853271, -1.351421594619751, -0.022176209837198257, 0.2823505103588104, 1.536618709564209, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9168472136191066, 0.3992229367960888, -0.0034976584719612876, -0.023507464677095413], [-0.3992210383687326, 0.9168538523348732, 0.0012553814135670433, -0.33224785327911377], [0.003708018698892873, 0.00024534589597742057, 0.9999930951775217, -0.008415319956839085], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159108877182007, -1.3601747751235962, -1.4941685199737549, -1.6483354568481445, -0.3037968575954437, -0.2731283903121948, -0.07575264573097229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9284998774528503, -1.024543285369873, 1.4591366052627563, -1.3514189720153809, -0.022137979045510292, 0.28235098719596863, 1.53659188747406, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9061176996225035, 0.42301136455876615, -0.003478488889303715, -0.032288819551467896], [-0.4230094524779754, 0.9061243301273512, 0.0013044023698943422, -0.3316783308982849], [0.0037037204410984566, 0.00028949160572428194, 0.9999930993009424, -0.008429711684584618], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158438920974731, -1.3603594303131104, -1.49407958984375, -1.6483442783355713, -0.3037991523742676, -0.27312910556793213, -0.07577457278966904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285237193107605, -1.0244650840759277, 1.4591665267944336, -1.3514074087142944, -0.022138457745313644, 0.28235408663749695, 1.536535382270813, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8948764295452083, 0.44630067260325573, -0.0034475322045641062, -0.0410376712679863], [-0.446298663441858, 0.8948830170931873, 0.0013743100834808417, -0.33086737990379333], [0.0036984935353691906, 0.00030879131447641, 0.9999931128730302, -0.00843722838908434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.6158208847045898, -1.360443115234375, -1.493977665901184, -1.6483725309371948, -0.303800106048584, -0.2731279134750366, -0.07581160962581635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928598940372467, -1.024234652519226, 1.4593079090118408, -1.3513835668563843, -0.02214205451309681, 0.2823575735092163, 1.5365009307861328, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8829091531007411, 0.46953142102866335, -0.003416436408901323, -0.049790143966674805], [-0.46952921975890916, 0.882915709954854, 0.0014700025530776676, -0.32977598905563354], [0.003706637765143044, 0.0003062380122336367, 0.99999308350346, -0.008435754105448723], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.6158326864242554, -1.3604161739349365, -1.4941900968551636, -1.648372769355774, -0.30380526185035706, -0.2731260061264038, -0.07579974085092545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928582489490509, -1.0258221626281738, 1.4590847492218018, -1.3513684272766113, -0.022141095250844955, 0.28235840797424316, 1.5363272428512573, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8724874930006865, 0.48862528776053066, -0.003301926455220229, -0.05706358328461647], [-0.48862448532441444, 0.8724934964686375, 0.0011004369054414616, -0.32849329710006714], [0.0034186106575810333, 0.0006532846779269981, 0.999993943141808, -0.008575444109737873], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.61585533618927, -1.3603652715682983, -1.494261622428894, -1.6483765840530396, -0.3038080036640167, -0.2731257677078247, -0.07578632235527039, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285863041877747, -1.0264800786972046, 1.4586974382400513, -1.3513706922531128, -0.022103823721408844, 0.2823570966720581, 1.5363408327102661, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8651664370417033, 0.5014739995605086, -0.003296055422986018, -0.06197236105799675], [-0.5014746270612044, 0.8651720743344755, 0.0006929686910572023, -0.32763755321502686], [0.0031991608885008765, 0.0010533549105915612, 0.9999943278904345, -0.008726155385375023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158626079559326, -1.3603674173355103, -1.4942351579666138, -1.6484248638153076, -0.3038060963153839, -0.2731252908706665, -0.07578979432582855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285995364189148, -1.0255061388015747, 1.4587165117263794, -1.3513702154159546, -0.021915551275014877, 0.2823542058467865, 1.5363909006118774, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8578697697449573, 0.5138565698319342, -0.0032990602135213347, -0.0667009949684143], [-0.5138579461281532, 0.8578751541187352, 0.00048077719624197714, -0.3267108201980591], [0.0030772323100359193, 0.001282804082834448, 0.9999944425120547, -0.008811675943434238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158559322357178, -1.3604042530059814, -1.4938260316848755, -1.648568034172058, -0.3038022518157959, -0.2731216847896576, -0.07581076771020889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287225604057312, -1.0242900848388672, 1.4593429565429688, -1.3513667583465576, -0.021910399198532104, 0.28235122561454773, 1.5364227294921875, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8489583444024581, 0.5284497627160023, -0.003252346051423923, -0.07229715585708618], [-0.5284515704796449, 0.8489633784206889, 0.00034606087198668656, -0.3255190849304199], [0.0029439984772966984, 0.0014249161136739555, 0.9999946512292126, -0.008870922960340977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6157780885696411, -1.3606449365615845, -1.493475079536438, -1.64858877658844, -0.30379578471183777, -0.2731178402900696, -0.0759633257985115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288568496704102, -1.0237559080123901, 1.4597234725952148, -1.3513168096542358, -0.021933887153863907, 0.2823503613471985, 1.5366435050964355, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8364767279622445, 0.5479930775551436, -0.003204766640442141, -0.07990719377994537], [-0.5479953459427029, 0.8364813572479495, 0.00019950379814535478, -0.3238152265548706], [0.0027900542493896068, 0.0015893169195060589, 0.9999948448212195, -0.00893868412822485], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6152350902557373, -1.3608543872833252, -1.4933823347091675, -1.6485950946807861, -0.3037894368171692, -0.2731141448020935, -0.07599364966154099, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9289984107017517, -1.0237177610397339, 1.4597421884536743, -1.3511173725128174, -0.022092917934060097, 0.28234797716140747, 1.5366417169570923, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.820426534737823, 0.5717429924531432, -0.0032018242944843083, -0.08890018612146378], [-0.5717455849696444, 0.8204309659831694, 0.0001269789057344886, -0.32115647196769714], [0.0026994750983752027, 0.0017264520406034029, 0.9999948660855938, -0.008992035873234272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6155256032943726, -1.3608072996139526, -1.4936736822128296, -1.6486009359359741, -0.30378836393356323, -0.2731166481971741, -0.07598406076431274, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9289827942848206, -1.0244784355163574, 1.4596866369247437, -1.3511375188827515, -0.022090760990977287, 0.2823447287082672, 1.5366380214691162, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8036224529792793, 0.5951306970040777, -0.003225918629895276, -0.09809751063585281], [-0.5951335862570036, 0.8036267841625987, 7.928024644981554e-05, -0.3185197412967682], [0.002639616722841291, 0.001856141137058053, 0.9999947935682645, -0.0090405298396945], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6155701875686646, -1.3606857061386108, -1.4938136339187622, -1.6485952138900757, -0.3037887215614319, -0.2731168866157532, -0.0759618878364563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9289520382881165, -1.0247477293014526, 1.4591379165649414, -1.351150631904602, -0.022081773728132248, 0.28234437108039856, 1.5366113185882568, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7868745474464157, 0.6171046275950108, -0.003213282094902527, -0.1068347841501236], [-0.6171078627468972, 0.7868785709081534, -1.9531997912671537e-05, -0.31572702527046204], [0.002516409536463572, 0.0019983108780064285, 0.9999948372050126, -0.009098438546061516], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159721612930298, -1.360509991645813, -1.4939727783203125, -1.6485925912857056, -0.3037896752357483, -0.27312061190605164, -0.07594127953052521, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9289077520370483, -1.0247431993484497, 1.459105134010315, -1.3512003421783447, -0.02206367626786232, 0.28234606981277466, 1.5365986824035645, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7689066502270103, 0.639353075410211, -0.003195027415077561, -0.11579210311174393], [-0.6393564176868265, 0.7689105085260068, -3.226369413382564e-05, -0.31253233551979065], [0.002436062262413265, 0.002067569051495579, 0.9999948953664068, -0.009129254147410393], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6160812377929688, -1.3604336977005005, -1.4939972162246704, -1.64858078956604, -0.30379003286361694, -0.2731233537197113, -0.07591407001018524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288411736488342, -1.02472984790802, 1.459100365638733, -1.3512381315231323, -0.022055527195334435, 0.282349169254303, 1.5365750789642334, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7504615945321792, 0.6609063492384836, -0.00319259588402789, -0.12460574507713318], [-0.6609098063533863, 0.7504653399559853, -3.729178157085775e-05, -0.3091001510620117], [0.002371286180234475, 0.0021380039773381022, 0.9999949029574322, -0.009158537723124027], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6160715818405151, -1.3604238033294678, -1.4939981698989868, -1.6485695838928223, -0.30379050970077515, -0.27312707901000977, -0.0758938193321228, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288220405578613, -1.0246881246566772, 1.4590996503829956, -1.3512712717056274, -0.02204318344593048, 0.28235024213790894, 1.5365426540374756, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7320905632570198, 0.6811999329393071, -0.0031715222690293318, -0.13300538063049316], [-0.6812036111070697, 0.7320940021779418, -0.0001104072990433419, -0.3055574595928192], [0.0022466429862258164, 0.0022412805641135944, 0.9999949646156852, -0.009204498492181301], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616040825843811, -1.3604241609573364, -1.4939907789230347, -1.6485599279403687, -0.3037911057472229, -0.2731294631958008, -0.07588962465524673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928816556930542, -1.0245771408081055, 1.4591044187545776, -1.3512895107269287, -0.021979188546538353, 0.28234976530075073, 1.5365231037139893, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7119231573286593, 0.702250067085049, -0.003203332364477681, -0.14179927110671997], [-0.7022538432523808, 0.7119266350793838, -7.682321468696321e-05, -0.30155959725379944], [0.0022265885236158723, 0.002304244689725268, 0.9999948663668011, -0.009227311238646507], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159186363220215, -1.360424518585205, -1.493977665901184, -1.6485416889190674, -0.30379098653793335, -0.273129940032959, -0.07588303089141846, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288057684898376, -1.0245777368545532, 1.4591103792190552, -1.3512978553771973, -0.021908242255449295, 0.2823520600795746, 1.5364652872085571, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6903308901392311, 0.7234867771963394, -0.0031851752904963207, -0.15093573927879333], [-0.7234905780852122, 0.6903342522354998, -6.010306728971844e-05, -0.29710090160369873], [0.002155351827950715, 0.0023459353161661266, 0.9999949255101198, -0.009247456677258015], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.615823745727539, -1.3604263067245483, -1.493957757949829, -1.6485240459442139, -0.30379241704940796, -0.27313005924224854, -0.07587788254022598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287976622581482, -1.0245825052261353, 1.4591259956359863, -1.3512989282608032, -0.021893741562962532, 0.28235384821891785, 1.5363515615463257, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6682734022770104, 0.7439089543114591, -0.003182374010150481, -0.159865602850914], [-0.7439129149301678, 0.6682765643329052, -9.253923152870207e-05, -0.29241126775741577], [0.002057865206966391, 0.0024292506333868373, 0.9999949319532325, -0.009285198524594307], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158106327056885, -1.3604283332824707, -1.4939302206039429, -1.6485110521316528, -0.30379241704940796, -0.2731292247772217, -0.07587488740682602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287953972816467, -1.0245857238769531, 1.4591543674468994, -1.3513003587722778, -0.02188834734261036, 0.2823534905910492, 1.536362648010254, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6451298699210437, 0.7640663207654941, -0.0031793721925057515, -0.1688111275434494], [-0.7640704899047621, 0.6451327480860349, -0.00015428433933893518, -0.28730595111846924], [0.0019332336522291226, 0.0025287979044860288, 0.9999949338815693, -0.009329861961305141], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.615807056427002, -1.3604291677474976, -1.4939112663269043, -1.6485025882720947, -0.30379170179367065, -0.27312755584716797, -0.07586853206157684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287915825843811, -1.0246013402938843, 1.4591833353042603, -1.3513004779815674, -0.021887389943003654, 0.28235313296318054, 1.5363829135894775, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6201589726319532, 0.784469787812821, -0.0031623840671408166, -0.17806050181388855], [-0.7844740108758164, 0.6201616734670055, -0.0001581866394271305, -0.28166303038597107], [0.0018370967557572195, 0.0025789089768709634, 0.9999949871394351, -0.00935627892613411], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158086061477661, -1.3604286909103394, -1.493908405303955, -1.6484806537628174, -0.30379170179367065, -0.27312636375427246, -0.07584948092699051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287860989570618, -1.024715781211853, 1.4591854810714722, -1.3513010740280151, -0.021883433684706688, 0.28235000371932983, 1.536397099494934, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5959824008555836, 0.8029912889422962, -0.003157174877039958, -0.1866595298051834], [-0.8029957026531528, 0.5959847721077187, -0.00023007885624822013, -0.27610018849372864], [0.0016968768322597465, 0.0026723208079205032, 0.9999949896427061, -0.009401529096066952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158101558685303, -1.3604286909103394, -1.4939097166061401, -1.6484739780426025, -0.30379146337509155, -0.27312541007995605, -0.07583066076040268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287809729576111, -1.024726390838623, 1.4591857194900513, -1.351301670074463, -0.02187216840684414, 0.2823484539985657, 1.5364280939102173, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5715271461222007, 0.8205770788319465, -0.0031589461916757718, -0.19496048986911774], [-0.8205816615608078, 0.571529223084031, -0.0002896050202922352, -0.2703484892845154], [0.0015677868211262432, 0.002757690445496774, 0.9999949685812876, -0.009442799724638462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158277988433838, -1.3604270219802856, -1.4939172267913818, -1.6484712362289429, -0.30379146337509155, -0.27312275767326355, -0.07580286264419556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287787079811096, -1.0249406099319458, 1.4591798782348633, -1.3513017892837524, -0.02186557836830616, 0.2823473811149597, 1.536619782447815, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5454497857911254, 0.8381375668427458, -0.003154398094284891, -0.20333042740821838], [-0.8381422777562226, 0.5454515601724093, -0.00034313713821640623, -0.2642766237258911], [0.0014329752358144864, 0.002830998482230945, 0.999994966002113, -0.00948184635490179], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158292293548584, -1.3604238033294678, -1.4939303398132324, -1.6484671831130981, -0.30379098653793335, -0.27312132716178894, -0.07578835636377335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287657737731934, -1.0251692533493042, 1.4591745138168335, -1.351307988166809, -0.02184951864182949, 0.2823444902896881, 1.5366172790527344, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5206547460052704, 0.853761550674932, -0.0031384791417195072, -0.21127460896968842], [-0.8537666305177435, 0.5206554774707977, -0.0006437344442272542, -0.2579929232597351], [0.001084470638737783, 0.0030146921553300685, 0.9999948677641513, -0.009575530886650085], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158215999603271, -1.3604435920715332, -1.4938807487487793, -1.6484724283218384, -0.30378884077072144, -0.2731200158596039, -0.07581580430269241, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928776204586029, -1.0239248275756836, 1.4591974020004272, -1.3513083457946777, -0.021845804527401924, 0.2823430597782135, 1.5366113185882568, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4948374653919264, 0.8689798594519696, -0.0031443141269424852, -0.21901348233222961], [-0.8689849401508295, 0.49483816001192504, -0.0006076076626918168, -0.25152167677879333], [0.0010279277957478468, 0.0030330286591756547, 0.9999948720376517, -0.009587055072188377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6156666278839111, -1.3604817390441895, -1.4936217069625854, -1.6484742164611816, -0.3037867844104767, -0.27311843633651733, -0.07592377811670303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288437366485596, -1.0233772993087769, 1.459600806236267, -1.3512978553771973, -0.021883314475417137, 0.28234437108039856, 1.5365852117538452, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4632909060196556, 0.8862008922387467, -0.0030846385098070826, -0.2280837744474411], [-0.8862056591288501, 0.4632918405211851, -0.00044747569008304514, -0.24349674582481384], [0.0010325344967443053, 0.002940935521638164, 0.999995142373587, -0.009567340835928917], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6157264709472656, -1.3604754209518433, -1.4937177896499634, -1.6484906673431396, -0.3037876486778259, -0.27312469482421875, -0.07592545449733734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288188219070435, -1.0241363048553467, 1.459587812423706, -1.3513059616088867, -0.02188667096197605, 0.2823454737663269, 1.5365815162658691, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.43026971889230325, 0.9026945815135607, -0.0032344258216515, -0.2368498146533966], [-0.9026996562945108, 0.4302711386694902, -0.0002788437419551333, -0.23489609360694885], [0.0011399693462721275, 0.0030396930959808127, 0.9999947303540013, -0.009578360244631767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6157371997833252, -1.360471487045288, -1.493954062461853, -1.6484904289245605, -0.30378836393356323, -0.27312493324279785, -0.07591479271650314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288192987442017, -1.024660587310791, 1.4592581987380981, -1.351304292678833, -0.021903567016124725, 0.2823494076728821, 1.5365616083145142, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.3970117718351265, 0.9178078183305167, -0.003234445193636673, -0.24525363743305206], [-0.9178128228797702, 0.3970133419439612, -0.00016874819934912228, -0.22608298063278198], [0.0011292394789684569, 0.003035610295239162, 0.9999947549304119, -0.009578559547662735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6157745122909546, -1.3604562282562256, -1.4940838813781738, -1.64849054813385, -0.3037906289100647, -0.2731286287307739, -0.07589645683765411, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928813636302948, -1.024855136871338, 1.4589781761169434, -1.3513051271438599, -0.021907761693000793, 0.2823498845100403, 1.5364691019058228, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.36361507756247236, 0.9315437309278715, -0.0032175671272999438, -0.25316548347473145], [-0.9315485241586592, 0.3636170328004651, 2.4396914416277908e-05, -0.21699805557727814], [0.001192689004343589, 0.0029884488228899197, 0.999994823319887, -0.009556375443935394], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159577369689941, -1.3604449033737183, -1.4941093921661377, -1.6484898328781128, -0.30379292368888855, -0.27313199639320374, -0.07588039338588715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288039207458496, -1.0248372554779053, 1.4589765071868896, -1.351306676864624, -0.021904047578573227, 0.2823508679866791, 1.5364651679992676, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.3316723043499412, 0.94338909772165, -0.003239263362423248, -0.26034241914749146], [-0.9433937967167245, 0.33167468832837266, 0.0002131635065388898, -0.20820383727550507], [0.0012754777942461538, 0.0029852005306247836, 0.9999947308532122, -0.009546913206577301], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159589290618896, -1.3604389429092407, -1.4941078424453735, -1.6484882831573486, -0.30379459261894226, -0.27313318848609924, -0.07586205750703812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287981986999512, -1.0248175859451294, 1.458977222442627, -1.351306438446045, -0.021905245259404182, 0.2823539674282074, 1.5364642143249512, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.30000599581907317, 0.9539318826647659, -0.0032195820010493654, -0.2670992612838745], [-0.9539364872508521, 0.30000847486231974, 0.0003054542350138733, -0.19936352968215942], [0.0012572844193037053, 0.002979638642544611, 0.9999947704810505, -0.00954674556851387], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159591674804688, -1.360436201095581, -1.494102120399475, -1.6484875679016113, -0.3037959039211273, -0.27313485741615295, -0.07584156841039658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287937879562378, -1.0246986150741577, 1.4589812755584717, -1.351306676864624, -0.02190692350268364, 0.2823542058467865, 1.5364649295806885, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.26856554075882544, 0.9632560158276917, -0.003224637759713366, -0.27341049909591675], [-0.9632605882728362, 0.2685681872431571, 0.00040973307670566625, -0.19048087298870087], [0.001260712968662376, 0.0029961262800760626, 0.9999947169011066, -0.009551486000418663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159588098526, -1.3603943586349487, -1.4941011667251587, -1.648481845855713, -0.30379804968833923, -0.27313438057899475, -0.07580549269914627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287786483764648, -1.0247427225112915, 1.458981990814209, -1.3513071537017822, -0.02190692350268364, 0.2823542058467865, 1.5364652872085571, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.23483513320230587, 0.9720299662266703, -0.003194522066512283, -0.2801084816455841], [-0.9720343983839864, 0.23483792893878508, 0.0005248714351766456, -0.18104346096515656], [0.001260385709457091, 0.002981927081652844, 0.9999947597556414, -0.009547963738441467], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159619092941284, -1.3600873947143555, -1.4941035509109497, -1.648470401763916, -0.30379927158355713, -0.27313295006752014, -0.07574929296970367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287058711051941, -1.0250247716903687, 1.4589792490005493, -1.3513129949569702, -0.021903447806835175, 0.28235170245170593, 1.5364655256271362, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.20423521749819418, 0.9789167394387627, -0.0031611991469839523, -0.28532153367996216], [-0.978920691579758, 0.20423886651837453, 0.0008746429543543671, -0.17191104590892792], [0.0015018423596685185, 0.002915930361171045, 0.9999946208953604, -0.009499739855527878], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159858703613281, -1.3600901365280151, -1.4941017627716064, -1.6484683752059937, -0.3037987947463989, -0.27313247323036194, -0.07574976980686188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9286977052688599, -1.0250157117843628, 1.4589802026748657, -1.351321816444397, -0.02189326100051403, 0.2823490500450134, 1.53646719455719, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.17674690272542426, 0.9842512770971994, -0.0031552986390202867, -0.2899661064147949], [-0.984254836426596, 0.17675131900881458, 0.0011782187823054064, -0.1638098955154419], [0.0017173665374975563, 0.0028973714253205723, 0.9999943279294136, -0.0094699552282691], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159865856170654, -1.3601322174072266, -1.4940863847732544, -1.6484640836715698, -0.30379819869995117, -0.27313005924224854, -0.07575755566358566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287019968032837, -1.0248854160308838, 1.4589834213256836, -1.3513243198394775, -0.02189050428569317, 0.2823466658592224, 1.5364692211151123, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15029601580128327, 0.9886361670684104, -0.003104319336419318, -0.2942259907722473], [-0.9886390832012574, 0.15030122597049267, 0.001518103667115407, -0.15593189001083374], [0.001967435192737204, 0.002840886489980767, 0.9999940292635319, -0.009424729272723198], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159858703613281, -1.3602739572525024, -1.4940077066421509, -1.6484638452529907, -0.3037969768047333, -0.27312958240509033, -0.07577265799045563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287121891975403, -1.0246433019638062, 1.458998203277588, -1.351324439048767, -0.02188894711434841, 0.28234511613845825, 1.5364744663238525, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.12389574070447706, 0.9922904897930729, -0.003070716775027669, -0.29826807975769043], [-0.9922929994265614, 0.1239014453121452, 0.001742164917534676, -0.14799471199512482], [0.0021091999258909698, 0.00283120394619435, 0.9999937677605234, -0.00940632726997137], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159859895706177, -1.3603836297988892, -1.4939260482788086, -1.648464560508728, -0.30379518866539, -0.27312803268432617, -0.07578859478235245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287246465682983, -1.0246286392211914, 1.4590283632278442, -1.3513246774673462, -0.021887389943003654, 0.2823440134525299, 1.5364840030670166, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.09751512198783607, 0.9952295030267353, -0.0030062083851663014, -0.30209046602249146], [-0.9952317248822292, 0.09752096989809633, 0.0018639254484826048, -0.13997620344161987], [0.0021482019552094347, 0.002810113039039466, 0.9999937442269664, -0.009395609609782696], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159851551055908, -1.3604410886764526, -1.4939217567443848, -1.6484647989273071, -0.30379435420036316, -0.27312707901000977, -0.07580885291099548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287465810775757, -1.0246316194534302, 1.459096908569336, -1.3513233661651611, -0.021883195266127586, 0.2823430597782135, 1.5365056991577148, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.07159000235597202, 0.9974297558059991, -0.0029586813712497856, -0.30577829480171204], [-0.9974317342057835, 0.07159603483879717, 0.0019857982286214633, -0.1319492608308792], [0.0021925240967867916, 0.0028089193912225244, 0.9999936513848169, -0.009390387684106827], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6159878969192505, -1.360456109046936, -1.4939252138137817, -1.6484655141830444, -0.3037942349910736, -0.2731269598007202, -0.0758257508277893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287592768669128, -1.0247420072555542, 1.4591197967529297, -1.351324439048767, -0.021877681836485863, 0.282344251871109, 1.536527395248413, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.04599941622941961, 0.9989372955731547, -0.002886731637061945, -0.309160441160202], [-0.9989390980820622, 0.046005407983983226, 0.002044690495751569, -0.12386742234230042], [0.002175322860813512, 0.0027896145287571996, 0.999993742991041, -0.009385542944073677], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6160005331039429, -1.3604520559310913, -1.493941068649292, -1.6484665870666504, -0.30379459261894226, -0.2731287479400635, -0.07582646608352661, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287616014480591, -1.0249607563018799, 1.4591152667999268, -1.3513256311416626, -0.021854672580957413, 0.28234678506851196, 1.536597728729248, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.022871135639257467, 0.99973431319215, -0.0028660392165462023, -0.31204044818878174], [-0.9997360631332841, 0.022877214444683935, 0.0021064496229143016, -0.11650518327951431], [0.0021714569608018938, 0.002817105868092567, 0.9999936743245906, -0.009395178407430649], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6161701679229736, -1.3604307174682617, -1.4940588474273682, -1.6484662294387817, -0.3037961423397064, -0.2731301784515381, -0.07582394778728485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287623167037964, -1.0250811576843262, 1.4590896368026733, -1.3513307571411133, -0.02180314064025879, 0.2823485732078552, 1.5365986824035645, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.002279767178734793, 0.9999934266814572, -0.002819442407264375, -0.3145138919353485], [-0.9999948871185541, 0.002286074761678747, 0.0022359782946556415, -0.10991602391004562], [0.0022424090529873097, 0.0028143304818610843, 0.9999935255518297, -0.009386550635099411], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6162556409835815, -1.3604216575622559, -1.4941620826721191, -1.648467779159546, -0.3037968575954437, -0.2731323540210724, -0.07582047581672668, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287657141685486, -1.0252288579940796, 1.45902681350708, -1.3513424396514893, -0.021739862859249115, 0.2823503613471985, 1.5365967750549316, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.015824692116578554, 0.9998708804952324, -0.0027931088601014322, -0.31655144691467285], [-0.9998721007467756, -0.015818119043352175, 0.0023599275752125047, -0.10407115519046783], [0.00231544113408258, 0.0028300967508592123, 0.9999933146200205, -0.009383008815348148], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.61625075340271, -1.3604216575622559, -1.4941537380218506, -1.648470401763916, -0.30379626154899597, -0.2731344997882843, -0.07582215219736099, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287882447242737, -1.0251495838165283, 1.4589921236038208, -1.351344347000122, -0.021737946197390556, 0.2823515832424164, 1.5365912914276123, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.03354791253498668, 0.999433413567724, -0.002718346723933274, -0.31845253705978394], [-0.9994345135202799, -0.03354150103215536, 0.002370842253559752, -0.09831663221120834], [0.002278321537059254, 0.0027963463441703722, 0.99999349482789, -0.009376627393066883], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.616252064704895, -1.3604148626327515, -1.4941314458847046, -1.6484719514846802, -0.30379804968833923, -0.27313631772994995, -0.07581999897956848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287958145141602, -1.0250376462936401, 1.4589383602142334, -1.3513461351394653, -0.021743817254900932, 0.28235313296318054, 1.5365782976150513, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0484828620100739, 0.9988204594399412, -0.0026649381787626587, -0.31998342275619507], [-0.9988214005498444, -0.04847645843717108, 0.0024171845267193367, -0.09342765063047409], [0.0022851465946685063, 0.0027789893079522903, 0.9999935276407879, -0.009371002204716206], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.03767244517803192, 1.6162633895874023, -1.3600317239761353, -1.494218349456787, -1.6484688520431519, -0.30380478501319885, -0.2731398940086365, -0.07578464597463608, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287754893302917, -1.0258872509002686, 1.4582228660583496, -1.3514066934585571, -0.02174369804561138, 0.2823544442653656, 1.5365490913391113, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.05756133901557425, 0.9983384261148877, -0.002660675324684533, -0.32085373997688293], [-0.9983394276804227, -0.05755497148857214, 0.002410891054305244, -0.09049117565155029], [0.0022537500882369933, 0.0027950311981954586, 0.9999935541847962, -0.009379379451274872], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6164401769638062, -1.3599166870117188, -1.4944928884506226, -1.6484655141830444, -0.30381423234939575, -0.2731419503688812, -0.0757552832365036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287620782852173, -1.0272527933120728, 1.4581170082092285, -1.351495385169983, -0.021739743649959564, 0.28235241770744324, 1.536406397819519, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.059422267533351336, 0.9982294078140375, -0.0026539586340022015, -0.32105445861816406], [-0.9982303669967015, -0.05941587308856455, 0.0024266089001195477, -0.08986924588680267], [0.002264625095982434, 0.0027934567044757977, 0.999993534015503, -0.00937748048454523], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6163954734802246, -1.3601255416870117, -1.4939191341400146, -1.6484675407409668, -0.30381327867507935, -0.27314072847366333, -0.0757778137922287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287934303283691, -1.025323748588562, 1.4585356712341309, -1.3514950275421143, -0.021742140874266624, 0.2823505103588104, 1.5364127159118652, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.05940704570473243, 0.9982302772059786, -0.0026676937438621586, -0.3212539553642273], [-0.9982306903904357, -0.059399930885136065, 0.002671511458979992, -0.0892350971698761], [0.002508322800248424, 0.002821680371030109, 0.9999928731929111, -0.00936024822294712], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6163560152053833, -1.3603624105453491, -1.493665099143982, -1.6484676599502563, -0.3038126826286316, -0.2731381058692932, -0.07580657303333282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287959337234497, -1.024376392364502, 1.4591991901397705, -1.3514846563339233, -0.02176658809185028, 0.282348096370697, 1.536439299583435, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06220337260121234, 0.99805998072717, -0.002648642655308818, -0.3209303319454193], [-0.998060027868428, -0.06219594230303516, 0.002800987738310384, -0.08860646933317184], [0.0026308189423441567, 0.0028177352463085743, 0.9999925695522813, -0.00934519898146391], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.616313099861145, -1.3603668212890625, -1.4937149286270142, -1.6484676599502563, -0.3038099408149719, -0.27313631772994995, -0.07580993324518204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287965893745422, -1.0250390768051147, 1.4591846466064453, -1.3514727354049683, -0.021838612854480743, 0.28234702348709106, 1.5364744663238525, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.062369831594218494, 0.9980495445700138, -0.0026665878002824286, -0.3202955424785614], [-0.9980495887057997, -0.06236229502830981, 0.0028218155478006864, -0.08976230770349503], [0.0026500171872229548, 0.002837383017826058, 0.9999924633048579, -0.009349003434181213], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6160292625427246, -1.3603689670562744, -1.493894100189209, -1.6484673023223877, -0.3038083612918854, -0.27313295006752014, -0.0758134052157402, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287934899330139, -1.0253156423568726, 1.459067940711975, -1.351449966430664, -0.02191375382244587, 0.2823447287082672, 1.5364874601364136, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.061882664724236314, 0.9980799492519116, -0.0026364195283178175, -0.31974169611930847], [-0.9980799583945751, -0.06187526524774123, 0.0028014641894996955, -0.09073761850595474], [0.002632956078467914, 0.002804719562309856, 0.9999926005178567, -0.00934112910181284], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6158860921859741, -1.3603698015213013, -1.493955373764038, -1.6484681367874146, -0.3038056194782257, -0.27312934398651123, -0.07581736147403717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287875890731812, -1.0253427028656006, 1.4589121341705322, -1.3514249324798584, -0.02191135846078396, 0.2823428213596344, 1.5364919900894165, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0611306827842335, 0.9981261759319063, -0.0026789068447150726, -0.31853535771369934], [-0.9981266658365541, -0.061123577764177206, 0.002658418197076156, -0.0912303477525711], [0.002489692418229488, 0.002836399276515475, 0.9999928781100428, -0.009366841986775398], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6158961057662964, -1.3606154918670654, -1.493942379951477, -1.6484507322311401, -0.3037985563278198, -0.27312299609184265, -0.07584791630506516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288650751113892, -1.025174617767334, 1.4589097499847412, -1.351244330406189, -0.0219093207269907, 0.28234270215034485, 1.5364989042282104, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06074122421977912, 0.9981501014228602, -0.002622729459220478, -0.31685903668403625], [-0.9981502587982849, -0.060734069753912934, 0.002726468786471864, -0.09152942150831223], [0.0025621360618212153, 0.0027834871403661222, 0.9999928438034645, -0.009341551922261715], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0014117337996140122, 0.25286251306533813, -0.2532750964164734, 0.04764174297451973, 0.0375765860080719, 1.6182606220245361, -1.3607327938079834, -1.4938486814498901, -1.6484862565994263, -0.30379387736320496, -0.2731297016143799, -0.07595337927341461, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9300636649131775, -1.0237213373184204, 1.4589217901229858, -1.3512500524520874, -0.021892663091421127, 0.28234389424324036, 1.5369272232055664, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06105828452373374, 0.998130697701625, -0.002645032454658131, -0.32027679681777954], [-0.9981313354062663, -0.061051543329539104, 0.002558581088217443, -0.09211591631174088], [0.0023923150131950613, 0.0027963123482222596, 0.9999932287101392, -0.009363762103021145], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2532459497451782, -0.2531792223453522, 0.04764174297451973, 0.0375765860080719, 1.6213067770004272, -1.360690712928772, -1.4938350915908813, -1.648500680923462, -0.30379316210746765, -0.27314409613609314, -0.07595302164554596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9303784966468811, -1.023545265197754, 1.4589487314224243, -1.3518264293670654, -0.02165561355650425, 0.2823464274406433, 1.537050724029541, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.061203840453762925, 0.998121802697912, -0.002637592231706772, -0.33085837960243225], [-0.998122522524543, -0.06119723699606672, 0.002515594023359804, -0.0922841876745224], [0.0023494558845492375, 0.002786604226954455, 0.9999933574249026, -0.009372004307806492], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6210012435913086, -1.3606820106506348, -1.4938125610351562, -1.6484943628311157, -0.3037911057472229, -0.27314624190330505, -0.07595134526491165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9303526282310486, -1.0238584280014038, 1.4589645862579346, -1.351743221282959, -0.021647104993462563, 0.2823506295681, 1.537001609802246, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06137523871743911, 0.9981113657664261, -0.0026041505826206565, -0.34623807668685913], [-0.998111422815531, -0.06136807458536797, 0.002747192538082357, -0.09227356314659119], [0.0025821923890229225, 0.0027678420410729688, 0.9999928356407869, -0.009331736713647842], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25391697883605957, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6182928085327148, -1.3606798648834229, -1.4938119649887085, -1.6484849452972412, -0.303792804479599, -0.2731456458568573, -0.07594091445207596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9297082424163818, -1.024686336517334, 1.4589653015136719, -1.3515043258666992, -0.021658610552549362, 0.28235626220703125, 1.5367013216018677, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06391967154524947, 0.9979516595112463, -0.0026001669748146397, -0.36559998989105225], [-0.9979515623855726, -0.0639123461577158, 0.0028091174433845793, -0.09134689718484879], [0.0026371806426254167, 0.002774398559292811, 0.9999926739686108, -0.009327592328190804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25382110476493835, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6171133518218994, -1.3606680631637573, -1.4938127994537354, -1.6484864950180054, -0.303792804479599, -0.27314576506614685, -0.07592976838350296, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9296592473983765, -1.0247042179107666, 1.458962321281433, -1.351182460784912, -0.021673111245036125, 0.2823607921600342, 1.5366458892822266, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0638224438385766, 0.9979579230262863, -0.002584478967375737, -0.38367512822151184], [-0.9979577780937967, -0.0638151559827298, 0.0028105175666604735, -0.09134749323129654], [0.0026398493450162114, 0.002758574987367961, 0.9999927107031704, -0.009326981380581856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25382110476493835, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6171244382858276, -1.3606622219085693, -1.493801474571228, -1.6485029458999634, -0.30379241704940796, -0.273152232170105, -0.07592689245939255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9296122789382935, -1.0245023965835571, 1.4589651823043823, -1.3511974811553955, -0.02167179249227047, 0.28236332535743713, 1.536651849746704, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06351980619398478, 0.9979772436643259, -0.0025797963549897824, -0.40263327956199646], [-0.9979770326555533, -0.06351247780194935, 0.0028297447718313895, -0.09143119305372238], [0.002660171628935989, 0.002754322350693487, 0.9999926685707716, -0.009316916577517986], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2540128231048584, -0.2527957856655121, 0.04764174297451973, 0.0375765860080719, 1.6171154975891113, -1.3605228662490845, -1.4938102960586548, -1.648500919342041, -0.3037944734096527, -0.2731517553329468, -0.07590927928686142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290786981582642, -1.0246257781982422, 1.4589592218399048, -1.3512351512908936, -0.02168137952685356, 0.2823632061481476, 1.53665030002594, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06298119795980517, 0.9980113947675505, -0.0025738332650780873, -0.42122402787208557], [-0.9980108512901198, -0.06297356985421465, 0.002944521520892539, -0.09162290394306183], [0.0027765825610775357, 0.002754163020763649, 0.9999923525584266, -0.00930439867079258], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.04773760214447975, 0.0375765860080719, 1.616774559020996, -1.3605667352676392, -1.4937962293624878, -1.648504376411438, -0.3037939965724945, -0.2731475830078125, -0.07590508460998535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290696978569031, -1.0245983600616455, 1.4589592218399048, -1.3512314558029175, -0.021782048046588898, 0.2823580503463745, 1.5366348028182983, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.062184993325168136, 0.9980613705256998, -0.0025548521504967425, -0.4383367896080017], [-0.9980602586214916, -0.06217693128389068, 0.003122399160856502, -0.09194526821374893], [0.0029574931192107986, 0.0027440627690408243, 0.9999918616438682, -0.009278110228478909], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.25298750400543213, 0.047354165464639664, 0.0375765860080719, 1.6156668663024902, -1.360924243927002, -1.4929951429367065, -1.6486198902130127, -0.30379459261894226, -0.27313917875289917, -0.07592641562223434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292383193969727, -1.0233021974563599, 1.4591888189315796, -1.3510570526123047, -0.02204510197043419, 0.2823542058467865, 1.5365421772003174, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06053901305106879, 0.9981624912814042, -0.0025824208996511385, -0.4543416500091553], [-0.9981644912304232, -0.06053448887223967, 0.0017955789280516754, -0.09264020621776581], [0.001635954006903082, 0.0026863834196026357, 0.9999950534870711, -0.009407199919223785], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25343766808509827, -0.25308337807655334, 0.04773760214447975, 0.03748072683811188, 1.6163057088851929, -1.360094428062439, -1.4940789937973022, -1.648765206336975, -0.3037949502468109, -0.2731490135192871, -0.0758015438914299, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9288116097450256, -1.0261040925979614, 1.4589979648590088, -1.351654052734375, -0.021908001974225044, 0.28234487771987915, 1.5365028381347656, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06051765689579103, 0.9981632658591131, -0.0027763092970365683, -0.4693090617656708], [-0.9981653322799287, -0.06051203972615049, 0.0020645780876634313, -0.09264549612998962], [0.0018927858681289348, 0.002896159120332146, 0.9999940147940922, -0.009472789242863655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6164329051971436, -1.3601667881011963, -1.494063138961792, -1.6485013961791992, -0.30379578471183777, -0.27314433455467224, -0.07579591125249863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9289147257804871, -1.025824785232544, 1.458971619606018, -1.3515897989273071, -0.021898774430155754, 0.28233885765075684, 1.5364861488342285, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.05943548802524212, 0.9982287929826017, -0.0025883631312389327, -0.48366817831993103], [-0.9982304967292255, -0.05943047250962308, 0.0019734074608561305, -0.09317703545093536], [0.0018160845037972588, 0.002701073449720891, 0.9999947030056181, -0.009394382126629353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6165066957473755, -1.360540509223938, -1.493900179862976, -1.6485060453414917, -0.3037944734096527, -0.27314695715904236, -0.07581651955842972, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9291218519210815, -1.0255584716796875, 1.4589722156524658, -1.3514994382858276, -0.0218982957303524, 0.2823323905467987, 1.5364799499511719, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.05899094834106933, 0.9982550935808141, -0.0026146039434298113, -0.49941572546958923], [-0.99825673946487, -0.05898569734032866, 0.0020419652889913163, -0.0934118703007698], [0.0018841780137788197, 0.002730503476437379, 0.9999944970968478, -0.009400097653269768], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6169134378433228, -1.36054265499115, -1.4938963651657104, -1.648504614830017, -0.30379363894462585, -0.27314746379852295, -0.07584276795387268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9291675686836243, -1.025545358657837, 1.4589757919311523, -1.351467251777649, -0.02189769595861435, 0.28233060240745544, 1.5364817380905151, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.05917440746482194, 0.9982442224208571, -0.002619523728751427, -0.515885055065155], [-0.9982458558307661, -0.05916910858605151, 0.0020561872077377286, -0.09333562850952148], [0.0018975821163896307, 0.0027366023661310954, 0.9999944550794275, -0.009407789446413517], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6169148683547974, -1.3605457544326782, -1.4938918352127075, -1.6485047340393066, -0.30379340052604675, -0.273148775100708, -0.07591311633586884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292671084403992, -1.0255368947982788, 1.4589791297912598, -1.3514100313186646, -0.021896855905652046, 0.2823321521282196, 1.53648841381073, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2631319761276245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.05946244415376145, 0.9982271335449656, -0.0026091358459087543, -0.5334327220916748], [-0.998228778730598, -0.05945722125153474, 0.00203571979034305, -0.09320338815450668], [0.0018769787637493939, 0.002725563363349702, 0.9999945241125437, -0.00939992442727089], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.6168473958969116, -1.3605340719223022, -1.4938935041427612, -1.6485117673873901, -0.30379217863082886, -0.2731532156467438, -0.0759177878499031, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292490482330322, -1.0255377292633057, 1.4589852094650269, -1.351381540298462, -0.021896496415138245, 0.2823406755924225, 1.536521315574646, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.059509939267839096, 0.9982241430059536, -0.0026697281448905563, -0.5514393448829651], [-0.9982258869230167, -0.059504501877127414, 0.0020719394565992194, -0.09319539368152618], [0.0019093991450149172, 0.0027882927365055744, 0.999994289792957, -0.009428264573216438], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6156247854232788, -1.360546350479126, -1.4938920736312866, -1.6485002040863037, -0.30379098653793335, -0.27315428853034973, -0.07591071724891663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9291897416114807, -1.0255956649780273, 1.458984375, -1.3511364459991455, -0.021901531144976616, 0.282348096370697, 1.5365256071090698, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26322782039642334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060002616400888886, 0.9981947263058228, -0.002640908989584846, -0.5676350593566895], [-0.9981961581706585, -0.05999690536583202, 0.0021911549148579687, -0.09293857961893082], [0.0020287529138024118, 0.0027676202353130942, 0.9999941122025908, -0.009402749128639698], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6151658296585083, -1.3605440855026245, -1.493903636932373, -1.6485060453414917, -0.3037915825843811, -0.27316123247146606, -0.07590065151453018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287604689598083, -1.025614619255066, 1.458984375, -1.3511228561401367, -0.02190033160150051, 0.28235122561454773, 1.536534070968628, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.26332366466522217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060343518034862154, 0.9981740779904041, -0.0026776592731063056, -0.5815854072570801], [-0.9981755774479328, -0.06033768230684733, 0.002209226182099569, -0.09275319427251816], [0.002043628552842826, 0.0028060865711043138, 0.9999939747120947, -0.009425869211554527], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25382110476493835, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6143994331359863, -1.360544204711914, -1.493910312652588, -1.6484978199005127, -0.3037925660610199, -0.27316147089004517, -0.0758833959698677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285122156143188, -1.0258989334106445, 1.458980679512024, -1.3511217832565308, -0.021908361464738846, 0.2823563814163208, 1.5365327596664429, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06136602785875134, 0.9981118069052256, -0.00265170534277683, -0.5916378498077393], [-0.9981131665425554, -0.061360147688740874, 0.0022447828422932506, -0.09215591847896576], [0.002077835227371355, 0.002784455422853808, 0.9999939646861705, -0.00940658338367939], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25382110476493835, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.614303708076477, -1.3605537414550781, -1.4939048290252686, -1.6485034227371216, -0.30379292368888855, -0.27316194772720337, -0.07587932050228119, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285069108009338, -1.0257809162139893, 1.458985686302185, -1.3511221408843994, -0.021910758689045906, 0.28235575556755066, 1.5365281105041504, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060969745065491576, 0.9981361221422961, -0.002640428258463847, -0.5978042483329773], [-0.9981374099648123, -0.060963837155134426, 0.002263048399470519, -0.09239137172698975], [0.002097859715299028, 0.0027734877070875906, 0.9999939533569958, -0.009397671557962894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2537252604961395, -0.2528916597366333, 0.04764174297451973, 0.0375765860080719, 1.6143138408660889, -1.360552191734314, -1.493910551071167, -1.6484997272491455, -0.30379435420036316, -0.273163378238678, -0.07586769014596939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9285091757774353, -1.0258185863494873, 1.4589812755584717, -1.3511252403259277, -0.021912915632128716, 0.2823549211025238, 1.5365047454833984, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06094356701281467, 0.9981377220283149, -0.002639981795572106, -0.5991781949996948], [-0.9981391366209943, -0.06093783182453505, 0.0022010447566481513, -0.09240519255399704], [0.002036071032804746, 0.0027692086687524757, 0.9999940929316025, -0.00940385740250349], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25298750400543213, 0.04764174297451973, 0.0375765860080719, 1.614824652671814, -1.3605517148971558, -1.493910312652588, -1.6485029458999634, -0.30379483103752136, -0.27316543459892273, -0.07586577534675598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.928547203540802, -1.0257798433303833, 1.4589818716049194, -1.3511430025100708, -0.021910278126597404, 0.28235146403312683, 1.5364973545074463, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2634195387363434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06098538146929222, 0.9981351329807506, -0.0026532162641021433, -0.5980948209762573], [-0.9981365091991201, -0.06097951725504602, 0.002237739738260967, -0.09238062053918839], [0.0020717748042672346, 0.0027847414315680832, 0.9999939764640183, -0.009408396668732166], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25343766808509827, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6164796352386475, -1.3605517148971558, -1.4939080476760864, -1.648510217666626, -0.3037963807582855, -0.27316948771476746, -0.07586769014596939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9289461970329285, -1.0252630710601807, 1.458984613418579, -1.3512042760849, -0.021903567016124725, 0.28234487771987915, 1.536496877670288, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06083985737969333, 0.9981440349724436, -0.0026452226650410015, -0.5966688394546509], [-0.9981452179948359, -0.06083378578844778, 0.0023182538011771725, -0.09246877580881119], [0.0021530322942293367, 0.0027813585842757825, 0.999993814229051, -0.009395591914653778], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.617363452911377, -1.3605512380599976, -1.4939072132110596, -1.6485124826431274, -0.3037966191768646, -0.2731720209121704, -0.07586841285228729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9291085600852966, -1.0251237154006958, 1.4589875936508179, -1.3513562679290771, -0.02189577743411064, 0.28233984112739563, 1.5364980697631836, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089229139569996, 0.9981408205623288, -0.002651636427202727, -0.5966392755508423], [-0.9981420448779132, -0.06088623606786081, 0.002307488770573763, -0.09243753552436829], [0.002141750573426051, 0.0027872180843309773, 0.9999938221408329, -0.009400571696460247], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6172810792922974, -1.360550880432129, -1.4939011335372925, -1.648512601852417, -0.3037972152233124, -0.2731698751449585, -0.0758708119392395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9291079640388489, -1.0251847505569458, 1.4589910507202148, -1.3513576984405518, -0.021892303600907326, 0.28233838081359863, 1.536498785018921, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090221170838528, 0.9981402205241175, -0.002649675658022848, -0.5973713994026184], [-0.9981414581324437, -0.06089618495186966, 0.0022987421661969753, -0.09243129938840866], [0.0021331118737625103, 0.002784749606945688, 0.9999938474827536, -0.009400330483913422], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6164019107818604, -1.3605507612228394, -1.493895411491394, -1.6485127210617065, -0.3037976920604706, -0.27316710352897644, -0.07587368786334991, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.929099440574646, -1.0253041982650757, 1.4589910507202148, -1.3513559103012085, -0.021886909380555153, 0.2823371887207031, 1.5364998579025269, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090749099547432, 0.9981399206820275, -0.002641265134794935, -0.5977311730384827], [-0.998141156180583, -0.06090150989422738, 0.002288761912573967, -0.09242822229862213], [0.002123647599136634, 0.002775758181004563, 0.9999938926250476, -0.009395682252943516], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.616199016571045, -1.3605495691299438, -1.4938915967941284, -1.6485159397125244, -0.3037968575954437, -0.27316758036613464, -0.07587560266256332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290941953659058, -1.0253595113754272, 1.4589900970458984, -1.3513538837432861, -0.021875644102692604, 0.2823387384414673, 1.5365045070648193, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060905375940952355, 0.998140046932605, -0.0026423267905845735, -0.5975515246391296], [-0.9981413031791082, -0.06089941591902437, 0.0022803571284216867, -0.09242906421422958], [0.002115199612972132, 0.0027763015143653104, 0.9999939090216993, -0.00939730554819107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6162244081497192, -1.360548734664917, -1.4938879013061523, -1.6485202312469482, -0.30379578471183777, -0.2731643617153168, -0.07587824016809464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290935397148132, -1.0253592729568481, 1.4589900970458984, -1.3513524532318115, -0.021859586238861084, 0.2823409140110016, 1.5365235805511475, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089115661615896, 0.9981409012204076, -0.0026473301379745205, -0.5974534749984741], [-0.9981421694129043, -0.06088518353209138, 0.0022812421977568384, -0.09243778139352798], [0.0021158179618504186, 0.0027813193230130525, 0.9999938937699449, -0.009400313720107079], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6163172721862793, -1.3605479001998901, -1.4938863515853882, -1.6485224962234497, -0.30379506945610046, -0.2731636166572571, -0.07587991654872894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290907979011536, -1.025357961654663, 1.4589892625808716, -1.3513487577438354, -0.02184053137898445, 0.28234487771987915, 1.5365512371063232, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060898479763801694, 0.998140453214249, -0.002647795254778316, -0.5974915623664856], [-0.998141725187341, -0.06089250891784137, 0.0022800872196332878, -0.09243332594633102], [0.0021146163946085803, 0.0027817287689518248, 0.9999938951726454, -0.009400667622685432], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2535335421562195, -0.25308337807655334, 0.04764174297451973, 0.0375765860080719, 1.6164048910140991, -1.3605483770370483, -1.4938836097717285, -1.6485236883163452, -0.30379387736320496, -0.2731632590293884, -0.0758819580078125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9295111894607544, -1.0253514051437378, 1.4601880311965942, -1.3518041372299194, -0.022793995216488838, 0.2827548384666443, 1.536475658416748, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089655369406333, 0.998140579470081, -0.0026444967984813996, -0.5974909067153931], [-0.9981418198203483, -0.06089056040789198, 0.0022906721581508853, -0.09243492782115936], [0.002125387943256297, 0.00277907688701964, 0.9999938797101444, -0.009397819638252258], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.25308337807655334, 0.047066591680049896, 0.03767244517803192, 1.616658091545105, -1.3605422973632812, -1.4938818216323853, -1.6485261917114258, -0.30379241704940796, -0.2731632590293884, -0.0758807584643364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.956674337387085, -1.0256134271621704, 1.4995256662368774, -1.3934104442596436, -0.03268745169043541, 0.28320834040641785, 1.535556674003601, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060884573672119746, 0.9981413199483932, -0.0026408522192639364, -0.5975134372711182], [-0.9981425890677584, -0.060878639201452645, 0.002272262769000739, -0.09244254976511002], [0.002107267870079064, 0.002774292821443081, 0.999993931342318, -0.00939689390361309], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2536293864250183, -0.2545212507247925, 0.04495770111680031, 0.03901446610689163, 1.6166027784347534, -1.3605520725250244, -1.4935765266418457, -1.648531198501587, -0.30379122495651245, -0.2731642425060272, -0.0758914202451706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9610835313796997, -1.0224446058273315, 1.501486897468567, -1.3952418565750122, -0.018824700266122818, 0.2825098931789398, 1.5365291833877563, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060929107054338294, 0.9981385896328583, -0.002645713380141477, -0.5975435376167297], [-0.9981398687296593, -0.06092315740566123, 0.0022740589402247364, -0.09241577237844467], [0.0021086407706292875, 0.002779348386567545, 0.999993914409806, -0.00940035656094551], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25391697883605957, -0.25557568669319153, 0.04332810267806053, 0.04035648703575134, 1.6166075468063354, -1.360551357269287, -1.4936825037002563, -1.6485313177108765, -0.3037920594215393, -0.2731667459011078, -0.07588926702737808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9585409760475159, -1.0225268602371216, 1.4937905073165894, -1.390824794769287, -0.017872074618935585, 0.28254714608192444, 1.5365524291992188, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0609293484868314, 0.9981385861245244, -0.0026414735102828937, -0.5973390340805054], [-0.9981398682943242, -0.06092342734745393, 0.002267007196382399, -0.09241621941328049], [0.002101859738237306, 0.0027746872931472513, 0.9999939416296811, -0.009398502297699451], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25420454144477844, -0.25615084171295166, 0.04236951842904091, 0.0410274975001812, 1.616606593132019, -1.3605505228042603, -1.4937586784362793, -1.6485302448272705, -0.3037918210029602, -0.2731698751449585, -0.07588806748390198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9609511494636536, -1.0225468873977661, 1.5006219148635864, -1.400437593460083, -0.021137775853276253, 0.282580703496933, 1.5365597009658813, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0609501063312099, 0.9981372893906829, -0.0026525583941223647, -0.5974670052528381], [-0.9981386702407842, -0.06094425240140544, 0.002234517664501618, -0.09240204840898514], [0.002068697216460384, 0.0027838151974956676, 0.9999939854142987, -0.009407847188413143], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2543962597846985, -0.256821870803833, 0.04141093045473099, 0.04160264879465103, 1.616594910621643, -1.3605515956878662, -1.493841528892517, -1.6485233306884766, -0.303792804479599, -0.2731736898422241, -0.07588531076908112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.013080358505249, -1.0135602951049805, 1.5679595470428467, -1.497375249862671, -0.012171898037195206, 0.2852236032485962, 1.5341542959213257, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060904516418961885, 0.9981400876901989, -0.002646738667586105, -0.5976139903068542], [-0.9981415202093571, -0.06089876662406679, 0.0022013309203624525, -0.09242983162403107], [0.0020360535174535044, 0.0027758907524440663, 0.9999940744407462, -0.009406868368387222], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25430038571357727, -0.25864318013191223, 0.04035648703575134, 0.04246537759900093, 1.6165482997894287, -1.3605477809906006, -1.4938617944717407, -1.6485079526901245, -0.3037942349910736, -0.2731752395629883, -0.07587512582540512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.074987769126892, -0.9771500825881958, 1.6129988431930542, -1.5786278247833252, 0.04020192101597786, 0.31386300921440125, 1.5051395893096924, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060916779099870366, 0.9981393440139582, -0.0026449868586824244, -0.5978412628173828], [-0.9981406824138439, -0.060910912405603757, 0.002244740595828007, -0.09242286533117294], [0.0020794553429380903, 0.0027768113551134913, 0.9999939825739828, -0.009402166120707989], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25430038571357727, -0.26046448945999146, 0.03978133574128151, 0.0436156801879406, 1.6165424585342407, -1.3605499267578125, -1.4938560724258423, -1.6485050916671753, -0.3037949502468109, -0.27317920327186584, -0.07587584108114243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1402373313903809, -0.944415271282196, 1.6433625221252441, -1.6605554819107056, 0.06730388849973679, 0.3744319975376129, 1.4442673921585083, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060855355463384164, 0.9981431065833641, -0.0026390323105373492, -0.5974114537239075], [-0.9981443803537872, -0.060849437791477, 0.0022675732878069603, -0.09245884418487549], [0.0021027790134873522, 0.002772129248803693, 0.9999939467916035, -0.009397233836352825], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25468382239341736, -0.2624775171279907, 0.0393020398914814, 0.04553285241127014, 1.6165343523025513, -1.360548734664917, -1.4938513040542603, -1.6485083103179932, -0.3037966191768646, -0.27318087220191956, -0.07587704062461853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.191293478012085, -0.939682126045227, 1.6800525188446045, -1.7289820909500122, 0.05578704550862312, 0.43644341826438904, 1.3824583292007446, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089397455585144, 0.9981407427652704, -0.002642251839892394, -0.5973398685455322], [-0.9981420549437868, -0.060888088896804415, 0.002253615559332457, -0.09243594855070114], [0.002088543843384356, 0.0027745742896778574, 0.9999939698428812, -0.009399673901498318], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.2558341324329376, -0.26381954550743103, 0.03891860693693161, 0.047833461314439774, 1.6165307760238647, -1.3605480194091797, -1.4938366413116455, -1.6485137939453125, -0.3037967383861542, -0.27317944169044495, -0.07588015496730804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2285661697387695, -0.9469996094703674, 1.730438232421875, -1.769449234008789, 0.06106993183493614, 0.474345326423645, 1.3447283506393433, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06091503208149418, 0.998139447594819, -0.0026461333337736287, -0.5973306894302368], [-0.9981407567665519, -0.060909119866790595, 0.00226026514993586, -0.09242438524961472], [0.002094886155764472, 0.0027788976523990348, 0.9999939445715819, -0.00940157100558281], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.25688856840133667, -0.2648739814758301, 0.03834345564246178, 0.050517503172159195, 1.6165281534194946, -1.3605483770370483, -1.4938267469406128, -1.6485135555267334, -0.30379804968833923, -0.27317777276039124, -0.07588063925504684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2677842378616333, -0.9509475231170654, 1.7895417213439941, -1.8120839595794678, 0.08966992795467377, 0.5054559111595154, 1.3136887550354004, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060880760146935886, 0.9981415439618679, -0.0026440993456367935, -0.5974762439727783], [-0.9981428611510369, -0.060874870559910255, 0.0022536342950378483, -0.09244229644536972], [0.00208848680936131, 0.002776391854996602, 0.9999939649173462, -0.009400691837072372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0016034510917961597, 0.2579430341720581, -0.26602429151535034, 0.037384867668151855, 0.053489118814468384, 1.616283893585205, -1.3605493307113647, -1.4938077926635742, -1.6485146284103394, -0.3037974536418915, -0.2731736898422241, -0.0758833959698677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2859636545181274, -0.9491317272186279, 1.8115853071212769, -1.824093222618103, 0.10729224979877472, 0.5053833723068237, 1.3140023946762085, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06083365064045454, 0.9981444373079932, -0.00263613748976231, -0.5975073575973511], [-0.9981456775105358, -0.060827705648894836, 0.0022796255229056957, -0.09247330576181412], [0.0021150453395563673, 0.002769927183381233, 0.9999939270248647, -0.00939350388944149], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0020827441476285458, 0.25861403346061707, -0.26640772819519043, 0.036713857203722, 0.05521457642316818, 1.6163139343261719, -1.360543131828308, -1.4938026666641235, -1.6485167741775513, -0.3037972152233124, -0.2731722593307495, -0.07588279247283936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2843095064163208, -0.9490056037902832, 1.8054684400558472, -1.8222726583480835, 0.10679034888744354, 0.503361165523529, 1.317851185798645, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090619062384972, 0.9981400229684777, -0.0026325827961143663, -0.5971546173095703], [-0.9981412791441092, -0.0609002865300885, 0.0022675910377947307, -0.09242811053991318], [0.0021030483239500002, 0.0027657998915712276, 0.9999939637511354, -0.009393034502863884], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0019868856761604548, 0.2592850625514984, -0.2665994465351105, 0.036522142589092255, 0.05607730522751808, 1.616416573524475, -1.3605414628982544, -1.4938061237335205, -1.6485201120376587, -0.3037970960140228, -0.2731701135635376, -0.07588255405426025, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2832345962524414, -0.9489998817443848, 1.803257942199707, -1.8219401836395264, 0.10572806745767593, 0.5033383965492249, 1.318069338798523, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090272478902081, 0.9981402097360742, -0.002641935142761413, -0.5972360968589783], [-0.998141530437035, -0.060896852234877175, 0.0022491342105036196, -0.09243031591176987], [0.002084065758593791, 0.002774003588547137, 0.9999939807688867, -0.009400168433785439], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0017951683839783072, 0.25976434350013733, -0.2666952908039093, 0.03623456507921219, 0.057131748646497726, 1.6165616512298584, -1.3605281114578247, -1.4938735961914062, -1.6485657691955566, -0.3037969768047333, -0.273169606924057, -0.0758829116821289, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3071378469467163, -0.9505393505096436, 1.8362653255462646, -1.8512392044067383, 0.09278067201375961, 0.4940687119960785, 1.326905369758606, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06101982859951738, 0.9981330155057486, -0.002657795155153495, -0.5974946618080139], [-0.9981343834568374, -0.06101392642369796, 0.0022479643241862766, -0.09236066788434982], [0.0020816048916035943, 0.0027900071263033794, 0.9999939413723017, -0.009409775957465172], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0021786028519272804, 0.2600519061088562, -0.26727044582366943, 0.03537183627486229, 0.05914478003978729, 1.6165286302566528, -1.3605400323867798, -1.493827223777771, -1.6485265493392944, -0.30379530787467957, -0.27313247323036194, -0.07588495314121246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3831143379211426, -0.9609654545783997, 1.9271464347839355, -1.9375982284545898, 0.09597770124673843, 0.5095700621604919, 1.3113865852355957, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060837112747915256, 0.9981442795443369, -0.002615898586273067, -0.5978595614433289], [-0.9981455446023232, -0.06083131633876926, 0.0022411477024166806, -0.09246831387281418], [0.0020778602043694276, 0.0027473924744766333, 0.9999940671481817, -0.009385227225720882], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0028496133163571358, 0.2604353427886963, -0.26784560084342957, 0.03537183627486229, 0.0630749836564064, 1.6165015697479248, -1.3605425357818604, -1.493817925453186, -1.6485518217086792, -0.30379459261894226, -0.2731435000896454, -0.07589153945446014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4186134338378906, -0.9596850872039795, 1.9521939754486084, -1.9799772500991821, 0.12273116409778595, 0.5597802400588989, 1.2604879140853882, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089624604694932, 0.9981406214674725, -0.002635715067509982, -0.5974856615066528], [-0.9981419082606017, -0.0608903644011376, 0.002257099240425723, -0.0924355760216713], [0.0020924127876340397, 0.002768266537812981, 0.9999939792364261, -0.009395944885909557], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0032330479007214308, 0.26196908950805664, -0.26784560084342957, 0.036905575543642044, 0.06643003970384598, 1.6165428161621094, -1.3605378866195679, -1.4938279390335083, -1.6485456228256226, -0.3037939965724945, -0.2731516361236572, -0.07588722556829453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4542049169540405, -0.9537265300750732, 1.9865895509719849, -2.030864715576172, 0.14568383991718292, 0.5941564440727234, 1.2259238958358765, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087172238425298, 0.9981420821244824, -0.0026490198522071263, -0.5969022512435913], [-0.9981434699155606, -0.06086589888210181, 0.0022261667049341214, -0.09244983643293381], [0.0020607956955580233, 0.002779612468801044, 0.9999940134198927, -0.009406491182744503], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.004383351653814316, 0.26379039883613586, -0.2671746015548706, 0.03882274776697159, 0.0691140815615654, 1.6165398359298706, -1.3605388402938843, -1.4938297271728516, -1.6485445499420166, -0.3037959039211273, -0.2731636166572571, -0.07588519155979156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.476819634437561, -0.9531376361846924, 2.0147173404693604, -2.0672531127929688, 0.15617337822914124, 0.6261495351791382, 1.1942497491836548, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090926060959467, 0.998139815134583, -0.0026403437451446364, -0.5973688364028931], [-0.9981411746103189, -0.06090344905469669, 0.0022283269003406723, -0.09242663532495499], [0.002063375759596154, 0.0027711615510498965, 0.9999940315542551, -0.009401360526680946], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.005917089991271496, 0.2659951448440552, -0.26554498076438904, 0.040452346205711365, 0.07074367254972458, 1.6165378093719482, -1.360538125038147, -1.493834376335144, -1.6485419273376465, -0.3037966191768646, -0.27316877245903015, -0.07588015496730804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4973150491714478, -0.9603936076164246, 2.0533180236816406, -2.1125009059906006, 0.17309966683387756, 0.670549750328064, 1.1500787734985352, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090223909296588, 0.998140264280668, -0.00263250739439578, -0.5974791646003723], [-0.9981416430480768, -0.06089649887295745, 0.00220835647067273, -0.0924307331442833], [0.002043939027687327, 0.002762109109757824, 0.9999940965158329, -0.00939809251576662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.008409414440393448, 0.2679123282432556, -0.26391538977622986, 0.04208194091916084, 0.0717022642493248, 1.6165186166763306, -1.3605414628982544, -1.493834137916565, -1.6485382318496704, -0.3037966191768646, -0.27317047119140625, -0.07587596029043198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5133548974990845, -0.971102774143219, 2.088388442993164, -2.1482529640197754, 0.19500263035297394, 0.7247909307479858, 1.0958443880081177, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060875926650806544, 0.9981418538560058, -0.0026383963503787866, -0.5975590348243713], [-0.9981432054196404, -0.060870115951937365, 0.0022294525344441927, -0.09244746714830399], [0.0020647103940393723, 0.002769217379292842, 0.999994034185252, -0.00939957331866026], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.011381031945347786, 0.2700212299823761, -0.2619982361793518, 0.0427529513835907, 0.07246913015842438, 1.6165121793746948, -1.3605403900146484, -1.4938331842422485, -1.6485363245010376, -0.3037964999675751, -0.273173451423645, -0.07587380707263947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5256340503692627, -0.9716795086860657, 2.1069934368133545, -2.174236297607422, 0.23090724647045135, 0.7937650680541992, 1.0259788036346436, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088441006636969, 0.9981413717415792, -0.002625000706384779, -0.5974128842353821], [-0.9981426948940224, -0.06087863845520913, 0.0022253111104542814, -0.09244304150342941], [0.0020613686153919462, 0.002755612033343763, 0.9999940786633454, -0.009391888044774532], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.014256791211664677, 0.2726094126701355, -0.2602727711200714, 0.043040528893470764, 0.07361943274736404, 1.616513729095459, -1.3605402708053589, -1.4938331842422485, -1.6485360860824585, -0.30379757285118103, -0.2731742858886719, -0.07587272673845291, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5344599485397339, -0.9682341814041138, 2.1272428035736084, -2.191295623779297, 0.28750598430633545, 0.8461211323738098, 0.9740449786186218, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088645640723778, 0.9981412373312871, -0.0026286431741227474, -0.5973749160766602], [-0.9981425318357178, -0.06088062570079478, 0.002244004202990348, -0.09244006872177124], [0.0020797996905646786, 0.002760390017194586, 0.9999940273222636, -0.009392369538545609], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.017132550477981567, 0.27538931369781494, -0.25864318013191223, 0.043136388063430786, 0.07438630610704422, 1.6165082454681396, -1.3605413436889648, -1.4938267469406128, -1.6485341787338257, -0.30379781126976013, -0.27317142486572266, -0.07587416470050812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.537698745727539, -0.9607319831848145, 2.1345646381378174, -2.198531150817871, 0.3604552745819092, 0.9172943830490112, 0.9029358625411987, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086423841651789, 0.9981426176980384, -0.00261901066912342, -0.5974668860435486], [-0.9981438637101602, -0.06085839893770806, 0.0022544658994782685, -0.09245561063289642], [0.0020908896982925747, 0.002751365778384737, 0.9999940290654855, -0.009386049583554268], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.01943315751850605, 0.27759405970573425, -0.2575887143611908, 0.043136388063430786, 0.07544074952602386, 1.616512656211853, -1.3605402708053589, -1.4938255548477173, -1.6485319137573242, -0.30379781126976013, -0.27316901087760925, -0.07587356865406036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5376999378204346, -0.9555217027664185, 2.1308138370513916, -2.19832181930542, 0.38528910279273987, 0.9393681287765503, 0.8795293569564819, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089567944204277, 0.9981406465944489, -0.002639288030355555, -0.5974013209342957], [-0.9981419176859333, -0.06088975650342365, 0.002269297512691861, -0.09243698418140411], [0.0021043724811226788, 0.0027725744298361323, 0.9999939422053974, -0.009396705776453018], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.020583461970090866, 0.27874433994293213, -0.25691771507263184, 0.043136388063430786, 0.07592003792524338, 1.6165169477462769, -1.3605402708053589, -1.493823528289795, -1.6485284566879272, -0.3037987947463989, -0.27316638827323914, -0.07587524503469467, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5376917123794556, -0.955543577671051, 2.129342555999756, -2.1979875564575195, 0.3730141520500183, 0.9330801367759705, 0.8893098831176758, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088331243607281, 0.9981413966272686, -0.002640947893662411, -0.5973985195159912], [-0.9981426616775142, -0.06087737206791077, 0.0022743151568728956, -0.0924426019191742], [0.002109314139517226, 0.0027745106002058113, 0.9999939264239509, -0.009397522546350956], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.021062754094600677, 0.2794153690338135, -0.25653427839279175, 0.043040528893470764, 0.07611175626516342, 1.6165180206298828, -1.3605400323867798, -1.493822693824768, -1.648524522781372, -0.3037985563278198, -0.2731629014015198, -0.07587632536888123, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5376981496810913, -0.9559974670410156, 2.129237413406372, -2.1981773376464844, 0.37070682644844055, 0.932642936706543, 0.8910880088806152, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087951872990738, 0.9981416271612585, -0.002641273762817707, -0.5974509716033936], [-0.9981429043518948, -0.06087359249859192, 0.002268970753393601, -0.09244535118341446], [0.002103970337058608, 0.0027745025122861617, 0.9999939377039393, -0.009398125112056732], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.021062754094600677, 0.28018224239349365, -0.2563425600528717, 0.043040528893470764, 0.07649519294500351, 1.6165214776992798, -1.3605413436889648, -1.4938188791275024, -1.648524284362793, -0.3037985563278198, -0.2731579840183258, -0.07587883621454239, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5548988580703735, -0.9641668796539307, 2.137362241744995, -2.243736505508423, 0.36786094307899475, 0.948225200176239, 0.8723456263542175, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088791808696303, 0.9981411109794026, -0.002642726591826314, -0.597467839717865], [-0.9981424192734671, -0.06088202456809033, 0.0022560876314115094, -0.09244048595428467], [0.002090999269593658, 0.002775185992742236, 0.9999939630141575, -0.009400307200849056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.021733764559030533, 0.28066152334213257, -0.2564384341239929, 0.0427529513835907, 0.07659105211496353, 1.6165165901184082, -1.3605419397354126, -1.493817925453186, -1.6485155820846558, -0.3037972152233124, -0.27314960956573486, -0.07588039338588715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5788871049880981, -0.982492208480835, 2.1650121212005615, -2.297147512435913, 0.41419723629951477, 0.9969803690910339, 0.8227496147155762, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060901256526719516, 0.9981403107540628, -0.0026376127936554397, -0.5975902080535889], [-0.9981416696457565, -0.06089546003048962, 0.002224918977546222, -0.09243029356002808], [0.0020601626751986456, 0.0027682115991409582, 0.9999940463494241, -0.009399686008691788], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.02250063419342041, 0.2816201150417328, -0.25615084171295166, 0.042177800089120865, 0.07707034796476364, 1.6165201663970947, -1.360541820526123, -1.493817925453186, -1.648520588874817, -0.3037964999675751, -0.2731494903564453, -0.07588746398687363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5818294286727905, -0.9933465719223022, 2.189573287963867, -2.3006038665771484, 0.4590613543987274, 1.016374111175537, 0.7917010188102722, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0609292218655102, 0.998138595896769, -0.00264070143898268, -0.5973641872406006], [-0.9981399380177942, -0.06092338485106841, 0.0022372554888502247, -0.09241550415754318], [0.0020722105822593906, 0.0027721038066796586, 0.9999940106739579, -0.009400847367942333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.023075785487890244, 0.28324970602989197, -0.25557568669319153, 0.04141093045473099, 0.07716620713472366, 1.616524338722229, -1.3605432510375977, -1.4938174486160278, -1.6485259532928467, -0.3037956655025482, -0.27315008640289307, -0.07589058578014374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5817956924438477, -0.9909696578979492, 2.2130322456359863, -2.2873897552490234, 0.5331247448921204, 1.013274908065796, 0.7377442121505737, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06090197473893233, 0.9981402850937002, -0.002630731070552041, -0.5972687602043152], [-0.9981415426232944, -0.06089608308069172, 0.0022644988452167818, -0.09243404120206833], [0.002100086305123739, 0.002763754420455578, 0.9999939756313607, -0.009392264299094677], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.023650938645005226, 0.2845917344093323, -0.25528812408447266, 0.04064406082034111, 0.07716620713472366, 1.6165225505828857, -1.3605449199676514, -1.4938174486160278, -1.6485235691070557, -0.30379435420036316, -0.2731529772281647, -0.07589322328567505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.57646644115448, -0.9592207670211792, 2.227644443511963, -2.2746946811676025, 0.627515971660614, 1.0133494138717651, 0.6700440049171448, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087317349752186, 0.9981420118505082, -0.0026421444624562924, -0.5974423885345459], [-0.9981433406519173, -0.06086731071754281, 0.0022454394324046443, -0.0924510657787323], [0.002080447204591873, 0.002773925924388033, 0.9999939885191285, -0.009401180781424046], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.024801241233944893, 0.2855503261089325, -0.2550005316734314, 0.040452346205711365, 0.07716620713472366, 1.6165188550949097, -1.3605471849441528, -1.4938201904296875, -1.6485209465026855, -0.30379530787467957, -0.27315428853034973, -0.0758916586637497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5571032762527466, -0.9106571078300476, 2.234841823577881, -2.2576494216918945, 0.7383902668952942, 1.0134817361831665, 0.5948805212974548, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087987520731275, 0.998141617197427, -0.0026368187739812384, -0.5975208878517151], [-0.998142972438271, -0.06087407853298554, 0.0022255639404341375, -0.09244381636381149], [0.002060914077556624, 0.0027674141838021963, 0.999994047008231, -0.009399568662047386], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.025472251698374748, 0.2861254811286926, -0.2550005316734314, 0.0401647686958313, 0.07716620713472366, 1.6165210008621216, -1.360547661781311, -1.4938229322433472, -1.648522973060608, -0.3037956655025482, -0.27315810322761536, -0.07588974386453629, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.541872262954712, -0.8603587746620178, 2.2503859996795654, -2.24825382232666, 0.854667603969574, 1.0134791135787964, 0.5215763449668884, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0609117714541032, 0.9981396655206483, -0.0026389794715356587, -0.5974473357200623], [-0.9981410381125343, -0.06090598542063108, 0.0022201296300163728, -0.09242565184831619], [0.0020552698010983276, 0.00276930573789831, 0.9999940533882062, -0.009401323273777962], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.02604740299284458, 0.2865088880062103, -0.25519225001335144, 0.04006890952587128, 0.07745377719402313, 1.616518497467041, -1.3605477809906006, -1.4938198328018188, -1.6485224962234497, -0.30379578471183777, -0.27316147089004517, -0.07589034736156464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5379419326782227, -0.8206422924995422, 2.273714780807495, -2.2476024627685547, 0.9531007409095764, 1.0134719610214233, 0.46064651012420654, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085421399077662, 0.9981431790429273, -0.0026379479985933836, -0.5974798202514648], [-0.9981445204358291, -0.06084839239592754, 0.0022337114316350044, -0.09246188402175903], [0.00206904893449823, 0.002768984093445009, 0.9999940258639533, -0.00939906109124422], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.026143262162804604, 0.28670060634613037, -0.2557674050331116, 0.039973050355911255, 0.0786040797829628, 1.616519808769226, -1.360548973083496, -1.4938161373138428, -1.6485216617584229, -0.30379602313041687, -0.2731662690639496, -0.07588902860879898, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5380574464797974, -0.7818076610565186, 2.2769834995269775, -2.251166343688965, 1.0318444967269897, 1.0134427547454834, 0.39110735058784485, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060858779704628274, 0.9981428987211174, -0.0026386863149508626, -0.5974162817001343], [-0.9981442128969524, -0.060852917507300264, 0.0022478192038574343, -0.09245849400758743], [0.002083073015287907, 0.0027705890086619812, 0.9999939923036328, -0.009398776106536388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.02604740299284458, 0.28670060634613037, -0.256821870803833, 0.039973050355911255, 0.0803295373916626, 1.6165204048156738, -1.3605494499206543, -1.4938132762908936, -1.6485214233398438, -0.3037970960140228, -0.2731681764125824, -0.07588734477758408, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5432299375534058, -0.7235711216926575, 2.268847942352295, -2.247837781906128, 1.1091824769973755, 1.0134096145629883, 0.33352816104888916, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089016100407085, 0.9981410048952527, -0.0026310909511953963, -0.5974239706993103], [-0.99814231123666, -0.06088433193178133, 0.002241571850084111, -0.09243720769882202], [0.002077212564172578, 0.0027626928739538496, 0.9999940263401814, -0.009394532069563866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.02470538206398487, 0.28622132539749146, -0.2581638693809509, 0.0401647686958313, 0.08215085417032242, 1.6165249347686768, -1.3605481386184692, -1.4938068389892578, -1.6485189199447632, -0.30379804968833923, -0.2731669843196869, -0.07588315010070801, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5682467222213745, -0.6623495817184448, 2.2764170169830322, -2.2446672916412354, 1.2010003328323364, 1.0133458375930786, 0.26839056611061096, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085828364207613, 0.9981429179467991, -0.0026428516398935837, -0.5974106192588806], [-0.998144236519344, -0.060852403250799325, 0.0022512489462833663, -0.09245780110359192], [0.002086244318545095, 0.002774954279257315, 0.9999939735885369, -0.009400535374879837], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.023075785487890244, 0.2846875786781311, -0.25998517870903015, 0.040452346205711365, 0.08397216349840164, 1.6165229082107544, -1.360550045967102, -1.4937970638275146, -1.648514986038208, -0.30379804968833923, -0.2731640934944153, -0.07588111609220505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5857198238372803, -0.6243007779121399, 2.2714128494262695, -2.2414538860321045, 1.3093498945236206, 1.0134674310684204, 0.15426993370056152, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087671328302213, 0.9981418351476796, -0.002627300492728564, -0.5974781513214111], [-0.9981430961673806, -0.06087084605744142, 0.002258245701100809, -0.09244516491889954], [0.0020941235044715993, 0.002759896424442705, 0.99999399879123, -0.009390843100845814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0211586132645607, 0.28315386176109314, -0.2619982361793518, 0.04064406082034111, 0.08579348027706146, 1.6165320873260498, -1.360549807548523, -1.4937019348144531, -1.6485141515731812, -0.3037998676300049, -0.2731630206108093, -0.07587680220603943, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5847663879394531, -0.6055269837379456, 2.2542994022369385, -2.231626510620117, 1.4089481830596924, 1.013641119003296, 0.07007044553756714, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060893552583136445, 0.9981407499545459, -0.002649251588945209, -0.5973693132400513], [-0.9981420985844287, -0.06088767500411918, 0.0022454545343242698, -0.09243463724851608], [0.0020799729031274207, 0.0027810632444268198, 0.999993969681794, -0.009404685348272324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.01991245150566101, 0.282578706741333, -0.26295679807662964, 0.040931638330221176, 0.08656035363674164, 1.6165300607681274, -1.3605496883392334, -1.4937142133712769, -1.6485145092010498, -0.3037991523742676, -0.2731629014015198, -0.07587488740682602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.582854151725769, -0.6084858775138855, 2.2545113563537598, -2.2318947315216064, 1.3730828762054443, 1.0137276649475098, 0.10047238320112228, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089446874955473, 0.9981407424937099, -0.002630940861159206, -0.5975010991096497], [-0.9981420225423893, -0.06088860564296472, 0.002254004845576055, -0.09243505448102951], [0.0020896197495826187, 0.0027633090599771416, 0.9999939987881633, -0.009392978623509407], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.01943315751850605, 0.2821952700614929, -0.263627827167511, 0.0410274975001812, 0.08713550120592117, 1.6165275573730469, -1.3605505228042603, -1.4937188625335693, -1.648513913154602, -0.3037993907928467, -0.2731594443321228, -0.07587464153766632, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.582612156867981, -0.6097966432571411, 2.256183385848999, -2.232123374938965, 1.3605843782424927, 1.0137171745300293, 0.10767155140638351, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087708444672191, 0.9981417805008147, -0.0026394332592941535, -0.5975160002708435], [-0.9981430383108786, -0.060871143320676335, 0.0022757377621296076, -0.09244693070650101], [0.0021108436216331324, 0.0027730722127744085, 0.9999939271864143, -0.009396116249263287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.01943315751850605, 0.28190767765045166, -0.2637236714363098, 0.04112335667014122, 0.0872313603758812, 1.6165270805358887, -1.3605527877807617, -1.4937338829040527, -1.6485159397125244, -0.3037983179092407, -0.2731577455997467, -0.07587764412164688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5723533630371094, -0.6116114258766174, 2.259401559829712, -2.243006467819214, 1.3261915445327759, 1.0137089490890503, 0.14020632207393646, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060848717414434095, 0.9981435161947622, -0.002637170334883718, -0.5974529385566711], [-0.9981447603960748, -0.060842771629799675, 0.002279130155667025, -0.0924636572599411], [0.002114446235008788, 0.002770959898829043, 0.999993925430729, -0.00939483754336834], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.01991245150566101, 0.28238698840141296, -0.2632443904876709, 0.04112335667014122, 0.08742307871580124, 1.61652672290802, -1.3605515956878662, -1.4938968420028687, -1.6485130786895752, -0.3037989139556885, -0.27315643429756165, -0.07587620615959167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5713762044906616, -0.6154384613037109, 2.319157600402832, -2.2712178230285645, 1.2333712577819824, 1.014061450958252, 0.2414654791355133, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060892268256515836, 0.9981408809627986, -0.002629337822503194, -0.5975176692008972], [-0.9981423035997695, -0.060886606029664225, 0.002182423133586969, -0.09243687987327576], [0.0020182742930744415, 0.002757346005994943, 0.9999941617888982, -0.009399199858307838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.021925482898950577, 0.2842082977294922, -0.2611354887485504, 0.04227365925908089, 0.0872313603758812, 1.6165111064910889, -1.360552191734314, -1.4939947128295898, -1.648515224456787, -0.3037972152233124, -0.27315524220466614, -0.07587751746177673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5844486951828003, -0.5971621870994568, 2.370436668395996, -2.274627923965454, 1.3101907968521118, 1.0135754346847534, 0.21421107649803162, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06082292674984191, 0.9981450942185125, -0.0026348565616557944, -0.597597599029541], [-0.9981463777407732, -0.06081704619419526, 0.0022573203554967355, -0.09247839450836182], [0.0020928890456933563, 0.0027672693635165434, 0.9999939809997419, -0.00939556211233139], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.024513665586709976, 0.2868923246860504, -0.2584514617919922, 0.04256123676896095, 0.08665620535612106, 1.616507887840271, -1.36055326461792, -1.493977665901184, -1.6485226154327393, -0.3037964999675751, -0.27315908670425415, -0.07588111609220505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6195123195648193, -0.5576995611190796, 2.4085581302642822, -2.296398639678955, 1.4174996614456177, 1.013405680656433, 0.1312485933303833, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085701573343871, 0.9981429927743808, -0.0026437873254642956, -0.597457766532898], [-0.9981443214776774, -0.06085114343117293, 0.002247630971884173, -0.09245920181274414], [0.0020825796231855142, 0.0027756654195257623, 0.9999939792536713, -0.009401664137840271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.027101848274469376, 0.28967222571372986, -0.2562467157840729, 0.04256123676896095, 0.08675206452608109, 1.6165087223052979, -1.3605512380599976, -1.493957757949829, -1.6485227346420288, -0.3037956655025482, -0.2731613516807556, -0.0758829116821289, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6537933349609375, -0.5143669247627258, 2.4461801052093506, -2.305253028869629, 1.505059003829956, 1.0134289264678955, 0.06253919750452042, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060869042555186104, 0.9981422520103692, -0.002646584607362894, -0.5975081920623779], [-0.9981436117042267, -0.06086319541331897, 0.0022364834276990065, -0.09245061874389648], [0.0020712490089715464, 0.0027778041236085904, 0.9999939968478779, -0.009404025040566921], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.02949831448495388, 0.2919728457927704, -0.25480881333351135, 0.04246537759900093, 0.0872313603758812, 1.6165064573287964, -1.3605525493621826, -1.4938642978668213, -1.6485238075256348, -0.3037959039211273, -0.2731629014015198, -0.07588722556829453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6690787076950073, -0.47392410039901733, 2.4748785495758057, -2.298978090286255, 1.6066967248916626, 1.0136723518371582, -0.013863231986761093, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086863052095692, 0.9981422982650525, -0.0026386043019433953, -0.5974884033203125], [-0.9981436063913675, -0.06086276069167673, 0.002250640136198277, -0.09245023876428604], [0.002085866375923309, 0.0027706993966674465, 0.9999939861750745, -0.00939824990928173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03131962940096855, 0.29408174753189087, -0.2542336881160736, 0.04236951842904091, 0.08780651539564133, 1.6165074110031128, -1.3605530261993408, -1.4938474893569946, -1.6485252380371094, -0.30379602313041687, -0.2731662690639496, -0.07588818669319153, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6648051738739014, -0.4359070658683777, 2.497912645339966, -2.277987241744995, 1.7001163959503174, 1.013798475265503, -0.06965579092502594, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088659304839861, 0.998141223268113, -0.002630817324232367, -0.5974765419960022], [-0.9981424472520865, -0.06088065700863643, 0.0022804814869538757, -0.0924413874745369], [0.0021160766938594566, 0.0027647811905330485, 0.9999939390838297, -0.009391320869326591], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.032757509499788284, 0.29619061946868896, -0.2541378140449524, 0.04236951842904091, 0.08828580379486084, 1.6165094375610352, -1.3605520725250244, -1.493837594985962, -1.6485267877578735, -0.3037970960140228, -0.273169606924057, -0.07588734477758408, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6529781818389893, -0.4025096595287323, 2.5079755783081055, -2.2495005130767822, 1.7528525590896606, 1.0137755870819092, -0.09387722611427307, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087786835523756, 0.9981417509261192, -0.0026325278086801645, -0.597470760345459], [-0.9981429392002575, -0.06087187610566547, 0.0022994834305920296, -0.09244713932275772], [0.00213496351102203, 0.0027676266940550643, 0.999993891067985, -0.00938995648175478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03381195291876793, 0.29820364713668823, -0.25432953238487244, 0.04227365925908089, 0.08847752213478088, 1.6165117025375366, -1.360552430152893, -1.4938218593597412, -1.6485285758972168, -0.3037976920604706, -0.2731727361679077, -0.07588722556829453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.629103422164917, -0.3624292314052582, 2.500563621520996, -2.226792573928833, 1.7885679006576538, 1.0136640071868896, -0.12353159487247467, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085032927907941, 0.9981434198016236, -0.002636462278798411, -0.597481906414032], [-0.9981446425203185, -0.0608443594590653, 0.0022883465650180403, -0.09246312826871872], [0.0021236842075069277, 0.002770817340775542, 0.9999939062497585, -0.009393627755343914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03477054089307785, 0.29992911219596863, -0.25528812408447266, 0.04227365925908089, 0.08847752213478088, 1.6165103912353516, -1.3605512380599976, -1.493814468383789, -1.648527979850769, -0.3037976920604706, -0.2731717824935913, -0.07588483393192291, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.572801947593689, -0.32320865988731384, 2.4642577171325684, -2.1953539848327637, 1.817117691040039, 1.0136996507644653, -0.12624110281467438, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03553741052746773, 0.30127114057540894, -0.25663015246391296, 0.04236951842904091, 0.08828580379486084, 1.6165159940719604, -1.3605483770370483, -1.4938116073608398, -1.6485249996185303, -0.30379927158355713, -0.27317023277282715, -0.07587920129299164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5060406923294067, -0.2992044985294342, 2.4137368202209473, -2.1696810722351074, 1.8191198110580444, 1.0137101411819458, -0.11394253373146057, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03601670265197754, 0.302517294883728, -0.2581638693809509, 0.04246537759900093, 0.08751893788576126, 1.6165192127227783, -1.3605506420135498, -1.4937678575515747, -1.6485217809677124, -0.3038010597229004, -0.27316710352897644, -0.0758688896894455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4455533027648926, -0.2772156000137329, 2.350972890853882, -2.1647353172302246, 1.8175760507583618, 1.0149738788604736, -0.12421121448278427, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2635153830051422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03611256182193756, 0.3037634491920471, -0.25960177183151245, 0.0427529513835907, 0.08675206452608109, 1.6165225505828857, -1.3605502843856812, -1.4936583042144775, -1.6485213041305542, -0.3038012981414795, -0.2731646001338959, -0.0758696123957634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3883469104766846, -0.26033055782318115, 2.288888454437256, -2.1591484546661377, 1.8034179210662842, 1.0149887800216675, -0.12470089644193649, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03601670265197754, 0.30443447828292847, -0.26123136281967163, 0.04294466972351074, 0.08656035363674164, 1.616520881652832, -1.3605504035949707, -1.493659257888794, -1.6485193967819214, -0.30380046367645264, -0.2731606364250183, -0.07586973160505295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3341058492660522, -0.24998877942562103, 2.2293074131011963, -2.1528568267822266, 1.8047410249710083, 1.0150070190429688, -0.13896487653255463, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03592084348201752, 0.3046261966228485, -0.26295679807662964, 0.043136388063430786, 0.08656035363674164, 1.6165199279785156, -1.360555648803711, -1.4936678409576416, -1.6485213041305542, -0.30379998683929443, -0.27315548062324524, -0.07587320357561111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2916436195373535, -0.24174343049526215, 2.181500196456909, -2.1525216102600098, 1.8142290115356445, 1.0148963928222656, -0.17044468224048615, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03563326597213745, 0.30481791496276855, -0.26429882645606995, 0.04323224723339081, 0.0877106562256813, 1.616518259048462, -1.360554814338684, -1.4936739206314087, -1.6485228538513184, -0.303799033164978, -0.27315548062324524, -0.07587572187185287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2659966945648193, -0.23665612936019897, 2.149984121322632, -2.1558289527893066, 1.818162202835083, 1.0142107009887695, -0.19472891092300415, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.035345692187547684, 0.3050096333026886, -0.26516157388687134, 0.043423961848020554, 0.088956817984581, 1.6165192127227783, -1.3605557680130005, -1.493701457977295, -1.6485204696655273, -0.3037972152233124, -0.2731533348560333, -0.07587991654872894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.244411826133728, -0.23604758083820343, 2.1169891357421875, -2.1581339836120605, 1.8253602981567383, 1.0138928890228271, -0.21813242137432098, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.034962255507707596, 0.30520132184028625, -0.26554498076438904, 0.04390325769782066, 0.09020297974348068, 1.616518497467041, -1.3605555295944214, -1.4937552213668823, -1.6485211849212646, -0.3037974536418915, -0.27315571904182434, -0.0758817121386528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2220853567123413, -0.23598726093769073, 2.0776546001434326, -2.1600019931793213, 1.8330954313278198, 1.0138708353042603, -0.23727890849113464, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03486640006303787, 0.30520132184028625, -0.26602429151535034, 0.04399911314249039, 0.09039469808340073, 1.6165183782577515, -1.3605551719665527, -1.4939669370651245, -1.648520588874817, -0.3037963807582855, -0.273158460855484, -0.07588315010070801, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1944059133529663, -0.23678451776504517, 2.039362907409668, -2.163815975189209, 1.8344347476959229, 1.0138967037200928, -0.24968545138835907, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.034578822553157806, 0.30529719591140747, -0.2662160098552704, 0.04399911314249039, 0.09020297974348068, 1.616513967514038, -1.3605564832687378, -1.4939355850219727, -1.6485233306884766, -0.3037966191768646, -0.2731613516807556, -0.07592857629060745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1717455387115479, -0.24275390803813934, 2.011462450027466, -2.171562671661377, 1.831191897392273, 1.0139055252075195, -0.2612764835357666, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03438710421323776, 0.3054889142513275, -0.2665994465351105, 0.04419083148241043, 0.0898195430636406, 1.6165064573287964, -1.3605670928955078, -1.4936256408691406, -1.6485528945922852, -0.3037966191768646, -0.27317261695861816, -0.07606315612792969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1480838060379028, -0.25327855348587036, 1.9811407327651978, -2.1786413192749023, 1.8242847919464111, 1.0138918161392212, -0.26851409673690796, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03381195291876793, 0.30568063259124756, -0.2666952908039093, 0.044382549822330475, 0.0894361063838005, 1.6164873838424683, -1.360643982887268, -1.493417739868164, -1.648612141609192, -0.3037968575954437, -0.27318257093429565, -0.0761251151561737, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1265867948532104, -0.2652479112148285, 1.9565210342407227, -2.1891286373138428, 1.821962833404541, 1.0138896703720093, -0.2763330936431885, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.033236801624298096, 0.3057764768600464, -0.2666952908039093, 0.0444784089922905, 0.0894361063838005, 1.6161930561065674, -1.3607563972473145, -1.4934051036834717, -1.6486306190490723, -0.3037972152233124, -0.27318447828292847, -0.07613086700439453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1133620738983154, -0.27374130487442017, 1.9357072114944458, -2.20084810256958, 1.820873737335205, 1.0138541460037231, -0.28657734394073486, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03294922411441803, 0.30568063259124756, -0.2667911648750305, 0.0444784089922905, 0.08924439549446106, 1.6161935329437256, -1.3607722520828247, -1.4934102296829224, -1.648634433746338, -0.3037983179092407, -0.27318447828292847, -0.07611756771802902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1062214374542236, -0.2775060534477234, 1.9241269826889038, -2.2069308757781982, 1.815790057182312, 1.0138384103775024, -0.2866390645503998, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03266165032982826, 0.3054889142513275, -0.2671746015548706, 0.044382549822330475, 0.088956817984581, 1.6162090301513672, -1.3607683181762695, -1.4934560060501099, -1.6486320495605469, -0.303799033164978, -0.2731797993183136, -0.07606219500303268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1065055131912231, -0.28760188817977905, 1.9307775497436523, -2.207700729370117, 1.803779125213623, 1.0138659477233887, -0.2513154149055481, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03256579115986824, 0.30520132184028625, -0.26774975657463074, 0.04409497231245041, 0.08838166296482086, 1.6162846088409424, -1.3607503175735474, -1.4936175346374512, -1.6486247777938843, -0.3037998676300049, -0.27317190170288086, -0.07594463229179382, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.124779224395752, -0.3074758052825928, 1.9644768238067627, -2.2135238647460938, 1.7660390138626099, 1.0138955116271973, -0.20155057311058044, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03256579115986824, 0.3049137592315674, -0.26822903752326965, 0.043519821017980576, 0.08703964203596115, 1.6163756847381592, -1.3607304096221924, -1.4936771392822266, -1.6486213207244873, -0.3038010597229004, -0.2731684148311615, -0.07592833042144775, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1470385789871216, -0.3146861791610718, 1.982475757598877, -2.217423439025879, 1.7470569610595703, 1.0136845111846924, -0.18779927492141724, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03256579115986824, 0.3049137592315674, -0.2685166001319885, 0.04294466972351074, 0.0859851986169815, 1.6165739297866821, -1.3607128858566284, -1.4936870336532593, -1.6486183404922485, -0.30380046367645264, -0.2731643617153168, -0.07592450082302094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1473159790039062, -0.3146410882472992, 1.9805467128753662, -2.2174110412597656, 1.74831223487854, 1.0137052536010742, -0.18990501761436462, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03256579115986824, 0.3049137592315674, -0.26861247420310974, 0.04284881055355072, 0.08579348027706146, 1.6165851354599, -1.3606911897659302, -1.493693470954895, -1.6486045122146606, -0.3037998676300049, -0.2731603980064392, -0.07592125982046127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1463388204574585, -0.3144318461418152, 1.9784681797027588, -2.217390775680542, 1.7499356269836426, 1.0137659311294556, -0.19060753285884857, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03266165032982826, 0.30481791496276855, -0.26861247420310974, 0.0427529513835907, 0.08541004359722137, 1.6165833473205566, -1.360670804977417, -1.4937024116516113, -1.6485909223556519, -0.303800106048584, -0.2731575071811676, -0.07592018693685532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1460394859313965, -0.3142794668674469, 1.9784698486328125, -2.2173666954040527, 1.7501083612442017, 1.013790488243103, -0.19071419537067413, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.032757509499788284, 0.30481791496276855, -0.26870831847190857, 0.0427529513835907, 0.08531418442726135, 1.6165815591812134, -1.360632300376892, -1.4937164783477783, -1.6485819816589355, -0.3037985563278198, -0.27315738797187805, -0.07591958343982697, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1459057331085205, -0.3142268657684326, 1.9784841537475586, -2.217362642288208, 1.7502634525299072, 1.0137912034988403, -0.1907663345336914, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.032757509499788284, 0.30481791496276855, -0.26870831847190857, 0.042657092213630676, 0.08531418442726135, 1.6165779829025269, -1.3605271577835083, -1.4937403202056885, -1.6485745906829834, -0.30379781126976013, -0.27315860986709595, -0.07591970264911652, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1458849906921387, -0.3142097592353821, 1.9785133600234985, -2.2173590660095215, 1.7503159046173096, 1.013789415359497, -0.19080179929733276, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.032757509499788284, 0.30481791496276855, -0.26870831847190857, 0.042657092213630676, 0.08531418442726135, 1.616570234298706, -1.3605258464813232, -1.493806004524231, -1.648559808731079, -0.3037968575954437, -0.27316027879714966, -0.07592138648033142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1458723545074463, -0.3142012059688568, 1.9786038398742676, -2.2173516750335693, 1.7503286600112915, 1.0137872695922852, -0.19088833034038544, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.032853368669748306, 0.30481791496276855, -0.26870831847190857, 0.042657092213630676, 0.08531418442726135, 1.6165616512298584, -1.3605233430862427, -1.4939420223236084, -1.6485230922698975, -0.3037967383861542, -0.27316218614578247, -0.07591982185840607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1392170190811157, -0.31434231996536255, 1.971672534942627, -2.2173848152160645, 1.750329852104187, 1.0137646198272705, -0.199336975812912, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.032853368669748306, 0.3049137592315674, -0.26870831847190857, 0.042657092213630676, 0.08531418442726135, 1.61653470993042, -1.3605248928070068, -1.493933081626892, -1.6485193967819214, -0.30379578471183777, -0.2731681764125824, -0.07592318207025528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0769023895263672, -0.3153723180294037, 1.9049750566482544, -2.2237420082092285, 1.781860589981079, 1.0138095617294312, -0.2736596465110779, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03256579115986824, 0.30529719591140747, -0.26870831847190857, 0.0427529513835907, 0.08588933944702148, 1.6165317296981812, -1.360525369644165, -1.493912935256958, -1.648513913154602, -0.30379626154899597, -0.27317214012145996, -0.07592353969812393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0493346452713013, -0.3115924000740051, 1.8889449834823608, -2.2305290699005127, 1.8779460191726685, 1.0137953758239746, -0.36910897493362427, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03218235820531845, 0.3058723509311676, -0.2688041925430298, 0.0427529513835907, 0.08656035363674164, 1.6165279150009155, -1.3605250120162964, -1.4938743114471436, -1.6485127210617065, -0.3037970960140228, -0.2731747627258301, -0.07592426240444183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.047285556793213, -0.30171695351600647, 1.888345718383789, -2.230224370956421, 1.9579408168792725, 1.0136609077453613, -0.43775808811187744, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03179892152547836, 0.3062557876110077, -0.26899591088294983, 0.04284881055355072, 0.0872313603758812, 1.6165257692337036, -1.3605283498764038, -1.493835687637329, -1.648513674736023, -0.3037974536418915, -0.2731762230396271, -0.07592533528804779, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0494078397750854, -0.3013785779476166, 1.8883488178253174, -2.2297215461730957, 1.921247959136963, 1.0136877298355103, -0.40149393677711487, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.031511347740888596, 0.30654335021972656, -0.2691876292228699, 0.043136388063430786, 0.0872313603758812, 1.6164883375167847, -1.3605372905731201, -1.4936070442199707, -1.6485127210617065, -0.3037987947463989, -0.2731750011444092, -0.07592401653528214, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0287939310073853, -0.303596168756485, 1.8592270612716675, -2.2496988773345947, 1.9108941555023193, 1.0136590003967285, -0.42701292037963867, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.031415488570928574, 0.30731022357940674, -0.2692834734916687, 0.04284881055355072, 0.08799822628498077, 1.6163774728775024, -1.3605501651763916, -1.4933881759643555, -1.648514747619629, -0.3037996292114258, -0.27317261695861816, -0.07592521607875824, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9574302434921265, -0.3099674880504608, 1.7886936664581299, -2.2860617637634277, 1.980635643005371, 1.0137662887573242, -0.5601750016212463, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03160720318555832, 0.3079812228679657, -0.2693793475627899, 0.04284881055355072, 0.08847752213478088, 1.6163684129714966, -1.3605542182922363, -1.4934335947036743, -1.648520588874817, -0.30379974842071533, -0.27316734194755554, -0.07592342048883438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8951268792152405, -0.3165973424911499, 1.7426252365112305, -2.305988073348999, 2.1141955852508545, 1.013622760772705, -0.7070220708847046, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03246993198990822, 0.3092274069786072, -0.2692834734916687, 0.04256123676896095, 0.08847752213478088, 1.6163721084594727, -1.3605526685714722, -1.493691086769104, -1.6485235691070557, -0.3037998676300049, -0.27316567301750183, -0.07591982185840607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8348514437675476, -0.3437904119491577, 1.6869232654571533, -2.3122479915618896, 2.160399913787842, 1.01345956325531, -0.8048909902572632, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03390781208872795, 0.3109528422355652, -0.2688041925430298, 0.042177800089120865, 0.08847752213478088, 1.6163746118545532, -1.3605546951293945, -1.4937130212783813, -1.6485328674316406, -0.3038010597229004, -0.2731642425060272, -0.0759161114692688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8004398345947266, -0.3718760013580322, 1.6415585279464722, -2.3114075660705566, 2.1277811527252197, 1.013415813446045, -0.8225208520889282, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.035824984312057495, 0.31306174397468567, -0.26784560084342957, 0.04160264879465103, 0.08876509964466095, 1.616377830505371, -1.3605564832687378, -1.4937204122543335, -1.6485368013381958, -0.30380046367645264, -0.2731615900993347, -0.07591311633586884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7876293063163757, -0.3811992108821869, 1.6121933460235596, -2.303741931915283, 2.1032562255859375, 1.0107606649398804, -0.8118399381637573, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03735872358083725, 0.3144996166229248, -0.2670787274837494, 0.0410274975001812, 0.08886095881462097, 1.616384506225586, -1.360556960105896, -1.4937281608581543, -1.648534893989563, -0.3037998676300049, -0.27315619587898254, -0.07591131329536438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7888274192810059, -0.3809721767902374, 1.612516164779663, -2.3031039237976074, 2.1031394004821777, 1.0099732875823975, -0.8118069767951965, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.038509026169776917, 0.3148830533027649, -0.26688700914382935, 0.04073991999030113, 0.08886095881462097, 1.6163997650146484, -1.3605566024780273, -1.4937357902526855, -1.6485331058502197, -0.30379927158355713, -0.2731553614139557, -0.07591012120246887, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.790288507938385, -0.3806178867816925, 1.614745020866394, -2.303260564804077, 2.106672763824463, 1.008767008781433, -0.81231689453125, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.03908417746424675, 0.3153623640537262, -0.2667911648750305, 0.04073991999030113, 0.08886095881462097, 1.6164145469665527, -1.3605566024780273, -1.493747353553772, -1.6485321521759033, -0.3037985563278198, -0.2731577455997467, -0.07590975612401962, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7765929102897644, -0.38211312890052795, 1.5907200574874878, -2.2947604656219482, 2.126753091812134, 1.0028976202011108, -0.8171508312225342, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.039755187928676605, 0.3165126442909241, -0.2663118541240692, 0.040835779160261154, 0.08828580379486084, 1.6166597604751587, -1.3605568408966064, -1.493954062461853, -1.6485328674316406, -0.3037963807582855, -0.27316123247146606, -0.07591119408607483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7297660112380981, -0.3887149691581726, 1.5216294527053833, -2.270233392715454, 2.1391682624816895, 0.9868841171264648, -0.8338814377784729, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04052205756306648, 0.3175671100616455, -0.26612013578414917, 0.040835779160261154, 0.0872313603758812, 1.616689920425415, -1.3605539798736572, -1.4939994812011719, -1.6485275030136108, -0.3037972152233124, -0.2731632590293884, -0.07590772211551666, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6819486618041992, -0.39964884519577026, 1.468405842781067, -2.2306110858917236, 2.1352357864379883, 0.978226363658905, -0.8426911234855652, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04186407849192619, 0.3187173902988434, -0.26612013578414917, 0.04073991999030113, 0.0872313603758812, 1.6166678667068481, -1.3605579137802124, -1.4939184188842773, -1.6485240459442139, -0.3037969768047333, -0.2731681764125824, -0.07591083645820618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6404277682304382, -0.41787633299827576, 1.4281049966812134, -2.18019700050354, 2.1023643016815186, 0.9777383804321289, -0.8428228497505188, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04339781776070595, 0.3200594186782837, -0.2658325731754303, 0.04054820537567139, 0.08818994462490082, 1.6165834665298462, -1.36056649684906, -1.4938026666641235, -1.6485248804092407, -0.3037969768047333, -0.27317512035369873, -0.07591694593429565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5882125496864319, -0.44560036063194275, 1.3775184154510498, -2.124697208404541, 2.0765578746795654, 0.983274519443512, -0.8366416096687317, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04435640200972557, 0.3221683204174042, -0.26554498076438904, 0.03987719491124153, 0.08991540223360062, 1.6165837049484253, -1.360567331314087, -1.4936648607254028, -1.6485265493392944, -0.30379781126976013, -0.2731817364692688, -0.07592006772756577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.548082709312439, -0.47986865043640137, 1.3485063314437866, -2.0974247455596924, 2.0435988903045654, 1.0006756782531738, -0.8180837035179138, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04521913081407547, 0.32418134808540344, -0.2654491364955902, 0.03901446610689163, 0.0920242890715599, 1.6165467500686646, -1.3605676889419556, -1.493632435798645, -1.6485226154327393, -0.3037976920604706, -0.27317824959754944, -0.07592138648033142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5437498688697815, -0.5097480416297913, 1.349457025527954, -2.083948850631714, 2.0188632011413574, 1.0105433464050293, -0.8063483834266663, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608673374829487, 0.9981423907581802, -0.0026334386799195687, -0.5975086688995361], [-0.9981435923399117, -0.06086135736132725, 0.002294395544138077, -0.09245423972606659], [0.002129858801183169, 0.002768203692086219, 0.9999939003563002, -0.009391042403876781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04636943340301514, 0.3258109390735626, -0.26554498076438904, 0.03882274776697159, 0.09442076086997986, 1.6165193319320679, -1.3605693578720093, -1.49363374710083, -1.6485191583633423, -0.3037983179092407, -0.2731740474700928, -0.07592125982046127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.531511664390564, -0.5271020531654358, 1.3382431268692017, -2.065464735031128, 2.0062403678894043, 1.0121996402740479, -0.8041401505470276, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060850005904175886, 0.9981434669802278, -0.0026260438216013965, -0.5975580811500549], [-0.9981446230424754, -0.06084400923527156, 0.002306085768752566, -0.09246362000703812], [0.002142025409842707, 0.002761496853049477, 0.9999938929124889, -0.00938518438488245], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04704044386744499, 0.327344685792923, -0.26602429151535034, 0.03834345564246178, 0.0963379293680191, 1.6165215969085693, -1.360571026802063, -1.4936450719833374, -1.648519515991211, -0.30379951000213623, -0.27317237854003906, -0.07592125982046127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5028673410415649, -0.5360184907913208, 1.3175373077392578, -2.0497448444366455, 2.0038280487060547, 1.0121909379959106, -0.8049649000167847, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087773997807333, 0.9981417205521397, -0.002646973437064817, -0.5975032448768616], [-0.9981430384373831, -0.0608718347173165, 0.002257112566224679, -0.09244494140148163], [0.0020917920907692197, 0.0027794660210427873, 0.9999939494689389, -0.009402541443705559], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.047136303037405014, 0.32859084010124207, -0.2671746015548706, 0.03776830434799194, 0.0989261120557785, 1.6165242195129395, -1.3605729341506958, -1.4936484098434448, -1.6485213041305542, -0.3037996292114258, -0.27317070960998535, -0.07592257857322693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4827842116355896, -0.5383065342903137, 1.3039882183074951, -2.0361363887786865, 2.0038368701934814, 1.0121887922286987, -0.8054285049438477, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.047136303037405014, 0.3296452760696411, -0.26870831847190857, 0.03719315305352211, 0.10122672468423843, 1.616523027420044, -1.360572099685669, -1.4936559200286865, -1.648520588874817, -0.303800106048584, -0.2731669843196869, -0.07592054456472397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4591423273086548, -0.5383120775222778, 1.2761367559432983, -2.0180747509002686, 2.0057551860809326, 1.012187123298645, -0.8056039214134216, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.047232162207365036, 0.3304121494293213, -0.26985862851142883, 0.03709729388356209, 0.10314389318227768, 1.6165250539779663, -1.3605713844299316, -1.4936883449554443, -1.6485215425491333, -0.3038003444671631, -0.27316373586654663, -0.07591766864061356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.42543497681617737, -0.537140429019928, 1.2356983423233032, -1.9955344200134277, 2.022765636444092, 1.0121433734893799, -0.8058281540870667, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.047136303037405014, 0.33117902278900146, -0.27072134613990784, 0.03680971637368202, 0.10429419577121735, 1.6165295839309692, -1.3605701923370361, -1.4937841892242432, -1.6485235691070557, -0.3038003444671631, -0.2731603980064392, -0.07591323554515839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.38244763016700745, -0.5300849080085754, 1.188694953918457, -1.9758466482162476, 2.041830539703369, 1.0119342803955078, -0.8058351278305054, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.047232162207365036, 0.3317541778087616, -0.2713923752307892, 0.03661799803376198, 0.1049652099609375, 1.61652672290802, -1.360569715499878, -1.4939502477645874, -1.6485259532928467, -0.30379951000213623, -0.27315738797187805, -0.07590963691473007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35272106528282166, -0.5182350873947144, 1.1564112901687622, -1.965414047241211, 2.053098201751709, 1.0107958316802979, -0.8057706356048584, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04732802137732506, 0.3321376144886017, -0.2723509669303894, 0.036522142589092255, 0.10534864664077759, 1.6165305376052856, -1.3605692386627197, -1.4939454793930054, -1.6485258340835571, -0.30379951000213623, -0.2731579840183258, -0.07590388506650925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32793164253234863, -0.5109749436378479, 1.128615379333496, -1.9549119472503662, 2.0889596939086914, 0.9977670311927795, -0.8193030953407288, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04742388054728508, 0.33280861377716064, -0.27254268527030945, 0.03613870590925217, 0.10563621670007706, 1.6165286302566528, -1.3605693578720093, -1.4939262866973877, -1.6485296487808228, -0.3037986755371094, -0.27316123247146606, -0.07590232789516449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.29163065552711487, -0.5066037178039551, 1.0903904438018799, -1.9436888694763184, 2.1199493408203125, 0.9816538691520691, -0.8393148183822632, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.047615598887205124, 0.333479642868042, -0.27254268527030945, 0.03594698756933212, 0.10630723088979721, 1.6165275573730469, -1.3605704307556152, -1.4939050674438477, -1.6485294103622437, -0.3037976920604706, -0.27316397428512573, -0.07590256631374359, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26066187024116516, -0.5056079626083374, 1.056538701057434, -1.9332153797149658, 2.1450765132904053, 0.9662572741508484, -0.8561562895774841, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04799903184175491, 0.3338630795478821, -0.27254268527030945, 0.03527597710490227, 0.10707409679889679, 1.6165252923965454, -1.3605695962905884, -1.4938640594482422, -1.6485280990600586, -0.3037976920604706, -0.2731662690639496, -0.07590328902006149, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23672530055046082, -0.5036983489990234, 1.0332101583480835, -1.9243570566177368, 2.174561023712158, 0.9565992951393127, -0.8674864172935486, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0483824647963047, 0.33424651622772217, -0.27254268527030945, 0.034796684980392456, 0.10764925181865692, 1.6165262460708618, -1.3605693578720093, -1.493812084197998, -1.6485276222229004, -0.30379819869995117, -0.27316924929618835, -0.0759047269821167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21964561939239502, -0.5011903643608093, 1.0188636779785156, -1.9161409139633179, 2.209601879119873, 0.9412781596183777, -0.8837606310844421, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04876590147614479, 0.3344382345676422, -0.27244681119918823, 0.0341256745159626, 0.10832025855779648, 1.6165207624435425, -1.3605701923370361, -1.4936107397079468, -1.648527979850769, -0.30379819869995117, -0.27317142486572266, -0.07590760290622711, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20769870281219482, -0.498139351606369, 1.0080126523971558, -1.9156224727630615, 2.227949619293213, 0.9290208220481873, -0.8965514898300171, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04914933443069458, 0.33491751551628113, -0.27215924859046936, 0.03278365358710289, 0.10879955440759659, 1.6165223121643066, -1.3605705499649048, -1.493558406829834, -1.6485267877578735, -0.3037985563278198, -0.27317214012145996, -0.07590892165899277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19403943419456482, -0.49800485372543335, 0.9941059350967407, -1.9174537658691406, 2.2356810569763184, 0.9172355532646179, -0.9078538417816162, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049436911940574646, 0.33510923385620117, -0.27206337451934814, 0.0315374918282032, 0.10908713191747665, 1.6165214776992798, -1.3605711460113525, -1.4935691356658936, -1.6485259532928467, -0.3037993907928467, -0.27317190170288086, -0.07591107487678528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19426608085632324, -0.4976641535758972, 0.9924764633178711, -1.9214332103729248, 2.252089023590088, 0.891275942325592, -0.9314271211624146, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.33549267053604126, -0.27206337451934814, 0.03019547089934349, 0.10966227948665619, 1.6165215969085693, -1.3605709075927734, -1.4935855865478516, -1.6485247611999512, -0.30379927158355713, -0.27317094802856445, -0.07591287791728973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19714145362377167, -0.4972323179244995, 0.9947299957275391, -1.9201102256774902, 2.2656404972076416, 0.8774340152740479, -0.9442564845085144, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05058721452951431, 0.33587610721588135, -0.27206337451934814, 0.02885344997048378, 0.11004571616649628, 1.6165205240249634, -1.3605706691741943, -1.4936071634292603, -1.648523211479187, -0.3038008213043213, -0.27317023277282715, -0.07591455429792404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20201487839221954, -0.49730268120765686, 0.9990559220314026, -1.9179763793945312, 2.273115396499634, 0.8651480078697205, -0.956160306930542, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05135408416390419, 0.33635538816452026, -0.27206337451934814, 0.02799072302877903, 0.11090844124555588, 1.6165179014205933, -1.3605718612670898, -1.4936575889587402, -1.6485238075256348, -0.30380094051361084, -0.273169606924057, -0.0759170651435852, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2044815868139267, -0.49300259351730347, 0.9972905516624451, -1.9164397716522217, 2.274779796600342, 0.8597072958946228, -0.9591487050056458, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.052025094628334045, 0.3370264172554016, -0.2722550928592682, 0.027223853394389153, 0.11215461045503616, 1.6165193319320679, -1.3605717420578003, -1.4938310384750366, -1.6485189199447632, -0.3038015365600586, -0.27316519618034363, -0.07591850310564041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20958396792411804, -0.476373553276062, 0.9935305714607239, -1.9250214099884033, 2.2952933311462402, 0.8373175263404846, -0.9782850742340088, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05250438675284386, 0.3378891348838806, -0.27244681119918823, 0.026936277747154236, 0.11388006061315536, 1.616521954536438, -1.360569953918457, -1.4938819408416748, -1.6485188007354736, -0.3038017749786377, -0.27316373586654663, -0.07591694593429565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21215318143367767, -0.45605534315109253, 0.9865397214889526, -1.936216950416565, 2.3242392539978027, 0.8224593997001648, -0.9930335879325867, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05307953804731369, 0.33884772658348083, -0.2726385295391083, 0.026744559407234192, 0.11474279314279556, 1.6165211200714111, -1.360569953918457, -1.4938838481903076, -1.6485190391540527, -0.30380189418792725, -0.27316004037857056, -0.07591550797224045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21946676075458527, -0.4440537691116333, 0.9961627125740051, -1.952729344367981, 2.340538501739502, 0.8129081726074219, -0.9998725056648254, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.053750548511743546, 0.33942288160324097, -0.2731178402900696, 0.02664870209991932, 0.1153179407119751, 1.616519570350647, -1.3605707883834839, -1.4938796758651733, -1.6485196352005005, -0.3038012981414795, -0.27315786480903625, -0.07591455429792404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23292873799800873, -0.4386681318283081, 1.012542724609375, -1.9593515396118164, 2.355860471725464, 0.8033348321914673, -1.0097870826721191, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05432570353150368, 0.34018972516059875, -0.27340540289878845, 0.02664870209991932, 0.11570137739181519, 1.616520643234253, -1.3605711460113525, -1.49387526512146, -1.6485228538513184, -0.3038003444671631, -0.27315980195999146, -0.07591299712657928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23265379667282104, -0.4387615919113159, 1.0180331468582153, -1.9570101499557495, 2.3879871368408203, 0.7863112688064575, -1.0260075330734253, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05490085482597351, 0.3412441909313202, -0.2735971212387085, 0.02664870209991932, 0.1153179407119751, 1.6165217161178589, -1.3605718612670898, -1.4938608407974243, -1.648524522781372, -0.3037996292114258, -0.27316218614578247, -0.07591155916452408, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21510809659957886, -0.4396494925022125, 1.0065670013427734, -1.950703501701355, 2.4087073802948, 0.7801330089569092, -1.0366171598434448, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05576357990503311, 0.3422027826309204, -0.2735971212387085, 0.026456983759999275, 0.11493450403213501, 1.6165200471878052, -1.360572099685669, -1.4938493967056274, -1.648524522781372, -0.303799033164978, -0.2731627821922302, -0.07590892165899277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19952186942100525, -0.4400423765182495, 0.993845522403717, -1.9475513696670532, 2.423487901687622, 0.7721062302589417, -1.046747088432312, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.057201460003852844, 0.34325721859931946, -0.27340540289878845, 0.025881832465529442, 0.11503036320209503, 1.6165157556533813, -1.3605726957321167, -1.4938173294067383, -1.6485251188278198, -0.3037993907928467, -0.27316543459892273, -0.07590927928686142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18738813698291779, -0.4400549530982971, 0.9811146855354309, -1.9453599452972412, 2.431260824203491, 0.7639877200126648, -1.055596947669983, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05825590714812279, 0.3443116545677185, -0.2731178402900696, 0.025019103661179543, 0.11522208154201508, 1.6165159940719604, -1.3605751991271973, -1.4935824871063232, -1.648532748222351, -0.303799033164978, -0.27316948771476746, -0.07591059803962708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17760296165943146, -0.4400670826435089, 0.9714182615280151, -1.9460020065307617, 2.4279816150665283, 0.7595629096031189, -1.0610843896865845, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05892691761255264, 0.3452702462673187, -0.27254268527030945, 0.023868801072239876, 0.11541379988193512, 1.6165159940719604, -1.3605774641036987, -1.4935824871063232, -1.6485344171524048, -0.30379974842071533, -0.27317070960998535, -0.07591203600168228, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17936889827251434, -0.44038984179496765, 0.9724382162094116, -1.9503623247146606, 2.415104627609253, 0.7601162195205688, -1.061012864112854, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05921449139714241, 0.3455578088760376, -0.2723509669303894, 0.023293649777770042, 0.11579723656177521, 1.6165152788162231, -1.360579013824463, -1.4935870170593262, -1.6485329866409302, -0.30379951000213623, -0.27317047119140625, -0.07591287791728973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18456006050109863, -0.4415462911128998, 0.9784219861030579, -1.953161358833313, 2.4142005443573, 0.7615241408348083, -1.0592414140701294, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0595979280769825, 0.34613296389579773, -0.2722550928592682, 0.02310193143785, 0.11589309573173523, 1.6165189743041992, -1.3605800867080688, -1.4936351776123047, -1.648525357246399, -0.30380094051361084, -0.27316734194755554, -0.07591239362955093, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24489548802375793, -0.45431578159332275, 1.0599822998046875, -1.9646292924880981, 2.393423318862915, 0.7692211270332336, -1.0511623620986938, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.059789642691612244, 0.34670811891555786, -0.2723509669303894, 0.022910214960575104, 0.11589309573173523, 1.6165181398391724, -1.3605886697769165, -1.4936559200286865, -1.6485280990600586, -0.3038015365600586, -0.273167222738266, -0.0759151503443718, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27056384086608887, -0.46323737502098083, 1.105586051940918, -1.9550446271896362, 2.3899190425872803, 0.7771400809288025, -1.0419186353683472, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.059885501861572266, 0.34718742966651917, -0.2723509669303894, 0.022526780143380165, 0.11627652496099472, 1.6165192127227783, -1.3605904579162598, -1.4936621189117432, -1.6485278606414795, -0.3038022518157959, -0.2731667459011078, -0.07591826468706131, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2668643295764923, -0.4628916382789612, 1.1075443029403687, -1.9429538249969482, 2.4079973697662354, 0.7848026752471924, -1.0339887142181396, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.059885501861572266, 0.3478584289550781, -0.27254268527030945, 0.022526780143380165, 0.1170433983206749, 1.616518497467041, -1.3605902194976807, -1.4936758279800415, -1.6485226154327393, -0.3038034439086914, -0.27316349744796753, -0.07591922581195831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24638327956199646, -0.4489632248878479, 1.081223726272583, -1.9405102729797363, 2.4318389892578125, 0.7922449707984924, -1.025431752204895, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06007722020149231, 0.348145991563797, -0.2731178402900696, 0.022526780143380165, 0.11771440505981445, 1.6165181398391724, -1.3605908155441284, -1.4936941862106323, -1.6485217809677124, -0.30380260944366455, -0.2731606364250183, -0.07592114061117172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2303476333618164, -0.4317513406276703, 1.054025650024414, -1.9458271265029907, 2.449507713317871, 0.7952765226364136, -1.0225273370742798, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.060364797711372375, 0.3486253023147583, -0.27388468384742737, 0.022622639313340187, 0.11800198256969452, 1.6165179014205933, -1.3605910539627075, -1.4937350749969482, -1.6485154628753662, -0.30380260944366455, -0.27315762639045715, -0.07592042535543442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21192513406276703, -0.41384872794151306, 1.034686803817749, -1.9534242153167725, 2.470689058303833, 0.7946641445159912, -1.0240249633789062, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06103580817580223, 0.34929630160331726, -0.27436399459838867, 0.02310193143785, 0.11809784173965454, 1.6165196895599365, -1.3605899810791016, -1.4939258098602295, -1.648513674736023, -0.303802490234375, -0.27315714955329895, -0.07591994851827621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18510249257087708, -0.4053448736667633, 1.0177359580993652, -1.9499945640563965, 2.5080935955047607, 0.7864367365837097, -1.033681035041809, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06180267408490181, 0.3502548933029175, -0.2744598388671875, 0.023389507085084915, 0.11771440505981445, 1.6165215969085693, -1.3605903387069702, -1.4939242601394653, -1.6485170125961304, -0.3038022518157959, -0.2731601595878601, -0.07591826468706131, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1509946882724762, -0.40566346049308777, 0.9832451343536377, -1.9372913837432861, 2.528653144836426, 0.7748551368713379, -1.0456041097640991, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06228196993470192, 0.3512134850025177, -0.27436399459838867, 0.023485366255044937, 0.1170433983206749, 1.6165220737457275, -1.3605906963348389, -1.493915319442749, -1.6485193967819214, -0.3038008213043213, -0.2731626629829407, -0.07591743022203445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.10517819970846176, -0.4068301320075989, 0.9314842820167542, -1.9153393507003784, 2.543454885482788, 0.7654346227645874, -1.055174708366394, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06285712122917175, 0.35226792097091675, -0.27436399459838867, 0.023485366255044937, 0.11685167998075485, 1.6165196895599365, -1.3605912923812866, -1.4938898086547852, -1.648521065711975, -0.30380046367645264, -0.2731640934944153, -0.07591694593429565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.06382373720407486, -0.40847447514533997, 0.8888804912567139, -1.8984211683273315, 2.5471456050872803, 0.7615280747413635, -1.0595914125442505, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0639115646481514, 0.35322651267051697, -0.27436399459838867, 0.02319779060781002, 0.1170433983206749, 1.6165176630020142, -1.3605927228927612, -1.493851900100708, -1.6485220193862915, -0.30379974842071533, -0.27316805720329285, -0.07591455429792404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.037323519587516785, -0.41377514600753784, 0.8624212741851807, -1.886225938796997, 2.554474115371704, 0.7574772238731384, -1.0639691352844238, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06458257883787155, 0.3538975119590759, -0.2744598388671875, 0.022622639313340187, 0.11742683500051498, 1.6165205240249634, -1.3605934381484985, -1.4935517311096191, -1.6485302448272705, -0.30379998683929443, -0.27317166328430176, -0.07591371238231659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.019007179886102676, -0.42351198196411133, 0.8392899036407471, -1.8702095746994019, 2.5554065704345703, 0.7537859082221985, -1.0679597854614258, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06467843800783157, 0.3551436960697174, -0.27465155720710754, 0.02195162884891033, 0.11828956007957458, 1.6165212392807007, -1.360595703125, -1.4935483932495117, -1.6485661268234253, -0.30379998683929443, -0.2731769382953644, -0.07591359317302704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.00357734109275043, -0.4295642673969269, 0.8171919584274292, -1.8622946739196777, 2.5536458492279053, 0.7503765225410461, -1.0705503225326538, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06467843800783157, 0.3562939763069153, -0.27513086795806885, 0.020801324397325516, 0.11915228515863419, 1.616520881652832, -1.3605971336364746, -1.493552803993225, -1.6485671997070312, -0.30380094051361084, -0.2731758654117584, -0.07591371238231659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, 0.006577242165803909, -0.42863309383392334, 0.7974029779434204, -1.863243818283081, 2.561047077178955, 0.7508696913719177, -1.070246696472168, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060867934919389466, 0.9981423545384278, -0.002633358147374386, -0.5974820852279663], [-0.9981435457340406, -0.06086194177058757, 0.002299163628483785, -0.09245386719703674], [0.0021346213073773174, 0.002768414780515473, 0.9999938896170701, -0.009390504099428654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06467843800783157, 0.3572525680065155, -0.275706022977829, 0.019459303468465805, 0.12030258774757385, 1.616520881652832, -1.3605979681015015, -1.4935708045959473, -1.6485652923583984, -0.30380094051361084, -0.2731746435165405, -0.07591395080089569, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, 0.011741694062948227, -0.4220905303955078, 0.7843525409698486, -1.863354206085205, 2.58328914642334, 0.758557915687561, -1.0615428686141968, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060868611032991904, 0.9981422772967283, -0.002646972575497114, -0.5973979234695435], [-0.9981435225745212, -0.060862610110490545, 0.0022915132696348702, -0.09245289117097855], [0.00212615461357338, 0.0027815397605511862, 0.9999938712327789, -0.009399106726050377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06467843800783157, 0.35792359709739685, -0.2762811481952667, 0.01830899901688099, 0.12059016525745392, 1.6165215969085693, -1.3605976104736328, -1.4935919046401978, -1.6485621929168701, -0.30380165576934814, -0.2731717824935913, -0.07591550797224045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, 0.021965935826301575, -0.4153447151184082, 0.77164626121521, -1.8608286380767822, 2.5936477184295654, 0.7630133032798767, -1.0550023317337036, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060875631017017096, 0.9981418844140819, -0.002633652707875837, -0.5974389314651489], [-0.9981431511269535, -0.06086973485007929, 0.0022638987691235256, -0.09244644641876221], [0.0020993824415200812, 0.002766578678942265, 0.9999939692997041, -0.009393810294568539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06467843800783157, 0.358498752117157, -0.2770480215549469, 0.017158696427941322, 0.12087774276733398, 1.616520881652832, -1.3605972528457642, -1.493648886680603, -1.648558497428894, -0.30380308628082275, -0.27316972613334656, -0.0759149119257927, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, 0.03116942010819912, -0.41036567091941833, 0.7663280367851257, -1.862241268157959, 2.599493980407715, 0.7627413868904114, -1.0558558702468872, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087386369775771, 0.9981419790966192, -0.002638613952697961, -0.5974705219268799], [-0.9981432651201271, -0.06086796448979204, 0.0022612373164673694, -0.09244757145643234], [0.0020964288298907785, 0.002771364998328385, 0.9999939622428764, -0.00939716026186943], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06467843800783157, 0.3590738773345947, -0.27762317657470703, 0.016295967623591423, 0.12087774276733398, 1.6165190935134888, -1.3605977296829224, -1.4937443733215332, -1.648555874824524, -0.3038029670715332, -0.2731669843196869, -0.0759153887629509, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, 0.03319175913929939, -0.40444841980934143, 0.7642973065376282, -1.8704745769500732, 2.590322732925415, 0.7626920342445374, -1.0564801692962646, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085457585816356, 0.9981432000520147, -0.0026216000927707763, -0.5974430441856384], [-0.9981444308222548, -0.06084870163359257, 0.002265111039794562, -0.09246062487363815], [0.002101384219886083, 0.0027545779040406, 0.9999939982244548, -0.009386573918163776], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06487014889717102, 0.3598407506942749, -0.2778148949146271, 0.015241523273289204, 0.12087774276733398, 1.616520881652832, -1.360597014427185, -1.4937688112258911, -1.6485538482666016, -0.3038044273853302, -0.2731638550758362, -0.07591694593429565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, 0.024972528219223022, -0.40258458256721497, 0.7693795561790466, -1.8728585243225098, 2.5676262378692627, 0.7693402767181396, -1.0500465631484985, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0608605719851687, 0.9981428032074612, -0.0026334735217471697, -0.5973994135856628], [-0.9981440572854542, -0.06085466031768494, 0.0022696306640816303, -0.09245681017637253], [0.002105156376670509, 0.0027667169661616197, 0.9999939567786692, -0.00939343310892582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06515772640705109, 0.36099106073379517, -0.2778148949146271, 0.01466637197881937, 0.120973601937294, 1.6165201663970947, -1.3605976104736328, -1.4937914609909058, -1.6485490798950195, -0.3038044273853302, -0.27316099405288696, -0.075917549431324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.017749136313796043, -0.40281710028648376, 0.8308334946632385, -1.8807018995285034, 2.5199267864227295, 0.7827146649360657, -1.0333735942840576, 0.22199999735905573, 0.22199999735905573, 0.22199999735905573, 0.22199999735905573, -0.22199999735905573, -0.22199999735905573, -0.22199999735905573, 0.22199999735905573, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088330488439753, 0.9981414126528296, -0.0026350585889265555, -0.5974634289741516], [-0.9981426642875918, -0.06087738075624194, 0.0022729366747265894, -0.09244425594806671], [0.0021082967583489357, 0.002768548297055362, 0.9999939450942219, -0.009393903426826], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06582874059677124, 0.3616620600223541, -0.27771905064582825, 0.014091219753026962, 0.12154875695705414, 1.6165075302124023, -1.3606008291244507, -1.4937938451766968, -1.6485345363616943, -0.3038032054901123, -0.2731582224369049, -0.07592389732599258, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.09737712144851685, -0.40588364005088806, 0.9442689418792725, -1.8972011804580688, 2.485844135284424, 0.7911532521247864, -1.0177959203720093, 0.5082000013236161, 0.5082000013236161, 0.5082000013236161, 0.5082000013236161, -0.5082000013236161, -0.5082000013236161, -0.5082000013236161, 0.5082000013236161, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085811632636218, 0.9981429653037464, -0.0026287814383795026, -0.5975857973098755], [-0.9981442219098393, -0.06085223491926128, 0.0022622496175557596, -0.0924602821469307], [0.0020980813158847094, 0.0027615792537668145, 0.9999939858493235, -0.009391125291585922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06678732484579086, 0.3624289333820343, -0.2771438956260681, 0.013516068458557129, 0.12231562286615372, 1.6165000200271606, -1.3606139421463013, -1.4937963485717773, -1.648525357246399, -0.30380383133888245, -0.27315980195999146, -0.07592318207025528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20623387396335602, -0.4106373190879822, 1.073468565940857, -1.9151396751403809, 2.4280264377593994, 0.8063418865203857, -0.9702056050300598, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, -0.5855999996537691, -0.5855999996537691, -0.5855999996537691, 0.5855999996537691, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085387912604623, 0.9981432316666753, -0.002625732910749336, -0.5975081920623779], [-0.9981445184255279, -0.06084805505877222, 0.0022437764228804935, -0.09246265888214111], [0.0020798395091485224, 0.002757403410937797, 0.999994035479235, -0.009389277547597885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06726662069559097, 0.3637709617614746, -0.2761853039264679, 0.013036774471402168, 0.1235617846250534, 1.61650550365448, -1.3606353998184204, -1.4937903881072998, -1.6485297679901123, -0.3038017749786377, -0.2731649577617645, -0.07593001425266266, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3251558840274811, -0.4220048487186432, 1.2081336975097656, -1.9306070804595947, 2.3716697692871094, 0.8393769264221191, -0.8791781067848206, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06089472480815927, 0.9981407167501256, -0.0026347781849505206, -0.5973241925239563], [-0.9981420113817512, -0.06088885894428975, 0.002252103739703216, -0.09243911504745483], [0.0020874878036900623, 0.002767024034539926, 0.9999939929682886, -0.00939628854393959], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06765004992485046, 0.3650171160697937, -0.2749391496181488, 0.012749198824167252, 0.12471208721399307, 1.6165063381195068, -1.36065673828125, -1.4937872886657715, -1.6485265493392944, -0.3038020133972168, -0.27316734194755554, -0.07592342048883438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4431898593902588, -0.44225963950157166, 1.3415731191635132, -1.9738320112228394, 2.266340970993042, 0.8503464460372925, -0.790683925151825, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06083793379578628, 0.998144199239295, -0.0026274201045740114, -0.5975001454353333], [-0.9981455448274172, -0.060832178627648004, 0.002217517664482558, -0.09246933460235596], [0.002053570704382615, 0.0027574568646333126, 0.9999940896220346, -0.009393017739057541], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06880035996437073, 0.3657839894294739, -0.27388468384742737, 0.012269905768334866, 0.1252872347831726, 1.6164923906326294, -1.3606574535369873, -1.493777871131897, -1.6484943628311157, -0.30380141735076904, -0.2731676995754242, -0.07591982185840607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.564066469669342, -0.4701186716556549, 1.4775326251983643, -2.015437364578247, 2.152730941772461, 0.8359906673431396, -0.6873011589050293, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060895216899691906, 0.9981406972316105, -0.00263079621673895, -0.5977323651313782], [-0.9981421219191465, -0.060889549016001965, 0.002183408200864933, -0.09243633598089218], [0.002019160588762302, 0.0027588676340849143, 0.9999941558028699, -0.009398309513926506], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07023823261260986, 0.3662633001804352, -0.2733095586299896, 0.012269905768334866, 0.1252872347831726, 1.6164823770523071, -1.3606610298156738, -1.493757724761963, -1.6485021114349365, -0.303800106048584, -0.27317261695861816, -0.07592030614614487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.640933096408844, -0.5008504986763, 1.5620402097702026, -2.0541772842407227, 2.0411112308502197, 0.850153386592865, -0.645060122013092, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085388453803553, 0.9981432399719888, -0.0026224482554127017, -0.5975542664527893], [-0.9981446320998655, -0.060848220763777494, 0.0021880219621883625, -0.09246345609426498], [0.002024388020081626, 0.002750732284953541, 0.9999941676455122, -0.00939512811601162], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07119682431221008, 0.36703014373779297, -0.27215924859046936, 0.012269905768334866, 0.12576653063297272, 1.616499662399292, -1.3606568574905396, -1.493755578994751, -1.6485130786895752, -0.3038017749786377, -0.27317991852760315, -0.07591646909713745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6549557447433472, -0.5174722075462341, 1.5739047527313232, -2.062777280807495, 1.9950554370880127, 0.8398471474647522, -0.6751214861869812, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060860041401378906, 0.998142821527948, -0.0026387862454997466, -0.5972739458084106], [-0.9981442667803563, -0.06085435554007179, 0.00218405707516357, -0.09245554357767105], [0.0020194192550039504, 0.002766811166221863, 0.9999941333337126, -0.009403589181602001], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07110096514225006, 0.36779701709747314, -0.271488219499588, 0.012269905768334866, 0.12586238980293274, 1.6165121793746948, -1.3606501817703247, -1.493746280670166, -1.6485140323638916, -0.3038020133972168, -0.27318063378334045, -0.07591431587934494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6468267440795898, -0.5161234140396118, 1.5663830041885376, -2.0590531826019287, 2.0365140438079834, 0.8452913761138916, -0.6779812574386597, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06091123164721424, 0.9981397056441959, -0.002636261697445361, -0.5973313450813293], [-0.9981412453287022, -0.060905691062952405, 0.002133347091296397, -0.09242511540651321], [0.0019688150972377856, 0.002761306332562337, 0.9999942494606909, -0.009407121688127518], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0712926834821701, 0.36789289116859436, -0.27129650115966797, 0.012269905768334866, 0.12586238980293274, 1.6165074110031128, -1.3606497049331665, -1.4937313795089722, -1.6485151052474976, -0.3038022518157959, -0.27317944169044495, -0.0759158730506897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6466667652130127, -0.5165570974349976, 1.5682998895645142, -2.060121536254883, 2.043377161026001, 0.8419877886772156, -0.6751751899719238, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060861003728771124, 0.998142752037505, -0.0026428734594176532, -0.5975959300994873], [-0.9981442854140015, -0.06085541597511046, 0.0021456565123164637, -0.09245490282773972], [0.0019808383323883095, 0.002768555849586818, 0.9999942056722172, -0.009409504011273384], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07177197188138962, 0.3680846095085144, -0.27129650115966797, 0.012269905768334866, 0.1261499673128128, 1.6164990663528442, -1.3606414794921875, -1.4936411380767822, -1.6485146284103394, -0.3038032054901123, -0.2731744050979614, -0.07591431587934494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6873682141304016, -0.5454463958740234, 1.6338709592819214, -2.073448419570923, 2.0500917434692383, 0.8149010539054871, -0.6220289468765259, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060859101481211875, 0.9981429098646676, -0.002627023751999005, -0.5975520610809326], [-0.9981444483424623, -0.0608536134131743, 0.0021208436249241843, -0.09245626628398895], [0.0019570411393183803, 0.0027512218111166355, 0.9999943003680196, -0.009401928633451462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07234712690114975, 0.3685638904571533, -0.2713923752307892, 0.012557481415569782, 0.127012699842453, 1.6165049076080322, -1.3606326580047607, -1.493584156036377, -1.6485432386398315, -0.30380526185035706, -0.2731742858886719, -0.0759170651435852, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7361065745353699, -0.5842400193214417, 1.6906557083129883, -2.0829031467437744, 1.9489538669586182, 0.8402901291847229, -0.494243323802948, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060839786285721065, 0.9981440803667687, -0.0026296831529934376, -0.5973974466323853], [-0.998145565345557, -0.06083420818360996, 0.002151626285318548, -0.09246763586997986], [0.0019876583474661143, 0.0027557110607898424, 0.9999942276187614, -0.009401415474712849], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07234712690114975, 0.3697142004966736, -0.271488219499588, 0.012940916232764721, 0.12835471332073212, 1.6165188550949097, -1.3606228828430176, -1.4935890436172485, -1.648542881011963, -0.30380526185035706, -0.273169606924057, -0.07591946423053741, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8126835227012634, -0.6160346865653992, 1.7427997589111328, -2.119035243988037, 1.8391544818878174, 0.8869261145591736, -0.3532728850841522, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085008998110508, 0.9981434391646012, -0.002634654048141151, -0.5973654389381409], [-0.9981450166552072, -0.060844612462941816, 0.002111601432785333, -0.09246186167001724], [0.001947376611732183, 0.0027582579459517757, 0.999994299852472, -0.009407701902091503], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07234712690114975, 0.37038519978523254, -0.2719675302505493, 0.013420209288597107, 0.13017603754997253, 1.6165177822113037, -1.3606213331222534, -1.4936003684997559, -1.648545503616333, -0.3038080036640167, -0.27316397428512573, -0.07592042535543442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8951159119606018, -0.6479058265686035, 1.7816416025161743, -2.147550582885742, 1.7171512842178345, 0.908547580242157, -0.21435679495334625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086731229043396, 0.9981424064873675, -0.0026280536801138402, -0.5975213646888733], [-0.998144002458792, -0.06086189955977317, 0.0020927344597957143, -0.09244908392429352], [0.001928898670722755, 0.002750555140850724, 0.9999943568822452, -0.009405387565493584], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0725388452410698, 0.37076863646507263, -0.27244681119918823, 0.013995361514389515, 0.1325725018978119, 1.6165125370025635, -1.3606200218200684, -1.4936083555221558, -1.648545503616333, -0.3038085997104645, -0.273158460855484, -0.075926773250103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9620866775512695, -0.6782245635986328, 1.8164114952087402, -2.164508581161499, 1.5992459058761597, 0.9188476800918579, -0.08497115224599838, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086755611690742, 0.9981423850218653, -0.0026305579670087855, -0.5974839329719543], [-0.9981440072934374, -0.06086216632759034, 0.0020826459398861005, -0.09244877845048904], [0.00191867572907156, 0.0027524412392254936, 0.9999943713594949, -0.0094074085354805], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0725388452410698, 0.3706727921962738, -0.2732136845588684, 0.01466637197881937, 0.13496896624565125, 1.6165151596069336, -1.360617995262146, -1.4936597347259521, -1.6485350131988525, -0.3038090765476227, -0.27315860986709595, -0.075926773250103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0368781089782715, -0.7089928984642029, 1.8592911958694458, -2.1810388565063477, 1.45883309841156, 0.9234819412231445, 0.08786258101463318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060849989748091415, 0.9981434858020267, -0.0026192553591916855, -0.5974627733230591], [-0.9981450206494032, -0.06084454181967147, 0.00211174893316113, -0.09245991706848145], [0.0019484610490454243, 0.002742896595519842, 0.9999943399928855, -0.009398975409567356], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07205954939126968, 0.37048107385635376, -0.27426812052726746, 0.015241523273289204, 0.1373654305934906, 1.6165391206741333, -1.3605905771255493, -1.4939825534820557, -1.6485384702682495, -0.3038098216056824, -0.2731625437736511, -0.07592605799436569, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1406804323196411, -0.7397427558898926, 1.914827585220337, -2.2191619873046875, 1.27986741065979, 0.9036263823509216, 0.2995520532131195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086066349785635, 0.9981427991880091, -0.002632882019071123, -0.5974900722503662], [-0.9981444182942568, -0.060855255575032574, 0.002087605546310718, -0.09245357662439346], [0.0019235037354255126, 0.0027550495500334306, 0.9999943549017448, -0.009408476762473583], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07148440182209015, 0.36990591883659363, -0.2749391496181488, 0.015912534669041634, 0.13813230395317078, 1.6165484189987183, -1.3605703115463257, -1.4939908981323242, -1.6485201120376587, -0.3038077652454376, -0.27316099405288696, -0.07592234015464783, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2218732833862305, -0.7663167715072632, 1.9552375078201294, -2.241729497909546, 1.1580673456192017, 0.8864814043045044, 0.44820401072502136, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086961384178413, 0.9981422621272933, -0.002629575281667278, -0.5974629521369934], [-0.9981438224154703, -0.06086414156297937, 0.0021133020691996396, -0.09245206415653229], [0.001949329265715309, 0.002753330203855839, 0.999994309627911, -0.009405429475009441], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07071752846240997, 0.3690432012081146, -0.2753225862979889, 0.016871120780706406, 0.13813230395317078, 1.6165509223937988, -1.360553503036499, -1.4939628839492798, -1.6485251188278198, -0.3038078844547272, -0.2731646001338959, -0.07592030614614487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2948344945907593, -0.7955772876739502, 1.9764320850372314, -2.2506275177001953, 1.0103975534439087, 0.854182243347168, 0.5955144762992859, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060876724238000834, 0.998141798380607, -0.0026409792838703403, -0.5974065065383911], [-0.9981434718220531, -0.060871346806800286, 0.0020709410770152876, -0.09244430065155029], [0.0019063328850542635, 0.002762148340271069, 0.9999943681998803, -0.009415079839527607], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07052581012248993, 0.3688514828681946, -0.2752267122268677, 0.017733847722411156, 0.1373654305934906, 1.6165530681610107, -1.3605396747589111, -1.493928074836731, -1.6485220193862915, -0.30380645394325256, -0.27316853404045105, -0.07591694593429565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3589181900024414, -0.822023868560791, 1.981305718421936, -2.2373905181884766, 0.8753053545951843, 0.8013230562210083, 0.7142800688743591, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060850947713603, 0.998143374722208, -0.0026392537804977734, -0.5974560379981995], [-0.9981450653962463, -0.06084560567273023, 0.002059294889416448, -0.09245923161506653], [0.0018948845556718997, 0.002759668182975011, 0.9999943968063224, -0.009414511732757092], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07081338763237, 0.36875560879707336, -0.27465155720710754, 0.01888415217399597, 0.13583168387413025, 1.6165539026260376, -1.3605384826660156, -1.4938665628433228, -1.6485192775726318, -0.30380573868751526, -0.27317574620246887, -0.07591251283884048, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.397668719291687, -0.8518099784851074, 1.9653548002243042, -2.198133707046509, 0.7716453075408936, 0.7602823376655579, 0.7861186265945435, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088015035085026, 0.9981416185429968, -0.0026299478369282113, -0.5974137187004089], [-0.9981432830929555, -0.06087482506401942, 0.0020596334239652548, -0.09244053810834885], [0.0018957082249014322, 0.0027504555608333825, 0.9999944206267023, -0.009409328922629356], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07158025354146957, 0.3689473271369934, -0.2733095586299896, 0.019555162638425827, 0.13410623371601105, 1.6165521144866943, -1.3605424165725708, -1.4937852621078491, -1.6485214233398438, -0.30380502343177795, -0.27318400144577026, -0.07591227442026138, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4203650951385498, -0.8793736696243286, 1.934056043624878, -2.156946897506714, 0.6876353025436401, 0.7211700081825256, 0.8296217322349548, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060872297042782186, 0.9981420727829651, -0.0026393168172058903, -0.5974510312080383], [-0.9981438097307912, -0.06086702231125485, 0.0020348688074008116, -0.09244751185178757], [0.0018704408136611054, 0.0027582848814996274, 0.9999944466424177, -0.009416881948709488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07311399281024933, 0.37000176310539246, -0.2713923752307892, 0.021088900044560432, 0.13209320604801178, 1.6165399551391602, -1.36054527759552, -1.493755578994751, -1.648520827293396, -0.3038058578968048, -0.2731907069683075, -0.07591119408607483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4637606143951416, -0.9140838980674744, 1.9120967388153076, -2.1237823963165283, 0.599632978439331, 0.6674219965934753, 0.8833469152450562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060883911486150355, 0.9981413686483194, -0.002637710182378784, -0.5975562930107117], [-0.9981431011939668, -0.060878639731004824, 0.002034886579939418, -0.09244178235530853], [0.001870524268036988, 0.0027567040759078495, 0.9999944508454037, -0.009416650049388409], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07531874626874924, 0.37134379148483276, -0.2693793475627899, 0.02233506180346012, 0.13065531849861145, 1.6165269613265991, -1.360550880432129, -1.4935758113861084, -1.6485236883163452, -0.30380573868751526, -0.2731873691082001, -0.07590951770544052, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5313098430633545, -0.9483305811882019, 1.9112080335617065, -2.122492790222168, 0.5383411049842834, 0.6312015652656555, 0.9069861769676208, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06083977310538624, 0.9981440773820652, -0.0026311205961008634, -0.5976051092147827], [-0.9981458259700524, -0.06083456443051638, 0.002016400037503974, -0.09246668964624405], [0.0018525946796396089, 0.002748919361393347, 0.9999945056525549, -0.0094138253480196], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07781106978654861, 0.37297338247299194, -0.26688700914382935, 0.02358122542500496, 0.1299843192100525, 1.616514801979065, -1.3605661392211914, -1.4935652017593384, -1.6485352516174316, -0.3038056194782257, -0.27317872643470764, -0.07591215521097183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6060755252838135, -0.9846214056015015, 1.9102258682250977, -2.138253927230835, 0.46682390570640564, 0.5706062316894531, 0.9160488843917847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06084448903761541, 0.998143797255293, -0.0026283368382943512, -0.597533106803894], [-0.9981455330495852, -0.06083927787124033, 0.0020191882689095295, -0.09246285259723663], [0.0018555341308584923, 0.0027463191529857245, 0.999994507347015, -0.009412159211933613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08020753413438797, 0.37441128492355347, -0.2642029821872711, 0.02453981153666973, 0.13055945932865143, 1.6165131330490112, -1.360573649406433, -1.4935674667358398, -1.6485378742218018, -0.30380597710609436, -0.2731774151325226, -0.07591323554515839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.651598572731018, -1.0178120136260986, 1.9032129049301147, -2.13142991065979, 0.4021558463573456, 0.5451149344444275, 0.9260649085044861, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06081180342505821, 0.9981457605136602, -0.0026391916942109525, -0.5973604321479797], [-0.998147573395407, -0.060806642969339464, 0.001993463232581449, -0.09248378872871399], [0.001829286487263498, 0.0027555288795367994, 0.9999945303708123, -0.00942134391516447], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08193299174308777, 0.37604087591171265, -0.2616147994995117, 0.025210822001099586, 0.13228492438793182, 1.6165164709091187, -1.3605788946151733, -1.4935721158981323, -1.648542046546936, -0.3038065731525421, -0.2731765806674957, -0.07591383159160614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6766858100891113, -1.0460492372512817, 1.9028578996658325, -2.0929670333862305, 0.3581628203392029, 0.566375195980072, 0.948749840259552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085729539501017, 0.9981429902894164, -0.0026382822644064217, -0.5973064303398132], [-0.9981447468310913, -0.06085205587951914, 0.002022787367140842, -0.09245574474334717], [0.001858486131578012, 0.002756488951198291, 0.9999944738837113, -0.00941762700676918], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08317915350198746, 0.377574622631073, -0.2597934901714325, 0.025498397648334503, 0.13496896624565125, 1.6165165901184082, -1.3605915307998657, -1.4935849905014038, -1.648560643196106, -0.3038075268268585, -0.2731698751449585, -0.07591646909713745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7068142890930176, -1.06631338596344, 1.9040231704711914, -2.045661449432373, 0.2743237018585205, 0.5202301740646362, 1.0073107481002808, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06088294223196522, 0.998141429448487, -0.0026370748397254225, -0.5974956154823303], [-0.9981432181238019, -0.060877757638562624, 0.0020036812023965234, -0.09243928641080856], [0.0018394180165515733, 0.0027541683738536243, 0.9999945155339247, -0.009418102912604809], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08442531526088715, 0.37824562191963196, -0.25873902440071106, 0.025881832465529442, 0.1368861347436905, 1.6165153980255127, -1.360593318939209, -1.4936050176620483, -1.6485545635223389, -0.30380740761756897, -0.273162305355072, -0.075917549431324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7151403427124023, -1.0708578824996948, 1.9040217399597168, -2.0205533504486084, 0.1836279332637787, 0.5307519435882568, 1.0807546377182007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085830318133412, 0.9981429239618316, -0.002640128560158113, -0.5975023508071899], [-0.9981446897726198, -0.0608530664335758, 0.0020205406087143545, -0.09245673567056656], [0.0018561283925012829, 0.0027581969755941884, 0.9999944735531464, -0.00941864401102066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08547975867986679, 0.37862905859947205, -0.25825974345207214, 0.025977691635489464, 0.13813230395317078, 1.6165153980255127, -1.3605939149856567, -1.4936225414276123, -1.648554801940918, -0.3038072884082794, -0.27316099405288696, -0.07591694593429565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7146610021591187, -1.0708507299423218, 1.9040207862854004, -2.020679473876953, 0.1827339082956314, 0.53621906042099, 1.083852767944336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087669774709581, 0.9981418041147112, -0.0026394222925248197, -0.5974867343902588], [-0.9981436243608498, -0.06087154662919092, 0.0019899645115032337, -0.09244609624147415], [0.0018256010504825373, 0.0027556650013737766, 0.9999945367306787, -0.009421512484550476], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08567147701978683, 0.3789166212081909, -0.2581638693809509, 0.026073548942804337, 0.13880330324172974, 1.616607427597046, -1.3603520393371582, -1.4937329292297363, -1.6487079858779907, -0.30384671688079834, -0.27288320660591125, -0.07590029388666153, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7146967649459839, -1.070955514907837, 1.9034987688064575, -2.020209312438965, 0.18264906108379364, 0.5351184010505676, 1.08185613155365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086365733570753, 0.9981426118560255, -0.0026346940910402065, -0.5973860025405884], [-0.9981444029316273, -0.060858490648735275, 0.0019987526668515223, -0.09245383739471436], [0.0018346967016435267, 0.0027514565578228953, 0.9999945316724604, -0.009418019093573093], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08567147701978683, 0.379300057888031, -0.2579721510410309, 0.02616940811276436, 0.13899502158164978, 1.6196707487106323, -1.3546298742294312, -1.4965630769729614, -1.6528067588806152, -0.30700767040252686, -0.2655293047428131, -0.07389664649963379, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7151175737380981, -1.0732016563415527, 1.8950045108795166, -2.0140419006347656, 0.1894710808992386, 0.5202772617340088, 1.0516153573989868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060870994585640714, 0.9981421722421789, -0.002631731334895261, -0.5974612832069397], [-0.9981439334847297, -0.060865800907192735, 0.0020105540423079426, -0.09244831651449203], [0.001846636343728588, 0.00274923109071084, 0.9999945158162739, -0.009414682164788246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08567147701978683, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.6284136772155762, -1.3384740352630615, -1.5047821998596191, -1.6645323038101196, -0.31596410274505615, -0.24441935122013092, -0.06791316717863083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7163362503051758, -1.079436182975769, 1.8712013959884644, -1.9967199563980103, 0.20816239714622498, 0.4782729148864746, 0.9667596220970154, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06084988072893993, 0.9981434423239491, -0.002638287507266931, -0.5974953174591064], [-0.9981452113765494, -0.060844659815184166, 0.0020160302671698876, -0.0924588292837143], [0.0018517616848279165, 0.0027560692429162807, 0.9999944875153017, -0.009418630041182041], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13928259909152985, 1.6411625146865845, -1.3148014545440674, -1.5167477130889893, -1.681522250175476, -0.32913702726364136, -0.21380528807640076, -0.05939357727766037, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7180914878845215, -1.0883806943893433, 1.8366920948028564, -1.971761703491211, 0.2350814789533615, 0.4174707233905792, 0.8438155055046082, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086709839310456, 0.9981424077151301, -0.002632537530043696, -0.5974629521369934], [-0.9981442036498008, -0.06086195183574028, 0.0019928720602866625, -0.09244929999113083], [0.0018289487441634424, 0.0027489524162820165, 0.9999945490886959, -0.009416070766746998], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.658492088317871, -1.2826688289642334, -1.5330146551132202, -1.7046289443969727, -0.3468395173549652, -0.1721055805683136, -0.04784821718931198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7204152345657349, -1.1005326509475708, 1.7900019884109497, -1.9378291368484497, 0.2715623080730438, 0.3349648416042328, 0.6771957278251648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086012513714367, 0.9981428145134056, -0.0026395082019753276, -0.597466766834259], [-0.9981446245346738, -0.06085495819324338, 0.0019956392042878926, -0.09245407581329346], [0.0018313057708392788, 0.0027560657749184066, 0.9999945251953223, -0.009421387687325478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13928259909152985, 1.6798596382141113, -1.242925763130188, -1.5530369281768799, -1.7331777811050415, -0.36870449781417847, -0.12064195424318314, -0.03357943892478943, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7232840061187744, -1.1154849529266357, 1.7324769496917725, -1.8961273431777954, 0.31649845838546753, 0.2335933893918991, 0.4721638262271881, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060828942017498555, 0.9981447170537088, -0.002638869228157625, -0.597474217414856], [-0.9981465741036418, -0.06082385035579052, 0.001968713554359816, -0.09247032552957535], [0.0018045548466343198, 0.0027537330422402724, 0.999994580253382, -0.009422960691154003], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13928259909152985, 1.6990444660186768, -1.2074452638626099, -1.5709689855575562, -1.7587279081344604, -0.38823914527893066, -0.07448159903287888, -0.02063228189945221, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7259297370910645, -1.1287164688110352, 1.6815474033355713, -1.8591707944869995, 0.3564031720161438, 0.14382699131965637, 0.2907165586948395, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06087994418374887, 0.9981416132721391, -0.0026367120955652903, -0.5974720120429993], [-0.9981434724957574, -0.06087486849585333, 0.0019643573309322208, -0.09244094789028168], [0.0018001972932606772, 0.002751406931703196, 0.9999945945101911, -0.009421666152775288], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13928259909152985, 1.7135719060897827, -1.1804850101470947, -1.5846021175384521, -1.7780537605285645, -0.40322890877723694, -0.039416953921318054, -0.011071146465837955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72789466381073, -1.138857364654541, 1.6430120468139648, -1.8311235904693604, 0.3864169418811798, 0.0759384036064148, 0.15324001014232635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06086407436315744, 0.998142575076817, -0.002638990514707263, -0.5974636077880859], [-0.998144502563108, -0.060859090385521286, 0.0019295389325792623, -0.09244802594184875], [0.001765348396614535, 0.0027515334756503533, 0.9999946562900078, -0.00942540168762207], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13928259909152985, 1.7235647439956665, -1.1620079278945923, -1.593956470489502, -1.7914193868637085, -0.4134233891963959, -0.01547031570225954, -0.004339487757533789, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291853427886963, -1.1456748247146606, 1.6166542768478394, -1.8120768070220947, 0.40696966648101807, 0.029387835413217545, 0.05939765274524689, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.06085366130096137, 0.9981432588998921, -0.002620423433515112, -0.5974602103233337], [-0.9981450805396328, -0.06084862589162632, 0.001960337121737144, -0.09245524555444717], [0.0017972481180495358, 0.0027348564503357764, 0.9999946452153623, -0.009411768987774849], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728966474533081, -1.151934027671814, -1.5989990234375, -1.7986080646514893, -0.41890403628349304, -0.0024571255780756474, -0.000683580175973475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298715114593506, -1.1493263244628906, 1.6025885343551636, -1.8018712997436523, 0.41810324788093567, 0.004517453722655773, 0.009215150028467178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7300231456756592, -1.1499477624893188, -1.6000347137451172, -1.8000249862670898, -0.4200754761695862, 6.759102689102292e-05, 5.3929012210574e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300121784210205, -1.1500412225723267, 1.599927544593811, -1.7999446392059326, 0.4200497269630432, -0.0001492035953560844, -0.00038421424687840044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7300209999084473, -1.1499751806259155, -1.6000292301177979, -1.8000233173370361, -0.4200693666934967, 6.135923467809334e-05, 5.0813112466130406e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300111055374146, -1.1500298976898193, 1.5999655723571777, -1.799953818321228, 0.42004743218421936, -5.9681438870029524e-05, -6.50743386358954e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7296903133392334, -1.1504950523376465, -1.5999977588653564, -1.8000255823135376, -0.42003461718559265, -0.0001475258031859994, -7.046724203974009e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730001449584961, -1.1499468088150024, 1.5999969244003296, -1.8000521659851074, 0.419793963432312, -0.0001300288422498852, 0.0008284694631583989, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728650689125061, -1.151253581047058, -1.599928855895996, -1.8000695705413818, -0.4199759066104889, -0.0004066247493028641, -0.0005251487600617111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299833297729492, -1.1498209238052368, 1.5999963283538818, -1.8003259897232056, 0.41893434524536133, -0.00047697214176878333, 0.0013034043367952108, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7282589673995972, -1.1512874364852905, -1.5998468399047852, -1.8002396821975708, -0.41993144154548645, -0.0005029779276810586, -0.0006798650720156729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299532890319824, -1.1497653722763062, 1.599995493888855, -1.8004220724105835, 0.4187248647212982, -0.0006301305256783962, 0.0013569737784564495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728249192237854, -1.1512972116470337, -1.599793791770935, -1.8002853393554688, -0.41990411281585693, -0.0005400091758929193, -0.0006854976527392864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299230098724365, -1.149754524230957, 1.5999939441680908, -1.8004401922225952, 0.4186471998691559, -0.0007053914596326649, 0.001375309657305479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7282471656799316, -1.1513092517852783, -1.5997778177261353, -1.8002995252609253, -0.4198848307132721, -0.000551514036487788, -0.0006851381622254848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72990083694458, -1.1497504711151123, 1.599990963935852, -1.8004448413848877, 0.4186114966869354, -0.0007626760634593666, 0.0013769874349236488, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7282465696334839, -1.1513231992721558, -1.5997732877731323, -1.800308108329773, -0.4198753535747528, -0.0005565474275499582, -0.0006832206854596734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298833131790161, -1.1497488021850586, 1.5999865531921387, -1.8004454374313354, 0.4185921847820282, -0.0008009057492017746, 0.0013778263237327337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728244662284851, -1.1513348817825317, -1.5997735261917114, -1.8003164529800415, -0.41987356543540955, -0.0005585846956819296, -0.0006819023983553052, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298766374588013, -1.1497477293014526, 1.5999813079833984, -1.8004446029663086, 0.4185870587825775, -0.0008254733984358609, 0.001376148546114564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7282401323318481, -1.151345133781433, -1.5997751951217651, -1.8003284931182861, -0.4198715090751648, -0.0005596632836386561, -0.0006804642616771162, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298747301101685, -1.1497472524642944, 1.5999743938446045, -1.8004435300827026, 0.4185858368873596, -0.0008387758862227201, 0.0013741112779825926, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7282328605651855, -1.1513549089431763, -1.5997763872146606, -1.8003404140472412, -0.4198707938194275, -0.0005606220220215619, -0.0006796253728680313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298744916915894, -1.1497465372085571, 1.5999641418457031, -1.8004429340362549, 0.4185865521430969, -0.0008574713137932122, 0.0013725532917305827, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7282220125198364, -1.1513640880584717, -1.5997778177261353, -1.800352692604065, -0.41986924409866333, -0.0005611014203168452, -0.0006786666344851255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298743724822998, -1.1497459411621094, 1.5999512672424316, -1.8004424571990967, 0.4185884892940521, -0.0008731706184335053, 0.0013706358149647713, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728206992149353, -1.1513745784759521, -1.5997793674468994, -1.800363302230835, -0.41986384987831116, -0.0005618204595521092, -0.0006775881047360599, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729873538017273, -1.1497454643249512, 1.5999306440353394, -1.8004426956176758, 0.4185914695262909, -0.0008930644253268838, 0.0013687183381989598, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7281887531280518, -1.1513886451721191, -1.5997819900512695, -1.8003747463226318, -0.41985592246055603, -0.0005631387466564775, -0.0006768690072931349, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298731803894043, -1.149744987487793, 1.5999031066894531, -1.8004425764083862, 0.4185948371887207, -0.0009209876880049706, 0.0013696770183742046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7281683683395386, -1.1514086723327637, -1.59978449344635, -1.8003891706466675, -0.41985005140304565, -0.0005649363738484681, -0.0006757904193364084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729872465133667, -1.1497442722320557, 1.5998830795288086, -1.8004429340362549, 0.4185996353626251, -0.0009590975241735578, 0.0013696770183742046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7281405925750732, -1.151448130607605, -1.5997865200042725, -1.8003982305526733, -0.419842392206192, -0.0005656554130837321, -0.0006748316809535027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298706769943237, -1.1497435569763184, 1.5998656749725342, -1.8004437685012817, 0.4186021387577057, -0.0009999637259170413, 0.0013713549124076962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0859590545296669, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7281079292297363, -1.151515245437622, -1.5997874736785889, -1.80040442943573, -0.4198335111141205, -0.0005675728898495436, -0.0006750713801011443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729870080947876, -1.149742841720581, 1.599854588508606, -1.8004435300827026, 0.4186040759086609, -0.001018179696984589, 0.0013742310693487525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280858755111694, -1.1515276432037354, -1.5997875928878784, -1.8004096746444702, -0.41982656717300415, -0.0005690110265277326, -0.0006744721904397011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298697233200073, -1.1497421264648438, 1.5998482704162598, -1.8004436492919922, 0.41860431432724, -0.0010299242567270994, 0.0013777065323665738, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280819416046143, -1.1515283584594727, -1.5997869968414307, -1.8004132509231567, -0.4198245406150818, -0.0005696102161891758, -0.0006743523408658803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298697233200073, -1.149741291999817, 1.5998438596725464, -1.8004438877105713, 0.41860368847846985, -0.001039271941408515, 0.0013819009764119983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280815839767456, -1.1515283584594727, -1.5997871160507202, -1.8004143238067627, -0.4198252558708191, -0.000570928503293544, -0.0006741126417182386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298698425292969, -1.1497410535812378, 1.5998423099517822, -1.800443172454834, 0.41860178112983704, -0.0010470617562532425, 0.001388851786032319, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280819416046143, -1.1515274047851562, -1.5997873544692993, -1.8004153966903687, -0.4198281168937683, -0.0005711681442335248, -0.0006741126417182386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298697233200073, -1.14974045753479, 1.599841594696045, -1.8004428148269653, 0.418600469827652, -0.0010498181218281388, 0.001391128869727254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280826568603516, -1.151526927947998, -1.5997875928878784, -1.8004159927368164, -0.41982993483543396, -0.0005704491049982607, -0.0006748316809535027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729870080947876, -1.149740219116211, 1.599841594696045, -1.8004426956176758, 0.418597936630249, -0.0010560499504208565, 0.0013913685688748956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280827760696411, -1.1515260934829712, -1.5997880697250366, -1.8004183769226074, -0.41983461380004883, -0.0005699697649106383, -0.0006750713801011443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298697233200073, -1.1497396230697632, 1.5998419523239136, -1.8004422187805176, 0.41859686374664307, -0.0010626412695273757, 0.0013912486610934138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280831336975098, -1.1515251398086548, -1.5997896194458008, -1.8004192113876343, -0.41983938217163086, -0.0005699697649106383, -0.0006745920400135219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298696041107178, -1.1497396230697632, 1.599841833114624, -1.8004424571990967, 0.4185912311077118, -0.0010681540006771684, 0.0013907692627981305, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280831336975098, -1.1515237092971802, -1.59979248046875, -1.8004206418991089, -0.419842392206192, -0.0005690110265277326, -0.0006750713801011443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298693656921387, -1.1497390270233154, 1.599841594696045, -1.8004430532455444, 0.41858741641044617, -0.0010755842085927725, 0.0013900502817705274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280828952789307, -1.151523232460022, -1.5997960567474365, -1.800422191619873, -0.41984477639198303, -0.0005692506674677134, -0.0006750713801011443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298692464828491, -1.1497390270233154, 1.5998421907424927, -1.8004432916641235, 0.4185846447944641, -0.001080497750081122, 0.001389690674841404, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280831336975098, -1.1515229940414429, -1.5998021364212036, -1.8004261255264282, -0.41984429955482483, -0.000568771327380091, -0.0006750713801011443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72986900806427, -1.1497389078140259, 1.5998414754867554, -1.8004432916641235, 0.4185803234577179, -0.0010852913837879896, 0.0013890914851799607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280831336975098, -1.1515223979949951, -1.5998082160949707, -1.8004307746887207, -0.4198440611362457, -0.0005690110265277326, -0.0006744721904397011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298685312271118, -1.1497387886047363, 1.5998411178588867, -1.80044424533844, 0.41857829689979553, -0.0010943993693217635, 0.0013898105826228857, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280833721160889, -1.1515223979949951, -1.599812388420105, -1.8004350662231445, -0.41984429955482483, -0.0005685316282324493, -0.0006747118895873427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298680543899536, -1.1497385501861572, 1.5998414754867554, -1.8004437685012817, 0.418578177690506, -0.0011073424248024821, 0.0013900502817705274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280831336975098, -1.1515227556228638, -1.599816083908081, -1.8004398345947266, -0.4198441803455353, -0.0005688911769539118, -0.0006749515305273235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729867696762085, -1.1497379541397095, 1.5998409986495972, -1.800443410873413, 0.4185798466205597, -0.0011152519145980477, 0.001391128869727254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280830144882202, -1.1515228748321533, -1.599815845489502, -1.8004435300827026, -0.4198440611362457, -0.0005688911769539118, -0.0006747118895873427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298673391342163, -1.1497377157211304, 1.5998400449752808, -1.8004437685012817, 0.4185800850391388, -0.0011261575855314732, 0.0013930463464930654, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280830144882202, -1.1515227556228638, -1.599816083908081, -1.8004478216171265, -0.4198431074619293, -0.0005684117786586285, -0.0006742324912920594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729867696762085, -1.1497375965118408, 1.599838376045227, -1.8004437685012817, 0.41858237981796265, -0.0011319100158289075, 0.001398678869009018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280830144882202, -1.1515223979949951, -1.599815011024475, -1.8004512786865234, -0.4198439419269562, -0.000568771327380091, -0.0006745920400135219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298675775527954, -1.1497373580932617, 1.5998356342315674, -1.800443172454834, 0.418584406375885, -0.0011358648771420121, 0.0014080265536904335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280827760696411, -1.1515227556228638, -1.5998146533966064, -1.800454020500183, -0.4198439419269562, -0.0005690110265277326, -0.0006743523408658803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298678159713745, -1.149736762046814, 1.599831461906433, -1.8004428148269653, 0.41858765482902527, -0.001138261635787785, 0.0014207299100235105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280827760696411, -1.1515226364135742, -1.5998138189315796, -1.8004570007324219, -0.4198448956012726, -0.0005692506674677134, -0.0006738729425705969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729867696762085, -1.1497365236282349, 1.5998271703720093, -1.8004429340362549, 0.4185880124568939, -0.0011401791125535965, 0.0014281601179391146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728082537651062, -1.1515223979949951, -1.599813461303711, -1.800458550453186, -0.41984623670578003, -0.000568771327380091, -0.0006741126417182386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729867935180664, -1.1497360467910767, 1.599822759628296, -1.800443410873413, 0.41859063506126404, -0.0011437743669375777, 0.0014292387058958411, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280824184417725, -1.1515227556228638, -1.59981369972229, -1.8004591464996338, -0.4198485016822815, -0.0005690110265277326, -0.0006742324912920594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298680543899536, -1.1497362852096558, 1.599818229675293, -1.800443410873413, 0.41859087347984314, -0.0011482086265459657, 0.0014283998170867562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728082537651062, -1.1515227556228638, -1.5998141765594482, -1.8004604578018188, -0.41985413432121277, -0.0005682919290848076, -0.0006742324912920594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298681735992432, -1.149735689163208, 1.5998157262802124, -1.8004438877105713, 0.41858968138694763, -0.0011500061955302954, 0.0014266021316871047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280821800231934, -1.1515225172042847, -1.5998144149780273, -1.8004602193832397, -0.4198577404022217, -0.0005678125889971852, -0.0006744721904397011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298678159713745, -1.1497358083724976, 1.5998144149780273, -1.8004436492919922, 0.41858741641044617, -0.0011536014499142766, 0.0014248044462874532, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280817031860352, -1.1515227556228638, -1.5998144149780273, -1.8004602193832397, -0.41985976696014404, -0.0005676927394233644, -0.0006747118895873427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729867935180664, -1.149735927581787, 1.59981369972229, -1.8004446029663086, 0.4185866713523865, -0.001156118232756853, 0.0014232465764507651, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280815839767456, -1.1515225172042847, -1.5998151302337646, -1.8004599809646606, -0.41986095905303955, -0.0005668538506142795, -0.0006748316809535027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298678159713745, -1.1497358083724976, 1.5998129844665527, -1.80044424533844, 0.4185855984687805, -0.0011594737879931927, 0.0014208497013896704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280805110931396, -1.1515228748321533, -1.5998159646987915, -1.800459861755371, -0.41985952854156494, -0.0005670935497619212, -0.0006747118895873427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298680543899536, -1.1497360467910767, 1.5998129844665527, -1.8004447221755981, 0.4185822606086731, -0.0011649865191429853, 0.0014202505117282271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280786037445068, -1.1515231132507324, -1.5998164415359497, -1.8004608154296875, -0.4198594093322754, -0.0005676927394233644, -0.0006742324912920594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729867696762085, -1.1497358083724976, 1.5998133420944214, -1.8004432916641235, 0.41857853531837463, -0.0011716976296156645, 0.0014204902108758688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728076696395874, -1.1515233516693115, -1.5998173952102661, -1.8004616498947144, -0.41985905170440674, -0.0005672133411280811, -0.0006745920400135219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298678159713745, -1.1497360467910767, 1.5998132228851318, -1.8004428148269653, 0.41857409477233887, -0.001177330268546939, 0.0014206100022420287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280749082565308, -1.151523470878601, -1.5998172760009766, -1.8004627227783203, -0.4198582172393799, -0.0005682919290848076, -0.0006741126417182386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298675775527954, -1.1497360467910767, 1.5998128652572632, -1.8004426956176758, 0.41856881976127625, -0.0011850001756101847, 0.0014209694927558303, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280728816986084, -1.1515239477157593, -1.5998166799545288, -1.8004659414291382, -0.4198571443557739, -0.0005678125889971852, -0.0006739927921444178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298671007156372, -1.149735450744629, 1.5998127460479736, -1.8004429340362549, 0.4185652434825897, -0.0011887152213603258, 0.0014215687988325953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280710935592651, -1.1515244245529175, -1.5998164415359497, -1.8004685640335083, -0.4198560416698456, -0.0005680522881448269, -0.000673753151204437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298671007156372, -1.1497355699539185, 1.5998122692108154, -1.8004428148269653, 0.4185653626918793, -0.0011901534162461758, 0.001423366367816925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728069543838501, -1.151524543762207, -1.5998154878616333, -1.800470232963562, -0.4198560416698456, -0.0005686514778062701, -0.0006739927921444178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298667430877686, -1.1497353315353394, 1.5998115539550781, -1.8004435300827026, 0.418567031621933, -0.0011917112860828638, 0.0014239655574783683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728068232536316, -1.151524305343628, -1.5998146533966064, -1.8004733324050903, -0.4198566675186157, -0.0005680522881448269, -0.000673034053761512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298669815063477, -1.1497347354888916, 1.599810242652893, -1.80044424533844, 0.41856834292411804, -0.0011919509852305055, 0.0014246846549212933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280669212341309, -1.1515246629714966, -1.5998141765594482, -1.8004754781723022, -0.4198567867279053, -0.000568771327380091, -0.0006729142041876912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298673391342163, -1.1497344970703125, 1.5998085737228394, -1.8004446029663086, 0.4185691773891449, -0.001193029573187232, 0.0014243251644074917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280646562576294, -1.1515246629714966, -1.5998146533966064, -1.8004785776138306, -0.41985833644866943, -0.0005682919290848076, -0.0006729142041876912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298671007156372, -1.1497342586517334, 1.5998055934906006, -1.8004438877105713, 0.41857337951660156, -0.0011950669577345252, 0.0014239655574783683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280629873275757, -1.1515247821807861, -1.5998144149780273, -1.8004803657531738, -0.41985857486724854, -0.0005679324385710061, -0.0006729142041876912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298674583435059, -1.1497340202331543, 1.59980309009552, -1.8004443645477295, 0.41857782006263733, -0.0011969844345003366, 0.0014225274790078402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.3793959319591522, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280614376068115, -1.1515251398086548, -1.599815011024475, -1.8004817962646484, -0.41986000537872314, -0.0005673331907019019, -0.0006724348641000688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298669815063477, -1.1497342586517334, 1.5998005867004395, -1.8004441261291504, 0.4185796082019806, -0.0011977034155279398, 0.0014214488910511136, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280586957931519, -1.1515254974365234, -1.5998152494430542, -1.8004817962646484, -0.41986191272735596, -0.0005670935497619212, -0.0006729142041876912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298672199249268, -1.1497337818145752, 1.5997987985610962, -1.8004441261291504, 0.418582022190094, -0.001201178878545761, 0.0014202505117282271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728056788444519, -1.151525855064392, -1.599816083908081, -1.8004816770553589, -0.41986289620399475, -0.0005668538506142795, -0.0006727944128215313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298669815063477, -1.1497337818145752, 1.5997979640960693, -1.8004441261291504, 0.4185832142829895, -0.0012032161466777325, 0.0014185727341100574, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280551195144653, -1.151526689529419, -1.599816918373108, -1.8004822731018066, -0.4198625385761261, -0.0005669737001881003, -0.0006727944128215313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298672199249268, -1.1497339010238647, 1.5997977256774902, -1.800443410873413, 0.4185815453529358, -0.0012070511002093554, 0.0014171345392242074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728053092956543, -1.151526927947998, -1.599816918373108, -1.800482153892517, -0.41986191272735596, -0.0005672133411280811, -0.0006732737529091537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298672199249268, -1.1497341394424438, 1.599797248840332, -1.8004435300827026, 0.4185803234577179, -0.00121112575288862, 0.0014174941461533308, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280521392822266, -1.151528000831604, -1.5998179912567139, -1.8004817962646484, -0.4198615550994873, -0.0005670935497619212, -0.0006735134520567954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298672199249268, -1.1497342586517334, 1.5997973680496216, -1.800443410873413, 0.41857782006263733, -0.0012148409150540829, 0.0014179735444486141, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280514240264893, -1.1515278816223145, -1.5998175144195557, -1.8004816770553589, -0.41986083984375, -0.0005675728898495436, -0.0006731539033353329, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298669815063477, -1.149734377861023, 1.599797248840332, -1.800443172454834, 0.4185772240161896, -0.0012201139470562339, 0.0014185727341100574, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280508279800415, -1.151528239250183, -1.599816918373108, -1.8004816770553589, -0.4198601245880127, -0.0005684117786586285, -0.0006732737529091537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298669815063477, -1.1497344970703125, 1.5997971296310425, -1.8004440069198608, 0.4185752868652344, -0.00122442829888314, 0.0014191719237715006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280505895614624, -1.151528239250183, -1.599817156791687, -1.800482153892517, -0.41985905170440674, -0.0005680522881448269, -0.0006731539033353329, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729866862297058, -1.1497341394424438, 1.599797248840332, -1.800444483757019, 0.4185720682144165, -0.0012251472799107432, 0.0014209694927558303, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280508279800415, -1.15152907371521, -1.5998166799545288, -1.8004828691482544, -0.4198586940765381, -0.0005684117786586285, -0.0006729142041876912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298671007156372, -1.1497340202331543, 1.599797010421753, -1.8004446029663086, 0.4185698926448822, -0.0012262258678674698, 0.0014231266686692834, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280505895614624, -1.1515291929244995, -1.5998159646987915, -1.8004844188690186, -0.4198586940765381, -0.0005685316282324493, -0.0006719554658047855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298667430877686, -1.1497339010238647, 1.5997968912124634, -1.8004443645477295, 0.4185675084590912, -0.0012259861687198281, 0.00142408546525985, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280503511428833, -1.1515294313430786, -1.599815845489502, -1.8004852533340454, -0.4198594093322754, -0.0005679324385710061, -0.0006721951649524271, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298665046691895, -1.1497340202331543, 1.5997971296310425, -1.8004448413848877, 0.41856619715690613, -0.0012265854747965932, 0.0014244449557736516, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280502319335938, -1.1515296697616577, -1.5998152494430542, -1.800485610961914, -0.4198594093322754, -0.0005679324385710061, -0.0006720753153786063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298667430877686, -1.1497334241867065, 1.5997964143753052, -1.800444483757019, 0.4185667932033539, -0.0012279036454856396, 0.0014245648635551333, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728049874305725, -1.151530146598816, -1.5998156070709229, -1.8004887104034424, -0.41986095905303955, -0.0005678125889971852, -0.0006718356744386256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729866623878479, -1.1497331857681274, 1.5997952222824097, -1.80044424533844, 0.418567031621933, -0.0012287425342947245, 0.0014239655574783683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728049397468567, -1.1515308618545532, -1.599815845489502, -1.8004910945892334, -0.4198617935180664, -0.0005676927394233644, -0.0006717158248648047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298665046691895, -1.149733066558838, 1.599793791770935, -1.8004435300827026, 0.41856810450553894, -0.0012303005205467343, 0.001423366367816925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280489206314087, -1.151531457901001, -1.5998166799545288, -1.8004934787750244, -0.419864684343338, -0.0005670935497619212, -0.0006715959752909839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729866862297058, -1.1497327089309692, 1.5997923612594604, -1.800443410873413, 0.41856905817985535, -0.0012313791085034609, 0.0014230068773031235, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728048324584961, -1.151532769203186, -1.5998165607452393, -1.8004955053329468, -0.4198653995990753, -0.0005670935497619212, -0.0006719554658047855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298665046691895, -1.1497327089309692, 1.5997906923294067, -1.8004435300827026, 0.41857218742370605, -0.0012340156827121973, 0.0014215687988325953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280471324920654, -1.1515346765518188, -1.5998175144195557, -1.8004961013793945, -0.4198676645755768, -0.0005667340010404587, -0.0006718356744386256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298671007156372, -1.1497328281402588, 1.599788784980774, -1.8004436492919922, 0.41857481002807617, -0.0012394085060805082, 0.0014208497013896704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280465364456177, -1.1515361070632935, -1.599818468093872, -1.800496220588684, -0.4198674261569977, -0.0005668538506142795, -0.0006720753153786063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729866623878479, -1.1497328281402588, 1.5997873544692993, -1.8004441261291504, 0.418578177690506, -0.0012426442699506879, 0.0014207299100235105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280457019805908, -1.1515370607376099, -1.5998196601867676, -1.8004966974258423, -0.4198661148548126, -0.0005668538506142795, -0.0006715959752909839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298667430877686, -1.1497329473495483, 1.5997867584228516, -1.80044424533844, 0.4185793697834015, -0.001244801445864141, 0.001421089400537312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280457019805908, -1.1515377759933472, -1.5998201370239258, -1.8004968166351318, -0.4198656380176544, -0.0005672133411280811, -0.000672315014526248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729866862297058, -1.1497331857681274, 1.5997860431671143, -1.8004446029663086, 0.41857948899269104, -0.0012475578114390373, 0.0014216885901987553, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728045105934143, -1.1515384912490845, -1.5998200178146362, -1.8004961013793945, -0.41986504197120667, -0.0005675728898495436, -0.0006717158248648047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298667430877686, -1.149733066558838, 1.5997861623764038, -1.8004450798034668, 0.4185793697834015, -0.0012481570011004806, 0.0014224076876416802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728045105934143, -1.1515393257141113, -1.5998197793960571, -1.8004956245422363, -0.4198642075061798, -0.0005681720795109868, -0.0006719554658047855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729866623878479, -1.149733066558838, 1.5997858047485352, -1.800445556640625, 0.41857805848121643, -0.0012504340847954154, 0.0014246846549212933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280452251434326, -1.1515394449234009, -1.5998194217681885, -1.800496220588684, -0.41986313462257385, -0.0005680522881448269, -0.0006721951649524271, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298667430877686, -1.149733066558838, 1.5997860431671143, -1.8004443645477295, 0.41857603192329407, -0.0012517522554844618, 0.0014268418308347464, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280447483062744, -1.1515398025512695, -1.5998183488845825, -1.8004956245422363, -0.41986191272735596, -0.0005682919290848076, -0.0006715959752909839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298662662506104, -1.149733304977417, 1.5997862815856934, -1.8004446029663086, 0.4185749292373657, -0.0012511530658230186, 0.0014288790989667177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280443906784058, -1.1515394449234009, -1.5998181104660034, -1.800495982170105, -0.4198620319366455, -0.0005675728898495436, -0.0006713562761433423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298660278320312, -1.1497329473495483, 1.5997859239578247, -1.8004441261291504, 0.418573260307312, -0.0012519919546321034, 0.0014312759740278125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280441522598267, -1.1515400409698486, -1.5998179912567139, -1.800495982170105, -0.4198630154132843, -0.0005674530402757227, -0.0006714761257171631, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298656702041626, -1.1497328281402588, 1.5997859239578247, -1.8004436492919922, 0.4185703992843628, -0.0012519919546321034, 0.0014321148628368974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280434370040894, -1.1515402793884277, -1.5998179912567139, -1.800497055053711, -0.4198639690876007, -0.0005676927394233644, -0.0006715959752909839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298657894134521, -1.1497325897216797, 1.5997858047485352, -1.8004435300827026, 0.4185679852962494, -0.0012525911442935467, 0.0014318751636892557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280426025390625, -1.1515411138534546, -1.5998183488845825, -1.8004968166351318, -0.4198642075061798, -0.0005670935497619212, -0.0006713562761433423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298657894134521, -1.1497324705123901, 1.5997856855392456, -1.8004435300827026, 0.41856440901756287, -0.001255227718502283, 0.0014311561826616526, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.728041410446167, -1.1515419483184814, -1.5998188257217407, -1.8004969358444214, -0.41986575722694397, -0.0005672133411280811, -0.0006711165769957006, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298659086227417, -1.1497321128845215, 1.599785566329956, -1.8004441261291504, 0.41856318712234497, -0.0012555872090160847, 0.0014305568765848875, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280405759811401, -1.1515430212020874, -1.599819302558899, -1.800498366355896, -0.4198668301105499, -0.0005663744523189962, -0.0006709967274218798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298661470413208, -1.149731993675232, 1.5997843742370605, -1.8004437685012817, 0.4185628294944763, -0.0012570254039019346, 0.0014292387058958411, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280396223068237, -1.1515436172485352, -1.5998202562332153, -1.800499677658081, -0.4198691248893738, -0.0005662546027451754, -0.0006701578386127949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298662662506104, -1.149732232093811, 1.5997834205627441, -1.8004447221755981, 0.4185634255409241, -0.0012605007505044341, 0.0014288790989667177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280393838882446, -1.1515443325042725, -1.599820852279663, -1.8005013465881348, -0.41986995935440063, -0.0005663744523189962, -0.0006701578386127949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298663854599, -1.149731993675232, 1.5997822284698486, -1.8004447221755981, 0.4185650050640106, -0.0012624182272702456, 0.001427920418791473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280389070510864, -1.1515446901321411, -1.5998212099075317, -1.8005033731460571, -0.4198688864707947, -0.0005667340010404587, -0.000670037989038974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298665046691895, -1.149731993675232, 1.5997809171676636, -1.800445556640625, 0.4185656011104584, -0.001264335704036057, 0.0014278005110099912, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280383110046387, -1.1515448093414307, -1.5998224020004272, -1.8005045652389526, -0.41986793279647827, -0.0005668538506142795, -0.0006702776881866157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298665046691895, -1.1497323513031006, 1.5997796058654785, -1.8004448413848877, 0.4185679852962494, -0.0012662531808018684, 0.0014289990067481995, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280385494232178, -1.1515452861785889, -1.599821925163269, -1.8005048036575317, -0.4198678135871887, -0.0005670935497619212, -0.0006709967274218798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298663854599, -1.149732232093811, 1.5997792482376099, -1.8004454374313354, 0.4185703992843628, -0.0012687698472291231, 0.0014288790989667177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280383110046387, -1.1515451669692993, -1.599821925163269, -1.8005051612854004, -0.4198665916919708, -0.0005668538506142795, -0.0006701578386127949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298663854599, -1.1497321128845215, 1.599778175354004, -1.800444483757019, 0.4185727834701538, -0.0012691294541582465, 0.0014288790989667177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280386686325073, -1.1515454053878784, -1.5998213291168213, -1.800504446029663, -0.4198656380176544, -0.0005672133411280811, -0.0006701578386127949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298661470413208, -1.1497323513031006, 1.599778652191162, -1.8004447221755981, 0.4185746908187866, -0.0012688897550106049, 0.0014307965757325292, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280381917953491, -1.1515454053878784, -1.599820613861084, -1.800504446029663, -0.41986528038978577, -0.0005678125889971852, -0.0006708769360557199, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298660278320312, -1.149732232093811, 1.5997782945632935, -1.8004441261291504, 0.4185756742954254, -0.0012698484351858497, 0.0014325942611321807, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.72803795337677, -1.1515450477600098, -1.5998202562332153, -1.800504446029663, -0.41986432671546936, -0.0005675728898495436, -0.0006702776881866157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298660278320312, -1.1497323513031006, 1.5997782945632935, -1.8004441261291504, 0.4185751676559448, -0.001270447624847293, 0.0014345117378979921, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280374765396118, -1.1515454053878784, -1.5998197793960571, -1.800504207611084, -0.4198651611804962, -0.0005673331907019019, -0.0006701578386127949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298660278320312, -1.149732232093811, 1.5997785329818726, -1.8004447221755981, 0.4185750484466553, -0.0012699683429673314, 0.001436069724150002, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08586319535970688, 0.379300057888031, -0.25778043270111084, 0.026073548942804337, 0.13918673992156982, 1.7280369997024536, -1.1515454053878784, -1.5998203754425049, -1.8005049228668213, -0.4198653995990753, -0.0005673331907019019, -0.000670757086481899, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298657894134521, -1.1497323513031006, 1.5997782945632935, -1.80044424533844, 0.41857266426086426, -0.0012699683429673314, 0.0014355903258547187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2636112570762634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.060866381624552934, 0.9981424409021843, -0.0026365238030351536, -0.5974661707878113], [-0.9981443129026272, -0.06086132671394284, 0.0019569186905047547, -0.09244974702596664], [0.0017928212618219127, 0.002750741799656427, 0.9999946095912091, -0.009422262199223042], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000006/gt/hand_left.mp4 b/agibot-challenge-2026/000006/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7baff3f9e1893dd0f1c972426d0d0b22ba65e322 --- /dev/null +++ b/agibot-challenge-2026/000006/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaae434806aa7fbd7080c6b013506a57d96de4ae7b8f3756c5d99b36ac813344 +size 1334222 diff --git a/agibot-challenge-2026/000006/gt/hand_right.mp4 b/agibot-challenge-2026/000006/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b8c79300d9e6ec6af12558e85c0f0b9cbf412ee --- /dev/null +++ b/agibot-challenge-2026/000006/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887b946e0cf067f4ee87929c55a60285f7b5d6ea7c4bcc9c01e96905c139b6c8 +size 2357356 diff --git a/agibot-challenge-2026/000006/gt/head.mp4 b/agibot-challenge-2026/000006/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45034a2256e1a0f95c2baee4f3ab8cda785d0e37 --- /dev/null +++ b/agibot-challenge-2026/000006/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f0ab17800a8c5fa8552b42f02f7d5e3812a7140fcfcde8675c820875b9f7c76 +size 1531719 diff --git a/agibot-challenge-2026/000006/meta.json b/agibot-challenge-2026/000006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6f9661b8dd7001ab1af0a290bcf7aabf40a4db2 --- /dev/null +++ b/agibot-challenge-2026/000006/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 670, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000006/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000006/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..041aa7dce8aad55f6dd1778f4ddbc1ba0d3ee18f --- /dev/null +++ b/agibot-challenge-2026/000006/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000006/ref_images/hand_left.png b/agibot-challenge-2026/000006/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..a78d56d4c91cc25968ca0c3c092b7ab094132b52 --- /dev/null +++ b/agibot-challenge-2026/000006/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1311e00f9cef0ebbca9ef80685f792bb48d3708ad0c455c814079db7ed32cf1e +size 348969 diff --git a/agibot-challenge-2026/000006/ref_images/hand_right.png b/agibot-challenge-2026/000006/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..e3cbb75934965f51ecd65bb3adeac736469b0d90 --- /dev/null +++ b/agibot-challenge-2026/000006/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6241c8fba9d65237eeff7db3f353eb322022a9c5b27f2d2863d8a56b87cd471c +size 372309 diff --git a/agibot-challenge-2026/000006/ref_images/head.png b/agibot-challenge-2026/000006/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..d241a6491d64cd2c3a7f6047326a06ccaa737831 --- /dev/null +++ b/agibot-challenge-2026/000006/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24b6a7e8501832c037554dbb3cd7b438655b79e3781b19507c99b29ceefeb2a8 +size 259362 diff --git a/agibot-challenge-2026/000006/temporal.json b/agibot-challenge-2026/000006/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..32c1e01cb7caf9cb4724b34c076fd5816720041c --- /dev/null +++ b/agibot-challenge-2026/000006/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404201030731201, -1.1495362520217896, -1.6001036167144775, -1.8012980222702026, -0.42011862993240356, -8.868326403899118e-06, -0.00040027310024015605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316908836364746, -1.1501920223236084, 1.6000850200653076, -1.800323247909546, 0.42003005743026733, 5.752428114647046e-05, -0.0004358662699814886, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404203414916992, -1.1495362520217896, -1.6001038551330566, -1.8012984991073608, -0.4201173186302185, -7.669904334761668e-06, -0.0004033890145365149, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316908836364746, -1.1501917839050293, 1.6000851392745972, -1.8003236055374146, 0.420030415058136, 5.6086173572111875e-05, -0.00043502735206857324, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404203414916992, -1.1495362520217896, -1.6001038551330566, -1.8012992143630981, -0.42011672258377075, -6.471481356129516e-06, -0.0004069842689204961, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731690764427185, -1.1501922607421875, 1.600084900856018, -1.800323247909546, 0.42002981901168823, 5.488775059347972e-05, -0.00043658530921675265, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404203414916992, -1.1495361328125, -1.6001040935516357, -1.8013001680374146, -0.42011696100234985, -4.314320904086344e-06, -0.00041010018321685493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316906452178955, -1.1501922607421875, 1.600084662437439, -1.8003226518630981, 0.4200299382209778, 5.3809169912710786e-05, -0.00043802341679111123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404203414916992, -1.1495357751846313, -1.6001043319702148, -1.801300048828125, -0.42011743783950806, -2.996056309712003e-06, -0.00041369543760083616, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731690526008606, -1.1501926183700562, 1.6000845432281494, -1.8003225326538086, 0.4200294613838196, 5.201153544476256e-05, -0.0004414988507051021, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404204607009888, -1.1495361328125, -1.6001052856445312, -1.8013007640838623, -0.42011672258377075, -2.3968450477696024e-06, -0.0004165716527495533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731690764427185, -1.1501924991607666, 1.6000839471817017, -1.8003218173980713, 0.42002958059310913, 5.093295476399362e-05, -0.00044581317342817783, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7404202222824097, -1.1495361328125, -1.6001057624816895, -1.8013010025024414, -0.4201166033744812, -2.6365294161223574e-06, -0.00041693117236718535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7275655269622803, -1.155317783355713, 1.6032739877700806, -1.804983139038086, 0.42114976048469543, 0.0046269893646240234, 0.00737389363348484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404197454452515, -1.1495360136032104, -1.6001064777374268, -1.8013049364089966, -0.42011767625808716, -3.5952675716544036e-06, -0.00041992723708972335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6931431293487549, -1.1841511726379395, 1.6015913486480713, -1.8358800411224365, 0.41050705313682556, 0.04814710468053818, 0.009271715767681599, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404204607009888, -1.1495361328125, -1.6001062393188477, -1.8013112545013428, -0.4201194643974304, -4.314320904086344e-06, -0.00042651855619624257, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6131097078323364, -1.2122371196746826, 1.5670366287231445, -1.8429138660430908, 0.39639586210250854, 0.09347060322761536, -0.01277434453368187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.740439534187317, -1.149536371231079, -1.6001073122024536, -1.8013497591018677, -0.4201218783855438, -1.0426275366626214e-05, -0.0004274772945791483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5074489116668701, -1.2367249727249146, 1.5186598300933838, -1.81011164188385, 0.37823089957237244, 0.13760502636432648, -0.04554520919919014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7404323816299438, -1.1495364904403687, -1.600103735923767, -1.8013614416122437, -0.42012307047843933, -1.2703278116532601e-05, -0.0004418583703227341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4026509523391724, -1.2589116096496582, 1.4734227657318115, -1.767268419265747, 0.3623039722442627, 0.17382100224494934, -0.07820869237184525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.740437388420105, -1.1495361328125, -1.600104808807373, -1.8013558387756348, -0.42012521624565125, -2.0972393031115644e-05, -0.00044257743866182864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3022243976593018, -1.2806655168533325, 1.434512734413147, -1.703566312789917, 0.34137555956840515, 0.19429148733615875, -0.09903392195701599, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.740440845489502, -1.1495360136032104, -1.6001079082489014, -1.8013328313827515, -0.42012834548950195, -2.0373181541799568e-05, -0.00042412171023897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.208232045173645, -1.3014503717422485, 1.4082024097442627, -1.6274577379226685, 0.32509198784828186, 0.2079920917749405, -0.11336681246757507, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404372692108154, -1.149535059928894, -1.6001060009002686, -1.8013269901275635, -0.420132040977478, -2.109223532897886e-05, -0.0004195677174720913, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1282505989074707, -1.318910002708435, 1.3927479982376099, -1.5584912300109863, 0.30789750814437866, 0.212099090218544, -0.11633098870515823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404378652572632, -1.1495333909988403, -1.6001054048538208, -1.8013262748718262, -0.42013493180274963, -2.0253339243936352e-05, -0.00040626522968523204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.060758113861084, -1.3350971937179565, 1.3882843255996704, -1.491159200668335, 0.29553696513175964, 0.21224050223827362, -0.11309788376092911, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404391765594482, -1.1495321989059448, -1.6001042127609253, -1.8013168573379517, -0.4201357662677765, -1.9773971871472895e-05, -0.0003975167346652597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0199640989303589, -1.3464956283569336, 1.3897066116333008, -1.449898362159729, 0.28669071197509766, 0.21928758919239044, -0.1083468571305275, 0.4853999965793484, 0.4853999965793484, 0.4853999965793484, 0.4853999965793484, -0.4853999965793484, -0.4853999965793484, -0.4853999965793484, 0.4853999965793484, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.74043869972229, -1.1495305299758911, -1.6001027822494507, -1.8013197183609009, -0.42013588547706604, -1.7856495105661452e-05, -0.0003790610353462398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0056018829345703, -1.3560726642608643, 1.3922010660171509, -1.4296318292617798, 0.2748490869998932, 0.22528809309005737, -0.10405567288398743, 0.3461999903668414, 0.3461999903668414, 0.3461999903668414, 0.3461999903668414, -0.3461999903668414, -0.3461999903668414, -0.3461999903668414, 0.3461999903668414, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404372692108154, -1.1495304107666016, -1.6001015901565552, -1.8013179302215576, -0.4201357662677765, -1.641838753130287e-05, -0.0003758253005798906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.004132866859436, -1.3645830154418945, 1.3987963199615479, -1.4206089973449707, 0.2649070918560028, 0.22671708464622498, -0.09672527760267258, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, -0.21959999996227222, -0.21959999996227222, -0.21959999996227222, 0.21959999996227222, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404379844665527, -1.149530291557312, -1.6001017093658447, -1.801317811012268, -0.4201362431049347, -1.4141385690891184e-05, -0.00036995302070863545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0041370391845703, -1.370684027671814, 1.4071073532104492, -1.42007577419281, 0.2586885988712311, 0.23311090469360352, -0.09027345478534698, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, -0.19799998409145483, -0.19799998409145483, -0.19799998409145483, 0.19799998409145483, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.740437626838684, -1.1495305299758911, -1.6001005172729492, -1.801317572593689, -0.42013540863990784, -1.078580226021586e-05, -0.00036935380194336176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0040102005004883, -1.3752574920654297, 1.4130107164382935, -1.4195607900619507, 0.25204357504844666, 0.23745818436145782, -0.08566407859325409, 0.17939999444144114, 0.17939999444144114, 0.17939999444144114, 0.17939999444144114, -0.17939999444144114, -0.17939999444144114, -0.17939999444144114, 0.17939999444144114, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404377460479736, -1.1495307683944702, -1.6001001596450806, -1.8013172149658203, -0.4201355278491974, -8.029430318856612e-06, -0.0003703125403262675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0031555891036987, -1.3797938823699951, 1.4184428453445435, -1.4185869693756104, 0.24936355650424957, 0.23978181183338165, -0.08110252022743225, 0.13620000199957208, 0.13620000199957208, 0.13620000199957208, 0.13620000199957208, -0.13620000199957208, -0.13620000199957208, -0.13620000199957208, 0.13620000199957208, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404388189315796, -1.1495306491851807, -1.6001006364822388, -1.8013160228729248, -0.4201338589191437, -6.591323653992731e-06, -0.00037151097785681486, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9918990731239319, -1.384468913078308, 1.4225307703018188, -1.4003782272338867, 0.2494010627269745, 0.24147194623947144, -0.07492668926715851, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, -0.12299999666737986, -0.12299999666737986, -0.12299999666737986, 0.12299999666737986, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404385805130005, -1.1495307683944702, -1.6001008749008179, -1.8013159036636353, -0.4201301336288452, -3.834952167380834e-06, -0.00037630466977134347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9817207455635071, -1.3883284330368042, 1.4229109287261963, -1.3880960941314697, 0.24917851388454437, 0.2442171722650528, -0.07120966166257858, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404388189315796, -1.149531602859497, -1.6001007556915283, -1.801316261291504, -0.42012739181518555, -3.7151096421439433e-06, -0.00037450704257935286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9709910154342651, -1.3921269178390503, 1.4226118326187134, -1.378277063369751, 0.24727614223957062, 0.25345760583877563, -0.06993502378463745, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.74043869972229, -1.1495317220687866, -1.6001001596450806, -1.8013173341751099, -0.42012569308280945, -3.834952167380834e-06, -0.0003748665621969849, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9717969298362732, -1.3941352367401123, 1.4243968725204468, -1.3782916069030762, 0.2444940060377121, 0.2533402740955353, -0.07072334736585617, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.740438461303711, -1.1495318412780762, -1.6001007556915283, -1.8013184070587158, -0.420123428106308, -5.63258572583436e-06, -0.00037738322862423956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9729359745979309, -1.3981939554214478, 1.4275269508361816, -1.3801300525665283, 0.243286594748497, 0.25529971718788147, -0.07176513224840164, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404382228851318, -1.1495320796966553, -1.6001017093658447, -1.8013191223144531, -0.4201204180717468, -7.190535143308807e-06, -0.00038121818215586245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9703139662742615, -1.4010318517684937, 1.4303407669067383, -1.3802942037582397, 0.24575726687908173, 0.26203063130378723, -0.07172822207212448, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7404371500015259, -1.1495321989059448, -1.6001020669937134, -1.8013195991516113, -0.4201173186302185, -8.628641808172688e-06, -0.0003862515732180327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9588620066642761, -1.402498722076416, 1.4310424327850342, -1.3720133304595947, 0.25716012716293335, 0.27616459131240845, -0.07403602451086044, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.750834584236145, 1.6090705394744873, -0.8129937052726746, 0.0, 0.0, 1.7404298782348633, -1.149532437324524, -1.600102424621582, -1.8013211488723755, -0.42011624574661255, -9.82706478680484e-06, -0.0003963183262385428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9479295015335083, -1.4070943593978882, 1.4375392198562622, -1.3672629594802856, 0.29829180240631104, 0.29614266753196716, -0.0827271044254303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972267289303635, -0.9974975425559546, -0.011721837717782284, -33.799835205078125], [0.9975545134145997, 0.0697744218083578, -0.00406482809850279, 11.143964767456055], [0.004872540488458584, -0.011409761441008876, 0.9999230348847093, 0.2761688232421875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8129937052726746, 0.0, 0.0, 1.7404367923736572, -1.1495327949523926, -1.600104570388794, -1.801330327987671, -0.42011550068855286, -1.3302489605848677e-05, -0.0004116581112612039, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9501596093177795, -1.4136347770690918, 1.4601770639419556, -1.384734034538269, 0.383781373500824, 0.3254047930240631, -0.09098926931619644, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974087143202623, -0.9974962926605853, -0.011719939432001397, -33.79885482788086], [0.9975532563429732, 0.06979257600811428, -0.004061661443547588, 11.144583702087402], [0.004869456995599613, -0.011407999936000538, 0.9999230700039019, 0.2762029767036438], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404624223709106, -1.1495331525802612, -1.6001056432724, -1.801328420639038, -0.4201149046421051, -1.5100123164302204e-05, -0.00041669150232337415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9584163427352905, -1.4177427291870117, 1.4829450845718384, -1.4062180519104004, 0.48461437225341797, 0.3469011187553406, -0.10771061480045319, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975215990589712, -0.9974954782103034, -0.011722079101438937, -33.79922866821289], [0.9975524843688756, 0.06980383183536354, -0.0040578307732870265, 11.144966125488281], [0.0048659138860541, -0.0114103466686395, 0.9999230604756323, 0.2760910093784332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7404565811157227, -1.1495330333709717, -1.6001089811325073, -1.8013274669647217, -0.4201156198978424, -1.6777914424892515e-05, -0.000425080448621884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9619699120521545, -1.4219658374786377, 1.5052210092544556, -1.4165987968444824, 0.6045932173728943, 0.3590678572654724, -0.12857946753501892, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975205018037767, -0.9974954918766331, -0.01172156906851024, -33.79981231689453], [0.997552326734033, 0.06980410628311873, -0.004091720118966014, 11.144954681396484], [0.004899686025752725, -0.011407472630203884, 0.9999229283525006, 0.27648553252220154], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740448236465454, -1.1495331525802612, -1.600110650062561, -1.8013259172439575, -0.4201153814792633, -1.6777914424892515e-05, -0.0004356265708338469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9616996645927429, -1.4237582683563232, 1.5217150449752808, -1.4213136434555054, 0.7184835076332092, 0.37446460127830505, -0.15415644645690918, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06982116712557529, -0.997490749836054, -0.011713608015005723, -33.79892349243164], [0.9975475783180502, 0.0698729829981416, -0.004073725412317095, 11.147297859191895], [0.004881968149837758, -0.011400449045898767, 0.9999230951170874, 0.27657297253608704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7404478788375854, -1.1495333909988403, -1.600112795829773, -1.8013275861740112, -0.4201163649559021, -1.66580721270293e-05, -0.00044497428461909294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.96192866563797, -1.4229977130889893, 1.5332261323928833, -1.4241299629211426, 0.8179298043251038, 0.37042999267578125, -0.17784446477890015, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06982324167072418, -0.9974902045658678, -0.011747626046780263, -33.7988395690918], [0.9975474729235784, 0.06987510295250265, -0.00406315778180183, 11.147377014160156], [0.004873826666419178, -0.011435111828071824, 0.9999227390309239, 0.275305837392807], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7404462099075317, -1.1495331525802612, -1.6001126766204834, -1.801329493522644, -0.42011862993240356, -1.4261227988754399e-05, -0.00044281710870563984, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9590328335762024, -1.4234572649002075, 1.551109790802002, -1.4262841939926147, 0.9343476891517639, 0.3935655355453491, -0.20887905359268188, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06978022326822142, -0.9974934371375878, -0.011728738554441995, -33.79951095581055], [0.9975505012872025, 0.06983196806520031, -0.004061233530831641, 11.145915985107422], [0.004870094689866551, -0.01141661524192433, 0.9999229685701442, 0.27591100335121155], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7404372692108154, -1.1495331525802612, -1.6001126766204834, -1.8013262748718262, -0.4201219975948334, -1.1624698345258366e-05, -0.0004418583703227341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9502688646316528, -1.4165966510772705, 1.5669341087341309, -1.4186608791351318, 1.039674997329712, 0.4094666838645935, -0.23125934600830078, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06979869646975467, -0.9974919772591971, -0.011742967029701484, -33.79924774169922], [0.9975491330637066, 0.0698506754981929, -0.004075568217252521, 11.146543502807617], [0.004885600778859617, -0.011429717231136616, 0.9999227432502202, 0.2755950391292572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404372692108154, -1.1495331525802612, -1.6001129150390625, -1.8013261556625366, -0.42012473940849304, -9.467537893215194e-06, -0.00044113933108747005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9510329961776733, -1.4107959270477295, 1.5744637250900269, -1.4176335334777832, 1.1230707168579102, 0.4106748104095459, -0.250274121761322, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06979234715944072, -0.9974925361340607, -0.01173322780889488, -33.79935836791992], [0.997549666174036, 0.06984407873474707, -0.0040581007581847435, 11.146328926086426], [0.004867421704066431, -0.011421253106983786, 0.9999229286217118, 0.2757275402545929], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404378652572632, -1.1495329141616821, -1.6001118421554565, -1.8013252019882202, -0.4201270043849945, -8.269114914583042e-06, -0.0004406599618960172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9507390260696411, -1.4059727191925049, 1.5835720300674438, -1.4186285734176636, 1.2242190837860107, 0.41020888090133667, -0.2811957001686096, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06976872707863058, -0.997494211613065, -0.011731262517639639, -33.79966735839844], [0.9975512645204558, 0.06982057876128578, -0.0040695743117481545, 11.145526885986328], [0.004878460358280185, -0.011418606739410284, 0.9999229050505161, 0.2759157121181488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404383420944214, -1.1495327949523926, -1.600111722946167, -1.8013248443603516, -0.4201294183731079, -5.872270321560791e-06, -0.0004403004131745547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9481704831123352, -1.401243805885315, 1.5953961610794067, -1.4075584411621094, 1.3243777751922607, 0.40474358201026917, -0.29774194955825806, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06980843638965073, -0.9974914934421426, -0.011726155354430489, -33.799232482910156], [0.9975484729204437, 0.0698602959663579, -0.0040722501867906475, 11.146869659423828], [0.004881227604099853, -0.0114131309489127, 0.9999229540614717, 0.2761285603046417], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404385805130005, -1.1495323181152344, -1.6001105308532715, -1.8013230562210083, -0.42013096809387207, -4.793690095539205e-06, -0.00043514720164239407, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.948175311088562, -1.3958771228790283, 1.6089881658554077, -1.3986953496932983, 1.4422775506973267, 0.40273645520210266, -0.3217216730117798, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06983212161851415, -0.9974897862814692, -0.01173034758248065, -33.79899597167969], [0.997546787882807, 0.06988406029135064, -0.004077266472629221, 11.147673606872559], [0.0048867959800880986, -0.01141684638346469, 0.9999228844484486, 0.27604883909225464], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404398918151855, -1.1495319604873657, -1.6001088619232178, -1.8013216257095337, -0.4201330244541168, -5.033374236518284e-06, -0.000425080448621884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9481534957885742, -1.389364242553711, 1.6177804470062256, -1.385602593421936, 1.5520415306091309, 0.3925487995147705, -0.3375517427921295, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06981109865203239, -0.9974914120584137, -0.011717225555059572, -33.799224853515625], [0.9975481729829663, 0.06986318640122624, -0.004096066920045581, 11.146951675415039], [0.004904394289020363, -0.011402546013038372, 0.9999229614630711, 0.2766965925693512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404403686523438, -1.1495317220687866, -1.60010826587677, -1.801321268081665, -0.42013421654701233, -5.992112619424006e-06, -0.0004133359179832041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9431052207946777, -1.3789868354797363, 1.6265418529510498, -1.364068865776062, 1.6569786071777344, 0.39342400431632996, -0.3460731506347656, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06981471971324937, -0.9974909742976318, -0.01173290697660579, -33.799171447753906], [0.9975479506058811, 0.06986679926291295, -0.004088594228167736, 11.147080421447754], [0.004898076496667656, -0.011418693249101811, 0.9999228081662682, 0.27608439326286316], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404396533966064, -1.149531364440918, -1.6001068353652954, -1.801321268081665, -0.420134574174881, -8.029430318856612e-06, -0.0004027897957712412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9425181746482849, -1.368862509727478, 1.627314567565918, -1.3496136665344238, 1.7317310571670532, 0.38626259565353394, -0.34827500581741333, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06979832028130684, -0.9974921025240927, -0.011734559555983414, -33.79935836791992], [0.9975488944835387, 0.06985088076519341, -0.0041300812336164845, 11.146512985229492], [0.004939392733692463, -0.011417524179590723, 0.9999226182765498, 0.2764863669872284], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740434169769287, -1.1495310068130493, -1.600082516670227, -1.8012995719909668, -0.42013517022132874, -1.0066748473036569e-05, -0.00039523973828181624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9419133067131042, -1.3612626791000366, 1.628844976425171, -1.335107684135437, 1.7989799976348877, 0.37979206442832947, -0.34756505489349365, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973177815722864, -0.9974968295202027, -0.011728350786657599, -33.80006790161133], [0.9975535450384942, 0.06978432514692678, -0.004131917826012045, 11.144255638122559], [0.0049400299760183515, -0.01141153192747793, 0.999922683532534, 0.27670174837112427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7504511475563049, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7404329776763916, -1.1495306491851807, -1.6000770330429077, -1.8013017177581787, -0.42013660073280334, -1.2583435818669386e-05, -0.00037151097785681486, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9432474374771118, -1.349689245223999, 1.6233100891113281, -1.3281712532043457, 1.8303383588790894, 0.38014763593673706, -0.346467524766922, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697274430853585, -0.997497031553188, -0.011736938414946389, -33.79990768432617], [0.9975539003455085, 0.06977990496745934, -0.004120772766766525, 11.14411735534668], [0.004929461049758708, -0.011420897745382394, 0.9999226287610699, 0.2762831449508667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7404385805130005, -1.1495301723480225, -1.6000792980194092, -1.8013049364089966, -0.4201364815235138, -1.3662016499438323e-05, -0.00036575854755938053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9427105784416199, -1.3398991823196411, 1.6124045848846436, -1.3246623277664185, 1.8456302881240845, 0.3731447756290436, -0.3360803425312042, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06977759487208168, -0.9974937004356783, -0.011721981274721063, -33.79917907714844], [0.9975504408707383, 0.069829881645874, -0.00411163567437563, 11.145812034606934], [0.004919875248745216, -0.011406367540128356, 0.9999228418268463, 0.2767001688480377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7404383420944214, -1.1495296955108643, -1.600080132484436, -1.8013055324554443, -0.4201352894306183, -1.4381070286617614e-05, -0.0003626426332630217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9474455118179321, -1.333294153213501, 1.6040239334106445, -1.3304154872894287, 1.8375415802001953, 0.3691258728504181, -0.3265901505947113, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0698126536018997, -0.9974911885781993, -0.011726981960960751, -33.7989501953125], [0.9975479736403452, 0.06986499153103187, -0.004113787112908804, 11.147005081176758], [0.004922771892200169, -0.011411032697367816, 0.9999227743429374, 0.2765653133392334], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.740439772605896, -1.1495296955108643, -1.6000828742980957, -1.801310658454895, -0.4201328754425049, -1.4980280866438989e-05, -0.00036827524309046566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9474312663078308, -1.3254828453063965, 1.5992659330368042, -1.3313921689987183, 1.8407666683197021, 0.37106993794441223, -0.32530099153518677, 0.045600011846521404, 0.045600011846521404, 0.045600011846521404, 0.045600011846521404, -0.045600011846521404, -0.045600011846521404, -0.045600011846521404, 0.045600011846521404, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06979303758921862, -0.9974925472722178, -0.01172817293750737, -33.799095153808594], [0.9975494095928515, 0.06984523485708993, -0.004101047270062613, 11.146341323852539], [0.004909921081163299, -0.011413207443138694, 0.9999228127064792, 0.2763780355453491], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7404403686523438, -1.1495293378829956, -1.6000821590423584, -1.8013155460357666, -0.42012763023376465, -1.689775672275573e-05, -0.0003561711637303233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9429696202278137, -1.3136818408966064, 1.5993469953536987, -1.328934907913208, 1.8508449792861938, 0.36416175961494446, -0.31799229979515076, 0.16500001006074005, 0.16500001006074005, 0.16500001006074005, 0.16500001006074005, -0.16500001006074005, -0.16500001006074005, -0.16500001006074005, 0.16500001006074005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975150146836118, -0.9974953440798748, -0.011737400984943101, -33.79955291748047], [0.9975524281306688, 0.06980347539778953, -0.004077738711234691, 11.144942283630371], [0.004886836759717341, -0.011424244454769014, 0.9999227997526217, 0.27579402923583984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.740439772605896, -1.149529218673706, -1.6000832319259644, -1.8013226985931396, -0.42012354731559753, -1.593901833985001e-05, -0.0003695935010910034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.939849317073822, -1.3055236339569092, 1.597719430923462, -1.3326356410980225, 1.855859398841858, 0.36600494384765625, -0.31531885266304016, 0.5237999991401211, 0.5237999991401211, 0.5237999991401211, 0.5237999991401211, -0.5237999991401211, -0.5237999991401211, -0.5237999991401211, 0.5237999991401211, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974504764964196, -0.9974957330335553, -0.011742695951069563, -33.79967498779297], [0.9975528392350217, 0.06979713750821903, -0.0040856492514550575, 11.1447172164917], [0.00489502425901217, -0.011429005884540577, 0.9999227052937616, 0.2757025361061096], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.74043869972229, -1.1495293378829956, -1.600083827972412, -1.80132257938385, -0.4201204180717468, -1.4620753972849343e-05, -0.0003733086050488055, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9511697292327881, -1.3014544248580933, 1.5931214094161987, -1.3570624589920044, 1.8502483367919922, 0.37360185384750366, -0.31968003511428833, 0.5783999988665948, 0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -0.5783999988665948, -0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973210988505629, -0.9974967006454343, -0.01173733583276789, -33.799827575683594], [0.9975537509680983, 0.06978416180229408, -0.0040846898326107346, 11.144282341003418], [0.004893544774070897, -0.011423789346095892, 0.9999227721461894, 0.2758691906929016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7404396533966064, -1.1495293378829956, -1.6000864505767822, -1.8013232946395874, -0.4201187491416931, -1.2343751222942956e-05, -0.0003725895658135414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9767544865608215, -1.2978322505950928, 1.5919755697250366, -1.3842042684555054, 1.8451967239379883, 0.3863403797149658, -0.32786107063293457, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975288800434842, -0.9974951347365927, -0.011746948194308068, -33.7995719909668], [0.9975523130532505, 0.0698049432503095, -0.004080762175212955, 11.144989013671875], [0.004890535467860038, -0.011433550395568709, 0.9999226753045405, 0.2755046784877777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404403686523438, -1.149529218673706, -1.6000921726226807, -1.8013238906860352, -0.42011743783950806, -8.269114914583042e-06, -0.00037414749385789037, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0208721160888672, -1.292510747909546, 1.6042426824569702, -1.4283311367034912, 1.832809329032898, 0.39599043130874634, -0.335807204246521, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06978983967629682, -0.9974927513589468, -0.01172984502520162, -33.7991828918457], [0.9975496379616924, 0.06984203328137539, -0.00410002312430079, 11.146235466003418], [0.004908979573529607, -0.011414962701722571, 0.9999227972929035, 0.27630963921546936], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740437388420105, -1.1495290994644165, -1.6000995635986328, -1.8013240098953247, -0.42011743783950806, -5.273058832244715e-06, -0.00038121818215586245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.066752552986145, -1.2831692695617676, 1.6230589151382446, -1.4769022464752197, 1.8038561344146729, 0.4232332110404968, -0.3356632888317108, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973988543753273, -0.9974961178622032, -0.011740665611184023, -33.79973220825195], [0.9975531733658829, 0.06979202983610966, -0.00409131751548758, 11.144545555114746], [0.004900478223272037, -0.011426610223045638, 0.9999227059588125, 0.27583256363868713], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404378652572632, -1.1495294570922852, -1.6001012325286865, -1.801326036453247, -0.420116126537323, -3.7151096421439433e-06, -0.0003953595878556371, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0709978342056274, -1.2796618938446045, 1.6264288425445557, -1.4772744178771973, 1.8005017042160034, 0.4268134832382202, -0.33520129323005676, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972914505329142, -0.9974967469897784, -0.011751003146418377, -33.79963302612305], [0.9975538962956708, 0.06978139767972469, -0.0040964036898575, 11.144184112548828], [0.004906150778685698, -0.011436620247005426, 0.9999225637027412, 0.275536447763443], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740439772605896, -1.1495294570922852, -1.6001029014587402, -1.8013269901275635, -0.42011550068855286, -2.8762140118487878e-06, -0.00040386838372796774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.066744327545166, -1.2800883054733276, 1.6249421834945679, -1.4744324684143066, 1.8021067380905151, 0.42643648386001587, -0.3351925313472748, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971344589321538, -0.9974980341831576, -0.011734873771369511, -33.79995346069336], [0.9975550638828795, 0.0697654694544717, -0.00408335565699774, 11.14365291595459], [0.0048918282183744825, -0.011421517960999172, 0.9999228064926554, 0.27593231201171875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740439772605896, -1.149528980255127, -1.6001039743423462, -1.801326036453247, -0.4201156198978424, -3.235740678064758e-06, -0.0004099803336430341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0640069246292114, -1.2808444499969482, 1.6245107650756836, -1.4744510650634766, 1.8023945093154907, 0.42641130089759827, -0.3349822163581848, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974746958504174, -0.9974956076532787, -0.011738960724872814, -33.7996711730957], [0.9975527197652181, 0.06979942745126921, -0.004075686014793363, 11.144807815551758], [0.004884851635399334, -0.011425963411958973, 0.9999227898115978, 0.27571815252304077], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404401302337646, -1.1495288610458374, -1.6001038551330566, -1.801326870918274, -0.42011573910713196, -2.996056309712003e-06, -0.000417170871514827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0643590688705444, -1.2806329727172852, 1.6264885663986206, -1.4731905460357666, 1.8065195083618164, 0.42665398120880127, -0.3370146155357361, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697654674086382, -0.9974942176828107, -0.011750116876521744, -33.79936218261719], [0.9975514756657318, 0.06981743568723275, -0.004071740559039591, 11.145419120788574], [0.004881900692890593, -0.011437279546150977, 0.9999226748515146, 0.27530136704444885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740441918373108, -1.1495283842086792, -1.6001108884811401, -1.8013272285461426, -0.4201177954673767, -4.194478606223129e-06, -0.0004290352517273277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0522760152816772, -1.279547095298767, 1.6566962003707886, -1.4408162832260132, 1.8751088380813599, 0.43599581718444824, -0.3914676904678345, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969084744060838, -0.9974994171195339, -0.011751537312179018, -33.80020523071289], [0.9975566330675547, 0.06974296387345591, -0.004084459948334302, 11.142890930175781], [0.004893833459932417, -0.011438174519368403, 0.9999226062839718, 0.2753751873970032], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404441833496094, -1.1495275497436523, -1.600116491317749, -1.801326870918274, -0.42011886835098267, -6.950850547582377e-06, -0.000453602900961414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0219752788543701, -1.2698429822921753, 1.6735830307006836, -1.390526533126831, 1.9476231336593628, 0.4445388913154602, -0.42053890228271484, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697069819792393, -0.9974982489672446, -0.011754997687237244, -33.800018310546875], [0.9975554246141762, 0.06975930075362591, -0.004100583031225747, 11.14342975616455], [0.0049103448124146395, -0.01144042244176858, 0.9999224996209342, 0.2754429578781128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740444540977478, -1.1495274305343628, -1.600117802619934, -1.8013263940811157, -0.4201207756996155, -9.467537893215194e-06, -0.00045468148891814053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9843664765357971, -1.263805627822876, 1.6670286655426025, -1.353338360786438, 1.9792022705078125, 0.44635653495788574, -0.43531113862991333, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697369638677805, -0.9974963402900408, -0.011739121708164237, -33.79972457885742], [0.9975533934536098, 0.06978906520237826, -0.004088225454366458, 11.144449234008789], [0.004897252259320859, -0.011425300265349677, 0.9999227367322713, 0.275849312543869], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404496669769287, -1.149527668952942, -1.6001160144805908, -1.801327109336853, -0.42012259364128113, -1.1744540643121582e-05, -0.00045540055725723505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9449633359909058, -1.2618374824523926, 1.6436865329742432, -1.3147181272506714, 2.002049207687378, 0.44686585664749146, -0.4341396987438202, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973044563472863, -0.9974967097465931, -0.01174644611374655, -33.79976272583008], [0.9975538319594792, 0.06978261748988313, -0.004091288210267923, 11.144227027893066], [0.004900744284388379, -0.011432424982551311, 0.9999226381898139, 0.27563416957855225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404507398605347, -1.1495273113250732, -1.6001158952713013, -1.8013288974761963, -0.4201248586177826, -1.545965096738655e-05, -0.0004527640121523291, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.913375973701477, -1.2616474628448486, 1.617859959602356, -1.2803226709365845, 2.0110912322998047, 0.4467680752277374, -0.42774516344070435, 0.5381999982582343, 0.5381999982582343, 0.5381999982582343, 0.5381999982582343, -0.5381999982582343, -0.5381999982582343, -0.5381999982582343, 0.5381999982582343, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972010777018323, -0.9974973014618533, -0.011757557094663048, -33.799930572509766], [0.9975545837150361, 0.06977225778554685, -0.004084672891198732, 11.143879890441895], [0.004894801490862238, -0.011444021138892046, 0.9999225346488285, 0.2751814126968384], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404580116271973, -1.149526596069336, -1.60011625289917, -1.8013248443603516, -0.42013275623321533, -2.1451762222568505e-05, -0.00044125915155746043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8973190784454346, -1.2613438367843628, 1.603845238685608, -1.2631877660751343, 2.025052547454834, 0.4467495083808899, -0.42481717467308044, 0.32640000201843594, 0.32640000201843594, 0.32640000201843594, 0.32640000201843594, -0.32640000201843594, -0.32640000201843594, -0.32640000201843594, 0.32640000201843594, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697423781932186, -0.9974960705449932, -0.011729873454209198, -33.79967498779297], [0.997553021070447, 0.06979442691475968, -0.0040875573224899734, 11.14462661743164], [0.0048960021628303456, -0.01141609473234887, 0.999922847995726, 0.27615660429000854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404576539993286, -1.14952552318573, -1.6001145839691162, -1.8013232946395874, -0.42013564705848694, -2.0253339243936352e-05, -0.0004345479828771204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8867479562759399, -1.2598679065704346, 1.5968496799468994, -1.24785315990448, 2.036470651626587, 0.4473591446876526, -0.4225061237812042, 0.2442000027541276, 0.2442000027541276, 0.2442000027541276, 0.2442000027541276, -0.2442000027541276, -0.2442000027541276, -0.2442000027541276, 0.2442000027541276, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.069733145717222, -0.9974965484177997, -0.011744116950906287, -33.79975509643555], [0.9975536426016292, 0.06978530925230031, -0.004091545524816642, 11.144319534301758], [0.004900869372013072, -0.01143007030322542, 0.9999226644957407, 0.2757168114185333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404605150222778, -1.149520754814148, -1.600114107131958, -1.8013217449188232, -0.42013517022132874, -1.9054918084293604e-05, -0.00043514720164239407, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.883743405342102, -1.2571395635604858, 1.5919768810272217, -1.2410762310028076, 2.044893741607666, 0.44815248250961304, -0.4191790521144867, 0.15719998904636925, 0.15719998904636925, 0.15719998904636925, 0.15719998904636925, -0.15719998904636925, -0.15719998904636925, -0.15719998904636925, 0.15719998904636925, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974489661530814, -0.9974957630178464, -0.011741045846282234, -33.79965591430664], [0.9975527928074217, 0.06979711260009536, -0.0040973936597264215, 11.14471435546875], [0.004906623913969136, -0.011426540777248983, 0.9999226766143634, 0.2758883833885193], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740458369255066, -1.1495182514190674, -1.600112795829773, -1.801321268081665, -0.4201355278491974, -1.737712591420859e-05, -0.00042879555257968605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8769648671150208, -1.25625479221344, 1.5843232870101929, -1.2278562784194946, 2.052311420440674, 0.446692556142807, -0.41239598393440247, 0.1200000097463419, 0.1200000097463419, 0.1200000097463419, 0.1200000097463419, -0.1200000097463419, -0.1200000097463419, -0.1200000097463419, 0.1200000097463419, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06976167792118082, -0.9974945766751029, -0.011742137683516967, -33.79942321777344], [0.99755150670531, 0.06981415894930199, -0.004120034000772659, 11.14527702331543], [0.004929479038129397, -0.01142596665314733, 0.9999225707635836, 0.27610889077186584], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740458607673645, -1.1495171785354614, -1.6001086235046387, -1.8013226985931396, -0.42013636231422424, -1.2703278116532601e-05, -0.0004249606281518936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8648951053619385, -1.2562183141708374, 1.5797078609466553, -1.2096548080444336, 2.0648889541625977, 0.4471053183078766, -0.41080448031425476, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973928925145567, -0.997495880107709, -0.011764382807821149, -33.79964828491211], [0.997553181864509, 0.06979160842835375, -0.004096430760678844, 11.144522666931152], [0.004907228005248346, -0.011449915332896573, 0.9999224062656932, 0.2750866413116455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404563426971436, -1.149517297744751, -1.6001062393188477, -1.8013200759887695, -0.42013660073280334, -7.070692845445592e-06, -0.00041249702917411923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8591747283935547, -1.2557882070541382, 1.5736932754516602, -1.2015379667282104, 2.064769744873047, 0.44623932242393494, -0.4035469591617584, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, -0.03539999343536713, -0.03539999343536713, -0.03539999343536713, 0.03539999343536713, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974024243856503, -0.9974959292551999, -0.011754560983532196, -33.79972839355469], [0.9975531215825513, 0.06979250638604984, -0.004095811673037454, 11.144556999206543], [0.004905935743359173, -0.011440156102894668, 0.9999225243101705, 0.27541378140449524], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404557466506958, -1.14951753616333, -1.6001060009002686, -1.8013203144073486, -0.4201364815235138, -4.194478606223129e-06, -0.0004066247493028641, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8555914759635925, -1.2549360990524292, 1.5715919733047485, -1.196860432624817, 2.0672876834869385, 0.445269912481308, -0.39967474341392517, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404556274414062, -1.1495177745819092, -1.600104808807373, -1.8013206720352173, -0.4201364815235138, -2.6365294161223574e-06, -0.00040266994619742036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8558804988861084, -1.2543535232543945, 1.5707911252975464, -1.1965622901916504, 2.0679128170013428, 0.44470715522766113, -0.3985902965068817, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404544353485107, -1.1495176553726196, -1.6001033782958984, -1.8013203144073486, -0.4201348125934601, -2.277002749906387e-06, -0.00039787625428289175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8657633066177368, -1.2530113458633423, 1.5726630687713623, -1.2100651264190674, 2.068838596343994, 0.4417382776737213, -0.399260550737381, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404543161392212, -1.1495176553726196, -1.6001019477844238, -1.8013213872909546, -0.4201321601867676, -2.6365294161223574e-06, -0.00038900793879292905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8826661109924316, -1.2523044347763062, 1.5831378698349, -1.2307000160217285, 2.074409246444702, 0.4406736195087433, -0.4050304889678955, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404530048370361, -1.1495178937911987, -1.6001008749008179, -1.8013229370117188, -0.4201306104660034, -3.4754252737911884e-06, -0.000379300705390051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9013685584068298, -1.2523179054260254, 1.5966589450836182, -1.2523066997528076, 2.0885770320892334, 0.43940818309783936, -0.414725124835968, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404520511627197, -1.1495176553726196, -1.6001008749008179, -1.8013240098953247, -0.4201287031173706, -4.6738477976759896e-06, -0.00037211019662208855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9156036972999573, -1.2523610591888428, 1.6054326295852661, -1.2718546390533447, 2.0939321517944336, 0.43562430143356323, -0.4207468330860138, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404528856277466, -1.14951753616333, -1.6000994443893433, -1.801326036453247, -0.4201255738735199, -7.550061582151102e-06, -0.0003727093862835318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9272276759147644, -1.2523565292358398, 1.6136711835861206, -1.2880851030349731, 2.097261428833008, 0.43498313426971436, -0.4281439781188965, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404522895812988, -1.1495174169540405, -1.6000996828079224, -1.801327109336853, -0.4201210141181946, -9.946907084668055e-06, -0.00037390782381407917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9434493780136108, -1.250835657119751, 1.6205310821533203, -1.310935616493225, 2.0954086780548096, 0.4325788617134094, -0.43298274278640747, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404522895812988, -1.1495176553726196, -1.6000996828079224, -1.8013275861740112, -0.4201180338859558, -1.1744540643121582e-05, -0.00037450704257935286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9661195874214172, -1.247396469116211, 1.631431221961975, -1.341181755065918, 2.1009652614593506, 0.43339475989341736, -0.4421173632144928, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740451693534851, -1.1495174169540405, -1.6000999212265015, -1.801329493522644, -0.4201166033744812, -1.3901701095164753e-05, -0.00037450704257935286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.989310622215271, -1.2428580522537231, 1.6418241262435913, -1.370315670967102, 2.103581666946411, 0.43410661816596985, -0.4504256546497345, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404530048370361, -1.1495171785354614, -1.6001008749008179, -1.8013309240341187, -0.4201170802116394, -1.5339808669523336e-05, -0.000374387193005532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.009980320930481, -1.2418301105499268, 1.6571820974349976, -1.3964430093765259, 2.1109304428100586, 0.43612560629844666, -0.45962080359458923, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404522895812988, -1.1495169401168823, -1.600101351737976, -1.8013304471969604, -0.42011672258377075, -1.5100123164302204e-05, -0.0003783419670071453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.034577488899231, -1.239125370979309, 1.6692302227020264, -1.4249467849731445, 2.11592435836792, 0.43607717752456665, -0.46467167139053345, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404530048370361, -1.1495164632797241, -1.6001017093658447, -1.801331877708435, -0.4201163649559021, -1.4740596270712558e-05, -0.00038661109283566475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0511021614074707, -1.236920714378357, 1.6816262006759644, -1.4435406923294067, 2.1270153522491455, 0.4358697235584259, -0.4740425944328308, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404539585113525, -1.1495168209075928, -1.6001031398773193, -1.8013321161270142, -0.4201158583164215, -1.4381070286617614e-05, -0.00039320241194218397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.059025764465332, -1.2366678714752197, 1.688715934753418, -1.4465819597244263, 2.13502836227417, 0.44044315814971924, -0.4755527377128601, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973429864383063, -0.9974964495363592, -0.011745669628021187, -33.79975509643555], [0.9975534725156847, 0.0697866768079688, -0.0041096486466809645, 11.1443510055542], [0.004919051184130055, -0.01143035005840568, 0.999922572018949, 0.27586594223976135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404536008834839, -1.1495164632797241, -1.600103735923767, -1.8013312816619873, -0.4201166033744812, -1.3182647307985462e-05, -0.0004033890145365149, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0716147422790527, -1.234400987625122, 1.6960530281066895, -1.459430456161499, 2.1389386653900146, 0.44316476583480835, -0.4761461913585663, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06986211708010281, -0.9974875408004351, -0.01174268048558296, -33.798213958740234], [0.9975445301851931, 0.0699144709312779, -0.0041081689354421835, 11.148680686950684], [0.00491883062207154, -0.011426841308952983, 0.9999226132071478, 0.27598485350608826], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404539585113525, -1.1495164632797241, -1.600104570388794, -1.8013310432434082, -0.4201175570487976, -1.1145329153805505e-05, -0.0004106994019821286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0927705764770508, -1.230777382850647, 1.70796537399292, -1.481262445449829, 2.1467673778533936, 0.44557708501815796, -0.48060086369514465, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06985474278969883, -0.997488011871436, -0.011746534916924036, -33.79827117919922], [0.9975451499634943, 0.06990687235057913, -0.00408692824372104, 11.148439407348633], [0.004897825445489547, -0.011432207613989323, 0.9999226549763618, 0.2756161391735077], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.740453839302063, -1.1495165824890137, -1.6001049280166626, -1.8013309240341187, -0.4201204180717468, -8.508799510309473e-06, -0.0004189684987068176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1092414855957031, -1.2282768487930298, 1.7213473320007324, -1.4983282089233398, 2.1579749584198, 0.4493470788002014, -0.4872409403324127, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06988070142428993, -0.9974863432860247, -0.01173381976699169, -33.79790115356445], [0.997543416570868, 0.06993257902449523, -0.004070190057307765, 11.149320602416992], [0.004880535274857389, -0.011420566923656839, 0.999922872538964, 0.2758663296699524], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.740453839302063, -1.1495167016983032, -1.6001062393188477, -1.8013287782669067, -0.4201219975948334, -5.63258572583436e-06, -0.0004337090940680355, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1216950416564941, -1.2253947257995605, 1.7297117710113525, -1.5121493339538574, 2.166494607925415, 0.44976305961608887, -0.4928091764450073, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06987041395865379, -0.9974868288813225, -0.011753784987381811, -33.79800796508789], [0.9975442258557184, 0.06992216551504393, -0.004050707543427468, 11.148979187011719], [0.004862377521535066, -0.011441895733227635, 0.9999227171671159, 0.2749708890914917], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404536008834839, -1.1495170593261719, -1.6001068353652954, -1.801328182220459, -0.4201250970363617, -4.314320904086344e-06, -0.0004418583703227341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1317495107650757, -1.2231799364089966, 1.738161563873291, -1.5229647159576416, 2.1730024814605713, 0.4507223963737488, -0.4984314739704132, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06988788313414607, -0.9974856800465878, -0.011747420696658174, -33.79781723022461], [0.9975428933676946, 0.06993986271363939, -0.004073265913914515, 11.149563789367676], [0.0048846374109152435, -0.011433884099185974, 0.9999227003182647, 0.2754429876804352], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6094539165496826, -0.8126102685928345, 0.0, 0.0, 1.7405776977539062, -1.1495164632797241, -1.600294828414917, -1.801315426826477, -0.4201275110244751, -4.6738477976759896e-06, -0.0004455734742805362, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1481058597564697, -1.2071856260299683, 1.7775499820709229, -1.5078374147415161, 2.1595985889434814, 0.4238780736923218, -0.5120159387588501, 0.027600011720762183, 0.027600011720762183, 0.027600011720762183, 0.027600011720762183, -0.027600011720762183, -0.027600011720762183, -0.027600011720762183, 0.027600011720762183, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969764136396361, -0.9974987840157897, -0.011764976639225072, -33.799930572509766], [0.9975565175917607, 0.06974896525403584, -0.004009495752678991, 11.14313793182373], [0.0048200620846376215, -0.011456776728753221, 0.9999227516505901, 0.27408671379089355], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7494925260543823, 1.6094539165496826, -0.8126102685928345, 0.0, 0.0, 1.740524172782898, -1.1495165824890137, -1.6002614498138428, -1.8013155460357666, -0.4201315641403198, -4.6738477976759896e-06, -0.00044689173228107393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1765480041503906, -1.1806131601333618, 1.8040385246276855, -1.5075527429580688, 2.1537203788757324, 0.407684862613678, -0.520512044429779, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, -0.06539998054504394, -0.06539998054504394, -0.06539998054504394, 0.06539998054504394, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06964188634362056, -0.9975029956841113, -0.011738026568639492, -33.80101013183594], [0.9975604594680673, 0.06969299221316139, -0.0040020672451397754, 11.14124584197998], [0.004810132260202259, -0.011430679664834843, 0.9999230981380715, 0.274900883436203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6094539165496826, -0.8126102685928345, 0.0, 0.0, 1.7404555082321167, -1.1495164632797241, -1.6000545024871826, -1.8013161420822144, -0.4201337397098541, -6.591323653992731e-06, -0.00044497428461909294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.189508318901062, -1.181962251663208, 1.8076517581939697, -1.5277972221374512, 2.1539466381073, 0.40705031156539917, -0.5288636088371277, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, -0.07920001470125641, -0.07920001470125641, -0.07920001470125641, 0.07920001470125641, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971429648083205, -0.9974980114261621, -0.011731754644325621, -33.799964904785156], [0.9975554291783919, 0.06976530659223645, -0.003995962062582551, 11.143701553344727], [0.004804433670786751, -0.0114244998552788, 0.999923196160665, 0.27506324648857117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7404571771621704, -1.1495163440704346, -1.600034236907959, -1.8013172149658203, -0.42013493180274963, -7.909588020993397e-06, -0.0004521647933870554, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.200723648071289, -1.1875944137573242, 1.8107669353485107, -1.5467443466186523, 2.155148506164551, 0.4091169834136963, -0.536694347858429, 0.12180001761887099, 0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -0.12180001761887099, -0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972316554352376, -0.997497138319647, -0.011753264682869755, -33.79976272583008], [0.9975548764189411, 0.06977410106511484, -0.003980371006094087, 11.144011497497559], [0.004790482165856944, -0.011447002431656703, 0.9999230057439163, 0.2741650938987732], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7404614686965942, -1.1495161056518555, -1.6000348329544067, -1.8013149499893188, -0.42013564705848694, -1.0665959962352645e-05, -0.0004442552162799984, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.209192156791687, -1.1876693964004517, 1.8164446353912354, -1.5538549423217773, 2.156891107559204, 0.4137345254421234, -0.5454915761947632, 0.48299999918256487, 0.48299999918256487, 0.48299999918256487, 0.48299999918256487, -0.48299999918256487, -0.48299999918256487, -0.48299999918256487, 0.48299999918256487, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971137566707386, -0.9974980281100317, -0.011747681439441243, -33.80000305175781], [0.9975556838644509, 0.06976232923554138, -0.003984345537196423, 11.143611907958984], [0.004793922436994996, -0.011441212183612597, 0.9999230555254928, 0.274395614862442], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7404600381851196, -1.1495157480239868, -1.600034475326538, -1.801315188407898, -0.4201348125934601, -1.2942962712259032e-05, -0.0004447345854714513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2179819345474243, -1.1862246990203857, 1.8177490234375, -1.5675489902496338, 2.1594133377075195, 0.4142468273639679, -0.5508384704589844, 0.5700000006091464, 0.5700000006091464, 0.5700000006091464, 0.5700000006091464, -0.5700000006091464, -0.5700000006091464, -0.5700000006091464, 0.5700000006091464, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969597844750164, -0.9974992146222869, -0.011738288468355252, -33.80015563964844], [0.9975568805961269, 0.06974660663707188, -0.003959903778943385, 11.143095970153809], [0.004768706697870704, -0.011433621059598532, 0.9999232629286585, 0.27443599700927734], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7404602766036987, -1.1495153903961182, -1.6000365018844604, -1.8013159036636353, -0.4201350510120392, -1.3781858797301538e-05, -0.00043838293640874326, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2274715900421143, -1.186126708984375, 1.819407343864441, -1.5917987823486328, 2.1710445880889893, 0.4137723743915558, -0.5605350136756897, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968586144811173, -0.9974998635939494, -0.011743204174637775, -33.80027770996094], [0.9975575801702088, 0.06973652720087054, -0.003961189079024282, 11.142751693725586], [0.0047702158433465675, -0.011438483466565692, 0.9999232001192857, 0.27428221702575684], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404614686965942, -1.14951491355896, -1.600037693977356, -1.8013163805007935, -0.4201348125934601, -1.5219965462165419e-05, -0.00042591936653479934, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2350125312805176, -1.1861436367034912, 1.8148380517959595, -1.6181117296218872, 2.1918420791625977, 0.4158601462841034, -0.5766372680664062, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968039763875256, -0.9975002875804058, -0.01173961080755921, -33.80031204223633], [0.9975580975029855, 0.06973072331262697, -0.003932980106962901, 11.142571449279785], [0.004741760340763346, -0.011436892204855775, 0.9999233536654524, 0.2740875482559204], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404627799987793, -1.1495143175125122, -1.6000392436981201, -1.8013168573379517, -0.42013469338417053, -1.4980280866438989e-05, -0.00041369543760083616, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.23641037940979, -1.1873589754104614, 1.7974798679351807, -1.6429740190505981, 2.2248921394348145, 0.416266530752182, -0.5988714694976807, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971885809833467, -0.9974975404942077, -0.01174468107148158, -33.79988479614258], [0.9975554286030528, 0.06976915664788241, -0.003928313279621701, 11.143877983093262], [0.004737899328168998, -0.011442092843960219, 0.9999233124701645, 0.27387407422065735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404663562774658, -1.1495133638381958, -1.6000430583953857, -1.8013174533843994, -0.4201333820819855, -1.450091258448083e-05, -0.0004036286845803261, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2323687076568604, -1.191880226135254, 1.7735259532928467, -1.6591908931732178, 2.2509069442749023, 0.41435325145721436, -0.6125752329826355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971666957927325, -0.997497627206691, -0.011750306370304452, -33.79991149902344], [0.9975556596622288, 0.06976680138228342, -0.003911432057529173, 11.14381217956543], [0.004721425487083544, -0.011448892606125808, 0.9999233125592498, 0.2734951674938202], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.740470051765442, -1.1495137214660645, -1.6000466346740723, -1.8013193607330322, -0.4201303720474243, -1.2942962712259032e-05, -0.00039619847666472197, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2191904783248901, -1.196674108505249, 1.7447509765625, -1.6615082025527954, 2.266357898712158, 0.40786510705947876, -0.6154696345329285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697282035181147, -0.9974970973768639, -0.011726822198174062, -33.79977798461914], [0.9975547478541974, 0.06977849744233477, -0.003935267238555401, 11.14419174194336], [0.004743697680623283, -0.01142374804612237, 0.9999234947299186, 0.2745579779148102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404758930206299, -1.1495137214660645, -1.6000545024871826, -1.801321268081665, -0.4201270043849945, -1.0426275366626214e-05, -0.0003855325048789382, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1923848390579224, -1.2017614841461182, 1.7220522165298462, -1.6497483253479004, 2.281233310699463, 0.39621248841285706, -0.6135618686676025, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972528698761105, -0.9974972758796066, -0.011728979804701436, -33.799808502197266], [0.9975549783560794, 0.06977552542438059, -0.003929530347697962, 11.144095420837402], [0.0047380915458799504, -0.011426314563998067, 0.9999234919852555, 0.27441924810409546], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7404823303222656, -1.1495133638381958, -1.6000596284866333, -1.801323652267456, -0.42012497782707214, -8.508799510309473e-06, -0.00037714355858042836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1607933044433594, -1.2045013904571533, 1.7012008428573608, -1.6271038055419922, 2.286621332168579, 0.38814735412597656, -0.6079073548316956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968876360032039, -0.9974997172180907, -0.01173841461559513, -33.80025100708008], [0.9975575409859354, 0.06973901664119564, -0.003927082888458382, 11.142855644226074], [0.004735889562947482, -0.011436070467953802, 0.9999233908866717, 0.2740636467933655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7404927015304565, -1.1495137214660645, -1.6000661849975586, -1.801323413848877, -0.4201214909553528, -6.351639058266301e-06, -0.000356770382495597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1327399015426636, -1.2072229385375977, 1.6812063455581665, -1.6008026599884033, 2.2826082706451416, 0.3830074369907379, -0.5981078743934631, 0.5256000021001794, 0.5256000021001794, 0.5256000021001794, 0.5256000021001794, -0.5256000021001794, -0.5256000021001794, -0.5256000021001794, 0.5256000021001794, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06970713227102787, -0.9974985098247354, -0.011731948175034052, -33.800045013427734], [0.9975561994812348, 0.06975749856155244, -0.003939577514136748, 11.143474578857422], [0.0047481140576345875, -0.01142866098312788, 0.9999234176280843, 0.27442675828933716], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.740496277809143, -1.1495137214660645, -1.6000759601593018, -1.801326870918274, -0.4201180338859558, -4.314320904086344e-06, -0.0003578489413484931, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1052424907684326, -1.211029291152954, 1.6645300388336182, -1.5638537406921387, 2.2651145458221436, 0.3773530423641205, -0.585105836391449, 0.40380000648917735, 0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697322761056457, -0.9974967393130749, -0.01173306136136528, -33.79973220825195], [0.9975545017721565, 0.06978250126291685, -0.0039266412614146215, 11.144329071044922], [0.004735574223980618, -0.011430554547990093, 0.9999234554502132, 0.2742513120174408], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.74051833152771, -1.1495131254196167, -1.6001757383346558, -1.801327109336853, -0.42011240124702454, -1.917476083690417e-06, -0.00036048548645339906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0865989923477173, -1.2136127948760986, 1.654803991317749, -1.531146764755249, 2.2651326656341553, 0.37668097019195557, -0.5804359316825867, 0.32339999544751513, 0.32339999544751513, 0.32339999544751513, 0.32339999544751513, -0.32339999544751513, -0.32339999544751513, -0.32339999544751513, 0.32339999544751513, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968315445122453, -0.9974999800214085, -0.011749376282007772, -33.800323486328125], [0.9975580435244162, 0.06973318279645413, -0.0039029497582015542, 11.142681121826172], [0.004712513709848181, -0.011448714965695725, 0.9999233566329815, 0.27342283725738525], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405182123184204, -1.1495128870010376, -1.6001836061477661, -1.8013298511505127, -0.420112282037735, -2.3968450477696024e-06, -0.0003664775867946446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0854374170303345, -1.2155990600585938, 1.6502459049224854, -1.5256661176681519, 2.253563642501831, 0.3739054203033447, -0.5703129768371582, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973339498535092, -0.9974968447458316, -0.011717437686078571, -33.799800872802734], [0.9975546881208277, 0.06978291692588323, -0.003871525987690246, 11.144383430480957], [0.004679511937704343, -0.011418810245615689, 0.9999238535711604, 0.27416548132896423], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405184507369995, -1.1495130062103271, -1.6001837253570557, -1.8013293743133545, -0.4201118052005768, -3.5952675716544036e-06, -0.0003674363251775503, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0854438543319702, -1.216591715812683, 1.6526086330413818, -1.52102792263031, 2.25522518157959, 0.3741838037967682, -0.5694419741630554, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, -0.22320001570733042, -0.22320001570733042, -0.22320001570733042, 0.22320001570733042, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405133247375488, -1.1495133638381958, -1.6001818180084229, -1.8013296127319336, -0.420112282037735, -6.111954917287221e-06, -0.0003677958738990128, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0848603248596191, -1.2174830436706543, 1.6564780473709106, -1.519336223602295, 2.260169744491577, 0.3764001727104187, -0.5733968615531921, 0.13140000720600503, 0.13140000720600503, 0.13140000720600503, 0.13140000720600503, -0.13140000720600503, -0.13140000720600503, -0.13140000720600503, 0.13140000720600503, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405129671096802, -1.1495131254196167, -1.6001806259155273, -1.801329493522644, -0.4201125204563141, -9.108010999625549e-06, -0.00037354830419644713, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0795360803604126, -1.2176886796951294, 1.6596770286560059, -1.519602656364441, 2.26460337638855, 0.3764744699001312, -0.5703243613243103, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, -0.052200014512617555, -0.052200014512617555, -0.052200014512617555, 0.052200014512617555, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740511417388916, -1.1495131254196167, -1.6001778841018677, -1.8013283014297485, -0.42011287808418274, -1.1145329153805505e-05, -0.0003832555084954947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0817495584487915, -1.2179198265075684, 1.664336919784546, -1.5279805660247803, 2.2649219036102295, 0.37727081775665283, -0.5732813477516174, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7405078411102295, -1.1495130062103271, -1.6001757383346558, -1.8013273477554321, -0.42011335492134094, -1.2223909834574442e-05, -0.00039044604636728764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0942717790603638, -1.21792471408844, 1.6725090742111206, -1.5396472215652466, 2.264094591140747, 0.3818550407886505, -0.5731872320175171, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740505337715149, -1.149512767791748, -1.600172519683838, -1.8013279438018799, -0.42011526226997375, -1.4261227988754399e-05, -0.000399913580622524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.113946557044983, -1.2175801992416382, 1.688387393951416, -1.5631215572357178, 2.2674949169158936, 0.3879298269748688, -0.5817874073982239, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404993772506714, -1.149512529373169, -1.600167989730835, -1.8013266324996948, -0.42011886835098267, -1.761681050993502e-05, -0.0004087819252163172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1452463865280151, -1.215040683746338, 1.7125705480575562, -1.5994499921798706, 2.2760279178619385, 0.3967985212802887, -0.5959179997444153, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404872179031372, -1.149512767791748, -1.6001616716384888, -1.8013240098953247, -0.42012259364128113, -1.7976337403524667e-05, -0.0004198073875159025, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1855473518371582, -1.2102364301681519, 1.7445170879364014, -1.6439396142959595, 2.282759189605713, 0.4094109535217285, -0.6093212366104126, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404847145080566, -1.1495122909545898, -1.6001535654067993, -1.80132257938385, -0.42012712359428406, -1.7257283616345376e-05, -0.00044018059270456433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2292964458465576, -1.2064297199249268, 1.7833102941513062, -1.6867237091064453, 2.296036720275879, 0.4254224896430969, -0.6195973753929138, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404792308807373, -1.1495119333267212, -1.6001391410827637, -1.8013211488723755, -0.42013072967529297, -1.593901833985001e-05, -0.0004583965928759426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2825902700424194, -1.2007126808166504, 1.8336856365203857, -1.733680248260498, 2.3109936714172363, 0.44763416051864624, -0.6317651867866516, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404803037643433, -1.1495115756988525, -1.6000357866287231, -1.801317572593689, -0.4201321601867676, -1.3662016499438323e-05, -0.0004582767724059522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.332238793373108, -1.194083333015442, 1.8842395544052124, -1.776173710823059, 2.3282830715179443, 0.4658275544643402, -0.6420886516571045, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.740480899810791, -1.1495115756988525, -1.6000040769577026, -1.8013170957565308, -0.4201333820819855, -9.58738019107841e-06, -0.0004561195964924991, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3710758686065674, -1.1896381378173828, 1.928920030593872, -1.8104537725448608, 2.353781223297119, 0.47203224897384644, -0.6595661044120789, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7404811382293701, -1.1495118141174316, -1.600003957748413, -1.8013174533843994, -0.4201340973377228, -7.190535143308807e-06, -0.00045324338134378195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3976106643676758, -1.187672734260559, 1.956943392753601, -1.8338382244110107, 2.3603007793426514, 0.4720613658428192, -0.6657932996749878, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740483283996582, -1.1495113372802734, -1.6000066995620728, -1.8013157844543457, -0.420134574174881, -5.1532165343814995e-06, -0.00044880920904688537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.423752784729004, -1.187376856803894, 1.9854450225830078, -1.8564306497573853, 2.3660993576049805, 0.471392422914505, -0.6681215167045593, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971665662905935, -0.9974977811802265, -0.01173730501396466, -33.79999923706055], [0.997555830404129, 0.06976632445966824, -0.0038762350440561927, 11.143819808959961], [0.004685404485665438, -0.011438378902332071, 0.9999236023181433, 0.27354252338409424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.740465521812439, -1.1495108604431152, -1.6000111103057861, -1.8013113737106323, -0.42013445496559143, -1.3182647080611787e-06, -0.00043598609045147896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.461615800857544, -1.1882927417755127, 2.0139379501342773, -1.9059330224990845, 2.3963606357574463, 0.4793579578399658, -0.6714296340942383, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, -0.12240000714312546, -0.12240000714312546, -0.12240000714312546, 0.12240000714312546, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975541888511749, -0.9974951387233746, -0.011731571054103149, -33.799720764160156], [0.997553021131169, 0.0698053038628711, -0.0038973817736666395, 11.145122528076172], [0.004706545255202088, -0.01143100064945823, 0.9999235874085144, 0.2739832401275635], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.740471601486206, -1.1495107412338257, -1.600015640258789, -1.801313877105713, -0.420134574174881, -1.1984225238848012e-06, -0.0004364654596429318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4965612888336182, -1.1911890506744385, 2.045870304107666, -1.9515317678451538, 2.4161040782928467, 0.4844808578491211, -0.671299934387207, 0.30600000449589326, 0.30600000449589326, 0.30600000449589326, 0.30600000449589326, -0.30600000449589326, -0.30600000449589326, -0.30600000449589326, 0.30600000449589326, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974911757804647, -0.9974955257157627, -0.01173613113925313, -33.79946517944336], [0.9975536133352256, 0.06979865119684614, -0.003864817322441375, 11.144916534423828], [0.0046743041106332185, -0.011437852426697386, 0.9999236602925977, 0.2734634280204773], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7404937744140625, -1.1495110988616943, -1.600027084350586, -1.8013147115707397, -0.4201337397098541, -2.277002749906387e-06, -0.0004299939901102334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5542279481887817, -1.1952909231185913, 2.0907559394836426, -2.0099058151245117, 2.4180948734283447, 0.4930746257305145, -0.6718648672103882, 0.5628000010500896, 0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969371568066329, -0.9974993186070719, -0.011742886061366847, -33.800254821777344], [0.9975574663205492, 0.0697433264692473, -0.0038690827246569887, 11.143044471740723], [0.004678395317748821, -0.011444552915310794, 0.9999235644917163, 0.27326855063438416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.8129937052726746, 0.0, 0.0, 1.7404934167861938, -1.149511456489563, -1.6000306606292725, -1.8013169765472412, -0.4201328754425049, -3.7151096421439433e-06, -0.0004224439326208085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.623392939567566, -1.2043684720993042, 2.1425161361694336, -2.0645532608032227, 2.3678524494171143, 0.5245912075042725, -0.6584932804107666, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, -0.5898000000106108, -0.5898000000106108, -0.5898000000106108, 0.5898000000106108, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06964245171766537, -0.9975029566542347, -0.011737988959485784, -33.8008918762207], [0.9975610193558909, 0.06969211365043404, -0.0038758168907968324, 11.141304969787598], [0.004684184068612287, -0.011439438840929, 0.9999235959105156, 0.27349546551704407], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8129937052726746, 0.0, 0.0, 1.740495204925537, -1.1495113372802734, -1.600032925605774, -1.8013203144073486, -0.4201310873031616, -8.628641808172688e-06, -0.00041369543760083616, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7062922716140747, -1.2216922044754028, 2.1603105068206787, -2.111748218536377, 2.224524736404419, 0.5907906293869019, -0.5659595727920532, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969383132782192, -0.9974993621808002, -0.011738497508038948, -33.80014419555664], [0.9975574080872762, 0.0697435475826731, -0.003880095460061505, 11.143040657043457], [0.0046890772061129755, -0.011439406430428907, 0.9999235733472207, 0.2735420763492584], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6090705394744873, -0.8129937052726746, 0.0, 0.0, 1.740493655204773, -1.1495118141174316, -1.6000540256500244, -1.8013285398483276, -0.42012834548950195, -1.2942962712259032e-05, -0.00038517298526130617, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7924623489379883, -1.245802402496338, 2.113682985305786, -2.129383087158203, 2.046985387802124, 0.6513898372650146, -0.43711093068122864, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06967289112315445, -0.9975008692822173, -0.011734735777257116, -33.80039596557617], [0.9975589428814295, 0.06972241829583081, -0.0038652120596213836, 11.142339706420898], [0.004673726545885412, -0.011436790117955595, 0.9999236751432442, 0.2734951674938202], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8129937052726746, 0.0, 0.0, 1.7404968738555908, -1.1495120525360107, -1.6000550985336304, -1.8013319969177246, -0.4201231896877289, -1.4860438568575773e-05, -0.00038565235445275903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.854582667350769, -1.2736858129501343, 2.0166468620300293, -2.1112923622131348, 1.7627345323562622, 0.650377631187439, -0.2558792531490326, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969266783523409, -0.9974994337153282, -0.01173932653976812, -33.800167083740234], [0.9975574363712351, 0.06974251655339259, -0.003891339775591923, 11.143000602722168], [0.004700339398072334, -0.011439454637321525, 0.9999235199189704, 0.2736365497112274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405003309249878, -1.1495121717453003, -1.6000630855560303, -1.8013496398925781, -0.4201194643974304, -1.8455706594977528e-05, -0.0003814578813035041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8778401613235474, -1.2849818468093872, 1.94650137424469, -2.078545570373535, 1.4887269735336304, 0.6156177520751953, -0.14731919765472412, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06977249210341141, -0.9974936558875871, -0.011756096703206624, -33.799217224121094], [0.9975520663998149, 0.06982188595429917, -0.00384435472403864, 11.145730018615723], [0.004655552291489024, -0.01145908834945412, 0.9999235046377601, 0.27256765961647034], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405060529708862, -1.149511694908142, -1.6000988483428955, -1.8013458251953125, -0.4201168417930603, -1.9294602680020034e-05, -0.00037067208904772997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8724548816680908, -1.284868836402893, 1.9630260467529297, -2.0817184448242188, 1.3835203647613525, 0.6084328889846802, -0.19206541776657104, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971926184256483, -0.9974975914801473, -0.011737952097062984, -33.799991607666016], [0.9975558503709464, 0.06976843637746033, -0.003832841784157374, 11.143917083740234], [0.0046421890123070665, -0.011442039885848307, 0.9999237619960957, 0.2730383574962616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405166625976562, -1.1495110988616943, -1.6002401113510132, -1.8013465404510498, -0.420116126537323, -1.989381416933611e-05, -0.00036276248283684254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8712295293807983, -1.2841312885284424, 1.9682681560516357, -2.081752061843872, 1.3933826684951782, 0.6085048913955688, -0.20644624531269073, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06985129577169813, -0.9974883515865609, -0.011738182488792093, -33.79847717285156], [0.9975466270373635, 0.06990042871745039, -0.003828439825302235, 11.148391723632812], [0.004639328118819304, -0.011441962866662261, 0.9999237761551447, 0.27301472425460815], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.740511417388916, -1.149512767791748, -1.6001917123794556, -1.8013468980789185, -0.42011573910713196, -1.965412957360968e-05, -0.0003656386979855597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8703922033309937, -1.283359169960022, 1.966291069984436, -2.080277681350708, 1.3877320289611816, 0.6051755547523499, -0.20546378195285797, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06977778850233729, -0.9974935297730981, -0.011735343732877006, -33.79923629760742], [0.9975516567140023, 0.06982719824362849, -0.003854163021263108, 11.145895957946777], [0.004663948849693412, -0.011437676610688513, 0.9999237106574065, 0.273379385471344], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.740503191947937, -1.1495124101638794, -1.6001912355422974, -1.801347255706787, -0.42011573910713196, -2.0013656467199326e-05, -0.00036611806717701256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8640995025634766, -1.2773349285125732, 1.9497959613800049, -2.067512273788452, 1.3442429304122925, 0.577883780002594, -0.19623461365699768, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697386090011759, -0.9974962968858881, -0.011733035136791059, -33.79966735839844], [0.997554484802283, 0.06978779575218608, -0.0038358069428545047, 11.144573211669922], [0.004645025880746146, -0.011436837980456962, 0.9999238083332029, 0.2732430398464203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740504264831543, -1.1495124101638794, -1.6001849174499512, -1.8013465404510498, -0.4201158583164215, -1.9773971871472895e-05, -0.00036827524309046566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8514753580093384, -1.2653603553771973, 1.9168113470077515, -2.042304277420044, 1.2570164203643799, 0.5233810544013977, -0.1776699721813202, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06970938292422024, -0.9974979869246977, -0.011762993390291979, -33.79999923706055], [0.9975564190623566, 0.06975895413620492, -0.0038573443340038393, 11.14358139038086], [0.004668267324462079, -0.011465356470624188, 0.9999233735047846, 0.27246159315109253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405043840408325, -1.1495122909545898, -1.6001794338226318, -1.8013468980789185, -0.42011573910713196, -1.965412957360968e-05, -0.0003718704974744469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8324922323226929, -1.2473598718643188, 1.867289662361145, -2.004460573196411, 1.1263370513916016, 0.4417641758918762, -0.1498851478099823, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06967419727228441, -0.99750068370592, -0.011742752687711635, -33.80039978027344], [0.9975588312136903, 0.06972380544269119, -0.003869007904635512, 11.142379760742188], [0.004678087433897178, -0.011444516626389435, 0.9999235663475229, 0.27326735854148865], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405072450637817, -1.1495121717453003, -1.6001777648925781, -1.8013466596603394, -0.4201156198978424, -1.965412957360968e-05, -0.0003733086050488055, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8071582317352295, -1.2232277393341064, 1.8010941743850708, -1.9538066387176514, 0.9513968229293823, 0.3322867155075073, -0.11278953403234482, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973757452819529, -0.9974963220201245, -0.011737046274441802, -33.7996940612793], [0.9975543404407672, 0.06978730774874009, -0.0038819511806263214, 11.144529342651367], [0.004691328885352109, -0.01143762359524981, 0.9999235831801262, 0.273621141910553], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405014038085938, -1.1495122909545898, -1.6001722812652588, -1.8013508319854736, -0.4201156198978424, -2.0013656467199326e-05, -0.00038241661968640983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.779298186302185, -1.1968306303024292, 1.7287157773971558, -1.8984369039535522, 0.7599712610244751, 0.21256023645401, -0.07208942621946335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974580330553859, -0.9974957263184601, -0.011738777520375618, -33.79960632324219], [0.9975536882608348, 0.06979572979891902, -0.003898094283281121, 11.144795417785645], [0.004707648932341099, -0.011438185093975905, 0.9999235000555221, 0.27374452352523804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405067682266235, -1.149511694908142, -1.6001818180084229, -1.8013441562652588, -0.42011573910713196, -1.9773971871472895e-05, -0.0003749864117708057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7575275897979736, -1.1761116981506348, 1.6717485189437866, -1.8548563718795776, 0.6095985770225525, 0.11865245550870895, -0.04025572910904884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06978342078812727, -0.9974932356039554, -0.011726854116055844, -33.79922103881836], [0.9975510414885013, 0.06983333665867308, -0.0039018862518974207, 11.14606761932373], [0.004711030493797422, -0.01142584856667166, 0.9999236251715518, 0.27419912815093994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.740503191947937, -1.1495121717453003, -1.600175380706787, -1.8013473749160767, -0.4201156198978424, -1.9773971871472895e-05, -0.00037798244738951325, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.741995930671692, -1.161420464515686, 1.631330966949463, -1.8240278959274292, 0.5027157068252563, 0.05163774639368057, -0.017459698021411896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405056953430176, -1.149511694908142, -1.600180745124817, -1.8013458251953125, -0.42011573910713196, -1.9773971871472895e-05, -0.00037378797424025834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.732816457748413, -1.1526683568954468, 1.607422113418579, -1.8056600093841553, 0.4395466148853302, 0.01231343112885952, -0.004125329665839672, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405059337615967, -1.149511694908142, -1.6001808643341064, -1.8013458251953125, -0.42011573910713196, -1.9773971871472895e-05, -0.0003734284546226263, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299799919128418, -1.1499910354614258, 1.5999480485916138, -1.7999769449234009, 0.4199017286300659, -0.00010330401710234582, 3.5952674807049334e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7405134439468384, -1.1495115756988525, -1.6001818180084229, -1.8013452291488647, -0.42011648416519165, -1.965412957360968e-05, -0.0003724697162397206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301030158996582, -1.1499769687652588, 1.5999773740768433, -1.7999606132507324, 0.42024338245391846, -6.076001955079846e-05, 7.837683369871229e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7407482862472534, -1.1495112180709839, -1.6001813411712646, -1.8013463020324707, -0.4201168417930603, -1.989381416933611e-05, -0.00037630466977134347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7313693761825562, -1.1499927043914795, 1.6000322103500366, -1.800086259841919, 0.420247346162796, 2.4807344743749127e-05, -0.00018994996207766235, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7412006855010986, -1.149510383605957, -1.6001800298690796, -1.8013476133346558, -0.42011862993240356, -2.0013656467199326e-05, -0.00038277613930404186, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316957712173462, -1.150041937828064, 1.6000511646270752, -1.8002207279205322, 0.4201836884021759, 6.495449633803219e-05, -0.00034202978713437915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7412599325180054, -1.1495084762573242, -1.600178599357605, -1.8013488054275513, -0.42011839151382446, -2.0013656467199326e-05, -0.00038840872002765536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316973209381104, -1.150084376335144, 1.6000665426254272, -1.8003110885620117, 0.4201168417930603, 7.466172246495262e-05, -0.0003695935010910034, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7412805557250977, -1.1495076417922974, -1.600175142288208, -1.8013503551483154, -0.42011910676956177, -2.0732708435389213e-05, -0.000391644483897835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316944599151611, -1.150124430656433, 1.6000820398330688, -1.8003238439559937, 0.42009443044662476, 8.053398778429255e-05, -0.00037378797424025834, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7413067817687988, -1.1495076417922974, -1.6001713275909424, -1.8013522624969482, -0.4201204180717468, -2.0612866137525998e-05, -0.0003921238530892879, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316935062408447, -1.150148868560791, 1.6000924110412598, -1.8003276586532593, 0.4200890362262726, 8.233162225224078e-05, -0.0003736681246664375, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7413429021835327, -1.1495074033737183, -1.6001677513122559, -1.8013534545898438, -0.4201218783855438, -2.0013656467199326e-05, -0.00039260322228074074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316925525665283, -1.150160789489746, 1.6000957489013672, -1.8003312349319458, 0.4200859069824219, 8.353004523087293e-05, -0.0003740276733879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7413883209228516, -1.149507999420166, -1.6001648902893066, -1.8013544082641602, -0.42012307047843933, -1.941444497788325e-05, -0.0003942809998989105, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316913604736328, -1.1501669883728027, 1.6000980138778687, -1.8003345727920532, 0.420085072517395, 8.604673348600045e-05, -0.0003740276733879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974327980759965, -0.9974958879134229, -0.011740039075362545, -33.7996826171875], [0.9975538651996602, 0.06979321018405182, -0.0038979273239754617, 11.144713401794434], [0.004707541491806655, -0.011439467121197242, 0.9999234858953389, 0.2736991345882416], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000007/gt/hand_left.mp4 b/agibot-challenge-2026/000007/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7371654acc823a2b2ef4d671aef3ca4da986ab47 --- /dev/null +++ b/agibot-challenge-2026/000007/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab09fa01a9e41584cff03ed460fc507dda2616a3107c496ed2568e241223f637 +size 9724130 diff --git a/agibot-challenge-2026/000007/gt/hand_right.mp4 b/agibot-challenge-2026/000007/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3e8879ccf984a75d8a74c0caae7275bb1b8a8860 --- /dev/null +++ b/agibot-challenge-2026/000007/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0320960ce4d42cbc57f3e8e990403e6fe2127df21fb135e2757ce4e7aaa52d4 +size 10374836 diff --git a/agibot-challenge-2026/000007/gt/head.mp4 b/agibot-challenge-2026/000007/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..250a3b3068f58c168810fd94960aa3a2d15ebc98 --- /dev/null +++ b/agibot-challenge-2026/000007/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f743e0af6f7ad6495c8faa7be5f52552e6366f353cd2bca79c60cf1e8399e663 +size 8273527 diff --git a/agibot-challenge-2026/000007/meta.json b/agibot-challenge-2026/000007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f97c06b255376630e37638cdf8dd6882c53d4119 --- /dev/null +++ b/agibot-challenge-2026/000007/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Desk lamp complete unit packaging station_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1126, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000007/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000007/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..ce4af77b3607744e3a963a3b2df801fe53d03389 --- /dev/null +++ b/agibot-challenge-2026/000007/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000007/ref_images/hand_left.png b/agibot-challenge-2026/000007/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..e3844773d2101c43d53221af417bfa278f9633cb --- /dev/null +++ b/agibot-challenge-2026/000007/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58991946f5c95ae33650d402f5b8575e302a04ef83373754b7f4e7612bd40729 +size 342373 diff --git a/agibot-challenge-2026/000007/ref_images/hand_right.png b/agibot-challenge-2026/000007/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..f29bb20c3c06fe3fc4059f39e3047849ad92ca12 --- /dev/null +++ b/agibot-challenge-2026/000007/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f4e28805112827fceacad9e210cb78d50518d55106cd74b4e14b63fe12f4b4b +size 347399 diff --git a/agibot-challenge-2026/000007/ref_images/head.png b/agibot-challenge-2026/000007/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..f5bf8a2cf4eb30eabb30606cdae278e8c161acde --- /dev/null +++ b/agibot-challenge-2026/000007/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72af244a3e507cd5bc0458ec8f1ff797fa9fe1b02af13b355d7370b85ec7cd27 +size 296557 diff --git a/agibot-challenge-2026/000007/temporal.json b/agibot-challenge-2026/000007/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..25fee4edfd6c62e9afbedd0e045c6dbc44681308 --- /dev/null +++ b/agibot-challenge-2026/000007/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730120301246643, -1.1501941680908203, -1.6001193523406982, -1.7999494075775146, -0.4199828505516052, 0.00011684618948493153, 4.062652078573592e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297455072402954, -1.1499320268630981, 1.6004340648651123, -1.800087571144104, 0.420413076877594, 1.4620753972849343e-05, 0.00020505009160842746, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301201820373535, -1.1501941680908203, -1.6001193523406982, -1.799949288368225, -0.41998645663261414, 0.0001166065048892051, 4.0986047679325566e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297450304031372, -1.149931788444519, 1.6004343032836914, -1.8000874519348145, 0.42041391134262085, 1.5699333744123578e-05, 0.00020516992663033307, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730120301246643, -1.1501941680908203, -1.6001192331314087, -1.799949288368225, -0.41998860239982605, 0.00011672634718706831, 4.086620538146235e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297450304031372, -1.149931788444519, 1.6004345417022705, -1.8000870943069458, 0.4204159677028656, 1.6298545233439654e-05, 0.00020505009160842746, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301199436187744, -1.1501941680908203, -1.6001194715499878, -1.7999495267868042, -0.419989675283432, 0.00011684618948493153, 4.290352444513701e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297451496124268, -1.1499314308166504, 1.6004348993301392, -1.8000863790512085, 0.42041513323783875, 1.617870293557644e-05, 0.00020505009160842746, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730120062828064, -1.1501938104629517, -1.6001191139221191, -1.7999494075775146, -0.41998907923698425, 0.00011720571637852117, 4.36225782323163e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297450304031372, -1.1499313116073608, 1.6004350185394287, -1.800085425376892, 0.42041438817977905, 1.66580721270293e-05, 0.0002046905574388802, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301198244094849, -1.1501942873001099, -1.6001194715499878, -1.799949288368225, -0.4199875295162201, 0.0001174454009742476, 4.470115891308524e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297446727752686, -1.1499310731887817, 1.6004350185394287, -1.800085186958313, 0.42041367292404175, 1.545965096738655e-05, 0.00020481040701270103, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301198244094849, -1.1501944065093994, -1.6001189947128296, -1.7999496459960938, -0.4199875295162201, 0.00011840413935715333, 4.5540054998127744e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297440767288208, -1.1499313116073608, 1.6004350185394287, -1.8000848293304443, 0.42041319608688354, 1.3542174201575108e-05, 0.00020421118824742734, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301198244094849, -1.1501941680908203, -1.6001191139221191, -1.7999491691589355, -0.4199855923652649, 0.00011912319314433262, 4.589958189171739e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297437191009521, -1.1499313116073608, 1.6004348993301392, -1.8000848293304443, 0.42041200399398804, 1.078580226021586e-05, 0.0002046905574388802, 0.5321999998538048, 0.5321999998538048, 0.5321999998538048, 0.5321999998538048, -0.5321999998538048, -0.5321999998538048, -0.5321999998538048, 0.5321999998538048, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301195859909058, -1.1501942873001099, -1.6001189947128296, -1.799949288368225, -0.4199848771095276, 0.00012032161612296477, 4.6738477976759896e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297435998916626, -1.1499311923980713, 1.6004347801208496, -1.8000847101211548, 0.4204126000404358, 7.909588020993397e-06, 0.00020445087284315377, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, 0.5327999992030007, -0.5327999992030007, -0.5327999992030007, -0.5327999992030007, 0.5327999992030007, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301208972930908, -1.1501935720443726, -1.60011887550354, -1.7999485731124878, -0.4199824929237366, 0.00012187956599518657, 4.75773740618024e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7265403270721436, -1.153198480606079, 1.6019052267074585, -1.8075591325759888, 0.410329669713974, -0.006634826306253672, -0.0034466630313545465, 0.5705999999583422, 0.5705999999583422, 0.5705999999583422, 0.5705999999583422, -0.5705999999583422, -0.5705999999583422, -0.5705999999583422, 0.5705999999583422, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730116367340088, -1.1501939296722412, -1.6001182794570923, -1.79994797706604, -0.4199790060520172, 0.00012187956599518657, 5.0333743274677545e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7017115354537964, -1.182176947593689, 1.6191463470458984, -1.854723334312439, 0.40186628699302673, -0.019978782162070274, -0.020597048103809357, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730119228363037, -1.1501965522766113, -1.6001173257827759, -1.799947738647461, -0.41997337341308594, 0.00012259861978236586, 5.0333743274677545e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.640998363494873, -1.2081061601638794, 1.6319154500961304, -1.8778269290924072, 0.40895748138427734, 0.008765142410993576, -0.020209237933158875, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730115294456482, -1.1501988172531128, -1.6001108884811401, -1.7999436855316162, -0.41997241973876953, 0.0001228383043780923, 5.2610746934078634e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5680745840072632, -1.2256641387939453, 1.6099510192871094, -1.8885221481323242, 0.38884687423706055, 0.057463280856609344, -0.03871563822031021, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301217317581177, -1.150201439857483, -1.6001107692718506, -1.7999428510665894, -0.4199727773666382, 0.0001245160965481773, 5.201153544476256e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4859158992767334, -1.247551679611206, 1.5525453090667725, -1.8675594329833984, 0.3515433371067047, 0.10109400749206543, -0.0893651694059372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301174402236938, -1.1502065658569336, -1.6001120805740356, -1.7999435663223267, -0.41997602581977844, 0.00012247878476046026, 5.368932761484757e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4128026962280273, -1.2735685110092163, 1.4851043224334717, -1.8288956880569458, 0.32099542021751404, 0.14102424681186676, -0.1627093404531479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.730118751525879, -1.150207757949829, -1.6001150608062744, -1.7999409437179565, -0.41998031735420227, 0.00012175972369732335, 5.7044911955017596e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3689916133880615, -1.295297384262085, 1.4265997409820557, -1.7873024940490723, 0.27064740657806396, 0.14610040187835693, -0.21429435908794403, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301181554794312, -1.1502071619033813, -1.6001161336898804, -1.7999417781829834, -0.4199828505516052, 0.00012080098531441763, 5.7044911955017596e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3409703969955444, -1.316318392753601, 1.3854235410690308, -1.760342001914978, 0.2549329996109009, 0.15462574362754822, -0.2539503872394562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301191091537476, -1.1502083539962769, -1.6001172065734863, -1.7999422550201416, -0.41998428106307983, 0.00011912319314433262, 5.5367119784932584e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3159295320510864, -1.3352704048156738, 1.355047583580017, -1.7301119565963745, 0.22645403444766998, 0.1586064249277115, -0.2891002595424652, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301191091537476, -1.1502083539962769, -1.600117802619934, -1.7999423742294312, -0.4199880063533783, 0.0001174454009742476, 5.452822369989008e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2895394563674927, -1.3531928062438965, 1.3321011066436768, -1.6917328834533691, 0.2010466307401657, 0.16364698112010956, -0.31881093978881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301193475723267, -1.1502078771591187, -1.600118637084961, -1.7999426126480103, -0.41999122500419617, 0.00011516840459080413, 5.297027382766828e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2634742259979248, -1.369853138923645, 1.3087265491485596, -1.6435705423355103, 0.16693198680877686, 0.1750318855047226, -0.34509989619255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301193475723267, -1.1502081155776978, -1.6001183986663818, -1.7999424934387207, -0.4199915826320648, 0.00011432950850576162, 5.189169314689934e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2429449558258057, -1.3885948657989502, 1.2963075637817383, -1.5982799530029297, 0.15505872666835785, 0.19179780781269073, -0.37973323464393616, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301195859909058, -1.1502078771591187, -1.6001207828521729, -1.7999433279037476, -0.41999146342277527, 0.00011325092782499269, 5.093295476399362e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.231049656867981, -1.4033756256103516, 1.295373558998108, -1.5583854913711548, 0.14763186872005463, 0.206274151802063, -0.403225302696228, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301194667816162, -1.150207757949829, -1.6001225709915161, -1.7999430894851685, -0.4199894368648529, 0.00011301124322926626, 4.9015481636160985e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2277092933654785, -1.413235068321228, 1.2982748746871948, -1.5245150327682495, 0.1321927160024643, 0.20945177972316742, -0.4137399196624756, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301173210144043, -1.1502087116241455, -1.6001228094100952, -1.799944519996643, -0.4199841618537903, 0.00011313108552712947, 4.134557457291521e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.229493260383606, -1.4193812608718872, 1.3119962215423584, -1.5129177570343018, 0.10982798784971237, 0.2074078619480133, -0.4182190001010895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301197052001953, -1.150206208229065, -1.6001546382904053, -1.7999457120895386, -0.41998130083084106, 0.00011349061242071912, 3.6911413189955056e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2320914268493652, -1.4225237369537354, 1.3225334882736206, -1.501747488975525, 0.08215629309415817, 0.19380025565624237, -0.4253063499927521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301198244094849, -1.150205135345459, -1.6001557111740112, -1.7999472618103027, -0.41998082399368286, 0.00011385013931430876, 3.475425182841718e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2463738918304443, -1.4313280582427979, 1.3414759635925293, -1.508724331855774, 0.06745824217796326, 0.15988297760486603, -0.43951377272605896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730120301246643, -1.1502050161361694, -1.6001521348953247, -1.7999475002288818, -0.4199797213077545, 0.00011420966620789841, 3.0200246328604408e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.26577889919281, -1.4328020811080933, 1.3710626363754272, -1.555393934249878, 0.07175830006599426, 0.15852385759353638, -0.4342702031135559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301206588745117, -1.1502052545547485, -1.600150227546692, -1.7999482154846191, -0.41997960209846497, 0.00011564777378225699, 2.876214057323523e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.287912368774414, -1.4298913478851318, 1.40621018409729, -1.6211344003677368, 0.07165895402431488, 0.17284032702445984, -0.3992373049259186, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301186323165894, -1.150205135345459, -1.6001473665237427, -1.799949049949646, -0.4199790060520172, 0.00011516840459080413, 2.720419070101343e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3286136388778687, -1.422611951828003, 1.4535856246948242, -1.7065837383270264, 0.07294510304927826, 0.18543407320976257, -0.3501283526420593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730115532875061, -1.1502047777175903, -1.6001359224319458, -1.7999507188796997, -0.4199797213077545, 0.00011672634718706831, 2.5166871637338772e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3778877258300781, -1.4113776683807373, 1.5168259143829346, -1.7792195081710815, 0.09490247815847397, 0.21745267510414124, -0.29986533522605896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301191091537476, -1.1502048969268799, -1.6001309156417847, -1.7999521493911743, -0.4199809432029724, 0.00011612713569775224, 2.432797737128567e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.42204749584198, -1.4008854627609253, 1.5723861455917358, -1.8016636371612549, 0.1283194124698639, 0.21882404386997223, -0.25642141699790955, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.730120301246643, -1.150204062461853, -1.6001256704330444, -1.7999510765075684, -0.4199846386909485, 0.00011588745837798342, 2.468750244588591e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4446215629577637, -1.396101951599121, 1.6129480600357056, -1.7739297151565552, 0.17510570585727692, 0.19643259048461914, -0.23156842589378357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.73012113571167, -1.1502056121826172, -1.6001214981079102, -1.7999516725540161, -0.41998836398124695, 0.00011600730067584664, 2.4807344743749127e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4419996738433838, -1.3913053274154663, 1.6321603059768677, -1.7124080657958984, 0.1919035166501999, 0.17388607561588287, -0.22133868932724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502052545547485, -1.6001191139221191, -1.7999508380889893, -0.41999292373657227, 0.0001157676160801202, 2.648513691383414e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4227075576782227, -1.3884512186050415, 1.633903980255127, -1.6469591856002808, 0.2025105059146881, 0.13961286842823029, -0.21603266894817352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730121374130249, -1.1502050161361694, -1.6001181602478027, -1.7999502420425415, -0.4199955463409424, 0.00011612713569775224, 2.9241507945698686e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3986058235168457, -1.3868681192398071, 1.6305392980575562, -1.612000584602356, 0.23030300438404083, 0.15566058456897736, -0.21409279108047485, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301205396652222, -1.1502054929733276, -1.6001176834106445, -1.7999507188796997, -0.4199944734573364, 0.00011504856229294091, 3.3435986551921815e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3870794773101807, -1.383216142654419, 1.6171222925186157, -1.5842335224151611, 0.21864043176174164, 0.13027259707450867, -0.20827025175094604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301194667816162, -1.1502063274383545, -1.6001169681549072, -1.7999498844146729, -0.41999146342277527, 0.0001133707701228559, 3.810983616858721e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3803976774215698, -1.382102608680725, 1.6031774282455444, -1.5638716220855713, 0.2087913304567337, 0.11411438882350922, -0.20985624194145203, 0.40199999861664826, 0.40199999861664826, 0.40199999861664826, 0.40199999861664826, -0.40199999861664826, -0.40199999861664826, -0.40199999861664826, 0.40199999861664826, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301194667816162, -1.1502060890197754, -1.6001176834106445, -1.7999496459960938, -0.41998860239982605, 0.00011301124322926626, 4.3982105125905946e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3754620552062988, -1.3814529180526733, 1.5906596183776855, -1.5547184944152832, 0.20919746160507202, 0.11052211374044418, -0.2066815048456192, 0.22199999735905573, 0.22199999735905573, 0.22199999735905573, 0.22199999735905573, -0.22199999735905573, -0.22199999735905573, -0.22199999735905573, 0.22199999735905573, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730120301246643, -1.1502052545547485, -1.600120186805725, -1.7999340295791626, -0.41998645663261414, 0.0001109739241655916, 5.596633127424866e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.373355507850647, -1.3804515600204468, 1.5876330137252808, -1.5546563863754272, 0.20996949076652527, 0.11489420384168625, -0.20504170656204224, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, -0.17699999704465766, -0.17699999704465766, -0.17699999704465766, 0.17699999704465766, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301234006881714, -1.1502048969268799, -1.6001222133636475, -1.7999347448349, -0.4199844002723694, 0.00010977550118695945, 5.644570046570152e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3768415451049805, -1.377583622932434, 1.5871134996414185, -1.5571582317352295, 0.20720280706882477, 0.11219654977321625, -0.2050415724515915, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, -0.17699999704465766, -0.17699999704465766, -0.17699999704465766, 0.17699999704465766, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301236391067505, -1.1502063274383545, -1.6001204252243042, -1.7999351024627686, -0.41998356580734253, 0.000107858024421148, 5.6805227359291166e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.391507625579834, -1.377183437347412, 1.5868397951126099, -1.5726743936538696, 0.20390284061431885, 0.10355616360902786, -0.20592482388019562, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, -0.17699999704465766, -0.17699999704465766, -0.17699999704465766, 0.17699999704465766, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730122685432434, -1.150206446647644, -1.600121021270752, -1.799936056137085, -0.4199794828891754, 0.00010773818212328479, 5.668538506142795e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4092599153518677, -1.3771826028823853, 1.5872609615325928, -1.5941739082336426, 0.20362336933612823, 0.08863963931798935, -0.2086888551712036, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, -0.17699999704465766, -0.17699999704465766, -0.17699999704465766, 0.17699999704465766, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301222085952759, -1.1502059698104858, -1.600121259689331, -1.7999361753463745, -0.41997626423835754, 0.00010833739361260086, 5.6565542763564736e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4222947359085083, -1.3771356344223022, 1.5942628383636475, -1.6306915283203125, 0.20445603132247925, 0.08107208460569382, -0.20833304524421692, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, 0.17699999704465766, -0.17699999704465766, -0.17699999704465766, -0.17699999704465766, 0.17699999704465766, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301219701766968, -1.1502058506011963, -1.600121259689331, -1.7999372482299805, -0.4199759066104889, 0.00010845723591046408, 5.6565542763564736e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4275864362716675, -1.375003457069397, 1.6090213060379028, -1.6885191202163696, 0.2195166051387787, 0.08904195576906204, -0.20547913014888763, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, -0.1764000075204032, -0.1764000075204032, -0.1764000075204032, 0.1764000075204032, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301216125488281, -1.1502057313919067, -1.6001217365264893, -1.7999374866485596, -0.4199770987033844, 0.00010881676280405372, 5.6565542763564736e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4231666326522827, -1.3718185424804688, 1.6198362112045288, -1.7429559230804443, 0.2307332456111908, 0.09128180146217346, -0.20311547815799713, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, -0.1764000075204032, -0.1764000075204032, -0.1764000075204032, 0.1764000075204032, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301214933395386, -1.1502057313919067, -1.6001214981079102, -1.7999396324157715, -0.4199790060520172, 0.00010977550118695945, 5.6565542763564736e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4065169095993042, -1.3711639642715454, 1.6220892667770386, -1.7888182401657104, 0.25090327858924866, 0.10931039601564407, -0.20637087523937225, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, -0.1764000075204032, -0.1764000075204032, -0.1764000075204032, 0.1764000075204032, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301208972930908, -1.1502052545547485, -1.6001214981079102, -1.799940586090088, -0.4199824929237366, 0.00011121360876131803, 5.668538506142795e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.386154055595398, -1.3711676597595215, 1.6192495822906494, -1.8411810398101807, 0.28139618039131165, 0.12915711104869843, -0.2119337022304535, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, -0.1764000075204032, -0.1764000075204032, -0.1764000075204032, 0.1764000075204032, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.73012113571167, -1.1502050161361694, -1.6001214981079102, -1.7999435663223267, -0.4199853539466858, 0.00011289140093140304, 5.572664667852223e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3641740083694458, -1.371266484260559, 1.6027863025665283, -1.9080064296722412, 0.3185485005378723, 0.16098397970199585, -0.22166502475738525, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301210165023804, -1.1502047777175903, -1.6001209020614624, -1.7999436855316162, -0.41998618841171265, 0.00011385013931430876, 5.440838140202686e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3469600677490234, -1.3725404739379883, 1.5811904668807983, -1.9614875316619873, 0.35527390241622925, 0.1809462159872055, -0.22236165404319763, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.150203824043274, -1.6001209020614624, -1.7999435663223267, -0.41998693346977234, 0.00011361045471858233, 5.320995842339471e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3329142332077026, -1.3743449449539185, 1.5571328401565552, -1.9983818531036377, 0.39678043127059937, 0.19568045437335968, -0.22624287009239197, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301216125488281, -1.150203824043274, -1.6001200675964355, -1.7999436855316162, -0.41998788714408875, 0.00011456919310148805, 5.15321662533097e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3142460584640503, -1.3777918815612793, 1.5260521173477173, -2.025753974914551, 0.4443362355232239, 0.2088557928800583, -0.2316076159477234, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301217317581177, -1.1502035856246948, -1.600120186805725, -1.7999438047409058, -0.4199882447719574, 0.00011552793148439378, 5.021390097681433e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2893519401550293, -1.3828868865966797, 1.477847933769226, -2.054243326187134, 0.48528945446014404, 0.22335179150104523, -0.2465672791004181, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730121374130249, -1.150203824043274, -1.6001189947128296, -1.799944519996643, -0.41998717188835144, 0.00011480887769721448, 4.709800487034954e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2779895067214966, -1.3887691497802734, 1.4221196174621582, -2.08018159866333, 0.4924772083759308, 0.21797914803028107, -0.2485729604959488, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502035856246948, -1.6001195907592773, -1.7999444007873535, -0.41998594999313354, 0.00011396998161217198, 4.470115891308524e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2770968675613403, -1.3971949815750122, 1.380887746810913, -2.0973398685455322, 0.5094282031059265, 0.21492676436901093, -0.24922730028629303, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301217317581177, -1.1502044200897217, -1.600117802619934, -1.799944519996643, -0.4199829697608948, 0.00011408982391003519, 3.954794374294579e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2724835872650146, -1.4049882888793945, 1.3391755819320679, -2.1026759147644043, 0.5233104825019836, 0.21038642525672913, -0.25387778878211975, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301214933395386, -1.1502034664154053, -1.6001182794570923, -1.7999439239501953, -0.41998106241226196, 0.00011265171633567661, 3.72709400835447e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2638304233551025, -1.4131838083267212, 1.2998155355453491, -2.1038079261779785, 0.5316625237464905, 0.19805273413658142, -0.25202488899230957, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301214933395386, -1.150203824043274, -1.6001173257827759, -1.7999438047409058, -0.4199816584587097, 0.00011109376646345481, 3.547330561559647e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2511022090911865, -1.4232592582702637, 1.252240538597107, -2.0997540950775146, 0.531660258769989, 0.18159157037734985, -0.24857918918132782, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.150204062461853, -1.6001173257827759, -1.7999438047409058, -0.41998055577278137, 0.00010989534348482266, 3.463440953055397e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2409528493881226, -1.437187671661377, 1.204405426979065, -2.0993330478668213, 0.5321900844573975, 0.1786741316318512, -0.2475365549325943, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502037048339844, -1.600117802619934, -1.7999438047409058, -0.4199811816215515, 0.00010869692050619051, 3.403519804123789e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.236670732498169, -1.450747013092041, 1.1639052629470825, -2.112118721008301, 0.5373032689094543, 0.188686341047287, -0.25031188130378723, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502037048339844, -1.6001176834106445, -1.7999439239501953, -0.41998130083084106, 0.00010881676280405372, 3.235740587115288e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2343735694885254, -1.4640763998031616, 1.1290268898010254, -2.116919755935669, 0.5421351790428162, 0.1923900693655014, -0.24167099595069885, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301210165023804, -1.150203824043274, -1.6001183986663818, -1.7999433279037476, -0.4199814200401306, 0.00010905644739978015, 3.17581943818368e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.235497236251831, -1.4763416051864624, 1.0907877683639526, -2.1152031421661377, 0.5352421998977661, 0.19446130096912384, -0.2419353723526001, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730121374130249, -1.150203824043274, -1.6001189947128296, -1.7999444007873535, -0.4199826121330261, 0.00010929613199550658, 3.247724816901609e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.248003363609314, -1.4889743328094482, 1.0631537437438965, -2.101728677749634, 0.5102095603942871, 0.19343198835849762, -0.23700183629989624, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502039432525635, -1.6001192331314087, -1.7999435663223267, -0.4199848771095276, 0.00010953581659123302, 3.2716932764742523e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.27046537399292, -1.4958007335662842, 1.0417665243148804, -2.0828444957733154, 0.4630962312221527, 0.17957821488380432, -0.21717320382595062, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301219701766968, -1.1502034664154053, -1.6001209020614624, -1.7999440431594849, -0.41998860239982605, 0.00011037471267627552, 3.451456723269075e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2877070903778076, -1.502294659614563, 1.0278297662734985, -2.06892728805542, 0.42444974184036255, 0.17826762795448303, -0.21151797473430634, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301219701766968, -1.1502034664154053, -1.6001211404800415, -1.7999440431594849, -0.41999244689941406, 0.00011145329335704446, 3.5712990211322904e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.304686427116394, -1.507807731628418, 1.0177541971206665, -2.054903745651245, 0.3785868287086487, 0.17858460545539856, -0.2099771648645401, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.730122447013855, -1.1502035856246948, -1.6001222133636475, -1.7999447584152222, -0.41999542713165283, 0.00011205250484636053, 3.798999387072399e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3203063011169434, -1.5121369361877441, 1.0085242986679077, -2.029360294342041, 0.347673624753952, 0.16188207268714905, -0.19684460759162903, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301219701766968, -1.1502035856246948, -1.6001224517822266, -1.7999444007873535, -0.41999363899230957, 0.00011361045471858233, 4.158525916864164e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3350186347961426, -1.5154882669448853, 1.0033533573150635, -2.0187623500823975, 0.3271138668060303, 0.15261898934841156, -0.18731260299682617, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301222085952759, -1.1502031087875366, -1.6001228094100952, -1.7999447584152222, -0.41999316215515137, 0.00011361045471858233, 4.434163201949559e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3466224670410156, -1.519694447517395, 0.996268630027771, -2.014784336090088, 0.3125128746032715, 0.1492871344089508, -0.18107840418815613, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301219701766968, -1.1502034664154053, -1.600123643875122, -1.7999451160430908, -0.41999050974845886, 0.00011420966620789841, 4.793690095539205e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.353754997253418, -1.524008870124817, 0.9826104640960693, -2.001297950744629, 0.294926255941391, 0.1387866735458374, -0.1792031079530716, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301219701766968, -1.150202989578247, -1.6001231670379639, -1.799945592880249, -0.41998836398124695, 0.00011420966620789841, 4.9614689487498254e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3554530143737793, -1.5294097661972046, 0.9620718955993652, -1.9832377433776855, 0.27927786111831665, 0.12994974851608276, -0.18885856866836548, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301218509674072, -1.1502031087875366, -1.6001230478286743, -1.7999464273452759, -0.419987291097641, 0.00011408982391003519, 5.0333743274677545e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3608859777450562, -1.5345038175582886, 0.9473242163658142, -1.9707940816879272, 0.2632386386394501, 0.12303424626588821, -0.19272743165493011, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301216125488281, -1.150202989578247, -1.6001230478286743, -1.7999458312988281, -0.4199868142604828, 0.00011385013931430876, 5.141232395544648e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3727818727493286, -1.5368808507919312, 0.9446553587913513, -1.9693480730056763, 0.24922069907188416, 0.12027643620967865, -0.18999646604061127, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301214933395386, -1.150202989578247, -1.6001224517822266, -1.7999457120895386, -0.4199844002723694, 0.00011373029701644555, 5.189169314689934e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.381940245628357, -1.5374634265899658, 0.9477154016494751, -1.9695287942886353, 0.2421303540468216, 0.12141469866037369, -0.19004979729652405, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730121374130249, -1.1502031087875366, -1.6001230478286743, -1.7999458312988281, -0.4199792444705963, 0.00011265171633567661, 5.213137774262577e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.386513352394104, -1.5378426313400269, 0.9606215357780457, -1.9744126796722412, 0.24371443688869476, 0.12354010343551636, -0.19529421627521515, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502028703689575, -1.600122332572937, -1.7999457120895386, -0.41997960209846497, 0.00011133345105918124, 5.273058923194185e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3853881359100342, -1.5382657051086426, 0.9736847281455994, -1.9796407222747803, 0.23664063215255737, 0.111723892390728, -0.20460571348667145, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301210165023804, -1.150202989578247, -1.600122332572937, -1.79994535446167, -0.4199807047843933, 0.00011073423956986517, 5.3809169912710786e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3841253519058228, -1.5382981300354004, 0.9916654825210571, -1.9909062385559082, 0.22438710927963257, 0.09826824814081192, -0.21220143139362335, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730121374130249, -1.150202751159668, -1.600122332572937, -1.79994535446167, -0.4199830889701843, 0.0001094159742933698, 5.476790829561651e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3878917694091797, -1.536718487739563, 1.0373082160949707, -2.0255887508392334, 0.22390450537204742, 0.10657786577939987, -0.20986439287662506, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.1502031087875366, -1.6001217365264893, -1.7999454736709595, -0.41998669505119324, 0.0001094159742933698, 5.416869680630043e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3962719440460205, -1.5295897722244263, 1.1035820245742798, -2.062849283218384, 0.24518945813179016, 0.13913913071155548, -0.1948433667421341, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301217317581177, -1.1502037048339844, -1.6001219749450684, -1.799945592880249, -0.41998955607414246, 0.0001085770782083273, 5.2610746934078634e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.418735384941101, -1.5138602256774902, 1.1783177852630615, -2.0948383808135986, 0.2751549184322357, 0.17099140584468842, -0.15930666029453278, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301212549209595, -1.150202989578247, -1.6001222133636475, -1.7999448776245117, -0.41998955607414246, 0.00010869692050619051, 5.165200855117291e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4567075967788696, -1.4949345588684082, 1.2525184154510498, -2.132718801498413, 0.3261560797691345, 0.2072484791278839, -0.10564849525690079, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301229238510132, -1.1502031087875366, -1.600122094154358, -1.7999463081359863, -0.4199903905391693, 0.00010845723591046408, 4.99742163810879e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.482904076576233, -1.4775810241699219, 1.2936033010482788, -2.1466848850250244, 0.34345290064811707, 0.20751632750034332, -0.06404609233140945, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.73012113571167, -1.1502025127410889, -1.6001229286193848, -1.7999454736709595, -0.4199906289577484, 0.00010929613199550658, 4.865595474257134e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5062214136123657, -1.4650957584381104, 1.334442138671875, -2.18107533454895, 0.3731553256511688, 0.24513480067253113, -0.04044364392757416, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730123519897461, -1.1502026319503784, -1.6001228094100952, -1.7999459505081177, -0.41999003291130066, 0.00010965565888909623, 4.6259108785307035e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5410964488983154, -1.4485715627670288, 1.3902530670166016, -2.2150931358337402, 0.4251221716403961, 0.27333933115005493, 0.022330086678266525, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301218509674072, -1.1502025127410889, -1.6001261472702026, -1.7999460697174072, -0.4199891984462738, 0.00011061439727200195, 4.458131661522202e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5768333673477173, -1.4298027753829956, 1.4494017362594604, -2.234825372695923, 0.48247554898262024, 0.28375205397605896, 0.08890017867088318, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301225662231445, -1.1502022743225098, -1.6001263856887817, -1.7999454736709595, -0.419987291097641, 0.00011121360876131803, 4.1465416870778427e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.597254753112793, -1.4149245023727417, 1.5011823177337646, -2.2510178089141846, 0.5275919437408447, 0.3114830553531647, 0.12825876474380493, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301225662231445, -1.1502019166946411, -1.600127100944519, -1.7999459505081177, -0.4199846386909485, 0.00011241203173995018, 3.798999387072399e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6079305410385132, -1.4016865491867065, 1.5486446619033813, -2.272853136062622, 0.5776005983352661, 0.36809200048446655, 0.1712874174118042, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301232814788818, -1.1502013206481934, -1.6001274585723877, -1.799945592880249, -0.41998177766799927, 0.00011373029701644555, 3.6911413189955056e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6105488538742065, -1.3910133838653564, 1.5797343254089355, -2.28784441947937, 0.6242691874504089, 0.4066126346588135, 0.1776813566684723, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301232814788818, -1.1502010822296143, -1.6001275777816772, -1.7999460697174072, -0.41998055577278137, 0.00011432950850576162, 3.547330561559647e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6050516366958618, -1.3839973211288452, 1.6007004976272583, -2.2984142303466797, 0.6800047159194946, 0.4695529639720917, 0.15848982334136963, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301225662231445, -1.1502017974853516, -1.6001273393630981, -1.7999458312988281, -0.41997936367988586, 0.00011373029701644555, 3.535346331773326e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.599344253540039, -1.3781369924545288, 1.6252020597457886, -2.3125665187835693, 0.7598568797111511, 0.5451743602752686, 0.12313515692949295, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301228046417236, -1.1502009630203247, -1.6001274585723877, -1.7999459505081177, -0.41998055577278137, 0.00011408982391003519, 3.523362101987004e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6002044677734375, -1.3686813116073608, 1.637460708618164, -2.320402145385742, 0.7795945405960083, 0.563845694065094, 0.1376228779554367, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730122685432434, -1.1501997709274292, -1.6001276969909668, -1.7999461889266968, -0.4199821352958679, 0.00011408982391003519, 3.451456723269075e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6073163747787476, -1.358993649482727, 1.637859582901001, -2.3212482929229736, 0.7418368458747864, 0.5271872282028198, 0.18681812286376953, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301236391067505, -1.1502001285552979, -1.6001267433166504, -1.7999463081359863, -0.4199816584587097, 0.00011373029701644555, 3.2716932764742523e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6078437566757202, -1.3578842878341675, 1.6360993385314941, -2.3207688331604004, 0.7314709424972534, 0.5105789303779602, 0.19458234310150146, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.73012375831604, -1.1501997709274292, -1.60012686252594, -1.7999464273452759, -0.4199836850166321, 0.00011241203173995018, 3.3915355743374676e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6075905561447144, -1.3580721616744995, 1.6359914541244507, -2.3196709156036377, 0.7332145571708679, 0.5131528973579407, 0.19075638055801392, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301243543624878, -1.1502000093460083, -1.6001265048980713, -1.7999464273452759, -0.41998475790023804, 0.00011109376646345481, 3.511377872200683e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6075936555862427, -1.3582050800323486, 1.6359943151474, -2.319514513015747, 0.7333395481109619, 0.5136628150939941, 0.19010360538959503, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301244735717773, -1.1502000093460083, -1.600126028060913, -1.7999463081359863, -0.419987291097641, 0.0001102548703784123, 3.7151097785681486e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6076414585113525, -1.358254313468933, 1.6360031366348267, -2.319578170776367, 0.7338213920593262, 0.5139141082763672, 0.19009892642498016, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301256656646729, -1.1502001285552979, -1.6001249551773071, -1.79994535446167, -0.41998955607414246, 0.0001094159742933698, 3.88288899557665e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6205304861068726, -1.355731725692749, 1.6494117975234985, -2.340916633605957, 0.7318137884140015, 0.5265604853630066, 0.1970549374818802, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301266193389893, -1.1502001285552979, -1.6001249551773071, -1.79994535446167, -0.4199920892715454, 0.00010893660510191694, 4.242415525368415e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6371527910232544, -1.3438879251480103, 1.678886890411377, -2.348419189453125, 0.7065557241439819, 0.5364550352096558, 0.24824842810630798, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301275730133057, -1.150200366973877, -1.6001226902008057, -1.799946665763855, -0.41999074816703796, 0.00010821755131473765, 4.530037040240131e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6533839702606201, -1.335148572921753, 1.7028887271881104, -2.3455636501312256, 0.7034444212913513, 0.5412091612815857, 0.29376450181007385, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301255464553833, -1.150200366973877, -1.6001204252243042, -1.7999458312988281, -0.41998836398124695, 0.00010833739361260086, 4.829642784898169e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.677786946296692, -1.3285223245620728, 1.7291237115859985, -2.344653606414795, 0.6814194321632385, 0.5163507461547852, 0.3690715730190277, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301249504089355, -1.150200366973877, -1.6001204252243042, -1.7999458312988281, -0.4199853539466858, 0.00010821755131473765, 5.0573427870403975e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.710404396057129, -1.3236149549484253, 1.740258812904358, -2.3452987670898438, 0.6555432081222534, 0.474408358335495, 0.42765000462532043, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301260232925415, -1.1502001285552979, -1.600119709968567, -1.7999457120895386, -0.41998428106307983, 0.00010893660510191694, 5.23710623383522e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.735341191291809, -1.323439598083496, 1.7275279760360718, -2.345305919647217, 0.6468819975852966, 0.44180887937545776, 0.42976629734039307, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301262617111206, -1.1501996517181396, -1.600119948387146, -1.7999451160430908, -0.419983446598053, 0.00010965565888909623, 5.344964301912114e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7534867525100708, -1.3250582218170166, 1.6875865459442139, -2.345402240753174, 0.6200248599052429, 0.41415467858314514, 0.3864750862121582, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301260232925415, -1.1501997709274292, -1.6001203060150146, -1.7999452352523804, -0.4199833273887634, 0.00011037471267627552, 5.2850431529805064e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7709472179412842, -1.3264509439468384, 1.6527955532073975, -2.345102071762085, 0.6009852886199951, 0.3944643437862396, 0.35705703496932983, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.730125904083252, -1.1501996517181396, -1.6001200675964355, -1.799945592880249, -0.4199828505516052, 0.00011145329335704446, 5.273058923194185e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7811570167541504, -1.3272827863693237, 1.6291192770004272, -2.345163345336914, 0.5816610455513, 0.37707164883613586, 0.338397353887558, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301262617111206, -1.1501984596252441, -1.6001209020614624, -1.7999449968338013, -0.41998082399368286, 0.00011349061242071912, 5.428853910416365e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7860822677612305, -1.3277103900909424, 1.6128764152526855, -2.346630811691284, 0.5620739459991455, 0.36270999908447266, 0.32414427399635315, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301263809204102, -1.1501977443695068, -1.6001209020614624, -1.7999452352523804, -0.4199804365634918, 0.00011361045471858233, 5.3929012210574e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7932320833206177, -1.3277850151062012, 1.606889247894287, -2.3482513427734375, 0.5468610525131226, 0.35219061374664307, 0.317207932472229, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301263809204102, -1.1501972675323486, -1.6001214981079102, -1.7999451160430908, -0.41998153924942017, 0.00011396998161217198, 5.3929012210574e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8012537956237793, -1.3277157545089722, 1.6059221029281616, -2.3494315147399902, 0.5266035199165344, 0.34605538845062256, 0.3185206949710846, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301262617111206, -1.1501972675323486, -1.6001216173171997, -1.7999461889266968, -0.4199844002723694, 0.00011444935080362484, 5.297027382766828e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8048288822174072, -1.326594352722168, 1.6100128889083862, -2.3461830615997314, 0.5252137184143066, 0.3472221791744232, 0.321512907743454, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301260232925415, -1.1501973867416382, -1.6001229286193848, -1.7999451160430908, -0.41998860239982605, 0.00011480887769721448, 5.213137774262577e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.80349600315094, -1.3257383108139038, 1.6286333799362183, -2.344733476638794, 0.5425437092781067, 0.34923505783081055, 0.33497944474220276, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301263809204102, -1.150197148323059, -1.6001232862472534, -1.7999454736709595, -0.4199906289577484, 0.00011456919310148805, 5.201153544476256e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7990357875823975, -1.3250013589859009, 1.6467318534851074, -2.344730854034424, 0.5559432506561279, 0.35444676876068115, 0.3518734872341156, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301260232925415, -1.1501978635787964, -1.6001226902008057, -1.7999458312988281, -0.41998979449272156, 0.00011385013931430876, 5.0094058678951114e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7983158826828003, -1.3246290683746338, 1.6575950384140015, -2.344771146774292, 0.5655562877655029, 0.3696171045303345, 0.36171770095825195, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730126142501831, -1.150198221206665, -1.6001229286193848, -1.7999460697174072, -0.4199899137020111, 0.0001133707701228559, 4.829642784898169e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8054018020629883, -1.3244645595550537, 1.6583232879638672, -2.345104217529297, 0.5638822317123413, 0.37833189964294434, 0.3617069125175476, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301262617111206, -1.150198221206665, -1.6001224517822266, -1.7999457120895386, -0.4199891984462738, 0.00011289140093140304, 4.6978162572486326e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8134427070617676, -1.3239487409591675, 1.6550934314727783, -2.3453118801116943, 0.5481512546539307, 0.38302865624427795, 0.36179080605506897, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301260232925415, -1.1501981019973755, -1.6001226902008057, -1.7999458312988281, -0.41998860239982605, 0.00011193266254849732, 4.589958189171739e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8176720142364502, -1.3235450983047485, 1.653206467628479, -2.345090866088867, 0.5442005395889282, 0.39385268092155457, 0.36407727003097534, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301260232925415, -1.1501983404159546, -1.6001222133636475, -1.7999451160430908, -0.41998788714408875, 0.00011013502808054909, 4.4221789721632376e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8259611129760742, -1.323506236076355, 1.6495829820632935, -2.34506893157959, 0.54103022813797, 0.4019189178943634, 0.3619762063026428, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301256656646729, -1.1501988172531128, -1.6001218557357788, -1.7999454736709595, -0.419985830783844, 0.00010977550118695945, 4.194478606223129e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8383755683898926, -1.323555827140808, 1.6370863914489746, -2.3450825214385986, 0.531054675579071, 0.4019775092601776, 0.3478339910507202, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301257848739624, -1.1501988172531128, -1.6001217365264893, -1.7999458312988281, -0.41998428106307983, 0.00010893660510191694, 4.0506678487872705e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8472707271575928, -1.3238219022750854, 1.6202027797698975, -2.3450937271118164, 0.514913022518158, 0.39553359150886536, 0.3402635455131531, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301256656646729, -1.1501988172531128, -1.6001213788986206, -1.7999457120895386, -0.4199816584587097, 0.0001085770782083273, 3.798999387072399e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.848607063293457, -1.3238390684127808, 1.609911561012268, -2.3451898097991943, 0.49855777621269226, 0.3947404623031616, 0.34006890654563904, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301255464553833, -1.150199055671692, -1.6001207828521729, -1.7999448776245117, -0.4199801981449127, 0.00010905644739978015, 3.8709047657903284e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8486154079437256, -1.3233686685562134, 1.6072088479995728, -2.345322370529175, 0.47872424125671387, 0.39045023918151855, 0.3423003852367401, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301253080368042, -1.150199055671692, -1.6001206636428833, -1.7999448776245117, -0.4199799597263336, 0.00010917628969764337, 3.72709400835447e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.848446011543274, -1.3226450681686401, 1.6090728044509888, -2.345405101776123, 0.47128552198410034, 0.38872259855270386, 0.34031543135643005, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301251888275146, -1.1501988172531128, -1.6001203060150146, -1.7999451160430908, -0.4199809432029724, 0.00010977550118695945, 3.6671728594228625e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8442575931549072, -1.3223004341125488, 1.6165211200714111, -2.345371723175049, 0.4699546694755554, 0.3874858319759369, 0.33433014154434204, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301253080368042, -1.150199294090271, -1.6001204252243042, -1.7999449968338013, -0.41998225450515747, 0.00011049455497413874, 3.631220170063898e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.837341070175171, -1.3219316005706787, 1.6228041648864746, -2.345191240310669, 0.4692420959472656, 0.3885289430618286, 0.33137279748916626, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301251888275146, -1.1501994132995605, -1.600120186805725, -1.7999448776245117, -0.4199836850166321, 0.00011205250484636053, 3.703125548781827e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8347034454345703, -1.3217836618423462, 1.6241374015808105, -2.3447980880737305, 0.45793628692626953, 0.3892592489719391, 0.32458722591400146, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301253080368042, -1.1501991748809814, -1.600120186805725, -1.7999441623687744, -0.41998451948165894, 0.00011289140093140304, 3.72709400835447e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.833545207977295, -1.3217723369598389, 1.6241205930709839, -2.3447093963623047, 0.4534488022327423, 0.3933570086956024, 0.3199358880519867, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301253080368042, -1.150199294090271, -1.6001206636428833, -1.799944519996643, -0.419985830783844, 0.0001133707701228559, 3.775030927499756e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.839296817779541, -1.321776270866394, 1.6192009449005127, -2.34472918510437, 0.44893327355384827, 0.39667004346847534, 0.3158206343650818, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301253080368042, -1.1501991748809814, -1.6001207828521729, -1.7999446392059326, -0.41998979449272156, 0.00011385013931430876, 3.930825914721936e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8558151721954346, -1.321832299232483, 1.6141835451126099, -2.344801187515259, 0.44379669427871704, 0.3969076871871948, 0.31249526143074036, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301256656646729, -1.1501994132995605, -1.600121021270752, -1.7999446392059326, -0.41999351978302, 0.00011385013931430876, 4.062652078573592e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.871439814567566, -1.3220489025115967, 1.6109447479248047, -2.3448028564453125, 0.4372503161430359, 0.3968975245952606, 0.30467578768730164, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730125904083252, -1.150199055671692, -1.600121259689331, -1.799944281578064, -0.41999387741088867, 0.00011408982391003519, 4.3263051338726655e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8804479837417603, -1.3220611810684204, 1.6055011749267578, -2.3448026180267334, 0.4192383885383606, 0.3969782888889313, 0.3028794825077057, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730125904083252, -1.1501989364624023, -1.6001214981079102, -1.7999446392059326, -0.41999268531799316, 0.00011432950850576162, 4.589958189171739e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8852019309997559, -1.3216276168823242, 1.6020758152008057, -2.344907760620117, 0.39693453907966614, 0.4113391041755676, 0.30636507272720337, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730126142501831, -1.1501991748809814, -1.6001222133636475, -1.7999448776245117, -0.41998979449272156, 0.00011373029701644555, 4.949484718963504e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.886256456375122, -1.3203232288360596, 1.5965394973754883, -2.3450090885162354, 0.37730151414871216, 0.4397270977497101, 0.30269166827201843, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730126142501831, -1.1501988172531128, -1.6001224517822266, -1.7999449968338013, -0.4199853539466858, 0.00011265171633567661, 5.165200855117291e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8795479536056519, -1.3180650472640991, 1.5897257328033447, -2.334043502807617, 0.3522404730319977, 0.4611373841762543, 0.3086991310119629, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501986980438232, -1.6001225709915161, -1.7999448776245117, -0.41998404264450073, 0.00011169297795277089, 5.189169314689934e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8658913373947144, -1.3156877756118774, 1.5829200744628906, -2.31819748878479, 0.3352132737636566, 0.4915657043457031, 0.3149541914463043, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501991748809814, -1.6001219749450684, -1.7999444007873535, -0.4199832081794739, 0.0001109739241655916, 5.213137774262577e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.854756236076355, -1.3135173320770264, 1.576392650604248, -2.3050503730773926, 0.3116312026977539, 0.5152587294578552, 0.3264288306236267, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501989364624023, -1.6001226902008057, -1.799944519996643, -0.4199828505516052, 0.00010977550118695945, 5.273058923194185e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8496794700622559, -1.3118122816085815, 1.5705254077911377, -2.2897050380706787, 0.29356124997138977, 0.5254372954368591, 0.33424603939056396, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501991748809814, -1.6001224517822266, -1.7999438047409058, -0.4199821352958679, 0.0001094159742933698, 5.368932761484757e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.847701907157898, -1.309863805770874, 1.568593144416809, -2.278594732284546, 0.27759814262390137, 0.5354453325271606, 0.34084513783454895, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501991748809814, -1.6001222133636475, -1.7999440431594849, -0.41998177766799927, 0.00010905644739978015, 5.4048854508437216e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8445481061935425, -1.3075870275497437, 1.5688401460647583, -2.270606279373169, 0.2634178102016449, 0.5466932654380798, 0.35438060760498047, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301260232925415, -1.1501988172531128, -1.6001218557357788, -1.799944281578064, -0.4199821352958679, 0.00010917628969764337, 5.428853910416365e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8416320085525513, -1.3053404092788696, 1.5715625286102295, -2.266479969024658, 0.24513228237628937, 0.5588046312332153, 0.3713502585887909, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301260232925415, -1.1501988172531128, -1.6001216173171997, -1.7999438047409058, -0.4199827313423157, 0.00010893660510191694, 5.428853910416365e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8415143489837646, -1.3040542602539062, 1.5726062059402466, -2.264718532562256, 0.2358652502298355, 0.5669398903846741, 0.37827545404434204, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301263809204102, -1.150199055671692, -1.6001213788986206, -1.7999438047409058, -0.4199851155281067, 0.00010965565888909623, 5.344964301912114e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8436280488967896, -1.30311918258667, 1.5745151042938232, -2.2629592418670654, 0.2244877815246582, 0.5765405893325806, 0.38709694147109985, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301263809204102, -1.1501991748809814, -1.6001213788986206, -1.799943447113037, -0.4199884831905365, 0.00011001518578268588, 5.2610746934078634e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8457411527633667, -1.3017613887786865, 1.575810194015503, -2.257995843887329, 0.213811993598938, 0.5827684998512268, 0.3963465988636017, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501991748809814, -1.600121021270752, -1.799943447113037, -0.41999170184135437, 0.00011109376646345481, 5.189169314689934e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8457720279693604, -1.3009952306747437, 1.57746422290802, -2.2541487216949463, 0.20436878502368927, 0.5890178084373474, 0.4018382430076599, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, -0.1698000048543071, -0.1698000048543071, -0.1698000048543071, 0.1698000048543071, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301265001296997, -1.1501994132995605, -1.6001207828521729, -1.7999426126480103, -0.41999292373657227, 0.00011193266254849732, 5.1052797061856836e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8435148000717163, -1.3005719184875488, 1.5812413692474365, -2.2530643939971924, 0.1958109736442566, 0.5994849801063538, 0.41090384125709534, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, -0.1698000048543071, -0.1698000048543071, -0.1698000048543071, 0.1698000048543071, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301267385482788, -1.1501994132995605, -1.6001206636428833, -1.7999428510665894, -0.4199923276901245, 0.0001133707701228559, 4.99742163810879e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8427377939224243, -1.3005194664001465, 1.5836843252182007, -2.2530641555786133, 0.19468168914318085, 0.6012757420539856, 0.4154309928417206, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, -0.1698000048543071, -0.1698000048543071, -0.1698000048543071, 0.1698000048543071, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301280498504639, -1.1501998901367188, -1.6001191139221191, -1.7999427318572998, -0.41999146342277527, 0.00011361045471858233, 4.769721635966562e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8404545783996582, -1.3005812168121338, 1.5872703790664673, -2.253288507461548, 0.19982916116714478, 0.6032865047454834, 0.4156205952167511, 0.2087999920268635, 0.2087999920268635, 0.2087999920268635, 0.2087999920268635, -0.2087999920268635, -0.2087999920268635, -0.2087999920268635, 0.2087999920268635, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301313877105713, -1.150201439857483, -1.600119709968567, -1.799941062927246, -0.41999074816703796, 0.00011444935080362484, 4.637895108317025e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.831538200378418, -1.3014147281646729, 1.593246340751648, -2.255441665649414, 0.212175190448761, 0.6027384400367737, 0.40799203515052795, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301323413848877, -1.1502020359039307, -1.6001204252243042, -1.7999416589736938, -0.41998931765556335, 0.0001149287199950777, 4.494084350881167e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8281372785568237, -1.3027324676513672, 1.6007596254348755, -2.2673213481903076, 0.22875261306762695, 0.5956072211265564, 0.3998909294605255, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, -0.3323999955103948, -0.3323999955103948, -0.3323999955103948, 0.3323999955103948, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301329374313354, -1.1502028703689575, -1.6001205444335938, -1.799940586090088, -0.41998764872550964, 0.00011564777378225699, 4.3502735934453085e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8258321285247803, -1.304026484489441, 1.6253856420516968, -2.2940754890441895, 0.2593984305858612, 0.5775121450424194, 0.40731120109558105, 0.3768000063005384, 0.3768000063005384, 0.3768000063005384, 0.3768000063005384, -0.3768000063005384, -0.3768000063005384, -0.3768000063005384, 0.3768000063005384, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301325798034668, -1.150202989578247, -1.6001207828521729, -1.7999390363693237, -0.4199841618537903, 0.00011636682029347867, 4.1465416870778427e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8212792873382568, -1.3053568601608276, 1.6696850061416626, -2.3299903869628906, 0.30483362078666687, 0.5628747344017029, 0.4265705645084381, 0.4884000031502692, 0.4884000031502692, 0.4884000031502692, 0.4884000031502692, -0.4884000031502692, -0.4884000031502692, -0.4884000031502692, 0.4884000031502692, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301321029663086, -1.1502034664154053, -1.600121259689331, -1.7999390363693237, -0.4199824929237366, 0.00011564777378225699, 3.8948732253629714e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8235360383987427, -1.3072689771652222, 1.733604907989502, -2.352599620819092, 0.377095490694046, 0.5345916152000427, 0.4757762551307678, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301321029663086, -1.1502035856246948, -1.600122094154358, -1.7999383211135864, -0.4199787676334381, 0.00011552793148439378, 3.858920536004007e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.83176851272583, -1.3072423934936523, 1.8096247911453247, -2.3534064292907715, 0.4341948330402374, 0.5362564325332642, 0.561485767364502, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.730131983757019, -1.1502039432525635, -1.6001225709915161, -1.7999382019042969, -0.4199792444705963, 0.0001149287199950777, 3.822967846645042e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8359589576721191, -1.305694341659546, 1.8590373992919922, -2.3515329360961914, 0.45043668150901794, 0.562413215637207, 0.6407925486564636, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301312685012817, -1.1502034664154053, -1.6001238822937012, -1.7999390363693237, -0.4199794828891754, 0.00011432950850576162, 3.679157089209184e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8352038860321045, -1.3056869506835938, 1.857335090637207, -2.3516011238098145, 0.4572570323944092, 0.5610842704772949, 0.6483476161956787, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301301956176758, -1.1502028703689575, -1.600124478340149, -1.7999393939971924, -0.41998130083084106, 0.0001125318740378134, 3.7390782381407917e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8346831798553467, -1.305703043937683, 1.8538684844970703, -2.351621627807617, 0.455361008644104, 0.560702919960022, 0.6424537897109985, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730129599571228, -1.150202989578247, -1.600124478340149, -1.7999398708343506, -0.4199841618537903, 0.00011205250484636053, 3.822967846645042e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8346939086914062, -1.305713176727295, 1.8538495302200317, -2.351626396179199, 0.4549728333950043, 0.5606973171234131, 0.6415534019470215, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301275730133057, -1.1502033472061157, -1.6001231670379639, -1.799939751625061, -0.4199855923652649, 0.00011085408186772838, 3.906857455149293e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8350359201431274, -1.3057657480239868, 1.8542073965072632, -2.3514275550842285, 0.452261745929718, 0.5580369234085083, 0.6386950612068176, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301286458969116, -1.1502025127410889, -1.6001241207122803, -1.7999396324157715, -0.41998741030693054, 0.0001109739241655916, 4.170510146650486e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8467525243759155, -1.3106765747070312, 1.8947385549545288, -2.3490893840789795, 0.4254663586616516, 0.5118415951728821, 0.6065629720687866, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730126142501831, -1.1502025127410889, -1.6001232862472534, -1.7999401092529297, -0.419989675283432, 0.00011145329335704446, 4.434163201949559e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.86720609664917, -1.3196113109588623, 1.987823247909546, -2.347106456756592, 0.47480887174606323, 0.5148351192474365, 0.5868560075759888, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301270961761475, -1.1502025127410889, -1.6001226902008057, -1.799940824508667, -0.4199925661087036, 0.00011121360876131803, 4.5540054998127744e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.888238787651062, -1.328141450881958, 2.0740578174591064, -2.3364317417144775, 0.4777374565601349, 0.5176053643226624, 0.577404260635376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301279306411743, -1.1502021551132202, -1.6001214981079102, -1.7999403476715088, -0.4199937582015991, 0.00011169297795277089, 4.8536112444708124e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8983583450317383, -1.3383489847183228, 2.1482532024383545, -2.3230226039886475, 0.4319242835044861, 0.5934839844703674, 0.5195358991622925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301270961761475, -1.1502021551132202, -1.600121021270752, -1.7999398708343506, -0.4199930429458618, 0.00011229218944208696, 5.15321662533097e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9095802307128906, -1.3524208068847656, 2.207467794418335, -2.287740707397461, 0.4054451584815979, 0.6416074633598328, 0.4920249283313751, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301266193389893, -1.1502025127410889, -1.600119948387146, -1.7999414205551147, -0.41998979449272156, 0.0001125318740378134, 5.344964301912114e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.944682002067566, -1.3655264377593994, 2.223426342010498, -2.2322864532470703, 0.3186136782169342, 0.5760488510131836, 0.49588948488235474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.730126976966858, -1.1502019166946411, -1.600120186805725, -1.7999407052993774, -0.41998594999313354, 0.00011325092782499269, 5.440838140202686e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9708701372146606, -1.3855433464050293, 2.2219197750091553, -2.1550142765045166, 0.24651634693145752, 0.5209771394729614, 0.4847216308116913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301276922225952, -1.1502022743225098, -1.6001194715499878, -1.7999411821365356, -0.4199846386909485, 0.00011408982391003519, 5.440838140202686e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9751218557357788, -1.4036574363708496, 2.2161312103271484, -2.0823566913604736, 0.19469380378723145, 0.5005227327346802, 0.47768259048461914, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301267385482788, -1.1502026319503784, -1.6001185178756714, -1.799940824508667, -0.4199844002723694, 0.00011420966620789841, 5.3809169912710786e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9648020267486572, -1.4166584014892578, 2.206524133682251, -2.0193192958831787, 0.1532977670431137, 0.47250503301620483, 0.473481148481369, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.7301279306411743, -1.1502023935317993, -1.6001179218292236, -1.799940824508667, -0.41998380422592163, 0.00011432950850576162, 5.416869680630043e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9479248523712158, -1.4238578081130981, 2.1913866996765137, -1.951013207435608, 0.09038430452346802, 0.41822272539138794, 0.4696331322193146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301275730133057, -1.150202989578247, -1.600117802619934, -1.799941062927246, -0.4199833273887634, 0.00011396998161217198, 5.464806599775329e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9390572309494019, -1.4319912195205688, 2.1795027256011963, -1.888635516166687, 0.04835227131843567, 0.33498892188072205, 0.4668145477771759, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301286458969116, -1.150202989578247, -1.6001180410385132, -1.7999407052993774, -0.419983446598053, 0.00011408982391003519, 5.452822369989008e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9360458850860596, -1.4400023221969604, 2.178537130355835, -1.8655747175216675, 0.0314178429543972, 0.357494592666626, 0.46480467915534973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301280498504639, -1.1502028703689575, -1.6001180410385132, -1.7999404668807983, -0.4199836850166321, 0.00011361045471858233, 5.3809169912710786e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.933229923248291, -1.4451996088027954, 2.178352117538452, -1.8498053550720215, 0.01658257283270359, 0.3545030653476715, 0.4747231900691986, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730128526687622, -1.1502028703689575, -1.6001181602478027, -1.7999407052993774, -0.41998451948165894, 0.00011349061242071912, 5.273058923194185e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9187105894088745, -1.4500541687011719, 2.1768651008605957, -1.8536251783370972, 0.023254670202732086, 0.3581063747406006, 0.4896869361400604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301279306411743, -1.150202751159668, -1.6001179218292236, -1.7999411821365356, -0.41998669505119324, 0.00011313108552712947, 5.177185084903613e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8829134702682495, -1.4523299932479858, 2.174903154373169, -1.8730360269546509, 0.06243373826146126, 0.37250158190727234, 0.5202217698097229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301286458969116, -1.1502046585083008, -1.6001174449920654, -1.7999415397644043, -0.4199891984462738, 0.00011193266254849732, 4.9614689487498254e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8242359161376953, -1.4459398984909058, 2.1598315238952637, -1.8624615669250488, 0.0783143937587738, 0.3862873911857605, 0.5681869387626648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301287651062012, -1.1502048969268799, -1.6001182794570923, -1.7999449968338013, -0.4199928045272827, 0.00010989534348482266, 4.8775797040434554e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7612143754959106, -1.424226999282837, 2.1317050457000732, -1.8106275796890259, 0.025474388152360916, 0.3625841736793518, 0.6551969647407532, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301290035247803, -1.1502059698104858, -1.6001182794570923, -1.799940586090088, -0.419994592666626, 0.00010893660510191694, 4.458131661522202e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6961383819580078, -1.401357889175415, 2.105154514312744, -1.7375335693359375, -0.028166523203253746, 0.3310818374156952, 0.7188996076583862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301275730133057, -1.1502083539962769, -1.600118637084961, -1.799942970275879, -0.4199942350387573, 0.00010749849752755836, 4.3263051338726655e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6277793645858765, -1.380038857460022, 2.0890185832977295, -1.6525179147720337, -0.05406742915511131, 0.2937045991420746, 0.7583449482917786, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301288843154907, -1.1502090692520142, -1.6001205444335938, -1.799940586090088, -0.41999268531799316, 0.00010725881293183193, 4.290352444513701e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5613352060317993, -1.3536354303359985, 2.0787577629089355, -1.5660812854766846, -0.07663828134536743, 0.25795960426330566, 0.8153279423713684, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301274538040161, -1.1502121686935425, -1.6001147031784058, -1.7999438047409058, -0.41999098658561707, 0.00010677944374037907, 3.7151097785681486e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.499672770500183, -1.328834891319275, 2.0647032260894775, -1.4638035297393799, -0.09317926317453384, 0.20012636482715607, 0.8430269360542297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301275730133057, -1.150212287902832, -1.6001152992248535, -1.7999430894851685, -0.4199889600276947, 0.00010713897063396871, 3.5712990211322904e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4523166418075562, -1.31083345413208, 2.046664237976074, -1.3765275478363037, -0.10685829818248749, 0.17650726437568665, 0.8177716135978699, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301267385482788, -1.1502119302749634, -1.6001167297363281, -1.7999435663223267, -0.4199880063533783, 0.000107858024421148, 3.607251710491255e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4198418855667114, -1.2915749549865723, 2.0358407497406006, -1.3086360692977905, -0.12493722140789032, 0.1563372164964676, 0.817979097366333, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.730126142501831, -1.1502116918563843, -1.6001157760620117, -1.799942970275879, -0.4199865758419037, 0.00010809770901687443, 3.48740941262804e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3913575410842896, -1.2713651657104492, 2.0315544605255127, -1.255246877670288, -0.13733741641044617, 0.14225010573863983, 0.8236153721809387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301249504089355, -1.1502114534378052, -1.6001163721084595, -1.7999424934387207, -0.4199839234352112, 0.0001094159742933698, 3.451456723269075e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3826545476913452, -1.252266764640808, 2.0239462852478027, -1.238961935043335, -0.14560090005397797, 0.13314390182495117, 0.8345293998718262, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.730124831199646, -1.1502113342285156, -1.6001145839691162, -1.7999426126480103, -0.4199794828891754, 0.00011109376646345481, 3.379551344551146e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.39250910282135, -1.2443928718566895, 2.0171191692352295, -1.2485004663467407, -0.12492859363555908, 0.1532839834690094, 0.8293834924697876, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730125904083252, -1.150204062461853, -1.6001139879226685, -1.7999417781829834, -0.4199790060520172, 0.00011145329335704446, 3.463440953055397e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4122388362884521, -1.2373332977294922, 2.0159006118774414, -1.2738381624221802, -0.10110743343830109, 0.16080409288406372, 0.821483850479126, 0.28619999649760486, 0.28619999649760486, 0.28619999649760486, 0.28619999649760486, -0.28619999649760486, -0.28619999649760486, -0.28619999649760486, 0.28619999649760486, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301208972930908, -1.1502207517623901, -1.600104808807373, -1.7999404668807983, -0.4199799597263336, 0.00011217234714422375, 3.583283250918612e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4327017068862915, -1.2317705154418945, 2.0158255100250244, -1.2994800806045532, -0.07850518077611923, 0.17742644250392914, 0.8176807761192322, 0.08699999641586136, 0.08699999641586136, 0.08699999641586136, 0.08699999641586136, -0.08699999641586136, -0.08699999641586136, -0.08699999641586136, 0.08699999641586136, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730116605758667, -1.150221586227417, -1.6001027822494507, -1.7999420166015625, -0.4199824929237366, 0.00011277155863353983, 3.475425182841718e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.462177038192749, -1.2310386896133423, 2.0190353393554688, -1.3354099988937378, -0.05981290712952614, 0.20156770944595337, 0.8173350691795349, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301170825958252, -1.1502200365066528, -1.6001032590866089, -1.7999420166015625, -0.41998571157455444, 0.0001133707701228559, 3.631220170063898e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.497674822807312, -1.2311606407165527, 2.0335566997528076, -1.3788620233535767, -0.035067521035671234, 0.23426859080791473, 0.8176918029785156, 0.05399998308538081, 0.05399998308538081, 0.05399998308538081, 0.05399998308538081, -0.05399998308538081, -0.05399998308538081, -0.05399998308538081, 0.05399998308538081, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301164865493774, -1.150219440460205, -1.600102186203003, -1.7999423742294312, -0.41998812556266785, 0.00011396998161217198, 3.834952076431364e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5374054908752441, -1.2319425344467163, 2.062704086303711, -1.4372411966323853, -0.0011820041108876467, 0.25617286562919617, 0.8227417469024658, 0.04439999349824677, 0.04439999349824677, 0.04439999349824677, 0.04439999349824677, -0.04439999349824677, -0.04439999349824677, -0.04439999349824677, 0.04439999349824677, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.730117678642273, -1.1502182483673096, -1.6001040935516357, -1.799941897392273, -0.41998931765556335, 0.00011408982391003519, 4.2783682147273794e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5788521766662598, -1.2336771488189697, 2.109097957611084, -1.5364747047424316, 0.05510897934436798, 0.30487748980522156, 0.8273651003837585, 0.04439999349824677, 0.04439999349824677, 0.04439999349824677, 0.04439999349824677, -0.04439999349824677, -0.04439999349824677, -0.04439999349824677, 0.04439999349824677, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301188707351685, -1.1502161026000977, -1.6001044511795044, -1.799942135810852, -0.41999074816703796, 0.00011325092782499269, 4.51805281045381e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6066985130310059, -1.2358289957046509, 2.159667491912842, -1.6431180238723755, 0.12061379104852676, 0.3684067130088806, 0.8242558240890503, 0.04439999349824677, 0.04439999349824677, 0.04439999349824677, 0.04439999349824677, -0.04439999349824677, -0.04439999349824677, -0.04439999349824677, 0.04439999349824677, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301185131072998, -1.1502158641815186, -1.6001050472259521, -1.7999423742294312, -0.4199925661087036, 0.0001133707701228559, 4.6978162572486326e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6210730075836182, -1.2378342151641846, 2.1994667053222656, -1.7385375499725342, 0.17175503075122833, 0.41986119747161865, 0.827160656452179, 0.04380000397399231, 0.04380000397399231, 0.04380000397399231, 0.04380000397399231, -0.04380000397399231, -0.04380000397399231, -0.04380000397399231, 0.04380000397399231, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301208972930908, -1.1502145528793335, -1.600107192993164, -1.7999415397644043, -0.41999244689941406, 0.00011277155863353983, 5.0333743274677545e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6214853525161743, -1.2395505905151367, 2.232760190963745, -1.834277868270874, 0.22319108247756958, 0.48043620586395264, 0.8453757166862488, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301216125488281, -1.1502128839492798, -1.6001091003417969, -1.799942135810852, -0.41999170184135437, 0.00011037471267627552, 5.2850431529805064e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.600244164466858, -1.2376759052276611, 2.255455255508423, -1.9227367639541626, 0.27341267466545105, 0.5693300366401672, 0.8767048716545105, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301243543624878, -1.1502124071121216, -1.6001129150390625, -1.7999403476715088, -0.41998931765556335, 0.00010989534348482266, 5.5367119784932584e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5636999607086182, -1.2206485271453857, 2.2561259269714355, -1.9976547956466675, 0.28878194093704224, 0.6529577374458313, 0.954642117023468, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301242351531982, -1.1502116918563843, -1.6001131534576416, -1.7999417781829834, -0.4199863374233246, 0.00010989534348482266, 5.488775059347972e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.529891014099121, -1.1852461099624634, 2.238950729370117, -2.0386204719543457, 0.24889592826366425, 0.7022440433502197, 1.090788722038269, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301241159439087, -1.1502095460891724, -1.600114345550537, -1.799942135810852, -0.4199832081794739, 0.00010917628969764337, 5.416869680630043e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5326279401779175, -1.1503959894180298, 2.187610387802124, -2.068913459777832, 0.27903661131858826, 0.7116846442222595, 1.1276273727416992, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301238775253296, -1.1502048969268799, -1.6001237630844116, -1.7999424934387207, -0.4199829697608948, 0.0001085770782083273, 5.644570046570152e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5529866218566895, -1.1066970825195312, 2.124464988708496, -2.0995371341705322, 0.31998035311698914, 0.7089259624481201, 1.10633385181427, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301239967346191, -1.1502058506011963, -1.6001226902008057, -1.7999426126480103, -0.4199827313423157, 0.00010809770901687443, 5.620601586997509e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5744737386703491, -1.060592770576477, 2.0772550106048584, -2.1156184673309326, 0.3190281093120575, 0.6986759901046753, 1.114633321762085, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301239967346191, -1.150206208229065, -1.6001231670379639, -1.7999439239501953, -0.4199824929237366, 0.00010821755131473765, 5.596633127424866e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5899800062179565, -1.0181304216384888, 2.039381980895996, -2.11881422996521, 0.31212949752807617, 0.6983717083930969, 1.1163215637207031, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301244735717773, -1.1502045392990112, -1.6001240015029907, -1.799943208694458, -0.4199832081794739, 0.00010881676280405372, 5.572664667852223e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6046150922775269, -0.9852039813995361, 2.002471446990967, -2.113699197769165, 0.29354605078697205, 0.6926449537277222, 1.1219919919967651, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301244735717773, -1.1502043008804321, -1.6001231670379639, -1.799943208694458, -0.41998380422592163, 0.00010893660510191694, 5.488775059347972e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6137138605117798, -0.963538646697998, 1.9712342023849487, -2.0991604328155518, 0.2735510766506195, 0.6895602941513062, 1.125270962715149, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301247119903564, -1.150204062461853, -1.600123405456543, -1.799943208694458, -0.4199839234352112, 0.00010965565888909623, 5.3929012210574e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6093077659606934, -0.9553819894790649, 1.9462779760360718, -2.0853586196899414, 0.24124100804328918, 0.6894294619560242, 1.1251894235610962, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301241159439087, -1.1502041816711426, -1.6001219749450684, -1.7999430894851685, -0.4199868142604828, 0.00010977550118695945, 5.2610746934078634e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5962673425674438, -0.9543626308441162, 1.9312199354171753, -2.0780887603759766, 0.23464633524417877, 0.6936485171318054, 1.1196789741516113, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301244735717773, -1.150203824043274, -1.6001218557357788, -1.7999439239501953, -0.41998955607414246, 0.0001094159742933698, 5.165200855117291e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5717982053756714, -0.9543076157569885, 1.9152917861938477, -2.06852388381958, 0.2453281134366989, 0.7083768844604492, 1.1042264699935913, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301244735717773, -1.1502041816711426, -1.600121259689331, -1.799943447113037, -0.41999197006225586, 0.00010953581659123302, 4.9854374083224684e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5246840715408325, -0.9573990702629089, 1.8897874355316162, -2.0451252460479736, 0.25371646881103516, 0.7369484305381775, 1.074419617652893, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301241159439087, -1.1502032279968262, -1.6001195907592773, -1.7999428510665894, -0.4199944734573364, 0.0001102548703784123, 4.745753176393919e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.457095742225647, -0.969713568687439, 1.8586053848266602, -2.0103871822357178, 0.25389179587364197, 0.7687398791313171, 1.0432884693145752, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.73012375831604, -1.150202989578247, -1.6001180410385132, -1.799943447113037, -0.4199939966201782, 0.00011121360876131803, 4.1225732275051996e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3802975416183472, -0.9786810874938965, 1.8181891441345215, -1.9658488035202026, 0.2684970796108246, 0.8054827451705933, 1.005514144897461, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301334142684937, -1.1501706838607788, -1.6001166105270386, -1.7999519109725952, -0.4199915826320648, 0.00010953581659123302, 3.9428101445082575e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2802109718322754, -0.978682816028595, 1.7476434707641602, -1.8899004459381104, 0.2950049936771393, 0.8576973080635071, 0.9534494876861572, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301898002624512, -1.1501835584640503, -1.6001108884811401, -1.7999517917633057, -0.41998907923698425, 0.00011121360876131803, 3.127882519038394e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1585311889648438, -0.9693005681037903, 1.6523250341415405, -1.780544638633728, 0.2885584533214569, 0.8834329843521118, 0.9281316995620728, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301738262176514, -1.1501861810684204, -1.6001118421554565, -1.7999387979507446, -0.41998764872550964, 0.00011361045471858233, 3.0439930924330838e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0661284923553467, -0.9555596113204956, 1.578847885131836, -1.687261700630188, 0.2515094578266144, 0.8680049180984497, 0.9445908665657043, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301783561706543, -1.1501938104629517, -1.6001161336898804, -1.7999415397644043, -0.41998645663261414, 0.00011001518578268588, 3.1638352083973587e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9994902014732361, -0.9370514750480652, 1.5126919746398926, -1.6154714822769165, 0.2331678420305252, 0.845702052116394, 0.9673030972480774, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301667928695679, -1.1501998901367188, -1.60011887550354, -1.7999426126480103, -0.4199851155281067, 0.00010905644739978015, 3.067961733904667e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9464088678359985, -0.9193536043167114, 1.4423000812530518, -1.5711594820022583, 0.2208007127046585, 0.8211411237716675, 0.992290198802948, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301678657531738, -1.150198221206665, -1.6001174449920654, -1.799945592880249, -0.419982373714447, 0.0001070191283361055, 2.876214057323523e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9037006497383118, -0.9071565866470337, 1.3782846927642822, -1.5384831428527832, 0.19727304577827454, 0.7932390570640564, 1.0212173461914062, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301647663116455, -1.1502000093460083, -1.6001168489456177, -1.7999461889266968, -0.4199790060520172, 0.00010582070535747334, 2.9241507945698686e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.870956301689148, -0.905126690864563, 1.3327103853225708, -1.5170236825942993, 0.19577836990356445, 0.784640371799469, 1.0292656421661377, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.730163812637329, -1.1502001285552979, -1.600117802619934, -1.7999463081359863, -0.41997841000556946, 0.0001063000745489262, 3.055977504118346e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8379705548286438, -0.9038290977478027, 1.2882320880889893, -1.4952610731124878, 0.18946219980716705, 0.7792530059814453, 1.034854531288147, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.730161190032959, -1.1502004861831665, -1.6001218557357788, -1.7999460697174072, -0.41998031735420227, 0.00010498180927243084, 3.3196301956195384e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8105998039245605, -0.9120482802391052, 1.2665752172470093, -1.4625086784362793, 0.1469927430152893, 0.7587990760803223, 1.0556172132492065, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.7301526069641113, -1.1502001285552979, -1.6001211404800415, -1.7999459505081177, -0.4199828505516052, 0.00010665960144251585, 3.475425182841718e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8008608222007751, -0.9182455539703369, 1.2507528066635132, -1.456139326095581, 0.15701887011528015, 0.7657020688056946, 1.0479469299316406, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301445007324219, -1.15019953250885, -1.6001219749450684, -1.7999460697174072, -0.41998741030693054, 0.00010689928603824228, 3.763046697713435e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7942292094230652, -0.9284833669662476, 1.2373323440551758, -1.4484739303588867, 0.156110942363739, 0.772546648979187, 1.0400453805923462, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.730141282081604, -1.1501984596252441, -1.6001231670379639, -1.7999459505081177, -0.419989675283432, 0.00010773818212328479, 4.3023366743000224e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7892976999282837, -0.9300819635391235, 1.2196182012557983, -1.4415305852890015, 0.15550382435321808, 0.7735844850540161, 1.0386790037155151, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301384210586548, -1.150198221206665, -1.6001237630844116, -1.7999459505081177, -0.4199908673763275, 0.00010929613199550658, 4.637895108317025e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7826165556907654, -0.9300695061683655, 1.2018969058990479, -1.4349007606506348, 0.13276496529579163, 0.7702515125274658, 1.0424535274505615, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.7301381826400757, -1.150198221206665, -1.600123405456543, -1.7999465465545654, -0.4199923276901245, 0.00011133345105918124, 4.925516259390861e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7736520767211914, -0.9323294162750244, 1.1824830770492554, -1.4204769134521484, 0.10671928524971008, 0.768095076084137, 1.045053243637085, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.730137825012207, -1.150198221206665, -1.600123405456543, -1.7999463081359863, -0.41999220848083496, 0.00011229218944208696, 5.165200855117291e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7651228308677673, -0.9434605240821838, 1.1669752597808838, -1.4001166820526123, 0.07885296642780304, 0.7649264931678772, 1.0488147735595703, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301360368728638, -1.1501983404159546, -1.6001224517822266, -1.799946904182434, -0.4199918210506439, 0.00011241203173995018, 5.297027382766828e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7601708769798279, -0.9666456580162048, 1.168731689453125, -1.382048487663269, 0.060296230018138885, 0.7687565088272095, 1.0443938970565796, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301353216171265, -1.1501984596252441, -1.6001228094100952, -1.7999465465545654, -0.4199915826320648, 0.00011301124322926626, 5.3929012210574e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7526864409446716, -0.9840902090072632, 1.1673626899719238, -1.3628711700439453, 0.04075523465871811, 0.7688524127006531, 1.0442289113998413, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301344871520996, -1.150198221206665, -1.6001226902008057, -1.7999458312988281, -0.4199889600276947, 0.00011361045471858233, 5.344964301912114e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7423089742660522, -0.9927902817726135, 1.1614147424697876, -1.3416571617126465, 0.03002515807747841, 0.7727721929550171, 1.0405490398406982, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301340103149414, -1.1501986980438232, -1.6001218557357788, -1.7999461889266968, -0.4199868142604828, 0.00011373029701644555, 5.368932761484757e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7354849576950073, -0.9989323616027832, 1.1588958501815796, -1.3320404291152954, 0.024264220148324966, 0.7750388979911804, 1.038445234298706, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301342487335205, -1.1501986980438232, -1.6001222133636475, -1.7999457120895386, -0.41998404264450073, 0.00011301124322926626, 5.3809169912710786e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7323159575462341, -1.0007011890411377, 1.1571004390716553, -1.3282586336135864, 0.025264663621783257, 0.7763746380805969, 1.036734700202942, 0.04380000397399231, 0.04380000397399231, 0.04380000397399231, 0.04380000397399231, -0.04380000397399231, -0.04380000397399231, -0.04380000397399231, 0.04380000397399231, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730134129524231, -1.1501985788345337, -1.6001211404800415, -1.79994535446167, -0.41998225450515747, 0.00011217234714422375, 5.4048854508437216e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7331467270851135, -1.0003597736358643, 1.1555958986282349, -1.3312186002731323, 0.02962680160999298, 0.7772592902183533, 1.034611701965332, 0.13439999412704298, 0.13439999412704298, 0.13439999412704298, 0.13439999412704298, -0.13439999412704298, -0.13439999412704298, -0.13439999412704298, 0.13439999412704298, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301338911056519, -1.1501989364624023, -1.6001207828521729, -1.7999458312988281, -0.4199811816215515, 0.00011061439727200195, 5.3569485316984355e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7356482744216919, -0.9981217384338379, 1.1573363542556763, -1.333910346031189, 0.037695061415433884, 0.7788655757904053, 1.0325591564178467, 0.17939999444144114, 0.17939999444144114, 0.17939999444144114, 0.17939999444144114, -0.17939999444144114, -0.17939999444144114, -0.17939999444144114, 0.17939999444144114, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.7301336526870728, -1.1501988172531128, -1.6001205444335938, -1.7999451160430908, -0.41998225450515747, 0.0001102548703784123, 5.3809169912710786e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7449567914009094, -0.9952996373176575, 1.190474033355713, -1.346750259399414, 0.06615771353244781, 0.7846053838729858, 1.027634859085083, 0.20159999983651294, 0.20159999983651294, 0.20159999983651294, 0.20159999983651294, -0.20159999983651294, -0.20159999983651294, -0.20159999983651294, 0.20159999983651294, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301346063613892, -1.1501985788345337, -1.6001205444335938, -1.7999451160430908, -0.4199824929237366, 0.00010869692050619051, 5.344964301912114e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7579408288002014, -0.9797807931900024, 1.2440810203552246, -1.380133032798767, 0.10813833773136139, 0.7885466814041138, 1.0231395959854126, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.21180001824766723, -0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301344871520996, -1.15019690990448, -1.6001206636428833, -1.7999403476715088, -0.4199841618537903, 0.000107858024421148, 5.249090463621542e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.791479229927063, -0.9522466063499451, 1.3199211359024048, -1.444262981414795, 0.1618693619966507, 0.7930898666381836, 1.0186152458190918, 0.2826000004024296, 0.2826000004024296, 0.2826000004024296, 0.2826000004024296, -0.2826000004024296, -0.2826000004024296, -0.2826000004024296, 0.2826000004024296, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301292419433594, -1.1501973867416382, -1.6001194715499878, -1.7999213933944702, -0.41998571157455444, 0.00010606038995319977, 5.189169314689934e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8602215051651001, -0.9291060566902161, 1.4228450059890747, -1.5376428365707397, 0.23219315707683563, 0.8049694895744324, 1.0057066679000854, 0.40140000909239376, 0.40140000909239376, 0.40140000909239376, 0.40140000909239376, -0.40140000909239376, -0.40140000909239376, -0.40140000909239376, 0.40140000909239376, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7301151752471924, -1.1502022743225098, -1.600121021270752, -1.7999037504196167, -0.4199891984462738, 8.101335697574541e-05, 5.3090116125531495e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.970411479473114, -0.9188902378082275, 1.5501827001571655, -1.6605327129364014, 0.2883557975292206, 0.8211469650268555, 0.9894185662269592, 0.5814000005250448, 0.5814000005250448, 0.5814000005250448, 0.5814000005250448, -0.5814000005250448, -0.5814000005250448, -0.5814000005250448, 0.5814000005250448, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7300710678100586, -1.1501976251602173, -1.600122094154358, -1.799912452697754, -0.41999244689941406, 5.87227004871238e-05, 4.817658555111848e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1273393630981445, -0.9315927028656006, 1.6958338022232056, -1.7916756868362427, 0.31783050298690796, 0.7669181227684021, 0.9595236778259277, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5665411353111267, 0.0, 0.0, 1.7300834655761719, -1.1501898765563965, -1.6001226902008057, -1.7999091148376465, -0.41999807953834534, 6.854976527392864e-05, 4.51805281045381e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3124135732650757, -0.9716349840164185, 1.8219248056411743, -1.9075508117675781, 0.4023439884185791, 0.6620211601257324, 0.8701490163803101, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2654173374176025, -0.5665411353111267, 0.0, 0.0, 1.730101227760315, -1.1502013206481934, -1.6001240015029907, -1.7999249696731567, -0.42000284790992737, 0.00010570086305961013, 4.110588997718878e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4702237844467163, -1.0173966884613037, 1.9133867025375366, -2.0049567222595215, 0.4887636601924896, 0.6614087820053101, 0.7662177681922913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5665411353111267, 0.0, 0.0, 1.7301474809646606, -1.1502007246017456, -1.6001259088516235, -1.799924373626709, -0.4200017750263214, 0.00010797786671901122, 3.9907470636535436e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6066522598266602, -1.0568790435791016, 1.9999107122421265, -2.0797948837280273, 0.5245212316513062, 0.6195415258407593, 0.7188430428504944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5108045339584351, 1.2654173374176025, -0.5665411353111267, 0.0, 0.0, 1.7301653623580933, -1.1501984596252441, -1.6001325845718384, -1.7999306917190552, -0.41999927163124084, 0.00010917628969764337, 3.6911413189955056e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7137590646743774, -1.0897276401519775, 2.0642075538635254, -2.1207096576690674, 0.5246603488922119, 0.5848686695098877, 0.7235018014907837, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2654173374176025, -0.5665411353111267, 0.0, 0.0, 1.7301535606384277, -1.1501975059509277, -1.6001306772232056, -1.7999268770217896, -0.41999709606170654, 0.00011265171633567661, 3.607251710491255e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7976274490356445, -1.1244537830352783, 2.1003551483154297, -2.1462833881378174, 0.5152499079704285, 0.5688034296035767, 0.7496095299720764, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5108045339584351, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7301584482192993, -1.150201678276062, -1.6001286506652832, -1.7999342679977417, -0.419994592666626, 0.00011121360876131803, 3.355582884978503e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8128219842910767, -1.1376972198486328, 2.100400686264038, -2.1476635932922363, 0.5118506550788879, 0.5765119194984436, 0.7526677846908569, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7301558256149292, -1.1502001285552979, -1.6001306772232056, -1.7999343872070312, -0.4199925661087036, 0.00011169297795277089, 3.4394724934827536e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.800041675567627, -1.1351591348648071, 2.0978033542633057, -2.1471381187438965, 0.5121110677719116, 0.5769052505493164, 0.7511449456214905, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.7301506996154785, -1.1501996517181396, -1.6001302003860474, -1.7999343872070312, -0.4199918210506439, 0.00011169297795277089, 3.475425182841718e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7960201501846313, -1.132340908050537, 2.0977888107299805, -2.1471824645996094, 0.5127301812171936, 0.5767687559127808, 0.7509636282920837, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7301514148712158, -1.1501991748809814, -1.6001298427581787, -1.7999342679977417, -0.4199901521205902, 0.00011205250484636053, 3.4155040339101106e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7970256805419922, -1.132323980331421, 2.097813844680786, -2.147218704223633, 0.5127782821655273, 0.5767074823379517, 0.7509478330612183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.7301511764526367, -1.1501988172531128, -1.600129246711731, -1.7999342679977417, -0.4199865758419037, 0.00011277155863353983, 3.499393642414361e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7975175380706787, -1.1323336362838745, 2.0978453159332275, -2.147218942642212, 0.5127680897712708, 0.5767066478729248, 0.7509377598762512, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.719198226928711, -1.1559470891952515, -1.5931065082550049, -1.8012874126434326, -0.4073179066181183, 0.009487311355769634, -0.024634892120957375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7788238525390625, -1.1386091709136963, 2.083756685256958, -2.1299688816070557, 0.5017687082290649, 0.5599666237831116, 0.7508735060691833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.6775147914886475, -1.185125708580017, -1.5357240438461304, -1.8097659349441528, -0.3955519199371338, 0.006160730496048927, -0.08470054715871811, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7092201709747314, -1.1675240993499756, 2.057645082473755, -2.0790367126464844, 0.5073415040969849, 0.5332517623901367, 0.7238511443138123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.6225471496582031, -1.2175298929214478, -1.4547845125198364, -1.8093366622924805, -0.37359166145324707, -0.0008660999592393637, -0.11906711012125015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6502666473388672, -1.1879339218139648, 2.055128574371338, -2.018380880355835, 0.5171511769294739, 0.5214321613311768, 0.6547702550888062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.5812126398086548, -1.2438395023345947, -1.3861342668533325, -1.7743576765060425, -0.350767582654953, -0.01139148510992527, -0.0899764820933342, 0.48780000380107336, -0.48780000380107336, 0.48780000380107336, 0.48780000380107336, -0.48780000380107336, -0.48780000380107336, 0.48780000380107336, 0.48780000380107336, -1.6179876327514648, -1.2003285884857178, 2.0449767112731934, -1.94957435131073, 0.5088195204734802, 0.5033669471740723, 0.5831642746925354, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5678565502166748, -1.2623389959335327, -1.3537578582763672, -1.7265236377716064, -0.31841689348220825, -0.012213962152600288, -0.04993467032909393, 0.12779999146094692, -0.12779999146094692, 0.12779999146094692, 0.12779999146094692, -0.12779999146094692, -0.12779999146094692, 0.12779999146094692, 0.12779999146094692, -1.5929943323135376, -1.2144241333007812, 2.0213420391082764, -1.8787026405334473, 0.4772459864616394, 0.463564932346344, 0.5118023753166199, 0.2742000095136873, 0.2742000095136873, 0.2742000095136873, 0.2742000095136873, -0.2742000095136873, -0.2742000095136873, -0.2742000095136873, 0.2742000095136873, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.5695316791534424, -1.2743773460388184, -1.3390741348266602, -1.6982333660125732, -0.29974618554115295, -0.007786750327795744, -0.03931952267885208, 0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -1.570261836051941, -1.2233444452285767, 1.9967256784439087, -1.8104318380355835, 0.45065563917160034, 0.4774440824985504, 0.47286948561668396, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5717127323150635, -1.285457968711853, -1.3315361738204956, -1.6694124937057495, -0.3027200698852539, 0.00687007699161768, -0.07412578910589218, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.546988606452942, -1.2302418947219849, 1.9518855810165405, -1.7243577241897583, 0.44754859805107117, 0.4906063675880432, 0.451593279838562, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5739697217941284, -1.2928352355957031, -1.314652919769287, -1.658557415008545, -0.32036685943603516, 0.02379276044666767, -0.14030183851718903, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5095956325531006, -1.241398572921753, 1.878149390220642, -1.6113919019699097, 0.46441927552223206, 0.4856641888618469, 0.44929447770118713, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5691864490509033, -1.303289532661438, -1.2883743047714233, -1.6462434530258179, -0.3225235342979431, 0.028716718778014183, -0.18244484066963196, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4614849090576172, -1.254047155380249, 1.8120787143707275, -1.5119786262512207, 0.4589022099971771, 0.40202316641807556, 0.466808557510376, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5541810989379883, -1.3141895532608032, -1.2668707370758057, -1.625615119934082, -0.3352622985839844, 0.025418899953365326, -0.20110991597175598, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3893383741378784, -1.2603933811187744, 1.7681427001953125, -1.4301774501800537, 0.48341044783592224, 0.3799634575843811, 0.4663352072238922, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.536905288696289, -1.3208986520767212, -1.2526053190231323, -1.6062390804290771, -0.33902114629745483, 0.016449786722660065, -0.22711268067359924, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3124077320098877, -1.2630380392074585, 1.7335538864135742, -1.3501076698303223, 0.5214701890945435, 0.36757320165634155, 0.4624127447605133, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5286885499954224, -1.3281768560409546, -1.2427709102630615, -1.600314736366272, -0.3448706269264221, 0.0005158010171726346, -0.23672308027744293, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2550716400146484, -1.2630324363708496, 1.697150707244873, -1.2835279703140259, 0.5053191781044006, 0.3212563097476959, 0.4815509617328644, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5288277864456177, -1.3331066370010376, -1.2425565719604492, -1.6096247434616089, -0.3487817049026489, -0.011044541373848915, -0.24628816545009613, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2272698879241943, -1.2635657787322998, 1.676550030708313, -1.2684868574142456, 0.5080833435058594, 0.3059820830821991, 0.504075288772583, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5340571403503418, -1.3348760604858398, -1.2504942417144775, -1.6321191787719727, -0.3521686792373657, -0.019469572231173515, -0.27233874797821045, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2144737243652344, -1.2642742395401, 1.673306941986084, -1.2807302474975586, 0.5188896059989929, 0.3066757023334503, 0.506237268447876, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.537764549255371, -1.3355311155319214, -1.2553539276123047, -1.6528500318527222, -0.350486695766449, -0.02886352688074112, -0.29723477363586426, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2086304426193237, -1.2630853652954102, 1.678973913192749, -1.302353858947754, 0.5261251926422119, 0.3127216398715973, 0.5057540535926819, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5407575368881226, -1.3371959924697876, -1.2618600130081177, -1.6792789697647095, -0.36372146010398865, -0.039126697927713394, -0.31663796305656433, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.206027865409851, -1.2599889039993286, 1.697609305381775, -1.3270503282546997, 0.554015040397644, 0.3310750126838684, 0.5110000371932983, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5379643440246582, -1.3386106491088867, -1.2653065919876099, -1.6973001956939697, -0.37284648418426514, -0.05392110347747803, -0.34365472197532654, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2042601108551025, -1.2514373064041138, 1.704789400100708, -1.353453278541565, 0.5629881024360657, 0.340151846408844, 0.5449504852294922, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.5233154296875, -1.340315341949463, -1.26191246509552, -1.708141803741455, -0.3695138096809387, -0.07007080316543579, -0.3653055429458618, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.198283314704895, -1.2481592893600464, 1.7038893699645996, -1.3794941902160645, 0.5747623443603516, 0.3480355441570282, 0.5662699937820435, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.4946377277374268, -1.3458341360092163, -1.2525357007980347, -1.7089718580245972, -0.37892812490463257, -0.08326172083616257, -0.3713245093822479, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1862797737121582, -1.246374249458313, 1.699639081954956, -1.3994957208633423, 0.5827318429946899, 0.36581751704216003, 0.5652742981910706, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.4549827575683594, -1.353522539138794, -1.238386869430542, -1.6983367204666138, -0.38946154713630676, -0.08339930325746536, -0.38433852791786194, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1809096336364746, -1.2394486665725708, 1.6978082656860352, -1.4179447889328003, 0.5707581639289856, 0.3915737569332123, 0.5918253660202026, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.4106956720352173, -1.3605469465255737, -1.2281209230422974, -1.6662687063217163, -0.3823448419570923, -0.07701997458934784, -0.3970969319343567, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1805559396743774, -1.2263867855072021, 1.6993606090545654, -1.4353667497634888, 0.5346023440361023, 0.42727476358413696, 0.6554545164108276, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.369858980178833, -1.3680161237716675, -1.2208662033081055, -1.6338142156600952, -0.39100584387779236, -0.07015972584486008, -0.3998866081237793, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1814320087432861, -1.2153369188308716, 1.7082020044326782, -1.4572645425796509, 0.5010626912117004, 0.45954254269599915, 0.7176302671432495, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3308913707733154, -1.3769444227218628, -1.2090858221054077, -1.6129915714263916, -0.40283700823783875, -0.035309720784425735, -0.4046902656555176, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1805588006973267, -1.2046890258789062, 1.7094570398330688, -1.460619330406189, 0.46441760659217834, 0.4846806526184082, 0.7561683058738708, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3019304275512695, -1.391701102256775, -1.2007579803466797, -1.6068376302719116, -0.4500063359737396, 0.05660640820860863, -0.3744402825832367, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1701549291610718, -1.2000268697738647, 1.701076626777649, -1.450152039527893, 0.4460771679878235, 0.49029165506362915, 0.7690829634666443, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.2835211753845215, -1.3983038663864136, -1.2021690607070923, -1.607442855834961, -0.4906308054924011, 0.12654034793376923, -0.3658933639526367, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1429755687713623, -1.1941702365875244, 1.6890724897384644, -1.4466809034347534, 0.4141377806663513, 0.5163998007774353, 0.797716498374939, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.2665365934371948, -1.3997973203659058, -1.206268072128296, -1.6086068153381348, -0.462694376707077, 0.1680372953414917, -0.3770914375782013, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.103513479232788, -1.1849437952041626, 1.6751916408538818, -1.4424062967300415, 0.37662607431411743, 0.5634262561798096, 0.8393843173980713, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.2456510066986084, -1.3998448848724365, -1.207852840423584, -1.6061714887619019, -0.3969346582889557, 0.19506219029426575, -0.40371593832969666, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.05948007106781, -1.171359658241272, 1.6518124341964722, -1.4163631200790405, 0.3157366216182709, 0.5977550148963928, 0.9107142090797424, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2327275276184082, -1.4013432264328003, -1.2083157300949097, -1.5891764163970947, -0.35572054982185364, 0.20149101316928864, -0.41617172956466675, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0330387353897095, -1.1665124893188477, 1.630481243133545, -1.3986681699752808, 0.2873990833759308, 0.6062225103378296, 0.9357315301895142, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2288563251495361, -1.4040201902389526, -1.2134311199188232, -1.5821561813354492, -0.33474457263946533, 0.21584583818912506, -0.4294857382774353, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.020927906036377, -1.164929986000061, 1.6065049171447754, -1.3902595043182373, 0.26033344864845276, 0.6102889776229858, 0.957605242729187, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2200952768325806, -1.4041657447814941, -1.2174930572509766, -1.5889769792556763, -0.2863493859767914, 0.24959592521190643, -0.4506491720676422, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0176892280578613, -1.1632161140441895, 1.5832618474960327, -1.3877482414245605, 0.21512582898139954, 0.5965403318405151, 0.9762281179428101, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2107559442520142, -1.4041727781295776, -1.2229396104812622, -1.6207283735275269, -0.25558143854141235, 0.29247307777404785, -0.45735612511634827, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0163925886154175, -1.1621155738830566, 1.572768211364746, -1.3959723711013794, 0.17164082825183868, 0.5884206295013428, 0.9880300760269165, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.1941198110580444, -1.4030957221984863, -1.232653021812439, -1.6530516147613525, -0.2172248661518097, 0.38530972599983215, -0.5025622844696045, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0182946920394897, -1.158566951751709, 1.572680115699768, -1.427899718284607, 0.13775566220283508, 0.5847593545913696, 1.0090503692626953, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5665411353111267, 0.0, 0.0, 1.1720213890075684, -1.3976973295211792, -1.2456392049789429, -1.64982008934021, -0.16477254033088684, 0.46553272008895874, -0.5800178050994873, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0167579650878906, -1.1581450700759888, 1.5731492042541504, -1.4353739023208618, 0.10784963518381119, 0.5642229318618774, 1.014643669128418, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.1410049200057983, -1.3911092281341553, -1.2580947875976562, -1.624341607093811, -0.10774393379688263, 0.4770137369632721, -0.6498649716377258, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0080558061599731, -1.158284068107605, 1.5702747106552124, -1.4225302934646606, 0.09476897120475769, 0.5549428462982178, 1.0149576663970947, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.1143825054168701, -1.3876384496688843, -1.2557263374328613, -1.6125620603561401, -0.059100326150655746, 0.4793999195098877, -0.693747341632843, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0061458349227905, -1.1587003469467163, 1.5742136240005493, -1.4232356548309326, 0.08651987463235855, 0.5663745999336243, 1.024106740951538, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.0979334115982056, -1.3872672319412231, -1.2485196590423584, -1.6066910028457642, -0.02739054523408413, 0.4847617745399475, -0.7185017466545105, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0162409543991089, -1.1588356494903564, 1.5851058959960938, -1.4375030994415283, 0.07616034895181656, 0.5794996023178101, 1.0339093208312988, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.077582836151123, -1.387848973274231, -1.242477536201477, -1.6033107042312622, 0.014018546789884567, 0.4983766973018646, -0.7455536127090454, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0246226787567139, -1.1575151681900024, 1.5798726081848145, -1.4407238960266113, 0.03776996210217476, 0.5642585158348083, 1.040744423866272, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.058100938796997, -1.3916126489639282, -1.2362209558486938, -1.59843909740448, 0.05114687606692314, 0.5002463459968567, -0.7620334625244141, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0222342014312744, -1.1591646671295166, 1.5739105939865112, -1.4265947341918945, 0.029071452096104622, 0.5531746745109558, 1.0319699048995972, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.0563117265701294, -1.3974815607070923, -1.235270619392395, -1.598225712776184, 0.052410971373319626, 0.5126205682754517, -0.7485695481300354, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.017564296722412, -1.1603646278381348, 1.5739985704421997, -1.4189363718032837, 0.02072659693658352, 0.5621337294578552, 1.0383188724517822, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.0619863271713257, -1.3992857933044434, -1.2356358766555786, -1.6057102680206299, 0.06834915280342102, 0.5156782269477844, -0.7507193088531494, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0208083391189575, -1.1605370044708252, 1.5785020589828491, -1.416776180267334, 0.00413875188678503, 0.5412960648536682, 1.0401784181594849, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.0714620351791382, -1.4030898809432983, -1.243231177330017, -1.6179088354110718, 0.07943347841501236, 0.5166456699371338, -0.7479236125946045, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0317658185958862, -1.1619683504104614, 1.5892307758331299, -1.4201165437698364, 0.009501333348453045, 0.5397957563400269, 1.0349044799804688, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.0838425159454346, -1.4039371013641357, -1.2514418363571167, -1.6358246803283691, 0.08751863986253738, 0.5198189616203308, -0.7412062287330627, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0464121103286743, -1.164475679397583, 1.5998948812484741, -1.4373462200164795, 0.027596672996878624, 0.5520399212837219, 1.0253461599349976, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.0924330949783325, -1.4039356708526611, -1.2609224319458008, -1.6532267332077026, 0.09763092547655106, 0.517794132232666, -0.7399206757545471, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0554059743881226, -1.1672049760818481, 1.609565019607544, -1.4601390361785889, 0.05043609067797661, 0.5632352232933044, 1.0165221691131592, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.1011314392089844, -1.406326413154602, -1.274109125137329, -1.6763522624969482, 0.06794755905866623, 0.49956145882606506, -0.7102706432342529, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.065530776977539, -1.1708941459655762, 1.6302812099456787, -1.4938629865646362, 0.09231472760438919, 0.5755048990249634, 0.9925728440284729, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.1147263050079346, -1.4207172393798828, -1.2884294986724854, -1.7130476236343384, -0.04010988399386406, 0.4608784019947052, -0.6114652156829834, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0713030099868774, -1.1711620092391968, 1.6617099046707153, -1.5256953239440918, 0.13815845549106598, 0.6256556510925293, 0.9901998043060303, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.1178100109100342, -1.4296765327453613, -1.2964997291564941, -1.7620487213134766, -0.11179328709840775, 0.4429226815700531, -0.5392248034477234, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0841914415359497, -1.1687194108963013, 1.7099086046218872, -1.5710703134536743, 0.20107048749923706, 0.6850801110267639, 0.9832627773284912, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.1314071416854858, -1.4301260709762573, -1.3299978971481323, -1.8162680864334106, -0.11457709968090057, 0.4048413932323456, -0.5255295038223267, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1055318117141724, -1.1600054502487183, 1.7678918838500977, -1.6156139373779297, 0.251837819814682, 0.7185532450675964, 0.9739220142364502, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.1567069292068481, -1.420814871788025, -1.3731437921524048, -1.8674774169921875, -0.13569414615631104, 0.4021003544330597, -0.5364603996276855, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1442979574203491, -1.1468091011047363, 1.8219125270843506, -1.6563457250595093, 0.2745222747325897, 0.7176005244255066, 0.9665619134902954, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.2117974758148193, -1.4032986164093018, -1.4261517524719238, -1.9232004880905151, -0.13231290876865387, 0.41979074478149414, -0.5636836290359497, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.199170470237732, -1.1337050199508667, 1.8733432292938232, -1.6904816627502441, 0.2808963358402252, 0.7061166167259216, 0.9829179644584656, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.289316177368164, -1.3892005681991577, -1.4736608266830444, -1.9655197858810425, -0.15153250098228455, 0.42122766375541687, -0.5656589865684509, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2475658655166626, -1.121519684791565, 1.9060916900634766, -1.7122371196746826, 0.2667343318462372, 0.6788332462310791, 1.0091030597686768, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, 0.10139998079656244, -0.10139998079656244, -0.10139998079656244, -0.10139998079656244, 0.10139998079656244, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3523648977279663, -1.3856121301651, -1.4937490224838257, -1.9826339483261108, -0.1969567835330963, 0.419717401266098, -0.518402099609375, 0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -0.12180001761887099, -0.12180001761887099, 0.12180001761887099, 0.12180001761887099, -1.2763566970825195, -1.1165412664413452, 1.9174200296401978, -1.7260780334472656, 0.25833985209465027, 0.6683480143547058, 1.0224837064743042, 0.524399998489317, 0.524399998489317, 0.524399998489317, 0.524399998489317, -0.524399998489317, -0.524399998489317, -0.524399998489317, 0.524399998489317, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.3533636331558228, -1.3855576515197754, -1.4911593198776245, -1.9812554121017456, -0.196306511759758, 0.41971585154533386, -0.5141268372535706, 0.4992000012607365, -0.4992000012607365, 0.4992000012607365, 0.4992000012607365, -0.4992000012607365, -0.4992000012607365, 0.4992000012607365, 0.4992000012607365, -1.2736499309539795, -1.1166783571243286, 1.9162209033966064, -1.7256604433059692, 0.25829073786735535, 0.6686121225357056, 1.0219916105270386, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, -0.5898000000106108, -0.5898000000106108, -0.5898000000106108, 0.5898000000106108, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3409833908081055, -1.3857345581054688, -1.4891479015350342, -1.9808238744735718, -0.19446298480033875, 0.41971272230148315, -0.5169660449028015, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -1.2679578065872192, -1.117214322090149, 1.9150174856185913, -1.7254233360290527, 0.25895535945892334, 0.6688841581344604, 1.0212609767913818, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.3383780717849731, -1.3859498500823975, -1.489163875579834, -1.9816452264785767, -0.19442930817604065, 0.41960209608078003, -0.5174766778945923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.267299771308899, -1.117218017578125, 1.9150147438049316, -1.725435733795166, 0.2592090666294098, 0.6689064502716064, 1.0212137699127197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.338932752609253, -1.3859730958938599, -1.4892054796218872, -1.981618881225586, -0.1943478137254715, 0.4195406436920166, -0.5177057981491089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2674354314804077, -1.117218017578125, 1.915014624595642, -1.7254369258880615, 0.2592231035232544, 0.6689311265945435, 1.0211598873138428, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3262977600097656, -1.3846304416656494, -1.4678829908370972, -1.9592349529266357, -0.21282365918159485, 0.3946690559387207, -0.5409670472145081, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2629976272583008, -1.117275357246399, 1.9083517789840698, -1.71413254737854, 0.2582974433898926, 0.6601807475090027, 1.0108848810195923, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.2714498043060303, -1.382116436958313, -1.3853697776794434, -1.900826096534729, -0.25401821732521057, 0.37506920099258423, -0.5837880373001099, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2112464904785156, -1.1196907758712769, 1.8718234300613403, -1.5994594097137451, 0.25646132230758667, 0.5852811336517334, 0.9235053062438965, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5101335048675537, 1.2658007144927979, -0.5661576986312866, 0.0, 0.0, 1.2154643535614014, -1.3902738094329834, -1.2925543785095215, -1.8340861797332764, -0.2989397644996643, 0.34364524483680725, -0.6069771647453308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1390608549118042, -1.120875597000122, 1.833972692489624, -1.4611629247665405, 0.24555233120918274, 0.49772176146507263, 0.8590956330299377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.1790333986282349, -1.4061475992202759, -1.2071855068206787, -1.7725943326950073, -0.3265172839164734, 0.3306386470794678, -0.6261201500892639, 0.5555999990347977, -0.5555999990347977, 0.5555999990347977, 0.5555999990347977, -0.5555999990347977, -0.5555999990347977, 0.5555999990347977, 0.5555999990347977, -1.042344093322754, -1.1212499141693115, 1.7748888731002808, -1.290884256362915, 0.2440119981765747, 0.426801860332489, 0.8372317552566528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5101335048675537, 1.2658007144927979, -0.5661576986312866, 0.0, 0.0, 1.1716277599334717, -1.4170756340026855, -1.143517017364502, -1.7269690036773682, -0.3194987177848816, 0.3375903367996216, -0.6596940755844116, 0.10319998866909154, -0.10319998866909154, 0.10319998866909154, 0.10319998866909154, -0.10319998866909154, -0.10319998866909154, 0.10319998866909154, 0.10319998866909154, -0.914627194404602, -1.1273623704910278, 1.6898550987243652, -1.065714955329895, 0.22842076420783997, 0.346195250749588, 0.8307540416717529, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, -0.12900000980922155, -0.12900000980922155, -0.12900000980922155, 0.12900000980922155, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5661576986312866, 0.0, 0.0, 1.1972599029541016, -1.4184021949768066, -1.1216272115707397, -1.7136342525482178, -0.2928793430328369, 0.35280096530914307, -0.7072696685791016, 0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.7864078879356384, -1.14669668674469, 1.5907225608825684, -0.8351626396179199, 0.21799173951148987, 0.22752495110034943, 0.8471931219100952, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.2658007144927979, -0.5661576986312866, 0.0, 0.0, 1.2433440685272217, -1.4178177118301392, -1.1222069263458252, -1.7143210172653198, -0.26319923996925354, 0.3742870092391968, -0.7135834097862244, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6580722332000732, -1.1793807744979858, 1.4959189891815186, -0.5926146507263184, 0.2083510160446167, 0.08241011947393417, 0.8909690976142883, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5101335048675537, 1.2658007144927979, -0.5661576986312866, 0.0, 0.0, 1.288663387298584, -1.4134559631347656, -1.1245912313461304, -1.7207106351852417, -0.21876028180122375, 0.40096303820610046, -0.7081161141395569, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5390375256538391, -1.2247188091278076, 1.4313642978668213, -0.36534711718559265, 0.21401631832122803, -0.025878136977553368, 0.8903647661209106, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.2658007144927979, -0.5661576986312866, 0.0, 0.0, 1.3274612426757812, -1.4084686040878296, -1.137593388557434, -1.7302372455596924, -0.1863645315170288, 0.4169284403324127, -0.6867549419403076, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.45723721385002136, -1.2643145322799683, 1.3975111246109009, -0.22476796805858612, 0.2210884541273117, -0.09029130637645721, 0.8991603255271912, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.2658007144927979, -0.5662535429000854, 0.0, 0.0, 1.3515344858169556, -1.4014869928359985, -1.1489332914352417, -1.7389740943908691, -0.15365825593471527, 0.42611709237098694, -0.6798804402351379, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.42950212955474854, -1.2848790884017944, 1.3884855508804321, -0.1926761418581009, 0.21895167231559753, -0.11133237183094025, 0.9103689193725586, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3719708919525146, -1.3998408317565918, -1.1628351211547852, -1.7428181171417236, -0.14988310635089874, 0.4261604845523834, -0.6520292162895203, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.42946988344192505, -1.2882683277130127, 1.3833967447280884, -0.20103465020656586, 0.20784097909927368, -0.11657726764678955, 0.9368381500244141, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3870353698730469, -1.3976963758468628, -1.1720449924468994, -1.7488188743591309, -0.1488499492406845, 0.4258110225200653, -0.6280288696289062, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.43230435252189636, -1.2851934432983398, 1.3832615613937378, -0.20110811293125153, 0.20015764236450195, -0.11994699388742447, 0.960105299949646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.406058669090271, -1.3943837881088257, -1.1803033351898193, -1.7596684694290161, -0.14487668871879578, 0.4275061786174774, -0.609126627445221, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4336741864681244, -1.2774291038513184, 1.385493278503418, -0.20109984278678894, 0.194565087556839, -0.12987999618053436, 1.0042476654052734, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.431841492652893, -1.3901430368423462, -1.196922779083252, -1.7791218757629395, -0.14759615063667297, 0.42834460735321045, -0.5888463258743286, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.437684029340744, -1.269445776939392, 1.3906108140945435, -0.20131473243236542, 0.19390907883644104, -0.14219798147678375, 1.0580055713653564, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4542022943496704, -1.3835606575012207, -1.2144469022750854, -1.796297311782837, -0.1549423635005951, 0.42434221506118774, -0.5789813995361328, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4464966058731079, -1.2631924152374268, 1.3937718868255615, -0.20718340575695038, 0.18934883177280426, -0.15523993968963623, 1.1052603721618652, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.4739084243774414, -1.3770310878753662, -1.2227826118469238, -1.8233810663223267, -0.15356309711933136, 0.4376358389854431, -0.5662544965744019, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.45224276185035706, -1.2606648206710815, 1.3976483345031738, -0.20885460078716278, 0.18785607814788818, -0.16403935849666595, 1.1292822360992432, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.497044563293457, -1.3723467588424683, -1.2348370552062988, -1.8548126220703125, -0.15407507121562958, 0.4515075981616974, -0.5472910404205322, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.45422178506851196, -1.256197452545166, 1.4033257961273193, -0.2125006765127182, 0.1888541281223297, -0.16971388459205627, 1.152787446975708, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.5213773250579834, -1.3666883707046509, -1.251607894897461, -1.882929801940918, -0.1572868376970291, 0.4596160054206848, -0.5239246487617493, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.45922571420669556, -1.244886875152588, 1.4112539291381836, -0.22782683372497559, 0.18914486467838287, -0.17486685514450073, 1.1947057247161865, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.5406452417373657, -1.3600882291793823, -1.2683027982711792, -1.905030608177185, -0.16137824952602386, 0.4667198956012726, -0.505152702331543, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.48327404260635376, -1.2283239364624023, 1.4242397546768188, -0.2712832987308502, 0.19224350154399872, -0.17222997546195984, 1.2374056577682495, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.5552654266357422, -1.3554035425186157, -1.2765761613845825, -1.9139903783798218, -0.17174892127513885, 0.4652218520641327, -0.49108994007110596, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5511133074760437, -1.2081027030944824, 1.4451470375061035, -0.381592333316803, 0.19953279197216034, -0.1355375051498413, 1.2632570266723633, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.5663607120513916, -1.3528053760528564, -1.2740367650985718, -1.9166382551193237, -0.17452087998390198, 0.4611898958683014, -0.46579816937446594, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6887268424034119, -1.1836190223693848, 1.4861375093460083, -0.609026312828064, 0.21145577728748322, -0.030708258971571922, 1.2488138675689697, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.5743240118026733, -1.3517094850540161, -1.2711790800094604, -1.918655276298523, -0.18859322369098663, 0.447745144367218, -0.42376387119293213, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8434983491897583, -1.1646300554275513, 1.5384055376052856, -0.8496436476707458, 0.21788902580738068, 0.08927756547927856, 1.2119832038879395, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5108045339584351, 1.2654173374176025, -0.5665411353111267, 0.0, 0.0, 1.575126051902771, -1.3493326902389526, -1.2712411880493164, -1.9280320405960083, -0.19987134635448456, 0.4434880018234253, -0.3982807397842407, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9302157163619995, -1.1536211967468262, 1.56991708278656, -0.9691860675811768, 0.21711748838424683, 0.15692239999771118, 1.1995453834533691, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2654173374176025, -0.5665411353111267, 0.0, 0.0, 1.5722732543945312, -1.3463457822799683, -1.2676494121551514, -1.9321038722991943, -0.1998368352651596, 0.44265735149383545, -0.3764518201351166, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9863575100898743, -1.1493606567382812, 1.591317057609558, -1.0483137369155884, 0.21325784921646118, 0.186603844165802, 1.1954278945922852, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5108045339584351, 1.2654173374176025, -0.5665411353111267, 0.0, 0.0, 1.5690288543701172, -1.346286416053772, -1.2659040689468384, -1.931050419807434, -0.20043568313121796, 0.433811217546463, -0.33257782459259033, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0421708822250366, -1.147786021232605, 1.6107507944107056, -1.1173253059387207, 0.21192412078380585, 0.21272346377372742, 1.1977627277374268, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.5575579404830933, -1.3474128246307373, -1.268079161643982, -1.9196929931640625, -0.20507417619228363, 0.41976940631866455, -0.29542145133018494, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1029713153839111, -1.147477626800537, 1.628219485282898, -1.1896511316299438, 0.21266810595989227, 0.24321073293685913, 1.2090266942977905, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.542989730834961, -1.3515238761901855, -1.2701504230499268, -1.9079891443252563, -0.21542386710643768, 0.4084565341472626, -0.2614261507987976, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1557180881500244, -1.1499733924865723, 1.6470273733139038, -1.2420638799667358, 0.20710070431232452, 0.2651286721229553, 1.221192717552185, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.5295627117156982, -1.3555516004562378, -1.2712082862854004, -1.8977948427200317, -0.2260970175266266, 0.4049391746520996, -0.2312743216753006, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1976947784423828, -1.1499972343444824, 1.6730053424835205, -1.2860007286071777, 0.19386126101016998, 0.27463722229003906, 1.2406439781188965, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2654173374176025, -0.5664452314376831, 0.0, 0.0, 1.520082950592041, -1.3582125902175903, -1.271371603012085, -1.8902257680892944, -0.23414047062397003, 0.4047498106956482, -0.2047555148601532, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2324671745300293, -1.1478382349014282, 1.696004867553711, -1.3243322372436523, 0.1922636330127716, 0.29141056537628174, 1.2567591667175293, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2654173374176025, -0.5663493871688843, 0.0, 0.0, 1.5086407661437988, -1.361199140548706, -1.2721891403198242, -1.8722881078720093, -0.2447824627161026, 0.40017688274383545, -0.18093471229076385, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2736908197402954, -1.146615982055664, 1.7114382982254028, -1.3690392971038818, 0.19409961998462677, 0.2957876920700073, 1.2676315307617188, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2654173374176025, -0.5663493871688843, 0.0, 0.0, 1.4921588897705078, -1.362716555595398, -1.2736742496490479, -1.8502261638641357, -0.250285267829895, 0.39311888813972473, -0.18001024425029755, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3147155046463013, -1.148368239402771, 1.7221894264221191, -1.4078563451766968, 0.2062312513589859, 0.294073224067688, 1.2667242288589478, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.4651780128479004, -1.3650270700454712, -1.2751535177230835, -1.8202263116836548, -0.25169438123703003, 0.3827210068702698, -0.18012912571430206, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.357724905014038, -1.1535348892211914, 1.73443603515625, -1.4473352432250977, 0.2211676687002182, 0.281413197517395, 1.2643266916275024, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.4363765716552734, -1.3682135343551636, -1.2752718925476074, -1.7946032285690308, -0.2518048584461212, 0.3706144392490387, -0.1768401861190796, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.395400047302246, -1.1597474813461304, 1.7468856573104858, -1.479508399963379, 0.24389827251434326, 0.2913041412830353, 1.2638287544250488, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.413752555847168, -1.372649908065796, -1.2740051746368408, -1.7737137079238892, -0.2517533302307129, 0.36127033829689026, -0.1702633649110794, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4257984161376953, -1.1646296977996826, 1.7539997100830078, -1.511033058166504, 0.2593146562576294, 0.3205550014972687, 1.262566328048706, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4038488864898682, -1.3789376020431519, -1.2708033323287964, -1.7593251466751099, -0.2624317407608032, 0.34697088599205017, -0.1503109484910965, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4501200914382935, -1.1703846454620361, 1.7543030977249146, -1.5458844900131226, 0.2608419358730316, 0.3313363790512085, 1.2522385120391846, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3960113525390625, -1.3855549097061157, -1.2606629133224487, -1.7392948865890503, -0.27577751874923706, 0.33160555362701416, -0.12881268560886383, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4717493057250977, -1.1764098405838013, 1.7524410486221313, -1.5712811946868896, 0.26414117217063904, 0.3308911621570587, 1.2425793409347534, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3844587802886963, -1.3917458057403564, -1.246912956237793, -1.7159065008163452, -0.28638342022895813, 0.3174479901790619, -0.11656036972999573, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4934966564178467, -1.182083249092102, 1.7494326829910278, -1.5939021110534668, 0.2641415596008301, 0.329984188079834, 1.233811855316162, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3705337047576904, -1.3976153135299683, -1.238642930984497, -1.6955621242523193, -0.29213178157806396, 0.3037398159503937, -0.11145605146884918, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5100736618041992, -1.188387155532837, 1.7441779375076294, -1.6147563457489014, 0.2639688551425934, 0.3301009237766266, 1.2222591638565063, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3568496704101562, -1.4020596742630005, -1.2368661165237427, -1.6781905889511108, -0.2957221269607544, 0.29379087686538696, -0.10986766219139099, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5178251266479492, -1.1941863298416138, 1.735264539718628, -1.630162239074707, 0.2620839774608612, 0.3324078917503357, 1.2118332386016846, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3495789766311646, -1.4040160179138184, -1.2388489246368408, -1.6714892387390137, -0.2943113446235657, 0.2870633006095886, -0.11078757047653198, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.522182822227478, -1.1996257305145264, 1.7390568256378174, -1.6383570432662964, 0.2681332528591156, 0.3481854796409607, 1.195031762123108, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.349613904953003, -1.4060122966766357, -1.2490732669830322, -1.668663501739502, -0.29359170794487, 0.28067952394485474, -0.11844141036272049, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5262353420257568, -1.2025283575057983, 1.760027289390564, -1.6350260972976685, 0.2658239006996155, 0.34853026270866394, 1.1949971914291382, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3495874404907227, -1.4072033166885376, -1.2523232698440552, -1.656137466430664, -0.2935212254524231, 0.27089500427246094, -0.12612809240818024, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5260785818099976, -1.2026712894439697, 1.7579666376113892, -1.6285550594329834, 0.25315403938293457, 0.33302411437034607, 1.1965889930725098, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3478857278823853, -1.4094088077545166, -1.2520866394042969, -1.6437928676605225, -0.29470106959342957, 0.26497408747673035, -0.13065920770168304, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5227552652359009, -1.20656156539917, 1.7373969554901123, -1.6258043050765991, 0.24700914323329926, 0.32700109481811523, 1.1925727128982544, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3413710594177246, -1.4115136861801147, -1.2506800889968872, -1.6339781284332275, -0.29612886905670166, 0.2620517313480377, -0.1320454329252243, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.519596815109253, -1.21120023727417, 1.7256338596343994, -1.6261882781982422, 0.2416122853755951, 0.3263113796710968, 1.1966338157653809, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3354214429855347, -1.4134489297866821, -1.2497622966766357, -1.6282968521118164, -0.2962160110473633, 0.25893163681030273, -0.13205154240131378, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5194995403289795, -1.212496042251587, 1.720172643661499, -1.6292768716812134, 0.23706690967082977, 0.32603466510772705, 1.206315517425537, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3343054056167603, -1.4153802394866943, -1.249776840209961, -1.6263329982757568, -0.29621049761772156, 0.255175918340683, -0.13241250813007355, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5193190574645996, -1.213711142539978, 1.7144063711166382, -1.6303101778030396, 0.2323472797870636, 0.32593902945518494, 1.2122914791107178, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3343439102172852, -1.4166834354400635, -1.2513748407363892, -1.6255086660385132, -0.2962101399898529, 0.25388988852500916, -0.13284681737422943, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5163590908050537, -1.2158241271972656, 1.7081693410873413, -1.6303242444992065, 0.2299264669418335, 0.3259180784225464, 1.212531328201294, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3408173322677612, -1.4169681072235107, -1.2592768669128418, -1.6346540451049805, -0.2947656810283661, 0.25385403633117676, -0.1328299194574356, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.515528917312622, -1.2162526845932007, 1.7143396139144897, -1.6359697580337524, 0.22597095370292664, 0.3285425007343292, 1.2214741706848145, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.35972261428833, -1.4158706665039062, -1.2727845907211304, -1.6631978750228882, -0.29093143343925476, 0.2575388252735138, -0.12953975796699524, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.519516944885254, -1.2159347534179688, 1.7519632577896118, -1.6371855735778809, 0.21229000389575958, 0.32528817653656006, 1.2353359460830688, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3842693567276, -1.4126824140548706, -1.2916176319122314, -1.6952574253082275, -0.2831856906414032, 0.26318833231925964, -0.12919366359710693, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5237138271331787, -1.2098169326782227, 1.8024667501449585, -1.6195316314697266, 0.1934637427330017, 0.3072549104690552, 1.2509173154830933, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4154016971588135, -1.4058338403701782, -1.3183655738830566, -1.734951138496399, -0.28024497628211975, 0.26156672835350037, -0.1306159496307373, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5260498523712158, -1.2027779817581177, 1.8692899942398071, -1.6009541749954224, 0.20354869961738586, 0.3140389323234558, 1.2669258117675781, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4523273706436157, -1.3964488506317139, -1.356728434562683, -1.7830877304077148, -0.28009289503097534, 0.24973255395889282, -0.15060299634933472, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.526515007019043, -1.1924561262130737, 1.9536566734313965, -1.5813528299331665, 0.2017006129026413, 0.3180987238883972, 1.2928308248519897, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4962613582611084, -1.382920742034912, -1.4029520750045776, -1.8426799774169922, -0.2642519176006317, 0.24504265189170837, -0.19234776496887207, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5249775648117065, -1.178690791130066, 2.0357415676116943, -1.555046796798706, 0.18306371569633484, 0.3113940358161926, 1.2985508441925049, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5414930582046509, -1.3702752590179443, -1.4528558254241943, -1.9115045070648193, -0.26593270897865295, 0.25808975100517273, -0.22887615859508514, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5076431035995483, -1.1720739603042603, 2.096727132797241, -1.557849407196045, 0.20266570150852203, 0.2987265884876251, 1.288296103477478, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5874022245407104, -1.3578171730041504, -1.5134484767913818, -1.982704997062683, -0.28375503420829773, 0.2602507472038269, -0.2845693826675415, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4594396352767944, -1.1665712594985962, 2.1232175827026367, -1.578125, 0.23494389653205872, 0.2577535808086395, 1.2704638242721558, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6508913040161133, -1.3422644138336182, -1.5973533391952515, -2.086191415786743, -0.26584678888320923, 0.3004169464111328, -0.34232422709465027, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.403457522392273, -1.1573548316955566, 2.134859085083008, -1.5925992727279663, 0.2678436040878296, 0.2530234158039093, 1.2315654754638672, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.713005781173706, -1.331292986869812, -1.6716392040252686, -2.145566463470459, -0.24249611794948578, 0.3425309658050537, -0.3616408705711365, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3887890577316284, -1.1474496126174927, 2.134774684906006, -1.6154429912567139, 0.2903517782688141, 0.28275471925735474, 1.1959573030471802, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.7419284582138062, -1.3292213678359985, -1.6983861923217773, -2.1476690769195557, -0.2430403232574463, 0.34403127431869507, -0.36518150568008423, 0.3150000045587728, -0.3150000045587728, 0.3150000045587728, 0.3150000045587728, -0.3150000045587728, -0.3150000045587728, 0.3150000045587728, 0.3150000045587728, -1.400748372077942, -1.1436102390289307, 2.123150110244751, -1.6235389709472656, 0.29530617594718933, 0.28252655267715454, 1.184973120689392, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, -0.35039999563615404, -0.35039999563615404, -0.35039999563615404, 0.35039999563615404, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.737776517868042, -1.3293530941009521, -1.691559076309204, -2.145564079284668, -0.24509777128696442, 0.3426239490509033, -0.3637818694114685, 0.5442000015751346, -0.5442000015751346, 0.5442000015751346, 0.5442000015751346, -0.5442000015751346, -0.5442000015751346, 0.5442000015751346, 0.5442000015751346, -1.4070557355880737, -1.145504117012024, 2.1207308769226074, -1.6222370862960815, 0.2936195135116577, 0.2816354036331177, 1.1859557628631592, 0.5549999996856019, 0.5549999996856019, 0.5549999996856019, 0.5549999996856019, -0.5549999996856019, -0.5549999996856019, -0.5549999996856019, 0.5549999996856019, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7322022914886475, -1.3296928405761719, -1.6892752647399902, -2.1456456184387207, -0.24532067775726318, 0.34218844771385193, -0.3638067841529846, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.4069240093231201, -1.1460561752319336, 2.12151837348938, -1.6221660375595093, 0.29331451654434204, 0.2816349267959595, 1.1868513822555542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.731610655784607, -1.3297709226608276, -1.6893879175186157, -2.145861864089966, -0.24537532031536102, 0.3420785665512085, -0.36382752656936646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.405777096748352, -1.1460371017456055, 2.1218788623809814, -1.6221721172332764, 0.29330071806907654, 0.28163397312164307, 1.1868828535079956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7317627668380737, -1.3297805786132812, -1.6896486282348633, -2.1459600925445557, -0.24540840089321136, 0.3420560359954834, -0.36385077238082886, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.405709981918335, -1.1459734439849854, 2.1219255924224854, -1.6221826076507568, 0.29330119490623474, 0.2816316783428192, 1.1868896484375, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.726302981376648, -1.329927921295166, -1.6867048740386963, -2.1384923458099365, -0.24679306149482727, 0.34661877155303955, -0.3603084683418274, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4057207107543945, -1.145902156829834, 2.121943712234497, -1.6221897602081299, 0.29330191016197205, 0.2816268801689148, 1.1868938207626343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6960383653640747, -1.329326868057251, -1.6658774614334106, -2.0869550704956055, -0.21972931921482086, 0.36958643794059753, -0.36202472448349, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.405792474746704, -1.1457830667495728, 2.122138738632202, -1.622212290763855, 0.29330432415008545, 0.2816220819950104, 1.1869091987609863, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6760671138763428, -1.3260029554367065, -1.6504720449447632, -2.0201468467712402, -0.19094596803188324, 0.3808470368385315, -0.3803068995475769, 0.5496000006303682, -0.5496000006303682, 0.5496000006303682, 0.5496000006303682, -0.5496000006303682, -0.5496000006303682, 0.5496000006303682, 0.5496000006303682, -1.4057831764221191, -1.1457868814468384, 2.122135877609253, -1.6222153902053833, 0.2933058738708496, 0.28162088990211487, 1.1869310140609741, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6840986013412476, -1.3239623308181763, -1.633536458015442, -1.9582462310791016, -0.16910052299499512, 0.36061370372772217, -0.38590678572654724, 0.1338000046027886, -0.1338000046027886, 0.1338000046027886, 0.1338000046027886, -0.1338000046027886, -0.1338000046027886, 0.1338000046027886, 0.1338000046027886, -1.4057958126068115, -1.1457905769348145, 2.1221320629119873, -1.6222202777862549, 0.29330119490623474, 0.2816195785999298, 1.1869736909866333, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7061017751693726, -1.3230036497116089, -1.6085790395736694, -1.9140373468399048, -0.15126128494739532, 0.3491860330104828, -0.39344221353530884, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -1.4057862758636475, -1.1457968950271606, 2.122121810913086, -1.6222234964370728, 0.29330262541770935, 0.2816188633441925, 1.1870077848434448, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7274672985076904, -1.323004126548767, -1.5812404155731201, -1.883139729499817, -0.13981179893016815, 0.34119758009910583, -0.39441773295402527, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057884216308594, -1.1458028554916382, 2.1221041679382324, -1.622225046157837, 0.2933008372783661, 0.2816181480884552, 1.1870280504226685, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7382164001464844, -1.3229939937591553, -1.5695570707321167, -1.843831181526184, -0.1288609802722931, 0.32405704259872437, -0.40603873133659363, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057916402816772, -1.1458048820495605, 2.122100353240967, -1.6222285032272339, 0.29329484701156616, 0.2816166877746582, 1.1870421171188354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.743220567703247, -1.3227916955947876, -1.5643823146820068, -1.8115382194519043, -0.1553722470998764, 0.2925998866558075, -0.41649723052978516, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057879447937012, -1.1458101272583008, 2.122084617614746, -1.6222299337387085, 0.2932826280593872, 0.2816152572631836, 1.187052607536316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7429832220077515, -1.3228306770324707, -1.5529745817184448, -1.797042965888977, -0.20242877304553986, 0.2757236957550049, -0.4268917441368103, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057881832122803, -1.1458191871643066, 2.1220662593841553, -1.6222295761108398, 0.29324811697006226, 0.2816152572631836, 1.1870613098144531, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7391859292984009, -1.322935700416565, -1.5249398946762085, -1.7955760955810547, -0.2407061606645584, 0.2787425220012665, -0.4641876220703125, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057867527008057, -1.1458226442337036, 2.1220591068267822, -1.6222295761108398, 0.29321563243865967, 0.2816131114959717, 1.187064528465271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7340595722198486, -1.3234314918518066, -1.5016957521438599, -1.7949228286743164, -0.23862437903881073, 0.2738008201122284, -0.47296008467674255, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.405787706375122, -1.145828127861023, 2.1220555305480957, -1.6222273111343384, 0.2931993305683136, 0.2816109359264374, 1.1870646476745605, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7228100299835205, -1.3243980407714844, -1.494085431098938, -1.7908151149749756, -0.28446054458618164, 0.27327340841293335, -0.4513813853263855, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.405782699584961, -1.1458380222320557, 2.1220450401306152, -1.622228741645813, 0.2931922674179077, 0.2816033959388733, 1.187065601348877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7141982316970825, -1.3245524168014526, -1.490648627281189, -1.8004759550094604, -0.33097997307777405, 0.2776252329349518, -0.44156044721603394, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057798385620117, -1.1458711624145508, 2.1220383644104004, -1.6222286224365234, 0.29317787289619446, 0.2815929651260376, 1.1870659589767456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7122730016708374, -1.3244783878326416, -1.490092396736145, -1.8049284219741821, -0.3510739207267761, 0.2775426506996155, -0.44214120507240295, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057796001434326, -1.145875096321106, 2.122040271759033, -1.6222268342971802, 0.293173223733902, 0.2815856635570526, 1.1870660781860352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7158217430114746, -1.322867512702942, -1.4928654432296753, -1.8075153827667236, -0.3513055741786957, 0.26962757110595703, -0.4455852210521698, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057788848876953, -1.1458851099014282, 2.122039556503296, -1.6222225427627563, 0.293171763420105, 0.28158026933670044, 1.1870654821395874, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.723286509513855, -1.320712685585022, -1.4988272190093994, -1.8115477561950684, -0.36260440945625305, 0.2537870407104492, -0.44158607721328735, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.405778408050537, -1.1458837985992432, 2.122041702270508, -1.6222209930419922, 0.2931705713272095, 0.281573086977005, 1.1870641708374023, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.730591893196106, -1.318513035774231, -1.5049883127212524, -1.8216990232467651, -0.377736896276474, 0.2411496937274933, -0.444538414478302, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057743549346924, -1.145883560180664, 2.1220412254333496, -1.6222174167633057, 0.29317501187324524, 0.28156396746635437, 1.1870627403259277, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7390795946121216, -1.3169479370117188, -1.5122711658477783, -1.8349148035049438, -0.387426495552063, 0.21771574020385742, -0.44230982661247253, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.405774474143982, -1.145880103111267, 2.1220428943634033, -1.6222139596939087, 0.293179452419281, 0.28155750036239624, 1.1870602369308472, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7455779314041138, -1.31693434715271, -1.5232667922973633, -1.8501226902008057, -0.4080592691898346, 0.1940002739429474, -0.42910656332969666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057714939117432, -1.1458775997161865, 2.122044563293457, -1.6222100257873535, 0.29318520426750183, 0.28155583143234253, 1.1870577335357666, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.747937798500061, -1.3169207572937012, -1.536600112915039, -1.863318681716919, -0.42333531379699707, 0.16716399788856506, -0.4242405891418457, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4057716131210327, -1.145869493484497, 2.12204647064209, -1.622210144996643, 0.29319441318511963, 0.2815548777580261, 1.1870527267456055, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7494536638259888, -1.316606879234314, -1.5426576137542725, -1.887341856956482, -0.43050476908683777, 0.13116830587387085, -0.4280861020088196, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057669639587402, -1.1458684206008911, 2.122047185897827, -1.6222087144851685, 0.29320088028907776, 0.2815537750720978, 1.1870481967926025, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7451807260513306, -1.3165578842163086, -1.539318561553955, -1.9037916660308838, -0.43014654517173767, 0.10466686636209488, -0.4376961290836334, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057682752609253, -1.1458579301834106, 2.12204909324646, -1.6222091913223267, 0.29321226477622986, 0.2815532982349396, 1.187044382095337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7282459735870361, -1.3165550231933594, -1.5247931480407715, -1.9203050136566162, -0.43515798449516296, 0.10417851060628891, -0.4380187392234802, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057689905166626, -1.145854115486145, 2.1220521926879883, -1.622208595275879, 0.29322245717048645, 0.28155282139778137, 1.1870417594909668, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7008692026138306, -1.3168859481811523, -1.5038596391677856, -1.9366120100021362, -0.4408653676509857, 0.10611215978860855, -0.4346528649330139, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057706594467163, -1.1458522081375122, 2.1220524311065674, -1.622209906578064, 0.2932286858558655, 0.2815536558628082, 1.187038540840149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6612616777420044, -1.3185704946517944, -1.4741491079330444, -1.9448875188827515, -0.4408169388771057, 0.11613253504037857, -0.4267086386680603, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057714939117432, -1.1458455324172974, 2.1220595836639404, -1.6222110986709595, 0.2932308614253998, 0.28155437111854553, 1.1870380640029907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6095525026321411, -1.3219575881958008, -1.4368805885314941, -1.9422106742858887, -0.43968886137008667, 0.13361091911792755, -0.412110298871994, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057703018188477, -1.1458441019058228, 2.1220600605010986, -1.6222119331359863, 0.2932301461696625, 0.2815548777580261, 1.187038779258728, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5449779033660889, -1.326535701751709, -1.396658182144165, -1.9182096719741821, -0.44063153862953186, 0.14476177096366882, -0.41827401518821716, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057724475860596, -1.1458288431167603, 2.1220881938934326, -1.6222141981124878, 0.2932308614253998, 0.2815553545951843, 1.1870394945144653, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.4731676578521729, -1.3317303657531738, -1.3483268022537231, -1.8799229860305786, -0.4204818606376648, 0.16196896135807037, -0.4225820004940033, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057666063308716, -1.1458321809768677, 2.122086763381958, -1.6222202777862549, 0.2932279706001282, 0.28155583143234253, 1.1870403289794922, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.4191136360168457, -1.3392667770385742, -1.3066147565841675, -1.8509032726287842, -0.39310571551322937, 0.1893840730190277, -0.4069851040840149, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057652950286865, -1.1458356380462646, 2.1220831871032715, -1.6222277879714966, 0.2932259440422058, 0.281555712223053, 1.1870434284210205, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.385424017906189, -1.3468610048294067, -1.2731373310089111, -1.8207813501358032, -0.3814173638820648, 0.20338872075080872, -0.41000789403915405, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057689905166626, -1.1458381414413452, 2.1220831871032715, -1.6222234964370728, 0.2932199537754059, 0.2815559506416321, 1.1870442628860474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3667550086975098, -1.354492425918579, -1.2460286617279053, -1.7971446514129639, -0.3679236173629761, 0.2246818095445633, -0.40519312024116516, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4057648181915283, -1.145841360092163, 2.122081995010376, -1.6222233772277832, 0.29321107268333435, 0.2815569043159485, 1.187046766281128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3604114055633545, -1.3602896928787231, -1.2345077991485596, -1.787231206893921, -0.34986984729766846, 0.25522157549858093, -0.39663806557655334, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.405761957168579, -1.145841360092163, 2.122082471847534, -1.6222230195999146, 0.2931998074054718, 0.28155750036239624, 1.1870530843734741, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3596829175949097, -1.3632019758224487, -1.232574224472046, -1.7823402881622314, -0.3347068130970001, 0.2699987292289734, -0.39439892768859863, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3952659368515015, -1.1461094617843628, 2.1023993492126465, -1.612566351890564, 0.3160209059715271, 0.29584306478500366, 1.1649439334869385, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.357001781463623, -1.3670579195022583, -1.2342309951782227, -1.785220980644226, -0.3251953125, 0.29028189182281494, -0.38418465852737427, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3558385372161865, -1.1462687253952026, 2.0249991416931152, -1.5796122550964355, 0.36052024364471436, 0.318510502576828, 1.1331216096878052, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3509879112243652, -1.3697419166564941, -1.2406572103500366, -1.791267991065979, -0.30131828784942627, 0.3189033269882202, -0.37517431378364563, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3087661266326904, -1.1522207260131836, 1.9338256120681763, -1.5524336099624634, 0.411378413438797, 0.3305051624774933, 1.1062384843826294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.347988247871399, -1.3713951110839844, -1.2507495880126953, -1.7997080087661743, -0.28466105461120605, 0.33792591094970703, -0.36046919226646423, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2572414875030518, -1.1601243019104004, 1.8458800315856934, -1.5277882814407349, 0.44270697236061096, 0.3349510431289673, 1.0776969194412231, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3476841449737549, -1.372979760169983, -1.2643662691116333, -1.8109430074691772, -0.2796160578727722, 0.34596097469329834, -0.35518211126327515, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.206620454788208, -1.1622005701065063, 1.761318564414978, -1.4977492094039917, 0.4280620217323303, 0.3445199728012085, 1.081447958946228, 0.23099999742193536, 0.23099999742193536, 0.23099999742193536, 0.23099999742193536, -0.23099999742193536, -0.23099999742193536, -0.23099999742193536, 0.23099999742193536, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3486502170562744, -1.3741363286972046, -1.2665542364120483, -1.816202163696289, -0.2722533047199249, 0.3488013446331024, -0.3532688319683075, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1833152770996094, -1.1634899377822876, 1.6995651721954346, -1.4768884181976318, 0.40061333775520325, 0.3370673656463623, 1.1162569522857666, 0.027600011720762183, 0.027600011720762183, 0.027600011720762183, 0.027600011720762183, -0.027600011720762183, -0.027600011720762183, -0.027600011720762183, 0.027600011720762183, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3553534746170044, -1.376853108406067, -1.266784906387329, -1.816171407699585, -0.26694536209106445, 0.34762510657310486, -0.3502661883831024, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1843594312667847, -1.1644704341888428, 1.6675859689712524, -1.4729645252227783, 0.36730271577835083, 0.340450257062912, 1.1351137161254883, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3591883182525635, -1.3781768083572388, -1.2656290531158447, -1.8159642219543457, -0.262843519449234, 0.34724482893943787, -0.34773701429367065, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1912649869918823, -1.1656088829040527, 1.6622567176818848, -1.4781453609466553, 0.3400559723377228, 0.34412282705307007, 1.1299244165420532, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.359107255935669, -1.3800488710403442, -1.2635555267333984, -1.815696120262146, -0.2620782256126404, 0.34730857610702515, -0.34320124983787537, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.19395911693573, -1.1655845642089844, 1.6585055589675903, -1.482483148574829, 0.3144846260547638, 0.35055068135261536, 1.1278376579284668, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.358264446258545, -1.382158875465393, -1.2630738019943237, -1.8134963512420654, -0.259459912776947, 0.34665077924728394, -0.34235286712646484, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1935861110687256, -1.1660711765289307, 1.6482219696044922, -1.4784574508666992, 0.308074027299881, 0.34680142998695374, 1.1343748569488525, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.358260989189148, -1.3830881118774414, -1.2630754709243774, -1.8134177923202515, -0.25768887996673584, 0.34665581583976746, -0.3423411250114441, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1897735595703125, -1.1691595315933228, 1.6357803344726562, -1.4727567434310913, 0.2942660450935364, 0.34216880798339844, 1.1434372663497925, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3584007024765015, -1.3834218978881836, -1.2642452716827393, -1.8134263753890991, -0.2503407597541809, 0.34205517172813416, -0.34660080075263977, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1859030723571777, -1.171867847442627, 1.6233673095703125, -1.4704152345657349, 0.27132514119148254, 0.33671584725379944, 1.1543420553207397, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3513692617416382, -1.3834255933761597, -1.2705445289611816, -1.8002041578292847, -0.2432524412870407, 0.33874836564064026, -0.3620027005672455, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1883262395858765, -1.1740055084228516, 1.6143251657485962, -1.473907232284546, 0.25710463523864746, 0.3305355906486511, 1.1608729362487793, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3441123962402344, -1.383418083190918, -1.2784299850463867, -1.788480281829834, -0.24671900272369385, 0.3418235182762146, -0.3742363154888153, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1949416399002075, -1.176369071006775, 1.6142299175262451, -1.485032558441162, 0.25440821051597595, 0.32609832286834717, 1.1589339971542358, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.343159794807434, -1.3834112882614136, -1.2815245389938354, -1.783288598060608, -0.2474217563867569, 0.34178686141967773, -0.3788731098175049, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1963279247283936, -1.1787686347961426, 1.6142513751983643, -1.4925868511199951, 0.24671180546283722, 0.3151448369026184, 1.157850742340088, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3432444334030151, -1.383426547050476, -1.2812719345092773, -1.7827733755111694, -0.25163230299949646, 0.34491342306137085, -0.3785306215286255, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1992099285125732, -1.1811636686325073, 1.6140958070755005, -1.500747561454773, 0.24486024677753448, 0.3144390881061554, 1.1584701538085938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3433513641357422, -1.3838269710540771, -1.2786097526550293, -1.780582308769226, -0.25874635577201843, 0.35039573907852173, -0.38860538601875305, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.201402187347412, -1.1836615800857544, 1.6124588251113892, -1.5045536756515503, 0.2438170164823532, 0.31452202796936035, 1.158371925354004, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3421956300735474, -1.384674310684204, -1.2771270275115967, -1.7770156860351562, -0.2620844542980194, 0.3546719253063202, -0.40525364875793457, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2039884328842163, -1.1856849193572998, 1.6111077070236206, -1.5077123641967773, 0.23904526233673096, 0.3149735927581787, 1.1586884260177612, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3333027362823486, -1.384806513786316, -1.2727980613708496, -1.7705340385437012, -0.26270750164985657, 0.3573131263256073, -0.4180423617362976, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.205073595046997, -1.186555027961731, 1.6111241579055786, -1.509720802307129, 0.22893764078617096, 0.31488922238349915, 1.1599197387695312, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3213192224502563, -1.385080099105835, -1.2643632888793945, -1.7634949684143066, -0.25640058517456055, 0.36390313506126404, -0.43376290798187256, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2048953771591187, -1.1880518198013306, 1.6120855808258057, -1.511847972869873, 0.21807754039764404, 0.31417593359947205, 1.159794569015503, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.307421326637268, -1.3850784301757812, -1.258099913597107, -1.7576301097869873, -0.2179497927427292, 0.3838755786418915, -0.45196717977523804, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2049174308776855, -1.1886496543884277, 1.6138989925384521, -1.5138505697250366, 0.21113663911819458, 0.3144225478172302, 1.1598920822143555, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.2916486263275146, -1.3870047330856323, -1.257056713104248, -1.7569835186004639, -0.18969698250293732, 0.41549021005630493, -0.4595603942871094, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2072694301605225, -1.1908798217773438, 1.6167601346969604, -1.5199918746948242, 0.20442511141300201, 0.3159938156604767, 1.161662220954895, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.2803999185562134, -1.3891721963882446, -1.2584105730056763, -1.7578765153884888, -0.16664567589759827, 0.43453553318977356, -0.4726323187351227, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.211345911026001, -1.191823959350586, 1.6261372566223145, -1.5302090644836426, 0.18924720585346222, 0.31391024589538574, 1.1607966423034668, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.2692267894744873, -1.3891738653182983, -1.2596898078918457, -1.758971095085144, -0.14045380055904388, 0.44885343313217163, -0.4914609491825104, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2095860242843628, -1.1918166875839233, 1.6350681781768799, -1.5332069396972656, 0.18036678433418274, 0.3063625693321228, 1.1494495868682861, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.2546261548995972, -1.3875635862350464, -1.2569469213485718, -1.7577407360076904, -0.09550108760595322, 0.45194417238235474, -0.5186876654624939, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2028297185897827, -1.191758155822754, 1.6451356410980225, -1.5362600088119507, 0.178827166557312, 0.29632818698883057, 1.135824203491211, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.2368578910827637, -1.3859461545944214, -1.2533674240112305, -1.753783106803894, -0.05481991916894913, 0.46182408928871155, -0.548900842666626, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1932508945465088, -1.1906830072402954, 1.6592108011245728, -1.5375500917434692, 0.17370007932186127, 0.2766820788383484, 1.1335140466690063, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.221541404724121, -1.3861361742019653, -1.2496803998947144, -1.7531890869140625, -0.02490789256989956, 0.47567641735076904, -0.5672571063041687, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.187922716140747, -1.1886955499649048, 1.6759012937545776, -1.5396368503570557, 0.17164023220539093, 0.2638120949268341, 1.1304936408996582, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.2130318880081177, -1.3887431621551514, -1.2477543354034424, -1.7540359497070312, -0.002129357075318694, 0.48278114199638367, -0.576850950717926, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1893776655197144, -1.1861190795898438, 1.6944679021835327, -1.5498173236846924, 0.17822735011577606, 0.2613900899887085, 1.1265183687210083, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.2126866579055786, -1.390795111656189, -1.2490977048873901, -1.7603527307510376, 0.004012917634099722, 0.4899556338787079, -0.5764790773391724, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2007930278778076, -1.1837291717529297, 1.7153511047363281, -1.5721977949142456, 0.20455597341060638, 0.26536428928375244, 1.1216577291488647, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.2263786792755127, -1.391574740409851, -1.2659928798675537, -1.778020977973938, -0.006103086285293102, 0.49551570415496826, -0.561467170715332, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.219867467880249, -1.1823382377624512, 1.7440414428710938, -1.5970137119293213, 0.2509584128856659, 0.2764570116996765, 1.117334008216858, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2599077224731445, -1.388257384300232, -1.3042643070220947, -1.8183536529541016, -0.04106203094124794, 0.4967706799507141, -0.5432285070419312, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2415351867675781, -1.1797733306884766, 1.7842198610305786, -1.6225272417068481, 0.3080790638923645, 0.28069427609443665, 1.121039867401123, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3036350011825562, -1.382684350013733, -1.364280343055725, -1.8891286849975586, -0.09055663645267487, 0.48569679260253906, -0.5374675393104553, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2624746561050415, -1.1732392311096191, 1.8377362489700317, -1.6390937566757202, 0.3534080684185028, 0.2963835299015045, 1.12651526927948, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3576321601867676, -1.3732476234436035, -1.44640052318573, -1.9667555093765259, -0.12350582331418991, 0.47377583384513855, -0.5371888279914856, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2860093116760254, -1.159870982170105, 1.8964169025421143, -1.660506248474121, 0.36491498351097107, 0.31994393467903137, 1.1536533832550049, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.424173355102539, -1.3578124046325684, -1.545685052871704, -2.0409250259399414, -0.13819992542266846, 0.47198155522346497, -0.5267894864082336, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3188917636871338, -1.1464396715164185, 1.951885461807251, -1.6806120872497559, 0.36126434803009033, 0.3374800980091095, 1.1828079223632812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4927012920379639, -1.3435721397399902, -1.654631495475769, -2.0891427993774414, -0.1540663242340088, 0.4600526988506317, -0.5192247033119202, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3563363552093506, -1.1373234987258911, 2.0002026557922363, -1.6974918842315674, 0.35046258568763733, 0.3573143482208252, 1.195055603981018, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.5562684535980225, -1.3345699310302734, -1.7333332300186157, -2.113856077194214, -0.19322633743286133, 0.45203813910484314, -0.5200148224830627, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.38841712474823, -1.1335896253585815, 2.01566219329834, -1.7017509937286377, 0.3488893210887909, 0.3676190972328186, 1.190378189086914, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.6121532917022705, -1.3319488763809204, -1.7668006420135498, -2.122551679611206, -0.2230559140443802, 0.4406643807888031, -0.5064166784286499, 0.046200001370775866, -0.046200001370775866, 0.046200001370775866, 0.046200001370775866, -0.046200001370775866, -0.046200001370775866, 0.046200001370775866, 0.046200001370775866, -1.4054179191589355, -1.1327948570251465, 1.9884976148605347, -1.7037047147750854, 0.3368279039859772, 0.36026570200920105, 1.1933833360671997, 0.13679999152382655, 0.13679999152382655, 0.13679999152382655, 0.13679999152382655, -0.13679999152382655, -0.13679999152382655, -0.13679999152382655, 0.13679999152382655, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.6425766944885254, -1.332086443901062, -1.7686083316802979, -2.1291892528533936, -0.25188037753105164, 0.4268341064453125, -0.48218122124671936, 0.41520000394884043, -0.41520000394884043, 0.41520000394884043, 0.41520000394884043, -0.41520000394884043, -0.41520000394884043, 0.41520000394884043, 0.41520000394884043, -1.404329538345337, -1.134182333946228, 1.9825536012649536, -1.7043401002883911, 0.33608871698379517, 0.3592279851436615, 1.1947442293167114, 0.5052000045776367, 0.5052000045776367, 0.5052000045776367, 0.5052000045776367, -0.5052000045776367, -0.5052000045776367, -0.5052000045776367, 0.5052000045776367, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.638317346572876, -1.332584023475647, -1.766859769821167, -2.129474639892578, -0.2508346140384674, 0.4267708361148834, -0.4824916124343872, 0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -1.4019721746444702, -1.1341649293899536, 1.9878053665161133, -1.7044376134872437, 0.3370549976825714, 0.3592337369918823, 1.194584608078003, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.6320557594299316, -1.3327051401138306, -1.7664095163345337, -2.129488468170166, -0.24951539933681488, 0.4268891215324402, -0.4838356375694275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4011764526367188, -1.133992075920105, 1.9880366325378418, -1.7044687271118164, 0.33722925186157227, 0.3592400848865509, 1.1943167448043823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.631790280342102, -1.3327149152755737, -1.7664047479629517, -2.129636764526367, -0.24946901202201843, 0.4269588589668274, -0.4840306341648102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4011847972869873, -1.1338649988174438, 1.9880331754684448, -1.70452880859375, 0.3372914493083954, 0.35924583673477173, 1.1943079233169556, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.6321008205413818, -1.332720160484314, -1.7663904428482056, -2.1296472549438477, -0.24934905767440796, 0.4270009398460388, -0.4840858578681946, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4017640352249146, -1.1338590383529663, 1.9880688190460205, -1.7050081491470337, 0.3370639979839325, 0.359311044216156, 1.1936795711517334, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6323908567428589, -1.3327332735061646, -1.7663393020629883, -2.129655122756958, -0.24930891394615173, 0.42700836062431335, -0.48410528898239136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4217469692230225, -1.1349135637283325, 1.99631667137146, -1.720986247062683, 0.3407928943634033, 0.39516448974609375, 1.1522718667984009, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.63240385055542, -1.3327481746673584, -1.7661902904510498, -2.1296615600585938, -0.24928265810012817, 0.42700931429862976, -0.4841177463531494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4325740337371826, -1.1366140842437744, 2.015110492706299, -1.6861722469329834, 0.3387925922870636, 0.42703545093536377, 1.1043564081192017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324440240859985, -1.3327618837356567, -1.7661712169647217, -2.129669666290283, -0.24926696717739105, 0.4270089566707611, -0.48413488268852234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4323387145996094, -1.1365739107131958, 2.0215904712677, -1.611974835395813, 0.3212054967880249, 0.4396832287311554, 1.0960773229599, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.6324400901794434, -1.3327676057815552, -1.7661638259887695, -2.1296722888946533, -0.24923796951770782, 0.42700859904289246, -0.4841523766517639, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.434324860572815, -1.1366673707962036, 2.007110118865967, -1.5492825508117676, 0.3180433511734009, 0.4565385580062866, 1.0929723978042603, 0.28859999389438834, 0.28859999389438834, 0.28859999389438834, 0.28859999389438834, -0.28859999389438834, -0.28859999389438834, -0.28859999389438834, 0.28859999389438834, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324305534362793, -1.3327888250350952, -1.7661601305007935, -2.129692792892456, -0.24922537803649902, 0.4270082414150238, -0.4841696321964264, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4384348392486572, -1.141347050666809, 1.9663928747177124, -1.4912402629852295, 0.3255126476287842, 0.45337268710136414, 1.0950310230255127, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -0.026999982896741947, -0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324268579483032, -1.3327964544296265, -1.7661519050598145, -2.1297013759613037, -0.2492169886827469, 0.4270070493221283, -0.48417046666145325, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4260329008102417, -1.1492568254470825, 1.899810791015625, -1.407314419746399, 0.3150184154510498, 0.37825772166252136, 1.1409944295883179, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324234008789062, -1.3328065872192383, -1.7661088705062866, -2.129716157913208, -0.24921028316020966, 0.42700645327568054, -0.48416605591773987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3912537097930908, -1.1639962196350098, 1.8252208232879639, -1.3301935195922852, 0.3030356168746948, 0.29604774713516235, 1.1329060792922974, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324172019958496, -1.3328111171722412, -1.766099214553833, -2.129725217819214, -0.249198779463768, 0.42700451612472534, -0.48416244983673096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3588509559631348, -1.1787378787994385, 1.76688551902771, -1.281351089477539, 0.34019607305526733, 0.28283920884132385, 1.1318575143814087, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324149370193481, -1.3328170776367188, -1.766094446182251, -2.1297295093536377, -0.24916425347328186, 0.4270017743110657, -0.4841616153717041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3516596555709839, -1.1895807981491089, 1.7434662580490112, -1.277756690979004, 0.384978711605072, 0.30848437547683716, 1.1099345684051514, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.632412075996399, -1.3328170776367188, -1.7660949230194092, -2.129730701446533, -0.2491178810596466, 0.4269978106021881, -0.4841584861278534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3550007343292236, -1.192980408668518, 1.742069125175476, -1.2899012565612793, 0.4161795377731323, 0.3227381706237793, 1.1026489734649658, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324108839035034, -1.3328174352645874, -1.7660953998565674, -2.129732608795166, -0.24908936023712158, 0.4269944727420807, -0.4841528534889221, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3545576333999634, -1.1935205459594727, 1.7492091655731201, -1.2910093069076538, 0.43889060616493225, 0.32062631845474243, 1.1118531227111816, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324089765548706, -1.3328170776367188, -1.766096830368042, -2.1297333240509033, -0.24907833337783813, 0.4269907474517822, -0.4841475784778595, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3501923084259033, -1.193795919418335, 1.7623292207717896, -1.2929320335388184, 0.4666694402694702, 0.32505616545677185, 1.1315081119537354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6324070692062378, -1.3328174352645874, -1.7660984992980957, -2.1297359466552734, -0.2490673065185547, 0.42698773741722107, -0.4841438829898834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.334714412689209, -1.1933749914169312, 1.7690881490707397, -1.291813611984253, 0.49881136417388916, 0.34603360295295715, 1.1616061925888062, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.632405400276184, -1.332817792892456, -1.7661030292510986, -2.129737377166748, -0.24906311929225922, 0.4269842803478241, -0.48414158821105957, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3089795112609863, -1.1916120052337646, 1.771344780921936, -1.2980998754501343, 0.5264021754264832, 0.3631102740764618, 1.1887909173965454, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.632400631904602, -1.3328180313110352, -1.7661094665527344, -2.12973952293396, -0.24905723333358765, 0.42698198556900024, -0.4841420650482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2863397598266602, -1.1913318634033203, 1.7657121419906616, -1.3283189535140991, 0.5506783723831177, 0.37087857723236084, 1.1807678937911987, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.632399320602417, -1.3328189849853516, -1.7661205530166626, -2.1297452449798584, -0.24905340373516083, 0.4269804358482361, -0.48414039611816406, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2676098346710205, -1.1926077604293823, 1.7493104934692383, -1.3673847913742065, 0.5825185179710388, 0.39274558424949646, 1.1374967098236084, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6323949098587036, -1.3328205347061157, -1.766133189201355, -2.1297497749328613, -0.24905280768871307, 0.4269786477088928, -0.4841402769088745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2525074481964111, -1.1983579397201538, 1.7241132259368896, -1.4127447605133057, 0.6202508807182312, 0.4302061200141907, 1.068122386932373, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6323899030685425, -1.3328229188919067, -1.7661453485488892, -2.1297507286071777, -0.24905352294445038, 0.42697829008102417, -0.4841405153274536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2312990427017212, -1.2035597562789917, 1.6837635040283203, -1.4365649223327637, 0.6369770169258118, 0.4332698881626129, 1.0550426244735718, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6323908567428589, -1.3328250646591187, -1.7661497592926025, -2.129753351211548, -0.24905461072921753, 0.4269771873950958, -0.48414111137390137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2024544477462769, -1.210310697555542, 1.6375393867492676, -1.4423145055770874, 0.6393904089927673, 0.4306917190551758, 1.0433647632598877, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.632388949394226, -1.3328275680541992, -1.766152024269104, -2.1297543048858643, -0.2490563988685608, 0.4269769489765167, -0.4841436445713043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1722475290298462, -1.2161271572113037, 1.5952006578445435, -1.4411125183105469, 0.6366268396377563, 0.4307609796524048, 1.0360695123672485, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.6323891878128052, -1.3328285217285156, -1.7661595344543457, -2.1297571659088135, -0.2490563988685608, 0.4269762337207794, -0.4841459095478058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.14582097530365, -1.2197041511535645, 1.5620187520980835, -1.4312540292739868, 0.619933545589447, 0.43314895033836365, 1.0423989295959473, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.6323870420455933, -1.3328300714492798, -1.7661617994308472, -2.1297590732574463, -0.2490559220314026, 0.42697587609291077, -0.48414817452430725, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1283317804336548, -1.221386432647705, 1.5326696634292603, -1.4213279485702515, 0.5939439535140991, 0.4348847568035126, 1.0574015378952026, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.6323877573013306, -1.3328313827514648, -1.7661607265472412, -2.1297624111175537, -0.2490561604499817, 0.4269750416278839, -0.4841547906398773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.117501974105835, -1.2257248163223267, 1.5059183835983276, -1.410772442817688, 0.5699467062950134, 0.4345339834690094, 1.062085747718811, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.6323875188827515, -1.3328324556350708, -1.766159176826477, -2.12976336479187, -0.24905651807785034, 0.4269750416278839, -0.48416054248809814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1073659658432007, -1.2327651977539062, 1.4856982231140137, -1.401098370552063, 0.5520987510681152, 0.434723436832428, 1.0498483180999756, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.6323885917663574, -1.332833170890808, -1.7661573886871338, -2.1297669410705566, -0.24905496835708618, 0.4269745647907257, -0.48417094349861145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0988246202468872, -1.239572525024414, 1.4714951515197754, -1.3926043510437012, 0.5452706217765808, 0.43557611107826233, 1.0304064750671387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.627176284790039, -1.332808494567871, -1.7610160112380981, -2.1277709007263184, -0.250575989484787, 0.42689210176467896, -0.48285412788391113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0959731340408325, -1.2450363636016846, 1.4658825397491455, -1.3922260999679565, 0.5388774871826172, 0.4354035556316376, 1.0162911415100098, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5732697248458862, -1.3318102359771729, -1.7047529220581055, -2.0896971225738525, -0.2612111568450928, 0.42437735199928284, -0.47479942440986633, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.096068024635315, -1.2486391067504883, 1.4643666744232178, -1.3983376026153564, 0.5266809463500977, 0.43500232696533203, 1.0006165504455566, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.4883153438568115, -1.3316975831985474, -1.617482304573059, -2.026019334793091, -0.2745680510997772, 0.39711838960647583, -0.4664846360683441, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.095551609992981, -1.2510058879852295, 1.466246247291565, -1.3994768857955933, 0.5191011428833008, 0.4385567307472229, 0.9953168630599976, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.4050954580307007, -1.3338674306869507, -1.5319850444793701, -1.9482824802398682, -0.29764872789382935, 0.3575145900249481, -0.4488794505596161, 0.3197999993523399, -0.3197999993523399, 0.3197999993523399, 0.3197999993523399, -0.3197999993523399, -0.3197999993523399, 0.3197999993523399, 0.3197999993523399, -1.089600682258606, -1.2546006441116333, 1.4735362529754639, -1.3928383588790894, 0.523690402507782, 0.45973294973373413, 0.9789057374000549, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.342492699623108, -1.3377413749694824, -1.4667153358459473, -1.8780481815338135, -0.30279701948165894, 0.33292368054389954, -0.45822715759277344, 0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -1.0799633264541626, -1.2553040981292725, 1.4750210046768188, -1.3792834281921387, 0.5181487202644348, 0.45445653796195984, 0.9796252846717834, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3034487962722778, -1.3420219421386719, -1.4210903644561768, -1.828715205192566, -0.30109670758247375, 0.3310510218143463, -0.45543625950813293, 0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -1.0709980726242065, -1.2575225830078125, 1.4752182960510254, -1.3738057613372803, 0.5178324580192566, 0.4534314274787903, 0.9743637442588806, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.283628225326538, -1.3458985090255737, -1.3994615077972412, -1.7997987270355225, -0.3088471293449402, 0.32746270298957825, -0.4533562660217285, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.054385781288147, -1.2624101638793945, 1.4752120971679688, -1.3729931116104126, 0.5304238200187683, 0.4652673900127411, 0.9511807560920715, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2790396213531494, -1.3477368354797363, -1.386265754699707, -1.7916830778121948, -0.3106200695037842, 0.32598409056663513, -0.4537782371044159, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0438357591629028, -1.2648741006851196, 1.4714794158935547, -1.3728358745574951, 0.5300991535186768, 0.462257444858551, 0.9475452303886414, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.284895658493042, -1.3493157625198364, -1.3873777389526367, -1.7940887212753296, -0.3106215298175812, 0.32637885212898254, -0.4498419165611267, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0419985055923462, -1.2658390998840332, 1.4643311500549316, -1.3712061643600464, 0.5205942392349243, 0.45543816685676575, 0.9525474309921265, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.2981057167053223, -1.34940505027771, -1.3926771879196167, -1.801879644393921, -0.3099009096622467, 0.32846686244010925, -0.4489414095878601, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.041973352432251, -1.2683104276657104, 1.4566962718963623, -1.3698372840881348, 0.51474928855896, 0.453907310962677, 0.9541341066360474, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3087977170944214, -1.3493850231170654, -1.3944354057312012, -1.8046468496322632, -0.30892646312713623, 0.334907203912735, -0.4494282007217407, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.039481520652771, -1.2720787525177002, 1.452185869216919, -1.369860053062439, 0.515184223651886, 0.45355424284935, 0.9490634799003601, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.3134597539901733, -1.3493852615356445, -1.3911831378936768, -1.8037744760513306, -0.30856946110725403, 0.3359217643737793, -0.44889765977859497, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0354732275009155, -1.2748581171035767, 1.45222008228302, -1.3716343641281128, 0.5213528275489807, 0.451107919216156, 0.9443806409835815, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.313735842704773, -1.350342869758606, -1.3849395513534546, -1.8007822036743164, -0.3124772906303406, 0.3352471888065338, -0.440254271030426, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0323035717010498, -1.2770346403121948, 1.4530609846115112, -1.3721702098846436, 0.5249096751213074, 0.44229578971862793, 0.942472517490387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3139673471450806, -1.3530827760696411, -1.3803907632827759, -1.7973140478134155, -0.31680718064308167, 0.3329145908355713, -0.42982155084609985, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0294700860977173, -1.278139591217041, 1.4530420303344727, -1.3709291219711304, 0.523185133934021, 0.4401487112045288, 0.9425961971282959, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3148047924041748, -1.3541927337646484, -1.3769623041152954, -1.796324372291565, -0.3183971345424652, 0.33208778500556946, -0.4277459979057312, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0284544229507446, -1.2790590524673462, 1.4518014192581177, -1.3680485486984253, 0.5185685753822327, 0.4372892677783966, 0.9439679384231567, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3169164657592773, -1.3545476198196411, -1.3769445419311523, -1.7964180707931519, -0.31845322251319885, 0.3321825861930847, -0.42801573872566223, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.027808666229248, -1.2805193662643433, 1.447251319885254, -1.3610031604766846, 0.5144802331924438, 0.4324025809764862, 0.9448963403701782, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3223457336425781, -1.3546346426010132, -1.377119779586792, -1.7977452278137207, -0.3173963129520416, 0.33276310563087463, -0.42936471104621887, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0279059410095215, -1.282696008682251, 1.4454476833343506, -1.3602216243743896, 0.5134480595588684, 0.4323904812335968, 0.9453070163726807, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3264799118041992, -1.3548892736434937, -1.3734034299850464, -1.7977826595306396, -0.3169844150543213, 0.33364608883857727, -0.4320392310619354, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.030169129371643, -1.2840195894241333, 1.4446977376937866, -1.366804599761963, 0.5118321180343628, 0.43313974142074585, 0.9446423649787903, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3286709785461426, -1.3553584814071655, -1.366096019744873, -1.7975702285766602, -0.3154599070549011, 0.33356088399887085, -0.432297945022583, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0320560932159424, -1.2852401733398438, 1.4442553520202637, -1.3725395202636719, 0.511603832244873, 0.4333936870098114, 0.9445369243621826, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3308215141296387, -1.3560889959335327, -1.3660163879394531, -1.796223521232605, -0.31546133756637573, 0.3330138027667999, -0.43246033787727356, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0323275327682495, -1.2864676713943481, 1.4425034523010254, -1.3760813474655151, 0.5114976167678833, 0.43332597613334656, 0.9443590641021729, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3342708349227905, -1.3560916185379028, -1.3669017553329468, -1.7959245443344116, -0.3146972358226776, 0.3336794078350067, -0.43424636125564575, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.031916618347168, -1.2881219387054443, 1.4390451908111572, -1.375806450843811, 0.5101264119148254, 0.4321171045303345, 0.9443843960762024, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3385443687438965, -1.3560642004013062, -1.3697375059127808, -1.7965701818466187, -0.31226277351379395, 0.33529728651046753, -0.4365849494934082, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0314438343048096, -1.2900309562683105, 1.43522047996521, -1.3719708919525146, 0.506648063659668, 0.42873337864875793, 0.9448497295379639, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3441028594970703, -1.3556677103042603, -1.374980092048645, -1.7989649772644043, -0.3104047179222107, 0.3362523019313812, -0.43803444504737854, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.031862735748291, -1.2913981676101685, 1.4290082454681396, -1.3687256574630737, 0.49756309390068054, 0.4244804084300995, 0.9460650086402893, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3498097658157349, -1.3547884225845337, -1.380577802658081, -1.8025314807891846, -0.3061991035938263, 0.34216099977493286, -0.4369680881500244, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0328270196914673, -1.2929781675338745, 1.4202605485916138, -1.3624621629714966, 0.48463043570518494, 0.41840165853500366, 0.9512742161750793, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3552533388137817, -1.3534483909606934, -1.3845573663711548, -1.8059766292572021, -0.29935047030448914, 0.35117411613464355, -0.43633782863616943, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0333361625671387, -1.295972466468811, 1.4138940572738647, -1.3549604415893555, 0.4763142168521881, 0.41381481289863586, 0.9559893012046814, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.36142098903656, -1.3524196147918701, -1.385909914970398, -1.806288480758667, -0.2960396111011505, 0.3595116436481476, -0.43804511427879333, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.030583143234253, -1.298245906829834, 1.4049077033996582, -1.3446496725082397, 0.4658168852329254, 0.4108034074306488, 0.9630894660949707, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3696876764297485, -1.3518415689468384, -1.3867672681808472, -1.8065139055252075, -0.29680922627449036, 0.3673916459083557, -0.4325787425041199, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0261712074279785, -1.3016977310180664, 1.398305058479309, -1.3342469930648804, 0.45993778109550476, 0.4069564640522003, 0.9644684791564941, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3786952495574951, -1.3513870239257812, -1.3877482414245605, -1.8062100410461426, -0.2986925542354584, 0.3682139813899994, -0.42759594321250916, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0221604108810425, -1.3046718835830688, 1.3971521854400635, -1.3297502994537354, 0.4569467604160309, 0.4058808982372284, 0.9669444561004639, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3827441930770874, -1.3508291244506836, -1.3876723051071167, -1.8048585653305054, -0.29927581548690796, 0.36822083592414856, -0.4273335039615631, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.018444299697876, -1.3064632415771484, 1.3966200351715088, -1.3274115324020386, 0.45392611622810364, 0.40457162261009216, 0.9719866514205933, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3829693794250488, -1.350490689277649, -1.3870716094970703, -1.8037796020507812, -0.30115315318107605, 0.3682178258895874, -0.4273298978805542, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0174932479858398, -1.3085668087005615, 1.3944556713104248, -1.324972152709961, 0.4502721428871155, 0.4015977382659912, 0.9748717546463013, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3827534914016724, -1.3503509759902954, -1.3862342834472656, -1.8019546270370483, -0.30146172642707825, 0.3692151606082916, -0.42728376388549805, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0174083709716797, -1.310918927192688, 1.3904650211334229, -1.3210346698760986, 0.4452521800994873, 0.399092435836792, 0.9762989282608032, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.381098747253418, -1.3502867221832275, -1.3845032453536987, -1.7969932556152344, -0.30443885922431946, 0.36931678652763367, -0.4268656373023987, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.01747465133667, -1.31326425075531, 1.388909935951233, -1.3185241222381592, 0.4393829107284546, 0.39913472533226013, 0.9768255352973938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3803428411483765, -1.3503119945526123, -1.3824986219406128, -1.792450189590454, -0.31308308243751526, 0.3726608455181122, -0.42167142033576965, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0174975395202637, -1.3146296739578247, 1.387536644935608, -1.3115077018737793, 0.4304274618625641, 0.3991626501083374, 0.978333055973053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3803606033325195, -1.3503323793411255, -1.3823612928390503, -1.7902311086654663, -0.31496796011924744, 0.37608081102371216, -0.4206865727901459, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.018484115600586, -1.3150216341018677, 1.3874927759170532, -1.3097002506256104, 0.4223271906375885, 0.40052610635757446, 0.9812952876091003, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.380481243133545, -1.350326418876648, -1.3827394247055054, -1.789406180381775, -0.3149859309196472, 0.38007909059524536, -0.4235657751560211, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0207417011260986, -1.3155734539031982, 1.38779878616333, -1.3097238540649414, 0.4129568636417389, 0.40356817841529846, 0.9837350249290466, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3810133934020996, -1.3501054048538208, -1.3851852416992188, -1.7883715629577637, -0.31538262963294983, 0.3849896192550659, -0.4274396598339081, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0256259441375732, -1.3161202669143677, 1.3876875638961792, -1.309658169746399, 0.4009660482406616, 0.4049879312515259, 0.9844671487808228, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.381990671157837, -1.3489937782287598, -1.3881888389587402, -1.788610816001892, -0.31737008690834045, 0.3922537565231323, -0.42865821719169617, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0292372703552246, -1.316680669784546, 1.3863362073898315, -1.3087573051452637, 0.3922664523124695, 0.4049782454967499, 0.984448254108429, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.384393334388733, -1.3477686643600464, -1.3899286985397339, -1.7922714948654175, -0.3178410530090332, 0.4001264274120331, -0.42811763286590576, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0293703079223633, -1.317772388458252, 1.3864123821258545, -1.3101484775543213, 0.3892594873905182, 0.4054484963417053, 0.9833124876022339, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3870900869369507, -1.3471260070800781, -1.3904740810394287, -1.7949753999710083, -0.31725049018859863, 0.4036189913749695, -0.42524847388267517, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0293169021606445, -1.3190373182296753, 1.3870534896850586, -1.3118410110473633, 0.3867824673652649, 0.4077993333339691, 0.9813178181648254, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.389657974243164, -1.3470511436462402, -1.39216947555542, -1.7997772693634033, -0.3158036172389984, 0.40374553203582764, -0.41484519839286804, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0291855335235596, -1.3203580379486084, 1.3900152444839478, -1.3167153596878052, 0.39036574959754944, 0.4128831624984741, 0.9761844873428345, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3884881734848022, -1.3470499515533447, -1.3940505981445312, -1.8005057573318481, -0.31539303064346313, 0.40107616782188416, -0.40343084931373596, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0291776657104492, -1.3211793899536133, 1.3987812995910645, -1.327271819114685, 0.3988042175769806, 0.41590258479118347, 0.9726104736328125, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.379744052886963, -1.3470836877822876, -1.3938380479812622, -1.7970621585845947, -0.3154102861881256, 0.3987598717212677, -0.39582911133766174, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0287295579910278, -1.321153998374939, 1.405718207359314, -1.3346391916275024, 0.40144169330596924, 0.4151202440261841, 0.9724015593528748, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.370518684387207, -1.3474239110946655, -1.3912599086761475, -1.7920012474060059, -0.3161596655845642, 0.39525556564331055, -0.3945060670375824, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.028623342514038, -1.320887804031372, 1.4100993871688843, -1.3428095579147339, 0.40566301345825195, 0.4157385230064392, 0.9724098443984985, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3638625144958496, -1.3484258651733398, -1.3862576484680176, -1.7859606742858887, -0.31682288646698, 0.39337092638015747, -0.3945091664791107, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0286248922348022, -1.320462942123413, 1.413370966911316, -1.3478432893753052, 0.40925371646881104, 0.41405507922172546, 0.9723131060600281, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.358277678489685, -1.3495644330978394, -1.3801289796829224, -1.7796286344528198, -0.3168819546699524, 0.39141497015953064, -0.3945063054561615, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.028624415397644, -1.3200258016586304, 1.4174860715866089, -1.351611614227295, 0.41195186972618103, 0.41368260979652405, 0.9722837805747986, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.353912353515625, -1.3505662679672241, -1.3750609159469604, -1.7747504711151123, -0.316876083612442, 0.3881244659423828, -0.3946497440338135, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0280989408493042, -1.3193446397781372, 1.4194313287734985, -1.3519855737686157, 0.4149760901927948, 0.41357487440109253, 0.9722873568534851, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3507956266403198, -1.3516258001327515, -1.3709983825683594, -1.7709487676620483, -0.3168942928314209, 0.38713541626930237, -0.3954058289527893, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0256434679031372, -1.31918466091156, 1.419146180152893, -1.3467204570770264, 0.41596272587776184, 0.40983712673187256, 0.9723052382469177, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3492271900177002, -1.3525171279907227, -1.3675448894500732, -1.7683461904525757, -0.3168790936470032, 0.38720935583114624, -0.3970799148082733, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0227748155593872, -1.3191094398498535, 1.4139678478240967, -1.330889105796814, 0.4127248525619507, 0.3992712199687958, 0.9740593433380127, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3485405445098877, -1.3531105518341064, -1.3663307428359985, -1.766777515411377, -0.31680166721343994, 0.38818103075027466, -0.3980751931667328, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0224624872207642, -1.3191124200820923, 1.4085990190505981, -1.3246291875839233, 0.41073736548423767, 0.3956086039543152, 0.9740719199180603, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.348435401916504, -1.3535842895507812, -1.3645694255828857, -1.7667832374572754, -0.3162524402141571, 0.38958796858787537, -0.3984331786632538, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0228980779647827, -1.3193632364273071, 1.4072306156158447, -1.3225468397140503, 0.4100158214569092, 0.3956076502799988, 0.9725551009178162, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.348441243171692, -1.3540258407592773, -1.3642213344573975, -1.7667925357818604, -0.3151971101760864, 0.3913847804069519, -0.40125772356987, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0236724615097046, -1.3196665048599243, 1.4064642190933228, -1.3205682039260864, 0.4093530774116516, 0.39577004313468933, 0.9703785181045532, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3485493659973145, -1.3545454740524292, -1.3618704080581665, -1.766778826713562, -0.3149429261684418, 0.39307934045791626, -0.4014984965324402, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0233924388885498, -1.3201109170913696, 1.4042068719863892, -1.3205745220184326, 0.41257718205451965, 0.39723798632621765, 0.9658306241035461, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3484907150268555, -1.3560220003128052, -1.356707215309143, -1.762494444847107, -0.3157685101032257, 0.39286720752716064, -0.4014926254749298, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0217403173446655, -1.320468544960022, 1.4025171995162964, -1.3205593824386597, 0.41359981894493103, 0.39755916595458984, 0.9650136232376099, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3482531309127808, -1.3566100597381592, -1.3554497957229614, -1.758352518081665, -0.3170173764228821, 0.3916381299495697, -0.4013690650463104, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0196201801300049, -1.3206721544265747, 1.4005463123321533, -1.31788969039917, 0.40876370668411255, 0.3962172865867615, 0.9658403396606445, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.348454475402832, -1.3566195964813232, -1.355525016784668, -1.7566163539886475, -0.3162996470928192, 0.3905808627605438, -0.39945709705352783, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0193008184432983, -1.320680856704712, 1.3976821899414062, -1.3162257671356201, 0.3989975154399872, 0.3923656940460205, 0.972236156463623, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.350553035736084, -1.3567585945129395, -1.357145071029663, -1.7566221952438354, -0.3156954050064087, 0.38865429162979126, -0.3976517915725708, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0198266506195068, -1.3208839893341064, 1.3956046104431152, -1.3150328397750854, 0.39207231998443604, 0.3876887261867523, 0.975737988948822, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3516862392425537, -1.3572332859039307, -1.3581403493881226, -1.7566242218017578, -0.3157317042350769, 0.3879011869430542, -0.39712223410606384, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0198373794555664, -1.321724772453308, 1.390903115272522, -1.3104336261749268, 0.3829542398452759, 0.38686659932136536, 0.9758414030075073, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.351677417755127, -1.3573256731033325, -1.358491063117981, -1.7565828561782837, -0.3155793845653534, 0.38873985409736633, -0.39711323380470276, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0158870220184326, -1.3230410814285278, 1.3851749897003174, -1.303209662437439, 0.369952917098999, 0.38712605834007263, 0.9758324027061462, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3512181043624878, -1.3573408126831055, -1.3594566583633423, -1.75328528881073, -0.31478819251060486, 0.38843870162963867, -0.401132732629776, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0108630657196045, -1.32403564453125, 1.3815356492996216, -1.300011396408081, 0.3536781966686249, 0.392748087644577, 0.9740593433380127, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.3507769107818604, -1.3573493957519531, -1.36151123046875, -1.750606656074524, -0.31344524025917053, 0.38848769664764404, -0.40609660744667053, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0064117908477783, -1.3250263929367065, 1.3799937963485718, -1.3004505634307861, 0.33215776085853577, 0.40029576420783997, 0.9731993675231934, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3507752418518066, -1.3573520183563232, -1.3633545637130737, -1.7503063678741455, -0.312764436006546, 0.3878113031387329, -0.4068056046962738, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.001104474067688, -1.3256075382232666, 1.3784089088439941, -1.3024271726608276, 0.31180018186569214, 0.40537095069885254, 0.9745168089866638, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3508814573287964, -1.3573521375656128, -1.3647507429122925, -1.750328540802002, -0.3111172020435333, 0.3844470977783203, -0.40465837717056274, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9977869391441345, -1.3259525299072266, 1.378383994102478, -1.3092843294143677, 0.28590214252471924, 0.41318169236183167, 0.9816926717758179, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3528625965118408, -1.3573334217071533, -1.3704750537872314, -1.7525511980056763, -0.3082242012023926, 0.38441964983940125, -0.40133658051490784, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9937549233436584, -1.326398491859436, 1.3784253597259521, -1.317061185836792, 0.2570573091506958, 0.422704815864563, 0.9919599294662476, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3588249683380127, -1.3567841053009033, -1.3799760341644287, -1.760664701461792, -0.30350494384765625, 0.3848208785057068, -0.3969404101371765, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9884858727455139, -1.3273475170135498, 1.378453254699707, -1.3192260265350342, 0.23695915937423706, 0.42481788992881775, 0.9977009892463684, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.3677825927734375, -1.3553476333618164, -1.3918668031692505, -1.773851990699768, -0.2999042570590973, 0.3858722746372223, -0.38763192296028137, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.985971987247467, -1.3288332223892212, 1.3798737525939941, -1.3133822679519653, 0.23964183032512665, 0.4232065975666046, 0.9993097186088562, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3731343746185303, -1.3535269498825073, -1.4036322832107544, -1.7906006574630737, -0.29715508222579956, 0.3866162598133087, -0.37795117497444153, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9899866580963135, -1.3294041156768799, 1.3882008790969849, -1.3139101266860962, 0.2610933482646942, 0.43116843700408936, 0.9933220744132996, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3732025623321533, -1.351956844329834, -1.4160668849945068, -1.809079647064209, -0.2968602776527405, 0.38782379031181335, -0.3726483881473541, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0045392513275146, -1.3265379667282104, 1.4085693359375, -1.3376190662384033, 0.27919912338256836, 0.4424242675304413, 0.9878360629081726, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3731410503387451, -1.3500341176986694, -1.4306331872940063, -1.829526662826538, -0.2984878420829773, 0.38609373569488525, -0.36798903346061707, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0175344944000244, -1.3187803030014038, 1.4402297735214233, -1.3826032876968384, 0.3028797209262848, 0.460382878780365, 0.9881933927536011, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3736186027526855, -1.3466993570327759, -1.4555294513702393, -1.8515316247940063, -0.29657039046287537, 0.37298983335494995, -0.37455832958221436, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.037224531173706, -1.3068480491638184, 1.4903759956359863, -1.4459220170974731, 0.3182799220085144, 0.4660796821117401, 1.0121924877166748, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3786075115203857, -1.340826392173767, -1.4857252836227417, -1.8759934902191162, -0.29942357540130615, 0.3542514145374298, -0.3991796672344208, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0682677030563354, -1.2889163494110107, 1.5552821159362793, -1.508819341659546, 0.330974817276001, 0.4734331965446472, 1.043777585029602, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3914971351623535, -1.3337242603302002, -1.5188863277435303, -1.905944585800171, -0.3039170801639557, 0.34829872846603394, -0.4345982074737549, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.108866572380066, -1.2643370628356934, 1.6397019624710083, -1.575345516204834, 0.3388203978538513, 0.49472832679748535, 1.0916694402694702, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.4132435321807861, -1.3269054889678955, -1.5478886365890503, -1.9343466758728027, -0.31056123971939087, 0.3491160571575165, -0.4662957787513733, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1601479053497314, -1.23949134349823, 1.7279837131500244, -1.626583456993103, 0.34047579765319824, 0.4774831533432007, 1.1160252094268799, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.453740119934082, -1.320725917816162, -1.5813930034637451, -1.9577124118804932, -0.3115699589252472, 0.349378377199173, -0.4860699772834778, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.234589695930481, -1.2190247774124146, 1.804675817489624, -1.6574583053588867, 0.33049988746643066, 0.45590171217918396, 1.1170854568481445, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.50665283203125, -1.3139127492904663, -1.6131819486618042, -1.9879448413848877, -0.3034748435020447, 0.35800090432167053, -0.4864923059940338, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3213461637496948, -1.2053018808364868, 1.859470009803772, -1.673180103302002, 0.32382670044898987, 0.4699218273162842, 1.1017791032791138, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.5486807823181152, -1.3097400665283203, -1.63565194606781, -2.0099377632141113, -0.304987370967865, 0.3784468472003937, -0.4897642433643341, 0.10559998606587503, -0.10559998606587503, 0.10559998606587503, 0.10559998606587503, -0.10559998606587503, -0.10559998606587503, 0.10559998606587503, 0.10559998606587503, -1.3911347389221191, -1.2019566297531128, 1.8898473978042603, -1.6839430332183838, 0.33288654685020447, 0.4637680649757385, 1.0719417333602905, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -0.026999982896741947, -0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.5619242191314697, -1.3082300424575806, -1.6361254453659058, -2.014597177505493, -0.30779311060905457, 0.38405534625053406, -0.49653926491737366, 0.49620000451475704, -0.49620000451475704, 0.49620000451475704, 0.49620000451475704, -0.49620000451475704, -0.49620000451475704, 0.49620000451475704, 0.49620000451475704, -1.4083820581436157, -1.2022806406021118, 1.8943262100219727, -1.6915138959884644, 0.35444602370262146, 0.4641565680503845, 1.040357232093811, 0.316799992781419, 0.316799992781419, 0.316799992781419, 0.316799992781419, -0.316799992781419, -0.316799992781419, -0.316799992781419, 0.316799992781419, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.5586504936218262, -1.3082218170166016, -1.6342726945877075, -2.014630079269409, -0.3079668879508972, 0.38372913002967834, -0.4969445765018463, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -1.3977177143096924, -1.2026320695877075, 1.8939051628112793, -1.6919869184494019, 0.3555101156234741, 0.4642319679260254, 1.0410858392715454, 0.579000000672026, 0.579000000672026, 0.579000000672026, 0.579000000672026, -0.579000000672026, -0.579000000672026, -0.579000000672026, 0.579000000672026, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.555572271347046, -1.308241367340088, -1.6342679262161255, -2.0146307945251465, -0.3079666495323181, 0.38327983021736145, -0.4968441426753998, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3929232358932495, -1.2026281356811523, 1.8935422897338867, -1.6923651695251465, 0.3548528850078583, 0.4642276465892792, 1.0429801940917969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5554766654968262, -1.3082728385925293, -1.6342693567276, -2.0146305561065674, -0.3079659342765808, 0.3832271099090576, -0.4966807961463928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.393398404121399, -1.2026262283325195, 1.8934487104415894, -1.6923692226409912, 0.35454288125038147, 0.4642212986946106, 1.0431177616119385, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.554641604423523, -1.3082865476608276, -1.6332073211669922, -2.0136942863464355, -0.30729037523269653, 0.38308990001678467, -0.4953894019126892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.39457368850708, -1.202616810798645, 1.8933767080307007, -1.6923631429672241, 0.35445189476013184, 0.46421241760253906, 1.04332435131073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.508302092552185, -1.3092454671859741, -1.585064172744751, -1.9462251663208008, -0.25281932950019836, 0.38796302676200867, -0.43061956763267517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3946000337600708, -1.2026244401931763, 1.8929457664489746, -1.6923649311065674, 0.35441452264785767, 0.4641963541507721, 1.0436090230941772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5100376605987549, 1.2658007144927979, -0.5662535429000854, 0.0, 0.0, 1.4760487079620361, -1.3135055303573608, -1.5494579076766968, -1.8816457986831665, -0.20864476263523102, 0.39990556240081787, -0.37084344029426575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3946049213409424, -1.2026300430297852, 1.8930357694625854, -1.6923547983169556, 0.35440948605537415, 0.46418115496635437, 1.0436939001083374, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4706177711486816, -1.313929796218872, -1.5225759744644165, -1.8374900817871094, -0.19672703742980957, 0.3947245478630066, -0.36916229128837585, 0.44340000283587105, -0.44340000283587105, 0.44340000283587105, 0.44340000283587105, -0.44340000283587105, -0.44340000283587105, 0.44340000283587105, 0.44340000283587105, -1.3945008516311646, -1.202638030052185, 1.8930401802062988, -1.6923519372940063, 0.35440170764923096, 0.4641740918159485, 1.0436954498291016, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.4686145782470703, -1.3176590204238892, -1.4848332405090332, -1.802144169807434, -0.1929188221693039, 0.38667425513267517, -0.3688342869281769, 0.04140000657720881, -0.04140000657720881, 0.04140000657720881, 0.04140000657720881, -0.04140000657720881, -0.04140000657720881, 0.04140000657720881, 0.04140000657720881, -1.3944987058639526, -1.2026362419128418, 1.8930658102035522, -1.6923565864562988, 0.3544105589389801, 0.46416568756103516, 1.0436992645263672, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.458925724029541, -1.326585292816162, -1.4567638635635376, -1.7623109817504883, -0.22283168137073517, 0.3747335374355316, -0.3560059070587158, 0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -1.3944898843765259, -1.2026411294937134, 1.8930805921554565, -1.6923567056655884, 0.35441234707832336, 0.4641589820384979, 1.043702244758606, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.4399211406707764, -1.3318908214569092, -1.435337781906128, -1.718827247619629, -0.2375318855047226, 0.35682275891304016, -0.34881094098091125, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.394487738609314, -1.2026371955871582, 1.8931316137313843, -1.6923646926879883, 0.3544411361217499, 0.4641472399234772, 1.0437160730361938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.4257417917251587, -1.3322914838790894, -1.4192922115325928, -1.703919529914856, -0.23600918054580688, 0.33084622025489807, -0.3697519302368164, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.39447021484375, -1.2026400566101074, 1.8931320905685425, -1.6923638582229614, 0.3544471263885498, 0.4641382396221161, 1.0437290668487549, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.419861912727356, -1.3327677249908447, -1.4100637435913086, -1.7126861810684204, -0.22366482019424438, 0.3152548670768738, -0.3910360336303711, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944735527038574, -1.2026387453079224, 1.8931388854980469, -1.6923677921295166, 0.35446664690971375, 0.4641323685646057, 1.0437489748001099, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4194470643997192, -1.3352346420288086, -1.4081255197525024, -1.7228807210922241, -0.2259761095046997, 0.3166758418083191, -0.38617128133773804, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944721221923828, -1.2026392221450806, 1.8931384086608887, -1.6923695802688599, 0.35447049140930176, 0.46412986516952515, 1.0437630414962769, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5662535429000854, 0.0, 0.0, 1.4189969301223755, -1.3373489379882812, -1.4088306427001953, -1.7236143350601196, -0.23557427525520325, 0.3167899250984192, -0.37552112340927124, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944740295410156, -1.2026387453079224, 1.8931381702423096, -1.6923797130584717, 0.35448187589645386, 0.4641280472278595, 1.0437873601913452, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4175900220870972, -1.3379523754119873, -1.4090856313705444, -1.727677822113037, -0.24420614540576935, 0.3122348487377167, -0.3804985284805298, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944727182388306, -1.2026400566101074, 1.893135905265808, -1.6923792362213135, 0.35448139905929565, 0.46412864327430725, 1.0437995195388794, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.4130643606185913, -1.3385885953903198, -1.4066953659057617, -1.7397321462631226, -0.24323350191116333, 0.3124614655971527, -0.3894505202770233, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944748640060425, -1.2026402950286865, 1.8931365013122559, -1.692379117012024, 0.35448259115219116, 0.46412914991378784, 1.043807864189148, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4024076461791992, -1.3395678997039795, -1.399131178855896, -1.7445201873779297, -0.2408890277147293, 0.31638234853744507, -0.3935670852661133, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944755792617798, -1.202641487121582, 1.893135666847229, -1.6923786401748657, 0.354483425617218, 0.46412914991378784, 1.0438134670257568, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.265704870223999, -0.5663493871688843, 0.0, 0.0, 1.3975924253463745, -1.3413327932357788, -1.3934253454208374, -1.7509206533432007, -0.2401275485754013, 0.31964659690856934, -0.39264923334121704, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944758176803589, -1.2026418447494507, 1.8931339979171753, -1.692378282546997, 0.3544846177101135, 0.4641292691230774, 1.0438164472579956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.397609829902649, -1.3434373140335083, -1.3884238004684448, -1.7645995616912842, -0.24486804008483887, 0.32070696353912354, -0.3882211744785309, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944768905639648, -1.2026422023773193, 1.893133521080017, -1.692379117012024, 0.3544812798500061, 0.4641302227973938, 1.0438185930252075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3979694843292236, -1.3458155393600464, -1.3825557231903076, -1.7794660329818726, -0.249807208776474, 0.3210868537425995, -0.3780997693538666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944772481918335, -1.202642798423767, 1.8931329250335693, -1.6923789978027344, 0.3544731140136719, 0.4641311764717102, 1.043819785118103, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3979439735412598, -1.3481438159942627, -1.3767887353897095, -1.7890881299972534, -0.26021623611450195, 0.31851792335510254, -0.37325814366340637, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.39447820186615, -1.2026426792144775, 1.8931334018707275, -1.6923785209655762, 0.3544701337814331, 0.4641323685646057, 1.0438214540481567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3970887660980225, -1.3506582975387573, -1.3717132806777954, -1.7954528331756592, -0.28073298931121826, 0.31259986758232117, -0.3762210011482239, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944785594940186, -1.2026441097259521, 1.8931334018707275, -1.6923784017562866, 0.3544582724571228, 0.4641347825527191, 1.0438225269317627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3963313102722168, -1.3515944480895996, -1.363849401473999, -1.804134726524353, -0.28293856978416443, 0.3382587134838104, -0.3789978623390198, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944796323776245, -1.2026439905166626, 1.8931337594985962, -1.6923774480819702, 0.3544541895389557, 0.4641382396221161, 1.0438247919082642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3970047235488892, -1.3533439636230469, -1.3589085340499878, -1.80695378780365, -0.2848491966724396, 0.34688517451286316, -0.3707563281059265, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394479751586914, -1.202643871307373, 1.8931341171264648, -1.6923770904541016, 0.3544490337371826, 0.4641439914703369, 1.0438275337219238, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3975560665130615, -1.3537544012069702, -1.3568518161773682, -1.8081905841827393, -0.28601646423339844, 0.3468884229660034, -0.36778759956359863, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394479513168335, -1.202643632888794, 1.8931347131729126, -1.6923762559890747, 0.354439914226532, 0.46415022015571594, 1.0438297986984253, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.396466612815857, -1.354777455329895, -1.352892279624939, -1.8098723888397217, -0.2887292206287384, 0.34898829460144043, -0.36549296975135803, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394479751586914, -1.2026437520980835, 1.8931347131729126, -1.6923766136169434, 0.35443586111068726, 0.4641534686088562, 1.0438319444656372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.390855312347412, -1.3565157651901245, -1.3461254835128784, -1.8098829984664917, -0.29188933968544006, 0.3501223623752594, -0.3626581132411957, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944792747497559, -1.202643632888794, 1.8931351900100708, -1.6923764944076538, 0.3544340431690216, 0.4641544222831726, 1.0438356399536133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3839308023452759, -1.3590987920761108, -1.33676278591156, -1.80740225315094, -0.2939479947090149, 0.34911486506462097, -0.3593340516090393, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394479751586914, -1.2026437520980835, 1.8931355476379395, -1.6923768520355225, 0.35443034768104553, 0.46415454149246216, 1.043842077255249, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3819204568862915, -1.3604917526245117, -1.3345611095428467, -1.8046047687530518, -0.29289254546165466, 0.3481691777706146, -0.3593364357948303, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944796323776245, -1.2026439905166626, 1.8931357860565186, -1.6923773288726807, 0.3544304668903351, 0.4641556143760681, 1.0438507795333862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3818753957748413, -1.360515832901001, -1.3347488641738892, -1.802085280418396, -0.2903745472431183, 0.34696537256240845, -0.3615044951438904, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944796323776245, -1.202643871307373, 1.8931351900100708, -1.692378044128418, 0.3544357419013977, 0.4641558527946472, 1.0438610315322876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.382773756980896, -1.36062490940094, -1.3394689559936523, -1.8002796173095703, -0.28479623794555664, 0.3446269929409027, -0.3625020682811737, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944798707962036, -1.202643632888794, 1.8931350708007812, -1.6923789978027344, 0.3544396758079529, 0.4641556143760681, 1.04387366771698, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3877201080322266, -1.3606181144714355, -1.3467943668365479, -1.800315260887146, -0.2818586528301239, 0.34421810507774353, -0.362576961517334, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944799900054932, -1.2026439905166626, 1.8931344747543335, -1.6923794746398926, 0.3544430434703827, 0.4641539454460144, 1.043886423110962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.392073392868042, -1.3605239391326904, -1.351448655128479, -1.8023470640182495, -0.2808886468410492, 0.3440268337726593, -0.36113178730010986, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944799900054932, -1.2026437520980835, 1.8931338787078857, -1.6923799514770508, 0.3544478416442871, 0.4641527533531189, 1.043900489807129, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3961012363433838, -1.3602805137634277, -1.3528867959976196, -1.805016040802002, -0.28017836809158325, 0.34411802887916565, -0.3583235442638397, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944804668426514, -1.2026437520980835, 1.893133282661438, -1.692380666732788, 0.35445213317871094, 0.46415117383003235, 1.043913722038269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.401173710823059, -1.3601691722869873, -1.3554314374923706, -1.806348204612732, -0.27792543172836304, 0.3426246643066406, -0.3572978079319, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944810628890991, -1.2026437520980835, 1.8931320905685425, -1.6923816204071045, 0.35445958375930786, 0.46414902806282043, 1.0439187288284302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.402915596961975, -1.3597025871276855, -1.3563412427902222, -1.807210087776184, -0.27693721652030945, 0.34335845708847046, -0.3554576337337494, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394482135772705, -1.2026439905166626, 1.8931307792663574, -1.6923818588256836, 0.3544646203517914, 0.46414604783058167, 1.0439224243164062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4029085636138916, -1.3596549034118652, -1.356443166732788, -1.8076577186584473, -0.2776098847389221, 0.34444746375083923, -0.3554554581642151, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944834470748901, -1.2026437520980835, 1.8931299448013306, -1.6923807859420776, 0.3544674813747406, 0.46414458751678467, 1.0439238548278809, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4028407335281372, -1.359655499458313, -1.3563975095748901, -1.807217001914978, -0.2814793586730957, 0.34344691038131714, -0.3554687798023224, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944838047027588, -1.202643632888794, 1.8931291103363037, -1.6923810243606567, 0.354469895362854, 0.46414220333099365, 1.043925166130066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.402410864830017, -1.3596481084823608, -1.355439305305481, -1.80716872215271, -0.2815870940685272, 0.34506261348724365, -0.35549095273017883, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944847583770752, -1.202643632888794, 1.8931289911270142, -1.6923810243606567, 0.35446903109550476, 0.46414002776145935, 1.0439255237579346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4023079872131348, -1.3595644235610962, -1.3554214239120483, -1.8086210489273071, -0.2815076410770416, 0.3459921181201935, -0.3555186092853546, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944848775863647, -1.2026431560516357, 1.8931281566619873, -1.692380666732788, 0.3544658124446869, 0.46413835883140564, 1.0439258813858032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.405714511871338, -1.3592519760131836, -1.355449914932251, -1.8136128187179565, -0.2815912961959839, 0.346743643283844, -0.35551348328590393, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944857120513916, -1.2026432752609253, 1.8931282758712769, -1.6923805475234985, 0.35446426272392273, 0.46413859724998474, 1.0439255237579346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4132901430130005, -1.359179973602295, -1.3554487228393555, -1.8228474855422974, -0.28347906470298767, 0.35103639960289, -0.3555288016796112, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944857120513916, -1.2026431560516357, 1.8931279182434082, -1.6923797130584717, 0.3544604182243347, 0.46413883566856384, 1.0439252853393555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4143301248550415, -1.3589636087417603, -1.3554224967956543, -1.8236063718795776, -0.2837910056114197, 0.35194888710975647, -0.3561456501483917, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944867849349976, -1.2026429176330566, 1.8931279182434082, -1.692379355430603, 0.35446006059646606, 0.46413859724998474, 1.043925404548645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4141231775283813, -1.358885407447815, -1.3553893566131592, -1.8236045837402344, -0.2850929796695709, 0.35190922021865845, -0.3558070957660675, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944863080978394, -1.2026429176330566, 1.8931282758712769, -1.6923787593841553, 0.35445287823677063, 0.4641394317150116, 1.043925166130066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4140971899032593, -1.3586074113845825, -1.3551592826843262, -1.8235361576080322, -0.2856577932834625, 0.35196590423583984, -0.3556222915649414, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486665725708, -1.202642798423767, 1.8931289911270142, -1.6923786401748657, 0.35444244742393494, 0.46414053440093994, 1.0439248085021973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4140806198120117, -1.358336329460144, -1.3551113605499268, -1.8228158950805664, -0.28434106707572937, 0.35194504261016846, -0.35664430260658264, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486665725708, -1.2026430368423462, 1.8931288719177246, -1.6923792362213135, 0.35443681478500366, 0.46414172649383545, 1.0439248085021973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.412498950958252, -1.3581230640411377, -1.3550962209701538, -1.8209950923919678, -0.2835139334201813, 0.35221564769744873, -0.35817408561706543, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486427307129, -1.2026431560516357, 1.8931297063827515, -1.6923792362213135, 0.3544335663318634, 0.46414458751678467, 1.0439249277114868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4094972610473633, -1.3580436706542969, -1.3551055192947388, -1.817495584487915, -0.2839868366718292, 0.3521982729434967, -0.3604878783226013, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944863080978394, -1.2026430368423462, 1.893129825592041, -1.6923789978027344, 0.3544345200061798, 0.4641454219818115, 1.0439244508743286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.407927393913269, -1.3579785823822021, -1.3558801412582397, -1.8158761262893677, -0.28436899185180664, 0.35227546095848083, -0.36138346791267395, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944865465164185, -1.2026431560516357, 1.8931299448013306, -1.6923794746398926, 0.35443487763404846, 0.46414628624916077, 1.0439244508743286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4074981212615967, -1.357911229133606, -1.3572334051132202, -1.8128894567489624, -0.28595882654190063, 0.3517739176750183, -0.36138418316841125, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486427307129, -1.2026429176330566, 1.8931304216384888, -1.6923801898956299, 0.354438841342926, 0.4641468822956085, 1.04392409324646, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4064289331436157, -1.3578647375106812, -1.357843041419983, -1.8095753192901611, -0.2875573933124542, 0.35045647621154785, -0.3600260019302368, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944865465164185, -1.2026423215866089, 1.8931307792663574, -1.6923803091049194, 0.35444220900535583, 0.4641481935977936, 1.043925166130066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.405688762664795, -1.3576589822769165, -1.3574707508087158, -1.80599844455719, -0.28666409850120544, 0.3505924940109253, -0.3590630888938904, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486427307129, -1.2026417255401611, 1.8931310176849365, -1.6923810243606567, 0.3544439971446991, 0.46414807438850403, 1.0439248085021973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4055421352386475, -1.3576538562774658, -1.3570871353149414, -1.8045053482055664, -0.2873728573322296, 0.3503769040107727, -0.3593434989452362, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486427307129, -1.2026418447494507, 1.8931305408477783, -1.6923819780349731, 0.3544473648071289, 0.4641479551792145, 1.0439255237579346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4046275615692139, -1.3576602935791016, -1.3570836782455444, -1.803348183631897, -0.2901902198791504, 0.35013386607170105, -0.3608245253562927, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394486665725708, -1.2026411294937134, 1.8931303024291992, -1.6923829317092896, 0.3544529974460602, 0.4641475975513458, 1.0439257621765137, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4037927389144897, -1.357700228691101, -1.356383204460144, -1.8020412921905518, -0.29486119747161865, 0.3485199511051178, -0.36098116636276245, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944867849349976, -1.2026410102844238, 1.893129825592041, -1.6923837661743164, 0.3544655740261078, 0.4641466438770294, 1.04392671585083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4022401571273804, -1.3581465482711792, -1.3546282052993774, -1.8015050888061523, -0.29814809560775757, 0.3470516502857208, -0.36020517349243164, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944871425628662, -1.2026407718658447, 1.8931291103363037, -1.6923834085464478, 0.3544740676879883, 0.46414580941200256, 1.0439281463623047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3992044925689697, -1.358256220817566, -1.3533787727355957, -1.8006974458694458, -0.2993152439594269, 0.3469362258911133, -0.36001989245414734, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944876194000244, -1.2026410102844238, 1.8931286334991455, -1.692383050918579, 0.35447683930397034, 0.46414411067962646, 1.043929934501648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3975588083267212, -1.3585340976715088, -1.3532326221466064, -1.800092101097107, -0.29987046122550964, 0.3457046151161194, -0.35989633202552795, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944876194000244, -1.2026405334472656, 1.8931281566619873, -1.692383050918579, 0.3544745445251465, 0.46414315700531006, 1.0439330339431763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3971790075302124, -1.358573079109192, -1.3529917001724243, -1.8040151596069336, -0.30133411288261414, 0.3489682972431183, -0.3598509132862091, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944885730743408, -1.2026408910751343, 1.89312744140625, -1.6923829317092896, 0.35447588562965393, 0.46414268016815186, 1.0439376831054688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3984529972076416, -1.3588340282440186, -1.350811243057251, -1.8077266216278076, -0.3092857599258423, 0.34949320554733276, -0.3598490059375763, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394489049911499, -1.2026410102844238, 1.8931266069412231, -1.6923836469650269, 0.3544745445251465, 0.46414124965667725, 1.0439428091049194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3990024328231812, -1.3592090606689453, -1.34697687625885, -1.8082201480865479, -0.3097991645336151, 0.3507026433944702, -0.35961997509002686, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944896459579468, -1.202641487121582, 1.893125057220459, -1.6923822164535522, 0.354472279548645, 0.46413931250572205, 1.0439484119415283, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3974062204360962, -1.3597111701965332, -1.3443570137023926, -1.8035892248153687, -0.3117125630378723, 0.3499314486980438, -0.3556576371192932, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944900035858154, -1.202641248703003, 1.8931232690811157, -1.6923823356628418, 0.35447072982788086, 0.4641382396221161, 1.043952465057373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.395081877708435, -1.360348105430603, -1.3423492908477783, -1.801238775253296, -0.3127050995826721, 0.3495999872684479, -0.3538782298564911, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944900035858154, -1.2026416063308716, 1.893122673034668, -1.6923823356628418, 0.3544665277004242, 0.4641387164592743, 1.0439547300338745, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3940101861953735, -1.360583782196045, -1.341041922569275, -1.80073082447052, -0.31351524591445923, 0.3494405746459961, -0.3535129427909851, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944905996322632, -1.2026410102844238, 1.893122911453247, -1.692381739616394, 0.3544601798057556, 0.46413907408714294, 1.0439553260803223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3935121297836304, -1.3607779741287231, -1.3407669067382812, -1.8007434606552124, -0.3135054111480713, 0.3498171269893646, -0.35377565026283264, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394490361213684, -1.2026411294937134, 1.8931230306625366, -1.6923809051513672, 0.354451060295105, 0.46413883566856384, 1.0439552068710327, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3935165405273438, -1.3608001470565796, -1.3410266637802124, -1.8058433532714844, -0.3150551915168762, 0.34988483786582947, -0.35373547673225403, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394490122795105, -1.2026408910751343, 1.8931236267089844, -1.692381739616394, 0.3544435203075409, 0.46413978934288025, 1.0439558029174805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3949830532073975, -1.3608886003494263, -1.346439003944397, -1.8189730644226074, -0.3162787854671478, 0.35092493891716003, -0.35374578833580017, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944898843765259, -1.2026405334472656, 1.8931238651275635, -1.6923803091049194, 0.35443931818008423, 0.4641408920288086, 1.043955683708191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4003392457962036, -1.360850214958191, -1.3596293926239014, -1.8347364664077759, -0.31675001978874207, 0.34952208399772644, -0.3549089729785919, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944896459579468, -1.2026392221450806, 1.8931256532669067, -1.6923803091049194, 0.3544406294822693, 0.46414268016815186, 1.0439558029174805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4101123809814453, -1.359397292137146, -1.3799339532852173, -1.8620799779891968, -0.32184115052223206, 0.350043386220932, -0.35388708114624023, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.394489049911499, -1.202639102935791, 1.8931255340576172, -1.692380428314209, 0.3544396758079529, 0.4641447067260742, 1.0439553260803223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4301280975341797, -1.3553484678268433, -1.416097640991211, -1.911686897277832, -0.3305175006389618, 0.3610675632953644, -0.34618136286735535, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944892883300781, -1.2026387453079224, 1.8931275606155396, -1.6923809051513672, 0.3544384837150574, 0.46414506435394287, 1.0439554452896118, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4600962400436401, -1.347307801246643, -1.469097375869751, -1.9705684185028076, -0.33382299542427063, 0.38091355562210083, -0.34706950187683105, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3944896459579468, -1.2026304006576538, 1.8931337594985962, -1.6923816204071045, 0.35444149374961853, 0.4641456604003906, 1.0439549684524536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4978563785552979, -1.3362137079238892, -1.5366082191467285, -2.021613359451294, -0.31690436601638794, 0.40169790387153625, -0.3641689419746399, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3944892883300781, -1.202637791633606, 1.8931299448013306, -1.6923826932907104, 0.35444197058677673, 0.4641473591327667, 1.0439549684524536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5344820022583008, -1.3252302408218384, -1.5995562076568604, -2.0428335666656494, -0.29774388670921326, 0.41955476999282837, -0.3834244906902313, 0.03660001178364176, -0.03660001178364176, 0.03660001178364176, 0.03660001178364176, -0.03660001178364176, -0.03660001178364176, 0.03660001178364176, 0.03660001178364176, -1.3944910764694214, -1.2026302814483643, 1.8931373357772827, -1.6923933029174805, 0.35445263981819153, 0.4641475975513458, 1.0439549684524536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5597540140151978, -1.3216668367385864, -1.6390131711959839, -2.0397191047668457, -0.29889819025993347, 0.4246535897254944, -0.3843463063240051, 0.46200000231082616, -0.46200000231082616, 0.46200000231082616, 0.46200000231082616, -0.46200000231082616, -0.46200000231082616, 0.46200000231082616, 0.46200000231082616, -1.3944880962371826, -1.2026375532150269, 1.8931286334991455, -1.6923999786376953, 0.3544524013996124, 0.4641479551792145, 1.0439553260803223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5583305358886719, -1.320938229560852, -1.6269334554672241, -2.0380971431732178, -0.29992103576660156, 0.42472416162490845, -0.38318419456481934, 0.5705999999583422, -0.5705999999583422, 0.5705999999583422, 0.5705999999583422, -0.5705999999583422, -0.5705999999583422, 0.5705999999583422, 0.5705999999583422, -1.394491195678711, -1.2026315927505493, 1.893129587173462, -1.692416787147522, 0.35447216033935547, 0.4641472399234772, 1.043955683708191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5542187690734863, -1.3217681646347046, -1.623138427734375, -2.0385618209838867, -0.3002990186214447, 0.42459726333618164, -0.3835831582546234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3944923877716064, -1.2026340961456299, 1.893128752708435, -1.6924148797988892, 0.3544732332229614, 0.4641461670398712, 1.0439562797546387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.553394079208374, -1.322249174118042, -1.6241382360458374, -2.0392582416534424, -0.3004539906978607, 0.42447200417518616, -0.38386526703834534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.394492745399475, -1.2026349306106567, 1.8931275606155396, -1.6924138069152832, 0.35447239875793457, 0.464145302772522, 1.0439573526382446, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.5533862113952637, -1.322248935699463, -1.6245120763778687, -2.039252996444702, -0.30049699544906616, 0.42446136474609375, -0.3838822841644287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3944931030273438, -1.2026342153549194, 1.8931266069412231, -1.6924121379852295, 0.35447263717651367, 0.4641439914703369, 1.0439586639404297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.5500558614730835, -1.3221991062164307, -1.6227678060531616, -2.031120538711548, -0.29171615839004517, 0.4219870865345001, -0.3838292062282562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.389025330543518, -1.2050718069076538, 1.8777010440826416, -1.6926438808441162, 0.3696426451206207, 0.4595308005809784, 1.0295099020004272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.5189979076385498, -1.3204679489135742, -1.5841063261032104, -1.9869391918182373, -0.26003286242485046, 0.41298729181289673, -0.3821885585784912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3621612787246704, -1.2118397951126099, 1.7832297086715698, -1.6957002878189087, 0.4264976978302002, 0.4376077950000763, 0.9754886031150818, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.4693619012832642, -1.3239245414733887, -1.516300082206726, -1.919702410697937, -0.26278337836265564, 0.380525141954422, -0.35389846563339233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217958211898804, -1.228107213973999, 1.6936579942703247, -1.6834474802017212, 0.45801323652267456, 0.4040415585041046, 0.9548748731613159, 0.5496000006303682, 0.5496000006303682, 0.5496000006303682, 0.5496000006303682, -0.5496000006303682, -0.5496000006303682, -0.5496000006303682, 0.5496000006303682, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.417377233505249, -1.3350423574447632, -1.4573416709899902, -1.8456958532333374, -0.2675166726112366, 0.34890058636665344, -0.3086676001548767, 0.13259998625451389, -0.13259998625451389, 0.13259998625451389, 0.13259998625451389, -0.13259998625451389, -0.13259998625451389, 0.13259998625451389, 0.13259998625451389, -1.2646623849868774, -1.2346580028533936, 1.601501703262329, -1.6398133039474487, 0.43409499526023865, 0.3453201651573181, 0.9521127343177795, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3879632949829102, -1.3427132368087769, -1.4252465963363647, -1.7947402000427246, -0.27052435278892517, 0.3427521884441376, -0.27615272998809814, 0.026399993372487485, -0.026399993372487485, 0.026399993372487485, 0.026399993372487485, -0.026399993372487485, -0.026399993372487485, 0.026399993372487485, 0.026399993372487485, -1.2238819599151611, -1.2404824495315552, 1.5399973392486572, -1.607603907585144, 0.3995952904224396, 0.324418842792511, 0.9493008852005005, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3777297735214233, -1.3475874662399292, -1.3931456804275513, -1.758076786994934, -0.2745590806007385, 0.33954498171806335, -0.25009867548942566, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2018005847930908, -1.2451856136322021, 1.4982671737670898, -1.5872669219970703, 0.36705127358436584, 0.3307625651359558, 0.9520101547241211, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5102294087409973, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3777263164520264, -1.3563145399093628, -1.3568203449249268, -1.7300302982330322, -0.2856951653957367, 0.3323115408420563, -0.22207500040531158, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.196104645729065, -1.2504655122756958, 1.4682687520980835, -1.5762230157852173, 0.3391578793525696, 0.33336231112480164, 0.9517631530761719, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3780555725097656, -1.3642112016677856, -1.3360731601715088, -1.7207167148590088, -0.29934054613113403, 0.3144014775753021, -0.2151428461074829, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.196192979812622, -1.2581241130828857, 1.4547377824783325, -1.5718132257461548, 0.3258092403411865, 0.3332445025444031, 0.9347161054611206, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5662535429000854, 0.0, 0.0, 1.3770334720611572, -1.3679708242416382, -1.3319858312606812, -1.7209125757217407, -0.30209511518478394, 0.31255242228507996, -0.21063245832920074, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1962087154388428, -1.26225745677948, 1.455196499824524, -1.5687987804412842, 0.31012994050979614, 0.3423375189304352, 0.9161020517349243, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.376556634902954, -1.368877649307251, -1.3323211669921875, -1.724419355392456, -0.3047788441181183, 0.3128969669342041, -0.20966953039169312, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1960183382034302, -1.2646021842956543, 1.4607659578323364, -1.5607105493545532, 0.28981104493141174, 0.351586252450943, 0.8990318775177002, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3765333890914917, -1.3715054988861084, -1.3305164575576782, -1.7296644449234009, -0.30921804904937744, 0.3138282597064972, -0.20668114721775055, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1939126253128052, -1.265363335609436, 1.4645016193389893, -1.5458805561065674, 0.27545320987701416, 0.36175280809402466, 0.8980612754821777, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.374977946281433, -1.3739449977874756, -1.321360468864441, -1.7295986413955688, -0.30942320823669434, 0.31380513310432434, -0.20414036512374878, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1827293634414673, -1.2686165571212769, 1.4660604000091553, -1.5304259061813354, 0.2695378065109253, 0.3626299500465393, 0.9053784608840942, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3723459243774414, -1.377310037612915, -1.3194233179092407, -1.7249149084091187, -0.30982911586761475, 0.31115493178367615, -0.2043890357017517, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1761057376861572, -1.2714893817901611, 1.466052532196045, -1.5252315998077393, 0.2596192955970764, 0.36615797877311707, 0.9130899310112, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3711639642715454, -1.3783506155014038, -1.3190618753433228, -1.7230582237243652, -0.309836208820343, 0.3093005120754242, -0.20582762360572815, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1760544776916504, -1.2731854915618896, 1.4660531282424927, -1.5263417959213257, 0.25366660952568054, 0.3667124807834625, 0.9174506664276123, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3711740970611572, -1.3790303468704224, -1.3104490041732788, -1.7267345190048218, -0.3125126361846924, 0.3084043264389038, -0.21001538634300232, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1779096126556396, -1.2752960920333862, 1.4660537242889404, -1.5265942811965942, 0.25342249870300293, 0.3649470806121826, 0.9149247407913208, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3710336685180664, -1.3819383382797241, -1.300755262374878, -1.7330965995788574, -0.31874731183052063, 0.307945191860199, -0.21522697806358337, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1787357330322266, -1.2776241302490234, 1.4660582542419434, -1.525972843170166, 0.25423142313957214, 0.36481621861457825, 0.9140529036521912, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.36746346950531, -1.38356614112854, -1.2908117771148682, -1.733553409576416, -0.330221951007843, 0.30650410056114197, -0.22473345696926117, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1789058446884155, -1.2802112102508545, 1.465828776359558, -1.5252923965454102, 0.2543919086456299, 0.36528217792510986, 0.913308322429657, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3666977882385254, -1.3863568305969238, -1.2862025499343872, -1.7400087118148804, -0.33826276659965515, 0.30454155802726746, -0.22397582232952118, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1790200471878052, -1.282259464263916, 1.4647780656814575, -1.5214084386825562, 0.26426127552986145, 0.36541399359703064, 0.9129611253738403, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3666472434997559, -1.3863468170166016, -1.2855662107467651, -1.7489677667617798, -0.33704614639282227, 0.31109142303466797, -0.23076355457305908, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1790401935577393, -1.2845349311828613, 1.462503433227539, -1.518872857093811, 0.26829636096954346, 0.36547356843948364, 0.9129747748374939, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3666614294052124, -1.3857795000076294, -1.286101222038269, -1.7561814785003662, -0.33017677068710327, 0.31540563702583313, -0.2390650361776352, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1768817901611328, -1.286597490310669, 1.4606733322143555, -1.516687273979187, 0.26776280999183655, 0.3655700385570526, 0.9129913449287415, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3673378229141235, -1.3854002952575684, -1.29005765914917, -1.761832594871521, -0.32817134261131287, 0.3174549341201782, -0.2448171079158783, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1716912984848022, -1.2884260416030884, 1.457062005996704, -1.5113548040390015, 0.26778414845466614, 0.3649155795574188, 0.9129493832588196, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.368405818939209, -1.3853574991226196, -1.3020532131195068, -1.767385482788086, -0.32586485147476196, 0.31961172819137573, -0.24767006933689117, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1651480197906494, -1.2934551239013672, 1.4540871381759644, -1.4990817308425903, 0.28944361209869385, 0.3567446172237396, 0.8916527032852173, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3678585290908813, -1.3853676319122314, -1.3252702951431274, -1.7732983827590942, -0.3198944330215454, 0.3222566545009613, -0.2530992925167084, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1565022468566895, -1.2984764575958252, 1.4638465642929077, -1.49663507938385, 0.3331277668476105, 0.34329700469970703, 0.8664472103118896, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3615520000457764, -1.3815982341766357, -1.3531171083450317, -1.7878179550170898, -0.309089332818985, 0.3288470208644867, -0.2664423882961273, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.154336929321289, -1.2993767261505127, 1.5029500722885132, -1.5227731466293335, 0.3840315043926239, 0.33575353026390076, 0.8648551106452942, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3501652479171753, -1.3724263906478882, -1.3959358930587769, -1.8036658763885498, -0.28287601470947266, 0.3313790261745453, -0.30258381366729736, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1778264045715332, -1.2908767461776733, 1.5738978385925293, -1.58108651638031, 0.4107970595359802, 0.34385448694229126, 0.8813028931617737, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3520972728729248, -1.3612779378890991, -1.4547765254974365, -1.8306890726089478, -0.2698511779308319, 0.32885539531707764, -0.32947438955307007, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2300251722335815, -1.2695441246032715, 1.661884069442749, -1.636159062385559, 0.40297242999076843, 0.3710850477218628, 0.903870165348053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.3713995218276978, -1.3490127325057983, -1.5151017904281616, -1.8618879318237305, -0.24581347405910492, 0.3288361132144928, -0.35496950149536133, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2847412824630737, -1.2488542795181274, 1.7381260395050049, -1.6827900409698486, 0.3818957805633545, 0.40696772933006287, 0.9056121706962585, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.4033634662628174, -1.3404465913772583, -1.5599597692489624, -1.8676396608352661, -0.23889905214309692, 0.32867324352264404, -0.35748907923698425, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3241372108459473, -1.2370147705078125, 1.7847931385040283, -1.728021502494812, 0.3447467088699341, 0.4585266411304474, 0.8791090250015259, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.422022819519043, -1.339518427848816, -1.5717540979385376, -1.8578414916992188, -0.2690570056438446, 0.33490046858787537, -0.3384007215499878, 0.2622000028798868, -0.2622000028798868, 0.2622000028798868, 0.2622000028798868, -0.2622000028798868, -0.2622000028798868, 0.2622000028798868, 0.2622000028798868, -1.3342833518981934, -1.2365082502365112, 1.7915023565292358, -1.7323431968688965, 0.3680083453655243, 0.47936850786209106, 0.8457829356193542, 0.40319999731503997, 0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.40319999731503997, -0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.421460509300232, -1.3396459817886353, -1.5667582750320435, -1.8570261001586914, -0.2690834701061249, 0.33614781498908997, -0.33756229281425476, 0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -1.3313748836517334, -1.2376346588134766, 1.7874526977539062, -1.731378436088562, 0.37640881538391113, 0.47565388679504395, 0.8508809208869934, 0.5628000010500896, 0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4177762269973755, -1.3402293920516968, -1.5653574466705322, -1.8584233522415161, -0.2683239281177521, 0.33596301078796387, -0.3388906419277191, 0.5621999992446585, -0.5621999992446585, 0.5621999992446585, 0.5621999992446585, -0.5621999992446585, -0.5621999992446585, 0.5621999992446585, 0.5621999992446585, -1.3291411399841309, -1.2381360530853271, 1.7862913608551025, -1.7313889265060425, 0.3755122721195221, 0.47478899359703064, 0.8528938889503479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4171500205993652, -1.3402851819992065, -1.5653588771820068, -1.8585885763168335, -0.26829251646995544, 0.33592140674591064, -0.339048832654953, 0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -1.3290174007415771, -1.2381540536880493, 1.7862882614135742, -1.7313880920410156, 0.37535360455513, 0.47471803426742554, 0.8530465960502625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.419028878211975, -1.3391920328140259, -1.5654842853546143, -1.858275294303894, -0.26895955204963684, 0.3340631425380707, -0.33732980489730835, 0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -1.3317188024520874, -1.237593650817871, 1.785044550895691, -1.7317990064620972, 0.3755703866481781, 0.4715353846549988, 0.8473791480064392, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.4348502159118652, -1.3295153379440308, -1.5672955513000488, -1.855259656906128, -0.2769322991371155, 0.31700360774993896, -0.31983211636543274, 0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -1.3526504039764404, -1.2329562902450562, 1.7753311395645142, -1.7354326248168945, 0.37796422839164734, 0.4468097686767578, 0.8028590679168701, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.46668541431427, -1.3101638555526733, -1.5708186626434326, -1.84925377368927, -0.29226264357566833, 0.28277891874313354, -0.2854812443256378, 0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -1.393988013267517, -1.2238479852676392, 1.7561091184616089, -1.7425771951675415, 0.38267284631729126, 0.39777871966362, 0.7148139476776123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.5144225358963013, -1.2811174392700195, -1.5760976076126099, -1.8403759002685547, -0.3155364990234375, 0.231439471244812, -0.233535036444664, 0.5645999990976773, -0.5645999990976773, 0.5645999990976773, 0.5645999990976773, -0.5645999990976773, -0.5645999990976773, 0.5645999990976773, 0.5645999990976773, -1.4559239149093628, -1.210239052772522, 1.7273505926132202, -1.7530889511108398, 0.3895206153392792, 0.3245830237865448, 0.58321613073349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2656090259552002, -0.5664452314376831, 0.0, 0.0, 1.578136682510376, -1.242370843887329, -1.583188772201538, -1.8283649682998657, -0.34642308950424194, 0.16317768394947052, -0.16453513503074646, 0.5645999990976773, -0.5645999990976773, 0.5645999990976773, 0.5645999990976773, -0.5645999990976773, -0.5645999990976773, 0.5645999990976773, 0.5645999990976773, -1.537967324256897, -1.1922338008880615, 1.689210057258606, -1.7670811414718628, 0.39862874150276184, 0.22739934921264648, 0.4085804522037506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.6398792266845703, -1.2047516107559204, -1.5900622606277466, -1.816909670829773, -0.37638387084007263, 0.09658374637365341, -0.09764470905065536, 0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -1.6166415214538574, -1.1749846935272217, 1.6526093482971191, -1.7805848121643066, 0.40743499994277954, 0.13425052165985107, 0.24105201661586761, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.6855788230895996, -1.1769993305206299, -1.595113754272461, -1.8083468675613403, -0.39851465821266174, 0.047676123678684235, -0.04798327758908272, 0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -1.6745606660842896, -1.1622270345687866, 1.6257212162017822, -1.7904906272888184, 0.41386285424232483, 0.06569116562604904, 0.11783716827630997, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7153016328811646, -1.158913493156433, -1.598434329032898, -1.8027584552764893, -0.4129115641117096, 0.015739481896162033, -0.015892280265688896, 0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -1.7120347023010254, -1.1539582014083862, 1.6083623170852661, -1.7968614101409912, 0.41802558302879333, 0.02132844552397728, 0.038437843322753906, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7289378643035889, -1.1506544351577759, -1.5998568534851074, -1.8001973628997803, -0.4194532632827759, 0.001202856656163931, -0.001091762911528349, 0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -1.7288340330123901, -1.1502559185028076, 1.6005427837371826, -1.799764633178711, 0.41988134384155273, 0.0013478657929226756, 0.0024314792826771736, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.730041265487671, -1.1499603986740112, -1.6000334024429321, -1.7999941110610962, -0.4200296998023987, -0.00010881676280405372, 0.00012511530076153576, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.7300230264663696, -1.149966835975647, 1.599960207939148, -1.8000457286834717, 0.42003893852233887, -0.00014860439114272594, -0.00016765930922701955, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7299953699111938, -1.1500598192214966, -1.5999644994735718, -1.7999939918518066, -0.4200252592563629, -2.720419070101343e-05, 8.820389484753832e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.729652762413025, -1.1499863862991333, 1.6000251770019531, -1.7999829053878784, 0.4200361669063568, -3.655188629636541e-05, 6.878944986965507e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.729992389678955, -1.1500802040100098, -1.599799394607544, -1.7999953031539917, -0.42001041769981384, 0.00010342385940020904, 2.9720877137151547e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.729572057723999, -1.1499985456466675, 1.6003636121749878, -1.7998541593551636, 0.4199095070362091, 2.960103483928833e-05, 0.0001794038398656994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7299904823303223, -1.150086760520935, -1.5996888875961304, -1.7999976873397827, -0.4199915826320648, 0.0001307478960370645, -3.475425182841718e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.7295751571655273, -1.1499994993209839, 1.6004390716552734, -1.7998104095458984, 0.4197685718536377, 4.3023366743000224e-05, 0.00018755311612039804, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5664452314376831, 0.0, 0.0, 1.7299896478652954, -1.150092601776123, -1.5996404886245728, -1.800000548362732, -0.41998225450515747, 0.00013434316497296095, -6.687197310384363e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.7295856475830078, -1.149999737739563, 1.600460171699524, -1.7997963428497314, 0.41971129179000854, 4.506068580667488e-05, 0.0001880324853118509, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7299895286560059, -1.1500965356826782, -1.5996276140213013, -1.8000038862228394, -0.41997602581977844, 0.00013458284956868738, -7.753793761366978e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.7295961380004883, -1.149999737739563, 1.6004688739776611, -1.7997896671295166, 0.4196928143501282, 4.410194742376916e-05, 0.0001880324853118509, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.729988694190979, -1.1500989198684692, -1.5996233224868774, -1.8000062704086304, -0.41997432708740234, 0.00013338442659005523, -8.125304157147184e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.7296056747436523, -1.149999976158142, 1.6004730463027954, -1.799785852432251, 0.4196905493736267, 4.338289363658987e-05, 0.00018755311612039804, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2655131816864014, -0.5663493871688843, 0.0, 0.0, 1.7299877405166626, -1.1501003503799438, -1.5996215343475342, -1.8000080585479736, -0.4199720621109009, 0.00013350426161196083, -8.353004523087293e-05, 0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -1.7296123504638672, -1.149999737739563, 1.600475788116455, -1.7997827529907227, 0.4196919798851013, 4.3023366743000224e-05, 0.00018683406233321875, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299872636795044, -1.1501003503799438, -1.5996214151382446, -1.8000099658966064, -0.41996702551841736, 0.0001325455232290551, -8.269114914583042e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.729618787765503, -1.1499993801116943, 1.6004788875579834, -1.7997807264328003, 0.41969355940818787, 4.36225782323163e-05, 0.0001863546931417659, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299870252609253, -1.1501003503799438, -1.5996211767196655, -1.8000106811523438, -0.4199630618095398, 0.00013050821144133806, -8.364988752873614e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.72962486743927, -1.1499990224838257, 1.6004836559295654, -1.7997801303863525, 0.41969332098960876, 4.434163201949559e-05, 0.0001856356393545866, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299864292144775, -1.1501004695892334, -1.5996211767196655, -1.8000119924545288, -0.4199618697166443, 0.0001283510500798002, -8.209193765651435e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296316623687744, -1.149998664855957, 1.600489616394043, -1.7997804880142212, 0.41969582438468933, 4.434163201949559e-05, 0.000185515804332681, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299867868423462, -1.150100588798523, -1.5996211767196655, -1.8000127077102661, -0.41995924711227417, 0.00012595420412253588, -8.077367238001898e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.729638934135437, -1.149998426437378, 1.60049569606781, -1.7997782230377197, 0.4196968972682953, 4.506068580667488e-05, 0.0001849165855674073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299869060516357, -1.150100588798523, -1.599621295928955, -1.8000131845474243, -0.419956237077713, 0.0001243962615262717, -7.933557208161801e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296428680419922, -1.1499981880187988, 1.6005030870437622, -1.7997746467590332, 0.419700026512146, 4.565989729599096e-05, 0.00018419753178022802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299872636795044, -1.150100588798523, -1.599621295928955, -1.8000134229660034, -0.4199485778808594, 0.0001227184693561867, -7.645935693290085e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296462059020996, -1.149997353553772, 1.6005107164382935, -1.7997711896896362, 0.4197063744068146, 4.937500489177182e-05, 0.00018443721637595445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299871444702148, -1.1501003503799438, -1.5996217727661133, -1.8000130653381348, -0.4199325144290924, 0.0001227184693561867, -7.274424569914117e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.729649543762207, -1.1499971151351929, 1.6005158424377441, -1.7997688055038452, 0.41971391439437866, 5.1052797061856836e-05, 0.00018419753178022802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299875020980835, -1.1501002311706543, -1.5996216535568237, -1.8000138998031616, -0.419924259185791, 0.00012247878476046026, -6.90291344653815e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296509742736816, -1.1499965190887451, 1.6005183458328247, -1.799767255783081, 0.4197171628475189, 5.189169314689934e-05, 0.00018371816258877516, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299878597259521, -1.1501002311706543, -1.5996217727661133, -1.8000136613845825, -0.4199225604534149, 0.00012295815395191312, -6.627276161452755e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296512126922607, -1.1499966382980347, 1.600520133972168, -1.7997649908065796, 0.4197196662425995, 5.249090463621542e-05, 0.00018371816258877516, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299880981445312, -1.1501002311706543, -1.5996211767196655, -1.8000136613845825, -0.4199223220348358, 0.00012295815395191312, -6.135923467809334e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296513319015503, -1.149996042251587, 1.6005213260650635, -1.799764633178711, 0.41972362995147705, 5.165200855117291e-05, 0.000183838012162596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299882173538208, -1.1501001119613647, -1.5996220111846924, -1.8000142574310303, -0.4199233949184418, 0.00012355735816527158, -5.6805227359291166e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296514511108398, -1.149996042251587, 1.6005216836929321, -1.7997642755508423, 0.41972625255584717, 5.069327016826719e-05, 0.00018467690097168088, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299882173538208, -1.1500998735427856, -1.5996216535568237, -1.800014615058899, -0.419925332069397, 0.00012487563071772456, -5.416869680630043e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296512126922607, -1.149996042251587, 1.6005218029022217, -1.7997634410858154, 0.41973021626472473, 4.925516259390861e-05, 0.00018419753178022802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299884557724, -1.1501001119613647, -1.5996218919754028, -1.8000141382217407, -0.41992616653442383, 0.00012559466995298862, -5.23710623383522e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296513319015503, -1.149996042251587, 1.6005209684371948, -1.7997636795043945, 0.41973382234573364, 4.781705865752883e-05, 0.00018467690097168088, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299883365631104, -1.150100588798523, -1.5996216535568237, -1.8000144958496094, -0.41992783546447754, 0.00012727246212307364, -5.15321662533097e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296509742736816, -1.1499956846237183, 1.6005204916000366, -1.7997634410858154, 0.41973406076431274, 4.36225782323163e-05, 0.00018443721637595445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.729988694190979, -1.1500999927520752, -1.5996216535568237, -1.8000147342681885, -0.41993024945259094, 0.00012799151591025293, -5.165200855117291e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296507358551025, -1.1499956846237183, 1.6005197763442993, -1.799764633178711, 0.41973429918289185, 3.978762833867222e-05, 0.00018455706594977528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.729988932609558, -1.1500998735427856, -1.5996217727661133, -1.8000152111053467, -0.41993358731269836, 0.00012787168088834733, -5.0573427870403975e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296501398086548, -1.1499958038330078, 1.600519061088562, -1.7997647523880005, 0.41973429918289185, 3.810983616858721e-05, 0.0001847967505455017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299894094467163, -1.150099754333496, -1.5996217727661133, -1.8000150918960571, -0.41993623971939087, 0.00012823120050597936, -4.925516259390861e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296500205993652, -1.149996042251587, 1.600517988204956, -1.7997653484344482, 0.4197332262992859, 3.834952076431364e-05, 0.0001847967505455017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299892902374268, -1.1501001119613647, -1.5996214151382446, -1.8000155687332153, -0.41993898153305054, 0.0001283510500798002, -4.9015481636160985e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296500205993652, -1.1499961614608765, 1.6005178689956665, -1.7997658252716064, 0.4197315275669098, 3.8469363062176853e-05, 0.00018455706594977528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.729989767074585, -1.1500999927520752, -1.5996216535568237, -1.8000150918960571, -0.41993874311447144, 0.00012871056969743222, -4.913532029604539e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296497821807861, -1.1499956846237183, 1.6005170345306396, -1.7997667789459229, 0.4197325110435486, 3.8469363062176853e-05, 0.00018455706594977528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2656090259552002, -0.5663493871688843, 0.0, 0.0, 1.7299901247024536, -1.1500998735427856, -1.5996215343475342, -1.8000152111053467, -0.41993778944015503, 0.00012823120050597936, -5.0094058678951114e-05, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -1.7296501398086548, -1.1499959230422974, 1.60051691532135, -1.799767017364502, 0.41973212361335754, 3.822967846645042e-05, 0.00018443721637595445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0010352733079344034, 0.0, 0.32208502292633057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999869297, -2.1796593016161895e-06, 4.624899468854454e-06, 4.851384801440872e-06], [2.1801349617586097e-06, 0.9999999947085458, -0.0001028501593808021, -4.569988959701732e-06], [-4.624675266075443e-06, 0.00010285016946236285, 0.9999999947002275, 4.433990508090346e-09], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000008/gt/hand_left.mp4 b/agibot-challenge-2026/000008/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d0be1a4149c7f6e1e1dfb5b98f5f93f90e77784 --- /dev/null +++ b/agibot-challenge-2026/000008/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09c0534d30c94f796dd82c42260e9c7a35a96d8c30e2e43440562abdf2ba0b80 +size 12731000 diff --git a/agibot-challenge-2026/000008/gt/hand_right.mp4 b/agibot-challenge-2026/000008/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e49c09c23f850fb65140b8260f12a3183be2b5fd --- /dev/null +++ b/agibot-challenge-2026/000008/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b628d428ec7ad51c9a5a3328ffe2f13088e2f2609e1b4ebdcaa3c23425458d3e +size 15280059 diff --git a/agibot-challenge-2026/000008/gt/head.mp4 b/agibot-challenge-2026/000008/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b6bb3c3dc833c55109b2303168985f23e48582c --- /dev/null +++ b/agibot-challenge-2026/000008/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dbfff9490a831a6486d26de606726b111ae0e307f484c3b04d3eee67ec64f39 +size 11887927 diff --git a/agibot-challenge-2026/000008/meta.json b/agibot-challenge-2026/000008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..039150f5db6c84e771bcafdc9e893921afca0929 --- /dev/null +++ b/agibot-challenge-2026/000008/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Bubble_wrap_packaging_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1224, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000008/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000008/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..1da35a9ce90c7feac22a4bbf5c4643b0925e4b58 --- /dev/null +++ b/agibot-challenge-2026/000008/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000008/ref_images/hand_left.png b/agibot-challenge-2026/000008/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..53291b3340bbc7ed4a7f9dd08102f0c4663c8b4c --- /dev/null +++ b/agibot-challenge-2026/000008/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2694f4f304a65ce0b6e01b13e96d65f4a10cff089b610037b361ecd27de51229 +size 453325 diff --git a/agibot-challenge-2026/000008/ref_images/hand_right.png b/agibot-challenge-2026/000008/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..3baccdaa8eb9cbe9f2715cdbd9d14ac724c1f691 --- /dev/null +++ b/agibot-challenge-2026/000008/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15edb5be308aac48392b0adec3fab29f0dd341fa9c6672f077ab0ffdddcf1ec4 +size 452974 diff --git a/agibot-challenge-2026/000008/ref_images/head.png b/agibot-challenge-2026/000008/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..c1b130619bfa2ec615de923b0b883a73ae4fe35a --- /dev/null +++ b/agibot-challenge-2026/000008/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b28ba90bcba14a1ff80f6ce087f58eff885085e6147cb2b65ffb281b2a0bc05 +size 383209 diff --git a/agibot-challenge-2026/000008/temporal.json b/agibot-challenge-2026/000008/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..2d303a20ad09ba7082a939358d79921b112a6fd7 --- /dev/null +++ b/agibot-challenge-2026/000008/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310720682144165, -1.1501452922821045, -1.5997462272644043, -1.8000198602676392, -0.4196031987667084, -1.761681050993502e-05, 0.000180841947440058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729718565940857, -1.149945855140686, 1.6005762815475464, -1.8000457286834717, 0.4201091527938843, 0.00020924456475768238, 0.0010251306230202317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731073021888733, -1.1501452922821045, -1.5997462272644043, -1.8000200986862183, -0.41960403323173523, -1.7736652807798237e-05, 0.00018132131663151085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297183275222778, -1.1499464511871338, 1.6005765199661255, -1.800045132637024, 0.42010974884033203, 0.00020912472973577678, 0.0010260893031954765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310739755630493, -1.1501457691192627, -1.5997459888458252, -1.8000195026397705, -0.41960522532463074, -1.713744131848216e-05, 0.00018144116620533168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729718565940857, -1.1499460935592651, 1.6005768775939941, -1.800046443939209, 0.42010927200317383, 0.00020912472973577678, 0.0010262092109769583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310752868652344, -1.1501452922821045, -1.5997462272644043, -1.800019383430481, -0.4196055829524994, -1.8455706594977528e-05, 0.000182519739610143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297183275222778, -1.1499457359313965, 1.6005768775939941, -1.8000469207763672, 0.4201093912124634, 0.00020876519556622952, 0.0010264489101246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731076717376709, -1.1501456499099731, -1.5997458696365356, -1.800020456314087, -0.41960594058036804, -1.9534287275746465e-05, 0.000182519739610143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7284939289093018, -1.1518746614456177, 1.6110944747924805, -1.8046245574951172, 0.4248129725456238, 0.01676892675459385, 0.0215518306940794, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310872077941895, -1.1501455307006836, -1.5997477769851685, -1.8000270128250122, -0.4196067750453949, -2.157160452043172e-05, 0.00018156100122723728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72072172164917, -1.1693642139434814, 1.6733195781707764, -1.8211690187454224, 0.4569796025753021, 0.08778265118598938, 0.16709797084331512, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310882806777954, -1.1501431465148926, -1.5997533798217773, -1.8000340461730957, -0.4196087121963501, -2.3009712094790302e-05, 0.00018371816258877516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6924762725830078, -1.1787320375442505, 1.7181094884872437, -1.8359040021896362, 0.4878101944923401, 0.17011092603206635, 0.35751014947891235, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7311056852340698, -1.1501381397247314, -1.5997567176818848, -1.8001075983047485, -0.4196101427078247, -3.1398667488247156e-05, 0.00018048242782242596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6117020845413208, -1.1826449632644653, 1.7271326780319214, -1.8058022260665894, 0.4684148132801056, 0.28368937969207764, 0.5001277327537537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.731133222579956, -1.1500475406646729, -1.5997732877731323, -1.8001524209976196, -0.4196103811264038, -5.15321662533097e-05, 0.00018036257824860513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.501883625984192, -1.1816083192825317, 1.6989881992340088, -1.7555463314056396, 0.38407954573631287, 0.4240356683731079, 0.6179137229919434, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731073260307312, -1.1500321626663208, -1.5999226570129395, -1.8001682758331299, -0.41961097717285156, -5.23710623383522e-05, 0.00018216021999251097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.401185154914856, -1.1796311140060425, 1.6391887664794922, -1.7116529941558838, 0.2720333933830261, 0.5318601131439209, 0.7173240780830383, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310792207717896, -1.1500110626220703, -1.599920630455017, -1.8001677989959717, -0.4196103811264038, -5.860285818926059e-05, 0.00019378491560928524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.309295892715454, -1.1767834424972534, 1.570131540298462, -1.650246024131775, 0.1580895483493805, 0.6411101222038269, 0.8239086270332336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310640811920166, -1.1500070095062256, -1.599887728691101, -1.8001774549484253, -0.41961097717285156, -5.596633127424866e-05, 0.00019570239237509668, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2446529865264893, -1.1781368255615234, 1.5025819540023804, -1.5982353687286377, 0.07683805376291275, 0.6781357526779175, 0.898049533367157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310482263565063, -1.1500056982040405, -1.59983491897583, -1.8001759052276611, -0.41961026191711426, -5.596633127424866e-05, 0.00019941749633289874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.200859785079956, -1.1852036714553833, 1.4607117176055908, -1.5617278814315796, 0.018660277128219604, 0.6904417276382446, 0.9475217461585999, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310515642166138, -1.150005578994751, -1.5998344421386719, -1.8001749515533447, -0.4196106195449829, -5.476790829561651e-05, 0.0002006159193115309, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1567524671554565, -1.192208170890808, 1.425897479057312, -1.5212804079055786, -0.028482668101787567, 0.7195770740509033, 0.9984279274940491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310526371002197, -1.1500060558319092, -1.599833607673645, -1.8001735210418701, -0.41960930824279785, -5.213137774262577e-05, 0.0002022937114816159, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.116255283355713, -1.2013638019561768, 1.3959448337554932, -1.4875977039337158, -0.06388586759567261, 0.747324526309967, 1.0324188470840454, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310572862625122, -1.1500059366226196, -1.5998331308364868, -1.8001735210418701, -0.41960906982421875, -4.5779739593854174e-05, 0.0002046905574388802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0818358659744263, -1.2127526998519897, 1.3711419105529785, -1.4539709091186523, -0.09630319476127625, 0.7647919058799744, 1.0456504821777344, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310553789138794, -1.1500064134597778, -1.5998270511627197, -1.8001729249954224, -0.41960906982421875, -3.822967846645042e-05, 0.00020648819918278605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0574437379837036, -1.220606803894043, 1.3469876050949097, -1.4237133264541626, -0.12547698616981506, 0.7643498182296753, 1.052747130393982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310563325881958, -1.1500085592269897, -1.5997267961502075, -1.800172209739685, -0.41960883140563965, -3.259709046687931e-05, 0.00020624851458705962, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0387966632843018, -1.2230271100997925, 1.3249510526657104, -1.396152138710022, -0.13369564712047577, 0.7561559081077576, 1.057888150215149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310569286346436, -1.150012493133545, -1.5995346307754517, -1.8001682758331299, -0.4196087121963501, -2.6964506105287e-05, 0.00020732708799187094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0197821855545044, -1.216928482055664, 1.2979873418807983, -1.3817095756530762, -0.1291539967060089, 0.7512512803077698, 1.0608271360397339, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310688495635986, -1.1500147581100464, -1.5994538068771362, -1.800156831741333, -0.4196082353591919, -2.4927187041612342e-05, 0.0002069675683742389, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0103830099105835, -1.2077213525772095, 1.278271198272705, -1.377754807472229, -0.11308027058839798, 0.7498334050178528, 1.0627036094665527, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310822010040283, -1.1500147581100464, -1.5994539260864258, -1.8001450300216675, -0.41960835456848145, -2.3249396690516733e-05, 0.00020732708799187094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0012321472167969, -1.1965022087097168, 1.2606381177902222, -1.370225429534912, -0.08938338607549667, 0.7466500401496887, 1.0638951063156128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7311323881149292, -1.1500144004821777, -1.5994590520858765, -1.8001421689987183, -0.41960906982421875, -2.2889869796927087e-05, 0.0002060088299913332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9909185767173767, -1.181229591369629, 1.2361832857131958, -1.3694010972976685, -0.07417168468236923, 0.7421151995658875, 1.0669618844985962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7311633825302124, -1.1500132083892822, -1.599494218826294, -1.8001395463943481, -0.41960954666137695, -2.3249396690516733e-05, 0.00020552946079988033, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9931418299674988, -1.1648738384246826, 1.220892310142517, -1.3793970346450806, -0.040339261293411255, 0.7360902428627014, 1.0760353803634644, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7311797142028809, -1.1500121355056763, -1.5996795892715454, -1.8001396656036377, -0.4196096658706665, -2.4567660148022696e-05, 0.0002060088299913332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0042922496795654, -1.1458189487457275, 1.2051351070404053, -1.4119584560394287, 0.004866434261202812, 0.7353129982948303, 1.0783354043960571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.731178641319275, -1.1500107049942017, -1.5997225046157837, -1.8001400232315063, -0.419608473777771, -2.7683559892466292e-05, 0.0002060088299913332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0099660158157349, -1.1275360584259033, 1.1876025199890137, -1.4499343633651733, 0.05310066416859627, 0.7436975240707397, 1.0689399242401123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7311673164367676, -1.1500099897384644, -1.599755048751831, -1.8001419305801392, -0.4196087121963501, -3.247724816901609e-05, 0.0002061286650132388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.009350299835205, -1.1122852563858032, 1.1539181470870972, -1.495302438735962, 0.0963170975446701, 0.7599986791610718, 1.05155348777771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7311655282974243, -1.1500076055526733, -1.5998739004135132, -1.800141453742981, -0.41960808634757996, -3.8469363062176853e-05, 0.00020576914539560676, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0017551183700562, -1.109580397605896, 1.1074650287628174, -1.5269211530685425, 0.11455828696489334, 0.770480215549469, 1.0408200025558472, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.73110830783844, -1.1500073671340942, -1.5998942852020264, -1.8001422882080078, -0.41960737109184265, -4.314320904086344e-05, 0.00019726033497136086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9831464290618896, -1.1335374116897583, 1.0587164163589478, -1.522443413734436, 0.09879075735807419, 0.7885018587112427, 1.0239609479904175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.7311079502105713, -1.1500049829483032, -1.5999053716659546, -1.8001434803009033, -0.419607013463974, -4.7217847168212757e-05, 0.0001991778117371723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9650459885597229, -1.1776776313781738, 1.035634994506836, -1.4850499629974365, 0.05398809537291527, 0.8004339337348938, 1.0113953351974487, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310935258865356, -1.150004506111145, -1.5999013185501099, -1.800143837928772, -0.41960474848747253, -4.865595474257134e-05, 0.00019558255735319108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9597060084342957, -1.2095478773117065, 1.0354704856872559, -1.4650611877441406, 0.010833259671926498, 0.7984009385108948, 1.0143883228302002, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731094479560852, -1.1500040292739868, -1.5998996496200562, -1.8001446723937988, -0.4196051061153412, -5.141232395544648e-05, 0.00019390476518310606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9589693546295166, -1.2281466722488403, 1.0365021228790283, -1.4515985250473022, -0.017381200566887856, 0.7923928499221802, 1.022841215133667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310410737991333, -1.1500040292739868, -1.5998873710632324, -1.800148606300354, -0.4196039140224457, -5.093295476399362e-05, 0.00018575548892840743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.954634964466095, -1.2420390844345093, 1.0483235120773315, -1.439936637878418, -0.029250377789139748, 0.7886693477630615, 1.0240033864974976, 0.4385999982173626, 0.4385999982173626, 0.4385999982173626, 0.4385999982173626, -0.4385999982173626, -0.4385999982173626, -0.4385999982173626, 0.4385999982173626, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310343980789185, -1.1500022411346436, -1.5998800992965698, -1.8001649379730225, -0.4196039140224457, -5.3929012210574e-05, 0.00018108163203578442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9433184862136841, -1.2457832098007202, 1.0498257875442505, -1.4333289861679077, -0.03912298008799553, 0.7878056764602661, 1.0240625143051147, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310316562652588, -1.1500012874603271, -1.5998473167419434, -1.8001621961593628, -0.419604629278183, -5.1292481657583266e-05, 0.0001688577322056517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.942679762840271, -1.2485326528549194, 1.051905870437622, -1.4322257041931152, -0.04241720587015152, 0.7874760031700134, 1.0273436307907104, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310477495193481, -1.1500012874603271, -1.5998446941375732, -1.800161600112915, -0.4196051061153412, -4.889563933829777e-05, 0.0001681386784184724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.956537127494812, -1.2445094585418701, 1.0650745630264282, -1.447293758392334, -0.021270081400871277, 0.7886051535606384, 1.0255323648452759, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310444116592407, -1.1500016450881958, -1.5998378992080688, -1.8001604080200195, -0.41960594058036804, -4.3502735934453085e-05, 0.00016873788263183087, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9695440530776978, -1.2387388944625854, 1.0874954462051392, -1.4654388427734375, -0.002578046405687928, 0.7875558137893677, 1.0272960662841797, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731070876121521, -1.150001883506775, -1.599832534790039, -1.800160527229309, -0.4196065366268158, -3.8469363062176853e-05, 0.00016921725182328373, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9758821725845337, -1.2350234985351562, 1.1102041006088257, -1.487596869468689, 0.01816365122795105, 0.7879821062088013, 1.0266036987304688, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310693264007568, -1.1500015258789062, -1.5998231172561646, -1.800160527229309, -0.4196072518825531, -3.187803667970002e-05, 0.00017065535939764231, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.978869616985321, -1.2349193096160889, 1.123530626296997, -1.5170801877975464, 0.04469888284802437, 0.7895116209983826, 1.0243852138519287, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310700416564941, -1.1500016450881958, -1.599808931350708, -1.80016028881073, -0.4196077287197113, -2.8402613679645583e-05, 0.0001720934669720009, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9748380780220032, -1.2399191856384277, 1.1153759956359863, -1.5444138050079346, 0.06720789521932602, 0.7952234148979187, 1.0171011686325073, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310701608657837, -1.150001883506775, -1.5998053550720215, -1.8001595735549927, -0.4196077287197113, -2.6964506105287e-05, 0.00017341173952445388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9531035423278809, -1.2590272426605225, 1.075643539428711, -1.5449036359786987, 0.08311515301465988, 0.8062511682510376, 1.0056877136230469, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731067419052124, -1.1500024795532227, -1.5997960567474365, -1.8001596927642822, -0.4196079671382904, -2.6844663807423785e-05, 0.0001744903129292652, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9213724732398987, -1.2939631938934326, 1.0206061601638794, -1.5281749963760376, 0.08478395640850067, 0.8154736757278442, 0.9976128935813904, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310644388198853, -1.1500030755996704, -1.5997954607009888, -1.800159215927124, -0.41960906982421875, -2.7803402190329507e-05, 0.00017401094373781234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8987568020820618, -1.3385249376296997, 0.9839657545089722, -1.5008034706115723, 0.07039269804954529, 0.8198070526123047, 0.9906299114227295, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310619354248047, -1.1500027179718018, -1.59979248046875, -1.8001571893692017, -0.4196087121963501, -2.8642298275372013e-05, 0.00017413079331163317, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8866077065467834, -1.3793519735336304, 0.960866391658783, -1.4735543727874756, 0.05173134431242943, 0.8269398212432861, 0.9803892970085144, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310655117034912, -1.1500028371810913, -1.5997923612594604, -1.8001564741134644, -0.41960808634757996, -3.079945963690989e-05, 0.0001752093667164445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8780964612960815, -1.4152233600616455, 0.943934977054596, -1.4398568868637085, 0.03218723088502884, 0.828654408454895, 0.9707448482513428, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310729026794434, -1.1500037908554077, -1.5997916460037231, -1.8001528978347778, -0.4196074903011322, -3.463440953055397e-05, 0.0001774863776518032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8728215098381042, -1.446759819984436, 0.9329215884208679, -1.4118740558624268, 0.005387867800891399, 0.8288107514381409, 0.9741301536560059, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310783863067627, -1.150003433227539, -1.5997921228408813, -1.8001424074172974, -0.4196058213710785, -4.038683619000949e-05, 0.00018060226284433156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.872528612613678, -1.4747459888458252, 0.9258334040641785, -1.3940023183822632, -0.02239132672548294, 0.827622652053833, 0.9814389944076538, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310951948165894, -1.1500037908554077, -1.5997918844223022, -1.800133228302002, -0.4196043908596039, -4.338289363658987e-05, 0.000183838012162596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8776053190231323, -1.4975597858428955, 0.9299821853637695, -1.3880603313446045, -0.049575742334127426, 0.8251179456710815, 0.9914278388023376, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7311005592346191, -1.1500036716461182, -1.5997934341430664, -1.8001325130462646, -0.4196034371852875, -4.458131661522202e-05, 0.00018779280071612448, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8930910229682922, -1.5058377981185913, 0.9575790166854858, -1.3972238302230835, -0.059042200446128845, 0.8193216919898987, 0.9978923797607422, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731097936630249, -1.1500041484832764, -1.599791169166565, -1.8001341819763184, -0.4196030795574188, -4.565989729599096e-05, 0.0001911483850562945, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9197638034820557, -1.4938942193984985, 1.0017898082733154, -1.4390027523040771, -0.0675736516714096, 0.8170807361602783, 0.9998027682304382, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310938835144043, -1.1500084400177002, -1.5997817516326904, -1.8001372814178467, -0.41960403323173523, -4.781705865752883e-05, 0.00019690081535372883, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9551166296005249, -1.4671552181243896, 1.0765817165374756, -1.494360327720642, -0.054095473140478134, 0.8224470615386963, 0.9930230379104614, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310971021652222, -1.1500111818313599, -1.5996520519256592, -1.800136685371399, -0.41960427165031433, -4.937500489177182e-05, 0.00021140172611922026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9895262718200684, -1.4275883436203003, 1.161910891532898, -1.549492597579956, -0.038633305579423904, 0.8320950269699097, 0.9813944101333618, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310806512832642, -1.1500126123428345, -1.5996365547180176, -1.8001378774642944, -0.4196039140224457, -4.9015481636160985e-05, 0.0002124803140759468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0162819623947144, -1.3831809759140015, 1.235742211341858, -1.580992579460144, -0.021138614043593407, 0.843275249004364, 0.9697290658950806, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310925722122192, -1.1500122547149658, -1.5996400117874146, -1.800140619277954, -0.4196041524410248, -4.769721635966562e-05, 0.0002171541564166546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0349839925765991, -1.340523600578308, 1.2887438535690308, -1.5849989652633667, -0.0001499226491432637, 0.8501677513122559, 0.9621239900588989, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.73108971118927, -1.150011420249939, -1.5996476411819458, -1.8001405000686646, -0.41960379481315613, -4.494084350881167e-05, 0.00021739384101238102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0557305812835693, -1.3007655143737793, 1.3164035081863403, -1.5839471817016602, 0.01760830171406269, 0.8525345325469971, 0.9591853618621826, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731095314025879, -1.150010585784912, -1.599663257598877, -1.8001418113708496, -0.41960403323173523, -4.1225732275051996e-05, 0.00021691447182092816, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0719490051269531, -1.2686073780059814, 1.3166069984436035, -1.572744369506836, 0.029916221275925636, 0.8509284853935242, 0.9623982310295105, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310892343521118, -1.1500095129013062, -1.5996742248535156, -1.800142526626587, -0.419603556394577, -3.6671728594228625e-05, 0.0002171541564166546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.08230459690094, -1.2452096939086914, 1.2927926778793335, -1.5672996044158936, 0.0376647412776947, 0.8505684733390808, 0.9635604619979858, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310895919799805, -1.1500080823898315, -1.5996971130371094, -1.800145149230957, -0.41960379481315613, -3.523362101987004e-05, 0.0002165549376513809, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.084326148033142, -1.2346795797348022, 1.2654951810836792, -1.5644029378890991, 0.053155072033405304, 0.8544995784759521, 0.9591166973114014, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310892343521118, -1.1500071287155151, -1.5999560356140137, -1.8001457452774048, -0.419603556394577, -3.33161442540586e-05, 0.0002149969950551167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.079155683517456, -1.231878399848938, 1.2367897033691406, -1.5532231330871582, 0.05634455382823944, 0.8574109077453613, 0.9555083513259888, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310893535614014, -1.1500067710876465, -1.5999561548233032, -1.8001468181610107, -0.419603556394577, -3.151850978611037e-05, 0.00021535651467274874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0687681436538696, -1.2299325466156006, 1.2056989669799805, -1.5383784770965576, 0.049791816622018814, 0.8540958166122437, 0.9615005850791931, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310872077941895, -1.1500061750411987, -1.5999552011489868, -1.8001477718353271, -0.4196026027202606, -3.115898653049953e-05, 0.00021523667965084314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0587023496627808, -1.2331790924072266, 1.1881617307662964, -1.5224528312683105, 0.0512055978178978, 0.8542454838752747, 0.961003839969635, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310882806777954, -1.1500059366226196, -1.599951148033142, -1.8001495599746704, -0.4196026027202606, -3.199787897756323e-05, 0.00021475731045939028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0500470399856567, -1.2375993728637695, 1.172846794128418, -1.5125771760940552, 0.04181763529777527, 0.8546324968338013, 0.9599696397781372, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310876846313477, -1.1500061750411987, -1.5999466180801392, -1.8001513481140137, -0.41960272192955017, -3.2716932764742523e-05, 0.00021224062948022038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0489920377731323, -1.2425144910812378, 1.1699873208999634, -1.5066568851470947, 0.030231166630983353, 0.8540621399879456, 0.9610086679458618, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310864925384521, -1.1500060558319092, -1.5999361276626587, -1.8001534938812256, -0.41960272192955017, -3.559314791345969e-05, 0.0002102033031405881, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0474839210510254, -1.2411006689071655, 1.1617376804351807, -1.504103660583496, 0.020259931683540344, 0.8494786620140076, 0.9639548659324646, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310798168182373, -1.1500062942504883, -1.5999228954315186, -1.8001534938812256, -0.41960272192955017, -3.787015157286078e-05, 0.00020720725296996534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0482362508773804, -1.2368605136871338, 1.161263346672058, -1.5112171173095703, 0.017443757504224777, 0.8495794534683228, 0.9643674492835999, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310764789581299, -1.1500059366226196, -1.59990394115448, -1.8001534938812256, -0.4196022152900696, -4.038683619000949e-05, 0.00020421118824742734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0485990047454834, -1.2356548309326172, 1.1588181257247925, -1.5112305879592896, 0.011018176563084126, 0.8506751656532288, 0.9629784822463989, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310701608657837, -1.1500064134597778, -1.599890112876892, -1.8001527786254883, -0.4196033179759979, -4.290352444513701e-05, 0.0002015746576944366, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0492855310440063, -1.2347582578659058, 1.158095121383667, -1.5169962644577026, 0.010950345546007156, 0.8502674698829651, 0.9631373882293701, 0.3197999993523399, 0.3197999993523399, 0.3197999993523399, 0.3197999993523399, -0.3197999993523399, -0.3197999993523399, -0.3197999993523399, 0.3197999993523399, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310428619384766, -1.150005578994751, -1.5997563600540161, -1.8001526594161987, -0.41960379481315613, -4.5540054998127744e-05, 0.0001983389229280874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0592610836029053, -1.2336757183074951, 1.170068383216858, -1.531494379043579, 0.024628780782222748, 0.8521298170089722, 0.9614391326904297, 0.5417999992658804, 0.5417999992658804, 0.5417999992658804, 0.5417999992658804, -0.5417999992658804, -0.5417999992658804, -0.5417999992658804, 0.5417999992658804, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310371398925781, -1.1500062942504883, -1.5996513366699219, -1.8001528978347778, -0.4196043908596039, -4.733768946607597e-05, 0.00019054918084293604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.077357292175293, -1.2362221479415894, 1.21022629737854, -1.5548523664474487, 0.046904340386390686, 0.8564399480819702, 0.9560948610305786, 0.579000000672026, 0.579000000672026, 0.579000000672026, 0.579000000672026, -0.579000000672026, -0.579000000672026, -0.579000000672026, 0.579000000672026, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310373783111572, -1.150006651878357, -1.5996553897857666, -1.8001536130905151, -0.419603556394577, -4.805674325325526e-05, 0.00018527611973695457, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1070407629013062, -1.2444156408309937, 1.2822266817092896, -1.5933191776275635, 0.0781407430768013, 0.862741231918335, 0.942766010761261, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7309980392456055, -1.1500085592269897, -1.5996661186218262, -1.8001445531845093, -0.4196053445339203, -4.793690095539205e-05, 0.00018299910880159587, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1653767824172974, -1.2567181587219238, 1.3963388204574585, -1.6472358703613281, 0.16179411113262177, 0.8636418581008911, 0.87566739320755, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310338020324707, -1.1499768495559692, -1.5996782779693604, -1.8001590967178345, -0.4196067750453949, -4.542021270026453e-05, 0.00016526246326975524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2370160818099976, -1.2626211643218994, 1.5171138048171997, -1.6889097690582275, 0.2677985429763794, 0.8634974360466003, 0.790862500667572, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731084942817688, -1.1499894857406616, -1.5997873544692993, -1.8001703023910522, -0.4196074903011322, -4.446147431735881e-05, 0.00014884407573845237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.304428219795227, -1.2640005350112915, 1.62165367603302, -1.714766025543213, 0.38141581416130066, 0.8680974841117859, 0.7256066799163818, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.7310723066329956, -1.1499907970428467, -1.5999815464019775, -1.8001629114151, -0.41960760951042175, -4.3023366743000224e-05, 0.00015627429820597172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3244644403457642, -1.264125108718872, 1.6518738269805908, -1.7178993225097656, 0.43537983298301697, 0.8677826523780823, 0.6990059018135071, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310972213745117, -1.1499892473220825, -1.5999822616577148, -1.8001594543457031, -0.41960784792900085, -3.9907470636535436e-05, 0.00016370450612157583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.31590735912323, -1.265407919883728, 1.6327608823776245, -1.717206597328186, 0.4082142114639282, 0.8677223324775696, 0.7087323069572449, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7310742139816284, -1.1499892473220825, -1.5999727249145508, -1.8001582622528076, -0.41960760951042175, -3.535346331773326e-05, 0.0001641838753130287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3129640817642212, -1.2678605318069458, 1.632306456565857, -1.717073917388916, 0.406132310628891, 0.8677252531051636, 0.7102411389350891, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.7310781478881836, -1.1499892473220825, -1.5999603271484375, -1.800158977508545, -0.4196077287197113, -3.4394724934827536e-05, 0.00016562198288738728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3131095170974731, -1.2678279876708984, 1.6343539953231812, -1.7170789241790771, 0.40623801946640015, 0.8677301406860352, 0.7103252410888672, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7310744524002075, -1.1499894857406616, -1.5999332666397095, -1.8001595735549927, -0.4196079671382904, -3.403519804123789e-05, 0.00016550214786548167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.313819408416748, -1.2673498392105103, 1.6348919868469238, -1.7163792848587036, 0.407500684261322, 0.8681907057762146, 0.7104591131210327, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310935258865356, -1.1499884128570557, -1.5999120473861694, -1.8001596927642822, -0.4196072518825531, -3.4394724934827536e-05, 0.00017185378237627447, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3280028104782104, -1.2694227695465088, 1.6547284126281738, -1.6899917125701904, 0.47447308897972107, 0.9264301061630249, 0.6805682182312012, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731061339378357, -1.1499882936477661, -1.599760890007019, -1.8001588582992554, -0.41960760951042175, -3.3675671147648245e-05, 0.00017305220535490662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3699214458465576, -1.2730580568313599, 1.6751056909561157, -1.6862493753433228, 0.5693886280059814, 0.9959681630134583, 0.6002296805381775, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7310725450515747, -1.1499886512756348, -1.5997323989868164, -1.80016028881073, -0.4196072518825531, -3.403519804123789e-05, 0.00017628795467317104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3869174718856812, -1.2752543687820435, 1.6628645658493042, -1.6649169921875, 0.6728352308273315, 1.0140385627746582, 0.5191222429275513, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310913801193237, -1.1499890089035034, -1.5997340679168701, -1.8001608848571777, -0.41960689425468445, -3.451456723269075e-05, 0.00018994996207766235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3730435371398926, -1.2620744705200195, 1.60739004611969, -1.640910267829895, 0.8084713816642761, 1.0110397338867188, 0.4253557324409485, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7310491800308228, -1.1499899625778198, -1.5997607707977295, -1.800160527229309, -0.419607013463974, -3.787015157286078e-05, 0.00020421118824742734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.314537763595581, -1.2402788400650024, 1.5244343280792236, -1.5947880744934082, 0.988442063331604, 1.0104042291641235, 0.23120026290416718, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7311350107192993, -1.1499898433685303, -1.599797248840332, -1.800157070159912, -0.41960713267326355, -4.829642784898169e-05, 0.00021607556845992804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.239121913909912, -1.2086598873138428, 1.432644009590149, -1.545090913772583, 1.1699177026748657, 1.0088558197021484, 0.018879828974604607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.7309660911560059, -1.149994134902954, -1.599798321723938, -1.8001638650894165, -0.4196058213710785, -5.021390097681433e-05, 0.00020804614177905023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1791847944259644, -1.1873629093170166, 1.3676669597625732, -1.5225398540496826, 1.3139665126800537, 1.0059455633163452, -0.13279959559440613, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310972213745117, -1.149994134902954, -1.5998138189315796, -1.8001618385314941, -0.41960451006889343, -5.093295476399362e-05, 0.00021607556845992804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1381334066390991, -1.1710580587387085, 1.3186124563217163, -1.5070388317108154, 1.3829832077026367, 1.0026073455810547, -0.2021392434835434, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310848236083984, -1.1499935388565063, -1.5998164415359497, -1.8001595735549927, -0.41960379481315613, -5.069327016826719e-05, 0.0002171541564166546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1099096536636353, -1.1643582582473755, 1.2896474599838257, -1.4868569374084473, 1.4108930826187134, 1.0004091262817383, -0.21960876882076263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310899496078491, -1.149993896484375, -1.5998196601867676, -1.8001588582992554, -0.41960451006889343, -5.15321662533097e-05, 0.0002182327298214659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0915025472640991, -1.1598409414291382, 1.2594306468963623, -1.4758081436157227, 1.4245811700820923, 0.9959436058998108, -0.21826282143592834, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.7310826778411865, -1.1499934196472168, -1.5998247861862183, -1.8001573085784912, -0.4196034371852875, -5.15321662533097e-05, 0.0002195510023739189, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0755306482315063, -1.1583479642868042, 1.227067232131958, -1.4683059453964233, 1.4482086896896362, 0.991654098033905, -0.22167304158210754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310835123062134, -1.1499931812286377, -1.599829077720642, -1.8001569509506226, -0.4196024537086487, -5.069327016826719e-05, 0.00022074942535255104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0667097568511963, -1.1573357582092285, 1.2012662887573242, -1.4696764945983887, 1.4774447679519653, 0.989022970199585, -0.23504216969013214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7310751676559448, -1.1499931812286377, -1.59983491897583, -1.8001563549041748, -0.4196017384529114, -4.925516259390861e-05, 0.00022062957577873021, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0659672021865845, -1.1573463678359985, 1.1904960870742798, -1.471712589263916, 1.5025172233581543, 0.9877173900604248, -0.24343736469745636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.7310744524002075, -1.1499935388565063, -1.599839448928833, -1.800155758857727, -0.4196010231971741, -4.709800487034954e-05, 0.00022027005616109818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0656942129135132, -1.1551167964935303, 1.1824243068695068, -1.4654873609542847, 1.5270379781723022, 0.9865924715995789, -0.23444966971874237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310658693313599, -1.1499931812286377, -1.599843144416809, -1.800155758857727, -0.41960078477859497, -4.482100121094845e-05, 0.0002188319485867396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0687679052352905, -1.1495033502578735, 1.1818007230758667, -1.4586085081100464, 1.538010597229004, 0.9864616990089417, -0.2142762690782547, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310606241226196, -1.1499931812286377, -1.599851369857788, -1.8001554012298584, -0.4196009039878845, -4.134557457291521e-05, 0.00021847241441719234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.085480809211731, -1.141298770904541, 1.191636562347412, -1.460237741470337, 1.5559251308441162, 0.986253559589386, -0.1911456286907196, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310435771942139, -1.1499927043914795, -1.599862813949585, -1.8001552820205688, -0.4196006655693054, -3.6432043998502195e-05, 0.0002196708373958245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1146082878112793, -1.1252386569976807, 1.2041583061218262, -1.477568507194519, 1.5809319019317627, 0.9862549901008606, -0.1753634810447693, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310447692871094, -1.1499927043914795, -1.5999778509140015, -1.8001540899276733, -0.4196004271507263, -3.223756357328966e-05, 0.00021943115280009806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1419636011123657, -1.110524296760559, 1.2177804708480835, -1.5000474452972412, 1.5971113443374634, 0.9864263534545898, -0.16982761025428772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310447692871094, -1.1499929428100586, -1.5999804735183716, -1.8001538515090942, -0.41960030794143677, -2.7324032998876646e-05, 0.0002182327298214659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1704257726669312, -1.0985170602798462, 1.2336385250091553, -1.5212706327438354, 1.619288682937622, 0.9871326684951782, -0.16916872560977936, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731046438217163, -1.14999258518219, -1.5999784469604492, -1.8001537322998047, -0.41960078477859497, -2.600576772238128e-05, 0.00021559619926847517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1981948614120483, -1.0802559852600098, 1.2414900064468384, -1.5476149320602417, 1.649040699005127, 0.9871758222579956, -0.17346350848674774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310479879379272, -1.14999258518219, -1.5999743938446045, -1.8001540899276733, -0.41960078477859497, -2.6365294615970924e-05, 0.00021104220650158823, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2189193964004517, -1.0600273609161377, 1.241198182106018, -1.574558138847351, 1.682309865951538, 0.9871742725372314, -0.1849421113729477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310481071472168, -1.14999258518219, -1.5999659299850464, -1.8001537322998047, -0.4196016192436218, -2.7683559892466292e-05, 0.0002094842493534088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2323564291000366, -1.048775553703308, 1.2394577264785767, -1.594447135925293, 1.7058144807815552, 0.9877109527587891, -0.19796572625637054, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.731053113937378, -1.1499924659729004, -1.5999557971954346, -1.8001538515090942, -0.41960233449935913, -2.9840719435014762e-05, 0.00020684771880041808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2262731790542603, -1.0474469661712646, 1.2334991693496704, -1.5887748003005981, 1.7104898691177368, 0.9890109896659851, -0.19594351947307587, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7310603857040405, -1.1499924659729004, -1.5999484062194824, -1.8001539707183838, -0.4196028411388397, -3.523362101987004e-05, 0.0002028929302468896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2048143148422241, -1.0514172315597534, 1.2229310274124146, -1.5680911540985107, 1.7067042589187622, 0.9962834715843201, -0.1868826001882553, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310744524002075, -1.1499924659729004, -1.5999364852905273, -1.8001545667648315, -0.41960427165031433, -4.0147155232261866e-05, 0.00019821907335426658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1961089372634888, -1.0619215965270996, 1.2164326906204224, -1.5643956661224365, 1.7062746286392212, 0.9974567294120789, -0.19380708038806915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310749292373657, -1.1499924659729004, -1.5999233722686768, -1.8001540899276733, -0.4196041524410248, -4.3023366743000224e-05, 0.0001942642848007381, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.205905556678772, -1.0707204341888428, 1.2099403142929077, -1.5866116285324097, 1.7127916812896729, 1.0005253553390503, -0.20975390076637268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310768365859985, -1.1499923467636108, -1.5997918844223022, -1.8001545667648315, -0.4196051061153412, -4.5540054998127744e-05, 0.00019390476518310606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2109400033950806, -1.0807191133499146, 1.2069215774536133, -1.5953190326690674, 1.7264596223831177, 1.0023325681686401, -0.22873643040657043, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.731087327003479, -1.1499923467636108, -1.5995402336120605, -1.800154447555542, -0.41960570216178894, -4.75773740618024e-05, 0.00019258649263065308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2029554843902588, -1.0848931074142456, 1.2039366960525513, -1.5939013957977295, 1.7305700778961182, 1.0029505491256714, -0.2388956993818283, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310863733291626, -1.1499924659729004, -1.599555492401123, -1.8001549243927002, -0.41960594058036804, -4.841627014684491e-05, 0.00019126823463011533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1969478130340576, -1.0913006067276, 1.2074530124664307, -1.5941386222839355, 1.7295994758605957, 1.003265142440796, -0.2438345104455948, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310856580734253, -1.1499918699264526, -1.5995872020721436, -1.800154685974121, -0.419607013463974, -4.817658555111848e-05, 0.00019054918084293604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1950005292892456, -1.1006947755813599, 1.2206238508224487, -1.5929561853408813, 1.7286927700042725, 1.003564476966858, -0.25231993198394775, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310855388641357, -1.1499923467636108, -1.5997838973999023, -1.8001549243927002, -0.4196072518825531, -4.793690095539205e-05, 0.0001894705928862095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1934359073638916, -1.106229543685913, 1.2288084030151367, -1.5880639553070068, 1.7295608520507812, 1.003591537475586, -0.2536534368991852, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731085181236267, -1.1499923467636108, -1.5997986793518066, -1.8001554012298584, -0.4196062982082367, -4.6978162572486326e-05, 0.00019006981165148318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1899725198745728, -1.1094223260879517, 1.2309211492538452, -1.584801197052002, 1.7271195650100708, 1.00364351272583, -0.24696239829063416, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310843467712402, -1.14999258518219, -1.5998035669326782, -1.8001563549041748, -0.4196065366268158, -4.589958189171739e-05, 0.0001903094962472096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1845593452453613, -1.1156998872756958, 1.2370529174804688, -1.5834137201309204, 1.717480182647705, 1.003720760345459, -0.2373269647359848, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731083631515503, -1.1499924659729004, -1.5998077392578125, -1.8001573085784912, -0.4196067750453949, -4.3023366743000224e-05, 0.00019018964667338878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.173486351966858, -1.1241559982299805, 1.2396618127822876, -1.5751296281814575, 1.7137259244918823, 1.003749966621399, -0.23198415338993073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.7310826778411865, -1.1499923467636108, -1.5998120307922363, -1.8001573085784912, -0.419607013463974, -3.9667786040809005e-05, 0.0001887515390990302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1578673124313354, -1.136562705039978, 1.2375202178955078, -1.559127688407898, 1.7069023847579956, 1.0037848949432373, -0.2293713539838791, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310771942138672, -1.1499927043914795, -1.5998152494430542, -1.800157904624939, -0.4196060597896576, -3.679157089209184e-05, 0.00018851185450330377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.140397071838379, -1.1478620767593384, 1.2233854532241821, -1.5429248809814453, 1.7018070220947266, 1.003798484802246, -0.21665093302726746, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310727834701538, -1.1499924659729004, -1.5998207330703735, -1.8001575469970703, -0.4196060597896576, -3.403519804123789e-05, 0.00018959044246003032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1238765716552734, -1.1585893630981445, 1.206671953201294, -1.526314377784729, 1.701830267906189, 1.0038187503814697, -0.21002042293548584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.7310678958892822, -1.14999258518219, -1.5998258590698242, -1.8001573085784912, -0.4196058213710785, -3.151850978611037e-05, 0.0001917476038215682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1123358011245728, -1.1660610437393188, 1.1938024759292603, -1.514676570892334, 1.7144675254821777, 1.0038286447525024, -0.21653468906879425, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731066107749939, -1.14999258518219, -1.599828839302063, -1.8001571893692017, -0.4196058213710785, -3.103914423263632e-05, 0.00019318571139592677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.098087191581726, -1.1727726459503174, 1.1804579496383667, -1.493396282196045, 1.7171170711517334, 1.0038421154022217, -0.22142833471298218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.731060266494751, -1.14999258518219, -1.599832534790039, -1.800156593322754, -0.4196055829524994, -3.1638352083973587e-05, 0.00019558255735319108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0888996124267578, -1.1779990196228027, 1.173486590385437, -1.4730859994888306, 1.7134249210357666, 1.0038498640060425, -0.21483749151229858, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310513257980347, -1.14999258518219, -1.599835991859436, -1.800156831741333, -0.41960498690605164, -3.355582884978503e-05, 0.00019941749633289874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.083448052406311, -1.180443525314331, 1.1685398817062378, -1.4572309255599976, 1.7001351118087769, 1.0038524866104126, -0.20028336346149445, 0.5411999999166845, 0.5411999999166845, 0.5411999999166845, 0.5411999999166845, -0.5411999999166845, -0.5411999999166845, -0.5411999999166845, 0.5411999999166845, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.731039047241211, -1.1499930620193481, -1.5998446941375732, -1.8001573085784912, -0.4196041524410248, -3.72709400835447e-05, 0.00020552946079988033, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.081590175628662, -1.181745171546936, 1.1650627851486206, -1.4422338008880615, 1.6923182010650635, 1.0038597583770752, -0.18818096816539764, 0.3804000023957137, 0.3804000023957137, 0.3804000023957137, 0.3804000023957137, -0.3804000023957137, -0.3804000023957137, -0.3804000023957137, 0.3804000023957137, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310304641723633, -1.1499933004379272, -1.6000175476074219, -1.8001564741134644, -0.4196030795574188, -4.038683619000949e-05, 0.00020912472973577678, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0819991827011108, -1.1812448501586914, 1.1626235246658325, -1.4319872856140137, 1.6906157732009888, 1.0038694143295288, -0.18544401228427887, 0.30419999662336417, 0.30419999662336417, 0.30419999662336417, 0.30419999662336417, -0.30419999662336417, -0.30419999662336417, -0.30419999662336417, 0.30419999662336417, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7310302257537842, -1.1499921083450317, -1.6001337766647339, -1.8001567125320435, -0.4196029603481293, -4.386226282804273e-05, 0.00021128189109731466, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.084250807762146, -1.1781266927719116, 1.162358045578003, -1.4177494049072266, 1.6887387037277222, 1.0038769245147705, -0.17804878950119019, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, -0.2508000054202237, -0.2508000054202237, -0.2508000054202237, 0.2508000054202237, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310327291488647, -1.1499916315078735, -1.6001298427581787, -1.800156593322754, -0.4196028411388397, -4.613926648744382e-05, 0.00021451762586366385, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0849556922912598, -1.17414391040802, 1.162601113319397, -1.4009779691696167, 1.687005639076233, 1.0038756132125854, -0.15963827073574066, 0.21299999729617616, 0.21299999729617616, 0.21299999729617616, 0.21299999729617616, -0.21299999729617616, -0.21299999729617616, -0.21299999729617616, 0.21299999729617616, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731053113937378, -1.149991750717163, -1.600111722946167, -1.8001558780670166, -0.41960209608078003, -4.75773740618024e-05, 0.00022242721752263606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0874943733215332, -1.1682913303375244, 1.1627188920974731, -1.3860862255096436, 1.6805018186569214, 1.0038727521896362, -0.1387990117073059, 0.13140000720600503, 0.13140000720600503, 0.13140000720600503, 0.13140000720600503, -0.13140000720600503, -0.13140000720600503, -0.13140000720600503, 0.13140000720600503, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310541868209839, -1.149991750717163, -1.6000546216964722, -1.800154209136963, -0.4196015000343323, -5.045358557254076e-05, 0.00022398516011890024, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.091822862625122, -1.1623092889785767, 1.1612404584884644, -1.3703596591949463, 1.673095703125, 1.003864049911499, -0.12265098839998245, 0.04980001711583399, 0.04980001711583399, 0.04980001711583399, 0.04980001711583399, -0.04980001711583399, -0.04980001711583399, -0.04980001711583399, 0.04980001711583399, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310596704483032, -1.1499916315078735, -1.5999658107757568, -1.8001550436019897, -0.4196015000343323, -5.201153544476256e-05, 0.0002244645293103531, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0927025079727173, -1.1602249145507812, 1.1589534282684326, -1.3554781675338745, 1.6755540370941162, 1.0037473440170288, -0.11002093553543091, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310609817504883, -1.1499918699264526, -1.5999579429626465, -1.8001550436019897, -0.41960209608078003, -5.141232395544648e-05, 0.00022326610633172095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0880770683288574, -1.1602925062179565, 1.1547060012817383, -1.341365098953247, 1.6742722988128662, 1.0037099123001099, -0.09273285418748856, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310616970062256, -1.1499919891357422, -1.5999524593353271, -1.8001549243927002, -0.4196013808250427, -5.021390097681433e-05, 0.00022182799875736237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0841896533966064, -1.1601327657699585, 1.1492503881454468, -1.3327195644378662, 1.6685247421264648, 1.0036537647247314, -0.07740143686532974, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310642004013062, -1.149991750717163, -1.5999475717544556, -1.8001545667648315, -0.4196012616157532, -4.889563933829777e-05, 0.00022254705254454166, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080164909362793, -1.158456563949585, 1.144595980644226, -1.3289365768432617, 1.6701781749725342, 1.0035550594329834, -0.0746731087565422, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310676574707031, -1.1499919891357422, -1.599942922592163, -1.8001550436019897, -0.4196012616157532, -4.6978162572486326e-05, 0.0002219478483311832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0799683332443237, -1.1566364765167236, 1.14336097240448, -1.3276827335357666, 1.6738694906234741, 1.0035443305969238, -0.07252661138772964, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310694456100464, -1.1499922275543213, -1.5999385118484497, -1.800154685974121, -0.4196018576622009, -4.542021270026453e-05, 0.0002220676833530888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0803649425506592, -1.1565736532211304, 1.1433053016662598, -1.3276339769363403, 1.6738351583480835, 1.0033873319625854, -0.07226967066526413, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7310717105865479, -1.1499921083450317, -1.5999343395233154, -1.8001548051834106, -0.4196019768714905, -4.36225782323163e-05, 0.00022110894497018307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0804684162139893, -1.1565741300582886, 1.1433080434799194, -1.3276349306106567, 1.6738287210464478, 1.0033093690872192, -0.07203573733568192, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.731073021888733, -1.1499922275543213, -1.5999301671981812, -1.8001548051834106, -0.4196036756038666, -4.3742420530179515e-05, 0.00022003037156537175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0804762840270996, -1.1565728187561035, 1.1433120965957642, -1.3276362419128418, 1.6738225221633911, 1.0033072233200073, -0.07200302183628082, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.7308646440505981, -1.1535403728485107, -1.6086885929107666, -1.8199961185455322, -0.4429665505886078, 0.02556474879384041, -0.009769060648977757, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0804802179336548, -1.1565593481063843, 1.1433401107788086, -1.3276408910751343, 1.6738218069076538, 1.003307819366455, -0.07185813039541245, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.707504153251648, -1.1764978170394897, -1.6494593620300293, -1.8890646696090698, -0.5704650282859802, 0.22210687398910522, -0.061485305428504944, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.08058500289917, -1.1564465761184692, 1.1433701515197754, -1.3276357650756836, 1.673646330833435, 1.0033077001571655, -0.0719614326953888, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6753708124160767, -1.1886277198791504, -1.6573100090026855, -1.9315544366836548, -0.6224794387817383, 0.4846270680427551, -0.13970071077346802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808011293411255, -1.1564174890518188, 1.14337158203125, -1.3276489973068237, 1.6738555431365967, 1.0033100843429565, -0.0714900940656662, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6489217281341553, -1.2027769088745117, -1.6615068912506104, -1.968170404434204, -0.6808855533599854, 0.6923876404762268, -0.17201760411262512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807623863220215, -1.1564220190048218, 1.1433663368225098, -1.3276493549346924, 1.6739082336425781, 1.003318428993225, -0.07150651514530182, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6415700912475586, -1.2046427726745605, -1.658218264579773, -1.9865506887435913, -0.6678717732429504, 0.7451567053794861, -0.1945561021566391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807747840881348, -1.1564395427703857, 1.1433300971984863, -1.3276464939117432, 1.6738920211791992, 1.0033286809921265, -0.0716056227684021, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.642526626586914, -1.2040513753890991, -1.6594258546829224, -1.9821436405181885, -0.6543074250221252, 0.7183517217636108, -0.18495218455791473, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807567834854126, -1.1564472913742065, 1.143323302268982, -1.327644944190979, 1.673882246017456, 1.003332495689392, -0.07161473482847214, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6435633897781372, -1.2034804821014404, -1.6603889465332031, -1.9819525480270386, -0.6545547842979431, 0.7158986330032349, -0.1835031658411026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080750823020935, -1.156453013420105, 1.1433100700378418, -1.3276444673538208, 1.6738845109939575, 1.0033392906188965, -0.07161401212215424, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.643785834312439, -1.2034807205200195, -1.6603871583938599, -1.9819408655166626, -0.6549755334854126, 0.7158791422843933, -0.18350352346897125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807493925094604, -1.1564550399780273, 1.1432785987854004, -1.327643632888794, 1.6738851070404053, 1.003342866897583, -0.07161556929349899, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6437915563583374, -1.2034832239151, -1.6603814363479614, -1.9819328784942627, -0.6550278663635254, 0.715864360332489, -0.18351000547409058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080743670463562, -1.1564549207687378, 1.143276333808899, -1.3276424407958984, 1.6738876104354858, 1.0033440589904785, -0.07161281257867813, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6268352270126343, -1.2052350044250488, -1.6641271114349365, -1.9639348983764648, -0.6785928606987, 0.7377064824104309, -0.20273198187351227, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807350873947144, -1.1564480066299438, 1.143276572227478, -1.3275996446609497, 1.6738358736038208, 1.003343939781189, -0.07181882113218307, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.5366982221603394, -1.218018889427185, -1.6445894241333008, -1.913268804550171, -0.7777884006500244, 0.8586500883102417, -0.23284150660037994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807265043258667, -1.1564315557479858, 1.1432781219482422, -1.3275134563446045, 1.6737208366394043, 1.0033437013626099, -0.07192763686180115, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4289813041687012, -1.2400500774383545, -1.5829287767410278, -1.8541535139083862, -0.8791200518608093, 0.9514567255973816, -0.1966569423675537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0806739330291748, -1.1564409732818604, 1.143275260925293, -1.3275361061096191, 1.674067497253418, 1.00341796875, -0.07128337025642395, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.342139720916748, -1.2593978643417358, -1.5154063701629639, -1.778557300567627, -0.9187623262405396, 0.9925770163536072, -0.13301615417003632, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807064771652222, -1.1564527750015259, 1.143041729927063, -1.3275679349899292, 1.674067497253418, 1.003444790840149, -0.07143616676330566, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.292622447013855, -1.2698453664779663, -1.458072543144226, -1.7206355333328247, -0.9159437417984009, 0.9927266836166382, -0.11130576580762863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080590009689331, -1.1564539670944214, 1.1430622339248657, -1.3277596235275269, 1.6743788719177246, 1.0034453868865967, -0.07120343297719955, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2619425058364868, -1.2791481018066406, -1.4143093824386597, -1.675194501876831, -0.8972904086112976, 0.9886369705200195, -0.10019746422767639, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807104110717773, -1.156456708908081, 1.1430597305297852, -1.3277438879013062, 1.674238681793213, 1.0034451484680176, -0.07162252068519592, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2486528158187866, -1.2884798049926758, -1.3976715803146362, -1.647109866142273, -0.8871306777000427, 0.9851254820823669, -0.09869308769702911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080692172050476, -1.1564576625823975, 1.1431275606155396, -1.3277448415756226, 1.674282431602478, 1.0034449100494385, -0.07128648459911346, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2452019453048706, -1.2919565439224243, -1.3857158422470093, -1.6422291994094849, -0.8506234884262085, 0.9840148687362671, -0.09262199699878693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807102918624878, -1.1564561128616333, 1.1431279182434082, -1.3277233839035034, 1.6742361783981323, 1.0034438371658325, -0.07148925960063934, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2460063695907593, -1.295711636543274, -1.3846749067306519, -1.6414743661880493, -0.8354296684265137, 0.99513840675354, -0.09506510198116302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0806972980499268, -1.156455636024475, 1.1431334018707275, -1.3277109861373901, 1.674236536026001, 1.0034419298171997, -0.07147487252950668, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.25424063205719, -1.2996152639389038, -1.3808214664459229, -1.6487951278686523, -0.8192819952964783, 1.003491997718811, -0.09393798559904099, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807124376296997, -1.1564525365829468, 1.1431326866149902, -1.327599048614502, 1.6741434335708618, 1.0034397840499878, -0.07153144478797913, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2616952657699585, -1.2976237535476685, -1.374459981918335, -1.6571506261825562, -0.8274707198143005, 1.0011054277420044, -0.09295491874217987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080729603767395, -1.1564534902572632, 1.1431288719177246, -1.3275717496871948, 1.6740292310714722, 1.0034352540969849, -0.07167453318834305, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2665518522262573, -1.2780239582061768, -1.344928503036499, -1.670408844947815, -0.848922610282898, 0.9929211735725403, -0.0790737122297287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807446241378784, -1.1564476490020752, 1.143120527267456, -1.3275319337844849, 1.673925518989563, 1.0034316778182983, -0.07177663594484329, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2563990354537964, -1.248935341835022, -1.3139030933380127, -1.6756516695022583, -0.8808559775352478, 0.9858103394508362, -0.057260505855083466, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080918312072754, -1.156446933746338, 1.1430660486221313, -1.3274695873260498, 1.673762321472168, 1.0034217834472656, -0.07199223339557648, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.253462791442871, -1.2163408994674683, -1.2953864336013794, -1.6799474954605103, -0.9621601104736328, 0.9842166900634766, -0.03994617983698845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0809041261672974, -1.1564475297927856, 1.1430418491363525, -1.3274742364883423, 1.6738747358322144, 1.003419280052185, -0.07163295149803162, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2540712356567383, -1.1709340810775757, -1.260573148727417, -1.7007803916931152, -1.0627228021621704, 0.9829260110855103, 0.008580825291574001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0809085369110107, -1.1564372777938843, 1.1429927349090576, -1.3274694681167603, 1.6738481521606445, 1.0034160614013672, -0.0718376412987709, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2415305376052856, -1.131007432937622, -1.2322365045547485, -1.7113697528839111, -1.1425197124481201, 0.9802306294441223, 0.05094757676124573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.080905795097351, -1.1564372777938843, 1.142852783203125, -1.3274682760238647, 1.6738444566726685, 1.0034083127975464, -0.07187347114086151, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2358804941177368, -1.0916228294372559, -1.2129935026168823, -1.7232595682144165, -1.2016518115997314, 0.9809569716453552, 0.06539347767829895, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808900594711304, -1.156438946723938, 1.1428536176681519, -1.3274726867675781, 1.673932433128357, 1.0034071207046509, -0.07157470285892487, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.225281834602356, -1.0640469789505005, -1.1971575021743774, -1.7225401401519775, -1.2550244331359863, 0.9814120531082153, 0.0821399986743927, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808942317962646, -1.1564372777938843, 1.142853021621704, -1.327468991279602, 1.6738823652267456, 1.0034061670303345, -0.07185597717761993, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2095375061035156, -1.0500621795654297, -1.1812132596969604, -1.7200311422348022, -1.288654088973999, 0.9826197028160095, 0.10369230806827545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808912515640259, -1.1564533710479736, 1.1428377628326416, -1.3274707794189453, 1.6739041805267334, 1.003404974937439, -0.07165931165218353, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2101179361343384, -1.0334033966064453, -1.1775490045547485, -1.725707769393921, -1.322951078414917, 0.982697069644928, 0.11540292948484421, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808876752853394, -1.1564961671829224, 1.142788052558899, -1.327472448348999, 1.6739155054092407, 1.0034042596817017, -0.07156787067651749, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2037032842636108, -1.0054187774658203, -1.1649037599563599, -1.7255609035491943, -1.3586238622665405, 0.9823644161224365, 0.10943826287984848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808868408203125, -1.156491756439209, 1.1427788734436035, -1.327468752861023, 1.6738892793655396, 1.0034042596817017, -0.07173901051282883, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1845906972885132, -1.0003281831741333, -1.1548573970794678, -1.7086857557296753, -1.3534677028656006, 0.9876634478569031, 0.08864515274763107, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808830261230469, -1.1564587354660034, 1.1427843570709229, -1.3274494409561157, 1.6737868785858154, 1.0033965110778809, -0.07189564406871796, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.166541337966919, -1.0202571153640747, -1.1541510820388794, -1.6824657917022705, -1.3218058347702026, 0.9962305426597595, 0.06606400012969971, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808838605880737, -1.156447172164917, 1.142786979675293, -1.3272712230682373, 1.6735107898712158, 1.0033074617385864, -0.07214539498090744, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.143832802772522, -1.0493440628051758, -1.1535999774932861, -1.648647665977478, -1.295810341835022, 0.9992856383323669, 0.055890828371047974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.08088219165802, -1.1564545631408691, 1.1427868604660034, -1.327263355255127, 1.6735427379608154, 1.0032986402511597, -0.07196083664894104, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1262402534484863, -1.0697232484817505, -1.1526150703430176, -1.6207330226898193, -1.2658494710922241, 0.9994910955429077, 0.0373641774058342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808658599853516, -1.1564747095108032, 1.1427874565124512, -1.3272682428359985, 1.6736396551132202, 1.0032994747161865, -0.07174919545650482, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1127996444702148, -1.0836111307144165, -1.1523832082748413, -1.5983563661575317, -1.2457128763198853, 0.999640166759491, 0.02117372862994671, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808600187301636, -1.1564866304397583, 1.1427921056747437, -1.3272699117660522, 1.6736478805541992, 1.0032981634140015, -0.07178083062171936, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1030510663986206, -1.0932976007461548, -1.152076244354248, -1.581929087638855, -1.2297612428665161, 0.9997534155845642, 0.008354083634912968, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808444023132324, -1.1564959287643433, 1.1427980661392212, -1.3272695541381836, 1.6736421585083008, 1.0032899379730225, -0.07191205769777298, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0968620777130127, -1.1025627851486206, -1.1533337831497192, -1.5726474523544312, -1.2058604955673218, 0.9999083876609802, -0.0029326595831662416, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808476209640503, -1.1566592454910278, 1.1427983045578003, -1.3272684812545776, 1.6736313104629517, 1.0032747983932495, -0.07201944291591644, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.097887396812439, -1.111525297164917, -1.1665914058685303, -1.5671926736831665, -1.1882641315460205, 1.0009697675704956, -0.0094678970053792, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0808402299880981, -1.1566790342330933, 1.1427991390228271, -1.3272769451141357, 1.6736788749694824, 1.0032728910446167, -0.0718483030796051, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1039490699768066, -1.1117606163024902, -1.1815682649612427, -1.5672622919082642, -1.1733273267745972, 1.0012285709381104, -0.014711235649883747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807374715805054, -1.156665325164795, 1.1428134441375732, -1.3273093700408936, 1.6739259958267212, 1.0032837390899658, -0.07154114544391632, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1044741868972778, -1.1106611490249634, -1.1830824613571167, -1.5672526359558105, -1.1848677396774292, 1.0012284517288208, -0.002147573046386242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807454586029053, -1.1566543579101562, 1.1428093910217285, -1.3273108005523682, 1.6738879680633545, 1.0033016204833984, -0.07175902277231216, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1032464504241943, -1.100942850112915, -1.1748658418655396, -1.5720109939575195, -1.211060643196106, 0.9994581341743469, 0.01581677980720997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0807470083236694, -1.1566534042358398, 1.142808198928833, -1.3273184299468994, 1.6738932132720947, 1.0033111572265625, -0.07171887159347534, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0982822179794312, -1.0792921781539917, -1.1570194959640503, -1.578961968421936, -1.257000207901001, 0.9947009682655334, 0.04497116431593895, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0809112787246704, -1.1566411256790161, 1.1428052186965942, -1.3273274898529053, 1.6738801002502441, 1.0033237934112549, -0.07176213711500168, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0864087343215942, -1.0524611473083496, -1.1286070346832275, -1.58842134475708, -1.3148070573806763, 0.9888277649879456, 0.08327574282884598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810402631759644, -1.1566362380981445, 1.1427892446517944, -1.3273495435714722, 1.6738955974578857, 1.003339171409607, -0.07172558456659317, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0816329717636108, -1.0133955478668213, -1.1045283079147339, -1.6048911809921265, -1.3940069675445557, 0.9845702052116394, 0.11747584491968155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810304880142212, -1.1565903425216675, 1.1427836418151855, -1.3273980617523193, 1.6739062070846558, 1.003372073173523, -0.07167237251996994, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0653507709503174, -0.9713035225868225, -1.067779302597046, -1.6176271438598633, -1.4757364988327026, 0.9780737161636353, 0.15469801425933838, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810284614562988, -1.1563979387283325, 1.1426403522491455, -1.3273887634277344, 1.6738359928131104, 1.0033714771270752, -0.07198959589004517, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0401207208633423, -0.9279763102531433, -1.0232112407684326, -1.6335500478744507, -1.5508956909179688, 0.9752821922302246, 0.19133521616458893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.081011414527893, -1.1564055681228638, 1.1426197290420532, -1.3273881673812866, 1.6738576889038086, 1.0033719539642334, -0.07182397693395615, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0225600004196167, -0.8869045972824097, -0.9864950180053711, -1.6498640775680542, -1.632228970527649, 0.9708051681518555, 0.22758139669895172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810282230377197, -1.1564069986343384, 1.1425740718841553, -1.327379822731018, 1.6738433837890625, 1.00337815284729, -0.0718943253159523, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.9893341660499573, -0.8456045389175415, -0.9373199343681335, -1.660398006439209, -1.7258905172348022, 0.9685976505279541, 0.26809656620025635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810446739196777, -1.156402826309204, 1.1425037384033203, -1.3273483514785767, 1.673819661140442, 1.0033929347991943, -0.07202746719121933, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.9545326232910156, -0.8062900900840759, -0.8854811787605286, -1.665808916091919, -1.8063197135925293, 0.9681119322776794, 0.28250113129615784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810461044311523, -1.156354308128357, 1.142507791519165, -1.327306866645813, 1.673797369003296, 1.0033950805664062, -0.07202399522066116, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.9190440773963928, -0.7781908512115479, -0.8376166820526123, -1.667934536933899, -1.8579109907150269, 0.9666500687599182, 0.2918190062046051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810432434082031, -1.156263828277588, 1.1425132751464844, -1.3272889852523804, 1.6737483739852905, 1.0033953189849854, -0.0720202773809433, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8933342099189758, -0.7632930278778076, -0.8047089576721191, -1.6644139289855957, -1.884391188621521, 0.9665297865867615, 0.2843530476093292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810461044311523, -1.1562650203704834, 1.1425135135650635, -1.3272889852523804, 1.673766016960144, 1.0034019947052002, -0.07197018712759018, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8905080556869507, -0.7525455355644226, -0.7947686314582825, -1.6619096994400024, -1.8716472387313843, 0.968757152557373, 0.24255244433879852, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810418128967285, -1.1562341451644897, 1.1425622701644897, -1.3272902965545654, 1.6737899780273438, 1.0034102201461792, -0.07185070216655731, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8895722031593323, -0.7610989809036255, -0.7974405288696289, -1.6466997861862183, -1.835113763809204, 0.9774472713470459, 0.20221282541751862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810474157333374, -1.1561534404754639, 1.1425726413726807, -1.3271833658218384, 1.6734734773635864, 1.0034050941467285, -0.07246033847332001, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8825891017913818, -0.7877253293991089, -0.8024867177009583, -1.6142570972442627, -1.7934291362762451, 0.987610399723053, 0.16070474684238434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.081072211265564, -1.1561275720596313, 1.1425737142562866, -1.3270115852355957, 1.673250436782837, 1.0033600330352783, -0.07258640974760056, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8723837733268738, -0.8212531208992004, -0.8025728464126587, -1.5819004774093628, -1.7512727975845337, 0.9896665215492249, 0.12870782613754272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.081068754196167, -1.156167984008789, 1.142571210861206, -1.3270189762115479, 1.6733895540237427, 1.0033462047576904, -0.07219021767377853, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8608888983726501, -0.8427646160125732, -0.7960400581359863, -1.5563753843307495, -1.7230467796325684, 0.9896572828292847, 0.09913147240877151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0811322927474976, -1.156302571296692, 1.142562747001648, -1.3270212411880493, 1.6734399795532227, 1.0033472776412964, -0.07218122482299805, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8529905676841736, -0.8550812602043152, -0.7917995452880859, -1.5397000312805176, -1.7014237642288208, 0.9895992875099182, 0.07590053230524063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0811500549316406, -1.1563042402267456, 1.142562747001648, -1.3270357847213745, 1.6736243963241577, 1.0033495426177979, -0.07216361165046692, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8429000973701477, -0.869329035282135, -0.78714919090271, -1.5164239406585693, -1.6759346723556519, 0.9909514784812927, 0.045723531395196915, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0811504125595093, -1.1563000679016113, 1.1425631046295166, -1.3270354270935059, 1.6735975742340088, 1.0033494234085083, -0.07225936651229858, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8249882459640503, -0.888896644115448, -0.7773491740226746, -1.48612380027771, -1.6524829864501953, 0.9924657940864563, 0.016811231151223183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0811371803283691, -1.1563068628311157, 1.142564296722412, -1.3270596265792847, 1.67360520362854, 1.00334894657135, -0.07210943847894669, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8187371492385864, -0.9043152928352356, -0.7762751579284668, -1.4667564630508423, -1.6295353174209595, 0.9926384687423706, -0.00583583815023303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0811208486557007, -1.1563106775283813, 1.1425673961639404, -1.32720947265625, 1.6736778020858765, 1.0033525228500366, -0.07176261395215988, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.817508339881897, -0.9095829725265503, -0.7771776914596558, -1.462026596069336, -1.6178581714630127, 0.9926352500915527, -0.015305892564356327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0811265707015991, -1.1563094854354858, 1.1425658464431763, -1.3272079229354858, 1.673678994178772, 1.0033782720565796, -0.07180564105510712, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8224542140960693, -0.9097137451171875, -0.781536340713501, -1.4699562788009644, -1.6083815097808838, 0.99239581823349, -0.01714271493256092, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810885429382324, -1.1563082933425903, 1.1425825357437134, -1.327244520187378, 1.6741544008255005, 1.0034434795379639, -0.07151298224925995, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8320884704589844, -0.9097092747688293, -0.7896954417228699, -1.484179973602295, -1.6007804870605469, 0.9911603331565857, -0.008996077813208103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0809502601623535, -1.156309962272644, 1.142595887184143, -1.3273065090179443, 1.6741846799850464, 1.003510594367981, -0.07141207903623581, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.848551332950592, -0.909802258014679, -0.798765242099762, -1.5042964220046997, -1.5939265489578247, 0.9923379421234131, -0.01255191769450903, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0809471607208252, -1.1563133001327515, 1.142607569694519, -1.3275105953216553, 1.6742299795150757, 1.0035741329193115, -0.07120043784379959, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8657358288764954, -0.9106445908546448, -0.808036744594574, -1.5281611680984497, -1.592043399810791, 0.9960633516311646, -0.006831607315689325, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0809447765350342, -1.1563267707824707, 1.1426235437393188, -1.3275139331817627, 1.6742300987243652, 1.003582239151001, -0.0712009146809578, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8778705596923828, -0.9127336144447327, -0.8191841840744019, -1.5464074611663818, -1.5855543613433838, 1.0012693405151367, 0.0035844817757606506, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.0809093713760376, -1.1564867496490479, 1.1426860094070435, -1.3275139331817627, 1.674231767654419, 1.0035805702209473, -0.07119708508253098, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.886452317237854, -0.9151227474212646, -0.8315746784210205, -1.5568029880523682, -1.577605962753296, 1.0041037797927856, 0.010654575191438198, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.080898404121399, -1.1564887762069702, 1.1427795886993408, -1.3275121450424194, 1.6742267608642578, 1.0035794973373413, -0.07120835036039352, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8872460126876831, -0.9189615249633789, -0.842406153678894, -1.5552252531051636, -1.5744496583938599, 1.0052698850631714, 0.010496622882783413, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.0809035301208496, -1.1564874649047852, 1.1427761316299438, -1.3275072574615479, 1.6742156744003296, 1.003578543663025, -0.07124142348766327, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8751072883605957, -0.9266465306282043, -0.8426949977874756, -1.5347954034805298, -1.5686308145523071, 1.005738377571106, 0.00923756044358015, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.0809096097946167, -1.1564875841140747, 1.1427569389343262, -1.3275039196014404, 1.6742075681686401, 1.0035771131515503, -0.07129930704832077, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.864399790763855, -0.9328407049179077, -0.8435335159301758, -1.52358078956604, -1.5625927448272705, 1.005753755569458, 0.009335591457784176, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.080891728401184, -1.1564867496490479, 1.1427555084228516, -1.3275059461593628, 1.6742304563522339, 1.0035759210586548, -0.07115765661001205, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8564563989639282, -0.9384129643440247, -0.8455573916435242, -1.5189892053604126, -1.5546663999557495, 1.0057592391967773, 0.00023884560505393893, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0808955430984497, -1.1564874649047852, 1.1426640748977661, -1.3275026082992554, 1.6742182970046997, 1.0035719871520996, -0.07120008021593094, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8528025150299072, -0.9412139654159546, -0.8482399582862854, -1.5237925052642822, -1.5512174367904663, 1.0057692527770996, 0.0004778110596816987, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0808807611465454, -1.156481385231018, 1.142628788948059, -1.3275026082992554, 1.674229383468628, 1.0035686492919922, -0.07117826491594315, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.850193202495575, -0.9406386017799377, -0.8469939827919006, -1.543520212173462, -1.5544623136520386, 1.0058131217956543, 0.004764568526297808, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.080864429473877, -1.156479001045227, 1.1426299810409546, -1.3275012969970703, 1.67422354221344, 1.0035673379898071, -0.07119516283273697, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8479088544845581, -0.9400186538696289, -0.8453549742698669, -1.5612695217132568, -1.5595029592514038, 1.0058656930923462, 0.01390265952795744, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0808649063110352, -1.1564801931381226, 1.1426295042037964, -1.327492594718933, 1.674207329750061, 1.003559947013855, -0.07136449962854385, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8472710847854614, -0.939677357673645, -0.8431875109672546, -1.5684974193572998, -1.5595500469207764, 1.0058872699737549, 0.02399265766143799, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0808650255203247, -1.1564826965332031, 1.1426291465759277, -1.3274823427200317, 1.674193024635315, 1.0035481452941895, -0.07141172140836716, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8472763895988464, -0.9371905326843262, -0.8390883207321167, -1.5848623514175415, -1.5598750114440918, 1.0058997869491577, 0.02810264751315117, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.080863356590271, -1.1564881801605225, 1.1426286697387695, -1.327480435371399, 1.6741985082626343, 1.0035479068756104, -0.07133861631155014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8474754691123962, -0.934796154499054, -0.836729109287262, -1.5997393131256104, -1.564018726348877, 1.0059785842895508, 0.02933187037706375, 0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -1.0808756351470947, -1.1564934253692627, 1.1426221132278442, -1.3274540901184082, 1.6741783618927002, 1.0035463571548462, -0.07140716165304184, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8480827808380127, -0.9320096969604492, -0.833526074886322, -1.6128809452056885, -1.569875955581665, 1.0060155391693115, 0.03506572172045708, 0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -1.0808751583099365, -1.1565008163452148, 1.142619252204895, -1.3274426460266113, 1.6741766929626465, 1.0035450458526611, -0.07140836119651794, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8467093110084534, -0.9280228614807129, -0.8222770690917969, -1.6152215003967285, -1.5773429870605469, 1.0060232877731323, 0.035353224724531174, 0.5105999987203996, -0.5105999987203996, 0.5105999987203996, 0.5105999987203996, -0.5105999987203996, -0.5105999987203996, 0.5105999987203996, 0.5105999987203996, -1.080883502960205, -1.156516432762146, 1.1425853967666626, -1.327280879020691, 1.6741273403167725, 1.003543734550476, -0.07146444916725159, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.842306911945343, -0.9270525574684143, -0.8078824877738953, -1.6118534803390503, -1.583772897720337, 1.0060514211654663, 0.04746232554316521, 0.4493999963278299, -0.4493999963278299, 0.4493999963278299, 0.4493999963278299, -0.4493999963278299, -0.4493999963278299, 0.4493999963278299, 0.4493999963278299, -1.0808871984481812, -1.1565275192260742, 1.1425776481628418, -1.3272857666015625, 1.674138069152832, 1.0035423040390015, -0.07142861932516098, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8330184817314148, -0.9192864298820496, -0.7867974638938904, -1.6109622716903687, -1.6086734533309937, 1.0060901641845703, 0.053236205130815506, 0.36839999576191323, -0.36839999576191323, 0.36839999576191323, 0.36839999576191323, -0.36839999576191323, -0.36839999576191323, 0.36839999576191323, 0.36839999576191323, -1.0808897018432617, -1.1565409898757935, 1.1425740718841553, -1.3272939920425415, 1.6741442680358887, 1.003541111946106, -0.07141483575105667, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8254712820053101, -0.91181880235672, -0.774966835975647, -1.6129324436187744, -1.629859209060669, 1.0061720609664917, 0.07058840245008469, 0.3150000045587728, -0.3150000045587728, 0.3150000045587728, 0.3150000045587728, -0.3150000045587728, -0.3150000045587728, 0.3150000045587728, 0.3150000045587728, -1.0808908939361572, -1.156558632850647, 1.1425615549087524, -1.32729971408844, 1.674130916595459, 1.0035381317138672, -0.0714661255478859, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8262037634849548, -0.9062364101409912, -0.7762676477432251, -1.61384916305542, -1.6391280889511108, 1.006189227104187, 0.0836939886212349, 0.2460000106266567, -0.2460000106266567, 0.2460000106266567, 0.2460000106266567, -0.2460000106266567, -0.2460000106266567, 0.2460000106266567, 0.2460000106266567, -1.0809009075164795, -1.1565645933151245, 1.1425602436065674, -1.3272966146469116, 1.674119234085083, 1.0035349130630493, -0.07150711119174957, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.837993323802948, -0.9025830626487732, -0.7878230810165405, -1.6138734817504883, -1.6396526098251343, 1.0061901807785034, 0.1009359359741211, 0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -1.0809282064437866, -1.1567208766937256, 1.142555594444275, -1.3272956609725952, 1.6740676164627075, 1.003530740737915, -0.07160250842571259, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.852815568447113, -0.8972583413124084, -0.789207935333252, -1.6186485290527344, -1.6339218616485596, 1.0061646699905396, 0.1007872149348259, 0.030000009117545676, -0.030000009117545676, 0.030000009117545676, 0.030000009117545676, -0.030000009117545676, -0.030000009117545676, 0.030000009117545676, 0.030000009117545676, -1.0809270143508911, -1.156686544418335, 1.142569899559021, -1.3272923231124878, 1.6740403175354004, 1.0035253763198853, -0.07161736488342285, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8648155927658081, -0.8959032297134399, -0.7856515049934387, -1.6227773427963257, -1.6231812238693237, 1.0061447620391846, 0.09677992761135101, 0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -1.0861951112747192, -1.1601885557174683, 1.150823712348938, -1.3300973176956177, 1.6582075357437134, 1.0035393238067627, -0.06339643150568008, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8716676831245422, -0.8966154456138611, -0.7824820280075073, -1.6197551488876343, -1.6067962646484375, 1.0061315298080444, 0.09420643746852875, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.098469614982605, -1.1728540658950806, 1.1696362495422363, -1.3315457105636597, 1.627500295639038, 1.0038546323776245, -0.04545101150870323, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8769044876098633, -0.8969911336898804, -0.7823895215988159, -1.619009017944336, -1.6002435684204102, 1.0061181783676147, 0.08778037130832672, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1022210121154785, -1.1746381521224976, 1.1732975244522095, -1.3327924013137817, 1.62248957157135, 1.0038725137710571, -0.039295073598623276, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.878351628780365, -0.8998878598213196, -0.7769761085510254, -1.6101025342941284, -1.5898182392120361, 1.0060291290283203, 0.0787508562207222, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1111294031143188, -1.1712390184402466, 1.1782491207122803, -1.3416224718093872, 1.6204146146774292, 1.0038681030273438, -0.030778246000409126, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8782525658607483, -0.9015293717384338, -0.7729218602180481, -1.6071645021438599, -1.5836485624313354, 1.0049527883529663, 0.07513150572776794, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1326982975006104, -1.1634503602981567, 1.1982561349868774, -1.3681670427322388, 1.6202607154846191, 1.0038663148880005, -0.018076404929161072, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.878226101398468, -0.9011262655258179, -0.7724852561950684, -1.6071540117263794, -1.5811192989349365, 1.0049171447753906, 0.06952456384897232, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1589670181274414, -1.1549081802368164, 1.2350000143051147, -1.4052319526672363, 1.6256483793258667, 1.0038678646087646, -0.02194383554160595, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8766588568687439, -0.9006844758987427, -0.7687065601348877, -1.6034585237503052, -1.5785449743270874, 1.004740595817566, 0.06260031461715698, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1976274251937866, -1.1466064453125, 1.2963900566101074, -1.4574373960494995, 1.6448010206222534, 1.0038704872131348, -0.042376697063446045, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8760018348693848, -0.9004561305046082, -0.7677643299102783, -1.6027873754501343, -1.5740042924880981, 1.0045069456100464, 0.057500191032886505, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2567921876907349, -1.140032410621643, 1.3745534420013428, -1.5364819765090942, 1.6658884286880493, 1.0038663148880005, -0.047671929001808167, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8742995858192444, -0.8998079299926758, -0.7637232542037964, -1.6027430295944214, -1.5680184364318848, 1.0038952827453613, 0.05098304897546768, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3002103567123413, -1.139510989189148, 1.414601445198059, -1.6086260080337524, 1.6718722581863403, 1.0038468837738037, -0.04943576827645302, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0324808359146118, -0.37616586685180664, 0.0, 0.0, 0.8696556091308594, -0.8992713689804077, -0.757207453250885, -1.6027754545211792, -1.5629593133926392, 1.0034128427505493, 0.04577302932739258, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2859961986541748, -1.1577625274658203, 1.387438416481018, -1.6093957424163818, 1.6734110116958618, 1.0029852390289307, -0.07498253881931305, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8664671778678894, -0.8984717726707458, -0.751105785369873, -1.6037222146987915, -1.5587197542190552, 1.0031810998916626, 0.039673417806625366, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2213351726531982, -1.19710111618042, 1.320584774017334, -1.5197821855545044, 1.655477523803711, 0.9931914210319519, -0.09149080514907837, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8646993041038513, -0.8978589177131653, -0.7489542365074158, -1.6060982942581177, -1.5540498495101929, 1.0029644966125488, 0.038308415561914444, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1684627532958984, -1.231412410736084, 1.291892170906067, -1.4246281385421753, 1.6340903043746948, 0.9859039783477783, -0.09527650475502014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8660101294517517, -0.8946234583854675, -0.7488206028938293, -1.6127771139144897, -1.5492427349090576, 1.002845048904419, 0.03284696117043495, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1528239250183105, -1.2463109493255615, 1.3058702945709229, -1.3684356212615967, 1.6156903505325317, 0.9911245107650757, -0.09572591632604599, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8742203116416931, -0.8929916024208069, -0.7532840371131897, -1.6190818548202515, -1.5432637929916382, 1.0028674602508545, 0.029569396749138832, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.153145670890808, -1.2525858879089355, 1.3282724618911743, -1.3364074230194092, 1.5931464433670044, 1.0023703575134277, -0.08814673125743866, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8774685859680176, -0.8923543691635132, -0.755172848701477, -1.625501036643982, -1.5334796905517578, 1.0028746128082275, 0.026956116780638695, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1490081548690796, -1.2590135335922241, 1.3280160427093506, -1.299285888671875, 1.577247977256775, 1.0032927989959717, -0.0791417807340622, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.880969226360321, -0.8911923170089722, -0.7585647702217102, -1.6326549053192139, -1.5259662866592407, 1.003260850906372, 0.024343077093362808, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.141548991203308, -1.2653359174728394, 1.3222662210464478, -1.271228313446045, 1.5639519691467285, 1.0032711029052734, -0.0626860037446022, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8933905363082886, -0.8884260058403015, -0.7729648947715759, -1.6462880373001099, -1.5108673572540283, 1.0044986009597778, 0.004337809979915619, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.126644492149353, -1.2691535949707031, 1.3163785934448242, -1.2471522092819214, 1.5604228973388672, 1.0032672882080078, -0.05506739392876625, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.919273853302002, -0.8882662057876587, -0.8145968914031982, -1.6610722541809082, -1.4851497411727905, 1.005636215209961, -0.03376159816980362, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1167925596237183, -1.2694118022918701, 1.310217022895813, -1.2357884645462036, 1.560105562210083, 1.0032787322998047, -0.055056728422641754, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.9582098126411438, -0.8887125849723816, -0.8886263370513916, -1.6849888563156128, -1.4401969909667969, 1.0061914920806885, -0.07210931926965714, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.1120984554290771, -1.2678616046905518, 1.3043076992034912, -1.2311551570892334, 1.5619453191757202, 1.003272533416748, -0.056561827659606934, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0083584785461426, -0.8947049975395203, -0.9923071265220642, -1.7153005599975586, -1.3904774188995361, 1.006712555885315, -0.10746806114912033, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.108280062675476, -1.2641674280166626, 1.2983790636062622, -1.2276562452316284, 1.564368724822998, 1.003205418586731, -0.05341465026140213, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.06447172164917, -0.9128761887550354, -1.1115548610687256, -1.7475354671478271, -1.3659260272979736, 1.0069656372070312, -0.12125758826732635, 0.1865999866317917, -0.1865999866317917, 0.1865999866317917, 0.1865999866317917, -0.1865999866317917, -0.1865999866317917, 0.1865999866317917, 0.1865999866317917, -1.105495810508728, -1.2605359554290771, 1.2936205863952637, -1.2217490673065186, 1.565946340560913, 1.0026589632034302, -0.04401422291994095, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1039040088653564, -0.937583863735199, -1.2172913551330566, -1.7557995319366455, -1.36831533908844, 1.0071585178375244, -0.1187083050608635, 0.33119999681200296, -0.33119999681200296, 0.33119999681200296, 0.33119999681200296, -0.33119999681200296, -0.33119999681200296, 0.33119999681200296, 0.33119999681200296, -1.1023057699203491, -1.2568039894104004, 1.2890279293060303, -1.2144811153411865, 1.5708367824554443, 1.0023798942565918, -0.035203780978918076, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.100882887840271, -0.9371031522750854, -1.2152577638626099, -1.7531496286392212, -1.3755038976669312, 1.0066297054290771, -0.11710325628519058, 0.5802000005985354, -0.5802000005985354, 0.5802000005985354, 0.5802000005985354, -0.5802000005985354, -0.5802000005985354, 0.5802000005985354, 0.5802000005985354, -1.1022818088531494, -1.2566362619400024, 1.288915991783142, -1.214218258857727, 1.57106614112854, 1.0023763179779053, -0.0352213978767395, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0987085103988647, -0.936465322971344, -1.1967275142669678, -1.7531870603561401, -1.3755459785461426, 1.0072734355926514, -0.11713524907827377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022801399230957, -1.2568111419677734, 1.2888689041137695, -1.2142515182495117, 1.571186900138855, 1.0023770332336426, -0.03542620688676834, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0989309549331665, -0.936782956123352, -1.1981960535049438, -1.753210186958313, -1.375536322593689, 1.0073909759521484, -0.11716809123754501, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102279543876648, -1.2568373680114746, 1.288872241973877, -1.214280128479004, 1.5711944103240967, 1.0023770332336426, -0.0356130413711071, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0990632772445679, -0.9367783665657043, -1.200573444366455, -1.7532188892364502, -1.3755184412002563, 1.0074093341827393, -0.11719097942113876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022758483886719, -1.2568416595458984, 1.2888813018798828, -1.2143146991729736, 1.571193814277649, 1.0023776292800903, -0.03564755618572235, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1018943786621094, -0.9369537830352783, -1.2034485340118408, -1.7597507238388062, -1.3665661811828613, 1.0074198246002197, -0.12108010053634644, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022734642028809, -1.256840705871582, 1.2888938188552856, -1.214339017868042, 1.5711954832077026, 1.0023788213729858, -0.03564959391951561, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1137311458587646, -0.9390166997909546, -1.2170823812484741, -1.803441047668457, -1.2127310037612915, 1.0074492692947388, -0.23570717871189117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102249026298523, -1.2568387985229492, 1.2889329195022583, -1.2143977880477905, 1.5712393522262573, 1.0023913383483887, -0.03563305363059044, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1307384967803955, -0.9439166784286499, -1.2266713380813599, -1.882829189300537, -0.8729518055915833, 1.0060759782791138, -0.38482052087783813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022591590881348, -1.2568365335464478, 1.2889331579208374, -1.2143974304199219, 1.571203351020813, 1.0023926496505737, -0.035720180720090866, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1668446063995361, -0.9515292048454285, -1.2310009002685547, -1.9575459957122803, -0.5305259227752686, 0.9876548647880554, -0.4695274233818054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022765636444092, -1.2568340301513672, 1.2889305353164673, -1.2143664360046387, 1.5711772441864014, 1.002398133277893, -0.03577926382422447, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2198501825332642, -0.9746870994567871, -1.2682219743728638, -1.9830273389816284, -0.3068806529045105, 0.9358478784561157, -0.5171784162521362, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102280616760254, -1.2568479776382446, 1.2889174222946167, -1.2143501043319702, 1.571134328842163, 1.0023964643478394, -0.03589670732617378, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2352032661437988, -0.9841040372848511, -1.299336314201355, -1.974849820137024, -0.29236283898353577, 0.9193118214607239, -0.5431315302848816, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022769212722778, -1.2568325996398926, 1.2889248132705688, -1.2143248319625854, 1.571112036705017, 1.0023937225341797, -0.03590521588921547, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.22722327709198, -0.9817975759506226, -1.2836030721664429, -1.975542664527893, -0.3673616647720337, 0.9225648045539856, -0.5309600234031677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022754907608032, -1.2568329572677612, 1.2889244556427002, -1.2143194675445557, 1.5711528062820435, 1.002392292022705, -0.03578153997659683, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2256442308425903, -0.9819452166557312, -1.28309965133667, -1.9767411947250366, -0.3688409924507141, 0.9228050708770752, -0.5306110382080078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022794246673584, -1.2568325996398926, 1.288920521736145, -1.214314579963684, 1.5711580514907837, 1.0023915767669678, -0.035775188356637955, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2194569110870361, -0.98553067445755, -1.2780581712722778, -1.983763337135315, -0.33989250659942627, 0.9445462822914124, -0.5401063561439514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022872924804688, -1.2568092346191406, 1.2889232635498047, -1.2142951488494873, 1.5711551904678345, 1.0023901462554932, -0.03578981012105942, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.199968695640564, -0.9966082572937012, -1.2352486848831177, -2.0090525150299072, -0.14703696966171265, 0.9718764424324036, -0.6346856355667114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102291464805603, -1.2568076848983765, 1.2889190912246704, -1.2142844200134277, 1.571178674697876, 1.0023870468139648, -0.03581797331571579, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2388548851013184, -1.0063318014144897, -1.2164547443389893, -2.0759925842285156, 0.1784193366765976, 0.8334557414054871, -0.690342903137207, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1022769212722778, -1.256813883781433, 1.2889177799224854, -1.2143025398254395, 1.5715323686599731, 1.0023969411849976, -0.03557780757546425, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.2821977138519287, -1.022020936012268, -1.2167913913726807, -2.117002487182617, 0.5042006969451904, 0.7520967721939087, -0.7666861414909363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023176908493042, -1.2568079233169556, 1.2888907194137573, -1.2142596244812012, 1.5708881616592407, 1.0023905038833618, -0.036300577223300934, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3318207263946533, -1.0474202632904053, -1.2856414318084717, -2.1174445152282715, 0.6163133382797241, 0.6391539573669434, -0.8252012729644775, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1024199724197388, -1.2566924095153809, 1.2889095544815063, -1.2142642736434937, 1.5714938640594482, 1.0023863315582275, -0.03560848906636238, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3498557806015015, -1.0650500059127808, -1.3363993167877197, -2.1187124252319336, 0.5719797015190125, 0.5103338360786438, -0.9334094524383545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023344993591309, -1.2566630840301514, 1.2889186143875122, -1.214268445968628, 1.5714235305786133, 1.0024101734161377, -0.03577243164181709, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.349938988685608, -1.0699131488800049, -1.3337225914001465, -2.1200480461120605, 0.5981315970420837, 0.4958401024341583, -0.9900707602500916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102341890335083, -1.256668210029602, 1.2889139652252197, -1.214268445968628, 1.5712239742279053, 1.0024031400680542, -0.0360155925154686, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.348800539970398, -1.0690560340881348, -1.3309333324432373, -2.1188416481018066, 0.6023452281951904, 0.5079923868179321, -0.9545964598655701, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023300886154175, -1.2566746473312378, 1.288912057876587, -1.2142765522003174, 1.5714292526245117, 1.0024067163467407, -0.03573552146553993, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3476495742797852, -1.0683510303497314, -1.3318718671798706, -2.1188573837280273, 0.60107421875, 0.5088164210319519, -0.9520663619041443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023379564285278, -1.2566795349121094, 1.2889004945755005, -1.2142760753631592, 1.571350336074829, 1.0024070739746094, -0.035906415432691574, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.347647786140442, -1.0683441162109375, -1.3319203853607178, -2.1188645362854004, 0.6008411049842834, 0.5091226100921631, -0.9530169367790222, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023355722427368, -1.2566847801208496, 1.2888983488082886, -1.2142809629440308, 1.5713696479797363, 1.002410650253296, -0.03587118163704872, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.347695231437683, -1.0687919855117798, -1.3322536945343018, -2.119021415710449, 0.6042664051055908, 0.5061511993408203, -0.95793217420578, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023362874984741, -1.2566875219345093, 1.2888938188552856, -1.214281439781189, 1.5713478326797485, 1.0024107694625854, -0.03588232770562172, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3494887351989746, -1.087691307067871, -1.3558229207992554, -2.093158483505249, 0.625474214553833, 0.38454297184944153, -1.036150574684143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023366451263428, -1.2566975355148315, 1.2888566255569458, -1.214282751083374, 1.5713082551956177, 1.0024123191833496, -0.03588700294494629, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3723268508911133, -1.110366940498352, -1.3849952220916748, -2.081766366958618, 0.6058072447776794, 0.18819032609462738, -1.0615158081054688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023058891296387, -1.2566993236541748, 1.2888540029525757, -1.214329719543457, 1.5713568925857544, 1.0024350881576538, -0.035733841359615326, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3767774105072021, -1.1276609897613525, -1.4035166501998901, -2.0516319274902344, 0.6177266240119934, 0.018441084772348404, -1.126718282699585, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023283004760742, -1.2567031383514404, 1.2887951135635376, -1.2143231630325317, 1.570980191230774, 1.0024179220199585, -0.03620098903775215, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3793185949325562, -1.1387652158737183, -1.4129095077514648, -2.030696392059326, 0.6073309183120728, -0.1302710473537445, -1.1703174114227295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023086309432983, -1.2566975355148315, 1.2887907028198242, -1.2143279314041138, 1.5713847875595093, 1.0024176836013794, -0.035713110119104385, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3805655241012573, -1.1542038917541504, -1.4229766130447388, -2.0156755447387695, 0.6108618378639221, -0.23098838329315186, -1.1901382207870483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023222208023071, -1.2566871643066406, 1.2887909412384033, -1.214307427406311, 1.571176528930664, 1.002416729927063, -0.03599461913108826, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3788914680480957, -1.1633307933807373, -1.4148004055023193, -2.0121703147888184, 0.5792654156684875, -0.2701681852340698, -1.2354605197906494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023045778274536, -1.256687045097351, 1.2887951135635376, -1.2142962217330933, 1.5711997747421265, 1.0024164915084839, -0.0359121672809124, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3757230043411255, -1.178452491760254, -1.3991740942001343, -1.9976407289505005, 0.6762375831604004, -0.31196194887161255, -1.2506781816482544, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023131608963013, -1.2566875219345093, 1.2887916564941406, -1.2142910957336426, 1.5711307525634766, 1.002413034439087, -0.03599102422595024, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3693650960922241, -1.1868507862091064, -1.386325716972351, -1.982115626335144, 0.699374794960022, -0.32627591490745544, -1.2681957483291626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102307915687561, -1.2566865682601929, 1.2887928485870361, -1.2142916917800903, 1.5712345838546753, 1.0024131536483765, -0.03587022423744202, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3650095462799072, -1.198301911354065, -1.3786284923553467, -1.9649181365966797, 0.6958045959472656, -0.32805630564689636, -1.276193618774414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102309226989746, -1.2566888332366943, 1.2887911796569824, -1.2142897844314575, 1.571207046508789, 1.002413034439087, -0.03589850664138794, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.365248680114746, -1.2082905769348145, -1.3773003816604614, -1.9525432586669922, 0.7200515270233154, -0.34557926654815674, -1.2835453748703003, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023105382919312, -1.2566872835159302, 1.2887917757034302, -1.2142884731292725, 1.571211338043213, 1.0024147033691406, -0.035892754793167114, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3651570081710815, -1.2149029970169067, -1.3730980157852173, -1.944370150566101, 0.7324778437614441, -0.361481249332428, -1.284917950630188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023117303848267, -1.2566858530044556, 1.2887918949127197, -1.2142808437347412, 1.5712002515792847, 1.0024152994155884, -0.035907015204429626, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3517552614212036, -1.2257845401763916, -1.3620136976242065, -1.9356509447097778, 0.7566525340080261, -0.3649807572364807, -1.2842621803283691, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023194789886475, -1.2566742897033691, 1.2887921333312988, -1.2141273021697998, 1.5710422992706299, 1.0024135112762451, -0.03609732538461685, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3398855924606323, -1.2336068153381348, -1.3554553985595703, -1.923755168914795, 0.7627350091934204, -0.3734389841556549, -1.2857788801193237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023093461990356, -1.2566759586334229, 1.2887927293777466, -1.2141309976577759, 1.5711101293563843, 1.002411961555481, -0.03597844019532204, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.328026294708252, -1.2422362565994263, -1.348161220550537, -1.9146196842193604, 0.7726289629936218, -0.38578370213508606, -1.2920037508010864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102319598197937, -1.256671667098999, 1.2887930870056152, -1.214124321937561, 1.5709308385849, 1.0023797750473022, -0.03622160106897354, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3134361505508423, -1.2464967966079712, -1.3335319757461548, -1.912962794303894, 0.7845319509506226, -0.4065443277359009, -1.3080276250839233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1023223400115967, -1.2566601037979126, 1.2887938022613525, -1.2141188383102417, 1.5708587169647217, 1.0023425817489624, -0.036307767033576965, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.314894676208496, -1.2510322332382202, -1.3308095932006836, -1.9196808338165283, 0.7918590903282166, -0.4206068515777588, -1.3169313669204712, 0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -1.102327823638916, -1.256645917892456, 1.2887934446334839, -1.214112401008606, 1.570926308631897, 1.0023435354232788, -0.03618061542510986, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.32058846950531, -1.256405234336853, -1.3293055295944214, -1.9326751232147217, 0.8140469193458557, -0.43795737624168396, -1.3264840841293335, 0.5201999981324751, -0.5201999981324751, 0.5201999981324751, 0.5201999981324751, -0.5201999981324751, -0.5201999981324751, 0.5201999981324751, 0.5201999981324751, -1.102354645729065, -1.256615161895752, 1.288792610168457, -1.2139970064163208, 1.5708673000335693, 1.0023434162139893, -0.03629733994603157, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.321588158607483, -1.2601011991500854, -1.3303604125976562, -1.9366897344589233, 0.8152448534965515, -0.45571011304855347, -1.3370000123977661, 0.4493999963278299, -0.4493999963278299, 0.4493999963278299, 0.4493999963278299, -0.4493999963278299, -0.4493999963278299, 0.4493999963278299, 0.4493999963278299, -1.1023907661437988, -1.256596326828003, 1.2887921333312988, -1.213804006576538, 1.5707213878631592, 1.0022224187850952, -0.03650454804301262, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3270164728164673, -1.2616207599639893, -1.3320491313934326, -1.938462495803833, 0.8156371116638184, -0.4591754674911499, -1.3444437980651855, 0.33119999681200296, -0.33119999681200296, 0.33119999681200296, 0.33119999681200296, -0.33119999681200296, -0.33119999681200296, 0.33119999681200296, 0.33119999681200296, -1.1023870706558228, -1.256575345993042, 1.28879976272583, -1.2138981819152832, 1.5710784196853638, 1.0022183656692505, -0.03600899875164032, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3320810794830322, -1.2628374099731445, -1.3309166431427002, -1.940645456314087, 0.811406672000885, -0.4745675027370453, -1.3476884365081787, 0.30360000709910967, -0.30360000709910967, 0.30360000709910967, 0.30360000709910967, -0.30360000709910967, -0.30360000709910967, 0.30360000709910967, 0.30360000709910967, -1.1024426221847534, -1.2565748691558838, 1.288793921470642, -1.2139338254928589, 1.5710406303405762, 1.0022281408309937, -0.03608773648738861, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.332647442817688, -1.2633159160614014, -1.325247883796692, -1.944478988647461, 0.8205873370170593, -0.47632932662963867, -1.34746253490448, 0.2844000082749587, -0.2844000082749587, 0.2844000082749587, 0.2844000082749587, -0.2844000082749587, -0.2844000082749587, 0.2844000082749587, 0.2844000082749587, -1.1024526357650757, -1.256568193435669, 1.2887940406799316, -1.213929295539856, 1.5710173845291138, 1.0022809505462646, -0.036183372139930725, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3346514701843262, -1.2618173360824585, -1.3222779035568237, -1.9444489479064941, 0.8185031414031982, -0.48036980628967285, -1.3442761898040771, 0.27059999376862914, -0.27059999376862914, 0.27059999376862914, 0.27059999376862914, -0.27059999376862914, -0.27059999376862914, 0.27059999376862914, 0.27059999376862914, -1.1024458408355713, -1.2565689086914062, 1.2887951135635376, -1.2139266729354858, 1.570942997932434, 1.0022796392440796, -0.03633029758930206, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.341558814048767, -1.2591239213943481, -1.3212815523147583, -1.9472568035125732, 0.8158928751945496, -0.48311659693717957, -1.3405072689056396, 0.22919998954940626, -0.22919998954940626, 0.22919998954940626, 0.22919998954940626, -0.22919998954940626, -0.22919998954940626, 0.22919998954940626, 0.22919998954940626, -1.1023565530776978, -1.256577730178833, 1.2888009548187256, -1.2139852046966553, 1.5711249113082886, 1.0022820234298706, -0.036058735102415085, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3468142747879028, -1.2544984817504883, -1.3179880380630493, -1.9486839771270752, 0.8167624473571777, -0.4871841371059418, -1.3385802507400513, 0.17519998917212856, -0.17519998917212856, 0.17519998917212856, 0.17519998917212856, -0.17519998917212856, -0.17519998917212856, 0.17519998917212856, 0.17519998917212856, -1.1023552417755127, -1.2565768957138062, 1.2887961864471436, -1.213987946510315, 1.5710947513580322, 1.0022907257080078, -0.036111943423748016, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3541033267974854, -1.2502367496490479, -1.316536545753479, -1.9550023078918457, 0.8189805746078491, -0.49148887395858765, -1.3343102931976318, 0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -1.1023682355880737, -1.2565869092941284, 1.288791537284851, -1.214037537574768, 1.571319580078125, 1.0024267435073853, -0.03591456636786461, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.359307885169983, -1.2468782663345337, -1.3129056692123413, -1.9585851430892944, 0.8159599900245667, -0.4968208968639374, -1.3317124843597412, 0.10200000962058269, -0.10200000962058269, 0.10200000962058269, 0.10200000962058269, -0.10200000962058269, -0.10200000962058269, 0.10200000962058269, 0.10200000962058269, -1.1023399829864502, -1.2566142082214355, 1.2887814044952393, -1.2140828371047974, 1.5713541507720947, 1.002429723739624, -0.03588616102933884, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3676879405975342, -1.2449835538864136, -1.3112386465072632, -1.9607808589935303, 0.8179255127906799, -0.499264121055603, -1.3306280374526978, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -1.1023303270339966, -1.2566317319869995, 1.2887812852859497, -1.2141691446304321, 1.5714410543441772, 1.0024298429489136, -0.03582432493567467, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3722903728485107, -1.2430531978607178, -1.3127508163452148, -1.9687827825546265, 0.8129721879959106, -0.5030136108398438, -1.329368233680725, 0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -1.1023271083831787, -1.2566356658935547, 1.288779854774475, -1.214194416999817, 1.5715066194534302, 1.0024359226226807, -0.035731565207242966, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.372720718383789, -1.2414474487304688, -1.3112492561340332, -1.9712920188903809, 0.8166707754135132, -0.5032421946525574, -1.328108310699463, 0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -1.1023309230804443, -1.256654143333435, 1.2887465953826904, -1.2142449617385864, 1.5716583728790283, 1.0026016235351562, -0.035599980503320694, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3730964660644531, -1.241099238395691, -1.3110826015472412, -1.971921682357788, 0.8181547522544861, -0.5061342120170593, -1.3256620168685913, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.1023788452148438, -1.2577316761016846, 1.2890108823776245, -1.215001106262207, 1.5657018423080444, 1.002608060836792, -0.032760195434093475, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.378981351852417, -1.241883635520935, -1.3201613426208496, -1.9771820306777954, 0.8144264817237854, -0.5075255632400513, -1.324941635131836, 0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -1.100380778312683, -1.2617979049682617, 1.2897157669067383, -1.2113707065582275, 1.5457996129989624, 1.00262451171875, -0.018104208633303642, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3849867582321167, -1.241790533065796, -1.321378231048584, -1.9932819604873657, 0.8108362555503845, -0.5106372833251953, -1.3217535018920898, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.0904399156570435, -1.2652344703674316, 1.2829444408416748, -1.1986491680145264, 1.5386985540390015, 1.0032966136932373, -0.00722109479829669, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.385636329650879, -1.2411022186279297, -1.3194596767425537, -1.9960862398147583, 0.8069473505020142, -0.510865330696106, -1.3216947317123413, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.0801470279693604, -1.267667293548584, 1.2722690105438232, -1.1868399381637573, 1.5364950895309448, 1.003456711769104, 0.0038879222702234983, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3854840993881226, -1.238539457321167, -1.308829665184021, -1.9962223768234253, 0.8063268065452576, -0.5125110149383545, -1.3211424350738525, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.0714528560638428, -1.268137812614441, 1.2622429132461548, -1.1795926094055176, 1.536612629890442, 1.0034809112548828, 0.00863918848335743, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3824195861816406, -1.235484004020691, -1.2997087240219116, -1.9964698553085327, 0.7997252941131592, -0.5133993029594421, -1.3205609321594238, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.067350149154663, -1.2678873538970947, 1.2545714378356934, -1.1811425685882568, 1.5415587425231934, 1.0035691261291504, 0.008652490563690662, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3778040409088135, -1.2363791465759277, -1.2920739650726318, -1.99405837059021, 0.796395480632782, -0.5136425495147705, -1.3214921951293945, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.0682612657546997, -1.264155626296997, 1.2473970651626587, -1.1942564249038696, 1.5498425960540771, 1.0035693645477295, 0.004159245174378157, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3734111785888672, -1.2411202192306519, -1.2888388633728027, -1.9860668182373047, 0.7966762781143188, -0.5125721096992493, -1.3244723081588745, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.072370171546936, -1.258357286453247, 1.2443671226501465, -1.2116118669509888, 1.5604192018508911, 1.0035672187805176, -1.2583435818669386e-05, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3719078302383423, -1.2444144487380981, -1.2868374586105347, -1.9836578369140625, 0.8023368120193481, -0.51193767786026, -1.3253962993621826, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.0864753723144531, -1.2490990161895752, 1.2490049600601196, -1.2418631315231323, 1.5697795152664185, 1.0035632848739624, 0.006951569579541683, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.37208890914917, -1.2466706037521362, -1.287365198135376, -1.9837108850479126, 0.8051976561546326, -0.5119593739509583, -1.3253990411758423, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.1078637838363647, -1.2359883785247803, 1.251247525215149, -1.2798877954483032, 1.5874354839324951, 1.0035498142242432, 0.010550911538302898, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3726106882095337, -1.2473340034484863, -1.2881698608398438, -1.9843130111694336, 0.8068645596504211, -0.5121391415596008, -1.325304627418518, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.128941535949707, -1.220918893814087, 1.2470988035202026, -1.3124916553497314, 1.6131850481033325, 1.0035414695739746, 0.011369554325938225, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3729538917541504, -1.24732506275177, -1.2881442308425903, -1.9854921102523804, 0.8114315867424011, -0.513019859790802, -1.3243993520736694, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.140965461730957, -1.2072821855545044, 1.2351961135864258, -1.3302767276763916, 1.6320112943649292, 1.0035372972488403, 0.01006027776747942, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3729326725006104, -1.2469828128814697, -1.2859594821929932, -1.9868619441986084, 0.8159050941467285, -0.5134535431861877, -1.323661208152771, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.155897617340088, -1.194178819656372, 1.2263926267623901, -1.3510284423828125, 1.6506292819976807, 1.0035325288772583, 0.011920828372240067, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3709313869476318, -1.2464313507080078, -1.279767632484436, -1.9890347719192505, 0.821329653263092, -0.5132272839546204, -1.3239530324935913, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.17269766330719, -1.179020881652832, 1.2183047533035278, -1.376766562461853, 1.667191505432129, 1.0035299062728882, 0.012172137387096882, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.365581750869751, -1.24651038646698, -1.2736002206802368, -1.9907184839248657, 0.8248787522315979, -0.5114494562149048, -1.3262110948562622, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.188870906829834, -1.1660687923431396, 1.2136467695236206, -1.396803855895996, 1.6784535646438599, 1.00352942943573, 0.002470308216288686, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3632222414016724, -1.2469979524612427, -1.2712676525115967, -1.997223138809204, 0.8243529796600342, -0.510360062122345, -1.3275346755981445, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2019376754760742, -1.156828761100769, 1.2138385772705078, -1.40110182762146, 1.6902199983596802, 1.0035289525985718, -0.010898933745920658, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3606542348861694, -1.2474445104599, -1.2690199613571167, -2.0039989948272705, 0.826302707195282, -0.506463885307312, -1.3317209482192993, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2157682180404663, -1.1487101316452026, 1.2172449827194214, -1.4081125259399414, 1.6986322402954102, 1.0035265684127808, -0.016192246228456497, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.35874342918396, -1.2490129470825195, -1.266652226448059, -2.0107734203338623, 0.8316497206687927, -0.5039011836051941, -1.334382176399231, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2281066179275513, -1.1390860080718994, 1.2188485860824585, -1.4222131967544556, 1.7046619653701782, 1.0035011768341064, -0.015693821012973785, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.357376217842102, -1.2531700134277344, -1.26609468460083, -2.0119118690490723, 0.836219310760498, -0.5023107528686523, -1.3362261056900024, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2385993003845215, -1.1289734840393066, 1.2194830179214478, -1.4327242374420166, 1.714970350265503, 1.0034763813018799, -0.014365250244736671, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3539081811904907, -1.2582491636276245, -1.266109824180603, -2.015139579772949, 0.8382802605628967, -0.4979918897151947, -1.3411718606948853, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2455997467041016, -1.1206927299499512, 1.2197424173355103, -1.4352127313613892, 1.7235466241836548, 1.0034692287445068, -0.013807504437863827, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3505359888076782, -1.2633553743362427, -1.2674826383590698, -2.0240960121154785, 0.8421477675437927, -0.49133309721946716, -1.3437095880508423, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2482584714889526, -1.1103013753890991, 1.2137600183486938, -1.436563491821289, 1.733759880065918, 1.0034490823745728, -0.008691439405083656, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3469222784042358, -1.2684634923934937, -1.2675608396530151, -2.0288519859313965, 0.8479783535003662, -0.48368212580680847, -1.3449984788894653, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2520173788070679, -1.0985594987869263, 1.206933617591858, -1.444227933883667, 1.7404431104660034, 1.003428339958191, -0.004297063685953617, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.34351646900177, -1.2728955745697021, -1.2674736976623535, -2.0308024883270264, 0.8544965386390686, -0.4748159348964691, -1.3457543849945068, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.254863977432251, -1.0881359577178955, 1.1999287605285645, -1.4469388723373413, 1.7468549013137817, 1.0034260749816895, 0.0016535833710804582, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3372128009796143, -1.2771705389022827, -1.2649885416030884, -2.0307862758636475, 0.8609790802001953, -0.4669303297996521, -1.3453776836395264, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2548466920852661, -1.079405426979065, 1.1915379762649536, -1.4469960927963257, 1.752974271774292, 1.0034259557724, 0.0029058149084448814, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3301188945770264, -1.2823264598846436, -1.2643333673477173, -2.0307116508483887, 0.8654513359069824, -0.4551866352558136, -1.3433691263198853, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.254154920578003, -1.0737515687942505, 1.1856977939605713, -1.445863962173462, 1.7633365392684937, 1.0034254789352417, -0.002013829071074724, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3248322010040283, -1.286443829536438, -1.2642778158187866, -2.030336856842041, 0.8707137703895569, -0.4439145028591156, -1.3398544788360596, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2473230361938477, -1.0680791139602661, 1.1728732585906982, -1.4374611377716064, 1.783291220664978, 1.0033777952194214, -0.00933762826025486, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3219960927963257, -1.2894741296768188, -1.2628912925720215, -2.0287954807281494, 0.8766754269599915, -0.4377148151397705, -1.337311029434204, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2355631589889526, -1.0639736652374268, 1.1612284183502197, -1.4295750856399536, 1.8041740655899048, 1.0033175945281982, -0.02405569516122341, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3163944482803345, -1.293662428855896, -1.2598881721496582, -2.0243618488311768, 0.8850172758102417, -0.4257025718688965, -1.3303378820419312, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2245473861694336, -1.0629043579101562, 1.1531281471252441, -1.423827052116394, 1.8233612775802612, 1.00346839427948, -0.045030005276203156, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.309906244277954, -1.2971954345703125, -1.2594777345657349, -2.017688274383545, 0.8870881199836731, -0.41486090421676636, -1.320251226425171, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2179958820343018, -1.062154769897461, 1.1485434770584106, -1.4213333129882812, 1.844391107559204, 1.0036699771881104, -0.06511940062046051, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3042999505996704, -1.300663709640503, -1.2595902681350708, -2.0111680030822754, 0.8910055756568909, -0.4079517722129822, -1.311156988143921, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.209080457687378, -1.062116265296936, 1.1457315683364868, -1.4142104387283325, 1.8653144836425781, 1.0038131475448608, -0.0846189334988594, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2935214042663574, -1.3054248094558716, -1.2585248947143555, -1.998900294303894, 0.8973183631896973, -0.40005967020988464, -1.3057141304016113, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.201582908630371, -1.0621602535247803, 1.142736792564392, -1.4085557460784912, 1.8825370073318481, 1.0038224458694458, -0.10402115434408188, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2842130661010742, -1.3100241422653198, -1.2540727853775024, -1.9860097169876099, 0.9013916850090027, -0.39447587728500366, -1.2999385595321655, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1916475296020508, -1.0623496770858765, 1.1373077630996704, -1.399673581123352, 1.9063657522201538, 1.003825068473816, -0.1292407512664795, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2783256769180298, -1.314096212387085, -1.2525657415390015, -1.976019024848938, 0.9072344899177551, -0.38832470774650574, -1.2930777072906494, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1822595596313477, -1.0625938177108765, 1.1310800313949585, -1.3942043781280518, 1.928338646888733, 1.0038241147994995, -0.15235677361488342, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.270795464515686, -1.3169562816619873, -1.249316692352295, -1.9646672010421753, 0.909727931022644, -0.38408327102661133, -1.2888123989105225, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.169683575630188, -1.0626176595687866, 1.1210393905639648, -1.3858250379562378, 1.9543979167938232, 1.0038249492645264, -0.1789969801902771, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2639634609222412, -1.320935606956482, -1.2469426393508911, -1.9548587799072266, 0.9136006236076355, -0.38134104013442993, -1.2851686477661133, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1576303243637085, -1.0617879629135132, 1.1125211715698242, -1.3828234672546387, 1.9880353212356567, 1.0038256645202637, -0.21733799576759338, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2615861892700195, -1.3230903148651123, -1.245958924293518, -1.9500741958618164, 0.9177632331848145, -0.37844419479370117, -1.2812321186065674, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1453461647033691, -1.0607484579086304, 1.1059032678604126, -1.3809783458709717, 2.0299010276794434, 1.0038251876831055, -0.2646358907222748, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2582780122756958, -1.3274540901184082, -1.2459850311279297, -1.9417990446090698, 0.9203610420227051, -0.37234747409820557, -1.2765753269195557, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1376656293869019, -1.0597432851791382, 1.1011713743209839, -1.3790661096572876, 2.0635244846343994, 1.0038076639175415, -0.29892072081565857, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2547937631607056, -1.3304945230484009, -1.2462172508239746, -1.934085488319397, 0.9259746670722961, -0.36577075719833374, -1.2705271244049072, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.133415937423706, -1.0590039491653442, 1.098716139793396, -1.3780092000961304, 2.0849339962005615, 1.003196120262146, -0.3185230791568756, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.250053882598877, -1.3345319032669067, -1.246902585029602, -1.920362114906311, 0.9275373220443726, -0.36499059200286865, -1.263719081878662, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.132792592048645, -1.0563863515853882, 1.0956156253814697, -1.3753408193588257, 2.0957860946655273, 1.0017318725585938, -0.3196318745613098, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2438902854919434, -1.3389047384262085, -1.2463339567184448, -1.9017982482910156, 0.93608158826828, -0.36109259724617004, -1.2526535987854004, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1325567960739136, -1.0522960424423218, 1.0917994976043701, -1.373313069343567, 2.102123975753784, 0.9993849992752075, -0.31525906920433044, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2367687225341797, -1.343961477279663, -1.2415332794189453, -1.8788210153579712, 0.9450907111167908, -0.3585209250450134, -1.2386422157287598, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1313786506652832, -1.0476069450378418, 1.0872708559036255, -1.3715479373931885, 2.10847806930542, 0.9973080158233643, -0.3141365051269531, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2295976877212524, -1.3490053415298462, -1.234535813331604, -1.8578554391860962, 0.9547715783119202, -0.3580223619937897, -1.226610779762268, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.128618597984314, -1.0430430173873901, 1.0828053951263428, -1.3685033321380615, 2.1135008335113525, 0.9961655735969543, -0.3128207325935364, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2232314348220825, -1.3537657260894775, -1.2300736904144287, -1.8394386768341064, 0.9632295370101929, -0.35510385036468506, -1.2168842554092407, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1257153749465942, -1.0402743816375732, 1.080101490020752, -1.365382432937622, 2.117077350616455, 0.9954702258110046, -0.31286975741386414, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2185442447662354, -1.3581957817077637, -1.2306828498840332, -1.817453145980835, 0.9654688239097595, -0.35218510031700134, -1.2082386016845703, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1249823570251465, -1.038582682609558, 1.0796822309494019, -1.3640714883804321, 2.118557929992676, 0.9950491189956665, -0.3126603960990906, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2148408889770508, -1.3629409074783325, -1.2311750650405884, -1.7999210357666016, 0.9727419018745422, -0.3522806167602539, -1.2038339376449585, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1259491443634033, -1.0362601280212402, 1.079888105392456, -1.3639583587646484, 2.1183669567108154, 0.9940893054008484, -0.3096757233142853, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2117650508880615, -1.3670836687088013, -1.2302029132843018, -1.7859618663787842, 0.9792805314064026, -0.3522144556045532, -1.199945092201233, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.129744291305542, -1.0332486629486084, 1.0832045078277588, -1.3676776885986328, 2.1199028491973877, 0.993383526802063, -0.30947738885879517, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2103239297866821, -1.3708889484405518, -1.2286756038665771, -1.778809905052185, 0.987118661403656, -0.35316550731658936, -1.1977043151855469, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1371415853500366, -1.0259673595428467, 1.0887172222137451, -1.3778349161148071, 2.119932174682617, 0.9917445778846741, -0.3106846809387207, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.209047794342041, -1.3734092712402344, -1.228960394859314, -1.77354896068573, 0.9923977255821228, -0.35497981309890747, -1.1943615674972534, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1482998132705688, -1.0155373811721802, 1.0983527898788452, -1.3901516199111938, 2.119527816772461, 0.9917404055595398, -0.31197789311408997, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2077088356018066, -1.3743425607681274, -1.2336457967758179, -1.7719011306762695, 1.000749111175537, -0.3549865186214447, -1.1919560432434082, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1714895963668823, -1.0019563436508179, 1.1144860982894897, -1.4138706922531128, 2.1175742149353027, 0.9953254461288452, -0.31652721762657166, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2069729566574097, -1.3744930028915405, -1.236488699913025, -1.7695493698120117, 1.0080314874649048, -0.35384875535964966, -1.1894205808639526, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2034075260162354, -0.9912947416305542, 1.1406978368759155, -1.4444254636764526, 2.112840414047241, 0.9987887740135193, -0.319160521030426, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2069785594940186, -1.3760679960250854, -1.2363886833190918, -1.7690106630325317, 1.011297583580017, -0.3512674570083618, -1.1890071630477905, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.231175184249878, -0.9823822975158691, 1.170226812362671, -1.4725037813186646, 2.1023001670837402, 1.00002121925354, -0.3114209771156311, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2071211338043213, -1.3770993947982788, -1.2360725402832031, -1.76939857006073, 1.0103496313095093, -0.3473208248615265, -1.1911691427230835, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2423381805419922, -0.9805597066879272, 1.1933428049087524, -1.4878642559051514, 2.075482130050659, 1.0004557371139526, -0.2762734293937683, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2077924013137817, -1.3774749040603638, -1.235317587852478, -1.770621418952942, 1.012290596961975, -0.345879465341568, -1.191166639328003, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.244097113609314, -0.9849057793617249, 1.2051761150360107, -1.4933613538742065, 2.0306289196014404, 1.0005437135696411, -0.21797867119312286, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2083673477172852, -1.3779617547988892, -1.235283613204956, -1.7706660032272339, 1.013237476348877, -0.34593257308006287, -1.1908738613128662, 0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -1.2433559894561768, -0.9946427941322327, 1.21122145652771, -1.4943586587905884, 1.996497631072998, 1.0006929636001587, -0.1752992570400238, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2094001770019531, -1.3792701959609985, -1.2366631031036377, -1.7720417976379395, 1.013584017753601, -0.344514936208725, -1.1868621110916138, 0.046200001370775866, -0.046200001370775866, 0.046200001370775866, 0.046200001370775866, -0.046200001370775866, -0.046200001370775866, 0.046200001370775866, 0.046200001370775866, -1.237453818321228, -1.0085760354995728, 1.2098724842071533, -1.4878286123275757, 1.971176028251648, 1.0009868144989014, -0.15829268097877502, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2093119621276855, -1.3813310861587524, -1.2404835224151611, -1.7741516828536987, 1.0128471851348877, -0.3438354432582855, -1.1820682287216187, 0.08759998594011582, -0.08759998594011582, 0.08759998594011582, 0.08759998594011582, -0.08759998594011582, -0.08759998594011582, 0.08759998594011582, 0.08759998594011582, -1.2271066904067993, -1.020581841468811, 1.2005730867385864, -1.4802616834640503, 1.950568437576294, 1.0012344121932983, -0.1508171558380127, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2097625732421875, -1.382224440574646, -1.2442010641098022, -1.7759491205215454, 1.0115549564361572, -0.34430521726608276, -1.1797374486923218, 0.12599998358841782, -0.12599998358841782, 0.12599998358841782, 0.12599998358841782, -0.12599998358841782, -0.12599998358841782, 0.12599998358841782, 0.12599998358841782, -1.2186027765274048, -1.034909725189209, 1.200364589691162, -1.4689472913742065, 1.9278874397277832, 1.0014777183532715, -0.13757051527500153, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2106566429138184, -1.3822640180587769, -1.2460193634033203, -1.776552677154541, 1.0110708475112915, -0.34391069412231445, -1.1759191751480103, 0.14280000466566817, -0.14280000466566817, 0.14280000466566817, 0.14280000466566817, -0.14280000466566817, -0.14280000466566817, 0.14280000466566817, 0.14280000466566817, -1.2084614038467407, -1.0493041276931763, 1.1996710300445557, -1.456149697303772, 1.9096144437789917, 1.0015252828598022, -0.1263979822397232, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2106224298477173, -1.3824727535247803, -1.247645616531372, -1.776548981666565, 1.0092637538909912, -0.34383219480514526, -1.1733057498931885, 0.1685999865060324, -0.1685999865060324, 0.1685999865060324, 0.1685999865060324, -0.1685999865060324, -0.1685999865060324, 0.1685999865060324, 0.1685999865060324, -1.1966326236724854, -1.0644519329071045, 1.1943047046661377, -1.4420616626739502, 1.893010139465332, 1.001556634902954, -0.1181328222155571, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2095342874526978, -1.3825019598007202, -1.2490196228027344, -1.7762562036514282, 1.0078047513961792, -0.3441331386566162, -1.1725646257400513, 0.18359999971075372, -0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -0.18359999971075372, -0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -1.1824641227722168, -1.0842162370681763, 1.1898068189620972, -1.4172002077102661, 1.866408348083496, 1.0016299486160278, -0.11079295724630356, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2086974382400513, -1.3825763463974, -1.2513338327407837, -1.7753782272338867, 1.0049277544021606, -0.3452720046043396, -1.1721175909042358, 0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -1.1656073331832886, -1.104852557182312, 1.1861107349395752, -1.388631820678711, 1.8445223569869995, 1.001743197441101, -0.11105469614267349, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2084944248199463, -1.382566213607788, -1.25215744972229, -1.7747620344161987, 1.0040959119796753, -0.34726449847221375, -1.16899836063385, 0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -1.1469290256500244, -1.1258203983306885, 1.19023859500885, -1.351453185081482, 1.825976014137268, 1.0023431777954102, -0.11122655123472214, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2085126638412476, -1.3822627067565918, -1.254736065864563, -1.774645209312439, 1.0001939535140991, -0.3495290279388428, -1.1665488481521606, 0.23099999742193536, -0.23099999742193536, 0.23099999742193536, 0.23099999742193536, -0.23099999742193536, -0.23099999742193536, 0.23099999742193536, 0.23099999742193536, -1.133135437965393, -1.1437733173370361, 1.1982495784759521, -1.3191161155700684, 1.8078669309616089, 1.0025064945220947, -0.10652178525924683, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2100261449813843, -1.3813254833221436, -1.2574936151504517, -1.776647925376892, 0.9985266923904419, -0.3523223102092743, -1.1635937690734863, 0.23639998173975682, -0.23639998173975682, 0.23639998173975682, 0.23639998173975682, -0.23639998173975682, -0.23639998173975682, 0.23639998173975682, 0.23639998173975682, -1.1210459470748901, -1.1571109294891357, 1.2012898921966553, -1.2944015264511108, 1.7971159219741821, 1.0028384923934937, -0.10266046226024628, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2130132913589478, -1.380018949508667, -1.26493239402771, -1.7795230150222778, 0.9930467009544373, -0.35537540912628174, -1.1616228818893433, 0.2418000053573441, -0.2418000053573441, 0.2418000053573441, 0.2418000053573441, -0.2418000053573441, -0.2418000053573441, 0.2418000053573441, 0.2418000053573441, -1.1152443885803223, -1.1652787923812866, 1.2023694515228271, -1.2854200601577759, 1.7922934293746948, 1.0028809309005737, -0.10613636672496796, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2152997255325317, -1.377940058708191, -1.2738231420516968, -1.7812888622283936, 0.9822654128074646, -0.3554687798023224, -1.153544545173645, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.1111886501312256, -1.1690990924835205, 1.2034728527069092, -1.283631443977356, 1.7905763387680054, 1.002881646156311, -0.11650224775075912, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2164469957351685, -1.3729863166809082, -1.2807278633117676, -1.7882328033447266, 0.9734055995941162, -0.3572433888912201, -1.1440176963806152, 0.2543999818655161, -0.2543999818655161, 0.2543999818655161, 0.2543999818655161, -0.2543999818655161, -0.2543999818655161, 0.2543999818655161, 0.2543999818655161, -1.107479453086853, -1.1722612380981445, 1.2047960758209229, -1.2825870513916016, 1.7904818058013916, 1.0028846263885498, -0.1267644613981247, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.222331166267395, -1.3706499338150024, -1.2898856401443481, -1.8088222742080688, 0.9658330082893372, -0.35956940054893494, -1.1309990882873535, 0.25560000021379076, -0.25560000021379076, 0.25560000021379076, 0.25560000021379076, -0.25560000021379076, -0.25560000021379076, 0.25560000021379076, 0.25560000021379076, -1.1054431200027466, -1.1730306148529053, 1.2054182291030884, -1.283003330230713, 1.7929770946502686, 1.0028834342956543, -0.1353711634874344, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.226504921913147, -1.3691357374191284, -1.2960134744644165, -1.8200072050094604, 0.9601213335990906, -0.36652469635009766, -1.1245105266571045, 0.24539998180263645, -0.24539998180263645, 0.24539998180263645, 0.24539998180263645, -0.24539998180263645, -0.24539998180263645, 0.24539998180263645, 0.24539998180263645, -1.1051615476608276, -1.1732497215270996, 1.2054146528244019, -1.2837841510772705, 1.7946326732635498, 1.0028780698776245, -0.13884815573692322, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.225959300994873, -1.366808533668518, -1.2940402030944824, -1.8119546175003052, 0.9617252945899963, -0.38006433844566345, -1.1267942190170288, 0.17519998917212856, -0.17519998917212856, 0.17519998917212856, 0.17519998917212856, -0.17519998917212856, -0.17519998917212856, 0.17519998917212856, 0.17519998917212856, -1.1051212549209595, -1.1732157468795776, 1.2050989866256714, -1.2837481498718262, 1.7968533039093018, 1.0028221607208252, -0.14012746512889862, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.224409818649292, -1.3650158643722534, -1.283890962600708, -1.792293667793274, 0.9692944288253784, -0.39213690161705017, -1.1286083459854126, 0.027600011720762183, -0.027600011720762183, 0.027600011720762183, 0.027600011720762183, -0.027600011720762183, -0.027600011720762183, 0.027600011720762183, 0.027600011720762183, -1.104600191116333, -1.1730939149856567, 1.2050114870071411, -1.280842900276184, 1.7975767850875854, 1.0026789903640747, -0.13715790212154388, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.224158525466919, -1.3644195795059204, -1.2791240215301514, -1.7797443866729736, 0.9762725830078125, -0.39587393403053284, -1.1273645162582397, 0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -1.1034533977508545, -1.1730893850326538, 1.2047410011291504, -1.276727557182312, 1.796868085861206, 1.0026822090148926, -0.1325198858976364, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2234508991241455, -1.3641788959503174, -1.2805062532424927, -1.7671483755111694, 0.993410050868988, -0.3839138150215149, -1.11685311794281, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.1021453142166138, -1.1730852127075195, 1.2045823335647583, -1.2715086936950684, 1.7933720350265503, 1.0027176141738892, -0.12465966492891312, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2219839096069336, -1.3641804456710815, -1.2858737707138062, -1.7515356540679932, 1.0093680620193481, -0.3680857717990875, -1.110185146331787, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.100450873374939, -1.173201560974121, 1.204642415046692, -1.268769383430481, 1.7895499467849731, 1.0028661489486694, -0.12071134150028229, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2199538946151733, -1.3642466068267822, -1.2838069200515747, -1.7400275468826294, 1.0242754220962524, -0.3650312125682831, -1.1101884841918945, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0979586839675903, -1.1738049983978271, 1.2047572135925293, -1.2661913633346558, 1.7802767753601074, 1.0029512643814087, -0.11238998174667358, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2198179960250854, -1.3644566535949707, -1.2814894914627075, -1.738716959953308, 1.0297987461090088, -0.3659910261631012, -1.1094186305999756, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0945509672164917, -1.1717780828475952, 1.2017163038253784, -1.2605171203613281, 1.762235403060913, 1.002915382385254, -0.09707186371088028, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2243815660476685, -1.3647552728652954, -1.2813310623168945, -1.744713544845581, 1.0337673425674438, -0.3656885623931885, -1.1104761362075806, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.089066743850708, -1.1657698154449463, 1.1928414106369019, -1.2538819313049316, 1.7463676929473877, 1.0025626420974731, -0.07297973334789276, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2327808141708374, -1.3647401332855225, -1.2808626890182495, -1.756223201751709, 1.0412737131118774, -0.3650645315647125, -1.1147092580795288, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0903533697128296, -1.1618552207946777, 1.1954270601272583, -1.2564841508865356, 1.7190613746643066, 1.0025899410247803, -0.03751673549413681, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2375603914260864, -1.36458420753479, -1.2797702550888062, -1.7606444358825684, 1.043738842010498, -0.3636593818664551, -1.1141127347946167, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1059871912002563, -1.1585217714309692, 1.2373462915420532, -1.2818821668624878, 1.689068078994751, 1.002994418144226, 0.0032389764674007893, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2390708923339844, -1.364587664604187, -1.279514193534851, -1.7606947422027588, 1.0448403358459473, -0.3592419922351837, -1.1120985746383667, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.119819164276123, -1.1551051139831543, 1.3014289140701294, -1.3014535903930664, 1.6553043127059937, 1.0031887292861938, 0.03470906987786293, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2392328977584839, -1.3650214672088623, -1.279056191444397, -1.761281967163086, 1.0449923276901245, -0.35611245036125183, -1.1129209995269775, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.129827618598938, -1.1559382677078247, 1.3679605722427368, -1.304417371749878, 1.613236665725708, 1.003230094909668, 0.06498505920171738, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2408931255340576, -1.3650702238082886, -1.2791802883148193, -1.763258695602417, 1.0472272634506226, -0.35606199502944946, -1.1130797863006592, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1203778982162476, -1.1625338792800903, 1.4122951030731201, -1.2642416954040527, 1.5933895111083984, 1.0032325983047485, 0.08683625608682632, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2437431812286377, -1.3652681112289429, -1.2811915874481201, -1.7659510374069214, 1.0476677417755127, -0.35608404874801636, -1.1129502058029175, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1138495206832886, -1.164785623550415, 1.4170973300933838, -1.247611403465271, 1.5910731554031372, 1.0031747817993164, 0.08757232874631882, 0.47399999911968527, 0.47399999911968527, 0.47399999911968527, 0.47399999911968527, -0.47399999911968527, -0.47399999911968527, -0.47399999911968527, 0.47399999911968527, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2464604377746582, -1.3653725385665894, -1.2826192378997803, -1.7664415836334229, 1.047669768333435, -0.35550615191459656, -1.1099997758865356, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1136105060577393, -1.1662784814834595, 1.4125293493270874, -1.2528400421142578, 1.5918711423873901, 1.0031752586364746, 0.08676734566688538, 0.5682000001053233, 0.5682000001053233, 0.5682000001053233, 0.5682000001053233, -0.5682000001053233, -0.5682000001053233, -0.5682000001053233, 0.5682000001053233, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2485443353652954, -1.3653414249420166, -1.2827982902526855, -1.7678109407424927, 1.0488805770874023, -0.3533131778240204, -1.1074894666671753, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0941356420516968, -1.1779775619506836, 1.3971015214920044, -1.229711651802063, 1.5741441249847412, 1.0032035112380981, 0.09219380468130112, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.24979829788208, -1.3651680946350098, -1.2823714017868042, -1.7697827816009521, 1.0504640340805054, -0.3528970777988434, -1.1062233448028564, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0452134609222412, -1.2012370824813843, 1.3621681928634644, -1.1742655038833618, 1.544338345527649, 1.0032520294189453, 0.09220518916845322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2500296831130981, -1.3648295402526855, -1.281315803527832, -1.7712856531143188, 1.051985740661621, -0.35209137201309204, -1.1068564653396606, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.986218273639679, -1.2305660247802734, 1.3282448053359985, -1.100498914718628, 1.5019762516021729, 1.0019270181655884, 0.11564980447292328, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2500187158584595, -1.364801287651062, -1.2813166379928589, -1.7724144458770752, 1.0518821477890015, -0.35187864303588867, -1.1089178323745728, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9239110946655273, -1.2579264640808105, 1.2928588390350342, -1.0089023113250732, 1.4561896324157715, 0.9991832971572876, 0.15539273619651794, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2498668432235718, -1.3648028373718262, -1.281339406967163, -1.7726736068725586, 1.0517168045043945, -0.3518806993961334, -1.1094013452529907, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.883012056350708, -1.281686782836914, 1.269796371459961, -0.9470294117927551, 1.4123090505599976, 0.9937809705734253, 0.18467402458190918, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2498377561569214, -1.3647851943969727, -1.2813612222671509, -1.7726560831069946, 1.0517792701721191, -0.35187864303588867, -1.1098335981369019, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8560577034950256, -1.3017232418060303, 1.2580842971801758, -0.913777232170105, 1.3716431856155396, 0.9834368824958801, 0.20565205812454224, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2498403787612915, -1.3647406101226807, -1.281373143196106, -1.7726292610168457, 1.051831603050232, -0.35187673568725586, -1.1099586486816406, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8313581347465515, -1.3221044540405273, 1.2497111558914185, -0.8786271810531616, 1.3357445001602173, 0.9702079892158508, 0.2259065955877304, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2498642206192017, -1.364700198173523, -1.2813786268234253, -1.772587776184082, 1.051996111869812, -0.3518674969673157, -1.1100122928619385, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8032150268554688, -1.3423843383789062, 1.2425224781036377, -0.8348373770713806, 1.305661678314209, 0.9633687138557434, 0.2483905553817749, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.249904990196228, -1.364606499671936, -1.2813777923583984, -1.7725751399993896, 1.0520292520523071, -0.3518630862236023, -1.1101346015930176, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7798300385475159, -1.3565529584884644, 1.2370212078094482, -0.8016981482505798, 1.2684392929077148, 0.9672671556472778, 0.2771836221218109, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2499150037765503, -1.3646115064620972, -1.2813754081726074, -1.7725940942764282, 1.0519204139709473, -0.3518657088279724, -1.1101330518722534, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7771751880645752, -1.362885594367981, 1.2431001663208008, -0.7935662269592285, 1.2282098531723022, 0.971432626247406, 0.3085046410560608, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2500050067901611, -1.3646154403686523, -1.2813745737075806, -1.7726048231124878, 1.0518839359283447, -0.3518677353858948, -1.1101399660110474, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7759317755699158, -1.3685216903686523, 1.2572717666625977, -0.779988706111908, 1.2018446922302246, 0.97617107629776, 0.3366927206516266, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.250017523765564, -1.364620327949524, -1.2813746929168701, -1.772642970085144, 1.0518769025802612, -0.3518701493740082, -1.1101462841033936, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7753588557243347, -1.3728598356246948, 1.266380786895752, -0.7735840082168579, 1.1764127016067505, 0.9793470501899719, 0.3591859042644501, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500171661376953, -1.3646270036697388, -1.2813750505447388, -1.7727142572402954, 1.0518534183502197, -0.3518749475479126, -1.1101512908935547, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7754811644554138, -1.3757436275482178, 1.275726318359375, -0.7651622295379639, 1.151397943496704, 0.9832157492637634, 0.3868339955806732, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500189542770386, -1.3646296262741089, -1.2813746929168701, -1.7727174758911133, 1.05184006690979, -0.3518810570240021, -1.1102310419082642, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7730416059494019, -1.3778173923492432, 1.2801839113235474, -0.7562689185142517, 1.1284195184707642, 0.9853790402412415, 0.4122508764266968, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500208616256714, -1.3646355867385864, -1.2813740968704224, -1.7727956771850586, 1.0516782999038696, -0.35189494490623474, -1.1103172302246094, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7727010250091553, -1.3796576261520386, 1.2860674858093262, -0.7519135475158691, 1.113677740097046, 0.9879741072654724, 0.42933928966522217, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500193119049072, -1.3646481037139893, -1.2813749313354492, -1.7728596925735474, 1.0516372919082642, -0.3519057333469391, -1.110304355621338, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7858635187149048, -1.3823766708374023, 1.2961928844451904, -0.7709654569625854, 1.1045701503753662, 0.9910646080970764, 0.42944055795669556, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500172853469849, -1.364648699760437, -1.2813810110092163, -1.772858738899231, 1.0517686605453491, -0.35190466046333313, -1.110284447669983, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7919402122497559, -1.3857876062393188, 1.3035719394683838, -0.776222825050354, 1.1043049097061157, 0.991496741771698, 0.427303284406662, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2500134706497192, -1.3646491765975952, -1.2813892364501953, -1.772858738899231, 1.0518183708190918, -0.3519039452075958, -1.1102793216705322, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7923728227615356, -1.3872840404510498, 1.304234504699707, -0.7777716517448425, 1.1009246110916138, 0.992067813873291, 0.4274044334888458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500132322311401, -1.3646494150161743, -1.2813901901245117, -1.7728571891784668, 1.0518217086791992, -0.3519032299518585, -1.1102814674377441, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7917500734329224, -1.3912878036499023, 1.3098965883255005, -0.7756971716880798, 1.0950706005096436, 0.9920803904533386, 0.4258527159690857, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2500112056732178, -1.3646489381790161, -1.281394124031067, -1.7728537321090698, 1.051886796951294, -0.35189974308013916, -1.1102790832519531, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7911500334739685, -1.3946738243103027, 1.3140408992767334, -0.7744569182395935, 1.088266372680664, 0.9921855926513672, 0.42739641666412354, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.249996542930603, -1.3646492958068848, -1.2814103364944458, -1.77284836769104, 1.051971673965454, -0.3518924415111542, -1.1102471351623535, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7923283576965332, -1.3961522579193115, 1.3191404342651367, -0.7746477127075195, 1.079403281211853, 0.9921884536743164, 0.4267888069152832, 0.5687999994545192, 0.5687999994545192, 0.5687999994545192, 0.5687999994545192, -0.5687999994545192, -0.5687999994545192, -0.5687999994545192, 0.5687999994545192, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2499648332595825, -1.3646570444107056, -1.2814427614212036, -1.7728157043457031, 1.0519804954528809, -0.3518875241279602, -1.1102601289749146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7939967513084412, -1.3968454599380493, 1.3236870765686035, -0.767737865447998, 1.0707756280899048, 0.9922239780426025, 0.4285517930984497, 0.4614000029616303, 0.4614000029616303, 0.4614000029616303, 0.4614000029616303, -0.4614000029616303, -0.4614000029616303, -0.4614000029616303, 0.4614000029616303, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499996423721313, -1.364657998085022, -1.2814334630966187, -1.7728238105773926, 1.0519572496414185, -0.3518868088722229, -1.1103291511535645, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7934785485267639, -1.3969470262527466, 1.3262953758239746, -0.7535337805747986, 1.0594141483306885, 0.9910058975219727, 0.4347045123577118, 0.3612000035715627, 0.3612000035715627, 0.3612000035715627, 0.3612000035715627, -0.3612000035715627, -0.3612000035715627, -0.3612000035715627, 0.3612000035715627, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499909400939941, -1.3646628856658936, -1.2814303636550903, -1.7728767395019531, 1.0518876314163208, -0.3518877625465393, -1.11031973361969, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7947887778282166, -1.3969091176986694, 1.327497124671936, -0.7500041723251343, 1.052574872970581, 0.9903533458709717, 0.4363069236278534, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499902248382568, -1.3646663427352905, -1.2814276218414307, -1.7728921175003052, 1.0518484115600586, -0.35188788175582886, -1.110310673713684, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7968515753746033, -1.3975846767425537, 1.3317985534667969, -0.748776912689209, 1.0474553108215332, 0.9903420805931091, 0.43478479981422424, 0.2664000081491994, 0.2664000081491994, 0.2664000081491994, 0.2664000081491994, -0.2664000081491994, -0.2664000081491994, -0.2664000081491994, 0.2664000081491994, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.249991536140442, -1.36466646194458, -1.2814222574234009, -1.7728914022445679, 1.0518401861190796, -0.35188788175582886, -1.1103215217590332, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7999890446662903, -1.3985155820846558, 1.3369184732437134, -0.7507052421569824, 1.0441659688949585, 0.990387499332428, 0.4335763156414032, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499926090240479, -1.3646684885025024, -1.281398057937622, -1.7728981971740723, 1.0518240928649902, -0.35188955068588257, -1.1103378534317017, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8028075098991394, -1.3995120525360107, 1.34225594997406, -0.7523413300514221, 1.041619896888733, 0.9900622367858887, 0.4311993718147278, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, -0.23999999748481501, -0.23999999748481501, -0.23999999748481501, 0.23999999748481501, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499936819076538, -1.364670753479004, -1.2813804149627686, -1.7729098796844482, 1.0518184900283813, -0.35188835859298706, -1.11033034324646, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8066388964653015, -1.4000983238220215, 1.343643307685852, -0.7613340616226196, 1.0378137826919556, 0.9892913103103638, 0.41674938797950745, 0.2039999972332965, 0.2039999972332965, 0.2039999972332965, 0.2039999972332965, -0.2039999972332965, -0.2039999972332965, -0.2039999972332965, 0.2039999972332965, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.249991536140442, -1.3646706342697144, -1.2813811302185059, -1.7729228734970093, 1.0518265962600708, -0.35188764333724976, -1.1103277206420898, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8141106963157654, -1.4005323648452759, 1.3470323085784912, -0.7705547213554382, 1.0354335308074951, 0.9889538288116455, 0.40430185198783875, 0.15899999691889835, 0.15899999691889835, 0.15899999691889835, 0.15899999691889835, -0.15899999691889835, -0.15899999691889835, -0.15899999691889835, 0.15899999691889835, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499855756759644, -1.3646724224090576, -1.28138267993927, -1.7729569673538208, 1.0518157482147217, -0.35188835859298706, -1.1103016138076782, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8232859969139099, -1.4005589485168457, 1.347699522972107, -0.7780506610870361, 1.0317695140838623, 0.9903414845466614, 0.3850420117378235, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, -0.03299999603858363, -0.03299999603858363, -0.03299999603858363, 0.03299999603858363, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499830722808838, -1.364678978919983, -1.2813798189163208, -1.7729628086090088, 1.0517979860305786, -0.35188859701156616, -1.110303521156311, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8275783658027649, -1.4005513191223145, 1.3513727188110352, -0.7842310070991516, 1.0306570529937744, 0.9914025664329529, 0.38119542598724365, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2499827146530151, -1.3646867275238037, -1.2813760042190552, -1.7729628086090088, 1.0517854690551758, -0.35189002752304077, -1.1102979183197021, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8271326422691345, -1.4004703760147095, 1.3532050848007202, -0.7790244817733765, 1.0272443294525146, 0.986664354801178, 0.39112937450408936, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.24997878074646, -1.3647212982177734, -1.2813740968704224, -1.772962212562561, 1.0517559051513672, -0.35188883543014526, -1.1101094484329224, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8244150876998901, -1.4001392126083374, 1.3525344133377075, -0.7617784738540649, 1.0180408954620361, 0.9710412621498108, 0.4224270284175873, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2499785423278809, -1.3647221326828003, -1.2813749313354492, -1.7729589939117432, 1.0517619848251343, -0.35188835859298706, -1.1101332902908325, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8216127157211304, -1.3968404531478882, 1.3477941751480103, -0.742897093296051, 0.9981747269630432, 0.9560187458992004, 0.48339569568634033, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2499788999557495, -1.364712119102478, -1.2813760042190552, -1.772956132888794, 1.05176842212677, -0.35188788175582886, -1.1103217601776123, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8224329352378845, -1.3881990909576416, 1.3436471223831177, -0.7413014769554138, 0.9654152393341064, 0.9387713074684143, 0.5606603622436523, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2499784231185913, -1.3647042512893677, -1.281376838684082, -1.7729591131210327, 1.051767110824585, -0.3518882393836975, -1.1103193759918213, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8313088417053223, -1.379437804222107, 1.3430200815200806, -0.7586658000946045, 0.9363278746604919, 0.926561176776886, 0.6270105838775635, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3758782744407654, 0.0, 0.0, 1.2499345541000366, -1.3647055625915527, -1.2813807725906372, -1.7729671001434326, 1.051761507987976, -0.35188835859298706, -1.1101226806640625, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8446246385574341, -1.3727977275848389, 1.3418211936950684, -0.7904779314994812, 0.9057900309562683, 0.9134142398834229, 0.6671276688575745, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2499324083328247, -1.3647065162658691, -1.281381607055664, -1.7729734182357788, 1.0517501831054688, -0.35188859701156616, -1.1101218461990356, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8583298325538635, -1.3671386241912842, 1.3399598598480225, -0.8209166526794434, 0.8750281929969788, 0.8963905572891235, 0.6992701888084412, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2499310970306396, -1.3647114038467407, -1.2813796997070312, -1.7729791402816772, 1.0516771078109741, -0.351889431476593, -1.1101317405700684, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.871431291103363, -1.3576151132583618, 1.3365092277526855, -0.850835382938385, 0.8322677612304688, 0.8831177949905396, 0.7563027143478394, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.249934434890747, -1.36471426486969, -1.281368374824524, -1.7729777097702026, 1.0516523122787476, -0.35189002752304077, -1.1101741790771484, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8847640752792358, -1.3463364839553833, 1.3308302164077759, -0.883641242980957, 0.7800965905189514, 0.8664501309394836, 0.8186939358711243, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2499377727508545, -1.3647162914276123, -1.2812360525131226, -1.7729740142822266, 1.0516530275344849, -0.3518903851509094, -1.1103092432022095, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8925625681877136, -1.3389428853988647, 1.3285908699035645, -0.905642032623291, 0.7384487390518188, 0.8613352179527283, 0.8608565926551819, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2499454021453857, -1.3647172451019287, -1.2812188863754272, -1.77297043800354, 1.0516610145568848, -0.35188978910446167, -1.1103086471557617, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9025274515151978, -1.3333548307418823, 1.3278471231460571, -0.9260247945785522, 0.7082816958427429, 0.8581464886665344, 0.8976149559020996, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.24997079372406, -1.3647156953811646, -1.2812190055847168, -1.7729581594467163, 1.0517630577087402, -0.3518868088722229, -1.1103057861328125, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9125586748123169, -1.329566240310669, 1.3242660760879517, -0.943020224571228, 0.6790565252304077, 0.8532425165176392, 0.9238538146018982, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2499818801879883, -1.364714503288269, -1.2812204360961914, -1.7729495763778687, 1.0518476963043213, -0.3518810570240021, -1.1102941036224365, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9165503978729248, -1.3290646076202393, 1.3198215961456299, -0.9473188519477844, 0.6665858626365662, 0.8524929285049438, 0.9413962364196777, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2499884366989136, -1.3647122383117676, -1.2812221050262451, -1.7729436159133911, 1.0518736839294434, -0.3518730103969574, -1.1102899312973022, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9194183945655823, -1.3290787935256958, 1.319786787033081, -0.9519111514091492, 0.6622971892356873, 0.8529279232025146, 0.9490620493888855, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500044107437134, -1.3647100925445557, -1.2812252044677734, -1.772939682006836, 1.0519293546676636, -0.351867139339447, -1.1102912425994873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9195129871368408, -1.3290834426879883, 1.3198432922363281, -0.9519139528274536, 0.6622887849807739, 0.8529695272445679, 0.9487524032592773, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2500141859054565, -1.364709496498108, -1.2812258005142212, -1.7729390859603882, 1.0519295930862427, -0.3518649935722351, -1.1102904081344604, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9195135235786438, -1.3290865421295166, 1.3199659585952759, -0.9518767595291138, 0.6623198390007019, 0.8529682159423828, 0.9482232928276062, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500245571136475, -1.3647093772888184, -1.2812278270721436, -1.7729392051696777, 1.0519278049468994, -0.3518638014793396, -1.1102882623672485, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9195148944854736, -1.329086422920227, 1.3200308084487915, -0.9518011808395386, 0.6623899340629578, 0.8529666662216187, 0.9481635689735413, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2500289678573608, -1.364708662033081, -1.281233310699463, -1.7729392051696777, 1.0519261360168457, -0.3518635630607605, -1.110286831855774, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9249458312988281, -1.3291763067245483, 1.3195680379867554, -0.9603493809700012, 0.6566250324249268, 0.8465685248374939, 0.9464238286018372, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2500299215316772, -1.36470627784729, -1.2812408208847046, -1.7729341983795166, 1.0519286394119263, -0.3518635630607605, -1.1102845668792725, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9349378943443298, -1.3294181823730469, 1.3072326183319092, -0.9722352027893066, 0.6318868398666382, 0.8313567042350769, 0.9547454714775085, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.249956727027893, -1.3647080659866333, -1.2812433242797852, -1.7724871635437012, 1.0505015850067139, -0.34952494502067566, -1.1100860834121704, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9439200162887573, -1.32948637008667, 1.2961469888687134, -0.9733866453170776, 0.5967706441879272, 0.8112114667892456, 0.9869992136955261, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2472779750823975, -1.3649568557739258, -1.27964186668396, -1.7704644203186035, 1.0476136207580566, -0.3399747312068939, -1.1127616167068481, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9640641808509827, -1.3280553817749023, 1.2962464094161987, -0.9950281381607056, 0.5760111212730408, 0.80526202917099, 1.0033953189849854, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2451726198196411, -1.3653961420059204, -1.2781932353973389, -1.7693183422088623, 1.0458037853240967, -0.33493560552597046, -1.115518569946289, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9821884036064148, -1.3233190774917603, 1.2979512214660645, -1.0105184316635132, 0.5743330717086792, 0.79905104637146, 1.008727788925171, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2451019287109375, -1.365687608718872, -1.2775524854660034, -1.770328402519226, 1.0461825132369995, -0.327460914850235, -1.115519404411316, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0007343292236328, -1.3169946670532227, 1.3052223920822144, -1.032127022743225, 0.5692576169967651, 0.7926874756813049, 1.0129140615463257, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2558693885803223, -1.365801215171814, -1.2817635536193848, -1.782983660697937, 1.0512285232543945, -0.31128641963005066, -1.1096882820129395, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0091577768325806, -1.3119794130325317, 1.309252142906189, -1.0352617502212524, 0.5705696940422058, 0.7918112874031067, 1.0142370462417603, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2754191160202026, -1.3643391132354736, -1.2995861768722534, -1.8033396005630493, 1.0578968524932861, -0.30182594060897827, -1.1018240451812744, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0126971006393433, -1.3064199686050415, 1.3059264421463013, -1.033706784248352, 0.5707364678382874, 0.7840954661369324, 1.0229719877243042, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2864810228347778, -1.35918390750885, -1.3140219449996948, -1.8185687065124512, 1.0597718954086304, -0.29350408911705017, -1.0913255214691162, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0175248384475708, -1.2994979619979858, 1.2988048791885376, -1.0391936302185059, 0.5708934664726257, 0.7812748551368713, 1.0260525941848755, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.294825553894043, -1.357120156288147, -1.3203158378601074, -1.8358118534088135, 1.0643407106399536, -0.28553709387779236, -1.0770851373672485, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0250893831253052, -1.2964123487472534, 1.2947739362716675, -1.0507698059082031, 0.5658835768699646, 0.7791022658348083, 1.0273237228393555, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3050017356872559, -1.356461763381958, -1.3291137218475342, -1.849791169166565, 1.071180820465088, -0.27209237217903137, -1.0715112686157227, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0311903953552246, -1.2930413484573364, 1.2857320308685303, -1.0655041933059692, 0.5444899797439575, 0.7727246284484863, 1.0338683128356934, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3171590566635132, -1.3541337251663208, -1.3523507118225098, -1.862747073173523, 1.0718278884887695, -0.2566360533237457, -1.0673556327819824, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0315076112747192, -1.2911417484283447, 1.2766211032867432, -1.067935824394226, 0.5234111547470093, 0.7615991830825806, 1.0453822612762451, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.320420742034912, -1.3491580486297607, -1.3673630952835083, -1.8812670707702637, 1.066237211227417, -0.25300711393356323, -1.0680811405181885, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0304110050201416, -1.2870795726776123, 1.2663543224334717, -1.0760303735733032, 0.4887351393699646, 0.7374410033226013, 1.0687055587768555, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3092361688613892, -1.3471038341522217, -1.349777340888977, -1.8894516229629517, 1.0589823722839355, -0.2637530267238617, -1.0805120468139648, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0292937755584717, -1.284006118774414, 1.2616792917251587, -1.0855522155761719, 0.46222662925720215, 0.7254263162612915, 1.0815622806549072, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.281585931777954, -1.3491021394729614, -1.3098154067993164, -1.8694018125534058, 1.0640251636505127, -0.2636944055557251, -1.0932340621948242, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0298258066177368, -1.280541181564331, 1.2581042051315308, -1.0965558290481567, 0.4487836956977844, 0.7232939004898071, 1.0836902856826782, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2613946199417114, -1.3528140783309937, -1.2897480726242065, -1.8391841650009155, 1.0674867630004883, -0.2685002088546753, -1.1096086502075195, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0301575660705566, -1.2733088731765747, 1.2488296031951904, -1.1057461500167847, 0.44595348834991455, 0.7232185006141663, 1.083603858947754, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2554601430892944, -1.3535069227218628, -1.2830983400344849, -1.8211829662322998, 1.0769147872924805, -0.27200689911842346, -1.127355933189392, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0271738767623901, -1.263586401939392, 1.2357139587402344, -1.110677719116211, 0.4510694444179535, 0.7232021689414978, 1.0828429460525513, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2543091773986816, -1.3543673753738403, -1.2814810276031494, -1.8125063180923462, 1.0807771682739258, -0.28681209683418274, -1.1437655687332153, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0251160860061646, -1.2537208795547485, 1.2243014574050903, -1.1167861223220825, 0.4616306722164154, 0.7281289100646973, 1.077968716621399, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2514045238494873, -1.3566234111785889, -1.276476502418518, -1.812196135520935, 1.0846551656723022, -0.3004276156425476, -1.155677080154419, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.02580988407135, -1.2422926425933838, 1.2155705690383911, -1.1197205781936646, 0.4788503050804138, 0.7300242185592651, 1.077291488647461, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2488634586334229, -1.3582839965820312, -1.2710366249084473, -1.8115965127944946, 1.0884844064712524, -0.30951717495918274, -1.1615099906921387, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0275872945785522, -1.2316515445709229, 1.2089720964431763, -1.120581865310669, 0.4977416396141052, 0.7286214828491211, 1.0797439813613892, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.250719428062439, -1.3594019412994385, -1.2705543041229248, -1.8142229318618774, 1.0904436111450195, -0.31425741314888, -1.1622837781906128, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.035991907119751, -1.2234927415847778, 1.2140707969665527, -1.124353289604187, 0.5259394645690918, 0.722122311592102, 1.091850757598877, 0.13679999152382655, 0.13679999152382655, 0.13679999152382655, 0.13679999152382655, -0.13679999152382655, -0.13679999152382655, -0.13679999152382655, 0.13679999152382655, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.255398154258728, -1.3601679801940918, -1.2702832221984863, -1.81687331199646, 1.0952670574188232, -0.3136145770549774, -1.1593831777572632, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.060563087463379, -1.228135108947754, 1.2542829513549805, -1.1501727104187012, 0.548941969871521, 0.7217222452163696, 1.0863674879074097, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, -0.2304000078976809, -0.2304000078976809, -0.2304000078976809, 0.2304000078976809, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2681280374526978, -1.360097050666809, -1.279197096824646, -1.8200229406356812, 1.0695452690124512, -0.30540454387664795, -1.1432536840438843, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0943645238876343, -1.2393906116485596, 1.3076647520065308, -1.181220293045044, 0.5982194542884827, 0.6996138691902161, 1.0492678880691528, 0.31140000846359756, 0.31140000846359756, 0.31140000846359756, 0.31140000846359756, -0.31140000846359756, -0.31140000846359756, -0.31140000846359756, 0.31140000846359756, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2754638195037842, -1.36016845703125, -1.2688419818878174, -1.8322111368179321, 1.108484148979187, -0.3025957942008972, -1.1426365375518799, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1185003519058228, -1.2513611316680908, 1.342603087425232, -1.2032663822174072, 0.6591806411743164, 0.6961800456047058, 1.023449182510376, 0.3491999969377622, 0.3491999969377622, 0.3491999969377622, 0.3491999969377622, -0.3491999969377622, -0.3491999969377622, -0.3491999969377622, 0.3491999969377622, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.275606393814087, -1.3608410358428955, -1.2656279802322388, -1.8370088338851929, 1.114184856414795, -0.30260995030403137, -1.1437467336654663, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1191405057907104, -1.2660659551620483, 1.3491222858428955, -1.2060455083847046, 0.6882890462875366, 0.7333285212516785, 0.9645311832427979, 0.2873999951959966, 0.2873999951959966, 0.2873999951959966, 0.2873999951959966, -0.2873999951959966, -0.2873999951959966, -0.2873999951959966, 0.2873999951959966, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2759008407592773, -1.361090064048767, -1.2647756338119507, -1.8380922079086304, 1.115939974784851, -0.2993674874305725, -1.1440068483352661, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1101306676864624, -1.2717196941375732, 1.3318076133728027, -1.1937737464904785, 0.6507551670074463, 0.765264093875885, 0.9594099521636963, 0.1200000097463419, 0.1200000097463419, 0.1200000097463419, 0.1200000097463419, -0.1200000097463419, -0.1200000097463419, -0.1200000097463419, 0.1200000097463419, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2758820056915283, -1.3625794649124146, -1.2617769241333008, -1.8410369157791138, 1.1228108406066895, -0.2951713502407074, -1.1463336944580078, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1124554872512817, -1.270518183708191, 1.3297362327575684, -1.1931310892105103, 0.6020880341529846, 0.7990223169326782, 1.0027563571929932, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.275368094444275, -1.363956093788147, -1.2585335969924927, -1.8430204391479492, 1.1323447227478027, -0.29239171743392944, -1.1476293802261353, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1319979429244995, -1.2582579851150513, 1.3293629884719849, -1.2240697145462036, 0.5853390097618103, 0.8106163144111633, 1.003480076789856, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.27422297000885, -1.3653308153152466, -1.2561404705047607, -1.8431882858276367, 1.136603593826294, -0.29082897305488586, -1.1490530967712402, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1625779867172241, -1.235421061515808, 1.333573341369629, -1.2661610841751099, 0.5922536849975586, 0.8141395449638367, 0.9926268458366394, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2730112075805664, -1.366498351097107, -1.2539376020431519, -1.8431284427642822, 1.1418150663375854, -0.28804659843444824, -1.149035930633545, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1843641996383667, -1.2130553722381592, 1.3354257345199585, -1.2929829359054565, 0.6047298312187195, 0.8261319398880005, 0.9802203178405762, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2725356817245483, -1.3677380084991455, -1.2521651983261108, -1.8432666063308716, 1.1456514596939087, -0.28627029061317444, -1.1464823484420776, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1857918500900269, -1.1979655027389526, 1.3212518692016602, -1.2987043857574463, 0.6138909459114075, 0.8447641730308533, 0.9611524343490601, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2766413688659668, -1.3682106733322144, -1.253645896911621, -1.855076551437378, 1.145882487297058, -0.28110843896865845, -1.139575481414795, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1715834140777588, -1.1982113122940063, 1.3126007318496704, -1.2722607851028442, 0.6184671521186829, 0.8489316701889038, 0.9598250985145569, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2939977645874023, -1.3682061433792114, -1.260432243347168, -1.8899322748184204, 1.146267056465149, -0.28559571504592896, -1.1281968355178833, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.15542733669281, -1.2044830322265625, 1.3098500967025757, -1.2462507486343384, 0.6122519969940186, 0.8469551205635071, 0.9676439762115479, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3100587129592896, -1.367930293083191, -1.2602814435958862, -1.921237587928772, 1.1447921991348267, -0.309037446975708, -1.1355849504470825, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1390693187713623, -1.2158280611038208, 1.30923330783844, -1.2234386205673218, 0.5961785316467285, 0.8433215022087097, 0.9726109504699707, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3192373514175415, -1.3670679330825806, -1.2538219690322876, -1.9261353015899658, 1.1473971605300903, -0.3243575990200043, -1.146191120147705, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1193674802780151, -1.229512333869934, 1.3096613883972168, -1.19706130027771, 0.5779902935028076, 0.8362521529197693, 0.981892466545105, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3288036584854126, -1.3666632175445557, -1.252510905265808, -1.9224326610565186, 1.1551828384399414, -0.3274915814399719, -1.1450953483581543, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0882720947265625, -1.2407163381576538, 1.301047444343567, -1.1581262350082397, 0.5551427602767944, 0.8234661817550659, 0.9972386360168457, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3345857858657837, -1.366486668586731, -1.2529751062393188, -1.9210078716278076, 1.1587437391281128, -0.33210718631744385, -1.145052194595337, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0540014505386353, -1.247633457183838, 1.285688042640686, -1.121903896331787, 0.5309174656867981, 0.8079123497009277, 1.018512487411499, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.335466742515564, -1.3664841651916504, -1.25326406955719, -1.9192733764648438, 1.1597886085510254, -0.3324541449546814, -1.1430237293243408, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0287507772445679, -1.252638578414917, 1.2723102569580078, -1.0921381711959839, 0.5238514542579651, 0.8012769222259521, 1.026427149772644, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3422932624816895, -1.3663541078567505, -1.2540878057479858, -1.9198554754257202, 1.1619924306869507, -0.33255133032798767, -1.1363484859466553, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0219738483428955, -1.2498178482055664, 1.2621936798095703, -1.0913225412368774, 0.5323672890663147, 0.8008791208267212, 1.022085428237915, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3467862606048584, -1.365803837776184, -1.2483824491500854, -1.920720100402832, 1.1747757196426392, -0.33307167887687683, -1.1277588605880737, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.047650933265686, -1.2317472696304321, 1.2628592252731323, -1.146882176399231, 0.549553632736206, 0.810635507106781, 0.9997274875640869, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3472323417663574, -1.3654453754425049, -1.2413756847381592, -1.922254204750061, 1.1916828155517578, -0.34142962098121643, -1.122045636177063, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0992827415466309, -1.211173176765442, 1.298757791519165, -1.2212244272232056, 0.5809277296066284, 0.8303989171981812, 0.9762301445007324, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3469496965408325, -1.3653136491775513, -1.2363250255584717, -1.9238438606262207, 1.205594539642334, -0.350709468126297, -1.1198137998580933, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1607309579849243, -1.2018277645111084, 1.3694417476654053, -1.3041813373565674, 0.6130181550979614, 0.852629542350769, 0.9538010954856873, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3453116416931152, -1.364939570426941, -1.2306396961212158, -1.92459237575531, 1.2196522951126099, -0.3642536997795105, -1.117850661277771, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2261220216751099, -1.2008295059204102, 1.4524590969085693, -1.3962020874023438, 0.644501805305481, 0.8637094497680664, 0.9206137657165527, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3452095985412598, -1.364771842956543, -1.220886468887329, -1.9283673763275146, 1.2430297136306763, -0.37382882833480835, -1.1143503189086914, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.283029317855835, -1.2034435272216797, 1.526084065437317, -1.4617350101470947, 0.6998988389968872, 0.8661280870437622, 0.8826451301574707, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3448679447174072, -1.3650563955307007, -1.2140288352966309, -1.9278275966644287, 1.259900450706482, -0.37955108284950256, -1.110635757446289, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3208768367767334, -1.207980751991272, 1.5618823766708374, -1.5129958391189575, 0.7426769137382507, 0.8825411200523376, 0.830365002155304, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3441591262817383, -1.3662370443344116, -1.203223466873169, -1.927533745765686, 1.2899888753890991, -0.3860641419887543, -1.0990524291992188, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3323642015457153, -1.2150497436523438, 1.5632691383361816, -1.5283939838409424, 0.7614715099334717, 0.8804154396057129, 0.8042978644371033, 0.297599993957268, 0.297599993957268, 0.297599993957268, 0.297599993957268, -0.297599993957268, -0.297599993957268, -0.297599993957268, 0.297599993957268, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446519374847412, -1.366283655166626, -1.2029577493667603, -1.9274879693984985, 1.2906286716461182, -0.38628655672073364, -1.0979984998703003, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3299368619918823, -1.2158666849136353, 1.5593281984329224, -1.5221260786056519, 0.7563816905021667, 0.8801758885383606, 0.8104687929153442, 0.534600002163059, 0.534600002163059, 0.534600002163059, 0.534600002163059, -0.534600002163059, -0.534600002163059, -0.534600002163059, 0.534600002163059, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3446619510650635, -1.3662835359573364, -1.2038929462432861, -1.9270334243774414, 1.2891454696655273, -0.3860383629798889, -1.0980541706085205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.329014778137207, -1.2157090902328491, 1.559324860572815, -1.5220816135406494, 0.7556752562522888, 0.8801752924919128, 0.8114673495292664, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446820974349976, -1.3662837743759155, -1.2039601802825928, -1.9270265102386475, 1.2888092994689941, -0.3859707713127136, -1.098106861114502, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.329003930091858, -1.215281367301941, 1.559723138809204, -1.522138237953186, 0.7555405497550964, 0.8801749348640442, 0.8115655779838562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3446816205978394, -1.3662842512130737, -1.204116940498352, -1.9270254373550415, 1.2887487411499023, -0.3859512507915497, -1.0981175899505615, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3290023803710938, -1.215191125869751, 1.5598652362823486, -1.522249698638916, 0.755443811416626, 0.8801721930503845, 0.811618447303772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446826934814453, -1.3663681745529175, -1.2041229009628296, -1.9270260334014893, 1.2884676456451416, -0.38593506813049316, -1.0981119871139526, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3424763679504395, -1.2146121263504028, 1.565337896347046, -1.5426830053329468, 0.7476637959480286, 0.8829898834228516, 0.8085346817970276, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.344627857208252, -1.3665434122085571, -1.2041347026824951, -1.9270633459091187, 1.2879616022109985, -0.385936975479126, -1.0981019735336304, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4488461017608643, -1.2113699913024902, 1.619627833366394, -1.663798451423645, 0.7472099661827087, 0.9004324674606323, 0.823739767074585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3446894884109497, -1.3664884567260742, -1.2041823863983154, -1.9264146089553833, 1.2887496948242188, -0.38578933477401733, -1.0981158018112183, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5998201370239258, -1.2034800052642822, 1.694942593574524, -1.767443060874939, 0.7576769590377808, 0.9200731515884399, 0.857763946056366, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446282148361206, -1.3664906024932861, -1.2041832208633423, -1.9265198707580566, 1.2887048721313477, -0.38575950264930725, -1.0981104373931885, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7830604314804077, -1.2006349563598633, 1.7668614387512207, -1.87997567653656, 0.752623438835144, 0.8950946927070618, 0.9109560251235962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5640060901641846, 1.0322891473770142, -0.37626171112060547, 0.0, 0.0, 1.3446576595306396, -1.3664100170135498, -1.204283356666565, -1.9258097410202026, 1.2891931533813477, -0.3856137692928314, -1.0982259511947632, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9271398782730103, -1.2006138563156128, 1.7988080978393555, -1.9440480470657349, 0.7511133551597595, 0.8780254125595093, 0.9368006587028503, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.032384991645813, -0.37616586685180664, 0.0, 0.0, 1.3446992635726929, -1.366396427154541, -1.2042797803878784, -1.9257649183273315, 1.2891559600830078, -0.38558751344680786, -1.0982224941253662, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.970616340637207, -1.2004979848861694, 1.795901894569397, -1.9432190656661987, 0.7628681659698486, 0.8685268759727478, 0.9417948126792908, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0324808359146118, -0.37616586685180664, 0.0, 0.0, 1.344704508781433, -1.366411566734314, -1.2042362689971924, -1.926040530204773, 1.2885825634002686, -0.3856009542942047, -1.0982118844985962, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9507426023483276, -1.20033860206604, 1.7946909666061401, -1.9407780170440674, 0.7649236917495728, 0.8684062957763672, 0.9409903287887573, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.3447169065475464, -1.36641526222229, -1.204143762588501, -1.926209807395935, 1.288537859916687, -0.3856264650821686, -1.0982145071029663, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.942159652709961, -1.1991932392120361, 1.7954604625701904, -1.942024827003479, 0.765099287033081, 0.8684024810791016, 0.9406781196594238, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3447219133377075, -1.3664236068725586, -1.2041202783584595, -1.9264150857925415, 1.2885148525238037, -0.3856510519981384, -1.098205804824829, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9642339944839478, -1.1991753578186035, 1.8014907836914062, -1.9509166479110718, 0.7548763751983643, 0.852286696434021, 0.9543743133544922, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3447179794311523, -1.3664352893829346, -1.2040941715240479, -1.9266014099121094, 1.288225769996643, -0.3857053220272064, -1.0981998443603516, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0645265579223633, -1.1945708990097046, 1.8376185894012451, -1.9976983070373535, 0.7507975697517395, 0.823294460773468, 0.9829940795898438, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3447129726409912, -1.36642587184906, -1.20412015914917, -1.9263280630111694, 1.2887959480285645, -0.3856841027736664, -1.0982115268707275, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2035908699035645, -1.1822608709335327, 1.8964086771011353, -2.067002534866333, 0.775948703289032, 0.8053063750267029, 1.0025489330291748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3446975946426392, -1.3664278984069824, -1.2041290998458862, -1.926245093345642, 1.2889151573181152, -0.38561639189720154, -1.0981916189193726, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.320110321044922, -1.175786018371582, 1.9473021030426025, -2.1158525943756104, 0.8055160641670227, 0.8044620752334595, 1.0034862756729126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0324808359146118, -0.37616586685180664, 0.0, 0.0, 1.3446357250213623, -1.3664257526397705, -1.204239010810852, -1.9260286092758179, 1.2889330387115479, -0.38555553555488586, -1.0981848239898682, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3647303581237793, -1.1716053485870361, 1.9687395095825195, -2.1039583683013916, 0.8405104875564575, 0.8277912735939026, 0.979891836643219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3446406126022339, -1.3664427995681763, -1.2042311429977417, -1.9260754585266113, 1.2887728214263916, -0.3855411410331726, -1.0981522798538208, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3478784561157227, -1.1693743467330933, 1.9726399183273315, -2.076756238937378, 0.8722878694534302, 0.8925989866256714, 0.9112734198570251, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3446364402770996, -1.3664497137069702, -1.2042293548583984, -1.9262253046035767, 1.2885956764221191, -0.3855534791946411, -1.0980935096740723, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.336714506149292, -1.1527009010314941, 1.9681249856948853, -2.046771287918091, 0.9318029880523682, 0.9542093873023987, 0.848293662071228, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.344643473625183, -1.366433024406433, -1.204230785369873, -1.926160216331482, 1.2889337539672852, -0.3855513334274292, -1.0981239080429077, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2867372035980225, -1.1296762228012085, 1.9258568286895752, -1.999605417251587, 0.9826257824897766, 1.0071380138397217, 0.7949714064598083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446412086486816, -1.3664507865905762, -1.2042156457901, -1.9262508153915405, 1.2886121273040771, -0.3855803310871124, -1.0980892181396484, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2182095050811768, -1.1131399869918823, 1.871121883392334, -1.9495060443878174, 0.984721839427948, 1.0092782974243164, 0.7924587726593018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446300029754639, -1.3664586544036865, -1.2042123079299927, -1.9262820482254028, 1.2886232137680054, -0.38558727502822876, -1.0980745553970337, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1659774780273438, -1.0916310548782349, 1.8325477838516235, -1.9171041250228882, 1.034598708152771, 1.006781816482544, 0.7463821768760681, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344620704650879, -1.3664603233337402, -1.204205870628357, -1.9263614416122437, 1.2886238098144531, -0.3856011927127838, -1.0980712175369263, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.131772994995117, -1.0687991380691528, 1.8015683889389038, -1.9011729955673218, 1.095395565032959, 1.0062631368637085, 0.6814859509468079, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3446192741394043, -1.366459846496582, -1.2042063474655151, -1.9263592958450317, 1.288663387298584, -0.3856058716773987, -1.0980716943740845, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1091320514678955, -1.0505315065383911, 1.7753138542175293, -1.8937122821807861, 1.1431125402450562, 1.0060489177703857, 0.6399311423301697, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.344609260559082, -1.3664603233337402, -1.2042020559310913, -1.9263536930084229, 1.2886641025543213, -0.38561388850212097, -1.098073959350586, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0962889194488525, -1.031712532043457, 1.7522804737091064, -1.8945802450180054, 1.1822532415390015, 1.0058541297912598, 0.606747031211853, 0.4812000011349772, 0.4812000011349772, 0.4812000011349772, 0.4812000011349772, -0.4812000011349772, -0.4812000011349772, -0.4812000011349772, 0.4812000011349772, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446037769317627, -1.3664575815200806, -1.2042008638381958, -1.9263097047805786, 1.2886945009231567, -0.3856140077114105, -1.0980802774429321, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.086637496948242, -1.018195390701294, 1.7372910976409912, -1.8979719877243042, 1.2169326543807983, 1.005806803703308, 0.5685426592826843, 0.3773999958247929, 0.3773999958247929, 0.3773999958247929, 0.3773999958247929, -0.3773999958247929, -0.3773999958247929, -0.3773999958247929, 0.3773999958247929, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3445993661880493, -1.3664594888687134, -1.2041937112808228, -1.9263025522232056, 1.2887321710586548, -0.3856137692928314, -1.098067283630371, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0724685192108154, -1.005653977394104, 1.7206950187683105, -1.8915324211120605, 1.2484179735183716, 1.0062161684036255, 0.533342719078064, 0.2664000081491994, 0.2664000081491994, 0.2664000081491994, 0.2664000081491994, -0.2664000081491994, -0.2664000081491994, -0.2664000081491994, 0.2664000081491994, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3445897102355957, -1.3664602041244507, -1.2041951417922974, -1.9263075590133667, 1.2887324094772339, -0.3856123387813568, -1.0980489253997803, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0727596282958984, -0.9953753352165222, 1.7170411348342896, -1.891430377960205, 1.2643672227859497, 1.0065455436706543, 0.5184640288352966, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, -0.23159998694618983, -0.23159998694618983, -0.23159998694618983, 0.23159998694618983, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445152044296265, -1.366462230682373, -1.2042053937911987, -1.926299810409546, 1.2887368202209473, -0.38561075925827026, -1.0980507135391235, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0738980770111084, -0.9854369759559631, 1.713043212890625, -1.8899916410446167, 1.2719295024871826, 1.0067545175552368, 0.5114186406135559, 0.14339999418992264, 0.14339999418992264, 0.14339999418992264, 0.14339999418992264, -0.14339999418992264, -0.14339999418992264, -0.14339999418992264, 0.14339999418992264, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445760011672974, -1.3664602041244507, -1.2041984796524048, -1.9262936115264893, 1.2887271642684937, -0.38561028242111206, -1.0980571508407593, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.073979616165161, -0.9791176915168762, 1.7106963396072388, -1.8910408020019531, 1.2771440744400024, 1.0060781240463257, 0.519277811050415, 0.04140000657720881, 0.04140000657720881, 0.04140000657720881, 0.04140000657720881, -0.04140000657720881, -0.04140000657720881, -0.04140000657720881, 0.04140000657720881, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344584345817566, -1.3664613962173462, -1.2041889429092407, -1.9262912273406982, 1.288699984550476, -0.3856106400489807, -1.0980652570724487, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.078103542327881, -0.9716511368751526, 1.7107430696487427, -1.894535779953003, 1.2724015712738037, 1.004409909248352, 0.5363371968269348, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344590187072754, -1.3664625883102417, -1.204187273979187, -1.9263187646865845, 1.2886499166488647, -0.3856104016304016, -1.0980650186538696, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.073834180831909, -0.9599335193634033, 1.702549695968628, -1.8839582204818726, 1.2724794149398804, 1.0001013278961182, 0.5598810315132141, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3446071147918701, -1.3664628267288208, -1.2041864395141602, -1.926401138305664, 1.2885278463363647, -0.3856108784675598, -1.0981006622314453, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0712409019470215, -0.9460831880569458, 1.6964346170425415, -1.8858942985534668, 1.2794365882873535, 0.996881365776062, 0.5585771799087524, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3446409702301025, -1.3664621114730835, -1.2041865587234497, -1.9264239072799683, 1.2884947061538696, -0.3856108784675598, -1.0981608629226685, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0666849613189697, -0.9357454776763916, 1.6925581693649292, -1.8885469436645508, 1.2798517942428589, 0.9938908219337463, 0.5675582885742188, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3446526527404785, -1.3664621114730835, -1.204186201095581, -1.9265564680099487, 1.2883985042572021, -0.38561245799064636, -1.0981661081314087, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0595579147338867, -0.931227445602417, 1.6945923566818237, -1.8903886079788208, 1.2642426490783691, 0.9925847053527832, 0.5996562242507935, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.344653606414795, -1.3664615154266357, -1.2041879892349243, -1.9265493154525757, 1.2884024381637573, -0.38561150431632996, -1.098164677619934, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0539510250091553, -0.9320595264434814, 1.7009601593017578, -1.8983217477798462, 1.2535165548324585, 0.9926043152809143, 0.6192539930343628, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.344652771949768, -1.3664606809616089, -1.2041958570480347, -1.9265111684799194, 1.2884844541549683, -0.38561052083969116, -1.0981537103652954, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0405690670013428, -0.9338213801383972, 1.6995737552642822, -1.898638367652893, 1.2528984546661377, 0.9947090148925781, 0.6236366629600525, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3446462154388428, -1.366461992263794, -1.2042150497436523, -1.9263674020767212, 1.2885853052139282, -0.385605126619339, -1.098068118095398, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0215847492218018, -0.9369499087333679, 1.6969085931777954, -1.895056962966919, 1.2420551776885986, 0.9965419769287109, 0.6399637460708618, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3446134328842163, -1.3664624691009521, -1.2042341232299805, -1.926369309425354, 1.2886006832122803, -0.3856023848056793, -1.0979909896850586, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9993211030960083, -0.9435080289840698, 1.6966946125030518, -1.8942713737487793, 1.2256591320037842, 0.9978383183479309, 0.6551631689071655, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445932865142822, -1.3664631843566895, -1.2042434215545654, -1.9263659715652466, 1.2886221408843994, -0.38560131192207336, -1.0979844331741333, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9718209505081177, -0.9509470462799072, 1.6927366256713867, -1.8918168544769287, 1.2214381694793701, 0.9995002746582031, 0.6564092040061951, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445851802825928, -1.366463541984558, -1.204245686531067, -1.9263461828231812, 1.2886402606964111, -0.38560155034065247, -1.0979865789413452, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9366546869277954, -0.9556075930595398, 1.6810145378112793, -1.8811216354370117, 1.2320305109024048, 1.0014041662216187, 0.6488207578659058, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445587158203125, -1.3664641380310059, -1.2042512893676758, -1.9263067245483398, 1.2886966466903687, -0.385601669549942, -1.0979851484298706, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.89336359500885, -0.9551790356636047, 1.6625773906707764, -1.8659979104995728, 1.2604597806930542, 1.0028108358383179, 0.6267802119255066, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445440530776978, -1.3664692640304565, -1.2042505741119385, -1.9262160062789917, 1.2887063026428223, -0.38560155034065247, -1.0979750156402588, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8434169292449951, -0.9491686820983887, 1.640684723854065, -1.8559027910232544, 1.305567741394043, 1.0033286809921265, 0.5997461080551147, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3445430994033813, -1.366490125656128, -1.2042474746704102, -1.9262163639068604, 1.2886970043182373, -0.3856031000614166, -1.0979137420654297, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7971301078796387, -0.938652753829956, 1.617390513420105, -1.8492085933685303, 1.3528984785079956, 1.0033924579620361, 0.5605723261833191, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3445454835891724, -1.3664946556091309, -1.2042425870895386, -1.9262166023254395, 1.288684368133545, -0.38560405373573303, -1.0979158878326416, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7554759979248047, -0.927100658416748, 1.5908846855163574, -1.842147707939148, 1.3999791145324707, 1.0035390853881836, 0.5134409666061401, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3445485830307007, -1.3664950132369995, -1.204236626625061, -1.9262200593948364, 1.2886749505996704, -0.3856048882007599, -1.0979223251342773, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7137079238891602, -0.9151312708854675, 1.5628663301467896, -1.8329232931137085, 1.4528084993362427, 1.0036789178848267, 0.4646172523498535, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445526361465454, -1.3664942979812622, -1.204236388206482, -1.9262213706970215, 1.2886728048324585, -0.3856048882007599, -1.0979262590408325, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6700257062911987, -0.9030203223228455, 1.533783197402954, -1.8243430852890015, 1.5050560235977173, 1.0037745237350464, 0.412330687046051, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3445594310760498, -1.3664958477020264, -1.204219102859497, -1.9262475967407227, 1.2886136770248413, -0.3856070637702942, -1.0979256629943848, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6321451663970947, -0.8924461603164673, 1.5056413412094116, -1.816624641418457, 1.5390350818634033, 1.00383460521698, 0.37250781059265137, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.34456205368042, -1.3665010929107666, -1.2042094469070435, -1.926300287246704, 1.2885419130325317, -0.3856096863746643, -1.0979331731796265, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6251623630523682, -0.8863208293914795, 1.501204252243042, -1.8166977167129517, 1.5459275245666504, 1.0038630962371826, 0.3657006621360779, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.344580054283142, -1.3664976358413696, -1.2042107582092285, -1.9262841939926147, 1.2886461019515991, -0.38560405373573303, -1.0979458093643188, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.62809419631958, -0.8862073421478271, 1.5022728443145752, -1.8169928789138794, 1.5440703630447388, 1.003898024559021, 0.36785387992858887, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445883989334106, -1.3664947748184204, -1.2042101621627808, -1.9262758493423462, 1.2886868715286255, -0.38559556007385254, -1.0979580879211426, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6284195184707642, -0.8866198658943176, 1.5024625062942505, -1.8170064687728882, 1.5436081886291504, 1.003960132598877, 0.3682003319263458, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344604253768921, -1.3664946556091309, -1.2042099237442017, -1.9262596368789673, 1.2887296676635742, -0.3855806887149811, -1.097957730293274, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6284208297729492, -0.8869373798370361, 1.5025075674057007, -1.8170336484909058, 1.5435105562210083, 1.0039985179901123, 0.3683391213417053, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446141481399536, -1.366494059562683, -1.2042090892791748, -1.926252007484436, 1.2887341976165771, -0.3855648636817932, -1.0979564189910889, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6283774375915527, -0.8875072598457336, 1.5030080080032349, -1.8173733949661255, 1.5416520833969116, 1.0040162801742554, 0.36975768208503723, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344617486000061, -1.366485357284546, -1.2042115926742554, -1.9260928630828857, 1.2890323400497437, -0.38552138209342957, -1.0979640483856201, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6060410737991333, -0.909233808517456, 1.4975237846374512, -1.7979364395141602, 1.4921622276306152, 1.004461407661438, 0.4070292115211487, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446203470230103, -1.3664908409118652, -1.204209566116333, -1.9260258674621582, 1.2890435457229614, -0.3854796588420868, -1.0979410409927368, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5323922634124756, -0.9367159008979797, 1.4536446332931519, -1.7409905195236206, 1.4642997980117798, 1.0046712160110474, 0.4231921136379242, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446146249771118, -1.3665040731430054, -1.2041878700256348, -1.926230549812317, 1.2887089252471924, -0.3854881823062897, -1.0979251861572266, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.452330231666565, -0.9541444778442383, 1.4099152088165283, -1.6931266784667969, 1.4655359983444214, 1.0048130750656128, 0.41247138381004333, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446236848831177, -1.3664956092834473, -1.2041865587234497, -1.9261906147003174, 1.2887765169143677, -0.38549020886421204, -1.0979336500167847, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.366598129272461, -0.9700062870979309, 1.365208625793457, -1.6243613958358765, 1.4704937934875488, 1.004906415939331, 0.41057246923446655, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3446146249771118, -1.366499900817871, -1.2041832208633423, -1.9262428283691406, 1.288769006729126, -0.3855222165584564, -1.0979353189468384, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2760564088821411, -0.9887619018554688, 1.3118456602096558, -1.5471158027648926, 1.470709204673767, 1.004906177520752, 0.4077591896057129, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.344613790512085, -1.3664995431900024, -1.2041800022125244, -1.92623770236969, 1.2887396812438965, -0.38555672764778137, -1.0979342460632324, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.194435715675354, -1.0123298168182373, 1.2599101066589355, -1.4687902927398682, 1.4645916223526, 1.0049034357070923, 0.4224277436733246, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3446059226989746, -1.3665038347244263, -1.2041139602661133, -1.9263780117034912, 1.2886344194412231, -0.3856028616428375, -1.09793221950531, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1364494562149048, -1.033660650253296, 1.2239011526107788, -1.410991907119751, 1.4496291875839233, 1.0049010515213013, 0.44896525144577026, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446067571640015, -1.366493821144104, -1.2041252851486206, -1.9263148307800293, 1.2888063192367554, -0.38559937477111816, -1.097944974899292, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0801138877868652, -1.0576387643814087, 1.1880615949630737, -1.3491283655166626, 1.435482382774353, 1.00490140914917, 0.46162837743759155, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3446018695831299, -1.3664944171905518, -1.2041300535202026, -1.9263020753860474, 1.2887474298477173, -0.38559961318969727, -1.0979444980621338, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0155936479568481, -1.086398959159851, 1.1441009044647217, -1.2698605060577393, 1.4172173738479614, 1.0049012899398804, 0.481943815946579, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.344572901725769, -1.366500973701477, -1.2041314840316772, -1.9263553619384766, 1.2886618375778198, -0.3855992555618286, -1.0979353189468384, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9679071307182312, -1.114848256111145, 1.1186866760253906, -1.2087994813919067, 1.394387125968933, 1.0049008131027222, 0.5027723908424377, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3445693254470825, -1.3665012121200562, -1.2041393518447876, -1.9263486862182617, 1.288666009902954, -0.38559770584106445, -1.0979357957839966, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9372133612632751, -1.1384726762771606, 1.1009573936462402, -1.1559324264526367, 1.3700670003890991, 1.0048890113830566, 0.5283386707305908, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.344565510749817, -1.366501808166504, -1.2041795253753662, -1.9263474941253662, 1.2886525392532349, -0.38559794425964355, -1.0979337692260742, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9286631345748901, -1.1559176445007324, 1.0963152647018433, -1.1283737421035767, 1.3435466289520264, 1.0048710107803345, 0.5440946221351624, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445671796798706, -1.3665019273757935, -1.2042593955993652, -1.926214337348938, 1.2886617183685303, -0.38559699058532715, -1.0979398488998413, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9189777374267578, -1.171015977859497, 1.0885909795761108, -1.0954761505126953, 1.32245671749115, 1.0048640966415405, 0.564142644405365, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445672988891602, -1.3665040731430054, -1.2042548656463623, -1.926220178604126, 1.2886492013931274, -0.3855973482131958, -1.097935676574707, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9045751094818115, -1.1843523979187012, 1.0739542245864868, -1.0597758293151855, 1.3081246614456177, 1.0048550367355347, 0.5746995210647583, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445675373077393, -1.3665122985839844, -1.2042417526245117, -1.9262354373931885, 1.288515329360962, -0.3855975866317749, -1.0979219675064087, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9051109552383423, -1.1905397176742554, 1.0717368125915527, -1.0519349575042725, 1.296433925628662, 1.0048472881317139, 0.5779523253440857, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445686101913452, -1.3665142059326172, -1.204240322113037, -1.9262372255325317, 1.2885091304779053, -0.38559314608573914, -1.0979214906692505, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9186953902244568, -1.189612865447998, 1.0784050226211548, -1.0599561929702759, 1.294357419013977, 1.004828691482544, 0.5786916017532349, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3445720672607422, -1.3665133714675903, -1.2042396068572998, -1.9262363910675049, 1.2885338068008423, -0.38558417558670044, -1.0979340076446533, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9421530365943909, -1.1817007064819336, 1.0830833911895752, -1.086182951927185, 1.3024091720581055, 1.0048017501831055, 0.5651673078536987, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445820808410645, -1.3665125370025635, -1.2042388916015625, -1.9262285232543945, 1.2886403799057007, -0.3855690658092499, -1.0979397296905518, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9710777401924133, -1.1688040494918823, 1.0877128839492798, -1.119250774383545, 1.3196630477905273, 1.0047959089279175, 0.5495080947875977, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3445895910263062, -1.3665121793746948, -1.204236626625061, -1.9262101650238037, 1.288699746131897, -0.38555431365966797, -1.0979405641555786, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.002924919128418, -1.1548223495483398, 1.09527587890625, -1.158372163772583, 1.3403676748275757, 1.0047948360443115, 0.5276967287063599, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446085453033447, -1.3665128946304321, -1.2042189836502075, -1.9261964559555054, 1.288699984550476, -0.3855503797531128, -1.0979390144348145, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.042588472366333, -1.1394625902175903, 1.1057093143463135, -1.208351731300354, 1.3612817525863647, 1.0047931671142578, 0.5062692761421204, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3446406126022339, -1.3665122985839844, -1.2042113542556763, -1.9260796308517456, 1.2887139320373535, -0.3855434060096741, -1.0979435443878174, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0849452018737793, -1.1228878498077393, 1.1192443370819092, -1.251693844795227, 1.3826017379760742, 1.0047931671142578, 0.4912779629230499, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3446407318115234, -1.3665114641189575, -1.2042112350463867, -1.9260334968566895, 1.2887752056121826, -0.3855231702327728, -1.097938060760498, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1176344156265259, -1.1075425148010254, 1.125969648361206, -1.2805010080337524, 1.399152159690857, 1.0047917366027832, 0.47062912583351135, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3446422815322876, -1.3665106296539307, -1.2042092084884644, -1.926028847694397, 1.2887979745864868, -0.38551706075668335, -1.0979365110397339, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.143559217453003, -1.0985246896743774, 1.1347651481628418, -1.2964497804641724, 1.4106062650680542, 1.0047858953475952, 0.45707401633262634, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3446464538574219, -1.366510033607483, -1.2042073011398315, -1.9260174036026, 1.2888224124908447, -0.3855171799659729, -1.0979373455047607, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1563466787338257, -1.0925099849700928, 1.1399903297424316, -1.2976282835006714, 1.4110075235366821, 1.0047787427902222, 0.4617331326007843, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3446513414382935, -1.3665097951889038, -1.20420503616333, -1.9260081052780151, 1.2888482809066772, -0.38551849126815796, -1.097936987876892, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1567046642303467, -1.0898464918136597, 1.1351791620254517, -1.2880374193191528, 1.4151643514633179, 1.0047500133514404, 0.4613815248012543, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3446615934371948, -1.3665094375610352, -1.2040247917175293, -1.9259977340698242, 1.2888481616973877, -0.38552185893058777, -1.0979372262954712, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1549370288848877, -1.0895984172821045, 1.126359224319458, -1.2776278257369995, 1.4161961078643799, 1.0047142505645752, 0.45991164445877075, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3447397947311401, -1.3665077686309814, -1.2040047645568848, -1.9259711503982544, 1.2888494729995728, -0.38552677631378174, -1.0979443788528442, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1544420719146729, -1.0896663665771484, 1.1227470636367798, -1.274330735206604, 1.4148856401443481, 1.004544973373413, 0.46147918701171875, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3447448015213013, -1.366507887840271, -1.2040072679519653, -1.925976276397705, 1.2888418436050415, -0.38554006814956665, -1.0979419946670532, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1632966995239258, -1.0908923149108887, 1.1321406364440918, -1.2859152555465698, 1.4096001386642456, 1.0043941736221313, 0.4548521339893341, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3447458744049072, -1.3665088415145874, -1.2040075063705444, -1.9259735345840454, 1.2888392210006714, -0.38554438948631287, -1.0979375839233398, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1659603118896484, -1.0935008525848389, 1.134438157081604, -1.2880133390426636, 1.4165536165237427, 1.0043970346450806, 0.43222174048423767, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3447473049163818, -1.3665108680725098, -1.2039895057678223, -1.9259732961654663, 1.2887130975723267, -0.3855695426464081, -1.0979359149932861, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1794155836105347, -1.0943275690078735, 1.146409034729004, -1.3130239248275757, 1.4299027919769287, 1.0044095516204834, 0.39206308126449585, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3447692394256592, -1.366520881652832, -1.2037245035171509, -1.9258763790130615, 1.2886842489242554, -0.3855835795402527, -1.097922921180725, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1951289176940918, -1.0955007076263428, 1.1607997417449951, -1.339040756225586, 1.4595277309417725, 1.0045382976531982, 0.33137255907058716, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3448116779327393, -1.366561770439148, -1.2036292552947998, -1.9257454872131348, 1.2886658906936646, -0.38558727502822876, -1.0978981256484985, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.206579327583313, -1.0983492136001587, 1.1709444522857666, -1.3669383525848389, 1.5004111528396606, 1.005231261253357, 0.25829827785491943, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3448113203048706, -1.3665660619735718, -1.2036383152008057, -1.925717830657959, 1.2886828184127808, -0.38558441400527954, -1.0978771448135376, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2199593782424927, -1.098099946975708, 1.1809327602386475, -1.393501877784729, 1.5401231050491333, 1.0053138732910156, 0.1990649253129959, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.344812035560608, -1.3666061162948608, -1.2036373615264893, -1.9257235527038574, 1.288664698600769, -0.38558608293533325, -1.097852349281311, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2250005006790161, -1.0963481664657593, 1.1829643249511719, -1.4090020656585693, 1.5981398820877075, 1.0052522420883179, 0.13498455286026, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.344821572303772, -1.3666101694107056, -1.2036393880844116, -1.9257633686065674, 1.288567066192627, -0.3855873942375183, -1.0978752374649048, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2308404445648193, -1.0895605087280273, 1.1833057403564453, -1.4360504150390625, 1.6632640361785889, 1.0041279792785645, 0.05892319977283478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3448987007141113, -1.366604208946228, -1.203660488128662, -1.9259591102600098, 1.2885221242904663, -0.3855912387371063, -1.0980348587036133, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2396142482757568, -1.082093358039856, 1.1858322620391846, -1.4556293487548828, 1.7443963289260864, 1.0037068128585815, -0.017544185742735863, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3449877500534058, -1.366602897644043, -1.203662395477295, -1.9259754419326782, 1.2883304357528687, -0.3856048882007599, -1.098084568977356, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2400184869766235, -1.0787123441696167, 1.1840577125549316, -1.4646748304367065, 1.823000431060791, 1.0032374858856201, -0.09604121744632721, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345015525817871, -1.3666023015975952, -1.203662395477295, -1.9259966611862183, 1.2882834672927856, -0.38563185930252075, -1.098166823387146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.237445592880249, -1.077771544456482, 1.1829596757888794, -1.467484951019287, 1.8854973316192627, 1.0028671026229858, -0.15770365297794342, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450212478637695, -1.3666056394577026, -1.2036561965942383, -1.9259976148605347, 1.2882440090179443, -0.3856576383113861, -1.0981541872024536, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.232398271560669, -1.0808720588684082, 1.1828879117965698, -1.4571460485458374, 1.9217060804367065, 1.0029133558273315, -0.18997728824615479, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450207710266113, -1.3666119575500488, -1.2036488056182861, -1.9259942770004272, 1.2881700992584229, -0.385664701461792, -1.098116397857666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2312915325164795, -1.0824742317199707, 1.1825873851776123, -1.4534083604812622, 1.9383546113967896, 1.0032002925872803, -0.20333035290241241, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450204133987427, -1.3666163682937622, -1.203622579574585, -1.9259917736053467, 1.2881669998168945, -0.3856651782989502, -1.0981011390686035, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2352206707000732, -1.0838701725006104, 1.1906803846359253, -1.4595792293548584, 1.9703929424285889, 1.0032052993774414, -0.23777708411216736, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450182676315308, -1.3666352033615112, -1.2035459280014038, -1.9259936809539795, 1.288142442703247, -0.3856680691242218, -1.0980315208435059, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2387282848358154, -1.0847009420394897, 1.1984410285949707, -1.4612385034561157, 1.9952853918075562, 1.0032156705856323, -0.262843519449234, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345013976097107, -1.3666421175003052, -1.2035223245620728, -1.9259952306747437, 1.288142204284668, -0.385670930147171, -1.0980037450790405, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2370020151138306, -1.0881022214889526, 1.2015492916107178, -1.4582396745681763, 2.0258724689483643, 1.0032836198806763, -0.29210948944091797, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449492454528809, -1.3666417598724365, -1.2035390138626099, -1.9259957075119019, 1.2882062196731567, -0.38566938042640686, -1.097960114479065, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.234451174736023, -1.0933010578155518, 1.206716775894165, -1.455519676208496, 2.0671722888946533, 1.0035431385040283, -0.3342159390449524, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344861388206482, -1.3666410446166992, -1.2036906480789185, -1.925988793373108, 1.2884135246276855, -0.3856651782989502, -1.0979386568069458, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2300132513046265, -1.1012859344482422, 1.2120933532714844, -1.4441113471984863, 2.107335090637207, 1.004030704498291, -0.36940234899520874, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344763159751892, -1.366639494895935, -1.2039973735809326, -1.925967812538147, 1.2886296510696411, -0.3856431245803833, -1.0978959798812866, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.227103590965271, -1.1118041276931763, 1.2217721939086914, -1.4381359815597534, 2.1486804485321045, 1.004621148109436, -0.41056326031684875, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344740629196167, -1.3666335344314575, -1.2040444612503052, -1.9258908033370972, 1.2887588739395142, -0.3856036961078644, -1.0979052782058716, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2215338945388794, -1.1210993528366089, 1.2313499450683594, -1.4378278255462646, 2.2058534622192383, 1.0045862197875977, -0.4792466461658478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3447400331497192, -1.3666324615478516, -1.2040505409240723, -1.9258874654769897, 1.2887638807296753, -0.3855825960636139, -1.0979032516479492, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2121458053588867, -1.1341819763183594, 1.240675687789917, -1.438125729560852, 2.2469687461853027, 1.003844976425171, -0.5359172821044922, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3447366952896118, -1.3666313886642456, -1.2040551900863647, -1.925897240638733, 1.2887455224990845, -0.38558152318000793, -1.0979028940200806, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.205742359161377, -1.1500145196914673, 1.2532516717910767, -1.4407446384429932, 2.2837018966674805, 1.002284288406372, -0.5905773043632507, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344738245010376, -1.3666250705718994, -1.2040679454803467, -1.9258983135223389, 1.288742184638977, -0.3855821192264557, -1.0979313850402832, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.194717526435852, -1.1682616472244263, 1.2621700763702393, -1.4285454750061035, 2.3421990871429443, 0.9975650906562805, -0.6717665195465088, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344769835472107, -1.366621732711792, -1.2040631771087646, -1.9258967638015747, 1.288663625717163, -0.3855881094932556, -1.0981166362762451, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1873283386230469, -1.1835209131240845, 1.2708574533462524, -1.413895606994629, 2.387342691421509, 0.9918083548545837, -0.7368465662002563, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3448821306228638, -1.3666235208511353, -1.2040314674377441, -1.9258854389190674, 1.288622498512268, -0.3855914771556854, -1.098108172416687, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1867170333862305, -1.196422815322876, 1.2867045402526855, -1.405005931854248, 2.4086875915527344, 0.9938477873802185, -0.7731173038482666, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3448814153671265, -1.3666281700134277, -1.2038733959197998, -1.9258568286895752, 1.2885838747024536, -0.385591596364975, -1.0979844331741333, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1898820400238037, -1.2079397439956665, 1.3017792701721191, -1.4027773141860962, 2.4195895195007324, 0.9970321655273438, -0.7990726232528687, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3448882102966309, -1.36663019657135, -1.2037274837493896, -1.9257525205612183, 1.2885538339614868, -0.38559314608573914, -1.0979410409927368, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1938502788543701, -1.212357759475708, 1.3089138269424438, -1.404029369354248, 2.432917356491089, 0.993245005607605, -0.8191230893135071, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449292182922363, -1.3666303157806396, -1.203692078590393, -1.92575204372406, 1.2884371280670166, -0.38559818267822266, -1.0979547500610352, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1964627504348755, -1.2077909708023071, 1.305722713470459, -1.4062851667404175, 2.4424426555633545, 0.984632670879364, -0.8212890028953552, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450154066085815, -1.366631031036377, -1.2036505937576294, -1.9257630109786987, 1.2883179187774658, -0.3856063485145569, -1.0979701280593872, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1958032846450806, -1.201409101486206, 1.2999058961868286, -1.4027211666107178, 2.4531164169311523, 0.9826508164405823, -0.8212993144989014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450469970703125, -1.366632103919983, -1.2035242319107056, -1.9258005619049072, 1.2882496118545532, -0.38562214374542236, -1.098070502281189, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1945160627365112, -1.1968414783477783, 1.294924259185791, -1.4005911350250244, 2.460479974746704, 0.9805909991264343, -0.822257936000824, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451210260391235, -1.3666322231292725, -1.2035094499588013, -1.9259939193725586, 1.2881994247436523, -0.3856521248817444, -1.0981404781341553, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1945133209228516, -1.1950228214263916, 1.293264389038086, -1.4012714624404907, 2.4663562774658203, 0.9760265350341797, -0.8270100355148315, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3451542854309082, -1.3666341304779053, -1.2034696340560913, -1.9259848594665527, 1.288055658340454, -0.3856905996799469, -1.0981717109680176, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1941417455673218, -1.193498969078064, 1.291489601135254, -1.4016352891921997, 2.474505662918091, 0.9702911376953125, -0.8326742649078369, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3451565504074097, -1.3666412830352783, -1.2034472227096558, -1.925984501838684, 1.2880465984344482, -0.38570651412010193, -1.0981627702713013, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1907492876052856, -1.1906483173370361, 1.2868835926055908, -1.403687596321106, 2.4877419471740723, 0.9595428705215454, -0.8438345789909363, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, -0.03660001178364176, -0.03660001178364176, -0.03660001178364176, 0.03660001178364176, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451552391052246, -1.3666547536849976, -1.203403353691101, -1.9259878396987915, 1.2880083322525024, -0.3857503831386566, -1.09815514087677, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1887624263763428, -1.1854654550552368, 1.2812060117721558, -1.4089992046356201, 2.504716396331787, 0.9470543265342712, -0.8559895753860474, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451564311981201, -1.3666725158691406, -1.2033015489578247, -1.9259942770004272, 1.2879564762115479, -0.3858010768890381, -1.098154902458191, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.186397671699524, -1.180559754371643, 1.2745195627212524, -1.4086384773254395, 2.5235917568206787, 0.9348338842391968, -0.8678915500640869, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.34516179561615, -1.3666764497756958, -1.2031527757644653, -1.9260189533233643, 1.287791132926941, -0.38585081696510315, -1.0981695652008057, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1825873851776123, -1.1772490739822388, 1.2694313526153564, -1.4030078649520874, 2.5436999797821045, 0.9264050126075745, -0.8754494190216064, 0.07260001203516027, 0.07260001203516027, 0.07260001203516027, 0.07260001203516027, -0.07260001203516027, -0.07260001203516027, -0.07260001203516027, 0.07260001203516027, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451943397521973, -1.3666821718215942, -1.203112244606018, -1.9260624647140503, 1.2876379489898682, -0.38589826226234436, -1.098186731338501, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1823736429214478, -1.1732133626937866, 1.2672269344329834, -1.3967292308807373, 2.5638058185577393, 0.921310544013977, -0.8806251883506775, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, -0.07920001470125641, -0.07920001470125641, -0.07920001470125641, 0.07920001470125641, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3453196287155151, -1.36673903465271, -1.2028361558914185, -1.9261268377304077, 1.2874095439910889, -0.385995477437973, -1.0981923341751099, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1792550086975098, -1.1684740781784058, 1.2618978023529053, -1.3863558769226074, 2.586395263671875, 0.9147689342498779, -0.8860858082771301, 0.08820001476413605, 0.08820001476413605, 0.08820001476413605, 0.08820001476413605, -0.08820001476413605, -0.08820001476413605, -0.08820001476413605, 0.08820001476413605, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3453943729400635, -1.3668020963668823, -1.2027744054794312, -1.9261744022369385, 1.2873097658157349, -0.3860468864440918, -1.098203420639038, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1711926460266113, -1.1632373332977295, 1.2526524066925049, -1.3732613325119019, 2.6084513664245605, 0.9119572043418884, -0.8882949352264404, 0.09780000435127009, 0.09780000435127009, 0.09780000435127009, 0.09780000435127009, -0.09780000435127009, -0.09780000435127009, -0.09780000435127009, 0.09780000435127009, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3454312086105347, -1.366815447807312, -1.2026556730270386, -1.9262282848358154, 1.2871088981628418, -0.3860909938812256, -1.0982060432434082, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1660466194152832, -1.1575103998184204, 1.2452656030654907, -1.3643041849136353, 2.631314754486084, 0.9098840355873108, -0.8903442621231079, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, -0.12240000714312546, -0.12240000714312546, -0.12240000714312546, 0.12240000714312546, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3454911708831787, -1.3668346405029297, -1.202426791191101, -1.9262409210205078, 1.286935806274414, -0.386165052652359, -1.0982271432876587, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1594979763031006, -1.1519490480422974, 1.2361278533935547, -1.356247901916504, 2.650127649307251, 0.9072439074516296, -0.8913881778717041, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, -0.15479999164958577, -0.15479999164958577, -0.15479999164958577, 0.15479999164958577, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3455278873443604, -1.3668491840362549, -1.2023942470550537, -1.9262639284133911, 1.2868119478225708, -0.38621610403060913, -1.0982447862625122, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1508392095565796, -1.147277593612671, 1.2270400524139404, -1.350879192352295, 2.6623315811157227, 0.9050912261009216, -0.8931360840797424, 0.18300001018649928, 0.18300001018649928, 0.18300001018649928, 0.18300001018649928, -0.18300001018649928, -0.18300001018649928, -0.18300001018649928, 0.18300001018649928, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3455332517623901, -1.3668631315231323, -1.202392339706421, -1.9263103008270264, 1.28677237033844, -0.3862297534942627, -1.09825599193573, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1445646286010742, -1.1441285610198975, 1.2201350927352905, -1.3441121578216553, 2.675811529159546, 0.9030644297599792, -0.8968376517295837, 0.1920000102493789, 0.1920000102493789, 0.1920000102493789, 0.1920000102493789, -0.1920000102493789, -0.1920000102493789, -0.1920000102493789, 0.1920000102493789, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3455370664596558, -1.3668687343597412, -1.2023932933807373, -1.9263145923614502, 1.286765217781067, -0.3862297534942627, -1.0982645750045776, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1401175260543823, -1.140858769416809, 1.2133218050003052, -1.3339037895202637, 2.691790819168091, 0.901963472366333, -0.898481547832489, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, -0.19920000243972946, -0.19920000243972946, -0.19920000243972946, 0.19920000243972946, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3455573320388794, -1.3668768405914307, -1.2023922204971313, -1.9263086318969727, 1.286763310432434, -0.38622868061065674, -1.0983004570007324, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1299482583999634, -1.1372761726379395, 1.2022829055786133, -1.317661166191101, 2.7136659622192383, 0.8995581865310669, -0.9010359644889832, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.21180001824766723, -0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345582127571106, -1.3669031858444214, -1.2023836374282837, -1.9263088703155518, 1.2867156267166138, -0.38622891902923584, -1.0982990264892578, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1241506338119507, -1.1326310634613037, 1.1946706771850586, -1.312845230102539, 2.7280173301696777, 0.8982285857200623, -0.902442216873169, 0.22739998167687717, 0.22739998167687717, 0.22739998167687717, 0.22739998167687717, -0.22739998167687717, -0.22739998167687717, -0.22739998167687717, 0.22739998167687717, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3455984592437744, -1.3669488430023193, -1.2023470401763916, -1.9263086318969727, 1.2866228818893433, -0.3862287998199463, -1.0982961654663086, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1232523918151855, -1.127679467201233, 1.188040852546692, -1.3120936155319214, 2.7386577129364014, 0.8947936296463013, -0.9052057862281799, 0.2339999843429733, 0.2339999843429733, 0.2339999843429733, 0.2339999843429733, -0.2339999843429733, -0.2339999843429733, -0.2339999843429733, 0.2339999843429733, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3455963134765625, -1.3669694662094116, -1.2023520469665527, -1.9263081550598145, 1.2866367101669312, -0.38622185587882996, -1.0982691049575806, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1245226860046387, -1.1194535493850708, 1.1809427738189697, -1.3169803619384766, 2.7492785453796387, 0.893240749835968, -0.9078142642974854, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, -0.23999999748481501, -0.23999999748481501, -0.23999999748481501, 0.23999999748481501, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3454694747924805, -1.3669683933258057, -1.2026760578155518, -1.926282286643982, 1.287140965461731, -0.3861038088798523, -1.0980932712554932, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1289420127868652, -1.1130778789520264, 1.17995023727417, -1.3285117149353027, 2.7541983127593994, 0.8906575441360474, -0.9105780720710754, 0.2603999950073578, 0.2603999950073578, 0.2603999950073578, 0.2603999950073578, -0.2603999950073578, -0.2603999950073578, -0.2603999950073578, 0.2603999950073578, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.34523344039917, -1.3669639825820923, -1.202994465827942, -1.9262007474899292, 1.2872557640075684, -0.38603490591049194, -1.0980515480041504, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1467965841293335, -1.1009521484375, 1.1834805011749268, -1.358411431312561, 2.748784065246582, 0.894841194152832, -0.9068827033042908, 0.2669999976734539, 0.2669999976734539, 0.2669999976734539, 0.2669999976734539, -0.2669999976734539, -0.2669999976734539, -0.2669999976734539, 0.2669999976734539, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451800346374512, -1.3669590950012207, -1.2030562162399292, -1.9260059595108032, 1.2874479293823242, -0.3860086500644684, -1.0980231761932373, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1778578758239746, -1.088259220123291, 1.1998640298843384, -1.4002177715301514, 2.7367751598358154, 0.8964453339576721, -0.9060317277908325, 0.2693999950702374, 0.2693999950702374, 0.2693999950702374, 0.2693999950702374, -0.2693999950702374, -0.2693999950702374, -0.2693999950702374, 0.2693999950702374, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.345158576965332, -1.3669577836990356, -1.2030693292617798, -1.926002025604248, 1.2874882221221924, -0.3859938979148865, -1.0978575944900513, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.218814492225647, -1.0721383094787598, 1.2284053564071655, -1.445580244064331, 2.7161152362823486, 0.9130916595458984, -0.8953356742858887, 0.27120000294276647, 0.27120000294276647, 0.27120000294276647, 0.27120000294276647, -0.27120000294276647, -0.27120000294276647, -0.27120000294276647, 0.27120000294276647, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450943231582642, -1.3669438362121582, -1.2032959461212158, -1.9259997606277466, 1.2876187562942505, -0.38598790764808655, -1.0978705883026123, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2655748128890991, -1.0563104152679443, 1.2665261030197144, -1.4966710805892944, 2.6919069290161133, 0.9358277320861816, -0.8770065307617188, 0.26460000027667036, 0.26460000027667036, 0.26460000027667036, 0.26460000027667036, -0.26460000027667036, -0.26460000027667036, -0.26460000027667036, 0.26460000027667036, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450943231582642, -1.3669357299804688, -1.2032991647720337, -1.9259591102600098, 1.2876783609390259, -0.38598397374153137, -1.0978772640228271, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.30449378490448, -1.0481359958648682, 1.3111659288406372, -1.5441206693649292, 2.6677253246307373, 0.9629160761833191, -0.851335346698761, 0.21359998682043055, 0.21359998682043055, 0.21359998682043055, 0.21359998682043055, -0.21359998682043055, -0.21359998682043055, -0.21359998682043055, 0.21359998682043055, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450989723205566, -1.3669344186782837, -1.203288197517395, -1.9259458780288696, 1.2876745462417603, -0.38598504662513733, -1.097894310951233, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3334239721298218, -1.0456589460372925, 1.3568377494812012, -1.57920241355896, 2.643866539001465, 0.9916682243347168, -0.8219348192214966, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, -0.14819998898348968, -0.14819998898348968, -0.14819998898348968, 0.14819998898348968, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451257944107056, -1.366929054260254, -1.203287124633789, -1.9259299039840698, 1.2876722812652588, -0.38598528504371643, -1.097895622253418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3552812337875366, -1.0414239168167114, 1.3869160413742065, -1.6099225282669067, 2.6424543857574463, 1.0014097690582275, -0.812918484210968, 0.095999996478741, 0.095999996478741, 0.095999996478741, 0.095999996478741, -0.095999996478741, -0.095999996478741, -0.095999996478741, 0.095999996478741, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451216220855713, -1.3669252395629883, -1.2032887935638428, -1.9259278774261475, 1.287686824798584, -0.385982871055603, -1.097894549369812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3701080083847046, -1.0403308868408203, 1.4109951257705688, -1.6290674209594727, 2.646185874938965, 1.0010087490081787, -0.814767062664032, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, -0.03660001178364176, -0.03660001178364176, -0.03660001178364176, 0.03660001178364176, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451151847839355, -1.3669222593307495, -1.2032908201217651, -1.9259296655654907, 1.2876992225646973, -0.3859761655330658, -1.097894549369812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3745598793029785, -1.0418468713760376, 1.4267942905426025, -1.6421014070510864, 2.6329517364501953, 1.0007970333099365, -0.8050059080123901, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451157808303833, -1.366921067237854, -1.2032930850982666, -1.9259288311004639, 1.2877655029296875, -0.385965496301651, -1.0979052782058716, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3725180625915527, -1.0474063158035278, 1.4407429695129395, -1.6475611925125122, 2.5845913887023926, 1.0007941722869873, -0.74932861328125, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345114827156067, -1.366919755935669, -1.2032946348190308, -1.9259259700775146, 1.2878546714782715, -0.38595736026763916, -1.0979150533676147, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3549230098724365, -1.051872730255127, 1.4371613264083862, -1.6401997804641724, 2.4924442768096924, 1.0007935762405396, -0.6570445895195007, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451167345046997, -1.3669086694717407, -1.2033089399337769, -1.9259134531021118, 1.2880951166152954, -0.3859376907348633, -1.0979540348052979, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3022496700286865, -1.0571680068969727, 1.4051023721694946, -1.5829941034317017, 2.3906495571136475, 1.0008056163787842, -0.5569174885749817, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.345110297203064, -1.3669090270996094, -1.2033089399337769, -1.9259408712387085, 1.2879737615585327, -0.38593292236328125, -1.097937822341919, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2263633012771606, -1.0688393115997314, 1.3410333395004272, -1.5053529739379883, 2.298816680908203, 1.000806212425232, -0.49124667048454285, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3450955152511597, -1.366909384727478, -1.2033131122589111, -1.9260529279708862, 1.2876663208007812, -0.38593339920043945, -1.0979126691818237, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1690118312835693, -1.0884984731674194, 1.291970133781433, -1.4551007747650146, 2.2330963611602783, 1.0008052587509155, -0.4464961588382721, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450814485549927, -1.3669034242630005, -1.2033556699752808, -1.9260401725769043, 1.287775993347168, -0.3859255909919739, -1.0979238748550415, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.114449381828308, -1.109010934829712, 1.2429207563400269, -1.4143712520599365, 2.1977767944335938, 1.0008468627929688, -0.44492119550704956, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3450766801834106, -1.3669034242630005, -1.2033594846725464, -1.9260450601577759, 1.287774920463562, -0.38592368364334106, -1.0979284048080444, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0669009685516357, -1.1385459899902344, 1.2010397911071777, -1.386827826499939, 2.162170886993408, 1.0009071826934814, -0.4572245478630066, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450766801834106, -1.3669031858444214, -1.2033634185791016, -1.9260226488113403, 1.2878936529159546, -0.3859107494354248, -1.0979264974594116, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0295156240463257, -1.1686451435089111, 1.1735548973083496, -1.3408408164978027, 2.140367269515991, 1.0012134313583374, -0.4788534343242645, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3450684547424316, -1.366906762123108, -1.2033617496490479, -1.9260419607162476, 1.2878285646438599, -0.38590797781944275, -1.0979113578796387, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0006970167160034, -1.201080322265625, 1.161673903465271, -1.2824463844299316, 2.10235595703125, 1.0012344121932983, -0.48432591557502747, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449785709381104, -1.3669062852859497, -1.2034255266189575, -1.9260309934616089, 1.2879515886306763, -0.38580167293548584, -1.097785472869873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9792332053184509, -1.2254858016967773, 1.1575870513916016, -1.2287814617156982, 2.0683786869049072, 1.0012530088424683, -0.4840751886367798, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3447365760803223, -1.3669085502624512, -1.203482985496521, -1.9259555339813232, 1.2880409955978394, -0.385713130235672, -1.0975165367126465, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9665277600288391, -1.2435803413391113, 1.1687448024749756, -1.1917489767074585, 2.038828134536743, 1.0014243125915527, -0.4746546447277069, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.344747543334961, -1.3669116497039795, -1.203476071357727, -1.9258400201797485, 1.2880467176437378, -0.3857119083404541, -1.097503662109375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9664404988288879, -1.2511634826660156, 1.1897310018539429, -1.1775259971618652, 2.0148870944976807, 1.0014331340789795, -0.47200146317481995, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.344881296157837, -1.3669120073318481, -1.2034574747085571, -1.9258639812469482, 1.287989854812622, -0.3857303857803345, -1.0975414514541626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9967902302742004, -1.2459971904754639, 1.226420283317566, -1.2189422845840454, 1.9979026317596436, 1.001390814781189, -0.4598761796951294, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449373245239258, -1.3668984174728394, -1.2034610509872437, -1.925864577293396, 1.288051962852478, -0.3857401907444, -1.0977319478988647, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.047668218612671, -1.2266722917556763, 1.2490602731704712, -1.2983027696609497, 2.0134902000427246, 1.0013093948364258, -0.44928857684135437, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3450112342834473, -1.3668760061264038, -1.2034639120101929, -1.9258729219436646, 1.2881767749786377, -0.38574105501174927, -1.097792387008667, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0968281030654907, -1.204405665397644, 1.2588576078414917, -1.3730767965316772, 2.054227113723755, 1.0013039112091064, -0.4617229402065277, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450106382369995, -1.366869330406189, -1.2034673690795898, -1.9258737564086914, 1.2881865501403809, -0.38574308156967163, -1.0978094339370728, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1382390260696411, -1.187515377998352, 1.2606148719787598, -1.4279825687408447, 2.0928359031677246, 1.0013076066970825, -0.4963778555393219, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3450076580047607, -1.3668676614761353, -1.2034673690795898, -1.9258853197097778, 1.2881766557693481, -0.3857516944408417, -1.0978100299835205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1848206520080566, -1.1723510026931763, 1.2691601514816284, -1.4794975519180298, 2.1070683002471924, 1.0013326406478882, -0.5087483525276184, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450112342834473, -1.3668371438980103, -1.2034802436828613, -1.92586350440979, 1.2883111238479614, -0.38575315475463867, -1.0978368520736694, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2168699502944946, -1.162397861480713, 1.2779639959335327, -1.501227855682373, 2.106919527053833, 1.0013642311096191, -0.5084695816040039, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345023512840271, -1.3668309450149536, -1.2034741640090942, -1.92586088180542, 1.2882145643234253, -0.3857637047767639, -1.097882628440857, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.242609977722168, -1.1543370485305786, 1.284718632698059, -1.521285057067871, 2.10256028175354, 1.0013720989227295, -0.5026756525039673, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450536727905273, -1.3668313026428223, -1.2034680843353271, -1.925825834274292, 1.288203239440918, -0.38577136397361755, -1.0978857278823853, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.261884093284607, -1.146816611289978, 1.2927838563919067, -1.532312273979187, 2.103598117828369, 1.0013768672943115, -0.49404656887054443, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451088666915894, -1.3668347597122192, -1.203457236289978, -1.9257700443267822, 1.2881617546081543, -0.38577497005462646, -1.0978749990463257, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2717734575271606, -1.1383717060089111, 1.2925353050231934, -1.532779574394226, 2.1047587394714355, 1.0013799667358398, -0.4837258756160736, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450950384140015, -1.3668400049209595, -1.2034518718719482, -1.9257951974868774, 1.288116216659546, -0.3857780694961548, -1.0978243350982666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2858980894088745, -1.126518726348877, 1.2956533432006836, -1.5471552610397339, 2.0903069972991943, 1.0013823509216309, -0.44344842433929443, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345054268836975, -1.3668370246887207, -1.2034578323364258, -1.925806999206543, 1.2881598472595215, -0.3857741057872772, -1.0978078842163086, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3044666051864624, -1.1158956289291382, 1.3203243017196655, -1.568435788154602, 2.056581974029541, 1.001417875289917, -0.3764393627643585, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.34505295753479, -1.3668270111083984, -1.2034651041030884, -1.9257935285568237, 1.288358449935913, -0.38575518131256104, -1.0978564023971558, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3023892641067505, -1.108253836631775, 1.3255181312561035, -1.5580618381500244, 2.0401217937469482, 1.0014252662658691, -0.33951032161712646, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450472354888916, -1.3668255805969238, -1.2034647464752197, -1.9257981777191162, 1.2883261442184448, -0.38574859499931335, -1.0978598594665527, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2907553911209106, -1.1075973510742188, 1.313667893409729, -1.528983235359192, 2.031456470489502, 1.0014290809631348, -0.3226639926433563, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450324535369873, -1.3668261766433716, -1.203465223312378, -1.9257994890213013, 1.2883020639419556, -0.38573887944221497, -1.097858190536499, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2752643823623657, -1.1084108352661133, 1.2919673919677734, -1.49962317943573, 2.0301706790924072, 1.0014317035675049, -0.3213176727294922, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450337648391724, -1.366827368736267, -1.2034634351730347, -1.9258092641830444, 1.288063883781433, -0.3857397139072418, -1.0978689193725586, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2717530727386475, -1.1091012954711914, 1.2829394340515137, -1.4882290363311768, 2.0322470664978027, 1.001432180404663, -0.3214304447174072, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450453281402588, -1.3668274879455566, -1.2034592628479004, -1.925801396369934, 1.288070797920227, -0.3857397139072418, -1.0979920625686646, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2724627256393433, -1.1080737113952637, 1.2757549285888672, -1.4835532903671265, 2.0322868824005127, 1.0014299154281616, -0.3187815845012665, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345054268836975, -1.3668313026428223, -1.203407645225525, -1.925802230834961, 1.2880518436431885, -0.385745108127594, -1.098077416419983, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.274610996246338, -1.1057595014572144, 1.26873779296875, -1.4770737886428833, 2.0291409492492676, 1.0014252662658691, -0.31008365750312805, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345104455947876, -1.3668347597122192, -1.2031790018081665, -1.9257978200912476, 1.288020133972168, -0.3857501447200775, -1.0980569124221802, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2756325006484985, -1.1015281677246094, 1.26286780834198, -1.4673962593078613, 2.0317955017089844, 1.0014210939407349, -0.30770179629325867, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451509475708008, -1.3668406009674072, -1.2030707597732544, -1.9258016347885132, 1.287725567817688, -0.38577520847320557, -1.0980401039123535, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2812994718551636, -1.0938938856124878, 1.2604624032974243, -1.4726455211639404, 2.0304787158966064, 1.0013434886932373, -0.3009445071220398, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345150351524353, -1.3668406009674072, -1.203102469444275, -1.925856590270996, 1.2877719402313232, -0.3857876658439636, -1.0978684425354004, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3045239448547363, -1.0784614086151123, 1.2682431936264038, -1.504661202430725, 2.020463228225708, 1.001279354095459, -0.2956303358078003, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451474905014038, -1.366835117340088, -1.2034212350845337, -1.9259147644042969, 1.2881256341934204, -0.3857880234718323, -1.0978797674179077, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3382360935211182, -1.0591599941253662, 1.2864296436309814, -1.5421175956726074, 2.0147547721862793, 1.0012896060943604, -0.3081812858581543, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3451478481292725, -1.3668289184570312, -1.2035534381866455, -1.9257785081863403, 1.2882755994796753, -0.3857864737510681, -1.097908616065979, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3533350229263306, -1.0475307703018188, 1.294041633605957, -1.5609220266342163, 2.0164613723754883, 1.0013571977615356, -0.3404693007469177, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3451473712921143, -1.366823434829712, -1.203555703163147, -1.9257187843322754, 1.2882859706878662, -0.385784775018692, -1.098080039024353, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.336173415184021, -1.0493050813674927, 1.2821420431137085, -1.5509930849075317, 2.016972780227661, 1.001964807510376, -0.34857675433158875, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345129132270813, -1.3668239116668701, -1.203559398651123, -1.9257373809814453, 1.2882943153381348, -0.3857814371585846, -1.0980488061904907, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3018726110458374, -1.0615732669830322, 1.2571532726287842, -1.5284806489944458, 1.9909201860427856, 1.0020989179611206, -0.3328417241573334, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3449970483779907, -1.3668208122253418, -1.2039133310317993, -1.9257615804672241, 1.2883021831512451, -0.3857767581939697, -1.0980499982833862, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2790716886520386, -1.0781723260879517, 1.2439926862716675, -1.5024936199188232, 1.9632726907730103, 1.0021713972091675, -0.312943696975708, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450052738189697, -1.366662859916687, -1.2040663957595825, -1.925754189491272, 1.2886253595352173, -0.3857455849647522, -1.0981090068817139, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.272121787071228, -1.086378812789917, 1.2407653331756592, -1.4941869974136353, 1.949048399925232, 1.0024867057800293, -0.3025763928890228, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449938297271729, -1.3666497468948364, -1.2041290998458862, -1.9258232116699219, 1.28862726688385, -0.3857276141643524, -1.0980969667434692, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2914458513259888, -1.0856539011001587, 1.2574756145477295, -1.5151246786117554, 1.9445593357086182, 1.0024940967559814, -0.30017751455307007, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449957370758057, -1.3666568994522095, -1.2041071653366089, -1.9259653091430664, 1.288543701171875, -0.38572606444358826, -1.0980868339538574, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.336194634437561, -1.0718740224838257, 1.282628059387207, -1.5595929622650146, 1.953413963317871, 1.002450942993164, -0.29041191935539246, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.345004677772522, -1.366666555404663, -1.2040432691574097, -1.9259376525878906, 1.2883963584899902, -0.3857278525829315, -1.098088264465332, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4105980396270752, -1.0458588600158691, 1.3451613187789917, -1.6364500522613525, 1.942492961883545, 1.0024199485778809, -0.24257725477218628, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449398279190063, -1.3666703701019287, -1.2039844989776611, -1.9255914688110352, 1.2884591817855835, -0.38572439551353455, -1.0980769395828247, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.520880103111267, -1.0189309120178223, 1.4539340734481812, -1.745327353477478, 1.866151213645935, 1.0024033784866333, -0.12026745080947876, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.344949722290039, -1.3666378259658813, -1.2040146589279175, -1.9255372285842896, 1.2887753248214722, -0.3856718838214874, -1.0980702638626099, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.634829044342041, -1.0151467323303223, 1.5710173845291138, -1.8411599397659302, 1.7244607210159302, 1.0024014711380005, 0.06046053394675255, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.3449598550796509, -1.3666284084320068, -1.2040834426879883, -1.925351619720459, 1.2893259525299072, -0.3854530453681946, -1.0980838537216187, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6817864179611206, -1.0414128303527832, 1.635977029800415, -1.8782291412353516, 1.5487542152404785, 0.9791266322135925, 0.2762996554374695, 0.04080001705295442, 0.04080001705295442, 0.04080001705295442, 0.04080001705295442, -0.04080001705295442, -0.04080001705295442, -0.04080001705295442, 0.04080001705295442, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3450853824615479, -1.3666481971740723, -1.2040026187896729, -1.9253795146942139, 1.2887992858886719, -0.3854528069496155, -1.098069190979004, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6672309637069702, -1.051149606704712, 1.6285209655761719, -1.8672804832458496, 1.5123653411865234, 0.9733306765556335, 0.38111406564712524, 0.38160000109410547, 0.38160000109410547, 0.38160000109410547, 0.38160000109410547, -0.38160000109410547, -0.38160000109410547, -0.38160000109410547, 0.38160000109410547, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.345062494277954, -1.3666540384292603, -1.2039614915847778, -1.9255424737930298, 1.2885680198669434, -0.38546517491340637, -1.0980525016784668, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6594703197479248, -1.0493031740188599, 1.6253379583358765, -1.86774480342865, 1.5515283346176147, 0.9743108749389648, 0.3059521019458771, 0.577200000168203, 0.577200000168203, 0.577200000168203, 0.577200000168203, -0.577200000168203, -0.577200000168203, -0.577200000168203, 0.577200000168203, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3450607061386108, -1.3666512966156006, -1.2039625644683838, -1.9255406856536865, 1.2887749671936035, -0.3854706883430481, -1.0980597734451294, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.662016749382019, -1.0466904640197754, 1.6254926919937134, -1.8672888278961182, 1.5510212182998657, 0.9745263457298279, 0.2841470539569855, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450547456741333, -1.3666566610336304, -1.2038664817810059, -1.9257534742355347, 1.2886184453964233, -0.38557854294776917, -1.0980600118637085, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7001475095748901, -1.0562434196472168, 1.6475186347961426, -1.8982892036437988, 1.501418948173523, 0.9948941469192505, 0.3237629532814026, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3449995517730713, -1.3666553497314453, -1.2038570642471313, -1.9257198572158813, 1.288591742515564, -0.38559651374816895, -1.0980714559555054, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.806565523147583, -1.0801851749420166, 1.6840871572494507, -1.9717549085617065, 1.4032987356185913, 1.0053924322128296, 0.38657525181770325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3449965715408325, -1.3666486740112305, -1.2038676738739014, -1.925532579421997, 1.2887752056121826, -0.3855777084827423, -1.0980902910232544, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.936689853668213, -1.0933222770690918, 1.7194037437438965, -2.0394339561462402, 1.3202155828475952, 1.005391240119934, 0.45887789130210876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.344988465309143, -1.3666473627090454, -1.2038791179656982, -1.9254175424575806, 1.2889679670333862, -0.38553574681282043, -1.0980942249298096, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0533251762390137, -1.1015403270721436, 1.751902461051941, -2.083432197570801, 1.2154712677001953, 1.0048342943191528, 0.552858293056488, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3449913263320923, -1.36664879322052, -1.2038805484771729, -1.925365686416626, 1.288970947265625, -0.38551777601242065, -1.0980926752090454, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1482625007629395, -1.1147583723068237, 1.7676469087600708, -2.0934207439422607, 1.0810353755950928, 0.9703335762023926, 0.667310893535614, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3449918031692505, -1.3666492700576782, -1.203885555267334, -1.9253640174865723, 1.2889739274978638, -0.38551488518714905, -1.0980910062789917, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2164838314056396, -1.1269543170928955, 1.7858549356460571, -2.0845160484313965, 0.9493855237960815, 0.904169499874115, 0.7884684205055237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3449968099594116, -1.3666484355926514, -1.2039045095443726, -1.925349235534668, 1.2890297174453735, -0.3855038583278656, -1.0980943441390991, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2388291358947754, -1.1349939107894897, 1.788985013961792, -2.058803081512451, 0.8222350478172302, 0.835944652557373, 0.8921899795532227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3450056314468384, -1.3666503429412842, -1.203903317451477, -1.9253532886505127, 1.2889972925186157, -0.38550686836242676, -1.098097562789917, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.23573899269104, -1.1466913223266602, 1.787197232246399, -2.0326731204986572, 0.7389251589775085, 0.7846342921257019, 0.9538569450378418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3450332880020142, -1.3666499853134155, -1.2039035558700562, -1.925353765487671, 1.2889972925186157, -0.38550782203674316, -1.0981168746948242, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2099945545196533, -1.1609736680984497, 1.7647757530212402, -1.9909906387329102, 0.6778044104576111, 0.7517834901809692, 0.9679049849510193, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.3450331687927246, -1.366651177406311, -1.2039042711257935, -1.9253785610198975, 1.2889549732208252, -0.3855115473270416, -1.0981011390686035, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1642093658447266, -1.1738872528076172, 1.7372808456420898, -1.9447963237762451, 0.6365886330604553, 0.7410436868667603, 0.9761971831321716, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3450340032577515, -1.3666530847549438, -1.203903317451477, -1.9255746603012085, 1.2888023853302002, -0.38551944494247437, -1.0980793237686157, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1112422943115234, -1.1825430393218994, 1.717195749282837, -1.8957017660140991, 0.6143052577972412, 0.7414541840553284, 0.9989647269248962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3450322151184082, -1.3666528463363647, -1.2039035558700562, -1.9256361722946167, 1.2887355089187622, -0.38555192947387695, -1.0980817079544067, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.079179286956787, -1.1896018981933594, 1.6998478174209595, -1.8730993270874023, 0.5949209928512573, 0.735217809677124, 1.005732774734497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3450311422348022, -1.3666517734527588, -1.203920602798462, -1.9256333112716675, 1.2887428998947144, -0.3855572044849396, -1.0980857610702515, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0587236881256104, -1.1971439123153687, 1.682672381401062, -1.860849142074585, 0.5798616409301758, 0.7373597621917725, 1.0102556943893433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.3450299501419067, -1.3666517734527588, -1.2040419578552246, -1.925629734992981, 1.2887552976608276, -0.3855556547641754, -1.0980867147445679, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0354912281036377, -1.2052162885665894, 1.663718819618225, -1.8526272773742676, 0.5761060118675232, 0.7412139773368835, 1.001622200012207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3450175523757935, -1.366652250289917, -1.2040636539459229, -1.925620198249817, 1.2888017892837524, -0.38555026054382324, -1.0980689525604248, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.022256851196289, -1.2091666460037231, 1.6434828042984009, -1.8496941328048706, 0.5697011947631836, 0.7465184330940247, 0.9893859624862671, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449667692184448, -1.3666528463363647, -1.2040724754333496, -1.9255805015563965, 1.2889235019683838, -0.3855230510234833, -1.0979902744293213, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.010727882385254, -1.2138780355453491, 1.6276164054870605, -1.8467185497283936, 0.5629859566688538, 0.753272533416748, 0.9782955050468445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344952940940857, -1.3666529655456543, -1.2040722370147705, -1.9255096912384033, 1.2889515161514282, -0.3854992091655731, -1.0978724956512451, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.999340534210205, -1.2150052785873413, 1.618687391281128, -1.8399930000305176, 0.5536302328109741, 0.7578771114349365, 0.9851868152618408, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449530601501465, -1.3666538000106812, -1.2040619850158691, -1.9255149364471436, 1.2889035940170288, -0.3854976296424866, -1.0978847742080688, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9925318956375122, -1.2151093482971191, 1.616931438446045, -1.8367400169372559, 0.5425904393196106, 0.7590967416763306, 1.0005733966827393, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449565172195435, -1.366654396057129, -1.2040388584136963, -1.9255318641662598, 1.2887532711029053, -0.38550207018852234, -1.0979177951812744, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.990277886390686, -1.2151907682418823, 1.6169451475143433, -1.8427485227584839, 0.5314822793006897, 0.7602486610412598, 1.0109398365020752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344970941543579, -1.3666561841964722, -1.2040072679519653, -1.9256454706192017, 1.2886580228805542, -0.3855117857456207, -1.0981063842773438, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9931178092956543, -1.216568112373352, 1.6263153553009033, -1.8471789360046387, 0.5323686599731445, 0.757469654083252, 1.01918625831604, 0.47040000302450996, 0.47040000302450996, 0.47040000302450996, 0.47040000302450996, -0.47040000302450996, -0.47040000302450996, -0.47040000302450996, 0.47040000302450996, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449715375900269, -1.3666532039642334, -1.2040073871612549, -1.925653338432312, 1.288666009902954, -0.3855167031288147, -1.0981189012527466, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9945688247680664, -1.217382550239563, 1.636370301246643, -1.845114827156067, 0.535592257976532, 0.7569465637207031, 1.0233409404754639, 0.38219999061835985, 0.38219999061835985, 0.38219999061835985, 0.38219999061835985, -0.38219999061835985, -0.38219999061835985, -0.38219999061835985, 0.38219999061835985, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449736833572388, -1.3666542768478394, -1.2040077447891235, -1.9256634712219238, 1.2886720895767212, -0.3855263888835907, -1.098121166229248, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9940297603607178, -1.2177281379699707, 1.6378371715545654, -1.8406590223312378, 0.5354122519493103, 0.7579966187477112, 1.0281221866607666, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, -0.2849999977992131, -0.2849999977992131, -0.2849999977992131, 0.2849999977992131, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344975233078003, -1.3666545152664185, -1.2040072679519653, -1.9256623983383179, 1.2886793613433838, -0.38554030656814575, -1.0981228351593018, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9905991554260254, -1.2186532020568848, 1.6401121616363525, -1.831347107887268, 0.5342157483100891, 0.7609943151473999, 1.0357362031936646, 0.25379999234126166, 0.25379999234126166, 0.25379999234126166, 0.25379999234126166, -0.25379999234126166, -0.25379999234126166, -0.25379999234126166, 0.25379999234126166, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449761867523193, -1.3666545152664185, -1.2040064334869385, -1.9256640672683716, 1.2886829376220703, -0.38555359840393066, -1.0981215238571167, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9875001907348633, -1.2192599773406982, 1.6403244733810425, -1.8261798620224, 0.5314459800720215, 0.7650814056396484, 1.0387890338897705, 0.21359998682043055, 0.21359998682043055, 0.21359998682043055, 0.21359998682043055, -0.21359998682043055, -0.21359998682043055, -0.21359998682043055, 0.21359998682043055, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449782133102417, -1.3666547536849976, -1.2040047645568848, -1.9256646633148193, 1.2886855602264404, -0.38556212186813354, -1.0981173515319824, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9850066900253296, -1.2196311950683594, 1.6399606466293335, -1.8205405473709106, 0.5322510600090027, 0.7657238841056824, 1.0386059284210205, 0.19319998929788776, 0.19319998929788776, 0.19319998929788776, 0.19319998929788776, -0.19319998929788776, -0.19319998929788776, -0.19319998929788776, 0.19319998929788776, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449788093566895, -1.3666545152664185, -1.2040022611618042, -1.9256798028945923, 1.2886865139007568, -0.3855689465999603, -1.0981121063232422, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9845671653747559, -1.2192038297653198, 1.6395950317382812, -1.8195736408233643, 0.5342115759849548, 0.765644907951355, 1.0391439199447632, 0.14880001780750987, 0.14880001780750987, 0.14880001780750987, 0.14880001780750987, -0.14880001780750987, -0.14880001780750987, -0.14880001780750987, 0.14880001780750987, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449801206588745, -1.366654634475708, -1.2039965391159058, -1.9256815910339355, 1.2886861562728882, -0.38557398319244385, -1.0981087684631348, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9866219758987427, -1.2186055183410645, 1.6433721780776978, -1.8195602893829346, 0.5361778140068054, 0.7645167112350464, 1.0408138036727905, 0.13739998104808096, 0.13739998104808096, 0.13739998104808096, 0.13739998104808096, -0.13739998104808096, -0.13739998104808096, -0.13739998104808096, 0.13739998104808096, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344981074333191, -1.3666545152664185, -1.2039934396743774, -1.9256802797317505, 1.2886918783187866, -0.38557422161102295, -1.0981099605560303, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9873017072677612, -1.2172961235046387, 1.6479653120040894, -1.8164225816726685, 0.5395150780677795, 0.7629541158676147, 1.0430278778076172, 0.10380001749311178, 0.10380001749311178, 0.10380001749311178, 0.10380001749311178, -0.10380001749311178, -0.10380001749311178, -0.10380001749311178, 0.10380001749311178, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449817895889282, -1.366654396057129, -1.2039930820465088, -1.9256808757781982, 1.288696527481079, -0.3855738639831543, -1.0981097221374512, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9887138605117798, -1.2151455879211426, 1.6503907442092896, -1.8156098127365112, 0.5446995496749878, 0.76186603307724, 1.0447890758514404, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, -0.07920001470125641, -0.07920001470125641, -0.07920001470125641, 0.07920001470125641, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449835777282715, -1.366654634475708, -1.2039928436279297, -1.9256787300109863, 1.2887020111083984, -0.38557326793670654, -1.0981063842773438, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9914186000823975, -1.2125098705291748, 1.652474284172058, -1.8154304027557373, 0.5466370582580566, 0.7617195844650269, 1.0450736284255981, 0.03900000918042532, 0.03900000918042532, 0.03900000918042532, 0.03900000918042532, -0.03900000918042532, -0.03900000918042532, -0.03900000918042532, 0.03900000918042532, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449841737747192, -1.366654872894287, -1.2039891481399536, -1.9256788492202759, 1.2887012958526611, -0.385573148727417, -1.0981056690216064, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9933332204818726, -1.208608627319336, 1.6526548862457275, -1.8137472867965698, 0.5476047992706299, 0.7594229578971863, 1.0466639995574951, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449859619140625, -1.366654634475708, -1.2038586139678955, -1.9256806373596191, 1.2886979579925537, -0.385573148727417, -1.098106861114502, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9957942962646484, -1.2042500972747803, 1.6526623964309692, -1.8138360977172852, 0.5534948110580444, 0.7551878690719604, 1.0490453243255615, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449866771697998, -1.366654872894287, -1.2038588523864746, -1.9257087707519531, 1.2886836528778076, -0.3855721950531006, -1.0981080532073975, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.002140998840332, -1.2005701065063477, 1.6562951803207397, -1.8268866539001465, 0.5589503645896912, 0.7478145360946655, 1.0530850887298584, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449912071228027, -1.366654634475708, -1.2038605213165283, -1.9257302284240723, 1.2886781692504883, -0.3855721950531006, -1.0981196165084839, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.004957437515259, -1.1948626041412354, 1.662048578262329, -1.8417447805404663, 0.5727384686470032, 0.7455555200576782, 1.0540183782577515, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449956178665161, -1.3666547536849976, -1.2038630247116089, -1.9257737398147583, 1.2886292934417725, -0.3855717182159424, -1.0981191396713257, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.999304175376892, -1.1887640953063965, 1.6689397096633911, -1.8604711294174194, 0.6026157140731812, 0.75746750831604, 1.038651466369629, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.344994068145752, -1.3666540384292603, -1.2038824558258057, -1.9257800579071045, 1.288633108139038, -0.38556692004203796, -1.098114013671875, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.976726770401001, -1.1855067014694214, 1.6769872903823853, -1.8758889436721802, 0.6433795690536499, 0.7902615070343018, 1.0059638023376465, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.344986915588379, -1.3666542768478394, -1.2039183378219604, -1.925870418548584, 1.2886391878128052, -0.3855593502521515, -1.0981028079986572, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9465879201889038, -1.1840852499008179, 1.6840410232543945, -1.9013283252716064, 0.6759271621704102, 0.8271420001983643, 0.9698488116264343, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3449863195419312, -1.3666549921035767, -1.2040894031524658, -1.9258997440338135, 1.288639783859253, -0.38555648922920227, -1.0980899333953857, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.90425705909729, -1.1841001510620117, 1.689443826675415, -1.913864016532898, 0.7017626762390137, 0.8690387010574341, 0.9283893704414368, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3449866771697998, -1.3666560649871826, -1.2040696144104004, -1.9258849620819092, 1.2886326313018799, -0.3855569660663605, -1.098088264465332, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8462656736373901, -1.1844497919082642, 1.6909072399139404, -1.9142836332321167, 0.7341791391372681, 0.9166046977043152, 0.8840324282646179, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3449872732162476, -1.3666568994522095, -1.2040468454360962, -1.9257278442382812, 1.2886334657669067, -0.3855569660663605, -1.098085641860962, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.779595971107483, -1.1844918727874756, 1.6917475461959839, -1.9104397296905518, 0.7770818471908569, 0.9567031860351562, 0.8470168709754944, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3449848890304565, -1.366658329963684, -1.2040170431137085, -1.9257352352142334, 1.2886323928833008, -0.3855576813220978, -1.0980769395828247, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7136212587356567, -1.1813312768936157, 1.6822782754898071, -1.8922936916351318, 0.8079118728637695, 0.9850683212280273, 0.8199108242988586, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3449760675430298, -1.366661548614502, -1.2038565874099731, -1.9257934093475342, 1.2886232137680054, -0.38556018471717834, -1.0980627536773682, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6654353141784668, -1.1778626441955566, 1.6643176078796387, -1.8705486059188843, 0.8160663843154907, 1.0057716369628906, 0.8000494837760925, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3449671268463135, -1.3666588068008423, -1.203876256942749, -1.9259401559829712, 1.2886472940444946, -0.38556069135665894, -1.0980749130249023, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6319197416305542, -1.175352692604065, 1.6514465808868408, -1.8466278314590454, 0.8192493915557861, 1.007222294807434, 0.7987102270126343, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3449653387069702, -1.3666549921035767, -1.2038999795913696, -1.9259259700775146, 1.2887015342712402, -0.38556236028671265, -1.0980920791625977, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5992907285690308, -1.1704790592193604, 1.6354351043701172, -1.8266823291778564, 0.8282253742218018, 1.0068998336791992, 0.7863823175430298, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3449583053588867, -1.3666555881500244, -1.2039244174957275, -1.9259240627288818, 1.288694977760315, -0.3855670392513275, -1.0980874300003052, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5703672170639038, -1.1644682884216309, 1.623885154724121, -1.8109925985336304, 0.8485975861549377, 1.00682532787323, 0.7658026218414307, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3449574708938599, -1.3666568994522095, -1.2040935754776, -1.9259120225906372, 1.2886418104171753, -0.38557949662208557, -1.0980901718139648, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5421212911605835, -1.1567988395690918, 1.6108646392822266, -1.7939742803573608, 0.8750806450843811, 1.0068131685256958, 0.7405321002006531, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3449618816375732, -1.3666781187057495, -1.2075855731964111, -1.9259240627288818, 1.2844698429107666, -0.3860103189945221, -1.0982544422149658, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5040141344070435, -1.1513166427612305, 1.5930240154266357, -1.7656906843185425, 0.9043750166893005, 1.0068120956420898, 0.7126210927963257, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3449760675430298, -1.367130994796753, -1.2113401889801025, -1.9281954765319824, 1.2787388563156128, -0.38648417592048645, -1.0985711812973022, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4675127267837524, -1.1486223936080933, 1.5749891996383667, -1.7472562789916992, 0.9414790272712708, 1.0068119764328003, 0.6745215654373169, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.3603421449661255, -1.3654135465621948, -1.2167129516601562, -1.9496828317642212, 1.2958487272262573, -0.3867884576320648, -1.0555205345153809, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.434207797050476, -1.1486026048660278, 1.5582678318023682, -1.7294549942016602, 0.9804169535636902, 1.0068122148513794, 0.6387964487075806, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3813916444778442, -1.364030361175537, -1.2180100679397583, -1.9867913722991943, 1.3219079971313477, -0.3862729072570801, -1.0059199333190918, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3980004787445068, -1.1491971015930176, 1.5354892015457153, -1.7080243825912476, 1.0170539617538452, 1.0068119764328003, 0.6014810800552368, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.385011076927185, -1.3641507625579834, -1.2258063554763794, -2.0013673305511475, 1.3298252820968628, -0.3787837326526642, -0.9980541467666626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3607685565948486, -1.1543831825256348, 1.5093210935592651, -1.6864365339279175, 1.0498639345169067, 1.006812334060669, 0.5642694234848022, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.38595712184906, -1.364155888557434, -1.2402372360229492, -2.004788398742676, 1.3380519151687622, -0.3689477741718292, -1.017526388168335, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3130079507827759, -1.1675164699554443, 1.4774359464645386, -1.6459375619888306, 1.0782175064086914, 1.0068129301071167, 0.5323801636695862, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.3963247537612915, -1.3620983362197876, -1.271690845489502, -2.011181116104126, 1.335773229598999, -0.3670691251754761, -1.0411733388900757, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2510793209075928, -1.1849086284637451, 1.4315261840820312, -1.591714859008789, 1.0912373065948486, 1.0068128108978271, 0.5001413822174072, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.4092841148376465, -1.3561668395996094, -1.3065338134765625, -2.013688087463379, 1.3284642696380615, -0.3668988347053528, -1.0538485050201416, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1951149702072144, -1.2079402208328247, 1.3885879516601562, -1.5389580726623535, 1.0925182104110718, 1.0046114921569824, 0.4743759036064148, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.4185378551483154, -1.351210117340088, -1.3322328329086304, -2.0145034790039062, 1.320482850074768, -0.3686167895793915, -1.0582361221313477, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1500803232192993, -1.2305703163146973, 1.3531795740127563, -1.4835389852523804, 1.0842857360839844, 0.9948562979698181, 0.4675760269165039, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.422165036201477, -1.3473788499832153, -1.3497307300567627, -2.0143089294433594, 1.3170686960220337, -0.3686002492904663, -1.0617998838424683, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1150115728378296, -1.2483208179473877, 1.3250823020935059, -1.429591178894043, 1.069301962852478, 0.9881608486175537, 0.47327670454978943, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.4235475063323975, -1.3449956178665161, -1.365679144859314, -2.0130717754364014, 1.3094228506088257, -0.3692649006843567, -1.0619184970855713, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0877509117126465, -1.2644431591033936, 1.3012704849243164, -1.3823031187057495, 1.0476033687591553, 0.9842605590820312, 0.4811548888683319, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.4237709045410156, -1.341023564338684, -1.3756388425827026, -2.0120182037353516, 1.3032208681106567, -0.3709525167942047, -1.0617727041244507, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0750983953475952, -1.276785135269165, 1.2843629121780396, -1.354020357131958, 1.0207178592681885, 0.984090268611908, 0.5013683438301086, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.4232538938522339, -1.3390474319458008, -1.3839837312698364, -2.0079870223999023, 1.298202633857727, -0.37121039628982544, -1.0605387687683105, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0816048383712769, -1.284286618232727, 1.2738499641418457, -1.3484716415405273, 0.977530837059021, 0.9865430593490601, 0.5255069732666016, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.4203845262527466, -1.33659029006958, -1.3903529644012451, -2.0021462440490723, 1.2919894456863403, -0.3706739842891693, -1.0589427947998047, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1217807531356812, -1.286056399345398, 1.2808822393417358, -1.379577875137329, 0.9337712526321411, 0.9900369644165039, 0.5513592958450317, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.4125585556030273, -1.3339431285858154, -1.3938586711883545, -1.9968501329421997, 1.2852189540863037, -0.3706873059272766, -1.0593171119689941, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1823854446411133, -1.283836007118225, 1.298144817352295, -1.4334604740142822, 0.8825517296791077, 0.9982771873474121, 0.5798071026802063, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3984261751174927, -1.3335069417953491, -1.3915214538574219, -1.9905915260314941, 1.2777361869812012, -0.3713562488555908, -1.0602833032608032, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.238708734512329, -1.2795565128326416, 1.3191227912902832, -1.4750334024429321, 0.8446487784385681, 1.0015145540237427, 0.6036843657493591, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3801904916763306, -1.3332345485687256, -1.3754526376724243, -1.979902982711792, 1.2732003927230835, -0.3756445646286011, -1.0604878664016724, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2793594598770142, -1.2739101648330688, 1.3416979312896729, -1.505600929260254, 0.820647120475769, 1.00456964969635, 0.6240979433059692, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.361977458000183, -1.3334579467773438, -1.3534804582595825, -1.9669591188430786, 1.271316409111023, -0.37978944182395935, -1.0609184503555298, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2920867204666138, -1.2717832326889038, 1.350052833557129, -1.508276104927063, 0.8054671883583069, 1.0048688650131226, 0.6350749731063843, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3448203802108765, -1.334825038909912, -1.3309699296951294, -1.9554243087768555, 1.266836166381836, -0.3861842155456543, -1.0619479417800903, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2937226295471191, -1.2718474864959717, 1.351338267326355, -1.5042860507965088, 0.7902594208717346, 1.0035396814346313, 0.6484240889549255, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3297039270401, -1.3370479345321655, -1.3034117221832275, -1.9483959674835205, 1.266300082206726, -0.3974601626396179, -1.066135287284851, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2949504852294922, -1.2731207609176636, 1.353571891784668, -1.4974621534347534, 0.782973051071167, 1.0016570091247559, 0.6587879657745361, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.320156455039978, -1.3414256572723389, -1.2771714925765991, -1.9426040649414062, 1.2669140100479126, -0.40831103920936584, -1.0702581405639648, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2950752973556519, -1.2741872072219849, 1.3532764911651611, -1.4876035451889038, 0.7739202976226807, 0.9989268779754639, 0.666013240814209, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.313266634941101, -1.3450003862380981, -1.2543437480926514, -1.9283456802368164, 1.2678909301757812, -0.42253226041793823, -1.0815794467926025, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.295093297958374, -1.274839997291565, 1.3539355993270874, -1.479148030281067, 0.7671617865562439, 0.9975370168685913, 0.6766337752342224, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.3070638179779053, -1.348657488822937, -1.238781452178955, -1.9068102836608887, 1.2684623003005981, -0.4328136444091797, -1.0879647731781006, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2950884103775024, -1.2762982845306396, 1.35912024974823, -1.4691742658615112, 0.7610181570053101, 0.9950227737426758, 0.6888580322265625, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.300487756729126, -1.3520125150680542, -1.2308903932571411, -1.8934528827667236, 1.2696893215179443, -0.44036057591438293, -1.0940428972244263, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2951364517211914, -1.2763701677322388, 1.3613743782043457, -1.4634077548980713, 0.7554993033409119, 0.9950626492500305, 0.7000745534896851, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2902987003326416, -1.35530686378479, -1.2219984531402588, -1.8808125257492065, 1.2725178003311157, -0.45116135478019714, -1.099110722541809, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2971749305725098, -1.2764575481414795, 1.365639328956604, -1.4614156484603882, 0.7498118281364441, 0.9961194396018982, 0.7072437405586243, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2829172611236572, -1.3602135181427002, -1.21440589427948, -1.8699069023132324, 1.2764707803726196, -0.4575984477996826, -1.1019803285598755, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2956079244613647, -1.2765806913375854, 1.3694963455200195, -1.4459468126296997, 0.7485676407814026, 1.0016227960586548, 0.7203558087348938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2780927419662476, -1.364235758781433, -1.2100374698638916, -1.8642219305038452, 1.2815550565719604, -0.4596877694129944, -1.1058032512664795, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2948596477508545, -1.2762120962142944, 1.368997573852539, -1.4379864931106567, 0.7469810247421265, 1.0030494928359985, 0.7298974394798279, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2747172117233276, -1.3683481216430664, -1.2083344459533691, -1.863114595413208, 1.2860313653945923, -0.4675413966178894, -1.1149734258651733, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.294132113456726, -1.2702088356018066, 1.3611133098602295, -1.4299063682556152, 0.762978196144104, 1.0026813745498657, 0.7301585674285889, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2724988460540771, -1.371808648109436, -1.206584095954895, -1.863013744354248, 1.290419578552246, -0.4731672704219818, -1.1223714351654053, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2940988540649414, -1.260421872138977, 1.3486487865447998, -1.4238542318344116, 0.8108876347541809, 1.0024250745773315, 0.7020054459571838, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.2699111700057983, -1.3731316328048706, -1.2043629884719849, -1.8604421615600586, 1.2942031621932983, -0.47550469636917114, -1.1252858638763428, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2885366678237915, -1.2432345151901245, 1.3206411600112915, -1.4106091260910034, 0.9122323393821716, 1.0024240016937256, 0.6338310241699219, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2684587240219116, -1.3749537467956543, -1.2027180194854736, -1.859283685684204, 1.2988039255142212, -0.4766417443752289, -1.1269670724868774, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2683089971542358, -1.2124642133712769, 1.2714866399765015, -1.3932523727416992, 1.073996663093567, 1.003222942352295, 0.5269904732704163, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.2682431936264038, -1.3775205612182617, -1.2017875909805298, -1.8592050075531006, 1.303504467010498, -0.4772879481315613, -1.1281441450119019, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2491493225097656, -1.1725635528564453, 1.2191295623779297, -1.392395257949829, 1.269946575164795, 1.0043803453445435, 0.3928680717945099, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2683337926864624, -1.3794015645980835, -1.2009360790252686, -1.859580159187317, 1.3068652153015137, -0.4771430492401123, -1.12931489944458, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2315971851348877, -1.1332080364227295, 1.168337106704712, -1.4005354642868042, 1.4808523654937744, 1.004541039466858, 0.24743865430355072, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.269015908241272, -1.3802571296691895, -1.1992897987365723, -1.8616137504577637, 1.3100430965423584, -0.47713860869407654, -1.130315899848938, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.220125436782837, -1.0937591791152954, 1.1326415538787842, -1.4262149333953857, 1.6720490455627441, 1.0026592016220093, 0.10192008316516876, 0.04499998302250117, 0.04499998302250117, 0.04499998302250117, 0.04499998302250117, -0.04499998302250117, -0.04499998302250117, -0.04499998302250117, 0.04499998302250117, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2704416513442993, -1.3820862770080566, -1.1962026357650757, -1.8640079498291016, 1.3122657537460327, -0.47665324807167053, -1.1305125951766968, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.215521216392517, -1.070293664932251, 1.1168440580368042, -1.4457604885101318, 1.8396632671356201, 1.0006637573242188, -0.04172296077013016, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2719581127166748, -1.384130835533142, -1.1935666799545288, -1.8657903671264648, 1.314497947692871, -0.47619378566741943, -1.1303656101226807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.206666350364685, -1.0598666667938232, 1.109147071838379, -1.4545537233352661, 1.967465877532959, 0.9995418787002563, -0.15646867454051971, 0.07139999368688563, 0.07139999368688563, 0.07139999368688563, 0.07139999368688563, -0.07139999368688563, -0.07139999368688563, -0.07139999368688563, 0.07139999368688563, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.272525429725647, -1.385766863822937, -1.1928232908248901, -1.8660287857055664, 1.3146172761917114, -0.4762572944164276, -1.1302576065063477, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2043741941452026, -1.0544471740722656, 1.1059943437576294, -1.4607797861099243, 2.0409481525421143, 0.9977564811706543, -0.2178848385810852, 0.0899999833368993, 0.0899999833368993, 0.0899999833368993, 0.0899999833368993, -0.0899999833368993, -0.0899999833368993, -0.0899999833368993, 0.0899999833368993, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2733128070831299, -1.3865317106246948, -1.1921802759170532, -1.8662317991256714, 1.3163999319076538, -0.4763953387737274, -1.129101276397705, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2045689821243286, -1.043831706047058, 1.0939602851867676, -1.4731688499450684, 2.0767204761505127, 0.9975659251213074, -0.24078033864498138, 0.18120000231397024, 0.18120000231397024, 0.18120000231397024, 0.18120000231397024, -0.18120000231397024, -0.18120000231397024, -0.18120000231397024, 0.18120000231397024, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2728179693222046, -1.3872846364974976, -1.1907527446746826, -1.8657891750335693, 1.319231629371643, -0.4763796627521515, -1.1290134191513062, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.210249423980713, -1.0347667932510376, 1.0863537788391113, -1.479368805885315, 2.0847790241241455, 0.9998084306716919, -0.24313798546791077, 0.21599998421721403, 0.21599998421721403, 0.21599998421721403, 0.21599998421721403, -0.21599998421721403, -0.21599998421721403, -0.21599998421721403, 0.21599998421721403, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2709470987319946, -1.388010025024414, -1.187447190284729, -1.8651418685913086, 1.3236935138702393, -0.47626376152038574, -1.1290867328643799, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2221447229385376, -1.0241156816482544, 1.085594892501831, -1.4897114038467407, 2.0801656246185303, 1.0000438690185547, -0.2306174784898758, 0.2298000183734265, 0.2298000183734265, 0.2298000183734265, 0.2298000183734265, -0.2298000183734265, -0.2298000183734265, -0.2298000183734265, 0.2298000183734265, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2706910371780396, -1.3889187574386597, -1.185484766960144, -1.865949273109436, 1.3271859884262085, -0.47607967257499695, -1.1295533180236816, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2431772947311401, -1.0104589462280273, 1.0981274843215942, -1.5174477100372314, 2.066551923751831, 1.000253677368164, -0.21237891912460327, 0.2124000077719217, 0.2124000077719217, 0.2124000077719217, 0.2124000077719217, -0.2124000077719217, -0.2124000077719217, -0.2124000077719217, 0.2124000077719217, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2726510763168335, -1.3893840312957764, -1.185258388519287, -1.8700892925262451, 1.3295003175735474, -0.4760425388813019, -1.1310319900512695, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.281200885772705, -0.9874017238616943, 1.1314483880996704, -1.5582916736602783, 2.0439608097076416, 1.0006599426269531, -0.16261310875415802, 0.1338000046027886, 0.1338000046027886, 0.1338000046027886, 0.1338000046027886, -0.1338000046027886, -0.1338000046027886, -0.1338000046027886, 0.1338000046027886, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2789171934127808, -1.3898181915283203, -1.1866075992584229, -1.8772295713424683, 1.3318066596984863, -0.4769492745399475, -1.1314088106155396, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.323305606842041, -0.9538028836250305, 1.171737551689148, -1.6015969514846802, 2.006484031677246, 1.0008845329284668, -0.09359332174062729, 0.0941999886062119, 0.0941999886062119, 0.0941999886062119, 0.0941999886062119, -0.0941999886062119, -0.0941999886062119, -0.0941999886062119, 0.0941999886062119, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2852420806884766, -1.3907108306884766, -1.188319206237793, -1.881657361984253, 1.3349426984786987, -0.4778376519680023, -1.1277518272399902, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3549933433532715, -0.9260431528091431, 1.2151652574539185, -1.6394444704055786, 1.9385522603988647, 1.0015504360198975, 0.01148136705160141, 0.03900000918042532, 0.03900000918042532, 0.03900000918042532, 0.03900000918042532, -0.03900000918042532, -0.03900000918042532, -0.03900000918042532, 0.03900000918042532, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.286017656326294, -1.3909828662872314, -1.1839643716812134, -1.8808174133300781, 1.3413721323013306, -0.47781020402908325, -1.1228035688400269, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.349424123764038, -0.9268199801445007, 1.238006591796875, -1.6393334865570068, 1.8678849935531616, 1.0020514726638794, 0.09020490199327469, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2846518754959106, -1.3911535739898682, -1.1817888021469116, -1.8797909021377563, 1.343087077140808, -0.4778505861759186, -1.121271014213562, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2950596809387207, -0.9548383951187134, 1.202204704284668, -1.5960050821304321, 1.845716953277588, 1.0022058486938477, 0.07868170738220215, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2841435670852661, -1.3918185234069824, -1.1817412376403809, -1.8796861171722412, 1.3426486253738403, -0.4798347055912018, -1.121787190437317, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2335007190704346, -0.9992468953132629, 1.154069423675537, -1.5424580574035645, 1.8296254873275757, 1.0023142099380493, 0.04043213650584221, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2841272354125977, -1.3922922611236572, -1.1817240715026855, -1.8803578615188599, 1.3429433107376099, -0.48098650574684143, -1.1225149631500244, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.181208848953247, -1.04221773147583, 1.1151535511016846, -1.4695205688476562, 1.8117601871490479, 1.0024447441101074, 0.005813547410070896, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2842395305633545, -1.3926928043365479, -1.1821731328964233, -1.881538987159729, 1.3422670364379883, -0.48104774951934814, -1.1241625547409058, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.169362187385559, -1.064104437828064, 1.105170488357544, -1.431573510169983, 1.7949177026748657, 1.0024439096450806, 0.00045156560372561216, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2843759059906006, -1.3932116031646729, -1.1825839281082153, -1.8814836740493774, 1.3417129516601562, -0.48110562562942505, -1.1247671842575073, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1842807531356812, -1.0637102127075195, 1.1104520559310913, -1.434830665588379, 1.7872191667556763, 1.0024116039276123, -0.003391655394807458, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2813595533370972, -1.3942196369171143, -1.18251633644104, -1.8747854232788086, 1.3411839008331299, -0.4820479452610016, -1.1219791173934937, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2132354974746704, -1.052077054977417, 1.1247525215148926, -1.4512834548950195, 1.7691590785980225, 1.0022841691970825, 0.015576017089188099, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2758879661560059, -1.3961490392684937, -1.1809444427490234, -1.867052435874939, 1.3405086994171143, -0.48452892899513245, -1.1201618909835815, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.229959487915039, -1.0425959825515747, 1.1311873197555542, -1.4473068714141846, 1.7512953281402588, 1.002257227897644, 0.0526701882481575, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.273655891418457, -1.3974183797836304, -1.1801100969314575, -1.86460542678833, 1.3407158851623535, -0.48560774326324463, -1.1201884746551514, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2415173053741455, -1.0344001054763794, 1.1354012489318848, -1.4485548734664917, 1.726430058479309, 1.0022333860397339, 0.08161604404449463, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2708150148391724, -1.3985258340835571, -1.1786736249923706, -1.860831618309021, 1.3394978046417236, -0.4860358238220215, -1.1212612390518188, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2368324995040894, -1.034702181816101, 1.129401445388794, -1.4245067834854126, 1.7231942415237427, 1.0026094913482666, 0.10396638512611389, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2648065090179443, -1.3995673656463623, -1.1766588687896729, -1.8545724153518677, 1.3392951488494873, -0.48736485838890076, -1.1209347248077393, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2338764667510986, -1.032895803451538, 1.1253442764282227, -1.4246933460235596, 1.7061420679092407, 1.002664566040039, 0.12063512206077576, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2629914283752441, -1.4008580446243286, -1.176692247390747, -1.8522486686706543, 1.3381425142288208, -0.4884246289730072, -1.121437430381775, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2358547449111938, -1.028138279914856, 1.123398780822754, -1.4288510084152222, 1.6991758346557617, 1.0024304389953613, 0.124598428606987, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2619645595550537, -1.4021339416503906, -1.1769160032272339, -1.8507404327392578, 1.338151216506958, -0.4883352220058441, -1.1217807531356812, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.246456265449524, -1.0224279165267944, 1.1277999877929688, -1.4406757354736328, 1.6913411617279053, 1.0022000074386597, 0.12427353858947754, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.260310411453247, -1.4035789966583252, -1.175371527671814, -1.8500300645828247, 1.3387483358383179, -0.4881103038787842, -1.1257665157318115, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2516582012176514, -1.0226209163665771, 1.1307471990585327, -1.4367939233779907, 1.6883538961410522, 1.0026309490203857, 0.12609441578388214, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2587404251098633, -1.4036775827407837, -1.171750783920288, -1.8535737991333008, 1.3419337272644043, -0.48943766951560974, -1.1316423416137695, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2357887029647827, -1.0310696363449097, 1.1209546327590942, -1.4122966527938843, 1.6824673414230347, 1.006535291671753, 0.14171873033046722, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.258750081062317, -1.4036798477172852, -1.1688439846038818, -1.860421061515808, 1.3433501720428467, -0.49478310346603394, -1.14024817943573, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2274601459503174, -1.0360075235366821, 1.1176835298538208, -1.4038488864898682, 1.673885464668274, 1.0101063251495361, 0.14591968059539795, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2587757110595703, -1.403643250465393, -1.1663328409194946, -1.8645962476730347, 1.34459388256073, -0.5014598965644836, -1.1441867351531982, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2154695987701416, -1.043446660041809, 1.1113710403442383, -1.3876999616622925, 1.6722872257232666, 1.0135812759399414, 0.1473691761493683, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2587722539901733, -1.4034548997879028, -1.1648482084274292, -1.8695930242538452, 1.344541072845459, -0.5056487321853638, -1.143223524093628, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.207871437072754, -1.0477513074874878, 1.1073338985443115, -1.379446268081665, 1.6664214134216309, 1.0147435665130615, 0.1542038917541504, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2589473724365234, -1.4033640623092651, -1.164564847946167, -1.8741531372070312, 1.339909553527832, -0.506603479385376, -1.1422830820083618, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.203662633895874, -1.0505915880203247, 1.1038023233413696, -1.3710880279541016, 1.6626914739608765, 1.0144182443618774, 0.1646694839000702, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2573590278625488, -1.4034473896026611, -1.1661938428878784, -1.8757249116897583, 1.3354874849319458, -0.5066012144088745, -1.1427443027496338, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1984070539474487, -1.051668405532837, 1.0992361307144165, -1.3651355504989624, 1.6601409912109375, 1.013396143913269, 0.17081834375858307, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2527250051498413, -1.4041365385055542, -1.1738402843475342, -1.8758172988891602, 1.3335624933242798, -0.505626916885376, -1.1405906677246094, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1956738233566284, -1.0529828071594238, 1.0964601039886475, -1.3626981973648071, 1.6591033935546875, 1.01220703125, 0.1715315282344818, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2366082668304443, -1.4059666395187378, -1.1871964931488037, -1.8555943965911865, 1.3273754119873047, -0.5030087232589722, -1.1301960945129395, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.194311261177063, -1.053745150566101, 1.0951638221740723, -1.3613413572311401, 1.6625008583068848, 1.0115940570831299, 0.1685985028743744, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2161927223205566, -1.4061927795410156, -1.1961827278137207, -1.8305898904800415, 1.3210951089859009, -0.5029745697975159, -1.126016616821289, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.193571925163269, -1.0537298917770386, 1.0940454006195068, -1.361336350440979, 1.6669421195983887, 1.0110499858856201, 0.1650141477584839, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2102758884429932, -1.4069433212280273, -1.1964130401611328, -1.8262284994125366, 1.3186638355255127, -0.503098726272583, -1.124793529510498, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.19357168674469, -1.0536069869995117, 1.0935683250427246, -1.3613783121109009, 1.6717848777770996, 1.010499119758606, 0.16185954213142395, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1989693641662598, -1.4096810817718506, -1.1890020370483398, -1.8024182319641113, 1.3203855752944946, -0.5023730993270874, -1.1221637725830078, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1937679052352905, -1.053449273109436, 1.093134880065918, -1.3616034984588623, 1.6718379259109497, 1.0098309516906738, 0.16197925806045532, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1827242374420166, -1.4136556386947632, -1.1757400035858154, -1.7721856832504272, 1.3383238315582275, -0.49899351596832275, -1.1232048273086548, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.194024682044983, -1.0533725023269653, 1.0931365489959717, -1.362480640411377, 1.6718401908874512, 1.009544849395752, 0.16187798976898193, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1675195693969727, -1.4187688827514648, -1.1748639345169067, -1.7340947389602661, 1.3388901948928833, -0.4980466365814209, -1.1125881671905518, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1946922540664673, -1.0532705783843994, 1.093258261680603, -1.3635492324829102, 1.6724663972854614, 1.0087366104125977, 0.16085274517536163, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1614713668823242, -1.4209980964660645, -1.1713424921035767, -1.721695065498352, 1.337253212928772, -0.5016567707061768, -1.117992877960205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1957523822784424, -1.0527949333190918, 1.094301700592041, -1.3648507595062256, 1.6726346015930176, 1.0086380243301392, 0.16078299283981323, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1536269187927246, -1.4247337579727173, -1.1631364822387695, -1.7091485261917114, 1.337137222290039, -0.5073620080947876, -1.1289018392562866, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1956642866134644, -1.0527831315994263, 1.0942753553390503, -1.3625763654708862, 1.6706743240356445, 1.0084176063537598, 0.1653268188238144, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473945379257202, -1.426471471786499, -1.1614065170288086, -1.7057933807373047, 1.3360178470611572, -0.5153107643127441, -1.1375118494033813, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1948559284210205, -1.0540059804916382, 1.093974232673645, -1.3586854934692383, 1.6680320501327515, 1.0084903240203857, 0.17195625603199005, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.146661639213562, -1.4292888641357422, -1.1612277030944824, -1.706231713294983, 1.3404620885849, -0.5178059935569763, -1.1411628723144531, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1925480365753174, -1.0546799898147583, 1.0914068222045898, -1.3530327081680298, 1.655024766921997, 1.0087116956710815, 0.19065798819065094, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5632392168045044, 1.0328642129898071, -0.37578243017196655, 0.0, 0.0, 1.1624268293380737, -1.4295958280563354, -1.1672126054763794, -1.7415869235992432, 1.3539223670959473, -0.5138972401618958, -1.1391651630401611, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2090442180633545, -1.0469558238983154, 1.101698637008667, -1.381717324256897, 1.5925086736679077, 1.007593035697937, 0.2409684807062149, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1882939338684082, -1.4295870065689087, -1.1811500787734985, -1.789017915725708, 1.3668906688690186, -0.5039659142494202, -1.1326966285705566, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.264674186706543, -1.0340592861175537, 1.1413840055465698, -1.4522900581359863, 1.5326967239379883, 1.0062531232833862, 0.29044800996780396, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.210344672203064, -1.4291603565216064, -1.1995021104812622, -1.8422333002090454, 1.3835828304290771, -0.483948290348053, -1.1102243661880493, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3233195543289185, -1.0237464904785156, 1.1933581829071045, -1.5266659259796143, 1.497870683670044, 1.006257176399231, 0.3251257836818695, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.2315888404846191, -1.4276113510131836, -1.2251054048538208, -1.9017261266708374, 1.4171403646469116, -0.43554064631462097, -1.0756444931030273, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3798869848251343, -1.0163136720657349, 1.2695308923721313, -1.614037275314331, 1.4625056982040405, 1.0064303874969482, 0.35187816619873047, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2687643766403198, -1.4266157150268555, -1.2718398571014404, -1.9705665111541748, 1.4494030475616455, -0.33602818846702576, -1.0327314138412476, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4532657861709595, -1.0151262283325195, 1.3933367729187012, -1.722251296043396, 1.4158061742782593, 1.0057662725448608, 0.3777198791503906, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3083757162094116, -1.425938367843628, -1.3354792594909668, -2.026326894760132, 1.4459545612335205, -0.17851737141609192, -1.0154967308044434, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.553195595741272, -1.0298203229904175, 1.552923560142517, -1.8378465175628662, 1.3707902431488037, 0.9613797664642334, 0.39401793479919434, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3328986167907715, -1.424992561340332, -1.425718903541565, -2.0427916049957275, 1.3617616891860962, -0.01997518539428711, -1.0141807794570923, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6433062553405762, -1.0550479888916016, 1.7030539512634277, -1.9301897287368774, 1.3506168127059937, 0.9023852944374084, 0.39767134189605713, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3602588176727295, -1.4174816608428955, -1.5334497690200806, -2.0421714782714844, 1.1953997611999512, 0.046178095042705536, -0.9935924410820007, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.708844542503357, -1.0860459804534912, 1.8159555196762085, -2.000591278076172, 1.3469836711883545, 0.836503803730011, 0.3670476973056793, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.4060273170471191, -1.405320167541504, -1.5851856470108032, -2.0463342666625977, 1.0933688879013062, 0.0717330127954483, -0.9128125309944153, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7400293350219727, -1.1169819831848145, 1.8817133903503418, -2.0329275131225586, 1.3354374170303345, 0.7947912812232971, 0.3396923840045929, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4363490343093872, -1.3970187902450562, -1.5916237831115723, -2.0447254180908203, 1.0495065450668335, 0.056730203330516815, -0.8603944778442383, 0.04080001705295442, -0.04080001705295442, 0.04080001705295442, 0.04080001705295442, -0.04080001705295442, -0.04080001705295442, 0.04080001705295442, 0.04080001705295442, -1.7414350509643555, -1.1354153156280518, 1.898166298866272, -2.0302698612213135, 1.3005800247192383, 0.7905712723731995, 0.3486032485961914, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, -0.2951999965604845, -0.2951999965604845, -0.2951999965604845, 0.2951999965604845, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.435248851776123, -1.3964853286743164, -1.5846350193023682, -2.0416922569274902, 1.0548243522644043, 0.04473914951086044, -0.8715093731880188, 0.5339999979013925, -0.5339999979013925, 0.5339999979013925, 0.5339999979013925, -0.5339999979013925, -0.5339999979013925, 0.5339999979013925, 0.5339999979013925, -1.7413054704666138, -1.1349759101867676, 1.8929682970046997, -2.028836488723755, 1.300087809562683, 0.7920364737510681, 0.34928274154663086, 0.5682000001053233, 0.5682000001053233, 0.5682000001053233, 0.5682000001053233, -0.5682000001053233, -0.5682000001053233, -0.5682000001053233, 0.5682000001053233, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4309402704238892, -1.3967795372009277, -1.5841649770736694, -2.04172682762146, 1.0595742464065552, 0.045050498098134995, -0.8738439083099365, 0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -1.7410138845443726, -1.1331716775894165, 1.891706943511963, -2.028874158859253, 1.302896499633789, 0.7924944758415222, 0.3492785692214966, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4303890466690063, -1.397024393081665, -1.5848954916000366, -2.0419089794158936, 1.0598241090774536, 0.045387376099824905, -0.8738421201705933, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7409656047821045, -1.1328445672988892, 1.8917574882507324, -2.028977394104004, 1.302937626838684, 0.7925578951835632, 0.34927770495414734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4303852319717407, -1.3970280885696411, -1.5850577354431152, -2.0419323444366455, 1.0599277019500732, 0.04543663188815117, -0.8738466501235962, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.740942120552063, -1.132831335067749, 1.8917937278747559, -2.029036283493042, 1.3029801845550537, 0.7926095724105835, 0.3492811918258667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4310486316680908, -1.3964694738388062, -1.5850532054901123, -2.04146671295166, 1.05631422996521, 0.045421529561281204, -0.8717979788780212, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.740918755531311, -1.132842779159546, 1.8909722566604614, -2.0284714698791504, 1.3005722761154175, 0.7904750108718872, 0.34840407967567444, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.4392305612564087, -1.3897387981414795, -1.5854570865631104, -2.034771680831909, 1.016162633895874, 0.044179365038871765, -0.8480657339096069, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7406141757965088, -1.1333372592926025, 1.882794737815857, -2.0219998359680176, 1.2758077383041382, 0.7680897116661072, 0.33854201436042786, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4561899900436401, -1.375757098197937, -1.5863070487976074, -2.021073818206787, 0.9324691891670227, 0.04155493900179863, -0.7985968589782715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7399731874465942, -1.1343319416046143, 1.8660002946853638, -2.0087671279907227, 1.2249866724014282, 0.7226552367210388, 0.3184383511543274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4819685220718384, -1.3545085191726685, -1.5876227617263794, -2.0002779960632324, 0.8052164912223816, 0.037538666278123856, -0.7234585285186768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7390310764312744, -1.1358321905136108, 1.8406845331192017, -1.9889243841171265, 1.1483503580093384, 0.6537923216819763, 0.28816500306129456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.5165587663650513, -1.3259843587875366, -1.5893468856811523, -1.9723484516143799, 0.6343427896499634, 0.03243422508239746, -0.6225796341896057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.737789511680603, -1.137833595275879, 1.8067383766174316, -1.9622488021850586, 1.0456171035766602, 0.5616517066955566, 0.24739202857017517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.559980034828186, -1.2902021408081055, -1.5915015935897827, -1.9372456073760986, 0.419927716255188, 0.025930266827344894, -0.4959571957588196, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7361878156661987, -1.140298843383789, 1.7642887830734253, -1.928889274597168, 0.9169309139251709, 0.4460037052631378, 0.1965031772851944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.607465386390686, -1.2510817050933838, -1.5937658548355103, -1.898942470550537, 0.18520180881023407, 0.018674777820706367, -0.35741621255874634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7344651222229004, -1.1430999040603638, 1.717955231666565, -1.892608880996704, 0.7770532965660095, 0.32049688696861267, 0.14126597344875336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6495766639709473, -1.2162935733795166, -1.5960036516189575, -1.8649250268936157, -0.022888191044330597, 0.012201618403196335, -0.23443707823753357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.732924222946167, -1.1454811096191406, 1.6771602630615234, -1.8605849742889404, 0.6536656618118286, 0.20973268151283264, 0.09247375279664993, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.6828335523605347, -1.1888617277145386, -1.5976394414901733, -1.8380606174468994, -0.18717993795871735, 0.007083755452185869, -0.1374129205942154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316943407058716, -1.1473042964935303, 1.6451078653335571, -1.8353978395462036, 0.5563812851905823, 0.12247134745121002, 0.05388431251049042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7072768211364746, -1.168739676475525, -1.5988175868988037, -1.8183510303497314, -0.3078845739364624, 0.0034864507615566254, -0.06619846075773239, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7307757139205933, -1.148707628250122, 1.6215972900390625, -1.81689453125, 0.48514094948768616, 0.058438435196876526, 0.02572905272245407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.722887635231018, -1.1558610200881958, -1.5996421575546265, -1.8057444095611572, -0.3850436806678772, 0.00105353316757828, -0.020627368241548538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302148342132568, -1.1495863199234009, 1.6066337823867798, -1.805192232131958, 0.4399072229862213, 0.017749596387147903, 0.007829893380403519, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.729630708694458, -1.150310754776001, -1.5999795198440552, -1.8003042936325073, -0.4182804822921753, 1.2223909834574442e-05, -0.0010100305080413818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299996614456177, -1.149966835975647, 1.6003257036209106, -1.8002337217330933, 0.4208606779575348, 0.0007032343419268727, 0.00028031101101078093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.730037808418274, -1.1499701738357544, -1.6000083684921265, -1.7999613285064697, -0.420107364654541, -4.6498793381033465e-05, 0.00012463594612199813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299898862838745, -1.150017261505127, 1.5999544858932495, -1.7999669313430786, 0.4199239909648895, -0.0001007873288472183, -6.279733497649431e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7300081253051758, -1.1499922275543213, -1.6000036001205444, -1.7999895811080933, -0.419780433177948, -3.607251710491255e-05, 8.17324107629247e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7303037643432617, -1.1499946117401123, 1.600251317024231, -1.799970269203186, 0.4199443757534027, 5.440838140202686e-05, 0.0006267749704420567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.730009913444519, -1.1500039100646973, -1.5999972820281982, -1.8000413179397583, -0.4196855127811432, -1.4261227988754399e-05, 5.932191197643988e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309609651565552, -1.1497777700424194, 1.6005353927612305, -1.799973964691162, 0.41996559500694275, 0.000136380476760678, 0.0009133177809417248, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7300142049789429, -1.1500070095062256, -1.5999802350997925, -1.8000681400299072, -0.4196525514125824, 1.9534287275746465e-05, 5.249090463621542e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7310105562210083, -1.1495367288589478, 1.6005480289459229, -1.7999783754348755, 0.4199801981449127, 0.00015184012590907514, 0.0009677261696197093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999999799721, -3.683252689000633e-06, 5.146790078894132e-06, -1.9745570511986443e-07], [3.6834561225639434e-06, 0.9999999992120302, -3.952684852335325e-05, -6.297231180951712e-08], [-5.1466444874675055e-06, 3.9526867480537037e-05, 0.9999999992055694, -1.2080484168563999e-07], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000009/gt/hand_left.mp4 b/agibot-challenge-2026/000009/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1747a8be7bd2e9676d5656b75dde65460c29db8b --- /dev/null +++ b/agibot-challenge-2026/000009/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:290780db3b3bfb03fb739815c4417206a2f6dd3d01ded2c17e77a0f7e0d24785 +size 10310015 diff --git a/agibot-challenge-2026/000009/gt/hand_right.mp4 b/agibot-challenge-2026/000009/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..06afea2735098b2e1aa62b3266399a02ffa37774 --- /dev/null +++ b/agibot-challenge-2026/000009/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e18e11fb00c8c4babd747630bc295c99d142af296f1a0df1ba3072fd0b90a43e +size 9383075 diff --git a/agibot-challenge-2026/000009/gt/head.mp4 b/agibot-challenge-2026/000009/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6aea07a25702e1a5823f965ce20be27b1a5a4b75 --- /dev/null +++ b/agibot-challenge-2026/000009/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f0f9b6197b4007813ce7954dfefff21f89a75ce8d89dd61c6731370c33aa39a +size 10585483 diff --git a/agibot-challenge-2026/000009/meta.json b/agibot-challenge-2026/000009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65b7719b2ca2b996fcd6c8b5c3669df2617e6597 --- /dev/null +++ b/agibot-challenge-2026/000009/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Homestay 1-World Model.", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1607, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000009/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000009/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..61ef99aed901dbc7a75a8430ea3b8909bce03235 --- /dev/null +++ b/agibot-challenge-2026/000009/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000009/ref_images/hand_left.png b/agibot-challenge-2026/000009/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..320aac444b9c2133d1148ccc8c67b4a416aaf276 --- /dev/null +++ b/agibot-challenge-2026/000009/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a9339dc23458a884a87b729324b1c10605f09db1ad621aaca34abec47ac199c +size 384875 diff --git a/agibot-challenge-2026/000009/ref_images/hand_right.png b/agibot-challenge-2026/000009/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..c867b5e174789649f40e10d597c2960142d73f3e --- /dev/null +++ b/agibot-challenge-2026/000009/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64e79dc380f2f17dfb56e992b688cb9a44c859e329a63db26931a1f16d0d8362 +size 339618 diff --git a/agibot-challenge-2026/000009/ref_images/head.png b/agibot-challenge-2026/000009/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..081bb753a440a8a6bd319e32a2c4ef57ded33307 --- /dev/null +++ b/agibot-challenge-2026/000009/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6299fde92b8985df79c0d5c1c687af326157e095f1bf2169207cfa0574f886b1 +size 348341 diff --git a/agibot-challenge-2026/000009/temporal.json b/agibot-challenge-2026/000009/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe4123565ce4b638fb23ff26d1034a92f560e17 --- /dev/null +++ b/agibot-challenge-2026/000009/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861550688743591, -1.1351900100708008, -1.3727151155471802, -0.7157663702964783, 0.07529820501804352, -1.3542430400848389, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922651529312134, -0.7093583941459656, 1.477057933807373, -1.8823163509368896, 0.6708553433418274, 0.45449286699295044, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064501225948334, -0.886155366897583, -1.1351900100708008, -1.3727149963378906, -0.7157660722732544, 0.07529796659946442, -1.354242205619812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650337219238, -0.7093586325645447, 1.4770581722259521, -1.8823163509368896, 0.6708551049232483, 0.45449334383010864, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861550688743591, -1.1351896524429321, -1.3727152347564697, -0.7157658338546753, 0.07529808580875397, -1.3542424440383911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922649145126343, -0.7093589305877686, 1.4770581722259521, -1.8823163509368896, 0.6708551049232483, 0.45449334383010864, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861553072929382, -1.1351898908615112, -1.3727152347564697, -0.7157657146453857, 0.07529820501804352, -1.3542425632476807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922653317451477, -0.7093586325645447, 1.4770575761795044, -1.8823162317276, 0.6708553433418274, 0.4544937014579773, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861553072929382, -1.1351898908615112, -1.3727151155471802, -0.7157659530639648, 0.07529808580875397, -1.3542423248291016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652125358582, -0.7093589305877686, 1.4770578145980835, -1.8823163509368896, 0.6708551049232483, 0.45449334383010864, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861556053161621, -1.1351903676986694, -1.3727152347564697, -0.7157659530639648, 0.07529808580875397, -1.354242205619812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652125358582, -0.7093592286109924, 1.477057933807373, -1.8823161125183105, 0.6708549857139587, 0.4544934630393982, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.886155366897583, -1.1351902484893799, -1.3727151155471802, -0.7157662510871887, 0.07529844343662262, -1.354241967201233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.692264974117279, -0.7093583941459656, 1.4770578145980835, -1.8823164701461792, 0.6708553433418274, 0.45449310541152954, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861555457115173, -1.1351902484893799, -1.3727151155471802, -0.7157660722732544, 0.07529856264591217, -1.3542420864105225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922651529312134, -0.7093583345413208, 1.4770575761795044, -1.8823163509368896, 0.6708552241325378, 0.45449334383010864, 1.211177110671997, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645039081573486, -0.8861554265022278, -1.1351898908615112, -1.3727151155471802, -0.7157659530639648, 0.07529820501804352, -1.3542425632476807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650337219238, -0.709358811378479, 1.4770580530166626, -1.8823162317276, 0.6708553433418274, 0.45449334383010864, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861555457115173, -1.1351898908615112, -1.3727151155471802, -0.7157659530639648, 0.07529808580875397, -1.3542424440383911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922653317451477, -0.7093589305877686, 1.4770581722259521, -1.8823163509368896, 0.6708553433418274, 0.45449334383010864, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861550092697144, -1.1351901292800903, -1.3727149963378906, -0.7157659530639648, 0.07529820501804352, -1.3542424440383911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652125358582, -0.7093585729598999, 1.477057933807373, -1.8823162317276, 0.6708552241325378, 0.45449358224868774, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645018219947815, -0.8861556053161621, -1.1351898908615112, -1.3727149963378906, -0.7157662510871887, 0.07529820501804352, -1.3542425632476807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922653317451477, -0.7093583345413208, 1.4770578145980835, -1.8823163509368896, 0.6708549857139587, 0.4544934630393982, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861554861068726, -1.1351898908615112, -1.3727151155471802, -0.7157659530639648, 0.07529820501804352, -1.3542424440383911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.692264974117279, -0.7093585729598999, 1.4770582914352417, -1.8823163509368896, 0.6708553433418274, 0.45449358224868774, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645018219947815, -0.8861554861068726, -1.1351902484893799, -1.372714877128601, -0.7157659530639648, 0.07529820501804352, -1.3542424440383911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650933265686, -0.7093586921691895, 1.477057695388794, -1.8823163509368896, 0.6708553433418274, 0.45449298620224, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064501225948334, -0.8861554265022278, -1.1351897716522217, -1.3727149963378906, -0.7157659530639648, 0.07529820501804352, -1.3542426824569702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650337219238, -0.7093586325645447, 1.477057933807373, -1.8823162317276, 0.6708555817604065, 0.4544932246208191, 1.2111769914627075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861556053161621, -1.1351897716522217, -1.372714638710022, -0.7157659530639648, 0.07529856264591217, -1.3542424440383911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.692264974117279, -0.7093587517738342, 1.4770578145980835, -1.8823162317276, 0.6708552241325378, 0.45449286699295044, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502716064453, -0.8861553072929382, -1.1351901292800903, -1.3727149963378906, -0.7157658338546753, 0.07529856264591217, -1.354242205619812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652125358582, -0.7093588709831238, 1.477057933807373, -1.8823163509368896, 0.6708551049232483, 0.45449334383010864, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.886155366897583, -1.1351902484893799, -1.3727149963378906, -0.7157660722732544, 0.07529844343662262, -1.3542425632476807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650337219238, -0.7093585729598999, 1.4770581722259521, -1.8823164701461792, 0.6708553433418274, 0.4544934630393982, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645039081573486, -0.8861554265022278, -1.1351898908615112, -1.3727151155471802, -0.7157658338546753, 0.07529820501804352, -1.3542423248291016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652125358582, -0.7093583941459656, 1.477057695388794, -1.8823164701461792, 0.6708548665046692, 0.45449310541152954, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861550092697144, -1.1351900100708008, -1.3727147579193115, -0.7157659530639648, 0.07529820501804352, -1.3542426824569702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650337219238, -0.709358811378479, 1.477057933807373, -1.8823163509368896, 0.6708552241325378, 0.45449310541152954, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861553072929382, -1.1351900100708008, -1.372714877128601, -0.7157657146453857, 0.07529856264591217, -1.3542423248291016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652721405029, -0.7093587517738342, 1.4770582914352417, -1.8823163509368896, 0.6708553433418274, 0.45449298620224, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645018219947815, -0.8861551880836487, -1.1351901292800903, -1.372714877128601, -0.7157659530639648, 0.07529820501804352, -1.354242205619812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922650337219238, -0.709358811378479, 1.477057695388794, -1.8823161125183105, 0.6708551049232483, 0.45449334383010864, 1.2111763954162598, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645039081573486, -0.886155366897583, -1.1351901292800903, -1.3727151155471802, -0.7157657146453857, 0.07529844343662262, -1.3542428016662598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6922652125358582, -0.7093586325645447, 1.477057933807373, -1.8823162317276, 0.6708551049232483, 0.45449310541152954, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861557245254517, -1.1351898908615112, -1.372714877128601, -0.7157653570175171, 0.07529844343662262, -1.3542425632476807, 0.37020000363444233, -0.37020000363444233, 0.37020000363444233, 0.37020000363444233, -0.37020000363444233, -0.37020000363444233, 0.37020000363444233, 0.37020000363444233, -0.6922650337219238, -0.7093586325645447, 1.4770574569702148, -1.8823163509368896, 0.6708552241325378, 0.4544927477836609, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.406450480222702, -0.8861552476882935, -1.1351896524429321, -1.3727147579193115, -0.7157662510871887, 0.07529832422733307, -1.354242205619812, 0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.6922653317451477, -0.7093585729598999, 1.4770578145980835, -1.8823164701461792, 0.6708553433418274, 0.45449286699295044, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861553072929382, -1.1351900100708008, -1.3727151155471802, -0.7157657146453857, 0.07529796659946442, -1.354241967201233, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.692265510559082, -0.7093589305877686, 1.4770578145980835, -1.8823163509368896, 0.6708553433418274, 0.4544932246208191, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645042061805725, -0.886155366897583, -1.1351896524429321, -1.3727147579193115, -0.7157658338546753, 0.07529808580875397, -1.3542423248291016, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922649145126343, -0.7093588709831238, 1.4770580530166626, -1.8823163509368896, 0.6708553433418274, 0.4544932246208191, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.406450092792511, -0.8861554265022278, -1.1351896524429321, -1.3727151155471802, -0.7157659530639648, 0.07529820501804352, -1.3542428016662598, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922648549079895, -0.7093587517738342, 1.4770582914352417, -1.8823162317276, 0.6708551049232483, 0.45449298620224, 1.211177110671997, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645018219947815, -0.8861550092697144, -1.1351901292800903, -1.3727149963378906, -0.7157660722732544, 0.07529820501804352, -1.3542425632476807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.692264974117279, -0.7093590497970581, 1.4770578145980835, -1.8823161125183105, 0.6708551049232483, 0.45449298620224, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997649806314457, 0.021650897607910734, -0.001105502499698071, 0.0145457424223423], [-0.021652464986007532, 0.9997645408109828, -0.0014260774994420437, 0.20998528599739075], [0.0010743663410546706, 0.0014496791977752716, 0.9999983720822693, 0.0001733097742544487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645042061805725, -0.8861537575721741, -1.1351901292800903, -1.372714877128601, -0.7157660722732544, 0.07529796659946442, -1.3542426824569702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922646760940552, -0.7093590497970581, 1.477057695388794, -1.8823164701461792, 0.6708553433418274, 0.45449334383010864, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9997926275088731, 0.020334271494983295, -0.001104256162292265, 0.014316610060632229], [-0.0203358222933917, 0.999792208989899, -0.0014117984097910135, 0.20964966714382172], [0.0010753188156280159, 0.0014339615987205643, 0.999998393720499, 0.00017002005188260227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861547708511353, -1.1351902484893799, -1.3727151155471802, -0.7157655954360962, 0.07529796659946442, -1.3542424440383911, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.692264974117279, -0.7093585133552551, 1.477057933807373, -1.8823165893554688, 0.6708548665046692, 0.45449334383010864, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998362002110267, 0.018065392086008446, -0.0011019783820513795, 0.013882231898605824], [-0.018066900495400065, 0.9998358353477959, -0.001374576612817517, 0.20954586565494537], [0.0010769652106907477, 0.001394260791235014, 0.9999984480901862, 0.00016175267228391021], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645018219947815, -0.8861558437347412, -1.1351900100708008, -1.3727149963378906, -0.7157658338546753, 0.07529820501804352, -1.354242205619812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922647953033447, -0.7093583345413208, 1.4770578145980835, -1.8823162317276, 0.6708549857139587, 0.45449334383010864, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998583851303209, 0.016792822265286157, -0.0011003658271231593, 0.013210281729698181], [-0.01679427558809581, 0.9998580881274926, -0.001325108865891551, 0.21001873910427094], [0.001077957354481117, 0.0013434010577206262, 0.9999985166396699, 0.0001510646688984707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7347303032875061, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.886155903339386, -1.1351898908615112, -1.3727152347564697, -0.7157657146453857, 0.07529808580875397, -1.3542429208755493, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922650933265686, -0.7093585729598999, 1.4770580530166626, -1.882315993309021, 0.6708551049232483, 0.4544934630393982, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998612929240787, 0.016618591328118774, -0.0011033288080525136, 0.01293265726417303], [-0.016620053656855812, 0.9998609931826333, -0.0013297098485713262, 0.2102617770433426], [0.0010810775332680156, 0.0013478627923973945, 0.9999985072675158, 0.00015202962094917893], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.886155366897583, -1.1351898908615112, -1.3727152347564697, -0.7157659530639648, 0.07529808580875397, -1.3542426824569702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922648549079895, -0.709358811378479, 1.4770582914352417, -1.8823164701461792, 0.6708552241325378, 0.4544934630393982, 1.2111769914627075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998602623100665, 0.0166807154737035, -0.0010998111338836832, 0.013177849352359772], [-0.01668214744658415, 0.9998599904125152, -0.0013059589792324326, 0.21003521978855133], [0.0010778728196276124, 0.0013241236990403694, 0.999998542442245, 0.00014701452164445072], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645042061805725, -0.8861552476882935, -1.1351900100708008, -1.3727151155471802, -0.7157659530639648, 0.07529856264591217, -1.3542424440383911, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922647356987, -0.7093583345413208, 1.4770580530166626, -1.8823164701461792, 0.6708552241325378, 0.45449358224868774, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998605871219362, 0.016661068179659986, -0.0011023281225878594, 0.013318836688995361], [-0.016662517807453727, 0.9998603003326976, -0.0013192114781551325, 0.2098945677280426], [0.0010801946553349432, 0.0013373951250584652, 0.9999985222758012, 0.0001498122583143413], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861553072929382, -1.1351900100708008, -1.3727149963378906, -0.7157659530639648, 0.07529784739017487, -1.3542426824569702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922649145126343, -0.7093586325645447, 1.4770580530166626, -1.8823161125183105, 0.6708551049232483, 0.45449334383010864, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998606103401984, 0.01665975779395654, -0.0011010723739559118, 0.013275970704853535], [-0.016661158591817826, 0.9998603796680176, -0.001275525188380707, 0.20993587374687195], [0.00107966870116701, 0.001293692534802179, 0.9999985803365529, 0.0001406240917276591], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502716064453, -0.8861554861068726, -1.1351900100708008, -1.3727151155471802, -0.7157660722732544, 0.07529808580875397, -1.354242205619812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922650337219238, -0.7093586921691895, 1.477057933807373, -1.8823164701461792, 0.6708549857139587, 0.4544934630393982, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998606051798097, 0.0166600951934695, -0.0011006532647581558, 0.013294924050569534], [-0.016661513623247984, 0.9998603521248739, -0.001292367016560944, 0.20991748571395874], [0.001078968603347676, 0.0013105254166582913, 0.9999985591739047, 0.00014416335034184158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.88615483045578, -1.1351902484893799, -1.3727149963378906, -0.7157660722732544, 0.07529784739017487, -1.3542425632476807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922650337219238, -0.7093591094017029, 1.4770578145980835, -1.8823164701461792, 0.6708553433418274, 0.4544932246208191, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998651226893066, 0.01638688834860589, -0.001098325884290719, 0.01335910800844431], [-0.016388313528820145, 0.9998648556334258, -0.0013014026393527054, 0.20981483161449432], [0.0010768515119871408, 0.001319226818613155, 0.9999985500146599, 0.00014599580026697367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645042061805725, -0.8861547112464905, -1.1351903676986694, -1.372714638710022, -0.7157659530639648, 0.07529832422733307, -1.354242205619812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922653317451477, -0.7093592286109924, 1.4770575761795044, -1.8823163509368896, 0.6708549857139587, 0.45449286699295044, 1.211176872253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998749886627013, 0.015773490143053102, -0.0010972946140455078, 0.013507246039807796], [-0.015774856508882072, 0.9998747904770147, -0.0012479065149856479, 0.20964394509792328], [0.001077473381196731, 0.001265060177607923, 0.9999986193359768, 0.00013461233174894005], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861558437347412, -1.1351898908615112, -1.3727151155471802, -0.7157660722732544, 0.07529820501804352, -1.3542428016662598, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922651529312134, -0.7093586325645447, 1.4770580530166626, -1.8823161125183105, 0.6708551049232483, 0.45449310541152954, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998704483614012, 0.01605841187562977, -0.0011017720287260636, 0.01323560532182455], [-0.016059764411847092, 0.9998702771976412, -0.0012299364812876632, 0.20968608558177948], [0.0010818782771735568, 0.0012474713402180432, 0.999998636676395, 0.00013096023758407682], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064500331878662, -0.886155903339386, -1.1351900100708008, -1.3727152347564697, -0.7157659530639648, 0.07529832422733307, -1.3542424440383911, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922653913497925, -0.7093584537506104, 1.4770580530166626, -1.8823161125183105, 0.6708551049232483, 0.4544934630393982, 1.2111763954162598, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998672704269443, 0.016255001775205807, -0.0011029262259087483, 0.012884239666163921], [-0.0162563655222945, 0.999867088906827, -0.0012389919260713499, 0.2096957564353943], [0.0010826398188206181, 0.0012567570470744804, 0.9999986242254273, 0.0001329000515397638], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4057543277740479, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645042061805725, -0.8861556649208069, -1.1351898908615112, -1.372714877128601, -0.7157662510871887, 0.07529784739017487, -1.3542426824569702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922653317451477, -0.7093586325645447, 1.4770575761795044, -1.8823163509368896, 0.6708551049232483, 0.4544932246208191, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998673041193102, 0.016252893466760975, -0.001103452373589592, 0.012991094961762428], [-0.016254224579662222, 0.9998671613227483, -0.0012082597829024464, 0.20969551801681519], [0.0010836680749041888, 0.0012260352144997388, 0.999998661249682, 0.0001264779712073505], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7358806133270264, 1.4054667949676514, -0.5368249416351318, 0.03441325202584267, 0.07266084849834442, 0.40645164251327515, -0.8861494660377502, -1.1351901292800903, -1.372715950012207, -0.7157662510871887, 0.07529820501804352, -1.354243278503418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922653317451477, -0.709357500076294, 1.4770585298538208, -1.8823202848434448, 0.670855700969696, 0.45449310541152954, 1.2111772298812866, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998647911939879, 0.016407590318878222, -0.001091013533802123, 0.009529534727334976], [-0.016408910811735934, 0.9998646294554071, -0.0012126046238972296, 0.20969417691230774], [0.0010709699228182107, 0.0012303430128444237, 0.9999986696388626, 0.00012723039253614843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7360723614692688, 1.4053709506988525, -0.5369207859039307, 0.03441325202584267, 0.07266084849834442, 0.40644824504852295, -0.8861453533172607, -1.1351906061172485, -1.3727188110351562, -0.7157675623893738, 0.07529796659946442, -1.3542425632476807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922645568847656, -0.709353506565094, 1.4770594835281372, -1.8823236227035522, 0.6708560585975647, 0.45449310541152954, 1.2111778259277344, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999867781197851, 0.01622492573796686, -0.001082546665890414, -0.0017348150722682476], [-0.016226243952543785, 0.9998676012538094, -0.0012202336439679153, 0.2096937894821167], [0.001062605137812809, 0.0012376379724279188, 0.9999986695604001, 0.00012862983567174524], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7337717413902283, 1.4061378240585327, -0.5364415049552917, 0.03441325202584267, 0.07266084849834442, 0.40645551681518555, -0.8861593008041382, -1.135189175605774, -1.3727085590362549, -0.7157636880874634, 0.07529796659946442, -1.354242205619812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922653913497925, -0.7093666195869446, 1.4770562648773193, -1.8823109865188599, 0.6708547472953796, 0.4544932246208191, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998714182648851, 0.015998743392306725, -0.0010895626802377247, -0.016093939542770386], [-0.016000075296606447, 0.9998712403447114, -0.0012248763330113225, 0.2096911072731018], [0.0010698259063834444, 0.0012421519212112986, 0.9999986562646646, 0.00012965314090251923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7338675856590271, 1.4061378240585327, -0.5364415049552917, 0.03441325202584267, 0.07266084849834442, 0.40645188093185425, -0.8861591219902039, -1.135189414024353, -1.3727105855941772, -0.7157636880874634, 0.07529820501804352, -1.3542424440383911, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6922640800476074, -0.7093634605407715, 1.4770570993423462, -1.8823106288909912, 0.6708548665046692, 0.45449310541152954, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998775101109879, 0.015613481578740138, -0.0010881025877770719, -0.03325502946972847], [-0.015614516787083376, 0.9998776351927198, -0.0009494771825500254, 0.20967648923397064], [0.0010731447978144387, 0.0009663510773182294, 0.9999989572623755, 7.180146349128336e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7340593338012695, 1.4061378240585327, -0.5364415049552917, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.8861580491065979, -1.135189414024353, -1.3727117776870728, -0.7157648801803589, 0.07529784739017487, -1.354242205619812, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6922647356987, -0.7093604803085327, 1.4770569801330566, -1.882311463356018, 0.6708547472953796, 0.4544934630393982, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998862631801656, 0.015042170502688919, -0.001092616205585931, -0.04695494845509529], [-0.015042941644662694, 0.9998866028095543, -0.0007010197171245452, 0.2096458375453949], [0.0010819474478672476, 0.0007173761471919201, 0.9999991573802367, 1.932564191520214e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.734346866607666, 1.4061378240585327, -0.5364415049552917, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.886158287525177, -1.1351892948150635, -1.3727123737335205, -0.7157649993896484, 0.07529832422733307, -1.3542420864105225, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6922641396522522, -0.7093598246574402, 1.4770575761795044, -1.8823121786117554, 0.6708548665046692, 0.45449382066726685, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998900966188282, 0.0147845176491445, -0.0011012363382185294, -0.05991791933774948], [-0.01478527375815174, 0.9998904595152267, -0.0006816526426175238, 0.209626242518425], [0.0010910378027308263, 0.000697859807420301, 0.9999991613137494, 1.476196302974131e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7345386147499084, 1.4061378240585327, -0.5365373492240906, 0.03441325202584267, 0.07266084849834442, 0.4064505398273468, -0.8861570954322815, -1.1351895332336426, -1.3727130889892578, -0.7157644033432007, 0.07529844343662262, -1.3542414903640747, 0.16920001533005263, -0.16920001533005263, 0.16920001533005263, 0.16920001533005263, -0.16920001533005263, -0.16920001533005263, 0.16920001533005263, 0.16920001533005263, -0.6922644376754761, -0.7093598246574402, 1.4770567417144775, -1.8823139667510986, 0.6708548665046692, 0.45449310541152954, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998801725124303, 0.015440640982884769, -0.0011078007718613742, -0.06944762915372849], [-0.015441428060919485, 0.9998805251568881, -0.0007054866583592418, 0.20966772735118866], [0.001096775251328017, 0.0007225081475899851, 0.9999991375326405, 1.946482007042505e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7347303032875061, 1.4061378240585327, -0.5365373492240906, 0.03441325202584267, 0.07266084849834442, 0.4064500331878662, -0.8861533403396606, -1.1351900100708008, -1.3727134466171265, -0.7157648801803589, 0.07529808580875397, -1.3542428016662598, 0.43739999951897085, -0.43739999951897085, 0.43739999951897085, 0.43739999951897085, -0.43739999951897085, -0.43739999951897085, 0.43739999951897085, 0.43739999951897085, -0.6922652125358582, -0.7093601822853088, 1.4770563840866089, -1.8823150396347046, 0.6708549857139587, 0.45449298620224, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998820351211619, 0.015319521085582752, -0.0011082038043293216, -0.07655968517065048], [-0.015320291342076872, 0.9998823994188794, -0.0006899315463045199, 0.2096599042415619], [0.0010975040580467113, 0.0007068281637619767, 0.9999991479390318, 1.6172036339412443e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7350178956985474, 1.4060419797897339, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40644997358322144, -0.8861547112464905, -1.1351898908615112, -1.3727145195007324, -0.7157649993896484, 0.07529808580875397, -1.3542424440383911, 0.5592000000424437, -0.5592000000424437, 0.5592000000424437, 0.5592000000424437, -0.5592000000424437, -0.5592000000424437, 0.5592000000424437, 0.5592000000424437, -0.6922645568847656, -0.709357500076294, 1.4770581722259521, -1.8823152780532837, 0.6708548665046692, 0.4544932246208191, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998849823589193, 0.015125633819200696, -0.0011123195004424872, -0.08212292939424515], [-0.015126264442548793, 0.9998854342881796, -0.0005607337626782787, 0.20964446663856506], [0.0011037106132028131, 0.000577494507311918, 0.9999992241611873, -1.1278857527941e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7350178956985474, 1.4060419797897339, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861547708511353, -1.1351897716522217, -1.3727144002914429, -0.715765118598938, 0.07529808580875397, -1.3542425632476807, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922644376754761, -0.7093580365180969, 1.477057933807373, -1.882315754890442, 0.6708552241325378, 0.4544932246208191, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879863188582, 0.014925477504520827, -0.0011157672162650696, -0.08525865525007248], [-0.0149261340290041, 0.9998884294350845, -0.0005824129019112143, 0.20962762832641602], [0.0011069499388206181, 0.0005990017547132681, 0.9999992079290517, -7.070636911521433e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7350178956985474, 1.405946135520935, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064503312110901, -0.88615483045578, -1.1351895332336426, -1.372714638710022, -0.7157652378082275, 0.07529820501804352, -1.3542428016662598, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922646164894104, -0.7093577980995178, 1.4770580530166626, -1.8823156356811523, 0.6708546280860901, 0.45449310541152954, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880575418018, 0.014920704589830955, -0.0011157776774861753, -0.08663070201873779], [-0.014921323477992056, 0.9998885204581909, -0.0005484173549012887, 0.20962713658809662], [0.0011074705177575095, 0.0005650048433697564, 0.999999227138991, -1.4191688933351543e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7350178956985474, 1.4058501720428467, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.4064505398273468, -0.8861547708511353, -1.1351901292800903, -1.3727147579193115, -0.7157657146453857, 0.07529820501804352, -1.3542423248291016, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922649145126343, -0.7093583345413208, 1.4770578145980835, -1.882315993309021, 0.6708547472953796, 0.45449334383010864, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880725820344, 0.014919817098064891, -0.0011141660310003524, -0.08633623272180557], [-0.014920423193445121, 0.9998885397276439, -0.0005376737378610413, 0.2096269726753235], [0.0011060198519237676, 0.0005542373861181409, 0.9999992347702107, -1.628991958568804e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7351137399673462, 1.4054667949676514, -0.536729097366333, 0.03441325202584267, 0.07266084849834442, 0.4064501225948334, -0.8861548900604248, -1.1351900100708008, -1.3727152347564697, -0.7157662510871887, 0.07529820501804352, -1.3542424440383911, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922649145126343, -0.7093579173088074, 1.477057933807373, -1.8823168277740479, 0.6708553433418274, 0.4544932246208191, 1.2111766338348389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880616680137, 0.014920379777382333, -0.0011164233431009824, -0.08581412583589554], [-0.01492096872710186, 0.9998885403744453, -0.0005210759120276227, 0.2096269577741623], [0.0011085242564729016, 0.0005376757014478082, 0.9999992410391184, -1.997581057366915e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7351137399673462, 1.4055626392364502, -0.536729097366333, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861547112464905, -1.1351901292800903, -1.3727152347564697, -0.7157664895057678, 0.07529832422733307, -1.3542423248291016, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922647953033447, -0.709358274936676, 1.4770578145980835, -1.8823171854019165, 0.6708549857139587, 0.45449298620224, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880660060635, 0.014919965513594835, -0.0011180732208527734, -0.08565299957990646], [-0.014920541262536632, 0.9998885532851705, -0.0005083873737839127, 0.20962686836719513], [0.0011103634931809675, 0.0005250127255809694, 0.9999992457269911, -2.2766516849515028e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7349220514297485, 1.4055626392364502, -0.536729097366333, 0.03441325202584267, 0.07266084849834442, 0.4064502716064453, -0.8861551284790039, -1.1351895332336426, -1.372715711593628, -0.7157664895057678, 0.07529820501804352, -1.3542420864105225, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922646760940552, -0.7093581557273865, 1.4770580530166626, -1.8823167085647583, 0.6708549857139587, 0.45449334383010864, 1.2111765146255493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888058210742, 0.014920386895814904, -0.001119420578236078, -0.08573290705680847], [-0.014920948717978255, 0.9998885538107962, -0.000495224706598821, 0.20962685346603394], [0.0011119068788556967, 0.0005118720873007896, 0.9999992508247488, -2.5618852305342443e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7349220514297485, 1.4055626392364502, -0.536729097366333, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861550092697144, -1.1351900100708008, -1.3727155923843384, -0.7157664895057678, 0.07529808580875397, -1.3542423248291016, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922650337219238, -0.7093578577041626, 1.4770580530166626, -1.882317066192627, 0.6708547472953796, 0.4544932246208191, 1.2111762762069702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880480094864, 0.014920952166410621, -0.001120996978871919, -0.08571969717741013], [-0.014921519445264013, 0.9998885432170185, -0.0004994004337633372, 0.20962682366371155], [0.0011134205061708545, 0.0005160715031090337, 0.9999992469822065, -2.4885170205379836e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7349220514297485, 1.4055626392364502, -0.536729097366333, 0.03441325202584267, 0.07266084849834442, 0.4064502418041229, -0.8861549496650696, -1.1351898908615112, -1.3727151155471802, -0.7157664895057678, 0.07529844343662262, -1.3542423248291016, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.692264974117279, -0.7093583941459656, 1.477057933807373, -1.8823168277740479, 0.6708551049232483, 0.45449286699295044, 1.2111763954162598, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888041029765, 0.014921358226756007, -0.0011218174217765917, -0.08570737391710281], [-0.0149219179745763, 0.9998885408096111, -0.0004922617055732593, 0.20962685346603394], [0.0011143471716648238, 0.0005089462600098182, 0.9999992496017611, -2.645390122779645e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.4055626392364502, -0.5366332530975342, 0.03441325202584267, 0.07266084849834442, 0.40645042061805725, -0.8861554265022278, -1.1351898908615112, -1.3727152347564697, -0.7157666087150574, 0.07529856264591217, -1.3542423248291016, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.6922650933265686, -0.7093580365180969, 1.4770575761795044, -1.8823167085647583, 0.6708549857139587, 0.45449334383010864, 1.2111767530441284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884619350229, 0.014892991806199607, -0.0011236032550354963, -0.08572845160961151], [-0.014893559932268974, 0.9998889602874191, -0.0004989668203789142, 0.20962440967559814], [0.0011160473816855337, 0.0005156456190042451, 0.9999992442736332, -2.522478644095827e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7347303032875061, 1.4055626392364502, -0.5365373492240906, 0.03450911119580269, 0.07266084849834442, 0.4077001214027405, -0.8861443996429443, -1.1357532739639282, -1.3740278482437134, -0.7156334519386292, 0.07493232190608978, -1.352634072303772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7006974816322327, -0.7088063359260559, 1.4822049140930176, -1.8905341625213623, 0.670592188835144, 0.44743725657463074, 1.1928136348724365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880621622703, 0.014919858946513109, -0.0011229222573658957, -0.08570829033851624], [-0.014920403995487382, 0.999888570043595, -0.0004785820580356575, 0.20962665975093842], [0.0011156567533874872, 0.0004952829403303286, 0.9999992550021313, -2.9459795769071206e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7330048680305481, 1.4062336683273315, -0.5354829430580139, 0.03489254415035248, 0.07294842600822449, 0.4189263582229614, -0.8836897015571594, -1.1448538303375244, -1.394288420677185, -0.7038798928260803, 0.0702907145023346, -1.3288764953613281, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7042098045349121, -0.7042846083641052, 1.4887356758117676, -1.8992458581924438, 0.6554467678070068, 0.4522908926010132, 1.1892144680023193, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888287178596, 0.014904801334605046, -0.0011225240440437536, -0.08539704978466034], [-0.01490534506364088, 0.9998887951186053, -0.00047758224177490836, 0.2096252590417862], [0.0011152809454559826, 0.000494260497933933, 0.9999992559272096, -2.9641070796060376e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7301291227340698, 1.4079591035842896, -0.5326071381568909, 0.03623456507921219, 0.07419458776712418, 0.4120361804962158, -0.8787164688110352, -1.1594163179397583, -1.3876177072525024, -0.6895198225975037, 0.0692095011472702, -1.3493657112121582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6911120414733887, -0.6996654868125916, 1.4841012954711914, -1.9027167558670044, 0.6375148892402649, 0.4692721664905548, 1.2045408487319946, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882452885433, 0.014907611414597571, -0.001122522030627537, -0.08518050611019135], [-0.01490808901483392, 0.9998887807637244, -0.00041831179570511463, 0.2096254974603653], [0.0011161611548840737, 0.0004349997057447941, 0.9999992824795088, -4.2030409531435e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7277326583862305, 1.4097803831100464, -0.5279101133346558, 0.038631029427051544, 0.07630347460508347, 0.4016517996788025, -0.875648558139801, -1.1628386974334717, -1.3812079429626465, -0.6715189218521118, 0.06614021956920624, -1.3795825242996216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6740085482597351, -0.6941561698913574, 1.4815813302993774, -1.905484676361084, 0.6206359267234802, 0.4945697784423828, 1.22417151927948, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998871698729622, 0.014979126848145473, -0.0011283981146705448, -0.0856444388628006], [-0.014979694952819322, 0.9998876747041765, -0.0004967029246533083, 0.2096315175294876], [0.001120831190904281, 0.0005135499411423207, 0.999999240001661, -2.602442509669345e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7264864444732666, 1.4113141298294067, -0.5209124088287354, 0.04160264879465103, 0.07956267148256302, 0.3981058597564697, -0.8745377659797668, -1.1612759828567505, -1.3875259160995483, -0.6715565323829651, 0.07282190024852753, -1.3996899127960205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6628986597061157, -0.6874462366104126, 1.4911328554153442, -1.9108613729476929, 0.6075143814086914, 0.5204398036003113, 1.2376385927200317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889207611973, 0.014861518004461576, -0.0011319989449237713, -0.08601836115121841], [-0.014862029596080599, 0.9998894549721108, -0.0004448728587268986, 0.20962141454219818], [0.001125262322069168, 0.0004616472444105763, 0.9999992603329906, -3.7187124689808115e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7254320383071899, 1.4124644994735718, -0.5121892690658569, 0.043519821017980576, 0.08425974100828171, 0.3939932882785797, -0.8742101788520813, -1.1619781255722046, -1.3942400217056274, -0.6763806939125061, 0.07366583496332169, -1.4046201705932617, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6586105227470398, -0.6815862059593201, 1.4962002038955688, -1.915877342224121, 0.5928499102592468, 0.5329087376594543, 1.2416878938674927, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887000970592, 0.01487666701333711, -0.0011279170126384894, -0.08583305776119232], [-0.0148771723223169, 0.9998892315217318, -0.00044094282245918257, 0.20962272584438324], [0.0011212323154457403, 0.0004576739613281361, 0.9999992666860511, -3.7659454392269254e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7253361940383911, 1.4147651195526123, -0.5003986358642578, 0.044765982776880264, 0.09077812731266022, 0.3914262652397156, -0.8740270733833313, -1.1590728759765625, -1.3917421102523804, -0.6723712086677551, 0.07268960028886795, -1.406203031539917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6509521007537842, -0.6756017208099365, 1.4854665994644165, -1.9260929822921753, 0.5595302581787109, 0.533248245716095, 1.250728726387024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884951990114, 0.014890371417715362, -0.0011287194953530384, -0.0857023075222969], [-0.014890876567145394, 0.9998890277346135, -0.00044046678787950505, 0.209623783826828], [0.0011220355247249594, 0.00045722529640221317, 0.9999992659903854, -3.77820833818987e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7263906002044678, 1.4176408052444458, -0.4877453148365021, 0.044861841946840286, 0.09672136604785919, 0.3904661238193512, -0.8744015097618103, -1.1504502296447754, -1.3958958387374878, -0.6607638001441956, 0.06841230392456055, -1.4094092845916748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6397061944007874, -0.670856773853302, 1.4761606454849243, -1.9240940809249878, 0.5368442535400391, 0.5315462946891785, 1.2581206560134888, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886911678219, 0.014876804154277647, -0.0011340074318269037, -0.08593851327896118], [-0.014877334789086472, 0.9998892200867708, -0.0004609380028705141, 0.2096225619316101], [0.0011270245221860363, 0.000477757704616309, 0.9999992507813704, -3.40360238624271e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7303208112716675, 1.4198455810546875, -0.4749002456665039, 0.044382549822330475, 0.10266460478305817, 0.38913607597351074, -0.8764803409576416, -1.1433322429656982, -1.4035851955413818, -0.6665973663330078, 0.07010471820831299, -1.4024193286895752, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6336726546287537, -0.667368471622467, 1.4739419221878052, -1.918373465538025, 0.5322868824005127, 0.5317705273628235, 1.2581018209457397, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889304061567, 0.014860625404928114, -0.00113519329032584, -0.08648809790611267], [-0.014861110199561241, 0.9998894794683317, -0.0004198239929153451, 0.2096211314201355], [0.0011288289810651312, 0.00043664759582030116, 0.9999992675417361, -4.2917639802908525e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7370309233665466, 1.4222420454025269, -0.46042561531066895, 0.04160264879465103, 0.11062087118625641, 0.38372665643692017, -0.8787422180175781, -1.136325478553772, -1.4081213474273682, -0.6697163581848145, 0.06929878145456314, -1.3956000804901123, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.628582775592804, -0.662714421749115, 1.4745614528656006, -1.9171723127365112, 0.5186525583267212, 0.52922123670578, 1.2551376819610596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999889384165988, 0.01483027597158601, -0.0011324075095913873, -0.08640158176422119], [-0.014830709026765582, 0.9998899486724718, -0.00037498469965183107, 0.2096184343099594], [0.0011267217600606947, 0.0003917376266810115, 0.9999992885196005, -5.215385681367479e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7446995973587036, 1.4257887601852417, -0.44480064511299133, 0.036905575543642044, 0.1187688559293747, 0.37444794178009033, -0.8804636597633362, -1.1328657865524292, -1.4054665565490723, -0.6720276474952698, 0.06556785106658936, -1.3912867307662964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6199119687080383, -0.6590534448623657, 1.4710214138031006, -1.9164997339248657, 0.5058491230010986, 0.5198137164115906, 1.2489334344863892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998891779623873, 0.014844216747006813, -0.0011318228082622132, -0.08593539893627167], [-0.014844679629959608, 0.9998897309932282, -0.00040167271959353076, 0.20961952209472656], [0.0011257354863742986, 0.00041842975239082575, 0.9999992788178185, -4.6336739615071565e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7533268928527832, 1.4299107789993286, -0.4278336763381958, 0.0315374918282032, 0.12605410814285278, 0.3692256212234497, -0.8811336755752563, -1.1299827098846436, -1.399338960647583, -0.6680959463119507, 0.06324734538793564, -1.3884998559951782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6126499176025391, -0.6562452912330627, 1.4583097696304321, -1.913447380065918, 0.49260053038597107, 0.510630190372467, 1.2465078830718994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882785136549, 0.014904423169043517, -0.001135192053219607, -0.08584204316139221], [-0.014904966926388616, 0.999888803379872, -0.0004720556015091373, 0.20962461829185486], [0.0011280301072558833, 0.0004889228627640366, 0.9999992442509701, -3.1673003832111135e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7642547488212585, 1.4342243671417236, -0.4110583961009979, 0.025881832465529442, 0.1318056285381317, 0.36908411979675293, -0.8813838958740234, -1.1256974935531616, -1.3977526426315308, -0.6647754907608032, 0.06415946781635284, -1.390824794769287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6110825538635254, -0.6533502340316772, 1.4490396976470947, -1.9077482223510742, 0.48872292041778564, 0.5081722140312195, 1.2477933168411255, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887120325229, 0.014875080938751698, -0.001138207805284367, -0.0861845463514328], [-0.014875612523825786, 0.9998892461406199, -0.0004600047649156139, 0.2096220999956131], [0.0011312391362668242, 0.00047688511020330105, 0.9999992464390202, -3.441410808591172e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7776749730110168, 1.4373877048492432, -0.39389970898628235, 0.021184759214520454, 0.1360234022140503, 0.3738844096660614, -0.881251871585846, -1.1191778182983398, -1.3959039449691772, -0.6565000414848328, 0.07317639887332916, -1.3897068500518799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6184537410736084, -0.6496695280075073, 1.4457253217697144, -1.8981305360794067, 0.48611682653427124, 0.51314377784729, 1.2477705478668213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882803435571, 0.014904135086484551, -0.0011373605091704493, -0.08633963018655777], [-0.014904679497427272, 0.9998888078341626, -0.0004716959361186577, 0.20962463319301605], [0.0011302038236404386, 0.0004885952322729453, 0.9999992419567207, -3.199672210030258e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.791191041469574, 1.439496636390686, -0.37837061285972595, 0.017733847722411156, 0.13966603577136993, 0.3764072358608246, -0.8818021416664124, -1.11356782913208, -1.3957380056381226, -0.6507107019424438, 0.07747789472341537, -1.3800804615020752, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6290640234947205, -0.6466288566589355, 1.4510653018951416, -1.8840131759643555, 0.4937599003314972, 0.5178570747375488, 1.2365161180496216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887160727041, 0.014875341143349177, -0.0011312366455453562, -0.08609956502914429], [-0.014875836849434035, 0.9998892557032222, -0.00043105369209042206, 0.20962202548980713], [0.0011246992968176107, 0.0004478338145199246, 0.9999992672479147, -4.008369432995096e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.803460955619812, 1.4408385753631592, -0.3638959527015686, 0.014474654570221901, 0.1429252326488495, 0.3769378662109375, -0.8823423981666565, -1.1115059852600098, -1.397538423538208, -0.6492120623588562, 0.07645000517368317, -1.3762662410736084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6300153732299805, -0.6462847590446472, 1.4524368047714233, -1.881999135017395, 0.4958544969558716, 0.5176788568496704, 1.2353956699371338, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882674352905, 0.014905581174157021, -0.0011297323194486917, -0.08582571148872375], [-0.014906070260083734, 0.9998888077234049, -0.000425745075412356, 0.20962457358837128], [0.0011232607241590928, 0.0004425373751519573, 0.999999271222743, -4.100061778444797e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8097876310348511, 1.4417972564697266, -0.35584384202957153, 0.012269905768334866, 0.14455482363700867, 0.37688833475112915, -0.8823143243789673, -1.1115548610687256, -1.397542953491211, -0.649178147315979, 0.07627946883440018, -1.3764324188232422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.634247899055481, -0.6450296640396118, 1.4479217529296875, -1.8866276741027832, 0.4860764443874359, 0.5111659169197083, 1.2321501970291138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998878640516371, 0.01493254567268598, -0.0011306644012017545, -0.08518848568201065], [-0.014933058754612115, 0.9998883958739477, -0.00044671339234492527, 0.20962686836719513], [0.001123867646255609, 0.00046354757764992233, 0.9999992610223054, -3.678924622363411e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8116089701652527, 1.4424681663513184, -0.352680504322052, 0.011982330121099949, 0.1447465419769287, 0.37685394287109375, -0.882289707660675, -1.1116420030593872, -1.3974932432174683, -0.6492076516151428, 0.07627168297767639, -1.376594066619873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.643082320690155, -0.6353564262390137, 1.4115595817565918, -1.8895078897476196, 0.38164758682250977, 0.49122485518455505, 1.2757601737976074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882850606141, 0.014904458325754866, -0.0011289466594676827, -0.08518141508102417], [-0.014904935971652843, 0.9998888287907924, -0.000415864230674905, 0.20962442457675934], [0.0011226229220071525, 0.0004326446501023596, 0.999999276267929, -4.325231566326693e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8115130662918091, 1.4425641298294067, -0.35153019428253174, 0.011982330121099949, 0.1438838094472885, 0.37685003876686096, -0.8822963237762451, -1.111646294593811, -1.3974761962890625, -0.6492438316345215, 0.0762719213962555, -1.3766133785247803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6272873878479004, -0.6290000081062317, 1.3584001064300537, -1.882872462272644, 0.2798803150653839, 0.4679853022098541, 1.3421788215637207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99988961928154, 0.014814309107900091, -0.00113379833863481, -0.08561471104621887], [-0.014814741583859089, 0.9998901857496995, -0.0003739963035106269, 0.2096162587404251], [0.0011281333345748424, 0.00039075195092502747, 0.9999992873137922, -5.279593824525364e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8115130662918091, 1.4423723220825195, -0.35210534930229187, 0.011215460486710072, 0.14187078177928925, 0.3768483102321625, -0.8822879195213318, -1.1116496324539185, -1.3974772691726685, -0.6492455005645752, 0.07627227902412415, -1.37661612033844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5962533950805664, -0.6258839964866638, 1.3027840852737427, -1.8763980865478516, 0.18255820870399475, 0.4293384552001953, 1.3887739181518555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887943139387, 0.014869950653821457, -0.0011329487944334408, -0.08599407225847244], [-0.014870395941513705, 0.9998893551862303, -0.00038562910572212763, 0.20962108671665192], [0.001127089153752305, 0.00040243361872754647, 0.9999992838583546, -5.030457759858109e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8107461929321289, 1.4407427310943604, -0.3536390960216522, 0.009394146502017975, 0.13918673992156982, 0.3768500089645386, -0.8822928667068481, -1.1116491556167603, -1.3974792957305908, -0.6492458581924438, 0.0762735977768898, -1.3766175508499146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5559515953063965, -0.6292819380760193, 1.2318609952926636, -1.8666707277297974, 0.0893782302737236, 0.37958353757858276, 1.4202924966812134, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998890411439488, 0.014853262638332651, -0.0011340146521493127, -0.0859251618385315], [-0.014853691502245435, 0.9998896091218081, -0.0003707006795902264, 0.20961961150169373], [0.0011283833527218174, 0.0003875038508689337, 0.9999992882956341, -5.345792305888608e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.809404194355011, 1.439208984375, -0.3561314046382904, 0.007381115108728409, 0.13592754304409027, 0.37684914469718933, -0.882285475730896, -1.1116491556167603, -1.3974820375442505, -0.649247407913208, 0.07627443969249725, -1.376617193222046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5116955637931824, -0.6417439579963684, 1.1435911655426025, -1.8504949808120728, -0.0032094952184706926, 0.33676618337631226, 1.409074068069458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883574150428, 0.014899198356060883, -0.0011342813559717174, -0.08584265410900116], [-0.014899662281005971, 0.9998889131975056, -0.0004016573451998425, 0.20962366461753845], [0.0011281709798254523, 0.00041851291227117744, 0.9999992760383292, -4.703726153820753e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8074870109558105, 1.4380587339401245, -0.3587195873260498, 0.005751518066972494, 0.13228492438793182, 0.3768523037433624, -0.8822856545448303, -1.1116482019424438, -1.3974828720092773, -0.6492478847503662, 0.07627587765455246, -1.3766173124313354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4655977189540863, -0.6580405831336975, 1.0624480247497559, -1.8151415586471558, -0.0753636360168457, 0.31147852540016174, 1.3924072980880737, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887764290182, 0.014870988654351932, -0.001135106921357765, -0.08578071743249893], [-0.014871421496396345, 0.9998893444111404, -0.0003738391850994228, 0.20962116122245789], [0.001129421957152798, 0.00039067825884127127, 0.9999992858880155, -5.29548960912507e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8054739832878113, 1.4370043277740479, -0.3613077700138092, 0.004217780195176601, 0.12902572751045227, 0.37684980034828186, -0.8822892308235168, -1.1116477251052856, -1.3974840641021729, -0.6492496728897095, 0.07627791166305542, -1.37661612033844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4221253991127014, -0.6742210388183594, 0.9959063529968262, -1.7754219770431519, -0.1296362429857254, 0.2851203978061676, 1.3881230354309082, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885578602307, 0.01488554051666695, -0.001136900925642982, -0.08595941960811615], [-0.014886002691054246, 0.9998891176555293, -0.0003991465005952007, 0.20962239801883698], [0.00113083335199622, 0.00041602592909367644, 0.9999992740689146, -4.785032069776207e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8038443922996521, 1.4362374544143677, -0.3638001084327698, 0.0029716177377849817, 0.12605410814285278, 0.37685099244117737, -0.8822898268699646, -1.111647129058838, -1.3974859714508057, -0.6492516398429871, 0.07628031075000763, -1.3766165971755981, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3817831873893738, -0.6891971826553345, 0.9424118995666504, -1.743218183517456, -0.1725749969482422, 0.26190948486328125, 1.3969528675079346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888357906476, 0.014898864193103921, -0.0011382305769419934, -0.08592359721660614], [-0.014899307409411365, 0.9998889262237471, -0.0003819081588694118, 0.20962345600128174], [0.001132414151580332, 0.00039882436911167215, 0.9999992792883963, -5.158538624527864e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8022148013114929, 1.4354705810546875, -0.36619657278060913, 0.002013031393289566, 0.12384936213493347, 0.37685105204582214, -0.8822863698005676, -1.111647605895996, -1.3974857330322266, -0.6492530703544617, 0.07628294825553894, -1.37661612033844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3485342264175415, -0.7029932141304016, 0.897665798664093, -1.7125719785690308, -0.2011018842458725, 0.24787643551826477, 1.4162068367004395, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883594672422, 0.01489882242589463, -0.0011374059208108483, -0.08586911857128143], [-0.014899269088915486, 0.9998889255147604, -0.00038524479755681446, 0.20962345600128174], [0.001131539890204387, 0.0004021483054998596, 0.9999992789468487, -5.087221143185161e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8004893660545349, 1.4350870847702026, -0.36849716305732727, 0.0012461623409762979, 0.12241148203611374, 0.3768512010574341, -0.8822893500328064, -1.1116464138031006, -1.3974859714508057, -0.6492531895637512, 0.07628534734249115, -1.3766148090362549, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.323397696018219, -0.7137653827667236, 0.8716432452201843, -1.6912719011306763, -0.20657040178775787, 0.2434101551771164, 1.4284436702728271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885425042386, 0.014886363555597195, -0.0011396266230381104, -0.08590530604124069], [-0.014886816696673823, 0.9998891090767836, -0.0003901772359330935, 0.2096223533153534], [0.0011336919286045416, 0.00040709916039529103, 0.9999992745061791, -5.0117389037040994e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7990514636039734, 1.4349912405014038, -0.3704143464565277, 0.0, 0.12202804535627365, 0.3768516480922699, -0.8822891712188721, -1.111646294593811, -1.3974844217300415, -0.6492525935173035, 0.07628846168518066, -1.3766142129898071, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30875587463378906, -0.7217364311218262, 0.8523924946784973, -1.677923560142517, -0.21522217988967896, 0.23872467875480652, 1.4316240549087524, 0.4469999989310463, 0.4469999989310463, 0.4469999989310463, 0.4469999989310463, -0.4469999989310463, -0.4469999989310463, -0.4469999989310463, 0.4469999989310463, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885089823722, 0.014888639766462333, -0.0011393028188690442, -0.08593165129423141], [-0.014889079196433829, 0.9998890799927286, -0.00037819568631602637, 0.20962251722812653], [0.0011335456280573016, 0.0003951166907929581, 0.9999992794782953, -5.2537230658344924e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.797996997833252, 1.4349912405014038, -0.372619092464447, 0.0, 0.12212390452623367, 0.3768521845340729, -0.8822896480560303, -1.1116453409194946, -1.3974862098693848, -0.6492542624473572, 0.07629037648439407, -1.3766144514083862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2984178960323334, -0.7298203706741333, 0.8329223394393921, -1.67061185836792, -0.2224676012992859, 0.2309730499982834, 1.4302213191986084, 0.37020000363444233, 0.37020000363444233, 0.37020000363444233, 0.37020000363444233, -0.37020000363444233, -0.37020000363444233, -0.37020000363444233, 0.37020000363444233, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887347519319, 0.014873242208355902, -0.0011422707176876956, -0.08591507375240326], [-0.014873685932798753, 0.9998893080454778, -0.0003809502696991542, 0.20962108671665192], [0.0011364783118787871, 0.00039789765907801393, 0.9999992750469869, -5.2208055421942845e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.797134280204773, 1.4346078634262085, -0.37453627586364746, 0.0, 0.12231562286615372, 0.37685173749923706, -0.8822894096374512, -1.111645221710205, -1.3974854946136475, -0.6492534279823303, 0.07629133760929108, -1.3766136169433594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28590017557144165, -0.7382557392120361, 0.8066162467002869, -1.6673556566238403, -0.2545333206653595, 0.21444033086299896, 1.4305639266967773, 0.30899999141693113, 0.30899999141693113, 0.30899999141693113, 0.30899999141693113, -0.30899999141693113, -0.30899999141693113, -0.30899999141693113, 0.30899999141693113, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885410370051, 0.014886216031300078, -0.0011428364531971093, -0.0859057828783989], [-0.014886675470833229, 0.9998891094563975, -0.0003945680148387694, 0.2096220999956131], [0.0011368360987336346, 0.000411537072091988, 0.9999992691201943, -4.9448255595052615e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7961757183074951, 1.4346078634262085, -0.3767410218715668, 0.0, 0.12260320037603378, 0.37685224413871765, -0.8822905421257019, -1.1116443872451782, -1.397485613822937, -0.649252712726593, 0.07629157602787018, -1.376613736152649, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27179673314094543, -0.7455428838729858, 0.7810804843902588, -1.66367769241333, -0.3060586452484131, 0.1929309219121933, 1.4302865266799927, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883258272266, 0.014900588450972273, -0.0011438261408663504, -0.08586917072534561], [-0.014901004402685217, 0.9998889104981913, -0.00035599231903211346, 0.20962345600128174], [0.001138394578752601, 0.0003729967222453278, 0.9999992824653567, -5.76691199967172e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7952170968055725, 1.4346078634262085, -0.3790416121482849, 0.0, 0.12298662960529327, 0.3768518269062042, -0.8822898864746094, -1.1116443872451782, -1.397485375404358, -0.649252712726593, 0.07629229128360748, -1.3766134977340698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2534850239753723, -0.752699613571167, 0.7653915882110596, -1.661392331123352, -0.3479994833469391, 0.17702066898345947, 1.427655577659607, 0.27780000560886253, 0.27780000560886253, 0.27780000560886253, 0.27780000560886253, -0.27780000560886253, -0.27780000560886253, -0.27780000560886253, 0.27780000560886253, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883006741591, 0.01490232417941432, -0.0011432012045483454, -0.08589521795511246], [-0.014902766120167105, 0.9998888757703182, -0.0003790418669796918, 0.20962347090244293], [0.0011374255624158171, 0.000396036388438362, 0.9999992747088715, -5.280653203953989e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7946419715881348, 1.4346078634262085, -0.38057535886764526, 0.0, 0.12346592545509338, 0.37685179710388184, -0.8822892904281616, -1.1116441488265991, -1.3974854946136475, -0.6492525935173035, 0.07629217207431793, -1.3766133785247803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23953549563884735, -0.7589598894119263, 0.7527689337730408, -1.6481214761734009, -0.36705222725868225, 0.162836492061615, 1.4384713172912598, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888570248524, 0.014883983402641215, -0.0011463526649433391, -0.08590588718652725], [-0.014884447605860832, 0.9998891414707319, -0.00039747753517726413, 0.20962181687355042], [0.0011403095329363799, 0.0004144960705334901, 0.9999992639433174, -4.9236579798161983e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7940667867660522, 1.4346078634262085, -0.3823966681957245, 0.0, 0.12365764379501343, 0.3768518269062042, -0.8822897672653198, -1.1116442680358887, -1.3974857330322266, -0.6492524743080139, 0.07629241794347763, -1.3766130208969116, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2218451350927353, -0.7671488523483276, 0.7384302020072937, -1.6296755075454712, -0.38208141922950745, 0.1404922604560852, 1.4498759508132935, 0.2826000004024296, 0.2826000004024296, 0.2826000004024296, 0.2826000004024296, -0.2826000004024296, -0.2826000004024296, -0.2826000004024296, 0.2826000004024296, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7936833500862122, 1.4346078634262085, -0.3836428225040436, 0.0, 0.1239452213048935, 0.37685200572013855, -0.8822895884513855, -1.1116437911987305, -1.3974854946136475, -0.6492519974708557, 0.07629241794347763, -1.3766124248504639, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20543712377548218, -0.7763922214508057, 0.7227814197540283, -1.6150188446044922, -0.39411550760269165, 0.12569187581539154, 1.4588181972503662, 0.27360000033954995, 0.27360000033954995, 0.27360000033954995, 0.27360000033954995, -0.27360000033954995, -0.27360000033954995, -0.27360000033954995, 0.27360000033954995, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7932999730110168, 1.4347995519638062, -0.38527244329452515, 0.0, 0.12423279881477356, 0.37685129046440125, -0.8822899460792542, -1.1116435527801514, -1.397485613822937, -0.6492529511451721, 0.07629289478063583, -1.376612663269043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19541482627391815, -0.7853468656539917, 0.7059080004692078, -1.5991750955581665, -0.406512588262558, 0.11543672531843185, 1.4636982679367065, 0.25500001068953626, 0.25500001068953626, 0.25500001068953626, 0.25500001068953626, -0.25500001068953626, -0.25500001068953626, -0.25500001068953626, 0.25500001068953626, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7928206324577332, 1.4350870847702026, -0.3868061602115631, 0.0, 0.12490380555391312, 0.376851350069046, -0.88228839635849, -1.111643671989441, -1.397485613822937, -0.6492519974708557, 0.07629277557134628, -1.3766124248504639, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18876312673091888, -0.7928442358970642, 0.6913482546806335, -1.5826635360717773, -0.4205363988876343, 0.10515342652797699, 1.4692962169647217, 0.23940000796056055, 0.23940000796056055, 0.23940000796056055, 0.23940000796056055, -0.23940000796056055, -0.23940000796056055, -0.23940000796056055, 0.23940000796056055, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7921496629714966, 1.4356622695922852, -0.38824406266212463, -0.0017254555132240057, 0.12595824897289276, 0.3768523335456848, -0.8822905421257019, -1.1116430759429932, -1.397485613822937, -0.649251401424408, 0.07629217207431793, -1.3766117095947266, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.183116152882576, -0.7990288138389587, 0.6832430958747864, -1.569605827331543, -0.4281972050666809, 0.09889394044876099, 1.4715824127197266, 0.17519998917212856, 0.17519998917212856, 0.17519998917212856, 0.17519998917212856, -0.17519998917212856, -0.17519998917212856, -0.17519998917212856, 0.17519998917212856, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7914786338806152, 1.4362374544143677, -0.3894902169704437, -0.0023006072733551264, 0.12730027735233307, 0.3768528401851654, -0.8822893500328064, -1.1116433143615723, -1.3974851369857788, -0.6492488384246826, 0.07629301398992538, -1.3766114711761475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18096433579921722, -0.8038997054100037, 0.6753018498420715, -1.5545668601989746, -0.43634742498397827, 0.09071554988622665, 1.478960394859314, 0.16740000745752354, 0.16740000745752354, 0.16740000745752354, 0.16740000745752354, -0.16740000745752354, -0.16740000745752354, -0.16740000745752354, 0.16740000745752354, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7909993529319763, 1.4364291429519653, -0.390640527009964, -0.002875759033486247, 0.12902572751045227, 0.37685200572013855, -0.8822903633117676, -1.1116430759429932, -1.3974852561950684, -0.6492488384246826, 0.07629253715276718, -1.3766112327575684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1792885959148407, -0.8081222772598267, 0.6712449193000793, -1.5440256595611572, -0.43852412700653076, 0.08681348711252213, 1.486053705215454, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7907117605209351, 1.436620831489563, -0.39179080724716187, -0.0029716177377849817, 0.13075117766857147, 0.3768523931503296, -0.8822897672653198, -1.111642599105835, -1.3974848985671997, -0.6492483615875244, 0.07629265636205673, -1.3766111135482788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17861023545265198, -0.8120470643043518, 0.6701236963272095, -1.5378316640853882, -0.43543699383735657, 0.08592221885919571, 1.487902283668518, 0.12779999146094692, 0.12779999146094692, 0.12779999146094692, 0.12779999146094692, -0.12779999146094692, -0.12779999146094692, -0.12779999146094692, 0.12779999146094692, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7902324795722961, 1.4369083642959595, -0.39294111728668213, -0.0030674764420837164, 0.13209320604801178, 0.37685152888298035, -0.8822963237762451, -1.1116422414779663, -1.3974841833114624, -0.6492493152618408, 0.07629241794347763, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17352333664894104, -0.8140035271644592, 0.6806082129478455, -1.5389996767044067, -0.4262785315513611, 0.0892384946346283, 1.4812562465667725, 0.02399999597570399, 0.02399999597570399, 0.02399999597570399, 0.02399999597570399, -0.02399999597570399, -0.02399999597570399, -0.02399999597570399, 0.02399999597570399, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7893697619438171, 1.4370043277740479, -0.39428314566612244, -0.002875759033486247, 0.13353107869625092, 0.37685173749923706, -0.8822891712188721, -1.1116422414779663, -1.3974847793579102, -0.6492488384246826, 0.07629241794347763, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17094148695468903, -0.8129114508628845, 0.6985037922859192, -1.546079397201538, -0.41380712389945984, 0.09172210097312927, 1.476077914237976, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7886987328529358, 1.4370043277740479, -0.3957210183143616, -0.002396465977653861, 0.13420209288597107, 0.37685278058052063, -0.882289707660675, -1.111641764640808, -1.397484540939331, -0.6492488384246826, 0.07629229128360748, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17112699151039124, -0.8089063167572021, 0.7170678377151489, -1.5539549589157104, -0.4045279920101166, 0.0964769646525383, 1.483303427696228, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7880277037620544, 1.4370043277740479, -0.3972547650337219, -0.0012461623409762979, 0.13448967039585114, 0.37685269117355347, -0.8822894096374512, -1.1116422414779663, -1.3974850177764893, -0.6492488384246826, 0.07629217207431793, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18083685636520386, -0.8020193576812744, 0.7528581023216248, -1.5516383647918701, -0.34810158610343933, 0.12951375544071198, 1.501428246498108, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7872608304023743, 1.4370043277740479, -0.3988843560218811, 0.0, 0.13458552956581116, 0.3768509328365326, -0.8822885751724243, -1.1116423606872559, -1.3974851369857788, -0.6492486000061035, 0.07629229128360748, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20445682108402252, -0.7927948236465454, 0.8182174563407898, -1.5375853776931763, -0.22331105172634125, 0.20385333895683289, 1.489831566810608, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7863022685050964, 1.4370043277740479, -0.4006098210811615, 0.0, 0.13487310707569122, 0.37685179710388184, -0.8822920918464661, -1.1116420030593872, -1.3974854946136475, -0.6492486000061035, 0.07629253715276718, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2546173334121704, -0.7852718234062195, 0.9060371518135071, -1.5228142738342285, -0.014862475916743279, 0.31146353483200073, 1.4465203285217285, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7856312394142151, 1.4368125200271606, -0.4024311304092407, 0.0012461623409762979, 0.13506482541561127, 0.3768518269062042, -0.8823010325431824, -1.1116416454315186, -1.3974857330322266, -0.6492489576339722, 0.07629217207431793, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3188774585723877, -0.775235116481781, 0.993571937084198, -1.5309067964553833, 0.1826380342245102, 0.40066295862197876, 1.3932369947433472, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7850561141967773, 1.4364291429519653, -0.4041565954685211, 0.002013031393289566, 0.13544826209545135, 0.3768523931503296, -0.8822912573814392, -1.1116421222686768, -1.3974846601486206, -0.6492501497268677, 0.07629181444644928, -1.3766093254089355, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.387024462223053, -0.7620318531990051, 1.0858925580978394, -1.5599089860916138, 0.35271981358528137, 0.4596569836139679, 1.3479942083358765, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7842892408370972, 1.435758113861084, -0.4065530598163605, 0.003163335146382451, 0.13535240292549133, 0.3768535256385803, -0.8822967410087585, -1.1116421222686768, -1.3974871635437012, -0.6492516398429871, 0.07629217207431793, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4641139805316925, -0.7469479441642761, 1.1965994834899902, -1.6188523769378662, 0.5149941444396973, 0.5043220520019531, 1.2873404026031494, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.783522367477417, 1.4352787733078003, -0.40856608748435974, 0.004792931955307722, 0.13496896624565125, 0.3768526017665863, -0.8822908997535706, -1.111641764640808, -1.3974860906600952, -0.6492534279823303, 0.07629229128360748, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5570995807647705, -0.7307325601577759, 1.3056029081344604, -1.6976757049560547, 0.6407951712608337, 0.5587989091873169, 1.2252470254898071, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7824679017066956, 1.4352787733078003, -0.41029155254364014, 0.0067101046442985535, 0.133914515376091, 0.37685269117355347, -0.8822908997535706, -1.111642837524414, -1.3974871635437012, -0.6492560505867004, 0.07629181444644928, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6569814085960388, -0.7090311050415039, 1.4074801206588745, -1.7728198766708374, 0.6470664143562317, 0.6119312047958374, 1.1936511993408203, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7814134955406189, 1.4358539581298828, -0.4110583961009979, 0.008147983811795712, 0.13381865620613098, 0.3768509030342102, -0.8822892904281616, -1.1116431951522827, -1.397487759590149, -0.6492535471916199, 0.07629181444644928, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.755526065826416, -0.6874877214431763, 1.4980926513671875, -1.8151042461395264, 0.5985437035560608, 0.6496440768241882, 1.16843581199646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7807424664497375, 1.4371960163116455, -0.4117294251918793, 0.00833970122039318, 0.13487310707569122, 0.37685415148735046, -0.8823086619377136, -1.1116408109664917, -1.3974822759628296, -0.6492414474487305, 0.07629217207431793, -1.3766077756881714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8391275405883789, -0.6565443873405457, 1.5337624549865723, -1.8587838411331177, 0.43226930499076843, 0.6319092512130737, 1.1880295276641846, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7806466221809387, 1.4382504224777222, -0.4122087061405182, 0.0071893977001309395, 0.1368861347436905, 0.3768550455570221, -0.8822768926620483, -1.1116435527801514, -1.3974852561950684, -0.6492487192153931, 0.07629169523715973, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8972488045692444, -0.6226747632026672, 1.5337109565734863, -1.8546154499053955, 0.2552729845046997, 0.5826168060302734, 1.236744999885559, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7806466221809387, 1.439496636390686, -0.41240042448043823, 0.004792931955307722, 0.13899502158164978, 0.37685275077819824, -0.8822972774505615, -1.1116420030593872, -1.397486686706543, -0.6492517590522766, 0.07629169523715973, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9334149956703186, -0.5950727462768555, 1.521287202835083, -1.8539472818374634, 0.15866118669509888, 0.5592281818389893, 1.2604905366897583, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7809341549873352, 1.4402635097503662, -0.41287973523139954, 0.0013420209288597107, 0.14177492260932922, 0.3768519461154938, -0.882307767868042, -1.1116421222686768, -1.3974858522415161, -0.6492508053779602, 0.07629169523715973, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9518250226974487, -0.5732210278511047, 1.4991850852966309, -1.8564445972442627, 0.0554124191403389, 0.5493870973587036, 1.2704312801361084, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7814134955406189, 1.4410303831100464, -0.4131672978401184, 0.0, 0.14436310529708862, 0.3768515884876251, -0.8823032975196838, -1.1116422414779663, -1.3974839448928833, -0.6492501497268677, 0.07629169523715973, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.959404468536377, -0.5598573684692383, 1.4950189590454102, -1.8372207880020142, 0.032137855887413025, 0.5493524074554443, 1.2706584930419922, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7821803689002991, 1.4421806335449219, -0.41326314210891724, -0.0033550523221492767, 0.14781402051448822, 0.37685367465019226, -0.8822860717773438, -1.1116423606872559, -1.3974817991256714, -0.6492502689361572, 0.07629181444644928, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9722124934196472, -0.5458590984344482, 1.488539218902588, -1.8304204940795898, 0.02340051718056202, 0.5485280156135559, 1.271530032157898, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7832347750663757, 1.442947506904602, -0.41326314210891724, -0.0051763663068413734, 0.15068978071212769, 0.37685149908065796, -0.8822934627532959, -1.111642837524414, -1.3974837064743042, -0.6492503881454468, 0.07629205286502838, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9759955406188965, -0.5357910990715027, 1.4887052774429321, -1.8236404657363892, 0.043854113668203354, 0.5546643137931824, 1.2651749849319458, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7840016484260559, 1.4435226917266846, -0.41326314210891724, -0.006901822052896023, 0.1524152308702469, 0.37685298919677734, -0.8822897672653198, -1.1116430759429932, -1.3974831104278564, -0.6492505669593811, 0.07629133760929108, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9663625359535217, -0.5321455001831055, 1.500317096710205, -1.8217871189117432, 0.12157696485519409, 0.5731765031814575, 1.2466070652008057, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7847685217857361, 1.444193720817566, -0.41326314210891724, -0.007381115108728409, 0.15279866755008698, 0.3768531382083893, -0.8822937607765198, -1.1116424798965454, -1.3974859714508057, -0.6492491960525513, 0.07629133760929108, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9472450017929077, -0.534425675868988, 1.515031337738037, -1.8174688816070557, 0.23410667479038239, 0.5983614325523376, 1.2212612628936768, 0.18359999971075372, 0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -0.18359999971075372, -0.18359999971075372, -0.18359999971075372, 0.18359999971075372, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7854395508766174, 1.4444812536239624, -0.41335901618003845, -0.0074769738130271435, 0.1516483724117279, 0.37685659527778625, -0.8822945952415466, -1.1116430759429932, -1.397487759590149, -0.6492519974708557, 0.07629109919071198, -1.3766112327575684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9115435481071472, -0.5419833064079285, 1.530837059020996, -1.8191258907318115, 0.3589673340320587, 0.6103763580322266, 1.2030932903289795, 0.42540000271011186, 0.42540000271011186, 0.42540000271011186, 0.42540000271011186, -0.42540000271011186, -0.42540000271011186, -0.42540000271011186, 0.42540000271011186, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7858229875564575, 1.4443854093551636, -0.41422173380851746, -0.005847376771271229, 0.14867675304412842, 0.37685033679008484, -0.882295548915863, -1.1116433143615723, -1.3974872827529907, -0.6492476463317871, 0.07629145681858063, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8735067844390869, -0.5570898056030273, 1.5391316413879395, -1.8137671947479248, 0.5292648077011108, 0.5987534523010254, 1.1722702980041504, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7858229875564575, 1.4443854093551636, -0.41546791791915894, -0.003642628202214837, 0.1456092745065689, 0.3768518269062042, -0.8822913765907288, -1.1116441488265991, -1.397486925125122, -0.6492521166801453, 0.07629109919071198, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8464028835296631, -0.5696098804473877, 1.5358176231384277, -1.8180596828460693, 0.6706465482711792, 0.5854783058166504, 1.1180006265640259, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7857270836830139, 1.4443854093551636, -0.4166181981563568, -0.0011503036366775632, 0.1434045284986496, 0.37685269117355347, -0.8822944164276123, -1.1116431951522827, -1.3974860906600952, -0.6492503881454468, 0.07629145681858063, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8239867091178894, -0.5785238742828369, 1.5311685800552368, -1.8214303255081177, 0.7629697918891907, 0.5714046359062195, 1.0711544752120972, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.785247802734375, 1.4443854093551636, -0.417385071516037, 0.0010544450487941504, 0.14273351430892944, 0.37685245275497437, -0.8822917342185974, -1.1116430759429932, -1.3974868059158325, -0.6492503881454468, 0.07629145681858063, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8071073293685913, -0.5879395604133606, 1.5224074125289917, -1.817396640777588, 0.8525993227958679, 0.5487401485443115, 1.0342694520950317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7845768332481384, 1.4445770978927612, -0.4178643822669983, 0.002779900562018156, 0.14282937347888947, 0.37685173749923706, -0.8822908401489258, -1.1116431951522827, -1.3974868059158325, -0.6492508053779602, 0.07629157602787018, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8020434975624084, -0.5914778113365173, 1.5162116289138794, -1.8134361505508423, 0.88889080286026, 0.5355426669120789, 1.0244351625442505, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7840016484260559, 1.4451522827148438, -0.4178643822669983, 0.003546769730746746, 0.14311695098876953, 0.37685224413871765, -0.8822914361953735, -1.1116434335708618, -1.3974864482879639, -0.6492508053779602, 0.07629145681858063, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8023718595504761, -0.591252326965332, 1.5165083408355713, -1.8135589361190796, 0.8867065906524658, 0.5361769795417786, 1.025374174118042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7839058041572571, 1.4454398155212402, -0.41815194487571716, 0.003930204082280397, 0.14330866932868958, 0.37685200572013855, -0.8822903633117676, -1.1116434335708618, -1.3974862098693848, -0.6492508053779602, 0.07629109919071198, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8024442791938782, -0.5912013649940491, 1.5166023969650269, -1.8136417865753174, 0.8864450454711914, 0.5363656282424927, 1.02547287940979, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7839058041572571, 1.4454398155212402, -0.4182478189468384, 0.004121921490877867, 0.1434045284986496, 0.3768518269062042, -0.882290244102478, -1.1116429567337036, -1.3974859714508057, -0.6492506861686707, 0.07629133760929108, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.802452027797699, -0.5911940932273865, 1.5166151523590088, -1.8136498928070068, 0.88643479347229, 0.5363820195198059, 1.025482177734375, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7837140560150146, 1.445535659790039, -0.4182478189468384, 0.004121921490877867, 0.14350038766860962, 0.3768519461154938, -0.8822904229164124, -1.1116435527801514, -1.3974858522415161, -0.6492509245872498, 0.07629133760929108, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8024522662162781, -0.5911951065063477, 1.5166149139404297, -1.8136502504348755, 0.8864337801933289, 0.5363845229148865, 1.025482416152954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7836182117462158, 1.445631504058838, -0.4182478189468384, 0.004121921490877867, 0.14359624683856964, 0.3768523037433624, -0.8822901844978333, -1.1116433143615723, -1.3974858522415161, -0.6492510437965393, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8024522066116333, -0.5911955833435059, 1.5166150331497192, -1.8136498928070068, 0.8864346742630005, 0.5363841652870178, 1.0254813432693481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7836182117462158, 1.445631504058838, -0.4182478189468384, 0.004217780195176601, 0.14359624683856964, 0.3768519461154938, -0.8822899460792542, -1.1116430759429932, -1.3974852561950684, -0.6492501497268677, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8024515509605408, -0.5911964774131775, 1.5166144371032715, -1.8136494159698486, 0.8864362239837646, 0.5363838076591492, 1.0254809856414795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7836182117462158, 1.445631504058838, -0.4182478189468384, 0.004217780195176601, 0.14359624683856964, 0.3768521845340729, -0.8822905421257019, -1.1116430759429932, -1.3974854946136475, -0.6492508053779602, 0.07629109919071198, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8025518655776978, -0.591218888759613, 1.5165455341339111, -1.8138015270233154, 0.8864466547966003, 0.5363139510154724, 1.025409460067749, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.783522367477417, 1.4460150003433228, -0.41815194487571716, 0.004313638899475336, 0.14350038766860962, 0.37684959173202515, -0.8822994828224182, -1.1116430759429932, -1.3974871635437012, -0.6492506861686707, 0.07629169523715973, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8095126152038574, -0.5891507863998413, 1.505938172340393, -1.8534194231033325, 0.8491727113723755, 0.5239591598510742, 1.0291868448257446, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7829471826553345, 1.4469735622406006, -0.41728922724723816, 0.003546769730746746, 0.14282937347888947, 0.3768506348133087, -0.8822831511497498, -1.1116435527801514, -1.397483468055725, -0.6492508053779602, 0.07629109919071198, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8099972605705261, -0.5832813382148743, 1.4975454807281494, -1.87713623046875, 0.7766832113265991, 0.5388520956039429, 1.0474778413772583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888624042265, 0.014880499450119386, -0.0011446602033356047, -0.08586613833904266], [-0.014880955214005809, 0.9998891961303045, -0.0003906837751697054, 0.20962148904800415], [0.0011387198008540056, 0.00040767389961116627, 0.9999992685593359, -5.061853880761191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7816051840782166, 1.4486989974975586, -0.41546791791915894, 0.003259193617850542, 0.14321281015872955, 0.3768516778945923, -0.8822988867759705, -1.1116429567337036, -1.397484302520752, -0.6492506861686707, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8195748925209045, -0.5782182812690735, 1.485785722732544, -1.8847875595092773, 0.7217152118682861, 0.5596557259559631, 1.0587158203125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998888311720477, 0.014866195721518321, -0.0011495747759987665, -0.08575880527496338], [-0.014866665565034857, 0.9998894045106628, -0.0004012509061170078, 0.20962020754814148], [0.0011434825637101132, 0.00041829664326083356, 0.9999992587374976, -4.880585038335994e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7809341549873352, 1.4495617151260376, -0.41383829712867737, 0.0026840418577194214, 0.1477181613445282, 0.37685585021972656, -0.8823045492172241, -1.11164128780365, -1.397478699684143, -0.6492487192153931, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8327222466468811, -0.5723695158958435, 1.478225827217102, -1.9016494750976562, 0.6640122532844543, 0.5811638236045837, 1.0626237392425537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998890482637252, 0.014851140782810083, -0.0011553266685512852, -0.08631888777017593], [-0.01485168721499152, 0.9998895990983597, -0.00046583450878637055, 0.20961891114711761], [0.0011482809455739106, 0.0004829413739512658, 0.9999992241089487, -3.582079807529226e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7820844650268555, 1.4494658708572388, -0.4136465787887573, 0.002779900562018156, 0.15759159624576569, 0.3768520951271057, -0.8822928071022034, -1.1116416454315186, -1.39748215675354, -0.6492489576339722, 0.07629097998142242, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8573890328407288, -0.5688697695732117, 1.4669212102890015, -1.9114001989364624, 0.6156625747680664, 0.5900447368621826, 1.0473474264144897, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998894779178015, 0.014822466995708161, -0.0011517037064570103, -0.08652760833501816], [-0.01482297568421549, 0.9998900392943457, -0.00043440973395795146, 0.20961637794971466], [0.0011451380403605376, 0.00045143339812586024, 0.9999992424330908, -4.209280450595543e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7833306193351746, 1.4487948417663574, -0.4136465787887573, 0.002779900562018156, 0.17177867889404297, 0.3768530488014221, -0.8822910785675049, -1.111641526222229, -1.397483229637146, -0.6492491960525513, 0.07629073411226273, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8843990564346313, -0.5707376599311829, 1.455936074256897, -1.9127817153930664, 0.6232922077178955, 0.5916162133216858, 1.0208712816238403, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998897064932433, 0.01480688845291653, -0.0011536477792828033, -0.08601462095975876], [-0.014807390969716536, 0.9998902728577709, -0.0004282722059162277, 0.20961502194404602], [0.0011471798140283576, 0.0004453074839819765, 0.9999992428395729, -4.354811244411394e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7840016484260559, 1.4477404356002808, -0.4136465787887573, 0.0017254555132240057, 0.18932081758975983, 0.3768496811389923, -0.8822878003120422, -1.1116420030593872, -1.3974876403808594, -0.6492496728897095, 0.07629133760929108, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9115709662437439, -0.5751111507415771, 1.433018684387207, -1.9227793216705322, 0.6176157593727112, 0.5789762139320374, 0.9720367789268494, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998892576116947, 0.014837228116222506, -0.001152898330826413, -0.08586130291223526], [-0.014837742592784612, 0.9998898182750439, -0.0004389813778047719, 0.20961758494377136], [0.0011462580356583602, 0.0004560391726270256, 0.9999992390601048, -4.1263709135819227e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.784385085105896, 1.4474529027938843, -0.4135507345199585, -0.0011503036366775632, 0.20849253237247467, 0.3768512010574341, -0.8822822570800781, -1.111642599105835, -1.3974865674972534, -0.6492494344711304, 0.07629109919071198, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9331520199775696, -0.5806161761283875, 1.4058140516281128, -1.9306007623672485, 0.6161244511604309, 0.5630205869674683, 0.9315328598022461, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998888416299628, 0.014865041140537666, -0.0011553942102808263, -0.08586955070495605], [-0.014865631052044994, 0.9998893735451783, -0.0005036713763901596, 0.20961995422840118], [0.0011477792973840703, 0.0005207910531506293, 0.9999992056893663, -2.78747047559591e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7845768332481384, 1.447261095046997, -0.4136465787887573, -0.003930204082280397, 0.22747254371643066, 0.3768514394760132, -0.8822827935218811, -1.111642837524414, -1.3974860906600952, -0.6492493152618408, 0.07629073411226273, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9367470145225525, -0.587053120136261, 1.3780781030654907, -1.929215431213379, 0.6112263798713684, 0.5467730760574341, 0.896094024181366, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886247001536, 0.014879305070926286, -0.0011595153477626807, -0.08590007573366165], [-0.014879943120686258, 0.9998891397496779, -0.0005436022207095607, 0.20962119102478027], [0.0011512983803218047, 0.0005607951992715035, 0.9999991800100558, -1.9876293663401157e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7853437066078186, 1.447261095046997, -0.4136465787887573, -0.0064225285314023495, 0.24511054158210754, 0.37685224413871765, -0.8822833299636841, -1.1116429567337036, -1.3974858522415161, -0.649249792098999, 0.07629133760929108, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9354539513587952, -0.5952508449554443, 1.3477824926376343, -1.9175877571105957, 0.6047917008399963, 0.5315490365028381, 0.8503541946411133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884246667701, 0.014892532286423062, -0.0011621959828969682, -0.08587860316038132], [-0.014893215356951577, 0.9998889209344844, -0.0005813164403214144, 0.20962229371070862], [0.001153409613397127, 0.0005985604148061422, 0.9999991556854904, -1.2184026672912296e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.786110520362854, 1.447261095046997, -0.4136465787887573, -0.008627277798950672, 0.26025620102882385, 0.37685108184814453, -0.882286012172699, -1.1116431951522827, -1.3974858522415161, -0.649249792098999, 0.07629121840000153, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9263991117477417, -0.6037181615829468, 1.31894850730896, -1.9082995653152466, 0.6103541851043701, 0.5243163108825684, 0.8220365643501282, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888428492628, 0.014892252037515308, -0.0011624955026576119, -0.085879385471344], [-0.014892927629897456, 0.9998889290565919, -0.0005746796258997214, 0.20962224900722504], [0.0011538081093557002, 0.000591928469418765, 0.9999991591734134, -1.362907551083481e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7868773937225342, 1.447548747062683, -0.41335901618003845, -0.010352732613682747, 0.273963987827301, 0.37685173749923706, -0.8822887539863586, -1.1116431951522827, -1.3974857330322266, -0.649249792098999, 0.07629085332155228, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.915942370891571, -0.6103876233100891, 1.290152907371521, -1.90146803855896, 0.5949762463569641, 0.5261809229850769, 0.8066567182540894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884257848419, 0.01489257484947587, -0.0011606876682884136, -0.08589157462120056], [-0.014893280657571745, 0.9998889078179718, -0.0006018420377065138, 0.2096223086118698], [0.0011515957473685848, 0.0006190613348531094, 0.999999145294784, -7.805317181919236e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7878360152244568, 1.4483156204223633, -0.4125921428203583, -0.011886470951139927, 0.2855628728866577, 0.3768509328365326, -0.8822898268699646, -1.1116435527801514, -1.3974857330322266, -0.6492496728897095, 0.07629133760929108, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9054227471351624, -0.6169554591178894, 1.265560269355774, -1.885206937789917, 0.5932707786560059, 0.5283039212226868, 0.8063278794288635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884138539981, 0.014893277790284567, -0.001161945436414186, -0.08579710870981216], [-0.014893983801326753, 0.9998888976450714, -0.0006013423732232962, 0.20962227880954742], [0.001152860382528418, 0.0006185812682534189, 0.9999991441347102, -8.028629963519052e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.788602888584137, 1.4490824937820435, -0.4119211435317993, -0.01332435104995966, 0.2951487600803375, 0.37685298919677734, -0.8822900056838989, -1.111642837524414, -1.3974854946136475, -0.6492499113082886, 0.07629097998142242, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8933888077735901, -0.6209991574287415, 1.2500077486038208, -1.8739174604415894, 0.5750086307525635, 0.5312646627426147, 0.8078190684318542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881650460026, 0.014909858845848232, -0.001163404544684376, -0.08588147163391113], [-0.0149106049432976, 0.9998886289326173, -0.0006352884979074672, 0.20962367951869965], [0.0011538029132482457, 0.0006525645160025545, 0.999999121448809, -1.025913320518157e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7896572947502136, 1.4496575593948364, -0.4109625518321991, -0.015049805864691734, 0.3041594624519348, 0.37685149908065796, -0.8822891116142273, -1.1116433143615723, -1.3974850177764893, -0.6492494344711304, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8849427103996277, -0.6243613362312317, 1.2450882196426392, -1.8605338335037231, 0.5716210603713989, 0.5321831107139587, 0.81348717212677, 0.5394000018690969, 0.5394000018690969, 0.5394000018690969, 0.5394000018690969, -0.5394000018690969, -0.5394000018690969, -0.5394000018690969, 0.5394000018690969, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885932292585, 0.014880942482425096, -0.001165624660494625, -0.08584814518690109], [-0.014881692461159887, 0.9998890583185726, -0.000637404337719829, 0.2096211165189743], [0.0011560101668472195, 0.000654679794283532, 0.9999991175170412, -7.870668241594103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7906159162521362, 1.4498493671417236, -0.4104832410812378, -0.016008391976356506, 0.3097192645072937, 0.37685152888298035, -0.8822872638702393, -1.1116431951522827, -1.397483229637146, -0.6492491960525513, 0.07629073411226273, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8773565292358398, -0.6254488825798035, 1.2545299530029297, -1.8573366403579712, 0.582542359828949, 0.5364551544189453, 0.8240224719047546, 0.4074000025843526, 0.4074000025843526, 0.4074000025843526, 0.4074000025843526, -0.4074000025843526, -0.4074000025843526, -0.4074000025843526, 0.4074000025843526, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883378404596, 0.014898159371246921, -0.0011647737943203007, -0.08585130423307419], [-0.014898935019493091, 0.9998887868142944, -0.0006601047822490451, 0.20962250232696533], [0.0011548099098683392, 0.0006773849625975228, 0.9999991037814406, 3.996466148237232e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7918620705604553, 1.4500410556793213, -0.40981224179267883, -0.01658354513347149, 0.3132660388946533, 0.3768528997898102, -0.8822898268699646, -1.1116433143615723, -1.3974837064743042, -0.6492503881454468, 0.07629109919071198, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8721085786819458, -0.6249113082885742, 1.2792786359786987, -1.8550649881362915, 0.6003007292747498, 0.5391849279403687, 0.8294057846069336, 0.39539999595055214, 0.39539999595055214, 0.39539999595055214, 0.39539999595055214, -0.39539999595055214, -0.39539999595055214, -0.39539999595055214, 0.39539999595055214, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883501248621, 0.014897235391975856, -0.0011660455639559905, -0.08582185208797455], [-0.014898050264971138, 0.9998887775342183, -0.0006932960615061517, 0.20962239801883698], [0.0011555876788685666, 0.0007105904605105139, 0.9999990798387336, 1.0841808943951037e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7932040691375732, 1.4501368999481201, -0.40942880511283875, -0.016487685963511467, 0.3144163191318512, 0.37685278058052063, -0.8822904229164124, -1.1116431951522827, -1.397483468055725, -0.649249792098999, 0.07629109919071198, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8657258749008179, -0.6228250861167908, 1.3273965120315552, -1.8569356203079224, 0.6373334527015686, 0.5428079962730408, 0.8224104642868042, 0.3851999971892807, 0.3851999971892807, 0.3851999971892807, 0.3851999971892807, -0.3851999971892807, -0.3851999971892807, -0.3851999971892807, 0.3851999971892807, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883635116469, 0.014896263228045985, -0.001166985793147595, -0.08584849536418915], [-0.014897076241388793, 0.9998887935592277, -0.0006911107946888111, 0.20962229371070862], [0.0011565610484936787, 0.0007084183178397663, 0.999999080254591, 1.0296513210050762e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7948336601257324, 1.4499452114105225, -0.4093329608440399, -0.01581667549908161, 0.31345775723457336, 0.37685200572013855, -0.882288932800293, -1.1116431951522827, -1.397484302520752, -0.649249792098999, 0.07629097998142242, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8593003749847412, -0.6214933395385742, 1.3909635543823242, -1.862878680229187, 0.7090628743171692, 0.5472030639648438, 0.8170537948608398, 0.3690000049360506, 0.3690000049360506, 0.3690000049360506, 0.3690000049360506, -0.3690000049360506, -0.3690000049360506, -0.3690000049360506, 0.3690000049360506, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883438064379, 0.014897764122261094, -0.0011647077642468501, -0.08590270578861237], [-0.014898568305625496, 0.9998887756300001, -0.0006848588042950003, 0.2096223682165146], [0.001154375355436097, 0.0007021348137495093, 0.9999990872117045, 9.268565008824226e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7964632511138916, 1.4490824937820435, -0.4093329608440399, -0.013516068458557129, 0.3096233904361725, 0.3768526315689087, -0.8822911977767944, -1.111642599105835, -1.3974846601486206, -0.6492499113082886, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8565908074378967, -0.6216642260551453, 1.4487926959991455, -1.8766076564788818, 0.7911220788955688, 0.55323326587677, 0.8098384141921997, 0.36540000884087537, 0.36540000884087537, 0.36540000884087537, 0.36540000884087537, -0.36540000884087537, -0.36540000884087537, -0.36540000884087537, 0.36540000884087537, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885616560361, 0.014883114108276033, -0.0011649823446225865, -0.08588568866252899], [-0.014883865777643104, 0.9998890248040447, -0.0006392307326007613, 0.20962104201316833], [0.0011553393165437936, 0.000656498938637196, 0.9999991170997139, -1.7329041668290301e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.798380434513092, 1.4473570585250854, -0.40971639752388, -0.010832025669515133, 0.3035843074321747, 0.37685269117355347, -0.882291853427887, -1.1116429567337036, -1.3974850177764893, -0.6492495536804199, 0.07629097998142242, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8642821311950684, -0.6186202764511108, 1.4941439628601074, -1.900045394897461, 0.8241763710975647, 0.5740934014320374, 0.8069461584091187, 0.36419999049260066, 0.36419999049260066, 0.36419999049260066, 0.36419999049260066, -0.36419999049260066, -0.36419999049260066, -0.36419999049260066, 0.36419999049260066, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8002017736434937, 1.4457274675369263, -0.4108666777610779, -0.007956267334520817, 0.2966824769973755, 0.3768503963947296, -0.8822866082191467, -1.1116437911987305, -1.3974852561950684, -0.6492500305175781, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8892238140106201, -0.6144583821296692, 1.5367445945739746, -1.9080098867416382, 0.8395302891731262, 0.5902913808822632, 0.8140200972557068, 0.3617999930958172, 0.3617999930958172, 0.3617999930958172, 0.3617999930958172, -0.3617999930958172, -0.3617999930958172, -0.3617999930958172, 0.3617999930958172, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8016396164894104, 1.4447687864303589, -0.411441832780838, -0.005080507602542639, 0.2898765206336975, 0.37685200572013855, -0.8822898864746094, -1.1116434335708618, -1.397485375404358, -0.6492500305175781, 0.07629085332155228, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9290101528167725, -0.6085938215255737, 1.5892490148544312, -1.9125418663024902, 0.8503950834274292, 0.6093372106552124, 0.8336994051933289, 0.36000000487317096, 0.36000000487317096, 0.36000000487317096, 0.36000000487317096, -0.36000000487317096, -0.36000000487317096, -0.36000000487317096, 0.36000000487317096, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8029816746711731, 1.4439060688018799, -0.41201698780059814, -0.0026840418577194214, 0.28268712759017944, 0.37685200572013855, -0.8822896480560303, -1.1116431951522827, -1.3974851369857788, -0.649249792098999, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9831377267837524, -0.6041346788406372, 1.649916648864746, -1.926581859588623, 0.8751153349876404, 0.6252340078353882, 0.8607414364814758, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, -0.3588000061747792, -0.3588000061747792, -0.3588000061747792, 0.3588000061747792, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8050905466079712, 1.443331003189087, -0.41240042448043823, 0.0, 0.2754977345466614, 0.37685054540634155, -0.8822886347770691, -1.1116435527801514, -1.3974872827529907, -0.649249792098999, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0526864528656006, -0.6043704748153687, 1.6970746517181396, -1.932564616203308, 0.9120284914970398, 0.6309043765068054, 0.8727892637252808, 0.35519999042972106, 0.35519999042972106, 0.35519999042972106, 0.35519999042972106, -0.35519999042972106, -0.35519999042972106, -0.35519999042972106, 0.35519999042972106, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8071994185447693, 1.443331003189087, -0.4122087061405182, 0.0015337382210418582, 0.2683083415031433, 0.37685343623161316, -0.8822885751724243, -1.1116433143615723, -1.3974885940551758, -0.6492509245872498, 0.07629109919071198, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1197518110275269, -0.6061317920684814, 1.7282956838607788, -1.942291259765625, 0.9206023812294006, 0.61564040184021, 0.8700243830680847, 0.3527999930329375, 0.3527999930329375, 0.3527999930329375, 0.3527999930329375, -0.3527999930329375, -0.3527999930329375, -0.3527999930329375, 0.3527999930329375, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8091166019439697, 1.4434268474578857, -0.411441832780838, 0.0029716177377849817, 0.26063963770866394, 0.3768499493598938, -0.8822905421257019, -1.1116435527801514, -1.3974887132644653, -0.6492510437965393, 0.07629085332155228, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1584669351577759, -0.6089010834693909, 1.7496932744979858, -1.9584659337997437, 0.9332379698753357, 0.5902511477470398, 0.8652787804603577, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, -0.35039999563615404, -0.35039999563615404, -0.35039999563615404, 0.35039999563615404, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.811129629611969, 1.4440019130706787, -0.41038739681243896, 0.003930204082280397, 0.25421711802482605, 0.3768526315689087, -0.8822898864746094, -1.1116437911987305, -1.3974876403808594, -0.6492506861686707, 0.07629073411226273, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1641581058502197, -0.6097375750541687, 1.7534434795379639, -1.963425636291504, 0.9380548000335693, 0.5801601409912109, 0.8660222887992859, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, -0.35039999563615404, -0.35039999563615404, -0.35039999563615404, 0.35039999563615404, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888590298247, 0.014881069637506678, -0.0011665152498577598, -0.08592624962329865], [-0.014881837059282647, 0.9998890467692216, -0.0006519790473954064, 0.20962105691432953], [0.0011566836756155498, 0.0006692663004797384, 0.9999991070823482, 2.1760356503364164e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8118965029716492, 1.4448646306991577, -0.40952467918395996, 0.004409497138112783, 0.25114962458610535, 0.376851886510849, -0.8822907209396362, -1.1116433143615723, -1.397487759590149, -0.6492509245872498, 0.07629109919071198, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1633086204528809, -0.6096765995025635, 1.7529191970825195, -1.962886929512024, 0.9375360012054443, 0.5811424851417542, 0.8660935759544373, 0.3486000074135078, 0.3486000074135078, 0.3486000074135078, 0.3486000074135078, -0.3486000074135078, -0.3486000074135078, -0.3486000074135078, 0.3486000074135078, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887861253359, 0.014867855869412663, -0.001167151510506829, -0.08564618229866028], [-0.014868619939307381, 0.9998892455183408, -0.0006487201736404184, 0.2096199095249176], [0.001157377165204999, 0.0006660019591776498, 0.9999991084593465, 1.429005351383239e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8120882511138916, 1.445535659790039, -0.40904536843299866, 0.004601214546710253, 0.2497117519378662, 0.3768528997898102, -0.8822912573814392, -1.1116431951522827, -1.3974857330322266, -0.6492506861686707, 0.07629097998142242, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1692065000534058, -0.6115298271179199, 1.7516416311264038, -1.9674029350280762, 0.9427234530448914, 0.5720899701118469, 0.8529843688011169, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, -0.3479999982393705, -0.3479999982393705, -0.3479999982393705, 0.3479999982393705, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887930951161, 0.014867209194549195, -0.00116941590441322, -0.08583182096481323], [-0.01486799809207239, 0.9998892415143688, -0.0006688322320200574, 0.20961983501911163], [0.0011593427129690745, 0.0006861447266933027, 0.9999990925645322, 5.493151093105553e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8126633763313293, 1.445535659790039, -0.40904536843299866, 0.004888790659606457, 0.24894487857818604, 0.37685269117355347, -0.8822906613349915, -1.111642837524414, -1.3974839448928833, -0.6492501497268677, 0.07629061490297318, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1781586408615112, -0.6140540838241577, 1.7606865167617798, -1.9893187284469604, 0.9647345542907715, 0.5725059509277344, 0.83423912525177, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, -0.3479999982393705, -0.3479999982393705, -0.3479999982393705, 0.3479999982393705, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885968394674, 0.014880040679095062, -0.0011740101317865431, -0.08595418930053711], [-0.014880896609796164, 0.9998890114061142, -0.000723730192900945, 0.20962080359458923], [0.0011631106953417531, 0.0007411198904600517, 0.9999990489569569, 1.6613417756161653e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.814484715461731, 1.444193720817566, -0.40942880511283875, 0.006134952884167433, 0.24817802011966705, 0.37685292959213257, -0.8822914958000183, -1.111642837524414, -1.3974833488464355, -0.6492500305175781, 0.07629097998142242, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1865390539169312, -0.6150177717208862, 1.7751293182373047, -2.0127005577087402, 0.9782697558403015, 0.5844544768333435, 0.8243470191955566, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, -0.3479999982393705, -0.3479999982393705, -0.3479999982393705, 0.3479999982393705, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885966833136, 0.014879998126154658, -0.0011746822716341627, -0.08596677333116531], [-0.014880870097509394, 0.9998890020440412, -0.0007370865026890886, 0.20962078869342804], [0.0011635840385242826, 0.0007544846830980395, 0.9999990384120618, 1.941788286785595e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8172646164894104, 1.4422764778137207, -0.4101956784725189, 0.008147983811795712, 0.24769872426986694, 0.3768519461154938, -0.8822899460792542, -1.1116429567337036, -1.397483468055725, -0.6492503881454468, 0.07629085332155228, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1894404888153076, -0.6156919002532959, 1.7869008779525757, -2.0245394706726074, 0.9869482517242432, 0.5944873094558716, 0.8121950030326843, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, 0.3479999982393705, -0.3479999982393705, -0.3479999982393705, -0.3479999982393705, 0.3479999982393705, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885818079992, 0.014880841794177377, -0.001176655210632963, -0.0859253853559494], [-0.014881756070483046, 0.9998889624243715, -0.0007721127977200888, 0.20962078869342804], [0.0011650348693008916, 0.0007895374661318487, 0.9999990096616811, 2.6625504688126966e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8214823603630066, 1.4402635097503662, -0.41038739681243896, 0.0102568743750453, 0.2475070059299469, 0.3768528401851654, -0.8822898864746094, -1.1116431951522827, -1.3974837064743042, -0.6492501497268677, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.187423586845398, -0.6162807941436768, 1.7946741580963135, -2.030686855316162, 0.996138334274292, 0.6042615175247192, 0.7994482517242432, 0.34679999954097873, 0.34679999954097873, 0.34679999954097873, 0.34679999954097873, -0.34679999954097873, -0.34679999954097873, -0.34679999954097873, 0.34679999954097873, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888799702615, 0.014866140766068394, -0.0011773223803484049, -0.08598929643630981], [-0.01486709623304609, 0.9998891529498097, -0.000807008617877484, 0.20961956679821014], [0.0011651947739226235, 0.0008244222434051423, 0.9999989813240329, 3.3880845876410604e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.826754629611969, 1.4381545782089233, -0.410579115152359, 0.01179061271250248, 0.2475070059299469, 0.37685108184814453, -0.8822887539863586, -1.1116435527801514, -1.3974846601486206, -0.6492508053779602, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1897250413894653, -0.616788387298584, 1.7933467626571655, -2.0384044647216797, 0.9995461702346802, 0.6125537753105164, 0.7938836216926575, 0.3461999903668414, 0.3461999903668414, 0.3461999903668414, 0.3461999903668414, -0.3461999903668414, -0.3461999903668414, -0.3461999903668414, 0.3461999903668414, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885803461373, 0.014880934455473874, -0.0011767255917249253, -0.08592665195465088], [-0.01488192153300921, 0.9998889097778325, -0.0008345746119042927, 0.20962078869342804], [0.00116417561891956, 0.0008519935618118457, 0.9999989594005081, 3.962804112234153e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8323144316673279, 1.4360456466674805, -0.4104832410812378, 0.012365764006972313, 0.24645255506038666, 0.3768516778945923, -0.8822837471961975, -1.11164391040802, -1.3974846601486206, -0.6492502689361572, 0.07629109919071198, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1968834400177002, -0.6170808672904968, 1.7991342544555664, -2.0347979068756104, 0.9972904324531555, 0.6203475594520569, 0.7861840724945068, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -0.34560000084258696, -0.34560000084258696, -0.34560000084258696, 0.34560000084258696, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879122123234, 0.014926114811502945, -0.0011722236625058289, -0.08584356307983398], [-0.014927129699509677, 0.9998882127531356, -0.0008618562957114923, 0.20962463319301605], [0.0011592284568290815, 0.0008792576267930696, 0.9999989415471452, 4.5731965656159446e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8371073603630066, 1.4354705810546875, -0.4091412425041199, 0.012653340585529804, 0.2445353865623474, 0.376849889755249, -0.8822843432426453, -1.1116441488265991, -1.3974862098693848, -0.6492511630058289, 0.07629097998142242, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2035878896713257, -0.6179611086845398, 1.8032212257385254, -2.0378012657165527, 1.0013035535812378, 0.6225647926330566, 0.7824707627296448, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -0.34560000084258696, -0.34560000084258696, -0.34560000084258696, 0.34560000084258696, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883535884047, 0.01489661779464361, -0.0011709554003910677, -0.08556567132472992], [-0.014897582360694677, 0.9998886891313278, -0.0008193821094551242, 0.20962204039096832], [0.001158619038215952, 0.0008367350329009042, 0.9999989787376831, 3.692181417136453e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8417085409164429, 1.4355664253234863, -0.4067447781562805, 0.012653340585529804, 0.24079689383506775, 0.37685292959213257, -0.8822851777076721, -1.11164391040802, -1.3974850177764893, -0.6492503881454468, 0.07629085332155228, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.201482892036438, -0.6181764006614685, 1.801790714263916, -2.044996738433838, 0.9874932765960693, 0.6141471862792969, 0.7709582448005676, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -0.34560000084258696, -0.34560000084258696, -0.34560000084258696, 0.34560000084258696, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879205267764, 0.014925533895188765, -0.001172528286389969, -0.0856240913271904], [-0.014926605571016507, 0.9998881773606958, -0.0009106154144903163, 0.20962443947792053], [0.0011588057499478692, 0.000928015220446154, 0.999998897977885, 5.591242734226398e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8457345962524414, 1.4368125200271606, -0.40425243973731995, 0.013228491879999638, 0.23562052845954895, 0.3768521845340729, -0.8822872042655945, -1.1116429567337036, -1.397485375404358, -0.6492508053779602, 0.07629073411226273, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.203803300857544, -0.6180281043052673, 1.802736759185791, -2.0427932739257812, 0.9744721055030823, 0.6142061352729797, 0.7658724784851074, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -0.34560000084258696, -0.34560000084258696, -0.34560000084258696, 0.34560000084258696, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881301364871, 0.014911384848325342, -0.001173803247796334, -0.08570010215044022], [-0.014912435502496829, 0.9998884060384602, -0.0008914803706781904, 0.2096232771873474], [0.0011603790515499338, 0.0009088849061161824, 0.999998913723752, 5.182335007702932e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8505275249481201, 1.4389214515686035, -0.4022394120693207, 0.014378795400261879, 0.22517193853855133, 0.3768531382083893, -0.8822859525680542, -1.1116433143615723, -1.3974848985671997, -0.6492503881454468, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2114030122756958, -0.6180554628372192, 1.8134280443191528, -2.0333504676818848, 0.9735797643661499, 0.6182177662849426, 0.7684528231620789, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -0.34560000084258696, -0.34560000084258696, -0.34560000084258696, 0.34560000084258696, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881267113642, 0.014911629947728726, -0.0011736072345396849, -0.08568686991930008], [-0.014912696786462565, 0.9998883894665971, -0.0009055851421171713, 0.20962321758270264], [0.00115997249708482, 0.0009229854801642721, 0.9999989012802011, 5.477752347360365e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.853499174118042, 1.440359354019165, -0.40089738368988037, 0.01581667549908161, 0.2129020392894745, 0.37685343623161316, -0.8822858333587646, -1.111643671989441, -1.3974848985671997, -0.6492506861686707, 0.07629109919071198, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.21868097782135, -0.618170440196991, 1.8214685916900635, -2.029181480407715, 0.9698739647865295, 0.6208491325378418, 0.7692296504974365, 0.34379999297005787, 0.34379999297005787, 0.34379999297005787, 0.34379999297005787, -0.34379999297005787, -0.34379999297005787, -0.34379999297005787, 0.34379999297005787, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888112271311, 0.014912774400736127, -0.0011713659491355752, -0.08567251265048981], [-0.014913802554210988, 0.9998884011134958, -0.0008739634266496469, 0.2096233069896698], [0.001158202006583842, 0.0008913351613510156, 0.9999989320443008, 4.829242607229389e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8556080460548401, 1.4421806335449219, -0.4001305103302002, 0.018021423369646072, 0.19459304213523865, 0.3768506348133087, -0.8822855353355408, -1.1116442680358887, -1.3974851369857788, -0.6492509245872498, 0.07629085332155228, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2246695756912231, -0.6183814406394958, 1.8307790756225586, -2.024141311645508, 0.9681373238563538, 0.6207611560821533, 0.770366370677948, 0.34379999297005787, 0.34379999297005787, 0.34379999297005787, 0.34379999297005787, -0.34379999297005787, -0.34379999297005787, -0.34379999297005787, 0.34379999297005787, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879073599298, 0.014926392269728351, -0.001172829565891789, -0.08567561209201813], [-0.01492742564439775, 0.9998881948710986, -0.0008773374760852721, 0.20962443947792053], [0.001159602954210013, 0.0008947464591497462, 0.999998927374306, 4.8874440835788846e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8565666675567627, 1.4435226917266846, -0.3996512293815613, 0.021088900044560432, 0.17216211557388306, 0.3768520951271057, -0.8822869062423706, -1.1116437911987305, -1.3974847793579102, -0.6492508053779602, 0.07629085332155228, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2304009199142456, -0.6189824938774109, 1.8389941453933716, -2.021259069442749, 0.9709674119949341, 0.6198516488075256, 0.771514892578125, 0.34379999297005787, 0.34379999297005787, 0.34379999297005787, 0.34379999297005787, -0.34379999297005787, -0.34379999297005787, -0.34379999297005787, 0.34379999297005787, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881182345439, 0.014912236473268087, -0.0011731226483601565, -0.08564575016498566], [-0.014913265858149047, 0.9998884093702637, -0.000873675253218833, 0.20962320268154144], [0.0011599632868882267, 0.0008910725948282785, 0.9999989302368297, 4.8082285502459854e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8564707636833191, 1.445056438446045, -0.39955538511276245, 0.024731528013944626, 0.14570513367652893, 0.3768521547317505, -0.8822914361953735, -1.1116435527801514, -1.3974848985671997, -0.6492502689361572, 0.07629085332155228, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2371293306350708, -0.6196743249893188, 1.8464232683181763, -2.0247414112091064, 0.9751702547073364, 0.6198264956474304, 0.7728891372680664, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, -0.3432000034458035, -0.3432000034458035, -0.3432000034458035, 0.3432000034458035, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881037237343, 0.01491316493475771, -0.0011736879412731435, -0.08569926023483276], [-0.01491415182291308, 0.9998884278374932, -0.000836631381976071, 0.2096232771873474], [0.001161080168582424, 0.0008540423261886908, 0.9999989612517342, 4.025299131171778e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.856087327003479, 1.445823311805725, -0.3996512293815613, 0.028661733493208885, 0.11675582081079483, 0.37685269117355347, -0.8822922110557556, -1.111643671989441, -1.397484302520752, -0.6492500305175781, 0.07629097998142242, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.242421269416809, -0.6199815273284912, 1.8551582098007202, -2.031632661819458, 0.9752956628799438, 0.6207231879234314, 0.7733476758003235, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, -0.3432000034458035, -0.3432000034458035, -0.3432000034458035, 0.3432000034458035, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883302259777, 0.014897734442743475, -0.0011766844860499346, -0.08576418459415436], [-0.014898772364119831, 0.9998886213936158, -0.0008782878894158779, 0.2096218466758728], [0.001163468928830929, 0.0008957209655077896, 0.9999989220114208, 4.8734655138105154e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8554163575172424, 1.445919156074524, -0.3997470736503601, 0.03287951275706291, 0.08588933944702148, 0.376851886510849, -0.8822921514511108, -1.1116434335708618, -1.3974850177764893, -0.6492496728897095, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2474256753921509, -0.6201323866844177, 1.8644466400146484, -2.0351810455322266, 0.9757416844367981, 0.6228941082954407, 0.7763975262641907, 0.3413999955732744, 0.3413999955732744, 0.3413999955732744, 0.3413999955732744, -0.3413999955732744, -0.3413999955732744, -0.3413999955732744, 0.3413999955732744, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881126772898, 0.014912490572123094, -0.001174628274717873, -0.08567453920841217], [-0.014913499915322715, 0.9998884217946464, -0.0008552667927962821, 0.20962309837341309], [0.0011617430538187977, 0.0008726889179601738, 0.9999989443830075, 4.4097701902501285e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8541702032089233, 1.445919156074524, -0.4005139470100403, 0.036713857203722, 0.05387255549430847, 0.3768518269062042, -0.8822888135910034, -1.1116437911987305, -1.3974841833114624, -0.6492501497268677, 0.07629073411226273, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.251280426979065, -0.6203615069389343, 1.8715919256210327, -2.04284405708313, 0.9766700863838196, 0.623024046421051, 0.7786661386489868, 0.3413999955732744, 0.3413999955732744, 0.3413999955732744, 0.3413999955732744, -0.3413999955732744, -0.3413999955732744, -0.3413999955732744, 0.3413999955732744, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883164206872, 0.014898713807064914, -0.0011760154331272015, -0.08572370558977127], [-0.01489976696135346, 0.9998885945199225, -0.0008919044070686026, 0.2096218466758728], [0.0011625961900591205, 0.0009093271518885666, 0.9999989107465216, 5.164764661458321e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8529239892959595, 1.445535659790039, -0.40166425704956055, 0.040931638330221176, 0.020705465227365494, 0.37685269117355347, -0.8822911977767944, -1.1116433143615723, -1.3974841833114624, -0.6492496728897095, 0.07629085332155228, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2550218105316162, -0.6210575103759766, 1.8743702173233032, -2.047407627105713, 0.9807942509651184, 0.622277021408081, 0.7779840230941772, 0.3401999968748826, 0.3401999968748826, 0.3401999968748826, 0.3401999968748826, -0.3401999968748826, -0.3401999968748826, -0.3401999968748826, 0.3401999968748826, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885402624949, 0.014883653845502345, -0.0011763927679000743, -0.08574631810188293], [-0.014884699269798735, 0.9998888251009315, -0.000884966624573916, 0.20962049067020416], [0.0011630904456478575, 0.0009023782389995989, 0.9999989164664775, 5.017865987611003e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.851773738861084, 1.4444812536239624, -0.40291041135787964, 0.044382549822330475, -0.013420209288597107, 0.3768516778945923, -0.8822926878929138, -1.1116429567337036, -1.3974844217300415, -0.6492501497268677, 0.07629085332155228, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2576024532318115, -0.6215698719024658, 1.8782862424850464, -2.048091411590576, 0.9820796847343445, 0.6214576959609985, 0.7740675806999207, 0.3401999968748826, 0.3401999968748826, 0.3401999968748826, 0.3401999968748826, -0.3401999968748826, -0.3401999968748826, -0.3401999968748826, 0.3401999968748826, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885428273204, 0.014883186540489849, -0.0011801190867356673, -0.08577326685190201], [-0.014884246365149505, 0.9998888234251486, -0.0008944269749019444, 0.2096204310655594], [0.0011666759616233756, 0.0009118924678273423, 0.9999989036590629, 5.1857303333235905e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8505275249481201, 1.4432350397109985, -0.40386900305747986, 0.04687487334012985, -0.04754588380455971, 0.3768504858016968, -0.8822893500328064, -1.1116435527801514, -1.397484302520752, -0.6492502689361572, 0.07629073411226273, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2631126642227173, -0.6220324635505676, 1.885938048362732, -2.041208028793335, 0.9797584414482117, 0.6214502453804016, 0.7702962160110474, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885406839798, 0.014883338382119396, -0.0011800201119068993, -0.08568026125431061], [-0.014884445957735436, 0.9998887829185993, -0.0009354475364197913, 0.20962034165859222], [0.0011659662912908034, 0.0009529072176619283, 0.9999988662445783, 6.04580418439582e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8486104011535645, 1.4424681663513184, -0.4048275947570801, 0.04821689426898956, -0.08167155832052231, 0.3768516480922699, -0.8822903633117676, -1.1116433143615723, -1.3974848985671997, -0.6492501497268677, 0.07629085332155228, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.26763916015625, -0.6223117113113403, 1.8950610160827637, -2.0397448539733887, 0.9775388240814209, 0.6208347678184509, 0.7690517902374268, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8465973734855652, 1.4417012929916382, -0.40559446811676025, 0.049175482243299484, -0.11550965905189514, 0.3768531382083893, -0.882287859916687, -1.1116431951522827, -1.3974838256835938, -0.6492495536804199, 0.07629097998142242, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.271441102027893, -0.6224903464317322, 1.9009207487106323, -2.038935661315918, 0.9764493703842163, 0.6210193037986755, 0.7707910537719727, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8447760343551636, 1.4410303831100464, -0.4066489040851593, 0.050038207322359085, -0.14953947067260742, 0.3768519461154938, -0.8822869658470154, -1.1116433143615723, -1.3974839448928833, -0.6492501497268677, 0.07629061490297318, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.274773359298706, -0.622778594493866, 1.9023332595825195, -2.041060209274292, 0.976864755153656, 0.6215746402740479, 0.7719852924346924, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8431464433670044, 1.4399758577346802, -0.40770336985588074, 0.051380228251218796, -0.1830900013446808, 0.3768519461154938, -0.8822874426841736, -1.1116433143615723, -1.3974839448928833, -0.6492500305175781, 0.07629049569368362, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2794697284698486, -0.6236225366592407, 1.9044685363769531, -2.035853147506714, 0.9853789210319519, 0.6253054738044739, 0.7721830606460571, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.841612696647644, 1.439208984375, -0.4091412425041199, 0.053201545029878616, -0.21616123616695404, 0.3768518269062042, -0.8822866082191467, -1.1116434335708618, -1.3974840641021729, -0.6492494344711304, 0.07629073411226273, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.287050724029541, -0.626072347164154, 1.9081518650054932, -2.026439666748047, 1.0091522932052612, 0.6282921433448792, 0.7671423554420471, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8402706980705261, 1.4378670454025269, -0.4109625518321991, 0.05646073818206787, -0.24721942842006683, 0.37685373425483704, -0.88228839635849, -1.1116430759429932, -1.397483468055725, -0.6492495536804199, 0.07629085332155228, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2970242500305176, -0.6284835338592529, 1.9115114212036133, -2.0261662006378174, 1.0255745649337769, 0.629541277885437, 0.7566756010055542, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8394079208374023, 1.4358539581298828, -0.4136465787887573, 0.061445388942956924, -0.27453914284706116, 0.37685203552246094, -0.8822888731956482, -1.11164391040802, -1.3974835872650146, -0.6492499113082886, 0.07629073411226273, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3059282302856445, -0.6294516921043396, 1.916221261024475, -2.033906936645508, 1.02079439163208, 0.6295177936553955, 0.7493685483932495, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, -0.12342758476734161, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8387369513511658, 1.4334574937820435, -0.4174809455871582, 0.06815548986196518, -0.2988872230052948, 0.37685099244117737, -0.8822899460792542, -1.1116431951522827, -1.3974850177764893, -0.6492499113082886, 0.07629109919071198, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3116451501846313, -0.6302345991134644, 1.923505425453186, -2.035161256790161, 1.0166853666305542, 0.6275767087936401, 0.7445592880249023, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8376824855804443, 1.4313485622406006, -0.4216987192630768, 0.07476973533630371, -0.3213181495666504, 0.3768503963947296, -0.8822905421257019, -1.1116435527801514, -1.3974848985671997, -0.6492506861686707, 0.07629109919071198, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.320438027381897, -0.6317253708839417, 1.9303345680236816, -2.0369601249694824, 1.0155118703842163, 0.6275050640106201, 0.7328317761421204, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8360528945922852, 1.4297189712524414, -0.42582064867019653, 0.08100055158138275, -0.34192776679992676, 0.37685152888298035, -0.8822905421257019, -1.1116431951522827, -1.397485613822937, -0.6492501497268677, 0.07629109919071198, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3334814310073853, -0.6340586543083191, 1.9364420175552368, -2.043753147125244, 1.0202594995498657, 0.6287487745285034, 0.719980001449585, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8342315554618835, 1.4280893802642822, -0.43023014068603516, 0.08608105778694153, -0.3618663549423218, 0.3768509328365326, -0.8822920918464661, -1.1116435527801514, -1.397485613822937, -0.6492501497268677, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3472245931625366, -0.6358474493026733, 1.9430654048919678, -2.051811456680298, 1.0189740657806396, 0.631186842918396, 0.7122118473052979, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8323144316673279, 1.426843285560608, -0.4348313510417938, 0.08924439549446106, -0.3796001970767975, 0.376851350069046, -0.8822910189628601, -1.1116429567337036, -1.3974858522415161, -0.6492500305175781, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3574376106262207, -0.6366534233093262, 1.9533499479293823, -2.0561366081237793, 1.0107935667037964, 0.6342716813087463, 0.7102475762367249, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.830205500125885, 1.4261722564697266, -0.43933671712875366, 0.0915450006723404, -0.3964713215827942, 0.37685129046440125, -0.8822923302650452, -1.1116429567337036, -1.3974859714508057, -0.6492501497268677, 0.07629121840000153, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3645586967468262, -0.6373684406280518, 1.966514229774475, -2.0552337169647217, 1.0042765140533447, 0.6347866654396057, 0.7094796299934387, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8278090357780457, 1.4257887601852417, -0.443266898393631, 0.09336631000041962, -0.4111377000808716, 0.376851886510849, -0.8822920918464661, -1.1116429567337036, -1.3974858522415161, -0.6492499113082886, 0.07629085332155228, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3718438148498535, -0.6387220621109009, 1.9765119552612305, -2.0533716678619385, 1.004683494567871, 0.6332991719245911, 0.7083753347396851, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8259877562522888, 1.4256929159164429, -0.4468136727809906, 0.09528348594903946, -0.42273658514022827, 0.3768521845340729, -0.8822917938232422, -1.1116430759429932, -1.397485375404358, -0.6492502689361572, 0.07629109919071198, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.379157304763794, -0.6402466893196106, 1.9786006212234497, -2.054935932159424, 1.0096012353897095, 0.6333330869674683, 0.7061170935630798, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8250291347503662, 1.4254053831100464, -0.44921013712882996, 0.09691308438777924, -0.42992597818374634, 0.3768516480922699, -0.8822920918464661, -1.1116433143615723, -1.3974859714508057, -0.6492501497268677, 0.07629097998142242, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3794691562652588, -0.6403440833091736, 1.978416919708252, -2.0550315380096436, 1.0103145837783813, 0.6333327293395996, 0.7060002684593201, 0.3347999929071782, 0.3347999929071782, 0.3347999929071782, 0.3347999929071782, -0.3347999929071782, -0.3347999929071782, -0.3347999929071782, 0.3347999929071782, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8248374462127686, 1.4252136945724487, -0.4503604471683502, 0.09758409112691879, -0.43347275257110596, 0.3768516778945923, -0.8822900652885437, -1.1116434335708618, -1.3974854946136475, -0.6492500305175781, 0.07629061490297318, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3792835474014282, -0.6403015851974487, 1.9783724546432495, -2.055004596710205, 1.0101425647735596, 0.6333324909210205, 0.7060633301734924, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, -0.3342000033829238, -0.3342000033829238, -0.3342000033829238, 0.3342000033829238, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.824262261390686, 1.4252136945724487, -0.45083972811698914, 0.09787166863679886, -0.43519821763038635, 0.3768519461154938, -0.8822900056838989, -1.1116431951522827, -1.397485375404358, -0.6492500305175781, 0.07629085332155228, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3792744874954224, -0.6402839422225952, 1.9783681631088257, -2.054986000061035, 1.010087013244629, 0.6333321332931519, 0.7060986757278442, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, -0.3342000033829238, -0.3342000033829238, -0.3342000033829238, 0.3342000033829238, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8239747285842896, 1.4252136945724487, -0.45093560218811035, 0.09815924614667892, -0.43596509099006653, 0.37685248255729675, -0.8822890520095825, -1.1116435527801514, -1.3974852561950684, -0.6492496728897095, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3792740106582642, -0.6402797102928162, 1.9783673286437988, -2.054980993270874, 1.0100740194320679, 0.6333317756652832, 0.7061129212379456, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, -0.3342000033829238, -0.3342000033829238, -0.3342000033829238, 0.3342000033829238, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8239747285842896, 1.4252136945724487, -0.4512231647968292, 0.09815924614667892, -0.43654024600982666, 0.376851886510849, -0.8822892904281616, -1.1116431951522827, -1.397485375404358, -0.6492506861686707, 0.07629121840000153, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3792744874954224, -0.6402785778045654, 1.9783680438995361, -2.0549795627593994, 1.0100724697113037, 0.6333315372467041, 0.7061175107955933, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, -0.3342000033829238, -0.3342000033829238, -0.3342000033829238, 0.3342000033829238, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8239747285842896, 1.4252136945724487, -0.45131903886795044, 0.09825510531663895, -0.4366360902786255, 0.37685200572013855, -0.8822893500328064, -1.1116429567337036, -1.3974854946136475, -0.6492501497268677, 0.07629097998142242, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3792756795883179, -0.640278160572052, 1.9783687591552734, -2.0549798011779785, 1.0100725889205933, 0.6333311796188354, 0.706118106842041, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, -0.3342000033829238, -0.3342000033829238, -0.3342000033829238, 0.3342000033829238, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8239747285842896, 1.4252136945724487, -0.45131903886795044, 0.09825510531663895, -0.4367319643497467, 0.3768520951271057, -0.8822895288467407, -1.111643671989441, -1.3974851369857788, -0.6492502689361572, 0.07629109919071198, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.379276156425476, -0.6402781009674072, 1.9783693552017212, -2.0549798011779785, 1.0100736618041992, 0.6333303451538086, 0.7061179876327515, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, 0.3342000033829238, -0.3342000033829238, -0.3342000033829238, -0.3342000033829238, 0.3342000033829238, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8239747285842896, 1.4252136945724487, -0.45131903886795044, 0.09825510531663895, -0.4367319643497467, 0.3768520951271057, -0.8822872638702393, -1.1116430759429932, -1.3974850177764893, -0.6492501497268677, 0.07629061490297318, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3844521045684814, -0.641681969165802, 1.9782207012176514, -2.0584940910339355, 1.0115725994110107, 0.627442479133606, 0.6991033554077148, 0.33300000468453206, 0.33300000468453206, 0.33300000468453206, 0.33300000468453206, -0.33300000468453206, -0.33300000468453206, -0.33300000468453206, 0.33300000468453206, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8239747285842896, 1.4252136945724487, -0.45131903886795044, 0.09998056292533875, -0.43682780861854553, 0.37685319781303406, -0.8822838664054871, -1.1116435527801514, -1.3974839448928833, -0.6492501497268677, 0.07629073411226273, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.401027798652649, -0.6437593698501587, 2.0017311573028564, -2.083756923675537, 0.9961122274398804, 0.627160370349884, 0.6840226650238037, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, -0.33180000598614035, -0.33180000598614035, -0.33180000598614035, 0.33180000598614035, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8241664171218872, 1.4245426654815674, -0.4517024755477905, 0.10563621670007706, -0.4374988377094269, 0.3768526017665863, -0.8822916150093079, -1.111642837524414, -1.3974840641021729, -0.6492500305175781, 0.07629073411226273, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4247289896011353, -0.6458195447921753, 2.04225754737854, -2.085811138153076, 0.9627149701118469, 0.6301382184028625, 0.6671959757804871, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, -0.33180000598614035, -0.33180000598614035, -0.33180000598614035, 0.33180000598614035, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8241664171218872, 1.4233922958374023, -0.45189419388771057, 0.11205875128507614, -0.43903255462646484, 0.3768506348133087, -0.8823068737983704, -1.111642599105835, -1.397486925125122, -0.6492502689361572, 0.07629073411226273, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4462928771972656, -0.648643970489502, 2.0564000606536865, -2.073657512664795, 0.9304022789001465, 0.6111298203468323, 0.6505526304244995, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, -0.33180000598614035, -0.33180000598614035, -0.33180000598614035, 0.33180000598614035, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887377766231, 0.014869994817519282, -0.0011812373167056146, -0.08566297590732574], [-0.01487102059144353, 0.9998890466200651, -0.000864404874058974, 0.20961922407150269], [0.0011682525584353254, 0.0008818749029108991, 0.9999989287407338, 4.550816083792597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8232078552246094, 1.423008918762207, -0.4519900381565094, 0.11665996164083481, -0.4402787387371063, 0.37685099244117737, -0.8822976350784302, -1.1116429567337036, -1.3974868059158325, -0.6492500305175781, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4542677402496338, -0.651104748249054, 2.04555082321167, -2.0598042011260986, 0.9075979590415955, 0.5850968360900879, 0.6282035112380981, 0.3306000072877486, 0.3306000072877486, 0.3306000072877486, 0.3306000072877486, -0.3306000072877486, -0.3306000072877486, -0.3306000072877486, 0.3306000072877486, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998891689056604, 0.014840974522655027, -0.0011812621917803947, -0.08551156520843506], [-0.014841986867139372, 0.9998894878874215, -0.000852899798129255, 0.20961672067642212], [0.001168473783825658, 0.0008703375482483192, 0.999998938590221, 4.308433926780708e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8211948275566101, 1.4228172302246094, -0.4520859122276306, 0.11924814432859421, -0.4410455822944641, 0.3768521547317505, -0.8822997808456421, -1.111642599105835, -1.3974865674972534, -0.6492495536804199, 0.07629109919071198, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4466944932937622, -0.6517061591148376, 2.003751516342163, -2.044849157333374, 0.8754563927650452, 0.5572153925895691, 0.5961903929710388, 0.3306000072877486, 0.3306000072877486, 0.3306000072877486, 0.3306000072877486, -0.3306000072877486, -0.3306000072877486, -0.3306000072877486, 0.3306000072877486, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889675501447, 0.014854533449482956, -0.001181273678648318, -0.08561377227306366], [-0.014855477881336591, 0.9998893354209515, -0.0007947882517129656, 0.20961785316467285], [0.0011693367448236032, 0.000812248389431227, 0.9999989864515519, 3.097129592788406e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8194693326950073, 1.4224337339401245, -0.4523734748363495, 0.11953572183847427, -0.4410455822944641, 0.37685292959213257, -0.8822916746139526, -1.111642599105835, -1.397484540939331, -0.649249792098999, 0.07629073411226273, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4199814796447754, -0.6507559418678284, 1.939888834953308, -2.020946502685547, 0.8372604846954346, 0.5348355770111084, 0.5614035129547119, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.32940000858935675, -0.32940000858935675, -0.32940000858935675, 0.32940000858935675, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998891207244508, 0.01484429867899437, -0.0011802769223484505, -0.08578488975763321], [-0.014845234027131388, 0.9998894931640123, -0.0007877099048521638, 0.2096170037984848], [0.0011684534925801447, 0.000805144051277656, 0.9999989932292394, 2.9587359676952474e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8187983632087708, 1.4218586683273315, -0.45304450392723083, 0.11857713758945465, -0.439799427986145, 0.37685173749923706, -0.8822927474975586, -1.111642599105835, -1.3974848985671997, -0.6492501497268677, 0.07629133760929108, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.377435326576233, -0.6473658084869385, 1.8747979402542114, -1.9958767890930176, 0.7708059549331665, 0.5229969620704651, 0.5367861390113831, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.32940000858935675, -0.32940000858935675, -0.32940000858935675, 0.32940000858935675, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998893600936337, 0.014828331625951135, -0.0011781989366940204, -0.08580879867076874], [-0.0148291967271756, 0.9998897757068401, -0.0007289453695371814, 0.20961548388004303], [0.0011672600268723226, 0.0007463364629057345, 0.9999990402424963, 1.7456794012105092e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8187983632087708, 1.4211876392364502, -0.4536196291446686, 0.11570137739181519, -0.4367319643497467, 0.37685200572013855, -0.8822908997535706, -1.1116430759429932, -1.3974852561950684, -0.6492500305175781, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3291691541671753, -0.6446232795715332, 1.8149363994598389, -1.9719655513763428, 0.7131205797195435, 0.5222004055976868, 0.525706946849823, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.32940000858935675, -0.32940000858935675, -0.32940000858935675, 0.32940000858935675, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998893358831211, 0.014830336747843599, -0.0011734986819157587, -0.08574102818965912], [-0.01483117185420566, 0.9998897627603789, -0.0007061645871782726, 0.20961572229862213], [0.0011628966600331096, 0.0007234908007200378, 0.9999990621157698, 1.3142232091922779e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8187024593353271, 1.4208999872207642, -0.4541947841644287, 0.11263389885425568, -0.4324183166027069, 0.37685149908065796, -0.8822884559631348, -1.1116427183151245, -1.3974854946136475, -0.6492502689361572, 0.07629121840000153, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2879794836044312, -0.6423279643058777, 1.7629748582839966, -1.9429129362106323, 0.6576505303382874, 0.5335568785667419, 0.5244758129119873, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.32940000858935675, -0.32940000858935675, -0.32940000858935675, 0.32940000858935675, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889490988362, 0.01485624111664638, -0.0011754020201638496, -0.08574805408716202], [-0.014857047511208246, 0.9998893965305741, -0.0006803271081075955, 0.20961794257164001], [0.0011651649130662125, 0.0006977145608274984, 0.9999990777921333, 7.592166184622329e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8187024593353271, 1.4208041429519653, -0.4542906582355499, 0.10899127274751663, -0.42781710624694824, 0.37685245275497437, -0.8822863101959229, -1.111642837524414, -1.3974848985671997, -0.6492499113082886, 0.07629133760929108, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2561819553375244, -0.6399622559547424, 1.7201520204544067, -1.912445068359375, 0.598270833492279, 0.5474168658256531, 0.534874677658081, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.32940000858935675, -0.32940000858935675, -0.32940000858935675, 0.32940000858935675, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889582851416, 0.014855745267200241, -0.0011738534876518378, -0.08577373623847961], [-0.014856502715979627, 0.9998894317605269, -0.0006392031451552434, 0.2096177637577057], [0.0011642278576398891, 0.0006565715244693241, 0.9999991067432654, -8.914461773201765e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8187983632087708, 1.4206124544143677, -0.45486581325531006, 0.10563621670007706, -0.4229283034801483, 0.37685319781303406, -0.8822871446609497, -1.1116429567337036, -1.3974844217300415, -0.6492494344711304, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.226211667060852, -0.6388267278671265, 1.6925593614578247, -1.8864128589630127, 0.5588418841362, 0.5539305210113525, 0.54690021276474, 0.32760000071682766, 0.32760000071682766, 0.32760000071682766, 0.32760000071682766, -0.32760000071682766, -0.32760000071682766, -0.32760000071682766, 0.32760000071682766, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889541680258, 0.014856410998272361, -0.0011689247289675773, -0.08577357977628708], [-0.014857089276689257, 0.9998894627567613, -0.0005737300931377069, 0.20961777865886688], [0.0011602719491847528, 0.0005910332018581869, 0.9999991522240198, -1.4224920050764922e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8194693326950073, 1.420133113861084, -0.4554409682750702, 0.1023770272731781, -0.41842296719551086, 0.37685203552246094, -0.8822844624519348, -1.1116433143615723, -1.3974848985671997, -0.6492502689361572, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1993488073349, -0.6392053961753845, 1.6685971021652222, -1.860543131828308, 0.5364262461662292, 0.5627576112747192, 0.5540485978126526, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, -0.32699999154269044, -0.32699999154269044, -0.32699999154269044, 0.32699999154269044, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887365991715, 0.014871060333567053, -0.0011687543231425487, -0.08574986457824707], [-0.014871722290125122, 0.9998892531499012, -0.0005597423141152001, 0.20961914956569672], [0.0011603009255582637, 0.0005770614250009032, 0.9999991603505844, -1.715679172775708e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8200445175170898, 1.420133113861084, -0.455536812543869, 0.09959712624549866, -0.41458860039711, 0.37685173749923706, -0.88228440284729, -1.1116431951522827, -1.3974850177764893, -0.6492500305175781, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1791694164276123, -0.6410360932350159, 1.6502498388290405, -1.8339908123016357, 0.5258471965789795, 0.5673515200614929, 0.5550056099891663, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, -0.32699999154269044, -0.32699999154269044, -0.32699999154269044, 0.32699999154269044, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889552304564, 0.014856370959008202, -0.0011685247428601113, -0.08569169044494629], [-0.01485699005767151, 0.9998894920904491, -0.0005229278439938126, 0.20961782336235046], [0.001160626801598353, 0.0005402305360787043, 0.9999991805478619, -2.484373362676706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8205237984657288, 1.420133113861084, -0.455536812543869, 0.09710480272769928, -0.4113294184207916, 0.3768516778945923, -0.8822875022888184, -1.1116430759429932, -1.3974852561950684, -0.6492496728897095, 0.07629133760929108, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.167612910270691, -0.642158567905426, 1.6383367776870728, -1.8157036304473877, 0.5129866600036621, 0.5703948140144348, 0.559919536113739, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, -0.32699999154269044, -0.32699999154269044, -0.32699999154269044, 0.32699999154269044, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885634106501, 0.014882343074804226, -0.0011732967186700678, -0.08578281849622726], [-0.014882965245652496, 0.9998891055817475, -0.0005233396886116806, 0.20962002873420715], [0.001165378085822433, 0.0005407435037085151, 0.9999991747448497, -2.519436202419456e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8211948275566101, 1.420133113861084, -0.455536812543869, 0.09509176760911942, -0.4081660807132721, 0.37685248255729675, -0.88228440284729, -1.1116430759429932, -1.3974848985671997, -0.649249792098999, 0.07629133760929108, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1588444709777832, -0.6430346369743347, 1.6318814754486084, -1.802203893661499, 0.501388669013977, 0.5712118744850159, 0.5657268166542053, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, -0.32699999154269044, -0.32699999154269044, -0.32699999154269044, 0.32699999154269044, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889730620836, 0.01485481281272453, -0.001173066558608566, -0.08577589690685272], [-0.014855437913607078, 0.999889513554219, -0.0005259740510750334, 0.20961767435073853], [0.0011651237045807706, 0.0005433420712166574, 0.9999991736327319, -2.464431781845633e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8221533894538879, 1.420133113861084, -0.45563268661499023, 0.09327045828104019, -0.4050986170768738, 0.3768515884876251, -0.8822916150093079, -1.1116431951522827, -1.3974871635437012, -0.6492500305175781, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1509724855422974, -0.6442644000053406, 1.6303784847259521, -1.7913614511489868, 0.5002154111862183, 0.5703643560409546, 0.5728104710578918, 0.5375999989090384, 0.5375999989090384, 0.5375999989090384, 0.5375999989090384, -0.5375999989090384, -0.5375999989090384, -0.5375999989090384, 0.5375999989090384, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887624489632, 0.014869363465839693, -0.0011682287453790117, -0.0857267752289772], [-0.014869931538479464, 0.9998893216765338, -0.0004790963182236245, 0.20961883664131165], [0.0011609755904892353, 0.0004964145061875442, 0.9999992028538405, -3.397437103558332e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8230161070823669, 1.4203249216079712, -0.45563268661499023, 0.09144914150238037, -0.4022228419780731, 0.3768521547317505, -0.8822895288467407, -1.1116433143615723, -1.3974852561950684, -0.6492503881454468, 0.07629109919071198, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1462085247039795, -0.6468498706817627, 1.6340581178665161, -1.7868489027023315, 0.5217612981796265, 0.5699353218078613, 0.5803279280662537, 0.5748000003151841, 0.5748000003151841, 0.5748000003151841, 0.5748000003151841, -0.5748000003151841, -0.5748000003151841, -0.5748000003151841, 0.5748000003151841, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887270605972, 0.014871765418829673, -0.0011679428350085364, -0.08572537451982498], [-0.014872340095221639, 0.9998892830534448, -0.00048490716656361807, 0.20961898565292358], [0.00116060209831305, 0.0005022232525718814, 0.9999992003869673, -3.279564771219157e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8235912919044495, 1.4207082986831665, -0.45563268661499023, 0.08972368389368057, -0.399922251701355, 0.3768523931503296, -0.8822893500328064, -1.1116433143615723, -1.397485375404358, -0.6492501497268677, 0.07629097998142242, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1411857604980469, -0.6501486897468567, 1.6400066614151, -1.7885327339172363, 0.5567985773086548, 0.5708715319633484, 0.5890990495681763, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889693650252, 0.014855350948045456, -0.001169397433720216, -0.08577495068311691], [-0.014855874485911004, 0.999889548468102, -0.0004402925323059784, 0.2096175253391266], [0.001162727571895055, 0.0004576160678460358, 0.9999992193257593, -4.230559352436103e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8246456980705261, 1.420995831489563, -0.45563268661499023, 0.08847752213478088, -0.39800506830215454, 0.376851886510849, -0.8822904825210571, -1.1116433143615723, -1.397485375404358, -0.6492502689361572, 0.07629049569368362, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.133245587348938, -0.6533703804016113, 1.6576011180877686, -1.7966300249099731, 0.6059547662734985, 0.5704815983772278, 0.5986148118972778, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8254125714302063, 1.4211876392364502, -0.45563268661499023, 0.08780651539564133, -0.39666303992271423, 0.3768521547317505, -0.8822934627532959, -1.1116430759429932, -1.397485613822937, -0.6492505669593811, 0.07629097998142242, -1.3766111135482788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1228740215301514, -0.6557782292366028, 1.6938860416412354, -1.8195297718048096, 0.6782636046409607, 0.567444920539856, 0.6223210096359253, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8262752890586853, 1.4217627048492432, -0.455536812543869, 0.08761479705572128, -0.39503344893455505, 0.3768521845340729, -0.8822951912879944, -1.111642599105835, -1.397485613822937, -0.6492501497268677, 0.07629073411226273, -1.3766111135482788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1139841079711914, -0.6555121541023254, 1.7445967197418213, -1.8603800535202026, 0.7544096112251282, 0.5728521943092346, 0.6713199615478516, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8270421624183655, 1.4224337339401245, -0.455536812543869, 0.0877106562256813, -0.39321213960647583, 0.37685152888298035, -0.8822712302207947, -1.1116453409194946, -1.397483229637146, -0.6492501497268677, 0.07629133760929108, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1127437353134155, -0.6528828740119934, 1.7989990711212158, -1.9100890159606934, 0.8151623010635376, 0.5806657671928406, 0.7404877543449402, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8278090357780457, 1.4229130744934082, -0.45515337586402893, 0.08838166296482086, -0.3910073935985565, 0.3768513798713684, -0.8822973370552063, -1.1116433143615723, -1.3974865674972534, -0.6492505669593811, 0.07629037648439407, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.126008152961731, -0.6494646668434143, 1.8429404497146606, -1.9580572843551636, 0.8580268621444702, 0.5841723680496216, 0.8311060070991516, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8283842206001282, 1.4235841035842896, -0.45486581325531006, 0.09001126140356064, -0.38889849185943604, 0.3768523335456848, -0.8822878003120422, -1.1116434335708618, -1.3974844217300415, -0.6492505669593811, 0.07629097998142242, -1.3766111135482788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.156038522720337, -0.6462764143943787, 1.8649401664733887, -2.002413749694824, 0.8767264485359192, 0.5834192633628845, 0.9333455562591553, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8287676572799683, 1.4244468212127686, -0.4542906582355499, 0.0915450006723404, -0.3866937458515167, 0.3768511414527893, -0.8822941780090332, -1.111643671989441, -1.3974852561950684, -0.6492502689361572, 0.07629145681858063, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.200973629951477, -0.6427980661392212, 1.884108543395996, -2.034653425216675, 0.8591354489326477, 0.5754131078720093, 1.0174124240875244, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8289593458175659, 1.4254053831100464, -0.4537155032157898, 0.09327045828104019, -0.38381800055503845, 0.37685105204582214, -0.882294774055481, -1.1116435527801514, -1.3974846601486206, -0.6492502689361572, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.253391146659851, -0.6431559324264526, 1.9182229042053223, -2.0515499114990234, 0.8429597020149231, 0.5413501858711243, 1.0707929134368896, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.829342782497406, 1.425980567932129, -0.45352378487586975, 0.09480419009923935, -0.38027122616767883, 0.3768506944179535, -0.8822969198226929, -1.1116430759429932, -1.3974841833114624, -0.6492499113082886, 0.07629061490297318, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2734014987945557, -0.6448222398757935, 1.9397801160812378, -2.0507113933563232, 0.8415966033935547, 0.5178095698356628, 1.0738273859024048, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8294386267662048, 1.4265556335449219, -0.45314034819602966, 0.09537934511899948, -0.37816232442855835, 0.37685224413871765, -0.8822903633117676, -1.1116431951522827, -1.3974846601486206, -0.649249792098999, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2717171907424927, -0.644813060760498, 1.938192367553711, -2.050413131713867, 0.8420308232307434, 0.5199655294418335, 1.0726224184036255, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8294386267662048, 1.4269391298294067, -0.45304450392723083, 0.09595450013875961, -0.37720373272895813, 0.37685179710388184, -0.8822997808456421, -1.1116424798965454, -1.3974859714508057, -0.649249792098999, 0.07629061490297318, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2832192182540894, -0.6460967063903809, 1.9193207025527954, -2.073472261428833, 0.8398948907852173, 0.5161116719245911, 1.052384853363037, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.829342782497406, 1.4269391298294067, -0.45304450392723083, 0.09490004926919937, -0.3745197057723999, 0.3768516778945923, -0.88228440284729, -1.1116431951522827, -1.3974848985671997, -0.6492502689361572, 0.07629073411226273, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2645487785339355, -0.6420691609382629, 1.9067144393920898, -2.099334716796875, 0.8286387920379639, 0.5035862326622009, 1.075825572013855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8289593458175659, 1.4269391298294067, -0.45304450392723083, 0.09317459911108017, -0.3680971562862396, 0.3768509328365326, -0.8822984099388123, -1.111642837524414, -1.3974859714508057, -0.649249792098999, 0.07629073411226273, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2377636432647705, -0.6375104784965515, 1.9014384746551514, -2.092869281768799, 0.8297208547592163, 0.5082747340202332, 1.094719409942627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8278090357780457, 1.4271308183670044, -0.45304450392723083, 0.08914853632450104, -0.35611483454704285, 0.37685248255729675, -0.8822840452194214, -1.1116431951522827, -1.3974846601486206, -0.6492501497268677, 0.07629073411226273, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.217659831047058, -0.6324608325958252, 1.8942896127700806, -2.093954563140869, 0.8272079825401306, 0.5167819261550903, 1.1224292516708374, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8269463181495667, 1.4275143146514893, -0.4529486298561096, 0.0851224735379219, -0.34154433012008667, 0.3768519461154938, -0.8822894096374512, -1.111642599105835, -1.3974850177764893, -0.6492499113082886, 0.07629061490297318, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2047669887542725, -0.6289112567901611, 1.8887742757797241, -2.0988593101501465, 0.8329906463623047, 0.5276911854743958, 1.140132188796997, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8259877562522888, 1.4278976917266846, -0.4527569115161896, 0.07917923480272293, -0.3184424042701721, 0.37685179710388184, -0.8822862505912781, -1.1116430759429932, -1.3974848985671997, -0.6492500305175781, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1971900463104248, -0.6257915496826172, 1.8811213970184326, -2.1024279594421387, 0.8348392248153687, 0.5330807566642761, 1.1475439071655273, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8254125714302063, 1.428568720817566, -0.4524693489074707, 0.07419458776712418, -0.29351913928985596, 0.37685149908065796, -0.882287323474884, -1.111642837524414, -1.3974850177764893, -0.6492501497268677, 0.07629049569368362, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1915510892868042, -0.6240889430046082, 1.8695658445358276, -2.104663848876953, 0.8414883017539978, 0.5323845744132996, 1.1457806825637817, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8248374462127686, 1.4292397499084473, -0.4523734748363495, 0.06892236322164536, -0.2652408480644226, 0.37685292959213257, -0.8822869658470154, -1.1116431951522827, -1.3974844217300415, -0.6492500305175781, 0.07629109919071198, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1798090934753418, -0.6218585968017578, 1.8547049760818481, -2.114241600036621, 0.8465465903282166, 0.5333990454673767, 1.1446195840835571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8247416019439697, 1.4296231269836426, -0.4519900381565094, 0.06384184956550598, -0.23562052845954895, 0.3768518269062042, -0.8822860717773438, -1.1116431951522827, -1.3974844217300415, -0.6492496728897095, 0.07629133760929108, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.168933391571045, -0.6189597845077515, 1.8408006429672241, -2.1229405403137207, 0.8445277214050293, 0.5402295589447021, 1.147952675819397, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8247416019439697, 1.4296231269836426, -0.4519900381565094, 0.059624072164297104, -0.20810911059379578, 0.37685224413871765, -0.8822893500328064, -1.111642837524414, -1.3974850177764893, -0.6492499113082886, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1608065366744995, -0.616519033908844, 1.8329784870147705, -2.1279666423797607, 0.8452125191688538, 0.5452895164489746, 1.1518630981445312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8247416019439697, 1.4297189712524414, -0.45189419388771057, 0.05502285808324814, -0.17637988924980164, 0.3768521547317505, -0.8822892904281616, -1.1116431951522827, -1.3974846601486206, -0.6492496728897095, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1570664644241333, -0.6140058636665344, 1.8241630792617798, -2.1383306980133057, 0.843998372554779, 0.55162513256073, 1.1560404300689697, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8248374462127686, 1.4300066232681274, -0.45189419388771057, 0.049271341413259506, -0.14445896446704865, 0.37685203552246094, -0.8822885155677795, -1.1116430759429932, -1.3974841833114624, -0.6492501497268677, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.158268928527832, -0.61207515001297, 1.8130418062210083, -2.1499016284942627, 0.8464212417602539, 0.5588730573654175, 1.159469723701477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8252208828926086, 1.4301024675369263, -0.45189419388771057, 0.04236951842904091, -0.11349663138389587, 0.37685149908065796, -0.8822871446609497, -1.1116434335708618, -1.3974847793579102, -0.6492500305175781, 0.07629109919071198, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1647156476974487, -0.6107034683227539, 1.8008161783218384, -2.1625332832336426, 0.85020911693573, 0.5655996799468994, 1.1612874269485474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8257001638412476, 1.430198311805725, -0.4519900381565094, 0.03508426249027252, -0.08023367822170258, 0.37685179710388184, -0.882284939289093, -1.1116437911987305, -1.3974846601486206, -0.6492505669593811, 0.07629097998142242, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1726938486099243, -0.6100543141365051, 1.789900541305542, -2.172351121902466, 0.8579059839248657, 0.5674279928207397, 1.158684492111206, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8261794447898865, 1.43058180809021, -0.45218175649642944, 0.029045168310403824, -0.05454356595873833, 0.37685269117355347, -0.8822900652885437, -1.1116433143615723, -1.3974850177764893, -0.649249792098999, 0.07629049569368362, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1786963939666748, -0.6100323796272278, 1.7829347848892212, -2.1755950450897217, 0.8668584227561951, 0.5677797198295593, 1.1506431102752686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8270421624183655, 1.431061029434204, -0.4524693489074707, 0.022910214960575104, -0.026361126452684402, 0.3768523037433624, -0.8822868466377258, -1.1116437911987305, -1.397484540939331, -0.6492500305175781, 0.07629109919071198, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1865530014038086, -0.6097825765609741, 1.7781282663345337, -2.1758975982666016, 0.8706138134002686, 0.5672789216041565, 1.1441898345947266, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8283842206001282, 1.431923747062683, -0.45304450392723083, 0.01888415217399597, 0.0, 0.3768530488014221, -0.8822869658470154, -1.1116433143615723, -1.397484540939331, -0.6492495536804199, 0.07629085332155228, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1940786838531494, -0.6089535355567932, 1.7786328792572021, -2.1752195358276367, 0.8686696887016296, 0.567566990852356, 1.140004277229309, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8301096558570862, 1.4330741167068481, -0.4536196291446686, 0.01696697808802128, 0.023868801072239876, 0.37685203552246094, -0.8822872042655945, -1.1116440296173096, -1.3974847793579102, -0.6492499113082886, 0.07629145681858063, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1994361877441406, -0.6077802777290344, 1.779528021812439, -2.169703483581543, 0.8612945079803467, 0.5644553303718567, 1.1388081312179565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8313558101654053, 1.4345118999481201, -0.45400306582450867, 0.01658354513347149, 0.0453411340713501, 0.376851886510849, -0.8822876214981079, -1.1116437911987305, -1.3974846601486206, -0.6492505669593811, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2010576725006104, -0.6071358919143677, 1.77973210811615, -2.163274049758911, 0.856594979763031, 0.5611532926559448, 1.1387767791748047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8319309949874878, 1.4355664253234863, -0.4541947841644287, 0.01620011031627655, 0.05780275911092758, 0.3768520951271057, -0.8822859525680542, -1.111643671989441, -1.3974848985671997, -0.6492500305175781, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2009687423706055, -0.6071541905403137, 1.7797349691390991, -2.1635024547576904, 0.8569021821022034, 0.5612325072288513, 1.138810634613037, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8324102759361267, 1.4360456466674805, -0.4542906582355499, 0.01620011031627655, 0.06317084282636642, 0.37685203552246094, -0.8822949528694153, -1.1116431951522827, -1.3974850177764893, -0.6492505669593811, 0.07629061490297318, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2009303569793701, -0.6071752309799194, 1.7797340154647827, -2.1635777950286865, 0.8570045232772827, 0.5613374710083008, 1.1388356685638428, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8326019644737244, 1.4361416101455688, -0.4542906582355499, 0.01620011031627655, 0.06604660302400589, 0.37685224413871765, -0.8822935223579407, -1.1116435527801514, -1.3974852561950684, -0.6492502689361572, 0.07629085332155228, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2009196281433105, -0.6071847081184387, 1.7797328233718872, -2.163590431213379, 0.8570224642753601, 0.5613632798194885, 1.1388452053070068, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8328895568847656, 1.4361416101455688, -0.45438650250434875, 0.01620011031627655, 0.0673886239528656, 0.37685173749923706, -0.8822945356369019, -1.1116435527801514, -1.397485375404358, -0.6492505669593811, 0.07629109919071198, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2009193897247314, -0.6071866750717163, 1.7797317504882812, -2.1635901927948, 0.8570257425308228, 0.5613698363304138, 1.138849139213562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8328895568847656, 1.4361416101455688, -0.45448237657546997, 0.01620011031627655, 0.0682513490319252, 0.37685200572013855, -0.8822933435440063, -1.1116433143615723, -1.3974850177764893, -0.6492501497268677, 0.07629073411226273, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.200919508934021, -0.6071874499320984, 1.779728889465332, -2.1635901927948, 0.8570256233215332, 0.561371386051178, 1.1388500928878784, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8328895568847656, 1.4361416101455688, -0.45438650250434875, 0.01620011031627655, 0.06863478571176529, 0.37685200572013855, -0.8822929859161377, -1.1116434335708618, -1.3974850177764893, -0.6492496728897095, 0.07629085332155228, -1.3766107559204102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2009198665618896, -0.6071875095367432, 1.7797260284423828, -2.1635892391204834, 0.8570249080657959, 0.5613710284233093, 1.1388499736785889, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8328895568847656, 1.4361416101455688, -0.45448237657546997, 0.01620011031627655, 0.06873064488172531, 0.37685179710388184, -0.8822926878929138, -1.1116434335708618, -1.3974854946136475, -0.6492503881454468, 0.07629133760929108, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2009204626083374, -0.6071877479553223, 1.7797235250473022, -2.163588762283325, 0.8570235371589661, 0.5613704323768616, 1.1388503313064575, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8328895568847656, 1.4361416101455688, -0.45448237657546997, 0.01620011031627655, 0.06882650405168533, 0.3768521547317505, -0.8822920322418213, -1.1116435527801514, -1.3974854946136475, -0.6492495536804199, 0.07629061490297318, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2012543678283691, -0.6072829365730286, 1.7796070575714111, -2.1632161140441895, 0.8566792607307434, 0.5609525442123413, 1.138342022895813, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8328895568847656, 1.4362374544143677, -0.45438650250434875, 0.01620011031627655, 0.06882650405168533, 0.3768511414527893, -0.8822910785675049, -1.1116435527801514, -1.3974858522415161, -0.6492501497268677, 0.07629097998142242, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2077995538711548, -0.6081109046936035, 1.770897626876831, -2.159304618835449, 0.8303610682487488, 0.5384423732757568, 1.103029727935791, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8333688378334045, 1.4371960163116455, -0.4536196291446686, 0.014570512808859348, 0.06882650405168533, 0.3768509030342102, -0.8822883367538452, -1.1116429567337036, -1.3974859714508057, -0.6492501497268677, 0.07629085332155228, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1925959587097168, -0.6059654355049133, 1.7519015073776245, -2.1406283378601074, 0.7884917855262756, 0.5110166072845459, 1.0933218002319336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8355736136436462, 1.4393048286437988, -0.4511273205280304, 0.012461623176932335, 0.06968922913074493, 0.3768533766269684, -0.8822917938232422, -1.1116430759429932, -1.3974854946136475, -0.6492502689361572, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1588932275772095, -0.600762665271759, 1.7282644510269165, -2.1152806282043457, 0.7311758995056152, 0.49489036202430725, 1.1082948446273804, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8397913575172424, 1.4417972564697266, -0.44700539112091064, 0.011407177895307541, 0.07323599606752396, 0.3768521547317505, -0.8822893500328064, -1.1116433143615723, -1.3974847793579102, -0.6492505669593811, 0.07629085332155228, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1184706687927246, -0.5944115519523621, 1.7042592763900757, -2.089470386505127, 0.6682366728782654, 0.48555490374565125, 1.1307249069213867, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8453511595726013, 1.4457274675369263, -0.44048699736595154, 0.011886470951139927, 0.07956267148256302, 0.3768526315689087, -0.8822892308235168, -1.1116430759429932, -1.3974851369857788, -0.6492495536804199, 0.07629097998142242, -1.3766109943389893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0763099193572998, -0.5876414775848389, 1.6846758127212524, -2.067497491836548, 0.6016844511032104, 0.4881497323513031, 1.142768383026123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8520612716674805, 1.451095461845398, -0.4320514500141144, 0.014378795400261879, 0.0885733813047409, 0.3768504559993744, -0.8822886943817139, -1.1116431951522827, -1.3974854946136475, -0.6492505669593811, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.03984797000885, -0.5805944800376892, 1.6646702289581299, -2.0484020709991455, 0.5374372601509094, 0.49493589997291565, 1.160135269165039, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8597300052642822, 1.457709789276123, -0.4218904376029968, 0.018980009481310844, 0.09911783039569855, 0.37685269117355347, -0.8822979927062988, -1.1116429567337036, -1.3974846601486206, -0.6492503881454468, 0.07629097998142242, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0137866735458374, -0.5746636390686035, 1.6456736326217651, -2.0307810306549072, 0.48637017607688904, 0.5090250372886658, 1.1743557453155518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8677821159362793, 1.463269591331482, -0.410579115152359, 0.025210822001099586, 0.1110043004155159, 0.3768532872200012, -0.8822929859161377, -1.1116427183151245, -1.397483468055725, -0.6492493152618408, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9974446892738342, -0.5717092752456665, 1.6286228895187378, -2.015747547149658, 0.47083407640457153, 0.5389559864997864, 1.1705526113510132, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889836659717, 0.014854209540914582, -0.001171666481938745, -0.0857483297586441], [-0.014854671437534633, 0.9998895885782282, -0.00038650917778461764, 0.20961739122867584], [0.0011657958282603324, 0.0004038709895762039, 0.9999992389038657, -5.380034417612478e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8775596618652344, 1.4683500528335571, -0.39773404598236084, 0.0324002206325531, 0.12174046784639359, 0.37685245275497437, -0.8822937607765198, -1.1116424798965454, -1.3974847793579102, -0.6492499113082886, 0.07629109919071198, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9878395795822144, -0.5673652291297913, 1.616123080253601, -2.004335880279541, 0.4455515444278717, 0.5700084567070007, 1.1723712682724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887657558604, 0.01486889493444841, -0.001171357609961534, -0.08590918034315109], [-0.014869342842605387, 0.9998893750374978, -0.0003746071958466829, 0.20961877703666687], [0.0011656580335331224, 0.0003919828445922165, 0.9999992437951133, -5.614940891973674e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8869538307189941, 1.4735264778137207, -0.38575172424316406, 0.03968547657132149, 0.13094289600849152, 0.376849889755249, -0.8822920918464661, -1.111642599105835, -1.3974865674972534, -0.6492499113082886, 0.07629073411226273, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9867729544639587, -0.5609288215637207, 1.6107330322265625, -2.0104103088378906, 0.4034413695335388, 0.5960168242454529, 1.1807013750076294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885773849887, 0.014881680604620943, -0.0011697851962957852, -0.08572565764188766], [-0.01488211841996038, 0.9998891879894712, -0.00036646021626825156, 0.20961983501911163], [0.0011642020261534922, 0.0003838282661298478, 0.99999924865447, -5.771283758804202e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8956769704818726, 1.4780317544937134, -0.373290091753006, 0.047354165464639664, 0.1377488672733307, 0.3768523931503296, -0.882294237613678, -1.111642599105835, -1.3974858522415161, -0.6492494344711304, 0.07629049569368362, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9879249334335327, -0.5522187352180481, 1.611426591873169, -2.0166819095611572, 0.3474429249763489, 0.6040703654289246, 1.200482726097107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889864060294, 0.01485434129462626, -0.0011676509006940585, -0.0857962965965271], [-0.014854717058631214, 0.999889613362619, -0.00031380035134400856, 0.20961743593215942], [0.0011628607101202585, 0.00033111063899228277, 0.9999992690600896, -6.863306043669581e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9033456444740295, 1.4809075593948364, -0.3609243333339691, 0.05339326336979866, 0.14177492260932922, 0.37685078382492065, -0.8822981715202332, -1.111642599105835, -1.3974864482879639, -0.6492496728897095, 0.07629133760929108, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9899956583976746, -0.539873480796814, 1.5966708660125732, -2.0206754207611084, 0.2583363950252533, 0.581410825252533, 1.238715648651123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882780589511, 0.014901836186952327, -0.001169050282471652, -0.08586103469133377], [-0.014902224057079356, 0.9998889032725135, -0.00032377560573042973, 0.20962126553058624], [0.0011640955537730762, 0.0003411608821346777, 0.9999992642451264, -6.638535705860704e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9105350375175476, 1.48378324508667, -0.34903785586357117, 0.05761104077100754, 0.1430210918188095, 0.376851886510849, -0.8822957873344421, -1.1116423606872559, -1.397487759590149, -0.649249792098999, 0.07629145681858063, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9856175780296326, -0.5267332792282104, 1.5727866888046265, -2.0174484252929688, 0.16313646733760834, 0.550082266330719, 1.2697721719741821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885186440148, 0.014885848349557768, -0.0011669630634683049, -0.08574963361024857], [-0.014886168049076562, 0.9998891595453706, -0.00026575264254385884, 0.20961995422840118], [0.0011628777632164125, 0.0002830946243487658, 0.9999992837861142, -7.81229100539349e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9169576168060303, 1.4860838651657104, -0.33772656321525574, 0.06106195226311684, 0.14263765513896942, 0.37685105204582214, -0.8822936415672302, -1.1116422414779663, -1.3974876403808594, -0.6492502689361572, 0.07629085332155228, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9701052308082581, -0.5190262198448181, 1.5487836599349976, -2.0134503841400146, 0.09278953820466995, 0.5324243307113647, 1.2874573469161987, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882861577711, 0.014901631696316192, -0.0011647219679437849, -0.08577970415353775], [-0.014901950246358351, 0.9998889245784606, -0.00026530017826824614, 0.20962129533290863], [0.0011606391904146988, 0.00028262716938312664, 0.9999992865190219, -7.808359805494547e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9222298264503479, 1.487521767616272, -0.32699039578437805, 0.06317084282636642, 0.1408163458108902, 0.3768511414527893, -0.8822945952415466, -1.1116421222686768, -1.3974874019622803, -0.6492495536804199, 0.07629097998142242, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9656122326850891, -0.5139057636260986, 1.5242081880569458, -2.0066683292388916, 0.06815380603075027, 0.5304916501045227, 1.289548635482788, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884845310096, 0.014888466546227441, -0.0011627838074030827, -0.08580329269170761], [-0.014888762818785015, 0.9998891258293395, -0.00024655621108952226, 0.2096201777458191], [0.001158984040812208, 0.00026384112857595843, 0.9999992935716765, -8.181661542039365e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9271185994148254, 1.4887679815292358, -0.3160625100135803, 0.06489630043506622, 0.13851572573184967, 0.37685292959213257, -0.8822960257530212, -1.111641764640808, -1.3974848985671997, -0.6492493152618408, 0.07629073411226273, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9756057858467102, -0.5066117644309998, 1.509199619293213, -1.9935718774795532, 0.08082880079746246, 0.530505895614624, 1.2895562648773193, 0.5519999980271517, 0.5519999980271517, 0.5519999980271517, 0.5519999980271517, -0.5519999980271517, -0.5519999980271517, -0.5519999980271517, 0.5519999980271517, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886519063521, 0.0148774878343778, -0.001159372518098314, -0.08582627773284912], [-0.0148777042689997, 0.9998893049389409, -0.00017828181598001473, 0.20961923897266388], [0.0011565917957382995, 0.00019551076610154551, 0.9999993120352425, -9.594613948138431e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9315280914306641, 1.4888638257980347, -0.3069559335708618, 0.0656631663441658, 0.1368861347436905, 0.3768512010574341, -0.8822914958000183, -1.111641764640808, -1.3974846601486206, -0.6492496728897095, 0.07629085332155228, -1.376609206199646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9880481958389282, -0.4959975481033325, 1.5029621124267578, -1.9896196126937866, 0.09029825776815414, 0.5273897647857666, 1.292711853981018, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886503585993, 0.014877709592297755, -0.001157860676382876, -0.08589401841163635], [-0.014877929501314478, 0.9998893010003466, -0.00018154556524536486, 0.20961913466453552], [0.0011550315201667724, 0.00019875191972734563, 0.999999313199695, -9.500148735241964e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.4885761737823486, -0.29804107546806335, 0.06614246219396591, 0.13621512055397034, 0.3768530488014221, -0.8822928071022034, -1.111641526222229, -1.3974848985671997, -0.6492491960525513, 0.07629121840000153, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.999518871307373, -0.4850181043148041, 1.4995498657226562, -1.9971333742141724, 0.10614931583404541, 0.5278032422065735, 1.292144775390625, 0.06959998581435653, 0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884417966888, 0.014891921278781242, -0.0011552670757560197, -0.08577629923820496], [-0.014892121077565776, 0.9998890926785569, -0.00016453651089805537, 0.2096203863620758], [0.0011526886834113167, 0.0001817225326696045, 0.9999993191426283, -9.843786392593756e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9384299516677856, 1.4874259233474731, -0.28989309072494507, 0.06623832136392593, 0.13640683889389038, 0.3768506348133087, -0.8822923898696899, -1.1116421222686768, -1.3974847793579102, -0.6492491960525513, 0.07629061490297318, -1.376609444618225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0022860765457153, -0.47721752524375916, 1.49014413356781, -2.0161142349243164, 0.1114136204123497, 0.5333012342453003, 1.2866253852844238, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886735206218, 0.014876315965140762, -0.001155763157666989, -0.0857994332909584], [-0.014876483131385192, 0.9998893297290956, -0.00013617467277672222, 0.20961901545524597], [0.0011536094715865525, 0.00015335320404873094, 0.9999993228337617, -0.00010456507880007848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9412098526954651, 1.485796332359314, -0.2818409502506256, 0.06614246219396591, 0.13755714893341064, 0.376851886510849, -0.8822920322418213, -1.111641764640808, -1.397484540939331, -0.6492494344711304, 0.07629109919071198, -1.376609444618225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9882673025131226, -0.47658270597457886, 1.472071647644043, -2.04030704498291, 0.10364892333745956, 0.5437164902687073, 1.2694979906082153, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884406283436, 0.01489207997718344, -0.0011542321138295608, -0.08580466359853745], [-0.01489220463511764, 0.9998891000229067, -9.948109179600551e-05, 0.20962031185626984], [0.0011526226291393331, 0.00011665905458348726, 0.9999993289256447, -0.00011212443496333435], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9436063170433044, 1.4841667413711548, -0.2745557129383087, 0.0656631663441658, 0.14014533162117004, 0.3768516778945923, -0.8822914361953735, -1.1116421222686768, -1.397484540939331, -0.6492490768432617, 0.07629085332155228, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9645621180534363, -0.4829758405685425, 1.4445451498031616, -2.049989700317383, 0.10845867544412613, 0.5401543974876404, 1.2268697023391724, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886620473038, 0.014877224749731185, -0.0011539900341107844, -0.08580116927623749], [-0.014877343716476478, 0.9998893217248562, -9.457562486884572e-05, 0.20961908996105194], [0.001152455289657256, 0.00011173340139525241, 0.9999993296810015, -0.0001132069737650454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9458110332489014, 1.4825371503829956, -0.2680373191833496, 0.0648004412651062, 0.1438838094472885, 0.376851350069046, -0.8822909593582153, -1.1116422414779663, -1.3974846601486206, -0.649249792098999, 0.07629109919071198, -1.3766095638275146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9319543838500977, -0.4916457235813141, 1.4096802473068237, -2.0483782291412354, 0.10454642027616501, 0.5332553386688232, 1.1673047542572021, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886620473038, 0.014877224749731185, -0.0011539900341107844, -0.08580116927623749], [-0.014877343716476478, 0.9998893217248562, -9.457562486884572e-05, 0.20961908996105194], [0.001152455289657256, 0.00011173340139525241, 0.9999993296810015, -0.0001132069737650454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9475364685058594, 1.4809075593948364, -0.2616147994995117, 0.06317084282636642, 0.14838917553424835, 0.37685179710388184, -0.8822901248931885, -1.1116424798965454, -1.397484540939331, -0.649249792098999, 0.07629085332155228, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8934910297393799, -0.5012164115905762, 1.3669157028198242, -2.0346243381500244, 0.09412098675966263, 0.52229243516922, 1.123720645904541, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886620473038, 0.014877224749731185, -0.0011539900341107844, -0.08580116927623749], [-0.014877343716476478, 0.9998893217248562, -9.457562486884572e-05, 0.20961908996105194], [0.001152455289657256, 0.00011173340139525241, 0.9999993296810015, -0.0001132069737650454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9488785266876221, 1.4792779684066772, -0.25567156076431274, 0.06115781143307686, 0.15318210422992706, 0.3768523931503296, -0.8822884559631348, -1.1116421222686768, -1.397484302520752, -0.6492494344711304, 0.07629109919071198, -1.376609444618225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8538492321968079, -0.5098499059677124, 1.35280179977417, -2.0118825435638428, 0.14258435368537903, 0.5363678932189941, 1.120991826057434, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886620473038, 0.014877224749731185, -0.0011539900341107844, -0.08580116927623749], [-0.014877343716476478, 0.9998893217248562, -9.457562486884572e-05, 0.20961908996105194], [0.001152455289657256, 0.00011173340139525241, 0.9999993296810015, -0.0001132069737650454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9498370885848999, 1.4772648811340332, -0.2502076029777527, 0.0587613470852375, 0.15778331458568573, 0.3768523037433624, -0.8822920322418213, -1.1116423606872559, -1.3974854946136475, -0.6492496728897095, 0.07629073411226273, -1.3766095638275146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8306671977043152, -0.5143591165542603, 1.3783267736434937, -2.0413036346435547, 0.24514199793338776, 0.5456278324127197, 1.1352754831314087, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886620473038, 0.014877224749731185, -0.0011539900341107844, -0.08580116927623749], [-0.014877343716476478, 0.9998893217248562, -9.457562486884572e-05, 0.20961908996105194], [0.001152455289657256, 0.00011173340139525241, 0.9999993296810015, -0.0001132069737650454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9513708353042603, 1.4748684167861938, -0.24455195665359497, 0.05646073818206787, 0.16133008897304535, 0.37685203552246094, -0.8822683095932007, -1.1116442680358887, -1.3974788188934326, -0.6492491960525513, 0.07629121840000153, -1.3766096830368042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8443562388420105, -0.5156817436218262, 1.3855712413787842, -2.114797353744507, 0.29130905866622925, 0.5490802526473999, 1.125536561012268, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998877914440558, 0.014935556468567047, -0.0011548480864096826, -0.08597217500209808], [-0.014935703132739894, 0.9998884491456007, -0.00011847842059685375, 0.20962394773960114], [0.0011529497209778112, 0.0001357135944863958, 0.9999993261441535, -0.00010818456212291494], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9527128338813782, 1.4723761081695557, -0.2394714504480362, 0.054831139743328094, 0.1628638207912445, 0.3768512010574341, -0.8822872042655945, -1.1116430759429932, -1.3974840641021729, -0.6492500305175781, 0.07629145681858063, -1.3766096830368042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8689927458763123, -0.5172846913337708, 1.3582777976989746, -2.1681220531463623, 0.26659268140792847, 0.5315470099449158, 1.1000734567642212, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888479818962, 0.014889534724745763, -0.0011531179496255385, -0.08576125651597977], [-0.014889678600700758, 0.9998891358288587, -0.0001162866537875861, 0.20962005853652954], [0.0011512586559902307, 0.0001334432411375267, 0.9999993283979787, -0.00010846270015463233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.953575611114502, 1.4703631401062012, -0.23458264768123627, 0.05339326336979866, 0.16315139830112457, 0.37685075402259827, -0.8822870254516602, -1.1116427183151245, -1.3974831104278564, -0.649249792098999, 0.07629097998142242, -1.376609206199646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8851698637008667, -0.5212535858154297, 1.3156468868255615, -2.193140983581543, 0.23019035160541534, 0.5065428614616394, 1.07351553440094, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884622104369, 0.014890602464392843, -0.0011545980664827906, -0.08567924052476883], [-0.014890758149330411, 0.9998891185301416, -0.000126359623524548, 0.20962007343769073], [0.001152588472030629, 0.0001435383702191298, 0.9999993254680477, -0.00010661553824320436], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9542465806007385, 1.4680625200271606, -0.23026901483535767, 0.05214709788560867, 0.16295967996120453, 0.3768528401851654, -0.8822916746139526, -1.1116424798965454, -1.397483468055725, -0.6492495536804199, 0.07629109919071198, -1.3766096830368042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8844397664070129, -0.526928722858429, 1.2773300409317017, -2.1893162727355957, 0.1893904209136963, 0.48271894454956055, 1.0424697399139404, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884589519956, 0.014890799801666944, -0.0011548748287129524, -0.08586541563272476], [-0.01489102068662356, 0.9998891058764192, -0.00018290042482931647, 0.20962020754814148], [0.0011520232262712037, 0.000200077288889076, 0.9999993164055486, -9.464172762818635e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9549176096916199, 1.4657618999481201, -0.22624295949935913, 0.050900936126708984, 0.16305553913116455, 0.37685108184814453, -0.882278561592102, -1.111643671989441, -1.3974833488464355, -0.6492499113082886, 0.07629097998142242, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.882952868938446, -0.5367886424064636, 1.2700202465057373, -2.145139455795288, 0.2309562712907791, 0.4900791645050049, 1.0121690034866333, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888031376018, 0.014919666638798079, -0.0011525009233784612, -0.08568397164344788], [-0.014919882115715705, 0.9998886764145593, -0.00017859337619091466, 0.20962265133857727], [0.0011497080692067809, 0.0001957685572513904, 0.9999993199227826, -9.523147309664637e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9551092982292175, 1.4642281532287598, -0.22365477681159973, 0.050038207322359085, 0.16334311664104462, 0.3768521547317505, -0.8822956681251526, -1.1116429567337036, -1.3974852561950684, -0.6492500305175781, 0.07629097998142242, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8824331164360046, -0.5380703806877136, 1.2740459442138672, -2.139371871948242, 0.2942604124546051, 0.4930165112018585, 1.0093454122543335, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882549108328, 0.014904652051537922, -0.0011528393609076403, -0.08588209003210068], [-0.014904882533822618, 0.9998888977125548, -0.00019159286273068366, 0.209621399641037], [0.0011498556528630277, 0.00020875438842384952, 0.9999993171265583, -9.250780567526817e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9553968906402588, 1.4633654356002808, -0.22240860760211945, 0.04936719685792923, 0.1637265533208847, 0.376851350069046, -0.8822889924049377, -1.111642837524414, -1.3974846601486206, -0.6492496728897095, 0.07629157602787018, -1.376609444618225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8825588226318359, -0.5377749800682068, 1.2737367153167725, -2.1405391693115234, 0.2915205955505371, 0.4925316274166107, 1.01008141040802, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884588937013, 0.01489117218986334, -0.0011501139034975718, -0.08579589426517487], [-0.014891378467076433, 0.9998891026543058, -0.00017099858900524354, 0.2096201479434967], [0.001147439989485327, 0.0001881062970506793, 0.9999993239985173, -9.656414476921782e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9553968906402588, 1.462981939315796, -0.22183345258235931, 0.04936719685792923, 0.16382241249084473, 0.3768526315689087, -0.8822901248931885, -1.1116423606872559, -1.3974846601486206, -0.6492495536804199, 0.07629073411226273, -1.3766096830368042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.883282482624054, -0.5394705533981323, 1.2679334878921509, -2.1415293216705322, 0.260794460773468, 0.4804448187351227, 0.9824519157409668, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886721367085, 0.014876808305270254, -0.0011506117234386045, -0.08580504357814789], [-0.014877029976855747, 0.9998893138738248, -0.00018433664709519555, 0.20961901545524597], [0.0011477420257217342, 0.0002014338103914659, 0.9999993210561007, -9.380079427501187e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9554927349090576, 1.4625985622406006, -0.2217375934123993, 0.049654774367809296, 0.16382241249084473, 0.376851886510849, -0.8822901248931885, -1.1116427183151245, -1.3974847793579102, -0.6492496728897095, 0.07629061490297318, -1.3766096830368042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8650747537612915, -0.5478283762931824, 1.2338519096374512, -2.1224939823150635, 0.22785811126232147, 0.4817934036254883, 0.9526469111442566, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886561709783, 0.014877904951107378, -0.0011503064204790917, -0.0858057290315628], [-0.014878117936559378, 0.9998892990433316, -0.0001768199672664688, 0.20961913466453552], [0.0011475483697914342, 0.00019391467404133523, 0.9999993227646897, -9.530775423627347e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9555886387825012, 1.462119221687317, -0.22192931175231934, 0.050517503172159195, 0.16401413083076477, 0.37685200572013855, -0.8822911977767944, -1.111642599105835, -1.3974846601486206, -0.649249792098999, 0.07629049569368362, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8256247639656067, -0.5632586479187012, 1.1742385625839233, -2.111603260040283, 0.19567890465259552, 0.4942653775215149, 0.925305962562561, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886413010887, 0.014879052982086057, -0.0011483812167930782, -0.08584555983543396], [-0.014879255110927537, 0.9998892836981547, -0.00016766912405001005, 0.20961925387382507], [0.0011457593144914464, 0.00018473750972376984, 0.9999993265535961, -9.708094876259565e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9556844830513, 1.4615440368652344, -0.22298376262187958, 0.050996795296669006, 0.16535614430904388, 0.3768530786037445, -0.8822933435440063, -1.1116421222686768, -1.3974854946136475, -0.6492493152618408, 0.07629073411226273, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7774640321731567, -0.5829451084136963, 1.1053942441940308, -2.1002070903778076, 0.16676804423332214, 0.510364294052124, 0.9038051962852478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998888604232047, 0.014864346518734542, -0.0011480436211757947, -0.08580145984888077], [-0.014864560135040544, 0.999889500521358, -0.00017776147199657572, 0.2096179723739624], [0.0011452744548367591, 0.0001948068791064248, 0.9999993251981238, -9.489885997027159e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9555886387825012, 1.4613523483276367, -0.22422991693019867, 0.050900936126708984, 0.16880705952644348, 0.37685292959213257, -0.8822930455207825, -1.1116429567337036, -1.397486686706543, -0.6492501497268677, 0.07629109919071198, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7271448969841003, -0.6045767068862915, 1.0429213047027588, -2.0886542797088623, 0.15620814263820648, 0.5177041292190552, 0.8929685950279236, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884309910373, 0.014893118752603648, -0.0011491666991973227, -0.08579397946596146], [-0.014893372611645287, 0.9998890649593704, -0.00021266623313957096, 0.2096204161643982], [0.0011458719528780405, 0.00022975747402273995, 0.9999993170942522, -8.775377500569448e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9543424844741821, 1.461160659790039, -0.225667804479599, 0.05013406649231911, 0.1735999882221222, 0.3768513798713684, -0.8822930455207825, -1.111642837524414, -1.3974875211715698, -0.6492502689361572, 0.07629085332155228, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6861596703529358, -0.6250137686729431, 0.9884769916534424, -2.0848159790039062, 0.147555410861969, 0.5208738446235657, 0.883939266204834, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886385798993, 0.014879139844814433, -0.0011496244230444715, -0.08580298721790314], [-0.01487939902105399, 0.9998892720196049, -0.00021722080216201735, 0.20961932837963104], [0.0011462650687613233, 0.00023430233265984084, 0.9999993155891703, -8.686878572916612e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9529045820236206, 1.461160659790039, -0.2273932546377182, 0.04860033094882965, 0.17944736778736115, 0.37685179710388184, -0.8822922706604004, -1.111642599105835, -1.3974864482879639, -0.6492500305175781, 0.07629121840000153, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6503958106040955, -0.6421650052070618, 0.941014289855957, -2.07391095161438, 0.10981516540050507, 0.5343256592750549, 0.8742021322250366, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884043504573, 0.014894808209360939, -0.0011504494350710445, -0.08580707758665085], [-0.014895128341149755, 0.9998890249137538, -0.00027020126460479226, 0.2096206098794937], [0.0011462971678315504, 0.0002873072033045479, 0.9999993017284432, -7.58978130761534e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9512749910354614, 1.461256504058838, -0.22902286052703857, 0.04677901417016983, 0.18586990237236023, 0.376851886510849, -0.8822877407073975, -1.1116427183151245, -1.397485375404358, -0.6492493152618408, 0.07629085332155228, -1.3766098022460938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6193459630012512, -0.653099536895752, 0.9062443375587463, -2.052518129348755, 0.032945115119218826, 0.5731420516967773, 0.8634995818138123, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884016012933, 0.014895040812133824, -0.0011498271241976508, -0.08577996492385864], [-0.014895326075335277, 0.9998890296905796, -0.0002399281989248715, 0.20962072908878326], [0.0011461257872109308, 0.00025702847326725597, 0.999999310165784, -8.229460945585743e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9498370885848999, 1.461256504058838, -0.23094002902507782, 0.04553285241127014, 0.19210070371627808, 0.3768523335456848, -0.8822872042655945, -1.1116430759429932, -1.3974847793579102, -0.6492499113082886, 0.07629097998142242, -1.3766096830368042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5989493131637573, -0.6565091013908386, 0.9132580757141113, -2.036764144897461, 0.0038943937979638577, 0.6087976694107056, 0.8626739978790283, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883531753124, 0.014898154520256321, -0.0011515972612943432, -0.08585979789495468], [-0.01489849398259669, 0.9998889701589411, -0.0002867604275734273, 0.20962093770503998], [0.0011471971984731743, 0.0003038854765500113, 0.9999992957958546, -7.273833762155846e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9491661190986633, 1.461256504058838, -0.23276133835315704, 0.044765982776880264, 0.1965102106332779, 0.3768521845340729, -0.88228839635849, -1.1116435527801514, -1.3974851369857788, -0.6492500305175781, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5993098020553589, -0.6504443287849426, 0.9343806505203247, -2.033195734024048, -0.027838755398988724, 0.6359297037124634, 0.8809354305267334, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9486867785453796, 1.461256504058838, -0.23439094424247742, 0.0444784089922905, 0.19929011166095734, 0.37685149908065796, -0.8822878003120422, -1.1116430759429932, -1.3974852561950684, -0.6492500305175781, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6132873892784119, -0.6369146704673767, 0.9686386585235596, -2.0375986099243164, -0.06694112718105316, 0.6626874804496765, 0.9132396578788757, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9485909342765808, 1.4616400003433228, -0.2355412393808365, 0.04467012360692024, 0.2000569850206375, 0.3768523931503296, -0.8822871446609497, -1.1116431951522827, -1.3974850177764893, -0.6492499113082886, 0.07629109919071198, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6376546621322632, -0.6187982559204102, 1.0103594064712524, -2.044292449951172, -0.11440704017877579, 0.6918175220489502, 0.9507029056549072, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.948495090007782, 1.4622150659561157, -0.23659569025039673, 0.04543699324131012, 0.19919425249099731, 0.37685200572013855, -0.8822845220565796, -1.1116434335708618, -1.3974827527999878, -0.6492505669593811, 0.07629085332155228, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.666575014591217, -0.5983983874320984, 1.0545071363449097, -2.0487942695617676, -0.1728636920452118, 0.7149691581726074, 0.9909263253211975, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.948495090007782, 1.462886095046997, -0.23745840787887573, 0.04677901417016983, 0.19641435146331787, 0.3768514394760132, -0.8822882771492004, -1.111643671989441, -1.3974841833114624, -0.6492505669593811, 0.07629109919071198, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6973251700401306, -0.5788844227790833, 1.106344223022461, -2.053053140640259, -0.22318030893802643, 0.7440845966339111, 1.0216293334960938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.948495090007782, 1.463269591331482, -0.23851285874843597, 0.04802517592906952, 0.1926758587360382, 0.3768530488014221, -0.8822944164276123, -1.1116431951522827, -1.3974848985671997, -0.6492503881454468, 0.07629133760929108, -1.3766106367111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7298938632011414, -0.5760530233383179, 1.1919933557510376, -2.042678117752075, -0.1295453906059265, 0.7717176675796509, 1.0312402248382568, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9486867785453796, 1.4634612798690796, -0.23937559127807617, 0.04907962307333946, 0.18845808506011963, 0.3768511414527893, -0.8822931051254272, -1.1116429567337036, -1.3974857330322266, -0.6492508053779602, 0.07629133760929108, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7807670831680298, -0.5833083987236023, 1.2759745121002197, -2.0029897689819336, 0.08134651929140091, 0.756159782409668, 0.9763162136077881, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9485909342765808, 1.4639405012130737, -0.2398548722267151, 0.04994235187768936, 0.18395273387432098, 0.37685033679008484, -0.8822838664054871, -1.1116441488265991, -1.397484540939331, -0.6492505669593811, 0.07629097998142242, -1.376609444618225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.836398720741272, -0.5945571660995483, 1.3472298383712769, -1.9579004049301147, 0.2869105041027069, 0.7365297079086304, 0.9009335041046143, 0.07619998848045269, 0.07619998848045269, 0.07619998848045269, 0.07619998848045269, -0.07619998848045269, -0.07619998848045269, -0.07619998848045269, 0.07619998848045269, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9490702152252197, 1.464132308959961, -0.24043002724647522, 0.05070921778678894, 0.17896807193756104, 0.37685278058052063, -0.8822864294052124, -1.11164391040802, -1.3974817991256714, -0.6492510437965393, 0.07629097998142242, -1.376611590385437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8780774474143982, -0.6026208400726318, 1.3934673070907593, -1.9497261047363281, 0.4427812695503235, 0.7000919580459595, 0.8534853458404541, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, -0.48479999723015244, -0.48479999723015244, -0.48479999723015244, 0.48479999723015244, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879215229733, 0.014927112070426971, -0.0011513981523661515, -0.08586685359477997], [-0.01492745830358205, 0.9998885364453118, -0.0002927009518297687, 0.20962347090244293], [0.0011469006335241437, 0.0003098555942631305, 0.9999992943039747, -7.152369653340429e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.464036464691162, -0.24100518226623535, 0.05109265446662903, 0.1754213124513626, 0.3768514394760132, -0.8822891712188721, -1.1116435527801514, -1.3974851369857788, -0.6492502689361572, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8793915510177612, -0.6028162240982056, 1.395233154296875, -1.9505265951156616, 0.460097998380661, 0.6978270411491394, 0.8532297015190125, 0.5705999999583422, 0.5705999999583422, 0.5705999999583422, 0.5705999999583422, -0.5705999999583422, -0.5705999999583422, -0.5705999999583422, 0.5705999999583422, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885366370278, 0.014885927522785, -0.001150418901704513, -0.08593165874481201], [-0.014886282701676653, 0.99988914791084, -0.0003007947140310437, 0.20961996912956238], [0.001145813767053547, 0.0003178866474367793, 0.9999992930291954, -6.97502910043113e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.464036464691162, -0.2411969006061554, 0.05128437280654907, 0.17379170656204224, 0.37685292959213257, -0.8822896480560303, -1.1116427183151245, -1.3974858522415161, -0.6492499113082886, 0.07629085332155228, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8786523938179016, -0.6026644706726074, 1.3944653272628784, -1.9505703449249268, 0.45270493626594543, 0.6986642479896545, 0.8539080023765564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883321627721, 0.014899630700332692, -0.0011507431267288092, -0.0856018215417862], [-0.014899947345717618, 0.9998889539518827, -0.0002670844522652798, 0.20962117612361908], [0.0011466358815476344, 0.00028420063951884383, 0.9999993022278324, -7.688523328397423e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.464036464691162, -0.2411969006061554, 0.05157194659113884, 0.17312070727348328, 0.3768523037433624, -0.8822899460792542, -1.1116431951522827, -1.3974854946136475, -0.6492505669593811, 0.07629109919071198, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.878640353679657, -0.6026571393013, 1.3944482803344727, -1.9505691528320312, 0.45271846652030945, 0.6986925601959229, 0.8539300560951233, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885473485457, 0.014884900758670532, -0.0011543875517242984, -0.08578703552484512], [-0.014885247771632902, 0.9998891657510008, -0.0002925962144836879, 0.2096199095249176], [0.0011499043404319968, 0.00030974694859168313, 0.9999992908881664, -7.187439769040793e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.464036464691162, -0.2411969006061554, 0.05157194659113884, 0.17254555225372314, 0.3768518269062042, -0.8822625875473022, -1.1116451025009155, -1.3974825143814087, -0.6492499113082886, 0.07629073411226273, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.877049446105957, -0.6094971299171448, 1.4013055562973022, -1.9394018650054932, 0.48091962933540344, 0.7087337374687195, 0.8109418153762817, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883022165429, 0.014901305975678856, -0.0011550630886099774, -0.08583284169435501], [-0.01490167624179576, 0.9998889149876028, -0.000312618136189511, 0.20962128043174744], [0.0011502763599115532, 0.00032979559362194465, 0.9999992840493248, -6.77841599099338e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.464036464691162, -0.24129275977611542, 0.051380228251218796, 0.1714911013841629, 0.3768516778945923, -0.8823053240776062, -1.1116424798965454, -1.397492527961731, -0.6492508053779602, 0.07629073411226273, -1.3766108751296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.849847137928009, -0.6231568455696106, 1.4036009311676025, -1.9364500045776367, 0.564246416091919, 0.7891233563423157, 0.6873589158058167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889604143043, 0.01485707707009603, -0.001155033564417927, -0.08574413508176804], [-0.014857349250020541, 0.9998895976314197, -0.00022742414252302073, 0.20961742103099823], [0.0011515271879635606, 0.00024455962650251104, 0.9999993070876222, -8.555518434150144e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.464036464691162, -0.24129275977611542, 0.05013406649231911, 0.16880705952644348, 0.37685149908065796, -0.8823021054267883, -1.1116440296173096, -1.397489070892334, -0.6492505669593811, 0.07629061490297318, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8076270818710327, -0.6409282684326172, 1.3764984607696533, -1.9141435623168945, 0.6558955311775208, 0.8982754349708557, 0.5827175974845886, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889823523498, 0.014855370278201462, -0.0011579914852307704, -0.08571865409612656], [-0.014855634808637004, 0.9998896247278131, -0.00022017289926872088, 0.2096174955368042], [0.0011545929216615356, 0.00023735115480746723, 0.9999993052895659, -8.72582386364229e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9492619633674622, 1.464036464691162, -0.24100518226623535, 0.04668315500020981, 0.16478100419044495, 0.37685224413871765, -0.8822761178016663, -1.1116453409194946, -1.3974802494049072, -0.6492501497268677, 0.07629097998142242, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7680220603942871, -0.6651259064674377, 1.3258612155914307, -1.8934561014175415, 0.7337886691093445, 0.9863269925117493, 0.4539474546909332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888300278494, 0.014900853636511073, -0.001162551971994136, -0.08576878905296326], [-0.01490121406861672, 0.9998889251413848, -0.00030199153539736434, 0.20962126553058624], [0.0011579229100297927, 0.0003192812388275404, 0.9999992786367523, -7.059299241518602e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9485909342765808, 1.464036464691162, -0.24062174558639526, 0.043519821017980576, 0.16104251146316528, 0.37685084342956543, -0.8822826147079468, -1.111644983291626, -1.3974820375442505, -0.6492501497268677, 0.07629109919071198, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7445876002311707, -0.6854327321052551, 1.2839150428771973, -1.870079755783081, 0.7906635403633118, 1.0141710042953491, 0.3519396483898163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883103067228, 0.014899897576305818, -0.001166175022209644, -0.08576767891645432], [-0.014900268532708141, 0.9998889367636077, -0.00031005708406368877, 0.2096211463212967], [0.0011614256842421206, 0.0003273987748701319, 0.9999992719499461, -6.921742897247896e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9479199051856995, 1.464036464691162, -0.24052588641643524, 0.039589617401361465, 0.15778331458568573, 0.37685275077819824, -0.882283627986908, -1.1116442680358887, -1.3974827527999878, -0.6492500305175781, 0.07629085332155228, -1.3766099214553833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7233295440673828, -0.703378438949585, 1.2421709299087524, -1.8540449142456055, 0.8391773700714111, 1.0126036405563354, 0.25784480571746826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880921509702, 0.014914478285492798, -0.001166838534030707, -0.08581186085939407], [-0.014914861954737454, 0.9998887157971627, -0.0003208026993820179, 0.20962227880954742], [0.0011619240784407471, 0.00033817003470050337, 0.9999992677864638, -6.711754394927993e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9473447799682617, 1.4636529684066772, -0.24014244973659515, 0.03661799803376198, 0.15538685023784637, 0.37685269117355347, -0.8822908997535706, -1.1116429567337036, -1.3974831104278564, -0.649249792098999, 0.07629109919071198, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7071865200996399, -0.7182280421257019, 1.1966525316238403, -1.8568867444992065, 0.8671267628669739, 1.0122411251068115, 0.17585663497447968, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883303332825, 0.014898310116189778, -0.0011692814042355655, -0.08580861985683441], [-0.014898676865742123, 0.9998889618619071, -0.0003055721975520878, 0.20962102711200714], [0.0011645990600435158, 0.00032295882021345594, 0.9999992697030482, -7.051337161101401e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9468654990196228, 1.462886095046997, -0.24004659056663513, 0.03422153368592262, 0.15414069592952728, 0.37685269117355347, -0.8822824954986572, -1.1116440296173096, -1.39748215675354, -0.6492496728897095, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6935615539550781, -0.7306820154190063, 1.145878791809082, -1.8590458631515503, 0.8692492842674255, 1.0122528076171875, 0.10402391105890274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881152187328, 0.014912658585063911, -0.001170323995975351, -0.08581190556287766], [-0.014913072168001595, 0.9998887342765207, -0.0003454640492709665, 0.20962218940258026], [0.0011650419916090422, 0.00036287852331330254, 0.9999992554978904, -6.224244862096384e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9467695951461792, 1.462119221687317, -0.2399507313966751, 0.032975371927022934, 0.15366140007972717, 0.3768516778945923, -0.8822875022888184, -1.1116440296173096, -1.3974838256835938, -0.6492495536804199, 0.07629145681858063, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6779356002807617, -0.7397146224975586, 1.1104762554168701, -1.8422120809555054, 0.8685486912727356, 1.0122771263122559, 0.05085362121462822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881324077836, 0.01491139262758037, -0.0011717678868433683, -0.08574588596820831], [-0.014911822032906322, 0.9998887483032756, -0.0003585807689670851, 0.2096221148967743], [0.0011662905870430218, 0.0003760138495923287, 0.9999992491896439, -5.96313075220678e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9461944699287415, 1.4615440368652344, -0.2394714504480362, 0.03182506933808327, 0.15366140007972717, 0.37685179710388184, -0.88228440284729, -1.1116441488265991, -1.3974835872650146, -0.6492496728897095, 0.07629073411226273, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6632754802703857, -0.7445125579833984, 1.0924087762832642, -1.8249021768569946, 0.8602696061134338, 1.0122796297073364, 0.0040835049003362656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881342478289, 0.014911215723904993, -0.0011724487327481967, -0.08575986325740814], [-0.014911654257257307, 0.9998887480498612, -0.00036618382445421406, 0.20962215960025787], [0.0011668580495391993, 0.00038362601116235915, 0.9999992456364034, -5.808769856230356e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9459068775177002, 1.4610648155212402, -0.23937559127807617, 0.031154057011008263, 0.15366140007972717, 0.376851886510849, -0.8822849988937378, -1.1116446256637573, -1.3974833488464355, -0.649249792098999, 0.07629109919071198, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6587747931480408, -0.741901695728302, 1.0976905822753906, -1.8112998008728027, 0.8561993837356567, 1.012279748916626, -0.019641904160380363, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879414664618, 0.014923952326049744, -0.0011748008049726245, -0.08580337464809418], [-0.01492441727650801, 0.9998885494009159, -0.0003880024339927538, 0.20962317287921906], [0.0011688793428918066, 0.00040549217243918026, 0.9999992346482971, -5.3718056733487174e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9455234408378601, 1.4605854749679565, -0.23889629542827606, 0.03067476488649845, 0.15366140007972717, 0.376851886510849, -0.8822890520095825, -1.1116437911987305, -1.3974839448928833, -0.6492501497268677, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6661452651023865, -0.7298046350479126, 1.1213586330413818, -1.7994372844696045, 0.8425032496452332, 1.0122817754745483, -0.03188798576593399, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879172075303, 0.014925555164904758, -0.0011750852762028464, -0.08577676862478256], [-0.014926051100388044, 0.9998885144172425, -0.0004144092525127224, 0.2096233069896698], [0.0011687689829768134, 0.0004319021872463928, 0.9999992237194812, -4.8270096158375964e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.94514000415802, 1.4603937864303589, -0.238608717918396, 0.03067476488649845, 0.15356554090976715, 0.3768501877784729, -0.8822879195213318, -1.1116440296173096, -1.3974848985671997, -0.6492502689361572, 0.07629121840000153, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6805650591850281, -0.7150318026542664, 1.1627031564712524, -1.7961905002593994, 0.8545324206352234, 1.0123326778411865, -0.0298959668725729, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9448524713516235, 1.4602020978927612, -0.2381294220685959, 0.03067476488649845, 0.1533738225698471, 0.3768528997898102, -0.8822899460792542, -1.1116437911987305, -1.3974840641021729, -0.6492496728897095, 0.07629109919071198, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6983648538589478, -0.7091533541679382, 1.189957618713379, -1.8091840744018555, 0.9057598114013672, 1.0123122930526733, -0.022572407498955727, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9448524713516235, 1.4599144458770752, -0.23755426704883575, 0.03067476488649845, 0.15318210422992706, 0.37685129046440125, -0.882289707660675, -1.111643671989441, -1.3974852561950684, -0.6492501497268677, 0.07629097998142242, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7079097032546997, -0.7116346955299377, 1.180659294128418, -1.8044958114624023, 0.9461982846260071, 1.0123127698898315, -0.02497764118015766, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.944277286529541, 1.4595310688018799, -0.23755426704883575, 0.030770622193813324, 0.15346968173980713, 0.3768516778945923, -0.8822923302650452, -1.111643671989441, -1.3974857330322266, -0.6492499113082886, 0.07629121840000153, -1.3766101598739624, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7020572423934937, -0.7142494916915894, 1.175925850868225, -1.7974690198898315, 0.9737908840179443, 1.012308120727539, -0.014486890286207199, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9440855979919434, 1.4593393802642822, -0.23745840787887573, 0.030770622193813324, 0.15394897758960724, 0.37685200572013855, -0.8822891712188721, -1.1116435527801514, -1.3974850177764893, -0.6492499113082886, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7017534375190735, -0.7141687870025635, 1.176141381263733, -1.79817533493042, 0.9734067916870117, 1.0123066902160645, -0.013695691712200642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9439896941184998, 1.4589558839797974, -0.23755426704883575, 0.030866481363773346, 0.15414069592952728, 0.3768516778945923, -0.88228839635849, -1.1116431951522827, -1.3974854946136475, -0.6492499113082886, 0.07629133760929108, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7018775939941406, -0.714123010635376, 1.1762291193008423, -1.798241138458252, 0.9730979800224304, 1.012303352355957, -0.013960783369839191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9440855979919434, 1.4588600397109985, -0.23755426704883575, 0.030962340533733368, 0.15414069592952728, 0.3768516778945923, -0.8822891116142273, -1.1116437911987305, -1.397485613822937, -0.6492499113082886, 0.07629133760929108, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7112259268760681, -0.7188388705253601, 1.1736810207366943, -1.787047266960144, 0.9792006015777588, 0.980521023273468, -0.0161239355802536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9437021613121033, 1.4587641954421997, -0.23755426704883575, 0.031249916180968285, 0.15414069592952728, 0.37685123085975647, -0.8823031783103943, -1.111642837524414, -1.3974860906600952, -0.6492502689361572, 0.07629121840000153, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7042526602745056, -0.7351336479187012, 1.1546833515167236, -1.760156273841858, 1.0128039121627808, 0.9339372515678406, -0.051929324865341187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9433187246322632, 1.4584766626358032, -0.23832114040851593, 0.03144163265824318, 0.15385311841964722, 0.3768530786037445, -0.8822856545448303, -1.1116429567337036, -1.3974837064743042, -0.6492494344711304, 0.07629097998142242, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6789980530738831, -0.7572076320648193, 1.1221667528152466, -1.7399094104766846, 1.0597269535064697, 0.9175393581390381, -0.11119706928730011, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9430311322212219, 1.457709789276123, -0.23956730961799622, 0.0315374918282032, 0.15394897758960724, 0.37685179710388184, -0.8822893500328064, -1.111642837524414, -1.3974848985671997, -0.649249792098999, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6474590301513672, -0.7814856767654419, 1.0808171033859253, -1.7189793586730957, 1.0901228189468384, 0.9099438786506653, -0.19636547565460205, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9422642588615417, 1.4575179815292358, -0.24090932309627533, 0.031249916180968285, 0.15471583604812622, 0.37685030698776245, -0.8822997808456421, -1.111642599105835, -1.3974863290786743, -0.6492505669593811, 0.07629085332155228, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.616832971572876, -0.8052507042884827, 1.0399188995361328, -1.6986908912658691, 1.0975353717803955, 0.9062936902046204, -0.2996649444103241, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9413056969642639, 1.4575179815292358, -0.24186791479587555, 0.03057890571653843, 0.15644130110740662, 0.376851886510849, -0.8822903633117676, -1.1116433143615723, -1.397484540939331, -0.6492494344711304, 0.07629025727510452, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.589102029800415, -0.8261041045188904, 1.0111156702041626, -1.6728129386901855, 1.1212878227233887, 0.9197664856910706, -0.3737148642539978, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9407305121421814, 1.4575179815292358, -0.24263477325439453, 0.029524460434913635, 0.15778331458568573, 0.376851886510849, -0.8822891116142273, -1.1116433143615723, -1.3974846601486206, -0.6492502689361572, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5663846135139465, -0.8421934247016907, 0.994757890701294, -1.6459245681762695, 1.1429266929626465, 0.9388337731361389, -0.4168833792209625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9402512311935425, 1.4575179815292358, -0.24320992827415466, 0.02923688478767872, 0.15835846960544586, 0.37685200572013855, -0.8822888135910034, -1.111642837524414, -1.3974852561950684, -0.649249792098999, 0.07629121840000153, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5495468378067017, -0.8548239469528198, 0.982064425945282, -1.6332029104232788, 1.156440019607544, 0.9562472105026245, -0.4291488528251648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9397719502449036, 1.4575179815292358, -0.2437850832939148, 0.028949309140443802, 0.15835846960544586, 0.37685203552246094, -0.8822888135910034, -1.111642599105835, -1.3974848985671997, -0.6492501497268677, 0.07629085332155228, -1.376610279083252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5394476652145386, -0.8642733097076416, 0.9689825773239136, -1.6249783039093018, 1.1515535116195679, 0.978336751461029, -0.4341825842857361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9396761059761047, 1.4575179815292358, -0.24407266080379486, 0.029045168310403824, 0.15787917375564575, 0.37685203552246094, -0.8822901844978333, -1.1116430759429932, -1.3974848985671997, -0.6492500305175781, 0.07629145681858063, -1.376610517501831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5329440236091614, -0.8709182143211365, 0.9690911769866943, -1.6131601333618164, 1.1436858177185059, 0.9874380826950073, -0.4423084855079651, 0.5850000003045731, 0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.5850000003045731, -0.5850000003045731, -0.5850000003045731, 0.5850000003045731, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9395802021026611, 1.4576139450073242, -0.24455195665359497, 0.02933274395763874, 0.15701645612716675, 0.37685224413871765, -0.8822862505912781, -1.1116429567337036, -1.3974825143814087, -0.6492496728897095, 0.07629097998142242, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5308505296707153, -0.8752163648605347, 0.9777688384056091, -1.6133501529693604, 1.1332974433898926, 0.9877606630325317, -0.44913268089294434, 0.393600007727906, 0.393600007727906, 0.393600007727906, 0.393600007727906, -0.393600007727906, -0.393600007727906, -0.393600007727906, 0.393600007727906, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9395802021026611, 1.457709789276123, -0.24483953416347504, 0.030483046546578407, 0.1559620052576065, 0.3768521547317505, -0.8822917938232422, -1.1116430759429932, -1.397484540939331, -0.6492505669593811, 0.07629145681858063, -1.3766100406646729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5351641774177551, -0.8765468597412109, 0.9947811365127563, -1.6219134330749512, 1.116428017616272, 0.9796552658081055, -0.45574724674224854, 0.30419999662336417, 0.30419999662336417, 0.30419999662336417, 0.30419999662336417, -0.30419999662336417, -0.30419999662336417, -0.30419999662336417, 0.30419999662336417, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9395802021026611, 1.4579014778137207, -0.2451271116733551, 0.03144163265824318, 0.15471583604812622, 0.3768519461154938, -0.8822906017303467, -1.1116431951522827, -1.3974851369857788, -0.6492501497268677, 0.07629073411226273, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5409473180770874, -0.8744859099388123, 1.0293372869491577, -1.63581383228302, 1.1074777841567993, 0.9621671438217163, -0.44769948720932007, 0.30240000840071796, 0.30240000840071796, 0.30240000840071796, 0.30240000840071796, -0.30240000840071796, -0.30240000840071796, -0.30240000840071796, 0.30240000840071796, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9395802021026611, 1.4578056335449219, -0.24541467428207397, 0.032591935247182846, 0.1533738225698471, 0.37685129046440125, -0.882256269454956, -1.1116464138031006, -1.3974844217300415, -0.6492506861686707, 0.07629061490297318, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.548980176448822, -0.8681159615516663, 1.07719886302948, -1.661965012550354, 1.1091746091842651, 0.9406048059463501, -0.39112362265586853, 0.2982000031314053, 0.2982000031314053, 0.2982000031314053, 0.2982000031314053, -0.2982000031314053, -0.2982000031314053, -0.2982000031314053, 0.2982000031314053, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9400595426559448, 1.4576139450073242, -0.2459898293018341, 0.03422153368592262, 0.15107321739196777, 0.37685292959213257, -0.8822343349456787, -1.111644983291626, -1.3974778652191162, -0.6492491960525513, 0.07629085332155228, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5647849440574646, -0.8580716848373413, 1.1214104890823364, -1.6956578493118286, 1.104906678199768, 0.9337248802185059, -0.2954410910606384, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.940826416015625, 1.4569429159164429, -0.24694842100143433, 0.0358511321246624, 0.14848503470420837, 0.37685245275497437, -0.8822435140609741, -1.1116514205932617, -1.3974783420562744, -0.649249792098999, 0.07629073411226273, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5879186987876892, -0.8461043834686279, 1.1648138761520386, -1.7043588161468506, 1.1073485612869263, 0.9537646770477295, -0.18352042138576508, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9414015412330627, 1.4563677310943604, -0.24742771685123444, 0.03834345564246178, 0.14580099284648895, 0.3768520951271057, -0.8823372721672058, -1.1116418838500977, -1.397491693496704, -0.6492505669593811, 0.07629061490297318, -1.3766111135482788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6107584238052368, -0.8365600109100342, 1.1894829273223877, -1.7204757928848267, 1.084997296333313, 0.9752474427223206, -0.10576102137565613, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9417849779129028, 1.4561760425567627, -0.2477152943611145, 0.0401647686958313, 0.14350038766860962, 0.3768514394760132, -0.8822939395904541, -1.1116437911987305, -1.397486925125122, -0.6492503881454468, 0.07629133760929108, -1.3766103982925415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6159730553627014, -0.8345412611961365, 1.1919680833816528, -1.7233984470367432, 1.0745556354522705, 0.9779929518699646, -0.08494370430707932, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, -0.29399999786209274, -0.29399999786209274, -0.29399999786209274, 0.29399999786209274, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9418808221817017, 1.4560801982879639, -0.2480987161397934, 0.04150678962469101, 0.1425417959690094, 0.3815464973449707, -0.8827086687088013, -1.1126577854156494, -1.3975600004196167, -0.6544110774993896, 0.07911278307437897, -1.3710057735443115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6152592897415161, -0.8347794413566589, 1.1914353370666504, -1.722948431968689, 1.076000690460205, 0.9774823784828186, -0.08819287270307541, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, -0.29399999786209274, -0.29399999786209274, -0.29399999786209274, 0.29399999786209274, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9419766664505005, 1.4559842348098755, -0.24829043447971344, 0.04150678962469101, 0.1421583592891693, 0.41123369336128235, -0.8856091499328613, -1.1183958053588867, -1.384788990020752, -0.7132641673088074, 0.1312158703804016, -1.3000593185424805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6236116290092468, -0.8349215984344482, 1.1935348510742188, -1.72581946849823, 1.0708322525024414, 0.9617375135421753, -0.0832233726978302, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, -0.29399999786209274, -0.29399999786209274, -0.29399999786209274, 0.29399999786209274, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9419766664505005, 1.4560801982879639, -0.24829043447971344, 0.04141093045473099, 0.1421583592891693, 0.43552735447883606, -0.8884270191192627, -1.1242090463638306, -1.354015827178955, -0.7995088696479797, 0.2106940597295761, -1.264054536819458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6277402639389038, -0.8337628245353699, 1.2120174169540405, -1.750688910484314, 1.0648950338363647, 0.9131926894187927, -0.031550031155347824, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886113115122, 0.014878867434495733, -0.0011765514873455728, -0.08575362712144852], [-0.014879333015808077, 0.9998892213326873, -0.00038795839584155207, 0.20961931347846985], [0.0011706487689979541, 0.00040542148305511055, 0.999999232607146, -5.389740181271918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9428394436836243, 1.4556008577346802, -0.24838629364967346, 0.04208194091916084, 0.1425417959690094, 0.45904210209846497, -0.8908140659332275, -1.1228435039520264, -1.3308367729187012, -0.8448795676231384, 0.2778293192386627, -1.2444134950637817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6280156970024109, -0.8289152383804321, 1.234963297843933, -1.7743552923202515, 1.0637649297714233, 0.8862146139144897, 0.06704922020435333, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998877135819624, 0.014939339452494819, -0.0011731856454909972, -0.08613835275173187], [-0.014939737408089323, 0.9998883410487512, -0.00033118114906731546, 0.20962460339069366], [0.0011681070212060179, 0.00034867104739694037, 0.9999992569769678, -6.536825821967795e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.943414568901062, 1.4554091691970825, -0.24876973032951355, 0.04284881055355072, 0.1429252326488495, 0.4810204803943634, -0.8982701301574707, -1.1236200332641602, -1.3182015419006348, -0.9487111568450928, 0.34792360663414, -1.2002347707748413, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6409009695053101, -0.8235198855400085, 1.2602508068084717, -1.8008161783218384, 1.0805095434188843, 0.8671696186065674, 0.17770543694496155, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879388720948, 0.014924113964018191, -0.001174955532357522, -0.08588317781686783], [-0.014924537054051622, 0.9998885608829904, -0.0003521492078601464, 0.20962336659431458], [0.0011695690814400271, 0.0003696454130022555, 0.9999992477349332, -6.0954465880058706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9437980055809021, 1.4550256729125977, -0.24905730783939362, 0.04409497231245041, 0.14359624683856964, 0.5001028776168823, -0.9088302254676819, -1.1289970874786377, -1.31611168384552, -1.068010926246643, 0.39746591448783875, -1.1409729719161987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.656586766242981, -0.8187426924705505, 1.2784500122070312, -1.8237749338150024, 1.0866621732711792, 0.8589937686920166, 0.26389622688293457, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881502625958, 0.01491014643301255, -0.00117238977768464, -0.08594757318496704], [-0.014910548530493282, 0.9998887754790671, -0.0003349828227513034, 0.20962199568748474], [0.0011672647362535044, 0.0003524263296873648, 0.9999992566440825, -6.458010466303676e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9441814422607422, 1.4549298286437988, -0.24905730783939362, 0.044861841946840286, 0.14455482363700867, 0.5167874693870544, -0.9193500280380249, -1.1328672170639038, -1.3162286281585693, -1.1777881383895874, 0.4308246076107025, -1.079691767692566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.670803427696228, -0.8156121969223022, 1.2925512790679932, -1.8359508514404297, 1.0977083444595337, 0.8482246398925781, 0.3317614495754242, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881236273621, 0.014912111007710458, -0.0011701171935445437, -0.0858524888753891], [-0.014912517248326576, 0.9998887446887472, -0.0003392257059919366, 0.20962229371070862], [0.0011649284404075528, 0.00035663714748174116, 0.9999992578755615, -6.348788883769885e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9440855979919434, 1.4550256729125977, -0.2494407445192337, 0.04591628909111023, 0.14570513367652893, 0.5331761240959167, -0.9272922873497009, -1.1384789943695068, -1.3077853918075562, -1.2630728483200073, 0.45991846919059753, -1.013279676437378, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6812658905982971, -0.8134671449661255, 1.306723713874817, -1.8445360660552979, 1.1150612831115723, 0.8394984006881714, 0.38740840554237366, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885596346105, 0.014882851785888817, -0.0011700574956966666, -0.08592701703310013], [-0.014883223357345751, 0.9998891907957841, -0.0003095032269843143, 0.2096197009086609], [0.0011653215519022194, 0.000326882962881, 0.9999992675863364, -6.971538095967844e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9439896941184998, 1.4550256729125977, -0.25011175870895386, 0.04668315500020981, 0.14656785130500793, 0.5472313761711121, -0.9318873882293701, -1.1425124406814575, -1.3103127479553223, -1.3089038133621216, 0.4809461236000061, -0.9624032378196716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6914015412330627, -0.8114010095596313, 1.320515751838684, -1.8531845808029175, 1.1257734298706055, 0.8365289568901062, 0.4203941524028778, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881129177669, 0.014912835930623897, -0.001170030022343291, -0.08593466132879257], [-0.014913283907058388, 0.9998887204437893, -0.00037508984166167444, 0.2096223086118698], [0.001164306168653707, 0.000392496863856703, 0.9999992451683939, -5.593537935055792e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9435104131698608, 1.4550256729125977, -0.25087863206863403, 0.047354165464639664, 0.1473347246646881, 0.5597219467163086, -0.9347416162490845, -1.1486749649047852, -1.3141329288482666, -1.32673180103302, 0.5002941489219666, -0.9350000023841858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6997583508491516, -0.8100448846817017, 1.327940583229065, -1.8643335103988647, 1.14507257938385, 0.8429043292999268, 0.4592604339122772, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887542935543, 0.01487003747852321, -0.0011666287633898547, -0.08586890995502472], [-0.014870396511097799, 0.9998893846307946, -0.0002996835894507563, 0.20961862802505493], [0.0011620434101116352, 0.00031699848323099653, 0.9999992745832742, -7.134779298212379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9424560070037842, 1.4550256729125977, -0.25174134969711304, 0.04802517592906952, 0.14800573885440826, 0.5713163614273071, -0.9381759166717529, -1.1540052890777588, -1.3207669258117676, -1.367458462715149, 0.5153868794441223, -0.913763701915741, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7045009136199951, -0.8087273836135864, 1.3264877796173096, -1.8797287940979004, 1.1519101858139038, 0.8538000583648682, 0.49565961956977844, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882836539971, 0.014901659410206032, -0.001166515446155504, -0.08590193092823029], [-0.01490207854591885, 0.9998888960997551, -0.00035144192197815715, 0.2096215784549713], [0.0011611487739159535, 0.0003687861649744384, 0.9999992578648693, -6.04057677264791e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9414015412330627, 1.4549298286437988, -0.2528916597366333, 0.04860033094882965, 0.14838917553424835, 0.5793627500534058, -0.9416115880012512, -1.1590360403060913, -1.3298157453536987, -1.3896238803863525, 0.5234488844871521, -0.8909330368041992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.707430362701416, -0.8076109290122986, 1.3150355815887451, -1.895788311958313, 1.1432851552963257, 0.8626424670219421, 0.5311050415039062, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880805276997, 0.014915176392118354, -0.0011678749180658921, -0.08590656518936157], [-0.014915603267840676, 0.9998886922338885, -0.0003576617961806729, 0.20962266623973846], [0.001162410335738908, 0.00037504132580551517, 0.9999992540728294, -5.918908937019296e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9405388236045837, 1.454833984375, -0.25404196977615356, 0.04936719685792923, 0.14886847138404846, 0.582551896572113, -0.9438443183898926, -1.1623129844665527, -1.338248610496521, -1.3906099796295166, 0.527030348777771, -0.8886095285415649, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7030277252197266, -0.8082062602043152, 1.2964448928833008, -1.8940848112106323, 1.1315935850143433, 0.8633108735084534, 0.5578426718711853, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884904755032, 0.014887650571105854, -0.0011681074831720714, -0.0858459621667862], [-0.014888077119881611, 0.9998891025919059, -0.00035732006036114214, 0.20962032675743103], [0.0011626582868791092, 0.0003746710900648947, 0.9999992539233628, -5.930815314059146e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9396761059761047, 1.4546422958374023, -0.2550964057445526, 0.04994235187768936, 0.1490601897239685, 0.5849832892417908, -0.9468128085136414, -1.164266586303711, -1.338493824005127, -1.3984915018081665, 0.5325121879577637, -0.8877878785133362, 0.577200000168203, -0.577200000168203, 0.577200000168203, 0.577200000168203, -0.577200000168203, -0.577200000168203, 0.577200000168203, 0.577200000168203, -0.6912774443626404, -0.8090411424636841, 1.2808500528335571, -1.889485478401184, 1.1193220615386963, 0.8618994355201721, 0.5826165676116943, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882808944055, 0.01490160612378793, -0.0011695575923969979, -0.08588921278715134], [-0.014902112725890905, 0.9998888667564284, -0.0004256440417873053, 0.20962147414684296], [0.0011630848358085593, 0.00044302536829697684, 0.9999992254807939, -4.51349769718945e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9391009211540222, 1.4546422958374023, -0.2557674050331116, 0.05061336234211922, 0.14953947067260742, 0.5869698524475098, -0.9491428136825562, -1.1653329133987427, -1.3403573036193848, -1.39738929271698, 0.5382793545722961, -0.8896072506904602, 0.3756000076021467, -0.3756000076021467, 0.3756000076021467, 0.3756000076021467, -0.3756000076021467, -0.3756000076021467, 0.3756000076021467, 0.3756000076021467, -0.6882306337356567, -0.8103428483009338, 1.2740604877471924, -1.8837029933929443, 1.1167261600494385, 0.8526073694229126, 0.5852907299995422, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884862155285, 0.01488774380359393, -0.0011705631368480831, -0.08589699119329453], [-0.014888234953738937, 0.999889079208015, -0.00041199576477136, 0.20962025225162506], [0.0011642996096637938, 0.0004293774405740241, 0.9999992300204198, -4.80918497487437e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9390050768852234, 1.4546422958374023, -0.2567259967327118, 0.050900936126708984, 0.15001876652240753, 0.5890974998474121, -0.9505685567855835, -1.169132947921753, -1.3394721746444702, -1.3952298164367676, 0.5448060035705566, -0.8943492770195007, 0.3017999992265806, -0.3017999992265806, 0.3017999992265806, 0.3017999992265806, -0.3017999992265806, -0.3017999992265806, 0.3017999992265806, 0.3017999992265806, -0.6907287240028381, -0.8125226497650146, 1.2749626636505127, -1.8816640377044678, 1.1295795440673828, 0.8391280174255371, 0.5698265433311462, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885043465146, 0.014886388620720444, -0.0011723094825772961, -0.08592364192008972], [-0.014886969218108096, 0.9998890637994572, -0.0004881001375079729, 0.2096201777458191], [0.0011649133826846679, 0.0005054978516453995, 0.9999991937240413, -3.209302667528391e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9389092326164246, 1.4546422958374023, -0.25739699602127075, 0.05118851363658905, 0.15059392154216766, 0.5924687385559082, -0.9516698122024536, -1.1716020107269287, -1.3377293348312378, -1.3885821104049683, 0.55169677734375, -0.8983986377716064, 0.27120000294276647, -0.27120000294276647, 0.27120000294276647, 0.27120000294276647, -0.27120000294276647, -0.27120000294276647, 0.27120000294276647, 0.27120000294276647, -0.6926813721656799, -0.8146333694458008, 1.2757556438446045, -1.8817782402038574, 1.144608974456787, 0.8312078714370728, 0.5578026175498962, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887426135243, 0.014870539354134156, -0.0011702367548629886, -0.08589400351047516], [-0.014871117069038885, 0.9998893004556745, -0.00048652993820752575, 0.2096186727285385], [0.0011628722475943928, 0.0005038785359382183, 0.9999991969169559, -3.22745181620121e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.938813328742981, 1.4547381401062012, -0.2579721510410309, 0.05118851363658905, 0.15097735822200775, 0.5946632027626038, -0.9537286758422852, -1.1748254299163818, -1.3368828296661377, -1.3901287317276, 0.5549836754798889, -0.8966476321220398, 0.2699999845944918, -0.2699999845944918, 0.2699999845944918, 0.2699999845944918, -0.2699999845944918, -0.2699999845944918, 0.2699999845944918, 0.2699999845944918, -0.6885383129119873, -0.8156052231788635, 1.273496150970459, -1.8826148509979248, 1.146728515625, 0.8345367312431335, 0.5539779663085938, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882947823028, 0.014900605301371413, -0.0011704353854232706, -0.08590123802423477], [-0.014901233642467385, 0.999888830004422, -0.0005299701129785437, 0.2096213698387146], [0.0011624083926516323, 0.000547351843693304, 0.9999991746060033, -2.3174387024482712e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9389092326164246, 1.4552173614501953, -0.258547306060791, 0.05128437280654907, 0.15145665407180786, 0.593988299369812, -0.955906867980957, -1.178233027458191, -1.3376977443695068, -1.3899223804473877, 0.5536749958992004, -0.894439160823822, 0.2622000028798868, -0.2622000028798868, 0.2622000028798868, 0.2622000028798868, -0.2622000028798868, -0.2622000028798868, 0.2622000028798868, 0.2622000028798868, -0.683689296245575, -0.8161274790763855, 1.2693346738815308, -1.8796709775924683, 1.1409555673599243, 0.8388361930847168, 0.5534781217575073, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9389092326164246, 1.4561760425567627, -0.258547306060791, 0.05118851363658905, 0.15155251324176788, 0.5919535756111145, -0.9572365283966064, -1.181639313697815, -1.3370229005813599, -1.380788803100586, 0.553576648235321, -0.8979801535606384, 0.19319998929788776, -0.19319998929788776, 0.19319998929788776, 0.19319998929788776, -0.19319998929788776, -0.19319998929788776, 0.19319998929788776, 0.19319998929788776, -0.6806168556213379, -0.8170583248138428, 1.2663531303405762, -1.874890923500061, 1.1383730173110962, 0.8379970192909241, 0.5496253371238708, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9390050768852234, 1.4567511081695557, -0.2589307427406311, 0.05109265446662903, 0.15155251324176788, 0.5872534513473511, -0.9592778086662292, -1.1859475374221802, -1.3332068920135498, -1.376627802848816, 0.5500640869140625, -0.898524820804596, 0.18780000498006633, -0.18780000498006633, 0.18780000498006633, 0.18780000498006633, -0.18780000498006633, -0.18780000498006633, 0.18780000498006633, 0.18780000498006633, -0.6776503324508667, -0.8174514174461365, 1.2650150060653687, -1.8681671619415283, 1.13142991065979, 0.8373537063598633, 0.5450212359428406, 0.34440000214419525, 0.34440000214419525, 0.34440000214419525, 0.34440000214419525, -0.34440000214419525, -0.34440000214419525, -0.34440000214419525, 0.34440000214419525, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.939196765422821, 1.4571346044540405, -0.25912246108055115, 0.05061336234211922, 0.15155251324176788, 0.5791330933570862, -0.9619216322898865, -1.1947511434555054, -1.3313610553741455, -1.384892225265503, 0.5399748086929321, -0.8842030763626099, 0.16199998383993633, -0.16199998383993633, 0.16199998383993633, 0.16199998383993633, -0.16199998383993633, -0.16199998383993633, 0.16199998383993633, 0.16199998383993633, -0.6684395670890808, -0.8176357746124268, 1.2667497396469116, -1.8487536907196045, 1.1206309795379639, 0.8339264988899231, 0.5402167439460754, 0.4937999972930321, 0.4937999972930321, 0.4937999972930321, 0.4937999972930321, -0.4937999972930321, -0.4937999972930321, -0.4937999972930321, 0.4937999972930321, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.939196765422821, 1.4575179815292358, -0.25921833515167236, 0.050038207322359085, 0.15184007585048676, 0.564853847026825, -0.9635969400405884, -1.203725814819336, -1.3315939903259277, -1.3740127086639404, 0.5231932401657104, -0.8783553838729858, 0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.6450831890106201, -0.8152100443840027, 1.2746801376342773, -1.82799232006073, 1.0912971496582031, 0.8377749919891357, 0.5462674498558044, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9396761059761047, 1.4579973220825195, -0.25912246108055115, 0.04898376390337944, 0.1524152308702469, 0.5434246063232422, -0.9629643559455872, -1.2121970653533936, -1.3258990049362183, -1.3425692319869995, 0.5162543058395386, -0.8862040638923645, 0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.6190707683563232, -0.8086847066879272, 1.27765691280365, -1.80796217918396, 1.025577425956726, 0.8464465141296387, 0.5648592114448547, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9404429793357849, 1.458284854888916, -0.2590266168117523, 0.04840861260890961, 0.152894526720047, 0.5153062343597412, -0.9617050290107727, -1.2155450582504272, -1.3231934309005737, -1.2987111806869507, 0.5117889642715454, -0.9114194512367249, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.6078729629516602, -0.8047351837158203, 1.276024580001831, -1.7978334426879883, 0.9332627654075623, 0.8498785495758057, 0.5581186413764954, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9412098526954651, 1.4587641954421997, -0.25825974345207214, 0.047354165464639664, 0.15346968173980713, 0.4854320287704468, -0.9619638919830322, -1.2006721496582031, -1.3309376239776611, -1.2322380542755127, 0.49818843603134155, -0.9465910196304321, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.6087384819984436, -0.8050233125686646, 1.276023268699646, -1.7986574172973633, 0.9647166728973389, 0.8495198488235474, 0.5575764775276184, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9419766664505005, 1.4589558839797974, -0.2572053074836731, 0.04649144038558006, 0.15529099106788635, 0.4491785764694214, -0.9615984559059143, -1.176698088645935, -1.326575756072998, -1.1350470781326294, 0.46634945273399353, -1.011033535003662, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.6088268160820007, -0.8050557971000671, 1.2760729789733887, -1.7987004518508911, 0.9677174091339111, 0.8494447469711304, 0.5577722191810608, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.942551851272583, 1.4595310688018799, -0.2559591233730316, 0.04601214453577995, 0.15835846960544586, 0.4360792934894562, -0.9613555669784546, -1.1691696643829346, -1.3182530403137207, -1.0937374830245972, 0.45180851221084595, -1.0435872077941895, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.6088194847106934, -0.8050586581230164, 1.276095986366272, -1.7986947298049927, 0.9667989611625671, 0.8494347929954529, 0.5578002333641052, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9429352879524231, 1.4600104093551636, -0.25519225001335144, 0.04591628909111023, 0.1597963571548462, 0.4373576045036316, -0.9613804221153259, -1.1698768138885498, -1.3188197612762451, -1.101501226425171, 0.45333603024482727, -1.040130376815796, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.6135597825050354, -0.8056552410125732, 1.2722995281219482, -1.8068257570266724, 0.9690959453582764, 0.8393100500106812, 0.5641656517982483, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9432228803634644, 1.4600104093551636, -0.2550964057445526, 0.04601214453577995, 0.1602756381034851, 0.4373783767223358, -0.961417019367218, -1.1699365377426147, -1.3189465999603271, -1.1014344692230225, 0.4534609019756317, -1.0400255918502808, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.6055669784545898, -0.80605548620224, 1.2491652965545654, -1.8197243213653564, 0.9480673670768738, 0.8077890276908875, 0.6190035343170166, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9440855979919434, 1.4596269130706787, -0.25519225001335144, 0.047450024634599686, 0.16075493395328522, 0.4476793706417084, -0.9620379209518433, -1.1695725917816162, -1.3368053436279297, -1.1005781888961792, 0.4436890780925751, -1.0268012285232544, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.5708280801773071, -0.8135376572608948, 1.214604377746582, -1.8020120859146118, 0.9714785218238831, 0.7787430882453918, 0.6960530281066895, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9443731307983398, 1.4586683511734009, -0.25615084171295166, 0.050038207322359085, 0.1615218073129654, 0.4640178680419922, -0.9648786187171936, -1.1587119102478027, -1.376964807510376, -1.0853614807128906, 0.4185381531715393, -1.0116640329360962, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.5324298143386841, -0.8257741332054138, 1.163026213645935, -1.785483479499817, 0.9846041202545166, 0.7536459565162659, 0.7326738238334656, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9450441598892212, 1.457422137260437, -0.25787630677223206, 0.05262639373540878, 0.16295967996120453, 0.46919357776641846, -0.9727091193199158, -1.1366968154907227, -1.402580976486206, -1.0919885635375977, 0.40021175146102905, -1.0091599225997925, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.49899306893348694, -0.8416966795921326, 1.099692940711975, -1.756513237953186, 0.982057511806488, 0.7326578497886658, 0.7259649038314819, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9452359080314636, 1.4560801982879639, -0.26046448945999146, 0.054831139743328094, 0.16468514502048492, 0.46794772148132324, -0.9817602634429932, -1.1151903867721558, -1.4090391397476196, -1.1056373119354248, 0.3835817277431488, -1.0019184350967407, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.4690834879875183, -0.8568586707115173, 1.0420271158218384, -1.7239435911178589, 0.9583760499954224, 0.7100934982299805, 0.7049590945243835, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9448524713516235, 1.454833984375, -0.26353195309638977, 0.05588558688759804, 0.1666981726884842, 0.4635801315307617, -0.9873011112213135, -1.103642463684082, -1.3979078531265259, -1.1068990230560303, 0.3758673667907715, -1.0026886463165283, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.4485915005207062, -0.8712915778160095, 0.999657392501831, -1.6998502016067505, 0.9642355442047119, 0.6925416588783264, 0.7009577751159668, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9440855979919434, 1.4533960819244385, -0.2670787274837494, 0.05598144605755806, 0.16823190450668335, 0.46100637316703796, -0.9918610453605652, -1.0950363874435425, -1.388101577758789, -1.1069080829620361, 0.3705112338066101, -1.0096766948699951, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.43105053901672363, -0.883668065071106, 0.969706654548645, -1.6821635961532593, 0.9701396822929382, 0.676842987537384, 0.6982715129852295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9430311322212219, 1.4520541429519653, -0.2709130644798279, 0.05588558688759804, 0.16880705952644348, 0.4556705057621002, -0.9953945279121399, -1.0894516706466675, -1.3787007331848145, -1.1009225845336914, 0.3682718873023987, -1.0152708292007446, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.41985079646110535, -0.8910209536552429, 0.9627833962440491, -1.6620278358459473, 0.9760258197784424, 0.6632692217826843, 0.6902049779891968, 0.4614000029616303, 0.4614000029616303, 0.4614000029616303, 0.4614000029616303, -0.4614000029616303, -0.4614000029616303, -0.4614000029616303, 0.4614000029616303, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9417849779129028, 1.4507120847702026, -0.2749391496181488, 0.05463942512869835, 0.1689029186964035, 0.44810670614242554, -0.9971114993095398, -1.0924570560455322, -1.363168716430664, -1.0923519134521484, 0.36755606532096863, -1.012560486793518, 0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.160200015267173, -0.41548043489456177, -0.8943369388580322, 0.9662714004516602, -1.6513328552246094, 0.9780529737472534, 0.6576533913612366, 0.6878045201301575, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.940826416015625, 1.4499452114105225, -0.2791569232940674, 0.05291396751999855, 0.1684236228466034, 0.4392821490764618, -0.9980401992797852, -1.0993728637695312, -1.3544211387634277, -1.085894227027893, 0.36628058552742004, -1.0100409984588623, 0.39240000902951416, -0.39240000902951416, 0.39240000902951416, 0.39240000902951416, -0.39240000902951416, -0.39240000902951416, 0.39240000902951416, 0.39240000902951416, -0.4167656898498535, -0.8951737284660339, 0.9746506214141846, -1.646529197692871, 0.9730619192123413, 0.6544221043586731, 0.6807769536972046, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.940826416015625, 1.4491783380508423, -0.28289541602134705, 0.05147608742117882, 0.1676567643880844, 0.41955867409706116, -0.9922234416007996, -1.1220260858535767, -1.3310275077819824, -1.0484321117401123, 0.35960811376571655, -1.03130304813385, 0.534600002163059, -0.534600002163059, 0.534600002163059, 0.534600002163059, -0.534600002163059, -0.534600002163059, 0.534600002163059, 0.534600002163059, -0.4225171208381653, -0.892297625541687, 0.991495668888092, -1.6409027576446533, 0.9602715969085693, 0.6562939286231995, 0.6754250526428223, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.940826416015625, 1.448507308959961, -0.2861545979976654, 0.050517503172159195, 0.16688989102840424, 0.4045139253139496, -0.9770364165306091, -1.1537641286849976, -1.2866805791854858, -0.9756060242652893, 0.36119937896728516, -1.0992813110351562, 0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.4344920814037323, -0.8834816217422485, 1.0268784761428833, -1.6382900476455688, 0.9485738277435303, 0.6640658974647522, 0.6841995120048523, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9413056969642639, 1.4483156204223633, -0.288646936416626, 0.04994235187768936, 0.16650645434856415, 0.4084821939468384, -0.9576207399368286, -1.1866835355758667, -1.2518304586410522, -0.8977996706962585, 0.3566349446773529, -1.1917376518249512, 0.591599999900375, -0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.591599999900375, -0.4603491723537445, -0.8701810240745544, 1.0745954513549805, -1.6469448804855347, 0.9318250417709351, 0.6680757403373718, 0.6980681419372559, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, -0.29160000046530926, -0.29160000046530926, -0.29160000046530926, 0.29160000046530926, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9424560070037842, 1.4483156204223633, -0.29056409001350403, 0.04994235187768936, 0.16660231351852417, 0.42815929651260376, -0.9360771775245667, -1.2148125171661377, -1.246713638305664, -0.8091935515403748, 0.34433627128601074, -1.2802672386169434, 0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5005865693092346, -0.8548502326011658, 1.1261385679244995, -1.6560202836990356, 0.9093796610832214, 0.6726115345954895, 0.7048600912094116, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9438938498497009, 1.4486989974975586, -0.29152268171310425, 0.04994235187768936, 0.16794432699680328, 0.45537567138671875, -0.9182523488998413, -1.2378994226455688, -1.258580207824707, -0.7393576502799988, 0.340229868888855, -1.330877661705017, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5490444898605347, -0.8411802649497986, 1.1716901063919067, -1.6674878597259521, 0.8901997208595276, 0.6679279804229736, 0.7154313921928406, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9460027813911438, 1.4501368999481201, -0.29190611839294434, 0.05070921778678894, 0.1706283688545227, 0.47768235206604004, -0.9071490168571472, -1.2452223300933838, -1.2880420684814453, -0.6832188367843628, 0.33657971024513245, -1.3397005796432495, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5711482167243958, -0.8362493515014648, 1.1885817050933838, -1.6726233959197998, 0.8816092014312744, 0.6652711629867554, 0.7180161476135254, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883002381725, 0.014900224677916967, -0.0011706200774868518, -0.08590085059404373], [-0.014900856250175268, 0.9998888341978386, -0.0005326626501878061, 0.20962132513523102], [0.001162553151401579, 0.0005500463933948464, 0.9999991729592257, -2.2592595996684395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9480158090591431, 1.4516706466674805, -0.29161855578422546, 0.05109265446662903, 0.17379170656204224, 0.48472774028778076, -0.9031593799591064, -1.245119571685791, -1.3008878231048584, -0.6477339267730713, 0.33055201172828674, -1.3285439014434814, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5690602660179138, -0.8366268873214722, 1.187307357788086, -1.6722285747528076, 0.8821535110473633, 0.6653802394866943, 0.7176107168197632, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998878354789987, 0.014931291786613876, -0.0011717451538901277, -0.08585736155509949], [-0.014932040189230661, 0.9998883107722579, -0.0006325794715415834, 0.20962394773960114], [0.0011621690539109699, 0.0006500050642975865, 0.9999991134278603, -1.688655515863502e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.949357807636261, 1.4525333642959595, -0.2913309633731842, 0.05147608742117882, 0.17570888996124268, 0.48418596386909485, -0.9034281373023987, -1.244908332824707, -1.3001340627670288, -0.6516790390014648, 0.330654114484787, -1.3285913467407227, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5700139999389648, -0.8366355299949646, 1.1871705055236816, -1.6730631589889526, 0.881317138671875, 0.6644760370254517, 0.7163465023040771, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998885330567898, 0.014884955701488138, -0.0011659997022788085, -0.08586040139198303], [-0.014885630352992086, 0.999889039212011, -0.0005720775084747001, 0.2096199244260788], [0.001157354973661585, 0.0005893703813033723, 0.9999991565856536, -1.3947317711426876e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.4527250528335571, -0.2908516824245453, 0.05166780576109886, 0.17695504426956177, 0.4841453731060028, -0.9034653902053833, -1.2448997497558594, -1.2999900579452515, -0.6518645286560059, 0.330859512090683, -1.328892469406128, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5974029302597046, -0.8389756083488464, 1.1867314577102661, -1.672836184501648, 0.8611887693405151, 0.6143685579299927, 0.6765697598457336, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998883519815155, 0.01489716585383849, -0.0011653416718637717, -0.08582449704408646], [-0.014897821250736912, 0.9998888668495093, -0.0005557628860253761, 0.20962093770503998], [0.0011569328718838514, 0.0005730618881238655, 0.9999991665528538, -1.7276572179980576e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.4529168605804443, -0.29027652740478516, 0.051763664931058884, 0.17906393110752106, 0.48706236481666565, -0.9035361409187317, -1.2450042963027954, -1.3044003248214722, -0.6515713930130005, 0.32811394333839417, -1.324096918106079, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.6029582619667053, -0.84189373254776, 1.1974810361862183, -1.6663403511047363, 0.8721930980682373, 0.5771238207817078, 0.6324633955955505, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998892838640379, 0.014834239709089963, -0.0011684802586338497, -0.08578631281852722], [-0.014834772884873936, 0.999889857908414, -0.00044896029441221573, 0.2096155434846878], [0.0011616915751470123, 0.00046624472652050987, 0.9999992165439627, -3.992638812633231e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9524253010749817, 1.4535877704620361, -0.28931793570518494, 0.051763664931058884, 0.18385687470436096, 0.4949548840522766, -0.9009311199188232, -1.2438104152679443, -1.336166501045227, -0.6259832978248596, 0.3099431097507477, -1.2938894033432007, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.6066914200782776, -0.8430240154266357, 1.2079312801361084, -1.6585670709609985, 0.8695363998413086, 0.5584675073623657, 0.6123488545417786, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998884126564991, 0.014892707101213244, -0.0011702608529888226, -0.08611039072275162], [-0.014893460786985424, 0.9998888827312382, -0.0006379782619197119, 0.20962053537368774], [0.0011606295934073886, 0.0006553363057447861, 0.9999991117362421, -5.18359343004704e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.956547200679779, 1.4557925462722778, -0.2865380346775055, 0.053584977984428406, 0.19037525355815887, 0.4890781044960022, -0.8987733125686646, -1.2443803548812866, -1.3345353603363037, -0.6064019203186035, 0.298057496547699, -1.2732176780700684, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.61095130443573, -0.843420147895813, 1.216387152671814, -1.6448057889938354, 0.8527461290359497, 0.5346444249153137, 0.5965049862861633, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998889019983246, 0.014859784469116845, -0.0011706690891401853, -0.08591458946466446], [-0.014860268875234936, 0.9998894976082366, -0.0004061793986277858, 0.20961783826351166], [0.0011645039890864676, 0.00042353073033682604, 0.9999992322757952, -4.9078349547926337e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9620111584663391, 1.459147572517395, -0.2822243869304657, 0.05550215020775795, 0.196989506483078, 0.4843140244483948, -0.8981860876083374, -1.2374926805496216, -1.3325550556182861, -0.5963380336761475, 0.2883046269416809, -1.2703436613082886, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.6163329482078552, -0.8460096120834351, 1.2201653718948364, -1.6192129850387573, 0.8344977498054504, 0.5041120052337646, 0.5594403743743896, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879974375933, 0.01492050064487526, -0.001170999891410644, -0.08587384968996048], [-0.014921122537347311, 0.9998885364721921, -0.000524150477660292, 0.20962311327457428], [0.0011630487800917424, 0.0005415644043346659, 0.9999991770124269, -2.4365870558540337e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9695839881896973, 1.462886095046997, -0.276568740606308, 0.05856962874531746, 0.2026451677083969, 0.4834577739238739, -0.8980194330215454, -1.2356890439987183, -1.3319658041000366, -0.594228208065033, 0.284336656332016, -1.271687388420105, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6206722855567932, -0.8524024486541748, 1.2085455656051636, -1.5859277248382568, 0.8130674362182617, 0.47730782628059387, 0.49953436851501465, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998892966088662, 0.014832949343390951, -0.0011739424190114025, -0.08607998490333557], [-0.014833378138834947, 0.9998899155196109, -0.00035740058146319033, 0.209615558385849], [0.001168511881450057, 0.0003747745478212439, 0.9999992470617272, -5.95592318859417e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9790740013122559, 1.4665287733078003, -0.2709130644798279, 0.06106195226311684, 0.2077256739139557, 0.48357880115509033, -0.8980180621147156, -1.2358393669128418, -1.3319727182388306, -0.5944908857345581, 0.2847096025943756, -1.2716999053955078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6201654076576233, -0.860639214515686, 1.185693383216858, -1.555049180984497, 0.7787677645683289, 0.4490974545478821, 0.44084426760673523, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886469509227, 0.014876802032292677, -0.001172373637121738, -0.08611661195755005], [-0.014877291884218057, 0.9998892428187148, -0.00041022141445993496, 0.20961931347846985], [0.0011661410055499495, 0.00042761747985146047, 0.9999992286289255, -4.821534457732923e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9885640144348145, 1.4699796438217163, -0.2645864188671112, 0.06288326531648636, 0.21175172924995422, 0.4836089611053467, -0.898027777671814, -1.2359071969985962, -1.331990361213684, -0.5945631861686707, 0.28480449318885803, -1.2716970443725586, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.618529736995697, -0.8662006258964539, 1.1803535223007202, -1.5257164239883423, 0.7717493176460266, 0.4393347203731537, 0.41124600172042847, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882391192736, 0.014904523199472382, -0.001168100661244064, -0.08585537225008011], [-0.014904952696489083, 0.9998888502696964, -0.000359849218501808, 0.20962169766426086], [0.001162607446145127, 0.0003772194865367999, 0.9999992530244136, -5.835222691530362e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9974788427352905, 1.4736223220825195, -0.25825974345207214, 0.06374599784612656, 0.2147233486175537, 0.48361900448799133, -0.8980299830436707, -1.2359174489974976, -1.3320039510726929, -0.5945648550987244, 0.28481313586235046, -1.2716915607452393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.625693678855896, -0.8654701709747314, 1.1949220895767212, -1.5081024169921875, 0.7614786028862, 0.4399203956127167, 0.3987574577331543, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998877867784852, 0.014934846155653601, -0.0011679989424124915, -0.08584875613451004], [-0.014935267027863656, 0.9998884005625948, -0.00035244741791257253, 0.20962432026863098], [0.0011626048464231467, 0.00036985224474558686, 0.9999992557793671, -5.979303750791587e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.00533926486969, 1.476785659790039, -0.2519330680370331, 0.06451286375522614, 0.2154902219772339, 0.48361366987228394, -0.8980347514152527, -1.235917091369629, -1.3320090770721436, -0.5945660471916199, 0.28481337428092957, -1.2716833353042603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6424800157546997, -0.8635218143463135, 1.2139705419540405, -1.5031076669692993, 0.7604473829269409, 0.44523492455482483, 0.40043967962265015, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880153148347, 0.014919499119759918, -0.0011684929508776784, -0.0858321338891983], [-0.014919897913756872, 0.9998886365715519, -0.00033331865527779127, 0.20962302386760712], [0.0011633898761125349, 0.00035071512423315976, 0.9999992617611764, -6.377225508913398e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0123369693756104, 1.4791821241378784, -0.24493539333343506, 0.06537558883428574, 0.2129978984594345, 0.4836120009422302, -0.898043692111969, -1.2359153032302856, -1.3320090770721436, -0.5945655703544617, 0.28481361269950867, -1.271674633026123, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6564785242080688, -0.8633354902267456, 1.2269200086593628, -1.509903073310852, 0.7604281902313232, 0.44899365305900574, 0.3965397775173187, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998877969249965, 0.014934098772926733, -0.0011688688195958604, -0.0859280377626419], [-0.014934524466823695, 0.9998884102829422, -0.00035631559133972947, 0.209624245762825], [0.0011634171336196025, 0.00037373211161947115, 0.9999992533921622, -5.904378485865891e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.018855333328247, 1.4807158708572388, -0.23841699957847595, 0.06681346893310547, 0.2052333503961563, 0.4836087226867676, -0.8980454206466675, -1.2359132766723633, -1.3320093154907227, -0.594565212726593, 0.2848130166530609, -1.271665334701538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6668068766593933, -0.8637745380401611, 1.2358506917953491, -1.5175442695617676, 0.7574212551116943, 0.4521271884441376, 0.3939068615436554, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882616157835, 0.014903040704418509, -0.001167758848822334, -0.08586765825748444], [-0.014903429484319112, 0.999888884929739, -0.000324936253828865, 0.20962154865264893], [0.001162786554998646, 0.0003423035576350021, 0.9999992653775811, -6.556132575497031e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.024415135383606, 1.4826329946517944, -0.23247376084327698, 0.0691140815615654, 0.19420960545539856, 0.4836091101169586, -0.8980454802513123, -1.2359110116958618, -1.332008719444275, -0.5945648550987244, 0.28481122851371765, -1.271657109260559, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6737044453620911, -0.8632686734199524, 1.2479755878448486, -1.5238124132156372, 0.7536486983299255, 0.457601934671402, 0.39913210272789, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998880527880201, 0.014917035201405334, -0.0011678838048767683, -0.08580487966537476], [-0.014917441386819427, 0.999888671021539, -0.0003398606350609535, 0.20962277054786682], [0.0011626840725090341, 0.00035724442681626153, 0.9999992602708099, -6.245907570701092e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0293039083480835, 1.483687400817871, -0.2261471003293991, 0.07198983430862427, 0.18088525533676147, 0.48360776901245117, -0.8980489373207092, -1.2359071969985962, -1.3320088386535645, -0.5945641398429871, 0.28480976819992065, -1.2716517448425293, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.682574987411499, -0.861701250076294, 1.2660189867019653, -1.533721923828125, 0.7550097703933716, 0.46477892994880676, 0.4057789146900177, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998882970213451, 0.014900359849724498, -0.001171646748398125, -0.0858965665102005], [-0.014900709509859939, 0.9998889361310803, -0.0002902735938036961, 0.2096213400363922], [0.001167191439774693, 0.0003076995372246958, 0.9999992714923035, -7.317191921174526e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0339051485061646, 1.4839750528335571, -0.22068315744400024, 0.07505731284618378, 0.1680401861667633, 0.48360830545425415, -0.898052453994751, -1.2359037399291992, -1.3320086002349854, -0.5945627093315125, 0.28480857610702515, -1.2716469764709473, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6934559941291809, -0.8587666749954224, 1.290361762046814, -1.5657228231430054, 0.771737813949585, 0.4803360104560852, 0.4335722327232361, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998887598785207, 0.014869010139888431, -0.0011749068277562772, -0.08596798777580261], [-0.014869382487678332, 0.9998893969309849, -0.00030881940743239663, 0.20961853861808777], [0.001170185040554814, 0.0003262551933332916, 0.9999992621119876, -6.962315819691867e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0381228923797607, 1.48378324508667, -0.21636950969696045, 0.07869993895292282, 0.15308624505996704, 0.4836077094078064, -0.8980455994606018, -1.2359020709991455, -1.3320088386535645, -0.5945618748664856, 0.284807026386261, -1.2716455459594727, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7038993239402771, -0.8573360443115234, 1.3050954341888428, -1.6127575635910034, 0.8123517632484436, 0.5086284875869751, 0.490176260471344, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888761116194, 0.01486921153418092, -0.001171299225029115, -0.08596891909837723], [-0.01486954632021344, 0.9998894036394292, -0.0002776361244378188, 0.20961859822273254], [0.0011670414533338912, 0.0002950219285866327, 0.9999992754878915, -7.586466381326318e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0410945415496826, 1.4824413061141968, -0.21263103187084198, 0.08320529758930206, 0.13506482541561127, 0.4836066663265228, -0.8980345129966736, -1.235904574394226, -1.3320084810256958, -0.5945611000061035, 0.2848043739795685, -1.2716444730758667, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7048596739768982, -0.856753408908844, 1.3083791732788086, -1.6436537504196167, 0.8483400344848633, 0.5428224802017212, 0.555428683757782, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879172275783, 0.014926044893662777, -0.0011688310946545626, -0.0857958123087883], [-0.014926400182952965, 0.9998885513182353, -0.0002958382989192699, 0.20962338149547577], [0.0011642851342389242, 0.0003132515812076315, 0.9999992731565224, -7.177611405495554e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0430116653442383, 1.4805240631103516, -0.2087966799736023, 0.0880940854549408, 0.11311319470405579, 0.4836074113845825, -0.8980393409729004, -1.2359037399291992, -1.3320082426071167, -0.5945594310760498, 0.28480270504951477, -1.2716443538665771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6974004507064819, -0.8561902046203613, 1.309669017791748, -1.6496027708053589, 0.8684607148170471, 0.5661260485649109, 0.6077720522880554, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998879011660757, 0.014927266571349174, -0.0011669680406582925, -0.0858219712972641], [-0.014927557025099195, 0.9998885488698493, -0.00024058306125232247, 0.2096235156059265], [0.0011632467332634466, 0.0002579760741450891, 0.9999992901524394, -8.320842607645318e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0440661907196045, 1.4790862798690796, -0.2053457647562027, 0.0928870216012001, 0.0885733813047409, 0.4836063086986542, -0.8980546593666077, -1.2359018325805664, -1.3320119380950928, -0.5945582389831543, 0.2848013937473297, -1.2716442346572876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.69429612159729, -0.8533118963241577, 1.3179863691329956, -1.6550523042678833, 0.8833928108215332, 0.5834975242614746, 0.6711193323135376, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998881184901791, 0.014912331570522694, -0.001171695054308407, -0.08583126962184906], [-0.014912615660193604, 0.9998887733603109, -0.00023409866328369955, 0.20962245762348175], [0.0011680737737176734, 0.0002515455099876553, 0.999999286164003, -8.50456563057378e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0446412563323975, 1.4771690368652344, -0.20199072360992432, 0.09681722521781921, 0.06326670199632645, 0.48360568284988403, -0.8980609774589539, -1.2359020709991455, -1.3320119380950928, -0.5945571660995483, 0.28479984402656555, -1.2716443538665771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6955314874649048, -0.8478697538375854, 1.329147219657898, -1.6652836799621582, 0.8759558796882629, 0.5982963442802429, 0.7287837266921997, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999888813058618, 0.014865551149100488, -0.0011734177693908708, -0.08591560274362564], [-0.014865835594734925, 0.9998894699658369, -0.00023405877011543533, 0.2096184343099594], [0.0011698086588656862, 0.00025147658148038786, 0.999999284153359, -8.533114305464551e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0449289083480835, 1.4755394458770752, -0.19873152673244476, 0.10103500634431839, 0.0410274975001812, 0.4836064279079437, -0.8980516195297241, -1.2359017133712769, -1.332011103630066, -0.594556450843811, 0.28479886054992676, -1.2716448307037354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.696969211101532, -0.8413862586021423, 1.3337091207504272, -1.6769814491271973, 0.8555351495742798, 0.6172029376029968, 0.7887938022613525, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998890351887237, 0.014850503777970508, -0.0011746688485560048, -0.08583316951990128], [-0.01485072918020375, 0.9998897050218246, -0.00018339625060553164, 0.20961706340312958], [0.001171815761768507, 0.0002008205890215214, 0.999999293259206, -9.617652540327981e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0449289083480835, 1.4740056991577148, -0.1954723298549652, 0.1041024774312973, 0.02233506180346012, 0.4836071729660034, -0.8980491757392883, -1.2359024286270142, -1.3320097923278809, -0.5945566892623901, 0.28479814529418945, -1.2716448307037354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7003819346427917, -0.8354294896125793, 1.3341033458709717, -1.6877049207687378, 0.8389881253242493, 0.6281945109367371, 0.8551015257835388, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998892665102977, 0.014834975103864065, -0.0011739809055464241, -0.0858825147151947], [-0.014835204485741021, 0.9998899348269792, -0.00018692128154136625, 0.20961584150791168], [0.0011710787185768832, 0.00020431682989169818, 0.9999992934143843, -9.533111733617261e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0448330640792847, 1.4723761081695557, -0.19259656965732574, 0.10640309005975723, 0.009394146502017975, 0.4836083650588989, -0.8980445265769958, -1.235902190208435, -1.332007884979248, -0.5945560932159424, 0.2847977876663208, -1.2716444730758667, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7108824849128723, -0.8330555558204651, 1.3307801485061646, -1.7097340822219849, 0.8385280966758728, 0.6313074231147766, 0.8827919363975525, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0449289083480835, 1.470171332359314, -0.19000838696956635, 0.10793682932853699, 0.0013420209288597107, 0.48360705375671387, -0.8980484008789062, -1.2359015941619873, -1.3320090770721436, -0.5945557355880737, 0.28479814529418945, -1.2716447114944458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7206955552101135, -0.8324697613716125, 1.3279895782470703, -1.7193050384521484, 0.8451430201530457, 0.6269769072532654, 0.8911647200584412, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0455039739608765, 1.4688293933868408, -0.18828293681144714, 0.1092788502573967, -0.0025881831534206867, 0.4836067259311676, -0.8980467319488525, -1.2359025478363037, -1.332009196281433, -0.594555139541626, 0.28479790687561035, -1.2716447114944458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7216176986694336, -0.8324956297874451, 1.3276888132095337, -1.7188762426376343, 0.8454658389091492, 0.6257895231246948, 0.8911265730857849, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4680625200271606, -0.1872284859418869, 0.10994985699653625, -0.004505355842411518, 0.48360776901245117, -0.8980445861816406, -1.2359029054641724, -1.332009196281433, -0.5945554971694946, 0.28479743003845215, -1.2716453075408936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213960289955139, -0.8325744867324829, 1.327736735343933, -1.7187625169754028, 0.8453283905982971, 0.6259267330169678, 0.8909511566162109, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0456957817077637, 1.4677748680114746, -0.18694090843200684, 0.10994985699653625, -0.005655659828335047, 0.48360776901245117, -0.8980435132980347, -1.235903024673462, -1.3320086002349854, -0.5945557355880737, 0.28479790687561035, -1.2716450691223145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213382124900818, -0.8325390815734863, 1.3277767896652222, -1.7187622785568237, 0.8452886343002319, 0.625980019569397, 0.8909351825714111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4677748680114746, -0.18665333092212677, 0.11004571616649628, -0.006134952884167433, 0.48360756039619446, -0.8980448842048645, -1.2359026670455933, -1.3320088386535645, -0.5945557355880737, 0.28479743003845215, -1.2716457843780518, 0.3797999932215764, -0.3797999932215764, 0.3797999932215764, 0.3797999932215764, -0.3797999932215764, -0.3797999932215764, 0.3797999932215764, 0.3797999932215764, -0.7213354110717773, -0.8325248956680298, 1.327782392501831, -1.7187637090682983, 0.8452784419059753, 0.6259959936141968, 0.8909341096878052, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18665333092212677, 0.1101415753364563, -0.006326670292764902, 0.4836069643497467, -0.8980417847633362, -1.2359033823013306, -1.3320084810256958, -0.5945556163787842, 0.2847985029220581, -1.2716457843780518, 0.12240000714312546, -0.12240000714312546, 0.12240000714312546, 0.12240000714312546, -0.12240000714312546, -0.12240000714312546, 0.12240000714312546, 0.12240000714312546, -0.7213351726531982, -0.8325172662734985, 1.3277878761291504, -1.7187649011611938, 0.8452752828598022, 0.6259989738464355, 0.890932559967041, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006518387235701084, 0.48360762000083923, -0.8980425596237183, -1.235903263092041, -1.3320084810256958, -0.5945557355880737, 0.284798264503479, -1.27164626121521, 0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.7213348150253296, -0.8325186371803284, 1.3277876377105713, -1.7187668085098267, 0.84527587890625, 0.6259994506835938, 0.8909342288970947, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360675573349, -0.8980427980422974, -1.2359036207199097, -1.3320086002349854, -0.5945556163787842, 0.28479838371276855, -1.2716461420059204, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213353514671326, -0.832520067691803, 1.3277876377105713, -1.7187682390213013, 0.8452763557434082, 0.6259992122650146, 0.8909343481063843, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998886012682421, 0.014879659766014025, -0.0011750655666895764, -0.08589289337396622], [-0.014879888167640009, 0.9998892710597064, -0.00018587040538032114, 0.20961956679821014], [0.0011721697645319707, 0.00020333454387487588, 0.9999992923363028, -9.563507046550512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.04521644115448, 1.4677748680114746, -0.1863657534122467, 0.1101415753364563, -0.006614245939999819, 0.4836074113845825, -0.8980461955070496, -1.2359031438827515, -1.332007646560669, -0.5945552587509155, 0.28479886054992676, -1.2716459035873413, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213350534439087, -0.8325228095054626, 1.3277863264083862, -1.7187682390213013, 0.8452768921852112, 0.6259984970092773, 0.8909337520599365, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998862805777828, 0.015034458385797126, -0.001179395342174719, -0.08388202637434006], [-0.015034644982290816, 0.9998869621601556, -0.00014950716347394226, 0.20963259041309357], [0.0011770142666452895, 0.00016722195186905897, 0.9999992933368678, -0.00010343565372750163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0450247526168823, 1.4678707122802734, -0.18626989424228668, 0.1101415753364563, -0.0067101046442985535, 0.48360681533813477, -0.8980510234832764, -1.2359026670455933, -1.332005500793457, -0.594555139541626, 0.2847989797592163, -1.2716456651687622, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213350534439087, -0.8325230479240417, 1.3277854919433594, -1.7187674045562744, 0.8452770113945007, 0.6259983777999878, 0.8909322023391724, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998821616547329, 0.015305594732221213, -0.001183881139154658, -0.07537133246660233], [-0.015305785216596982, 0.9998828480543611, -0.00015200527225156532, 0.20965182781219482], [0.0011814159140815575, 0.0001701075906396927, 0.9999992876596691, -0.00010323684546165168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0467501878738403, 1.4670079946517944, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836004674434662, -0.8980316519737244, -1.2359076738357544, -1.3320131301879883, -0.5945565700531006, 0.28479886054992676, -1.2716467380523682, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.721335768699646, -0.8325166702270508, 1.3277859687805176, -1.7187800407409668, 0.845284640789032, 0.6259973049163818, 0.8909426331520081, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999028879733732, 0.013887786621872898, -0.0011593124053396072, -0.06111333519220352], [-0.01388806807954897, 0.9999035284970746, -0.0002350832143262548, 0.20956119894981384], [0.0011559357792105568, 0.0002511609945297078, 0.9999993003650698, -8.442619582638144e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0470377206802368, 1.466720461845398, -0.18665333092212677, 0.11023743450641632, -0.0067101046442985535, 0.48360922932624817, -0.8980374336242676, -1.235905647277832, -1.3320121765136719, -0.5945566892623901, 0.2847987413406372, -1.2716476917266846, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213376760482788, -0.8325114846229553, 1.327785849571228, -1.7187798023223877, 0.8452900648117065, 0.6259965896606445, 0.8909439444541931, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998984370370684, 0.014206026235531782, -0.0011421162039179458, -0.04715894162654877], [-0.014206329654254241, 0.999899051723934, -0.00025799095363765706, 0.2095886915922165], [0.0011383358830001872, 0.00027419003060831986, 0.9999993145053874, -7.861918857088313e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0465584993362427, 1.4668163061141968, -0.18665333092212677, 0.11023743450641632, -0.006614245939999819, 0.4836103022098541, -0.8980412483215332, -1.2359051704406738, -1.3320097923278809, -0.5945560932159424, 0.28479862213134766, -1.2716476917266846, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213386297225952, -0.8325222730636597, 1.3277839422225952, -1.7187784910202026, 0.8452898263931274, 0.6259963512420654, 0.8909425139427185, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998927641658082, 0.014599757799949868, -0.0011433464227112269, -0.0337253101170063], [-0.014600272893235546, 0.9998933119917023, -0.00044347007501437563, 0.2096085548400879], [0.0011367498856718582, 0.0004601156889140309, 0.9999992480463424, -3.962939445045777e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0462708473205566, 1.4670079946517944, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360875248908997, -0.898042619228363, -1.2359055280685425, -1.3320099115371704, -0.5945560932159424, 0.28479909896850586, -1.271647572517395, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213380336761475, -0.8325214982032776, 1.3277838230133057, -1.7187774181365967, 0.8452905416488647, 0.6259961128234863, 0.8909422755241394, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999885894042836, 0.01506278522322749, -0.0011451617691572073, -0.024085283279418945], [-0.015063443025872363, 0.9998863785865371, -0.000567980022988544, 0.2096211463212967], [0.001136476293160992, 0.0005851652921494776, 0.9999991830012742, -1.3531067452277057e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0459833145141602, 1.4671998023986816, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360925912857056, -0.8980448842048645, -1.2359052896499634, -1.332009196281433, -0.594556450843811, 0.28479936718940735, -1.2716481685638428, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213380336761475, -0.8325214982032776, 1.3277839422225952, -1.7187764644622803, 0.8452895879745483, 0.6259958744049072, 0.8909408450126648, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998859438533859, 0.015059199755467356, -0.001148819893868034, -0.015518737956881523], [-0.015059989422356658, 0.9998863594451718, -0.0006818460817039726, 0.20961982011795044], [0.0011384212849910344, 0.000699069528417155, 0.999999107648988, 1.0288070370734204e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4672956466674805, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360705375671387, -0.8980448842048645, -1.2359050512313843, -1.3320094347000122, -0.5945563316345215, 0.2847992181777954, -1.2716478109359741, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.721338152885437, -0.832521915435791, 1.3277835845947266, -1.7187751531600952, 0.8452893495559692, 0.625995397567749, 0.8909401297569275, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999886578354816, 0.015016887980424156, -0.0011504352575300832, -0.009828899055719376], [-0.01501771533268385, 0.9998869728752041, -0.0007139332232660341, 0.20961745083332062], [0.0011395841719013715, 0.0007311291569915693, 0.9999990833986154, 1.7007247151923366e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4673914909362793, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836084246635437, -0.8980449438095093, -1.2359050512313843, -1.3320086002349854, -0.594556450843811, 0.2847994863986969, -1.2716476917266846, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213379144668579, -0.8325220942497253, 1.3277833461761475, -1.7187741994857788, 0.8452898263931274, 0.6259950399398804, 0.8909403681755066, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998984473995078, 0.014204685049401445, -0.0011497002657513459, -0.005484767258167267], [-0.01420554580407173, 0.9998988193429628, -0.000744006019880799, 0.20974361896514893], [0.0011390155671357957, 0.0007602625839207825, 0.9999990623217311, 2.3107495508156717e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360782861709595, -0.8980457186698914, -1.2359048128128052, -1.3320084810256958, -0.5945563316345215, 0.28479960560798645, -1.2716481685638428, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213382124900818, -0.8325197100639343, 1.3277835845947266, -1.7187743186950684, 0.8452894687652588, 0.6259948015213013, 0.8909401297569275, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999083142754137, 0.013491911491737164, -0.0011538488634239513, -0.0020120807457715273], [-0.013492793215792581, 0.9999086794332761, -0.0007598192138843481, 0.21074709296226501], [0.001143492079708381, 0.0007753181934256251, 0.9999990456533259, 2.6227387934341095e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360762000083923, -0.8980465531349182, -1.2359048128128052, -1.3320090770721436, -0.5945565700531006, 0.284799724817276, -1.2716482877731323, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213380932807922, -0.8325188159942627, 1.327783465385437, -1.7187727689743042, 0.8452891111373901, 0.6259945631027222, 0.8909398913383484, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999074091575229, 0.0135588893152182, -0.00115309688568756, -0.00033602493931539357], [-0.013559714667402314, 0.9999078100664777, -0.0007109895916762971, 0.21170936524868011], [0.0011433503525845124, 0.0007265594253048048, 0.9999990824302654, 1.5893632735242136e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4674873352050781, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.48360732197761536, -0.8980464935302734, -1.2359048128128052, -1.3320088386535645, -0.5945565700531006, 0.2848002016544342, -1.2716479301452637, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213380336761475, -0.8325194120407104, 1.3277833461761475, -1.718772053718567, 0.8452889919281006, 0.6259944438934326, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999014838074363, 0.013989033113238935, -0.0011530968060257953, 0.0004137763462495059], [-0.013989839553602633, 0.9999018963594767, -0.0006942953166856607, 0.21223710477352142], [0.0011432711628557662, 0.0007103585566606186, 0.9999990941604743, 1.2396128113323357e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.4836072027683258, -0.898047149181366, -1.2359044551849365, -1.3320088386535645, -0.5945565700531006, 0.28479960560798645, -1.2716481685638428, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213380336761475, -0.8325192928314209, 1.327783465385437, -1.7187719345092773, 0.8452886343002319, 0.6259943246841431, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998960001796368, 0.014375621432446811, -0.0011534007087157635, 0.0004072274314239621], [-0.014376441782472086, 0.9998964042821712, -0.0007061340242015348, 0.2120211124420166], [0.0011431301059289082, 0.0007226423845305797, 0.9999990855203543, 1.5010985407570843e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.483610063791275, -0.8980479836463928, -1.2359036207199097, -1.332007646560669, -0.5945563316345215, 0.28480032086372375, -1.2716485261917114, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213367819786072, -0.8325194716453552, 1.3277841806411743, -1.718772053718567, 0.8452883958816528, 0.6259937286376953, 0.890938937664032, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999894541249679, 0.014476744098368667, -0.0011533687200406312, 0.00020975840743631124], [-0.014477602609597375, 0.9998949205517365, -0.0007395116735414414, 0.21108095347881317], [0.001142541803436269, 0.00075613169955559, 0.9999990614310997, 2.2086558601586148e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18655747175216675, 0.11052501201629639, -0.0067101046442985535, 0.48360398411750793, -0.898077666759491, -1.2359012365341187, -1.3320125341415405, -0.5945563316345215, 0.28479936718940735, -1.271648645401001, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213385105133057, -0.8324986696243286, 1.327789068222046, -1.7187656164169312, 0.8452869057655334, 0.625994086265564, 0.890937864780426, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998927132974261, 0.014602885002344837, -0.001147886893134968, -0.0002091198693960905], [-0.014603368068796096, 0.99989327960101, -0.00041358165284305305, 0.20572227239608765], [0.0011417249048721906, 0.00043030029583307125, 0.9999992556526714, -4.5684559154324234e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0456957817077637, 1.467583179473877, -0.18655747175216675, 0.10994985699653625, -0.006614245939999819, 0.4836207628250122, -0.8980343341827393, -1.2359031438827515, -1.3319953680038452, -0.594556450843811, 0.2847999632358551, -1.2716479301452637, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.721333920955658, -0.8325433135032654, 1.327780842781067, -1.71877121925354, 0.8452860713005066, 0.6259936094284058, 0.8909384608268738, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998909177665658, 0.014724308804780978, -0.0011607317331147225, -0.00034141726791858673], [-0.014725065737884112, 0.9998913714736573, -0.0006462906031217083, 0.19474239647388458], [0.0011510894621190827, 0.0006633119553734346, 0.9999991175047607, -7.000362955977835e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.11004571616649628, -0.006614245939999819, 0.4836089611053467, -0.8980427980422974, -1.2359035015106201, -1.3320026397705078, -0.5945562124252319, 0.28479960560798645, -1.2716482877731323, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7213371396064758, -0.8325154185295105, 1.327779769897461, -1.7187705039978027, 0.8452854752540588, 0.6259937286376953, 0.8909390568733215, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9998978369785437, 0.014246591504162742, -0.0011619966192130435, -0.0004556570784188807], [-0.0142472422531961, 0.9998983495944218, -0.0005536845040839969, 0.18286347389221191], [0.0011539903848335504, 0.0005701831853334493, 0.9999991715983203, -1.7258058505831286e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18646161258220673, 0.11042915284633636, -0.0067101046442985535, 0.48359858989715576, -0.8980721235275269, -1.2359012365341187, -1.3320186138153076, -0.5945562124252319, 0.28479960560798645, -1.2716482877731323, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7213433980941772, -0.8325004577636719, 1.3277840614318848, -1.7187656164169312, 0.8452836871147156, 0.6259938478469849, 0.8909367322921753, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999011579893693, 0.014011643200036108, -0.0011610798220668215, -0.0005031285691075027], [-0.014012054455719777, 0.9999017661957703, -0.000346826338372632, 0.17106522619724274], [0.0011561061578732332, 0.0003630611710542453, 0.9999992658022994, -5.305652302922681e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360738158226013, -0.8980160355567932, -1.235903263092041, -1.3320101499557495, -0.594556450843811, 0.2847999632358551, -1.271648645401001, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7213382124900818, -0.8325387239456177, 1.3277872800827026, -1.7187716960906982, 0.8452844023704529, 0.6259931325912476, 0.8909384608268738, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999907932720907, 0.013519372591819219, -0.0011630333295722685, -0.0005919255199842155], [-0.013520105258797656, 0.9999084042298229, -0.0006244232221060143, 0.15611062943935394], [0.0011544849904440693, 0.0006400900661942594, 0.9999991287241774, -8.72164764587069e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836020767688751, -0.8980302214622498, -1.235904574394226, -1.3320115804672241, -0.5945566892623901, 0.2848002016544342, -1.2716482877731323, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.721342921257019, -0.8325400948524475, 1.327778935432434, -1.7187707424163818, 0.8452842831611633, 0.6259934902191162, 0.8909386992454529, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999148689419773, 0.012996399415845194, -0.0011612368285987965, -0.0006764070130884647], [-0.012997295438738633, 0.9999152370928271, -0.0007674248324060655, 0.13916076719760895], [0.001151164639145701, 0.0007824524388537722, 0.999999031293608, 1.2005832104478031e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18655747175216675, 0.10994985699653625, -0.006518387235701084, 0.48361170291900635, -0.8980059623718262, -1.235909342765808, -1.3319952487945557, -0.5945559740066528, 0.2848004400730133, -1.2716481685638428, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7213321328163147, -0.8325403332710266, 1.3277662992477417, -1.7187813520431519, 0.8452855944633484, 0.6259933710098267, 0.8909400105476379, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999922459238278, 0.0123993482126583, -0.0011539821382292692, -0.0007637139060534537], [-0.012400866761360655, 0.9999222373999695, -0.0013182020353477593, 0.12504929304122925], [0.0011375475555269, 0.001332410199699006, 0.9999984653331317, 8.574304229114205e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.10994985699653625, -0.006518387235701084, 0.48360925912857056, -0.8980284333229065, -1.2359082698822021, -1.3320039510726929, -0.594556450843811, 0.28479984402656555, -1.2716479301452637, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7213338017463684, -0.8325273990631104, 1.3277736902236938, -1.7187790870666504, 0.8452860713005066, 0.6259932518005371, 0.8909407258033752, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999279117445523, 0.011952344963435798, -0.0011457591604620337, -0.00082523183664307], [-0.011953773125691515, 0.9999277724937647, -0.0012478396200341726, 0.11494922637939453], [0.0011307617955374361, 0.0012614458105137318, 0.9999985650650849, 7.703057053731754e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.467583179473877, -0.18655747175216675, 0.11004571616649628, -0.006614245939999819, 0.4836062788963318, -0.8980534076690674, -1.235905647277832, -1.3320077657699585, -0.5945565700531006, 0.28479984402656555, -1.271648645401001, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7213366627693176, -0.8325130939483643, 1.3277785778045654, -1.7187726497650146, 0.8452855944633484, 0.6259936094284058, 0.8909394145011902, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999928162145711, 0.01193168539261915, -0.0011425548530971117, -0.000832750229164958], [-0.011933119548643675, 0.999928008042732, -0.0012567376543948746, 0.10877437889575958], [0.0011274776000236532, 0.0012702816167112696, 0.9999985575883976, 7.820044265827164e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.11004571616649628, -0.006614245939999819, 0.4836066663265228, -0.8980463147163391, -1.2359060049057007, -1.3320080041885376, -0.594556450843811, 0.28480008244514465, -1.2716485261917114, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7213369011878967, -0.8325193524360657, 1.3277792930603027, -1.7187734842300415, 0.8452858328819275, 0.6259934902191162, 0.8909397721290588, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999323098826778, 0.01157953019720258, -0.0011358402636869643, -0.0008740511839278042], [-0.011580990108074249, 0.9999321094982522, -0.001287269393753017, 0.10466691106557846], [0.0011208571761046593, 0.0013003364131948397, 0.9999985264011159, 8.141194120980799e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360851407051086, -0.8980487585067749, -1.235905408859253, -1.332009196281433, -0.594556450843811, 0.2848004400730133, -1.2716487646102905, 0.32940000858935675, -0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.32940000858935675, -0.32940000858935675, 0.32940000858935675, 0.32940000858935675, -0.7213363647460938, -0.8325223326683044, 1.3277844190597534, -1.7187734842300415, 0.8452863097190857, 0.6259933710098267, 0.8909396529197693, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999330331316719, 0.011517208835270909, -0.0011327633201550019, -0.0008824320393614471], [-0.011518632776734577, 0.9999328661778732, -0.001258664474004356, 0.10240738093852997], [0.0011181909718231103, 0.0012716280698940761, 0.9999985663044735, 7.833091513020918e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360660672187805, -0.898046612739563, -1.2359049320220947, -1.3320101499557495, -0.5945568084716797, 0.28480032086372375, -1.2716487646102905, 0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.721337616443634, -0.8325186371803284, 1.327784538269043, -1.7187721729278564, 0.8452861905097961, 0.6259936094284058, 0.890938937664032, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999337504797028, 0.011454702583587736, -0.0011333315124414484, -0.0008894309285096824], [-0.011456113528574185, 0.9999335997777367, -0.001246394142148196, 0.10163038223981857], [0.0011189791847768908, 0.0012592951436062175, 0.9999985810296559, 7.707093027420342e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360732197761536, -0.898047685623169, -1.2359044551849365, -1.3320097923278809, -0.5945566892623901, 0.2848002016544342, -1.2716485261917114, 0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.7213373780250549, -0.8325179815292358, 1.327784776687622, -1.718772292137146, 0.8452863097190857, 0.6259938478469849, 0.8909394145011902, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999335709879406, 0.011470464793913273, -0.0011322759013790995, -0.0008873831247910857], [-0.011471866159814173, 0.999933428346073, -0.0012390169007031196, 0.10222723335027695], [0.0011179884241610644, 0.0012519239116310851, 0.9999985913932093, 7.632188498973846e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836077094078064, -0.8980473279953003, -1.2359040975570679, -1.3320099115371704, -0.5945565700531006, 0.2848004400730133, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213371396064758, -0.8325185179710388, 1.327784776687622, -1.718772530555725, 0.8452861905097961, 0.6259937286376953, 0.8909395337104797, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999333779608505, 0.011487254939461901, -0.001132525389884488, -0.0008851315942592919], [-0.011488641522618677, 0.99993325237981, -0.0012255207464697225, 0.10290611535310745], [0.0011183719272616114, 0.0012384502779982194, 0.9999986077416014, 7.493778684874997e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.48360732197761536, -0.8980470895767212, -1.2359040975570679, -1.3320097923278809, -0.5945566892623901, 0.28479960560798645, -1.2716493606567383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213377356529236, -0.8325185775756836, 1.3277841806411743, -1.7187721729278564, 0.8452864289283752, 0.6259938478469849, 0.8909397721290588, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999343653882852, 0.01140067028662599, -0.0011356198936878362, -0.0008946384768933058], [-0.011402119912191524, 0.9999341766168529, -0.0012783172863144278, 0.10310973972082138], [0.0011209714694414992, 0.001291181858658191, 0.9999985381351177, 8.043097477639094e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.483607679605484, -0.8980468511581421, -1.2359042167663574, -1.332008957862854, -0.5945566892623901, 0.28480008244514465, -1.271649718284607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213374972343445, -0.8325201272964478, 1.3277842998504639, -1.7187724113464355, 0.8452863097190857, 0.6259937286376953, 0.8909392952919006, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999396557605914, 0.01092686576610804, -0.001135095555178943, -0.0010338760912418365], [-0.010928240176985262, 0.9999395507624628, -0.0012117704396103332, 0.10333259403705597], [0.0011217860865851406, 0.0012241019130956412, 0.9999986215842911, 7.354374247370288e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.11004571616649628, -0.006518387235701084, 0.4836103618144989, -0.8980183601379395, -1.235905647277832, -1.3320066928863525, -0.5945563316345215, 0.28480127453804016, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213366627693176, -0.8325402736663818, 1.327780842781067, -1.7187730073928833, 0.8452864289283752, 0.6259938478469849, 0.8909395337104797, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999781025610902, 0.006521113312638682, -0.001126711802269449, -0.0016389904776588082], [-0.006522473618378765, 0.9999779989193366, -0.0012078970059156695, 0.10405538231134415], [0.00111881018014663, 0.0012152195040705917, 0.9999986357517383, 7.266740431077778e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.467583179473877, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.48360475897789, -0.8980625867843628, -1.2359031438827515, -1.3320103883743286, -0.5945568084716797, 0.2848002016544342, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213405966758728, -0.832507312297821, 1.3277839422225952, -1.7187716960906982, 0.8452861905097961, 0.6259937286376953, 0.8909390568733215, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999562950750679, -0.009283719958182652, -0.0011047549419427082, -0.003258542390540242], [0.009282504198680697, 0.9999563109824495, -0.0011005644788648955, 0.10445067286491394], [0.0011149240087023656, 0.0010902614863898673, 0.999998784136434, 5.961160422884859e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.11023743450641632, -0.0067101046442985535, 0.48360615968704224, -0.8980669379234314, -1.2359014749526978, -1.3320108652114868, -0.5945565700531006, 0.2848006784915924, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213394641876221, -0.8325058817863464, 1.3277891874313354, -1.7187718152999878, 0.8452865481376648, 0.625994086265564, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996495510527632, -0.02645030217655011, -0.001075450964981899, -0.005176702048629522], [0.02644934042549851, 0.999649750867509, -0.0008988779580269838, 0.10451602935791016], [0.0010988498828240316, 0.0008701179785091618, 0.9999990177113368, 3.65511114068795e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.4836064279079437, -0.8980594873428345, -1.235901951789856, -1.332010269165039, -0.5945565700531006, 0.28480055928230286, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213398814201355, -0.8325168490409851, 1.3277877569198608, -1.7187715768814087, 0.8452861905097961, 0.6259938478469849, 0.8909394145011902, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9992886209096646, -0.03769776404130638, -0.0010633469548768266, -0.00615724129602313], [0.037696940729176016, 0.9992889102010222, -0.0007839699703298995, 0.10444710403680801], [0.0010921447346614061, 0.0007433273433530144, 0.9999991273417889, 2.3268559743883088e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.11023743450641632, -0.006614245939999819, 0.48360660672187805, -0.8980526328086853, -1.2359020709991455, -1.33201003074646, -0.5945566892623901, 0.28480008244514465, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.721339762210846, -0.8325176239013672, 1.3277873992919922, -1.7187719345092773, 0.8452866673469543, 0.6259938478469849, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999064282865052, -0.04323709765629393, -0.0010545565890613215, -0.006749570369720459], [0.04323636149312266, 0.9990646181694854, -0.0007111727612168816, 0.10442662984132767], [0.0010843192221158945, 0.0006649121147786929, 0.9999991910715249, 1.504984265920939e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836080074310303, -0.898038387298584, -1.2359026670455933, -1.3320093154907227, -0.594556450843811, 0.2848004400730133, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213391065597534, -0.8325273990631104, 1.3277853727340698, -1.7187721729278564, 0.8452866673469543, 0.625994086265564, 0.8909392952919006, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9990894299752688, -0.04265207367440624, -0.0010542878949408305, -0.0066972170025110245], [0.04265133986518255, 0.99908976601145, -0.0007089844079205175, 0.10442153364419937], [0.0010835679014657698, 0.0006633720366477941, 0.9999991929087463, 1.4869982805976178e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360776901245117, -0.8980340957641602, -1.2359029054641724, -1.332008719444275, -0.5945565700531006, 0.2847999632358551, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213391065597534, -0.8325276374816895, 1.3277841806411743, -1.718772053718567, 0.8452866673469543, 0.625994086265564, 0.8909395337104797, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991377058845989, -0.041505830389566345, -0.0010539085980825888, -0.0065781413577497005], [0.04150505569260812, 0.999138014954716, -0.0007466085340613439, 0.10441883653402328], [0.0010839887518140983, 0.0007022222028575782, 0.999999165925834, 1.894111483125016e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836077094078064, -0.8980377316474915, -1.2359027862548828, -1.3320090770721436, -0.5945566892623901, 0.2847999632358551, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213388085365295, -0.8325215578079224, 1.3277839422225952, -1.7187724113464355, 0.8452865481376648, 0.6259938478469849, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991253702385965, -0.04180171038915361, -0.0010543026741781513, -0.006608658004552126], [0.04180096422159518, 0.9991256982067659, -0.000720120120252035, 0.10442594438791275], [0.0010834831481716836, 0.000675419413401024, 0.9999991849361096, 1.6127170965773985e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.483607679605484, -0.8980395197868347, -1.2359031438827515, -1.332008957862854, -0.5945569276809692, 0.28479984402656555, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213390469551086, -0.8325217366218567, 1.3277838230133057, -1.718772530555725, 0.8452866673469543, 0.6259938478469849, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991332781500555, -0.041612271705222775, -0.0010541995325785657, -0.006585290655493736], [0.041611528591411824, 0.9991336077611097, -0.0007173078524044822, 0.1044219359755516], [0.001083134991535843, 0.0006728192920247206, 0.9999991870660647, 1.585923382663168e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.4836077094078064, -0.8980414867401123, -1.235903263092041, -1.332009196281433, -0.5945566892623901, 0.2848002016544342, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213387489318848, -0.8325211405754089, 1.3277837038040161, -1.7187724113464355, 0.8452867865562439, 0.625994086265564, 0.8909390568733215, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991306921664639, -0.04167440126432436, -0.0010508331089005255, -0.006596297957003117], [0.04167370248639074, 0.9991310436478891, -0.0006783363146798245, 0.10441675782203674], [0.0010781892405656679, 0.0006339545252645318, 0.9999992178045048, 1.1807225746451877e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.483607679605484, -0.8980430960655212, -1.235903263092041, -1.332008957862854, -0.5945568084716797, 0.284799724817276, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213382124900818, -0.8325202465057373, 1.3277835845947266, -1.7187721729278564, 0.8452866673469543, 0.6259938478469849, 0.8909395337104797, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991307064190503, -0.04167408119201884, -0.001049974938037857, -0.006596256513148546], [0.04167338253095859, 0.9991310567239481, -0.0006787327274246846, 0.10441677272319794], [0.0010773481321658027, 0.0006343867021807827, 0.9999992184369517, 1.1842656022054143e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360782861709595, -0.8980445861816406, -1.2359033823013306, -1.332009196281433, -0.5945565700531006, 0.28480032086372375, -1.2716493606567383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213385105133057, -0.832520067691803, 1.3277837038040161, -1.7187719345092773, 0.8452866673469543, 0.625994086265564, 0.8909391760826111, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991307175866048, -0.041673866626480816, -0.001047862240232551, -0.006596211809664965], [0.04167318834643877, 0.9991310767001016, -0.0006610182584180268, 0.10441678762435913], [0.001074498915055911, 0.0006167758863727185, 0.9999992325194993, 1.0020914487540722e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360776901245117, -0.8980453610420227, -1.2359035015106201, -1.332009196281433, -0.5945569276809692, 0.28480032086372375, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213386297225952, -0.8325203061103821, 1.327783226966858, -1.718772292137146, 0.8452865481376648, 0.6259938478469849, 0.8909394145011902, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9991316467528294, -0.04165163439827083, -0.0010458532077049386, -0.006598479580134153], [0.04165094651215152, 0.9991319974112243, -0.00067112122547548, 0.10442174226045609], [0.0010728987003335955, 0.0006269776791664128, 0.9999992278933862, 1.1104184522992e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.11004571616649628, -0.006518387235701084, 0.48361000418663025, -0.8980304002761841, -1.2359061241149902, -1.3320066928863525, -0.5945563316345215, 0.28480008244514465, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213369607925415, -0.8325334787368774, 1.3277766704559326, -1.7187731266021729, 0.8452865481376648, 0.6259937286376953, 0.8909392952919006, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9990390845991217, -0.043815708236063566, -0.0010445837070575156, -0.006829491816461086], [0.04381500331153757, 0.9990394244128007, -0.00068844298960164, 0.10440190881490707], [0.0010737449226192787, 0.0006420130155464019, 0.9999992174452583, 1.2664701898756903e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006518387235701084, 0.48360952734947205, -0.8980328440666199, -1.2359058856964111, -1.3320066928863525, -0.5945565700531006, 0.2848002016544342, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213379740715027, -0.832526683807373, 1.3277746438980103, -1.7187731266021729, 0.8452865481376648, 0.6259938478469849, 0.8909395337104797, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.12342758476734161, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9982231769194008, -0.05957707999005249, -0.0010298547458879167, -0.008487138897180557], [0.05957652338719577, 0.9982235826294635, -0.0005629773471402505, 0.10429209470748901], [0.0010615658404713544, 0.0005006218706421911, 0.9999993112276173, -2.094465799018508e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.0067101046442985535, 0.48360562324523926, -0.8980923891067505, -1.2359024286270142, -1.3320108652114868, -0.5945569276809692, 0.2847999632358551, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.721338152885437, -0.8324840068817139, 1.3277918100357056, -1.7187721729278564, 0.8452867865562439, 0.6259939670562744, 0.8909394145011902, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9959748714672173, -0.08962717282651887, -0.0010125694965245895, -0.011179189197719097], [0.08962696227752326, 0.9959753733744279, -0.00025152449685370216, 0.10402929782867432], [0.0010310377119182442, 0.00015975855035634242, 0.999999455719073, -3.769707109313458e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.11023743450641632, -0.0067101046442985535, 0.4836066663265228, -0.898086667060852, -1.2359017133712769, -1.3320114612579346, -0.5945569276809692, 0.2848004400730133, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213393449783325, -0.8325064778327942, 1.3277920484542847, -1.7187716960906982, 0.8452864289283752, 0.6259943246841431, 0.8909392952919006, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9934742729277833, -0.11405191428806942, -0.0010148289703342187, -0.013881116174161434], [0.1140521791225098, 0.993474739312379, 0.0002068468218011588, 0.1037263423204422], [0.0009846156707586126, -0.00032124045139959954, 0.9999994636681329, -8.80413135746494e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.0067101046442985535, 0.48360660672187805, -0.8980437517166138, -1.2359025478363037, -1.3320105075836182, -0.5945565700531006, 0.28480032086372375, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213376760482788, -0.8325263261795044, 1.3277877569198608, -1.7187728881835938, 0.8452867865562439, 0.6259938478469849, 0.8909398913383484, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9915164935905799, -0.12997694291155146, -0.0010184543233580589, -0.015423323027789593], [0.12997731428583348, 0.9915169204171044, 0.000307079180645264, 0.10344265401363373], [0.0009699014811494129, -0.0004368500301209368, 0.999999434226424, -0.00010010232654167339], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.0067101046442985535, 0.4836069643497467, -0.8980428576469421, -1.2359023094177246, -1.3320106267929077, -0.5945566892623901, 0.28480079770088196, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213382720947266, -0.8325225114822388, 1.3277873992919922, -1.7187724113464355, 0.8452869057655334, 0.6259938478469849, 0.8909392952919006, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9900077932074592, -0.14100896698445603, -0.0010201070890511383, -0.016511183232069016], [0.14100944446295546, 0.9900081650341976, 0.00041199256011655754, 0.10326474159955978], [0.0009518197020625771, -0.0005517205791787083, 0.9999993948216456, -0.00011207481293240562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.0067101046442985535, 0.48360690474510193, -0.8980441093444824, -1.2359026670455933, -1.332010269165039, -0.5945568084716797, 0.2848004400730133, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7213385105133057, -0.8325203061103821, 1.3277866840362549, -1.7187721729278564, 0.845287024974823, 0.6259937286376953, 0.8909394145011902, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9891834277702168, -0.1466802752652348, -0.0010213093944486755, -0.017048561945557594], [0.14668073030648435, 0.9891838124225983, 0.000385483916981526, 0.10314886271953583], [0.0009537198334105848, -0.0005311207101966806, 0.9999994041644578, -0.00010992885654559359], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.1101415753364563, -0.006614245939999819, 0.48360756039619446, -0.8980408310890198, -1.2359026670455933, -1.3320103883743286, -0.5945565700531006, 0.28480032086372375, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7298797965049744, -0.832541286945343, 1.326292872428894, -1.7284201383590698, 0.8395023941993713, 0.6165322661399841, 0.8806936144828796, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9892799309693495, -0.14602801691800607, -0.0010180649652612966, -0.017013167962431908], [0.14602851151334417, 0.9892802886552552, 0.0004293056861540352, 0.10316642373800278], [0.0009444609447028002, -0.0005733700110642048, 0.9999993896199909, -0.00011433327745180577], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18655747175216675, 0.10870369523763657, -0.0062308115884661674, 0.48360753059387207, -0.8980302214622498, -1.2359046936035156, -1.3320081233978271, -0.5945565700531006, 0.2847999632358551, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7371535301208496, -0.8304103016853333, 1.3324575424194336, -1.7407996654510498, 0.8283888101577759, 0.6082158088684082, 0.8715795874595642, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894597391405365, -0.14480467411348577, -0.0010153693065381739, -0.01688610203564167], [0.14480515486980153, 0.989460102000449, 0.0004167401994875038, 0.10318737477064133], [0.0009443214888386097, -0.0005593783587575839, 0.9999993976762074, -0.00011295039439573884], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 1.4674873352050781, -0.18646161258220673, 0.10381490737199783, -0.004792931955307722, 0.48360776901245117, -0.8980461955070496, -1.2359036207199097, -1.332009196281433, -0.5945565700531006, 0.28480032086372375, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7286249399185181, -0.827182412147522, 1.3416167497634888, -1.7417187690734863, 0.8113889694213867, 0.6045761108398438, 0.8779975175857544, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9893734300637388, -0.14539322782481678, -0.001012514984084158, -0.016936559230089188], [0.14539376730220377, 0.9893737520002504, 0.0004809185166379357, 0.10318847745656967], [0.000931833453305105, -0.0006230213703731664, 0.9999993717651964, -0.00011954587535001338], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0457916259765625, 1.4674873352050781, -0.1863657534122467, 0.09710480272769928, -0.002013031393289566, 0.48360857367515564, -0.8980435132980347, -1.2359039783477783, -1.3320082426071167, -0.5945568084716797, 0.28480032086372375, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7182413339614868, -0.8253023028373718, 1.3454792499542236, -1.7419984340667725, 0.8028784990310669, 0.6000058054924011, 0.8864810466766357, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9893978996100917, -0.1452266263413285, -0.001011557539168993, -0.01691979542374611], [0.14522714663325142, 0.9893982329286907, 0.00046104050641540924, 0.10317207127809525], [0.000933877884406089, -0.0006030581237514452, 0.9999993820963073, -0.00011746498057618737], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0459833145141602, 1.4674873352050781, -0.18579061329364777, 0.09039469808340073, 0.0, 0.48360785841941833, -0.8980370163917542, -1.2359048128128052, -1.3320080041885376, -0.5945566892623901, 0.28480032086372375, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.71103835105896, -0.824565589427948, 1.3441650867462158, -1.7370058298110962, 0.8025092482566833, 0.5991277098655701, 0.8925712704658508, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894167257049855, -0.14509834049068834, -0.0010072150086940382, -0.01690642349421978], [0.14509886949003625, 0.9894170475986879, 0.00047327984250817093, 0.10317423194646835], [0.0009278835804635121, -0.0006144167512115076, 0.9999993807618668, -0.00011860628001159057], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0462708473205566, 1.467583179473877, -0.18521545827388763, 0.08224671334028244, 0.003642628202214837, 0.48360827565193176, -0.8980398178100586, -1.2359046936035156, -1.3320074081420898, -0.5945568084716797, 0.2847999632358551, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6999431252479553, -0.8244649171829224, 1.3412367105484009, -1.7329481840133667, 0.8037511706352234, 0.5950500965118408, 0.8979934453964233, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894044582447383, -0.14518197579922335, -0.0010059366130898216, -0.016924282535910606], [0.14518254674337847, 0.9894047494350678, 0.0005195348278518612, 0.10317271202802658], [0.0009198513698176531, -0.0006600745142408329, 0.9999993590873412, -0.00012343197886366397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0474212169647217, 1.4674873352050781, -0.1846403032541275, 0.07505731284618378, 0.006518387235701084, 0.4836080074310303, -0.8980388045310974, -1.2359048128128052, -1.3320070505142212, -0.5945570468902588, 0.28480008244514465, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6871428489685059, -0.8242132067680359, 1.3358415365219116, -1.7329968214035034, 0.802363395690918, 0.5962411761283875, 0.9063705205917358, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894321588701713, -0.14499307456568367, -0.001005644819047187, -0.016900409013032913], [0.14499362612316805, 0.9894324633965816, 0.0004987590872142304, 0.10317079722881317], [0.0009227010170891025, -0.0006393003693241209, 0.999999369958737, -0.00012128827802371234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0484756231307983, 1.4672956466674805, -0.1841610074043274, 0.06834720820188522, 0.009106570854783058, 0.4836079776287079, -0.8980427384376526, -1.2359046936035156, -1.3320071697235107, -0.5945565700531006, 0.2848004400730133, -1.2716492414474487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6763869524002075, -0.8233913779258728, 1.3309862613677979, -1.7327536344528198, 0.7995473146438599, 0.6034321188926697, 0.9142137169837952, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894165183713624, -0.14509976909807087, -0.0010050778965135958, -0.016915444284677505], [0.14510033726436058, 0.989416810386683, 0.0005171556934801738, 0.10317447036504745], [0.0009194017948469128, -0.0006575195274601579, 0.9999993611840012, -0.0001231340429512784], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0493383407592773, 1.4660494327545166, -0.18444858491420746, 0.06173296272754669, 0.01179061271250248, 0.48360881209373474, -0.8980429172515869, -1.235904335975647, -1.3320069313049316, -0.5945569276809692, 0.2847999632358551, -1.2716492414474487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.669909656047821, -0.8228636980056763, 1.3250555992126465, -1.7309650182724, 0.799193799495697, 0.6067709922790527, 0.922457218170166, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894286410383293, -0.14501707079150597, -0.0010067135125631681, -0.016906902194023132], [0.14501761863406404, 0.9894289495754911, 0.0004939915438567674, 0.10317588597536087], [0.0009244342865729463, -0.0006347605781612722, 0.9999993712499314, -0.000120736745884642], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0502969026565552, 1.4643239974975586, -0.1855030357837677, 0.05655659735202789, 0.014282937161624432, 0.4836087226867676, -0.8980423808097839, -1.235904574394226, -1.3320070505142212, -0.5945569276809692, 0.28479984402656555, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6653210520744324, -0.8232545852661133, 1.3206638097763062, -1.7276978492736816, 0.8090236186981201, 0.6032770276069641, 0.9274794459342957, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894256206089639, -0.14503769668030217, -0.0010039044970952275, -0.016904694959521294], [0.14503824200564622, 0.9894259270516541, 0.0004931874759346607, 0.10317166894674301], [0.0009217583621686349, -0.0006335768678534743, 0.9999993744707415, -0.00012055808474542573], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0510637760162354, 1.4625985622406006, -0.187707781791687, 0.05147608742117882, 0.016487685963511467, 0.48360806703567505, -0.8980435132980347, -1.235904574394226, -1.3320082426071167, -0.5945569276809692, 0.2848002016544342, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6648246049880981, -0.8260740637779236, 1.3175206184387207, -1.7225476503372192, 0.8477483987808228, 0.5932904481887817, 0.9383077621459961, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894254049095693, -0.14503917521985238, -0.0010028813886503467, -0.01690528728067875], [0.14503972155224304, 0.9894257092687658, 0.0004949848961475148, 0.1031816378235817], [0.0009204844281942942, -0.000635208268654649, 0.9999993746092409, -0.00012077773862984031], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4614481925964355, -0.1894332319498062, 0.04668315500020981, 0.0179255660623312, 0.48360776901245117, -0.8980344533920288, -1.235906720161438, -1.3320075273513794, -0.5945569276809692, 0.2848004400730133, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6660731434822083, -0.8271512389183044, 1.3178447484970093, -1.7204647064208984, 0.8701581358909607, 0.5893564820289612, 0.944323718547821, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894350546674194, -0.14497335025415248, -0.0010001556716418766, -0.0169029850512743], [0.14497385753455638, 0.9894353814599958, 0.00045447405080357664, 0.10316843539476395], [0.000923702782741788, -0.0005946689831547484, 0.9999993965708027, -0.00011651805834844708], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4610648155212402, -0.19039182364940643, 0.04467012360692024, 0.01878829300403595, 0.48360785841941833, -0.8980398774147034, -1.2359060049057007, -1.3320083618164062, -0.5945566892623901, 0.28480008244514465, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6660593152046204, -0.8270302414894104, 1.3179435729980469, -1.7206016778945923, 0.8653320074081421, 0.5897287130355835, 0.9437299370765686, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894531267430958, -0.14484994712324434, -0.0010013973758829595, -0.016889406368136406], [0.1448505002222714, 0.9894534244382499, 0.0005034409381431552, 0.10317940264940262], [0.0009179126695211591, -0.0006431841211941391, 0.9999993718750614, -0.00012157673336332664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4609689712524414, -0.19058354198932648, 0.0436156801879406, 0.018980009481310844, 0.48360857367515564, -0.8980452418327332, -1.2359060049057007, -1.332007646560669, -0.5945569276809692, 0.28480008244514465, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6660162210464478, -0.8270136117935181, 1.317949652671814, -1.7206611633300781, 0.865471363067627, 0.5898317694664001, 0.9436659216880798, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9894284917378703, -0.14501812729708813, -0.0010012455086980373, -0.0169069766998291], [0.14501869562044814, 0.989428778342145, 0.0005201047147503886, 0.10317648202180862], [0.0009152365087601711, -0.0006598057411284537, 0.9999993634990559, -0.00012331188190728426], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4608731269836426, -0.1910628378391266, 0.04294466972351074, 0.019459303468465805, 0.4836091697216034, -0.8980295062065125, -1.2359075546264648, -1.3320070505142212, -0.5945565700531006, 0.2847999632358551, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659934520721436, -0.8270267844200134, 1.3179470300674438, -1.720677137374878, 0.86561119556427, 0.5898416042327881, 0.9436680674552917, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9891151811293334, -0.14713991860256379, -0.0010014055706432893, -0.017157912254333496], [0.14714046183613405, 0.9891154849132332, 0.0004919303900200634, 0.10314139723777771], [0.0009181231590559704, -0.0006339230949774495, 0.9999993775954935, -0.0001205896187457256], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4607771635055542, -0.1911586970090866, 0.04284881055355072, 0.019459303468465805, 0.4836088716983795, -0.8980310559272766, -1.2359082698822021, -1.3320066928863525, -0.5945566892623901, 0.28480008244514465, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659930944442749, -0.8270214796066284, 1.3179446458816528, -1.7206776142120361, 0.8656213879585266, 0.589842677116394, 0.943669855594635, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9864196924630827, -0.16424123205107732, -0.0010039996920014223, -0.01875186339020729], [0.164241766314989, 0.9864200003040443, 0.0004745502099059231, 0.10278197377920151], [0.0009124246653442572, -0.0006330043549077105, 0.9999993833931683, -0.00012048205098835751], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4606813192367554, -0.1911586970090866, 0.04294466972351074, 0.019459303468465805, 0.48360398411750793, -0.8981001377105713, -1.2359033823013306, -1.332010269165039, -0.5945570468902588, 0.28480008244514465, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665995717048645, -0.8269858956336975, 1.317948341369629, -1.7206737995147705, 0.8656225800514221, 0.5898422002792358, 0.9436756372451782, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9817745903912781, -0.1900464537951139, -0.0009995308597828087, -0.02149483561515808], [0.19004704615871576, 0.9817748389923839, 0.000534572563491911, 0.10225503146648407], [0.000879720628943385, -0.0007147876470028906, 0.999999357584911, -0.00012894056271761656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4603937864303589, -0.19125455617904663, 0.04284881055355072, 0.019363444298505783, 0.4836081266403198, -0.8980502486228943, -1.2359026670455933, -1.332009196281433, -0.5945569276809692, 0.28480055928230286, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659942865371704, -0.8270082473754883, 1.3179477453231812, -1.7206743955612183, 0.8656238913536072, 0.5898414850234985, 0.9436779022216797, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9771325578299828, -0.2126287156879346, -0.0009968417802867125, -0.0241414625197649], [0.21262919110809797, 0.9771328822767854, 0.0003968150424127896, 0.10168406367301941], [0.0008896726091115926, -0.0005996985587833422, 0.999999424421978, -0.00011692760017467663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360976576805115, -0.8980147838592529, -1.235904574394226, -1.3320072889328003, -0.5945571660995483, 0.2848004400730133, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659952402114868, -0.8270307779312134, 1.3179410696029663, -1.7206722497940063, 0.8656232953071594, 0.5898407697677612, 0.9436794519424438, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9724820600458308, -0.23297564293112072, -0.0009963382197217372, -0.02637246809899807], [0.23297601452053118, 0.9724824430586383, 0.0002731315279557373, 0.10115563869476318], [0.0009052884326974421, -0.0004977384185151125, 0.9999994663545178, -0.00010628390737110749], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4603937864303589, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360583186149597, -0.8980423808097839, -1.2359049320220947, -1.332009196281433, -0.5945566892623901, 0.28479960560798645, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659969091415405, -0.8270140886306763, 1.3179413080215454, -1.7206703424453735, 0.865622341632843, 0.5898398160934448, 0.9436808824539185, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9656020402882607, -0.26002251820559297, -0.0009948955574181242, -0.0292626041918993], [0.26002281847653397, 0.9656024545995945, 0.00018314681938636328, 0.10037809610366821], [0.0009130512951349856, -0.000435542489401421, 0.9999994883199053, -9.978906746255234e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4603937864303589, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836084544658661, -0.8980492949485779, -1.2359042167663574, -1.3320080041885376, -0.5945568084716797, 0.28480008244514465, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659965515136719, -0.8270121216773987, 1.3179415464401245, -1.7206687927246094, 0.8656215071678162, 0.589838981628418, 0.9436805248260498, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9568035480350723, -0.29073353398255214, -0.0009913049547905627, -0.032044198364019394], [0.2907337557117277, 0.9568039904763511, 8.425131423567507e-05, 0.09931039810180664], [0.000923989854192177, -0.00036881776894921644, 0.9999995051079789, -9.286724525736645e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4603937864303589, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.483607679605484, -0.8980486989021301, -1.235904574394226, -1.3320081233978271, -0.5945566892623901, 0.28480008244514465, -1.2716484069824219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659972667694092, -0.827014148235321, 1.3179413080215454, -1.7206674814224243, 0.8656192421913147, 0.5898383855819702, 0.9436813592910767, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.947643194522195, -0.31932960887297407, -0.0009883181686953352, -0.03502726927399635], [0.3193298161539096, 0.9476436384288002, 5.532210890561635e-05, 0.09828226268291473], [0.0009189074379088776, -0.0003680250791220731, 0.9999995100832109, -9.273883915739134e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4603937864303589, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360776901245117, -0.898048460483551, -1.235904574394226, -1.3320084810256958, -0.5945568084716797, 0.28480032086372375, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659971475601196, -0.8270148038864136, 1.3179411888122559, -1.7206673622131348, 0.8656180500984192, 0.5898375511169434, 0.9436808824539185, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9375937231119136, -0.3477312699434594, -0.0009870585845195817, -0.03802873194217682], [0.347731419582417, 0.937594186939703, -2.1262039692444526e-05, 0.09724298864603043], [0.0009328538670783333, -0.000323296127849813, 0.9999995126315194, -8.807856647763401e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4603937864303589, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360732197761536, -0.8980490565299988, -1.2359040975570679, -1.3320088386535645, -0.5945568084716797, 0.28479984402656555, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665997326374054, -0.8270142078399658, 1.3179411888122559, -1.7206670045852661, 0.8656163811683655, 0.5898367166519165, 0.9436808824539185, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9269134772185926, -0.3752738080239325, -0.0009873002350723633, -0.040929898619651794], [0.3752739821388322, 0.9269139324866363, -9.582419767724727e-06, 0.09612946212291718], [0.0009187383745922226, -0.000361626016755141, 0.9999995125730927, -9.20468955882825e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360776901245117, -0.8980479836463928, -1.2359044551849365, -1.3320083618164062, -0.5945568084716797, 0.28480032086372375, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659980416297913, -0.8270164728164673, 1.317940592765808, -1.7206671237945557, 0.8656147122383118, 0.5898363590240479, 0.943682074546814, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9159542411963335, -0.4012815181298281, -0.0009855160421722016, -0.043689776211977005], [0.4012816676873716, 0.9159547045093966, -4.965023498369122e-05, 0.09497029334306717], [0.0009226117768668672, -0.0003499921776258125, 0.9999995131463739, -9.086483623832464e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980479836463928, -1.2359040975570679, -1.3320086002349854, -0.5945566892623901, 0.2847999632358551, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659978032112122, -0.8270151615142822, 1.3179410696029663, -1.7206668853759766, 0.8656130433082581, 0.5898358821868896, 0.9436819553375244, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9044679693245847, -0.4265404155999811, -0.0009830186455009246, -0.0463009849190712], [0.42654058427362107, 0.9044684230151687, -4.1664993662162e-05, 0.09370200335979462], [0.0009068811278033576, -0.0003816126951942907, 0.9999995159690683, -9.410713391844183e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836074709892273, -0.8980475664138794, -1.235904335975647, -1.332008719444275, -0.5945569276809692, 0.2848002016544342, -1.2716492414474487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659981608390808, -0.82701575756073, 1.3179411888122559, -1.7206668853759766, 0.865612268447876, 0.5898352861404419, 0.9436813592910767, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8931867900905316, -0.4496847860092817, -0.0009753151076147417, -0.04868697375059128], [0.4496850499982531, 0.8931871877704096, 5.840253140662938e-05, 0.09238716959953308], [0.0008448762283224151, -0.0004907489924920354, 0.9999995226746786, -0.00010538142669247463], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980459570884705, -1.2359042167663574, -1.3320083618164062, -0.5945570468902588, 0.28480032086372375, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659981608390808, -0.8270155787467957, 1.3179409503936768, -1.7206672430038452, 0.8656116724014282, 0.5898349285125732, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8818584257484863, -0.47151328525288133, -0.0009688996008479238, -0.05121097341179848], [0.47151371422940624, 0.8818586897374874, 0.00026196960093641063, 0.09111590683460236], [0.0007309103853170112, -0.000687869549386936, 0.999999496302619, -0.00012572956620715559], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360738158226013, -0.89804607629776, -1.2359040975570679, -1.332008719444275, -0.5945566892623901, 0.2848002016544342, -1.2716482877731323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665998101234436, -0.8270160555839539, 1.3179408311843872, -1.7206671237945557, 0.8656119108200073, 0.5898339748382568, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8709068066929637, -0.4914472510840001, -0.0009661562216006625, -0.053350843489170074], [0.491447771034684, 0.8709069620186548, 0.00038968253511752204, 0.08991015702486038], [0.0006499237691107048, -0.0008141924938601577, 0.9999994573446914, -0.0001387660449836403], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360776901245117, -0.8980457782745361, -1.2359042167663574, -1.3320088386535645, -0.5945566892623901, 0.28479984402656555, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270161151885986, 1.3179407119750977, -1.7206672430038452, 0.8656117916107178, 0.5898338556289673, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8594136165561318, -0.5112800696715767, -0.0009623068833239873, -0.05530719831585884], [0.5112805868271729, 0.8594137614760918, 0.00038486254278263376, 0.08882562816143036], [0.0006302472306039174, -0.0008227649377835284, 0.9999994629229985, -0.0001396775187458843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4604896306991577, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836074709892273, -0.8980447053909302, -1.2359042167663574, -1.332009196281433, -0.594556450843811, 0.28480055928230286, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270160555839539, 1.3179407119750977, -1.7206670045852661, 0.8656120300292969, 0.5898337364196777, 0.943682074546814, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.847566590432427, -0.5306881874841927, -0.000960441301155042, -0.057207804173231125], [0.5306887049431506, 0.8475667241925431, 0.00038273657176377744, 0.08739215135574341], [0.0006109243098459701, -0.0008340900814475045, 0.999999465532469, -0.00014083301357459277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836080074310303, -0.8980444073677063, -1.2359038591384888, -1.332008719444275, -0.5945568084716797, 0.28480008244514465, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659982204437256, -0.8270159363746643, 1.3179398775100708, -1.7206672430038452, 0.8656119108200073, 0.5898337364196777, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.835447914003933, -0.5495687768521539, -0.0009708221795569555, -0.05915854126214981], [0.5495693485242121, 0.835447977592403, 0.0004559599071149148, 0.08609049767255783], [0.0005604900980659417, -0.0009144648660205543, 0.999999424802264, -0.00014913735503796488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980447053909302, -1.2359042167663574, -1.3320086002349854, -0.5945569276809692, 0.2848004400730133, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659983396530151, -0.8270164132118225, 1.3179398775100708, -1.7206672430038452, 0.8656121492385864, 0.5898333787918091, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8224485518635816, -0.5688386411201638, -0.0009899020472150478, -0.0611334927380085], [0.5688392679038635, 0.8224485476927412, 0.0005231526520713502, 0.08465088158845901], [0.0005165540573874108, -0.0009933612969340176, 0.9999993732024234, -0.00015728505968581885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.483607679605484, -0.8980450630187988, -1.2359040975570679, -1.332008957862854, -0.5945569276809692, 0.2848002016544342, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659982204437256, -0.8270159363746643, 1.31794011592865, -1.7206673622131348, 0.8656123876571655, 0.5898333787918091, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8083872854884119, -0.5886501327501029, -0.0010088973996455063, -0.06309053301811218], [0.5886508158769579, 0.8083871947148562, 0.0006003236102385394, 0.08309414237737656], [0.00046219916579460667, -0.0010791822511328046, 0.9999993108685625, -0.00016615469940006733], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360756039619446, -0.898045539855957, -1.235904335975647, -1.332008719444275, -0.5945568084716797, 0.28480008244514465, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270152807235718, 1.3179402351379395, -1.7206668853759766, 0.8656123876571655, 0.5898330807685852, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7938082621001159, -0.6081672402622886, -0.0010251308918292493, -0.06501896679401398], [0.6081679463010126, 0.7938081430521906, 0.0006173459659565053, 0.08148263394832611], [0.0004383076572255877, -0.0011135060775239708, 0.9999992839950501, -0.00016967052943073213], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360785841941833, -0.8980448842048645, -1.2359044551849365, -1.3320086002349854, -0.5945570468902588, 0.2848002016544342, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659983396530151, -0.827016294002533, 1.3179398775100708, -1.7206671237945557, 0.8656123876571655, 0.5898329615592957, 0.9436821937561035, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7790213680221199, -0.6269965198090302, -0.0010355251369221455, -0.06695926934480667], [0.6269972366723213, 0.7790212305661097, 0.0006225211139474499, 0.07988157868385315], [0.0004163774944945372, -0.0011342286491649088, 0.9999992700773104, -0.0001717963459668681], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836077094078064, -0.898045003414154, -1.2359040975570679, -1.3320084810256958, -0.5945566892623901, 0.28480008244514465, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659989953041077, -0.8270155787467957, 1.3179399967193604, -1.7206668853759766, 0.865612268447876, 0.5898329615592957, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7634606174706853, -0.6458535365806426, -0.0010463544124983929, -0.06892842799425125], [0.645854261573632, 0.7634604688762288, 0.0006207015929550403, 0.07822202891111374], [0.0003979679114054827, -0.0011496736778509541, 0.9999992599357141, -0.00017334673611912876], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360785841941833, -0.8980453014373779, -1.2359036207199097, -1.3320088386535645, -0.5945566892623901, 0.2848002016544342, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270152807235718, 1.3179399967193604, -1.7206670045852661, 0.865612268447876, 0.5898333787918091, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7469025048636228, -0.6649327337373181, -0.0010525364899619208, -0.0709027424454689], [0.6649334754212912, 0.7469022962776348, 0.0006580876531793218, 0.07646320015192032], [0.00034855789900125776, -0.0011913940628575656, 0.9999992295434922, -0.00017757847672328353], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836072623729706, -0.8980462551116943, -1.2359037399291992, -1.3320088386535645, -0.5945569276809692, 0.28480008244514465, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659990549087524, -0.8270146250724792, 1.3179399967193604, -1.7206672430038452, 0.8656126260757446, 0.5898328423500061, 0.9436819553375244, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7303294141499537, -0.6830942964030546, -0.001062567174831408, -0.07276450842618942], [0.6830950753324624, 0.7303290598526234, 0.00076314567471533, 0.07468593120574951], [0.00025472322810217755, -0.0012831821378631804, 0.9999991442794729, -0.00018695050675887614], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836077094078064, -0.89804607629776, -1.2359039783477783, -1.3320086002349854, -0.5945566892623901, 0.284799724817276, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659985780715942, -0.8270151019096375, 1.3179399967193604, -1.7206670045852661, 0.8656125068664551, 0.5898330807685852, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7141586262858552, -0.6999830672412694, -0.001077996755450244, -0.07452897727489471], [0.6999838634936021, 0.7141582236372224, 0.0007889612774305379, 0.07290343195199966], [0.00021760071304861736, -0.001318023835796156, 0.9999991077311509, -0.0001904906239360571], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980459570884705, -1.2359037399291992, -1.3320086002349854, -0.5945569276809692, 0.2848004400730133, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659982800483704, -0.8270154595375061, 1.3179402351379395, -1.7206676006317139, 0.8656126260757446, 0.5898330807685852, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6962653692348512, -0.7177836331374314, -0.0010916062868899549, -0.07630430161952972], [0.7177844476622739, 0.6962648653794425, 0.0008508421187282871, 0.07095443457365036], [0.00014932655718164804, -0.001375949917656886, 0.999999042231243, -0.0001963838149094954], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836077094078064, -0.8980454802513123, -1.2359039783477783, -1.3320086002349854, -0.5945569276809692, 0.2848004400730133, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659985184669495, -0.8270156979560852, 1.3179398775100708, -1.7206672430038452, 0.865612268447876, 0.5898327231407166, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6800277082307475, -0.7331855782461696, -0.0011062957412662387, -0.07786601036787033], [0.7331864004960501, 0.6800271999952096, 0.0008422554962408355, 0.06920711696147919], [0.00013478161225755363, -0.0013838780672765095, 0.9999990333572387, -0.00019719373085536063], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.483607679605484, -0.8980457782745361, -1.2359039783477783, -1.332008719444275, -0.5945569276809692, 0.2848002016544342, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659986972808838, -0.8270154595375061, 1.3179398775100708, -1.7206672430038452, 0.865612804889679, 0.589832603931427, 0.9436819553375244, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6640143758441044, -0.7477189673003091, -0.0011200945156529093, -0.07935594767332077], [0.7477198024462554, 0.6640137787028917, 0.0008937127279156506, 0.06752495467662811], [7.551223386284133e-05, -0.00143095494917597, 0.999998973332391, -0.0002019473467953503], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980456590652466, -1.2359042167663574, -1.3320084810256958, -0.594556450843811, 0.2848002016544342, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270155191421509, 1.317940354347229, -1.7206672430038452, 0.8656129240989685, 0.5898330807685852, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6483059326404306, -0.761379101462591, -0.0011320597330102282, -0.08082333207130432], [0.7613799424429915, 0.6483052756449011, 0.0009234806417503957, 0.06593544036149979], [3.0801436021676106e-05, -0.0014606255530867295, 0.9999989328115632, -0.0002049856266239658], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360782861709595, -0.898044764995575, -1.2359040975570679, -1.3320088386535645, -0.5945565700531006, 0.28480032086372375, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659981608390808, -0.8270171880722046, 1.3179397583007812, -1.7206671237945557, 0.8656132817268372, 0.5898323655128479, 0.9436819553375244, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6327242002944249, -0.7743763760864092, -0.0011465256476671237, -0.08222835510969162], [0.7743772220765749, 0.6327233792891624, 0.001021386249159681, 0.06439381837844849], [-6.550379997512567e-05, -0.0015340991437712943, 0.9999988211238398, -0.00021245137031655759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980458974838257, -1.2359036207199097, -1.332008957862854, -0.5945568084716797, 0.28480008244514465, -1.2716484069824219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659983396530151, -0.827014684677124, 1.31794011592865, -1.7206670045852661, 0.8656130433082581, 0.5898327231407166, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6161116946259538, -0.7876579354958763, -0.0011646439410964706, -0.08365370333194733], [0.7876587744231649, 0.6161106535439205, 0.0011478954137291645, 0.06278123706579208], [-0.0001865993920481846, -0.0016245738078894468, 0.999998662969411, -0.00022168051509652287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980463743209839, -1.2359038591384888, -1.3320090770721436, -0.5945563316345215, 0.2847999632358551, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659987568855286, -0.8270142674446106, 1.31794011592865, -1.7206673622131348, 0.865612804889679, 0.5898329615592957, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5997244505227397, -0.8002057170157111, -0.001180635663376614, -0.08499037474393845], [0.8002065573608792, 0.5997233666733458, 0.0011614743379284938, 0.06119830533862114], [-0.00022136361052257678, -0.0016413169587985068, 0.9999986285374559, -0.0002233727864222601], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360785841941833, -0.8980453610420227, -1.2359037399291992, -1.3320088386535645, -0.5945566892623901, 0.28480032086372375, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659982800483704, -0.8270155787467957, 1.3179397583007812, -1.7206674814224243, 0.865612804889679, 0.5898329615592957, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5846245354006969, -0.8113031007380995, -0.0011963863358445525, -0.0862283706665039], [0.811303970527531, 0.5846236337159229, 0.0010364878453221363, 0.05968279391527176], [-0.00014147007579767997, -0.001576589209575493, 0.9999987471755561, -0.0002167364291381091], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360776901245117, -0.8980454206466675, -1.2359039783477783, -1.332008719444275, -0.5945566892623901, 0.2848004400730133, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659982800483704, -0.8270162343978882, 1.31794011592865, -1.7206671237945557, 0.865612804889679, 0.5898329615592957, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5698762696757957, -0.8217296177833527, -0.0012134735368825897, -0.08736652135848999], [0.8217304956486078, 0.5698753256046243, 0.0010515646042509694, 0.058169398456811905], [-0.00017257315338209083, -0.0015964099249126463, 0.9999987108460983, -0.00021876246319152415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360782861709595, -0.898044764995575, -1.2359039783477783, -1.3320083618164062, -0.5945566892623901, 0.28479960560798645, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659985780715942, -0.827016294002533, 1.3179399967193604, -1.7206671237945557, 0.8656132817268372, 0.5898328423500061, 0.9436821937561035, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5536925069988254, -0.8327202937134748, -0.0012329359675067723, -0.0883728638291359], [0.8327211957303957, 0.5536916552402992, 0.0009803563625796507, 0.056502312421798706], [-0.00013369628153707606, -0.001569507885270228, 0.9999987593843817, -0.0002160204603569582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360782861709595, -0.8980451226234436, -1.2359040975570679, -1.3320084810256958, -0.5945569276809692, 0.2848002016544342, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659982204437256, -0.8270161151885986, 1.3179399967193604, -1.7206676006317139, 0.8656136393547058, 0.5898329615592957, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5373571615438553, -0.8433538489762742, -0.0012515408242061497, -0.08956983685493469], [0.8433547684776449, 0.5373563454831947, 0.0009446983453426594, 0.054843220859766006], [-0.00012419158214780726, -0.0015631333434072065, 0.9999987705945451, -0.0002153560781152919], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836074709892273, -0.8980453610420227, -1.2359038591384888, -1.3320088386535645, -0.5945569276809692, 0.2847999632358551, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270155787467957, 1.31794011592865, -1.7206673622131348, 0.8656132817268372, 0.5898328423500061, 0.943682074546814, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5207094476638521, -0.8537330082924486, -0.0012734463208233908, -0.09078589826822281], [0.8537339526342739, 0.520708697210933, 0.0008892515685607363, 0.053149789571762085], [-9.608884207213247e-05, -0.001550226054043602, 0.9999987937823304, -0.00021405391453299671], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360776901245117, -0.898045539855957, -1.2359035015106201, -1.332008719444275, -0.5945566892623901, 0.28480008244514465, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659989953041077, -0.8270160555839539, 1.3179399967193604, -1.7206672430038452, 0.8656136393547058, 0.5898331999778748, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5042503118187223, -0.8635565708070932, -0.0012930764150272506, -0.09193357825279236], [0.8635575364833351, 0.5042496325346171, 0.0008302237872827015, 0.051499076187610626], [-6.49118996316564e-05, -0.0015352864870622578, 0.9999988193402269, -0.00021254736930131912], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836077094078064, -0.8980451226234436, -1.2359039783477783, -1.332008957862854, -0.5945569276809692, 0.28480055928230286, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659985780715942, -0.8270158767700195, 1.3179397583007812, -1.7206674814224243, 0.8656135201454163, 0.5898329615592957, 0.943682074546814, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.48724003786897174, -0.8732671005700356, -0.0013101753494485268, -0.09307790547609329], [0.8732680831306694, 0.4872394515934034, 0.0007561721006052625, 0.049787815660238266], [-2.1971099071014966e-05, -0.0015125716389123378, 0.9999988558214994, -0.00021025004389230162], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360762000083923, -0.8980451822280884, -1.2359039783477783, -1.332008957862854, -0.5945565700531006, 0.2848002016544342, -1.2716480493545532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665998637676239, -0.827016294002533, 1.31794011592865, -1.7206676006317139, 0.8656137585639954, 0.5898328423500061, 0.9436813592910767, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.46896740032176853, -0.8832144740193348, -0.0013305330479238902, -0.09423171728849411], [0.8832154733075065, 0.4689669889811685, 0.000625264850777925, 0.047953441739082336], [7.173311092220058e-05, -0.00146837620725528, 0.9999989193622535, -0.00020574472728185356], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836077094078064, -0.8980454802513123, -1.2359036207199097, -1.3320086002349854, -0.5945568084716797, 0.28480032086372375, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659985780715942, -0.8270148634910583, 1.3179397583007812, -1.7206673622131348, 0.8656134009361267, 0.5898334980010986, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.0179255660623312, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4488540094689316, -0.8936040800565476, -0.00135140295820171, -0.0957130715250969], [0.8936050852844487, 0.4488537796722172, 0.00048582685986122434, 0.045872896909713745], [0.00017244546147600207, -0.001425685889673907, 0.9999989688406218, -0.00020144919108133763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360776901245117, -0.8980456590652466, -1.2359037399291992, -1.3320088386535645, -0.5945568084716797, 0.28480032086372375, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270153999328613, 1.31794011592865, -1.7206677198410034, 0.8656134009361267, 0.5898331999778748, 0.9436815977096558, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4301990237323967, -0.9027330344522593, -0.0013669265923249715, -0.09676628559827805], [0.9027340304481505, 0.430198956584685, 0.00035780481577993967, 0.04386740177869797], [0.00026504816665540523, -0.0013878984344515575, 0.9999990017432042, -0.00019764019816648215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04294466972351074, 0.019459303468465805, 0.48360297083854675, -0.8980712890625, -1.23590087890625, -1.3320108652114868, -0.5945570468902588, 0.2848002016544342, -1.2716490030288696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6660000085830688, -0.8270076513290405, 1.3179423809051514, -1.720666527748108, 0.8656132817268372, 0.5898324847221375, 0.9436821937561035, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.415364647700035, -0.9096539535991925, -0.0013762784542155526, -0.0972994863986969], [0.9096549731337826, 0.4153644921358708, 0.00041051880253562944, 0.042278487235307693], [0.0001982271494194425, -0.0014224535380835046, 0.9999989686654328, -0.00020120693079661578], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836094081401825, -0.8980392217636108, -1.2359001636505127, -1.3320088386535645, -0.5945566892623901, 0.28480032086372375, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659987568855286, -0.8270179033279419, 1.3179410696029663, -1.7206673622131348, 0.8656137585639954, 0.5898328423500061, 0.9436812400817871, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4105591542780751, -0.9118329224639791, -0.0013792567820407166, -0.09755775332450867], [0.9118339389456153, 0.41055903839104, 0.0003791864296188069, 0.04173484072089195], [0.00022051166785095824, -0.0014133316042436608, 0.999998976933667, -0.00020025270350743085], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836079180240631, -0.8980329036712646, -1.235901951789856, -1.3320088386535645, -0.5945568084716797, 0.28480032086372375, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659981608390808, -0.8270228505134583, 1.3179398775100708, -1.7206670045852661, 0.8656138777732849, 0.5898329615592957, 0.9436817169189453, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41080806302450534, -0.9117208111978345, -0.0013776003835285669, -0.09755051881074905], [0.9117218346669026, 0.4108078806275277, 0.0004259177573294879, 0.041785649955272675], [0.00017761101069303686, -0.0014309587980047618, 0.9999989604050833, -0.0002020195679506287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836080074310303, -0.898033857345581, -1.235902190208435, -1.3320088386535645, -0.5945568084716797, 0.28480055928230286, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659993529319763, -0.8270193338394165, 1.317939281463623, -1.7206671237945557, 0.8656136393547058, 0.5898331999778748, 0.9436813592910767, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41079074532544835, -0.9117286182868553, -0.0013748278817287283, -0.09755678474903107], [0.9117296337835207, 0.4107905930404713, 0.00040441368065597495, 0.04176996648311615], [0.0001960508345831456, -0.0014196007184203829, 0.999998973148408, -0.00020084853167645633], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360782861709595, -0.8980376720428467, -1.235902190208435, -1.332008957862854, -0.5945569276809692, 0.28480008244514465, -1.2716485261917114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659985780715942, -0.8270170092582703, 1.3179398775100708, -1.7206676006317139, 0.8656137585639954, 0.5898330807685852, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41069239828126014, -0.9117729226645946, -0.0013753143823002998, -0.09755705296993256], [0.9117739376288573, 0.4106922545916384, 0.00039834558603154787, 0.04176455736160278], [0.0002016302452326916, -0.0014175733138995941, 0.9999989749150465, -0.0002006653812713921], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360782861709595, -0.8980400562286377, -1.2359025478363037, -1.3320086002349854, -0.5945569276809692, 0.2848006784915924, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659984588623047, -0.8270166516304016, 1.3179394006729126, -1.7206674814224243, 0.8656139969825745, 0.5898328423500061, 0.9436818361282349, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41078997021041685, -0.9117289679729592, -0.0013745302788490653, -0.09755779057741165], [0.9117299856039943, 0.4107897987066782, 0.0004178864286035727, 0.041769444942474365], [0.00018364385428400076, -0.0014248640249047116, 0.9999989680181902, -0.00020139846310485154], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.48360785841941833, -0.8980441689491272, -1.2359029054641724, -1.3320084810256958, -0.5945570468902588, 0.2848002016544342, -1.2716482877731323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659987568855286, -0.8270160555839539, 1.3179396390914917, -1.7206674814224243, 0.8656136393547058, 0.5898329615592957, 0.9436814785003662, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.410673400005228, -0.9117814852236623, -0.0013717621800443539, -0.09756453335285187], [0.9117825022487882, 0.4106732002700495, 0.0004372332266324456, 0.04175696521997452], [0.00016468480372016937, -0.0014303088087874965, 0.9999989635472764, -0.00020194301032461226], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 1.4605854749679565, -0.19125455617904663, 0.04284881055355072, 0.019459303468465805, 0.4836069643497467, -0.898046612739563, -1.2359042167663574, -1.3320094347000122, -0.5945566892623901, 0.2848004400730133, -1.2716487646102905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6764035224914551, -0.8279039263725281, 1.316784381866455, -1.7184494733810425, 0.8627104163169861, 0.5765265226364136, 0.9264276623725891, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4107325170918864, -0.9117548592451845, -0.0013696883429887877, -0.09756648540496826], [0.9117558718368168, 0.41073232967188755, 0.00042840797140259287, 0.041768141090869904], [0.00017197223437452613, -0.001424782473742883, 0.9999989702096963, -0.0002014130586758256], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0512555837631226, 1.4608731269836426, -0.1911586970090866, 0.042657092213630676, 0.01917172782123089, 0.4836067259311676, -0.898047924041748, -1.2359042167663574, -1.3320097923278809, -0.5945568084716797, 0.28480008244514465, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6941186785697937, -0.8287665247917175, 1.31754469871521, -1.7186484336853027, 0.8676096796989441, 0.558225691318512, 0.8961806893348694, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4107719042605622, -0.9117371184884674, -0.0013672748436045449, -0.09756409376859665], [0.911738131232673, 0.41077168471149017, 0.00045066133346407015, 0.04178134351968765], [0.00015075312538437652, -0.0014317156249130931, 0.9999989637313954, -0.00020203077292535454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0507762432098389, 1.4614481925964355, -0.19010424613952637, 0.042177800089120865, 0.01926758699119091, 0.48360827565193176, -0.8980506062507629, -1.2359035015106201, -1.3320082426071167, -0.5945571660995483, 0.28480008244514465, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7046859860420227, -0.8242204785346985, 1.327982783317566, -1.728406548500061, 0.8521233201026917, 0.5726869106292725, 0.8984279632568359, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41073288939063524, -0.9117546896864931, -0.0013709148430323449, -0.0975656732916832], [0.9117556983304279, 0.4107327455612335, 0.00039785138508424315, 0.04175756871700287], [0.0002003367512604969, -0.001413350069004222, 0.9999989811528652, -0.00020028087601531297], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0513514280319214, 1.4615440368652344, -0.18876223266124725, 0.04284881055355072, 0.02233506180346012, 0.48360776901245117, -0.8980535268783569, -1.2359035015106201, -1.332008719444275, -0.5945570468902588, 0.2847999632358551, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7072984576225281, -0.8183826208114624, 1.3323370218276978, -1.7289183139801025, 0.8196683526039124, 0.5895175933837891, 0.9203834533691406, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41048024836877717, -0.911868462612086, -0.001368427045093227, -0.0975736603140831], [0.9118694721269609, 0.4104800704778321, 0.00042135900570013156, 0.04175543412566185], [0.00017748804117810317, -0.001420786396565629, 0.9999989749314799, -0.00020103096903767437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0525975227355957, 1.4615440368652344, -0.18694090843200684, 0.044861841946840286, 0.029812036082148552, 0.48360776901245117, -0.898049533367157, -1.2359036207199097, -1.3320081233978271, -0.5945571660995483, 0.2848004400730133, -1.2716491222381592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7018008232116699, -0.8164976239204407, 1.3164831399917603, -1.726442575454712, 0.790496826171875, 0.600929319858551, 0.932580292224884, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41019157026636566, -0.911998366615105, -0.0013619742264624568, -0.09758257865905762], [0.9119993704839332, 0.4101913602109918, 0.00044299567282686953, 0.04171879217028618], [0.00015465873048928393, -0.0014238327278071612, 0.9999989743899942, -0.00020133017096668482], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0543229579925537, 1.4615440368652344, -0.18473616242408752, 0.04802517592906952, 0.040452346205711365, 0.4836091101169586, -0.8980497717857361, -1.2359036207199097, -1.3320083618164062, -0.5945569276809692, 0.2848002016544342, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6869574189186096, -0.820015549659729, 1.2812914848327637, -1.7257298231124878, 0.7712095379829407, 0.5964988470077515, 0.9399402737617493, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41027138659451434, -0.9119624687985323, -0.001358250603035401, -0.09757836908102036], [0.9119634727197713, 0.4102711197819229, 0.0004823875851185111, 0.04170902818441391], [0.00011733162280936665, -0.0014365847601904387, 0.999998961228219, -0.00020263328042346984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0557608604431152, 1.4614481925964355, -0.18272313475608826, 0.05128437280654907, 0.052722252905368805, 0.4836084544658661, -0.898033857345581, -1.2359039783477783, -1.3320093154907227, -0.5945568084716797, 0.28480008244514465, -1.271648645401001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6680757999420166, -0.8235714435577393, 1.2592368125915527, -1.7075661420822144, 0.7665607333183289, 0.5854359865188599, 0.9449993968009949, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4107927444826118, -0.9117277441631428, -0.0013570569739198332, -0.09755223244428635], [0.9117287434131072, 0.4107925126717946, 0.0004582217258837308, 0.041759856045246124], [0.0001396953836887946, -0.00142550200992926, 0.9999989742140836, -0.00020150684576947242], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0564318895339966, 1.4615440368652344, -0.18042252957820892, 0.05387255549430847, 0.06441700458526611, 0.4836069643497467, -0.898039698600769, -1.235904574394226, -1.332009196281433, -0.5945566892623901, 0.28480032086372375, -1.27164888381958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6635143756866455, -0.8243962526321411, 1.2556811571121216, -1.7012454271316528, 0.7687447667121887, 0.5803512930870056, 0.9491831064224243, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41054256101426856, -0.9118404270130333, -0.0013569305564296685, -0.09756696969270706], [0.9118414305767196, 0.4105422754881407, 0.0004955005760733861, 0.04175020754337311], [0.00010525990144406477, -0.0014407295752533065, 0.9999989566087777, -0.00020306608348619193], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.057007074356079, 1.4614481925964355, -0.17965565621852875, 0.05502285808324814, 0.07093539088964462, 0.4916689097881317, -0.8991819620132446, -1.2399863004684448, -1.337432861328125, -0.6097460985183716, 0.2841103672981262, -1.2546370029449463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6640843749046326, -0.8243203163146973, 1.2561533451080322, -1.7019497156143188, 0.7687861323356628, 0.5806280374526978, 0.9489177465438843, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4110277168224956, -0.9116218403574751, -0.0013550597539297906, -0.09755842387676239], [0.9116228402609439, 0.41102744625554977, 0.00048532382061936355, 0.04178875684738159], [0.0001145349556590904, -0.0014347849635095186, 0.9999989641363897, -0.0002024496061494574], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0575822591781616, 1.4614481925964355, -0.17908050119876862, 0.05550215020775795, 0.07189397513866425, 0.49966961145401, -0.904871940612793, -1.2340977191925049, -1.352662205696106, -0.6681272387504578, 0.3096320927143097, -1.2167119979858398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6686669588088989, -0.8244591355323792, 1.2399225234985352, -1.7090054750442505, 0.7346787452697754, 0.5713759660720825, 0.933720588684082, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4107765730738211, -0.9117350377538928, -0.001352015397620097, -0.09756666421890259], [0.9117360330337717, 0.410776304218602, 0.00048369447744772573, 0.04176762327551842], [0.00011437468562387548, -0.0014313715150874344, 0.9999989690464771, -0.0002021261170739308], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0581573247909546, 1.461160659790039, -0.17869706451892853, 0.05598144605755806, 0.07074367254972458, 0.4789789617061615, -0.9196714162826538, -1.2005881071090698, -1.3472239971160889, -0.7373037934303284, 0.3358484208583832, -1.1896882057189941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6401923298835754, -0.8295195698738098, 1.2077889442443848, -1.6883267164230347, 0.7087543606758118, 0.5621376633644104, 0.9405401945114136, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4109115427101073, -0.9116742143936353, -0.0013530991639866875, -0.09755595028400421], [0.9116752120041318, 0.41091126466844086, 0.0004902915497269794, 0.04177689924836159], [0.00010901752527439771, -0.0014350534242662195, 0.999998964367888, -0.00020247670181561261], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0586366653442383, 1.4610648155212402, -0.17831362783908844, 0.056652456521987915, 0.06959336996078491, 0.44268444180488586, -0.9368390440940857, -1.1514068841934204, -1.3298141956329346, -0.7693710327148438, 0.32906824350357056, -1.1787949800491333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5998249053955078, -0.8410216569900513, 1.1586761474609375, -1.6508822441101074, 0.7027549743652344, 0.5431597232818604, 0.9538078308105469, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41044809393601545, -0.9118829631428177, -0.0013504496163910483, -0.09757573157548904], [0.9118839608601503, 0.41044774694498876, 0.0005375442181077058, 0.041757576167583466], [6.411158798208644e-05, -0.0014520873448653734, 0.9999989436654657, -0.00020418477652128786], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0592118501663208, 1.4609689712524414, -0.17764262855052948, 0.057035889476537704, 0.06930579245090485, 0.41133350133895874, -0.9571841359138489, -1.0993157625198364, -1.305593490600586, -0.8165062069892883, 0.33291590213775635, -1.166046380996704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5574946403503418, -0.8581300377845764, 1.1010181903839111, -1.612694501876831, 0.7119132876396179, 0.5178782939910889, 0.9555190205574036, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4102348396414255, -0.9119789195621374, -0.0013515245652443164, -0.0975717306137085], [0.9119799134620922, 0.4102345765544795, 0.00047920855753643673, 0.041728485375642776], [0.00011741400517896931, -0.0014291513018091625, 0.9999989718697254, -0.00020183298329357058], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0601704120635986, 1.4608731269836426, -0.17697161436080933, 0.057515181601047516, 0.06988094747066498, 0.3918454051017761, -0.9769469499588013, -1.050063133239746, -1.2964013814926147, -0.8586612343788147, 0.3373607099056244, -1.1518090963363647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5208202004432678, -0.8745754361152649, 1.0520070791244507, -1.5758863687515259, 0.7235966920852661, 0.5018208622932434, 0.9523183107376099, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4107606256688786, -0.9117422231082758, -0.001351666264452767, -0.09756128489971161], [0.9117432178663989, 0.41076035697384794, 0.000483542491784427, 0.04176069423556328], [0.00011434481086927758, -0.0014309927658964804, 0.9999989695919532, -0.00020200226572342217], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0609372854232788, 1.4608731269836426, -0.17658817768096924, 0.05856962874531746, 0.07112710922956467, 0.3781619071960449, -0.9904669523239136, -1.01958429813385, -1.288017749786377, -0.8881117105484009, 0.3410485088825226, -1.1484651565551758, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4897555708885193, -0.8878807425498962, 1.0175076723098755, -1.5410994291305542, 0.7293243408203125, 0.491396963596344, 0.9516957998275757, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4101026995563618, -0.9120383491030116, -0.0013511410131976163, -0.09759346395730972], [0.9120393476701496, 0.4101023527514399, 0.0005371863191116797, 0.041710108518600464], [6.417158476796697e-05, -0.0014525953279195842, 0.9999989429238518, -0.00020426861010491848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0613206624984741, 1.4608731269836426, -0.1760130226612091, 0.05943235754966736, 0.07246913015842438, 0.367778480052948, -1.00002121925354, -1.0017659664154053, -1.2792320251464844, -0.9058961868286133, 0.34172430634498596, -1.1467461585998535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4660496413707733, -0.8987395763397217, 0.9912890791893005, -1.513102412223816, 0.73164302110672, 0.4864974617958069, 0.952697217464447, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4105085400294368, -0.9118557559288971, -0.0013486816672578646, -0.09758053719997406], [0.911856750095651, 0.410508213819071, 0.0005231558784249187, 0.04172925278544426], [7.660220324675226e-05, -0.0014445644378793718, 0.9999989536822963, -0.000203434654395096], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061416506767273, 1.4609689712524414, -0.175533726811409, 0.06106195226311684, 0.07314014434814453, 0.3583252429962158, -1.0072921514511108, -0.9905253052711487, -1.271369457244873, -0.9171115159988403, 0.3434722125530243, -1.1462708711624146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44997718930244446, -0.907949686050415, 0.9682939648628235, -1.4993903636932373, 0.7327568531036377, 0.4862655699253082, 0.9570090174674988, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103724716625594, -0.9119170026782079, -0.0013471183894618068, -0.0975831001996994], [0.9119179954899856, 0.4103721254040519, 0.0005368359968619096, 0.04172994941473007], [6.326996346624448e-05, -0.0014487642163153644, 0.9999989485390258, -0.0002038523234659806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061704158782959, 1.461256504058838, -0.17505444586277008, 0.06240397319197655, 0.07361943274736404, 0.3495556712150574, -1.0136125087738037, -0.979885458946228, -1.2676405906677246, -0.9208197593688965, 0.3422875702381134, -1.1505228281021118, 0.5436000022259387, -0.5436000022259387, 0.5436000022259387, 0.5436000022259387, -0.5436000022259387, -0.5436000022259387, 0.5436000022259387, 0.5436000022259387, -0.4387073814868927, -0.9149200320243835, 0.9529294967651367, -1.4840154647827148, 0.7320191264152527, 0.4904097020626068, 0.9581620097160339, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41058581607667977, -0.9118209659481202, -0.0013467346003828186, -0.09756949543952942], [0.9118219571896149, 0.4105854924695439, 0.0005213064763933386, 0.04174870625138283], [7.761151426396903e-05, -0.0014420232241720526, 0.9999989572721932, -0.00020312151173129678], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061704158782959, 1.4616400003433228, -0.17495858669281006, 0.06403356790542603, 0.07371529191732407, 0.34270668029785156, -1.0179914236068726, -0.973016619682312, -1.2604284286499023, -0.9173569679260254, 0.34121987223625183, -1.15460205078125, 0.4416000047882835, -0.4416000047882835, 0.4416000047882835, 0.4416000047882835, -0.4416000047882835, -0.4416000047882835, 0.4416000047882835, 0.4416000047882835, -0.4291337728500366, -0.9212459921836853, 0.9430721998214722, -1.4774025678634644, 0.735186755657196, 0.48690587282180786, 0.958600640296936, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4101024398620269, -0.9120384769756229, -0.0013436276265586854, -0.09758614003658295], [0.912039466693621, 0.41010200051947465, 0.0006003025406289005, 0.041721928864717484], [3.5253627251712908e-06, -0.0014716269605286848, 0.9999989171502441, -0.00020617054542526603], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0616083145141602, 1.462119221687317, -0.17457515001296997, 0.06489630043506622, 0.07381115108728409, 0.33712339401245117, -1.0219730138778687, -0.9708212018013, -1.2515785694122314, -0.9214897155761719, 0.3422372341156006, -1.1523327827453613, 0.32999999811361125, -0.32999999811361125, 0.32999999811361125, 0.32999999811361125, -0.32999999811361125, -0.32999999811361125, 0.32999999811361125, 0.32999999811361125, -0.42313772439956665, -0.9251163005828857, 0.9411435723304749, -1.4718562364578247, 0.7377243041992188, 0.48178285360336304, 0.9597934484481812, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4105865897442089, -0.911820622709373, -0.0013432513212488781, -0.09757689386606216], [0.9118216073911527, 0.41058629206631947, 0.0005030525276238423, 0.041739653795957565], [9.28269103112656e-05, -0.0014313522006507194, 0.9999989713064921, -0.00020209673675708473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0615124702453613, 1.4626944065093994, -0.17438343167304993, 0.06614246219396591, 0.07419458776712418, 0.3319608271121979, -1.0241773128509521, -0.9712509512901306, -1.2411220073699951, -0.9179086685180664, 0.33930960297584534, -1.1566623449325562, 0.16320000218821096, -0.16320000218821096, 0.16320000218821096, 0.16320000218821096, -0.16320000218821096, -0.16320000218821096, 0.16320000218821096, 0.16320000218821096, -0.42216500639915466, -0.9272653460502625, 0.9440470337867737, -1.4670120477676392, 0.7419282793998718, 0.4798913896083832, 0.9598928093910217, 0.2873999951959966, 0.2873999951959966, 0.2873999951959966, 0.2873999951959966, -0.2873999951959966, -0.2873999951959966, -0.2873999951959966, 0.2873999951959966, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103562724907446, -0.9119242972505204, -0.0013437677055517724, -0.09757942706346512], [0.9119252843243225, 0.410355944788493, 0.000523819383784168, 0.04174571856856346], [7.373944294438529e-05, -0.0014403683167392124, 0.9999989599502624, -0.00020300796313676983], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061416506767273, 1.462886095046997, -0.17419171333312988, 0.06623832136392593, 0.07467387616634369, 0.327073872089386, -1.0258114337921143, -0.9772350192070007, -1.230817437171936, -0.9242048263549805, 0.3385692238807678, -1.163832187652588, 0.16320000218821096, -0.16320000218821096, 0.16320000218821096, 0.16320000218821096, -0.16320000218821096, -0.16320000218821096, 0.16320000218821096, 0.16320000218821096, -0.4236363172531128, -0.9283843040466309, 0.9461172819137573, -1.459326148033142, 0.7404605746269226, 0.48378026485443115, 0.9619863033294678, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.28320000957656694, -0.28320000957656694, -0.28320000957656694, 0.28320000957656694, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103158177670174, -0.9119425000902972, -0.0013439565625116344, -0.09758052974939346], [0.9119434851161569, 0.41031552851401387, 0.000497005496166634, 0.04173162579536438], [9.820581251401963e-05, -0.0014295416480559046, 0.9999989733826204, -0.0002018527447944507], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0613206624984741, 1.4630777835845947, -0.17409585416316986, 0.06671760976314545, 0.07505731284618378, 0.3216719627380371, -1.0273839235305786, -0.9838110208511353, -1.2249594926834106, -0.9287333488464355, 0.3356499671936035, -1.161903977394104, 0.16320000218821096, -0.16320000218821096, 0.16320000218821096, 0.16320000218821096, -0.16320000218821096, -0.16320000218821096, 0.16320000218821096, 0.16320000218821096, -0.4288789629936218, -0.9286457300186157, 0.9536559581756592, -1.445796251296997, 0.7465747594833374, 0.48986321687698364, 0.9551922082901001, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.28320000957656694, -0.28320000957656694, -0.28320000957656694, 0.28320000957656694, -0.1231975182890892, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41062762274729514, -0.9118021447225053, -0.0013432484299834176, -0.09757374972105026], [0.9118031292592401, 0.41062732747145214, 0.00050140473706486, 0.041756417602300644], [9.439259830455155e-05, -0.0014306687570466174, 0.9999989721379442, -0.00020197659614495933], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0613206624984741, 1.4633654356002808, -0.17399999499320984, 0.06690932810306549, 0.07553660869598389, 0.31628820300102234, -1.028438925743103, -0.9902446269989014, -1.215040683746338, -0.9217808246612549, 0.32695984840393066, -1.1501107215881348, 0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.4323602616786957, -0.9270526766777039, 0.9619297385215759, -1.4350801706314087, 0.7475364208221436, 0.5010476112365723, 0.9627702236175537, 0.4698000036753141, 0.4698000036753141, 0.4698000036753141, 0.4698000036753141, -0.4698000036753141, -0.4698000036753141, -0.4698000036753141, 0.4698000036753141, -0.1233125552535057, -0.017829706892371178, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41022000617989607, -0.9119856101876082, -0.0013391566384378922, -0.09758838266134262], [0.9119865908471181, 0.4102196725126551, 0.0005276349698146335, 0.04173802584409714], [6.81528977604217e-05, -0.001437739317877348, 0.9999989641298817, -0.00020275266433600336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0613206624984741, 1.4634612798690796, -0.17399999499320984, 0.06700518727302551, 0.07611175626516342, 0.3069036602973938, -1.0289173126220703, -0.9984108209609985, -1.205251693725586, -0.9108617305755615, 0.31540992856025696, -1.1420564651489258, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.4387570917606354, -0.9210249781608582, 0.9901314973831177, -1.417336106300354, 0.7527614235877991, 0.5053993463516235, 0.9668809175491333, 0.5532000016380142, 0.5532000016380142, 0.5532000016380142, 0.5532000016380142, -0.5532000016380142, -0.5532000016380142, -0.5532000016380142, 0.5532000016380142, -0.1231975182890892, -0.018213141709566116, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4108402424477209, -0.9117063674203046, -0.0013396980146273083, -0.09755035489797592], [0.9117073441943345, 0.4108399843413264, 0.0004751931522286659, 0.041794151067733765], [0.00011716488871018851, -0.0014166409888094079, 0.9999989896998385, -0.00020082906121388078], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0613206624984741, 1.4635571241378784, -0.17399999499320984, 0.06748448312282562, 0.07620761543512344, 0.29194340109825134, -1.0255796909332275, -1.0079822540283203, -1.195702314376831, -0.8778321146965027, 0.30436718463897705, -1.1565024852752686, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.4551299512386322, -0.9058957695960999, 1.038615107536316, -1.4121907949447632, 0.744631290435791, 0.5188401341438293, 0.9820833802223206, 0.5796000000212218, 0.5796000000212218, 0.5796000000212218, 0.5796000000212218, -0.5796000000212218, -0.5796000000212218, -0.5796000000212218, 0.5796000000212218, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4108215121712838, -0.9117148096072571, -0.0013383124085051138, -0.09755674749612808], [0.9117157909238859, 0.41082113586018554, 0.0005575935618715689, 0.041738901287317276], [4.1440715697881794e-05, -0.0014492319862885407, 0.9999989490041062, -0.00020405830582603812], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061416506767273, 1.4636529684066772, -0.17419171333312988, 0.06815548986196518, 0.07668691128492355, 0.276828408241272, -1.016959309577942, -1.0208766460418701, -1.1779990196228027, -0.8186805248260498, 0.2918599843978882, -1.1830494403839111, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.47024330496788025, -0.884528398513794, 1.0987855195999146, -1.4499272108078003, 0.7209423184394836, 0.5447750687599182, 1.0240474939346313, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41016328148585024, -0.912011128121983, -0.001335927553147961, -0.0975869819521904], [0.9120121061895067, 0.41016288330000983, 0.0005721248137246013, 0.04171795770525932], [2.6163700287541914e-05, -0.0014530466924798293, 0.9999989439848276, -0.00020443277026060969], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0618000030517578, 1.4634612798690796, -0.17447929084300995, 0.06882650405168533, 0.07678277045488358, 0.2714623212814331, -1.0057334899902344, -1.036096453666687, -1.1576000452041626, -0.7597078084945679, 0.28252941370010376, -1.2108782529830933, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.48627349734306335, -0.8648783564567566, 1.1535354852676392, -1.4933348894119263, 0.7023090124130249, 0.5760072469711304, 1.0708118677139282, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41029896842992564, -0.911950096058508, -0.0013337181924997262, -0.09758473187685013], [0.9119510702189452, 0.4102986014279828, 0.0005506294234435372, 0.04171885550022125], [4.507615347972031e-05, -0.0014422084174466503, 0.9999989590009687, -0.000203281786525622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0618958473205566, 1.4633654356002808, -0.17467100918293, 0.069976806640625, 0.07620761543512344, 0.2740654945373535, -0.993876039981842, -1.0437064170837402, -1.1332736015319824, -0.6884057521820068, 0.2751098573207855, -1.2311006784439087, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5060057640075684, -0.8545771241188049, 1.1854333877563477, -1.5121984481811523, 0.7020614147186279, 0.5875715613365173, 1.0836211442947388, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40998982479243573, -0.9120891245068166, -0.0013313613546424017, -0.09758894890546799], [0.9120900961498992, 0.40998940157123176, 0.0005891557779602828, 0.04171748086810112], [8.481467346975984e-06, -0.001455869380147436, 0.9999989401856447, -0.0002046822482952848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0615124702453613, 1.4633654356002808, -0.17467100918293, 0.07074367254972458, 0.07438630610704422, 0.27611324191093445, -0.9867877960205078, -1.045610785484314, -1.1127136945724487, -0.6398782730102539, 0.28376954793930054, -1.2321456670761108, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5098078846931458, -0.8532491326332092, 1.1899186372756958, -1.51234769821167, 0.7029163837432861, 0.5877000093460083, 1.0821924209594727, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, -0.12354261428117752, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103376679806964, -0.9119326851060836, -0.0013326932776770934, -0.09757458418607712], [0.9119336584622062, 0.4103372749337304, 0.000568650768440129, 0.04173526167869568], [2.8282505733275226e-05, -0.001448666686537214, 0.9999989502819147, -0.00020389941346365958], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0613206624984741, 1.4627902507781982, -0.17486272752285004, 0.07179812341928482, 0.07246913015842438, 0.2750665843486786, -0.9842287302017212, -1.0462419986724854, -1.0994876623153687, -0.6147336959838867, 0.28664180636405945, -1.213944435119629, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5092209577560425, -0.8534445762634277, 1.1892354488372803, -1.5120502710342407, 0.7029344439506531, 0.5874735116958618, 1.0820831060409546, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, -0.12354261428117752, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4105529860726975, -0.9118357715151877, -0.0013309440610740114, -0.09758017212152481], [0.9118367424619869, 0.41055259159376956, 0.0005697648214945302, 0.04175347834825516], [2.6890587950593476e-05, -0.001447522345872611, 0.999998951977428, -0.00020377534383442253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0612248182296753, 1.462023377418518, -0.17524616420269012, 0.07237327098846436, 0.0708395317196846, 0.2797025144100189, -0.9880449175834656, -1.04008150100708, -1.0914148092269897, -0.6111425161361694, 0.2843833863735199, -1.1682863235473633, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5092047452926636, -0.8534528613090515, 1.1892157793045044, -1.512054681777954, 0.702933132648468, 0.587445855140686, 1.0820974111557007, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, -0.12354261428117752, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41037731952468326, -0.9119148501321864, -0.001327301069027397, -0.09757430851459503], [0.911915815932308, 0.4103768584285905, 0.0006154013272648345, 0.041749391704797745], [-1.6499966227487467e-05, -0.0014629335844648188, 0.9999989297759666, -0.00020532064081635326], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.06084144115448, 1.4616400003433228, -0.17562958598136902, 0.07323599606752396, 0.06959336996078491, 0.28324151039123535, -0.9931932091712952, -1.0323952436447144, -1.0866338014602661, -0.6045864224433899, 0.2730943560600281, -1.1141506433486938, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5092074275016785, -0.8534581065177917, 1.189218521118164, -1.5120606422424316, 0.7029299139976501, 0.5874398350715637, 1.082108736038208, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, -0.12354261428117752, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41035661609943275, -0.9119241631457946, -0.001329772260592695, -0.09757988899946213], [0.9119251326319813, 0.4103561955873998, 0.0005875518522243071, 0.041733816266059875], [9.87755471006189e-06, -0.0014537585349730438, 0.9999989432437196, -0.00020439029322005808], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0602662563323975, 1.4615440368652344, -0.17582130432128906, 0.07419458776712418, 0.06786791235208511, 0.27922511100769043, -0.9971967935562134, -1.0274852514266968, -1.075124979019165, -0.5978406071662903, 0.2691058814525604, -1.075240135192871, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5092109441757202, -0.8534548878669739, 1.189221739768982, -1.5120654106140137, 0.7029216289520264, 0.5874395966529846, 1.082115888595581, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.12354261428117752, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103764119919081, -0.9119152516863007, -0.0013319994589781185, -0.09758379310369492], [0.9119162239166354, 0.41037602557274766, 0.0005640857563558936, 0.041741788387298584], [3.2222239560548506e-05, -0.0014461594056394001, 0.9999989537918031, -0.00020363257499411702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0603621006011963, 1.4613523483276367, -0.17610888183116913, 0.07524903118610382, 0.06547144800424576, 0.2756839692592621, -1.00124990940094, -1.0251914262771606, -1.0572717189788818, -0.6089545488357544, 0.2800227999687195, -1.0586905479431152, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5092138648033142, -0.8534477949142456, 1.1892279386520386, -1.5120694637298584, 0.7029155492782593, 0.5874397158622742, 1.0821229219436646, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41039505731701553, -0.911906865979303, -0.0013284237159042053, -0.09757775813341141], [0.911907833421867, 0.41039464821772587, 0.0005797051711923444, 0.041749291121959686], [1.654085771858438e-05, -0.0014493081295948822, 0.9999989496156211, -0.00020393164595589042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0603621006011963, 1.4613523483276367, -0.17620474100112915, 0.07649519294500351, 0.06288326531648636, 0.2724103629589081, -1.004515528678894, -1.0204190015792847, -1.0476752519607544, -0.6120633482933044, 0.28728237748146057, -1.0541930198669434, 0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.15959998644315282, -0.15959998644315282, 0.15959998644315282, 0.15959998644315282, -0.5092161893844604, -0.8534499406814575, 1.1892296075820923, -1.5120720863342285, 0.7029111981391907, 0.5874400734901428, 1.0821257829666138, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103968747902099, -0.9119060523729713, -0.001325446329582291, -0.09758621454238892], [0.9119070156244004, 0.41039644793167696, 0.0005919291021855882, 0.041740577667951584], [4.174734725914374e-06, -0.0014516096604140427, 0.9999989464054276, -0.00020415833569131792], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.060553789138794, 1.4613523483276367, -0.17620474100112915, 0.07764549553394318, 0.06067851930856705, 0.2717103362083435, -1.0071356296539307, -1.018296718597412, -1.0385842323303223, -0.6163507103919983, 0.2917563021183014, -1.0482076406478882, 0.37260000103122587, -0.37260000103122587, 0.37260000103122587, 0.37260000103122587, -0.37260000103122587, -0.37260000103122587, 0.37260000103122587, 0.37260000103122587, -0.5092199444770813, -0.8534480929374695, 1.1892327070236206, -1.5120723247528076, 0.7029066681861877, 0.5874406695365906, 1.0821272134780884, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4102033754161962, -0.9119931105729133, -0.0013255431721044767, -0.0975961908698082], [0.9119940738825801, 0.41020294139426805, 0.0005967198216308515, 0.0417291596531868], [-4.6265812728946485e-07, -0.0014536640026455256, 0.9999989434298185, -0.00020436807244550437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.060553789138794, 1.4614481925964355, -0.17620474100112915, 0.07831650972366333, 0.059336498379707336, 0.26412758231163025, -1.008554220199585, -1.0262224674224854, -1.0324119329452515, -0.6263940930366516, 0.2794678211212158, -1.0437779426574707, 0.5718000011129694, -0.5718000011129694, 0.5718000011129694, 0.5718000011129694, -0.5718000011129694, -0.5718000011129694, 0.5718000011129694, 0.5718000011129694, -0.5092206597328186, -0.8534529805183411, 1.189233660697937, -1.5120768547058105, 0.7029041647911072, 0.587441086769104, 1.082133412361145, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41029976926277767, -0.9119497455455137, -0.001327005042991617, -0.09758724272251129], [0.9119507108137193, 0.41029936626388075, 0.0005754040405155707, 0.041734710335731506], [1.9729759834398993e-05, -0.001446251337266004, 0.9999989539833559, -0.00020372985454741865], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0606496334075928, 1.4615440368652344, -0.17620474100112915, 0.07898751646280289, 0.05856962874531746, 0.2480243742465973, -1.0083279609680176, -1.0418888330459595, -1.0352611541748047, -0.6436927318572998, 0.24991446733474731, -1.0697764158248901, 0.5867999995802785, -0.5867999995802785, 0.5867999995802785, 0.5867999995802785, -0.5867999995802785, -0.5867999995802785, 0.5867999995802785, 0.5867999995802785, -0.5092208385467529, -0.853448748588562, 1.1892335414886475, -1.5120755434036255, 0.7029041647911072, 0.5874418020248413, 1.0821324586868286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4102821759666986, -0.9119576658988293, -0.0013235151642381835, -0.09759338200092316], [0.9119586262819522, 0.4102817346073617, 0.0006018284712702248, 0.0417369082570076], [-5.827990568265762e-06, -0.0014539105657934458, 0.999998943054492, -0.00020451084128580987], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.06084144115448, 1.462023377418518, -0.17620474100112915, 0.079466812312603, 0.05847376957535744, 0.22707614302635193, -1.0030758380889893, -1.0559895038604736, -1.039577603340149, -0.6427527070045471, 0.22962050139904022, -1.1387072801589966, 0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5092241764068604, -0.8534443974494934, 1.1892365217208862, -1.5120739936828613, 0.7029042840003967, 0.5874426364898682, 1.0821303129196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41005120529901307, -0.9120615465401377, -0.0013207405645255463, -0.09759421646595001], [0.9120625015647604, 0.41005069912974645, 0.0006460515748909281, 0.041722435504198074], [-4.7668206686995344e-05, -0.0014695121701685744, 0.9999989191302777, -0.00020609244529623538], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.06084144115448, 1.4626944065093994, -0.17610888183116913, 0.07898751646280289, 0.059240639209747314, 0.21397489309310913, -0.9950584173202515, -1.072762131690979, -1.0451653003692627, -0.6425032019615173, 0.2203243374824524, -1.219306468963623, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5092226266860962, -0.8534532785415649, 1.1892362833023071, -1.5120718479156494, 0.7029048800468445, 0.5874429941177368, 1.0821281671524048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.06084144115448, 1.4633654356002808, -0.17620474100112915, 0.07831650972366333, 0.06154124438762665, 0.21285921335220337, -0.9846569895744324, -1.090521216392517, -1.0636773109436035, -0.6504240036010742, 0.21683502197265625, -1.3200953006744385, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.509223461151123, -0.8534488677978516, 1.1892353296279907, -1.5120691061019897, 0.7029042840003967, 0.5874440670013428, 1.0821244716644287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0609372854232788, 1.463844656944275, -0.17620474100112915, 0.07764549553394318, 0.06489630043506622, 0.23047107458114624, -0.9709699153900146, -1.107629418373108, -1.078639030456543, -0.6485103964805603, 0.22416432201862335, -1.4212180376052856, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5092641711235046, -0.8534435629844666, 1.1892305612564087, -1.512104868888855, 0.7029061913490295, 0.5874291658401489, 1.0820997953414917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0603621006011963, 1.464611530303955, -0.17620474100112915, 0.07639933377504349, 0.06930579245090485, 0.2597685754299164, -0.9568194150924683, -1.1266860961914062, -1.0919313430786133, -0.6377207636833191, 0.2339012771844864, -1.4744242429733276, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5272103548049927, -0.8528621196746826, 1.1873505115509033, -1.5425629615783691, 0.6965181231498718, 0.5625964403152466, 1.069928526878357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0602662563323975, 1.4651867151260376, -0.17668403685092926, 0.07486559450626373, 0.07419458776712418, 0.287009596824646, -0.9423165321350098, -1.1518555879592896, -1.1200872659683228, -0.6314306855201721, 0.24731796979904175, -1.5041835308074951, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5359517931938171, -0.8474921584129333, 1.1973094940185547, -1.5716692209243774, 0.6819946765899658, 0.5481022596359253, 1.0797637701034546, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.06084144115448, 1.4651867151260376, -0.1772591918706894, 0.07352357357740402, 0.07908337563276291, 0.30903297662734985, -0.9312363862991333, -1.1732980012893677, -1.149139404296875, -0.6205345392227173, 0.25459563732147217, -1.4942543506622314, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5378002524375916, -0.8428086638450623, 1.2096744775772095, -1.580649733543396, 0.6641783118247986, 0.5275054574012756, 1.0814350843429565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0611289739608765, 1.4656660556793213, -0.17735505104064941, 0.07179812341928482, 0.08358873426914215, 0.31339627504348755, -0.9296361804008484, -1.1760752201080322, -1.1544806957244873, -0.6188299059867859, 0.2534431219100952, -1.4911571741104126, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5383985042572021, -0.8425969481468201, 1.2107023000717163, -1.5809637308120728, 0.6629286408424377, 0.5236566066741943, 1.0805399417877197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061416506767273, 1.4657618999481201, -0.17735505104064941, 0.07093539088964462, 0.08579348027706146, 0.31279924511909485, -0.929941713809967, -1.1755293607711792, -1.1536908149719238, -0.6191225647926331, 0.25332674384117126, -1.491572618484497, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5383432507514954, -0.8426752686500549, 1.210427165031433, -1.5807594060897827, 0.6634271740913391, 0.5244930982589722, 1.0805386304855347, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100897919819715, -0.9120441994859886, -0.0013193544427494905, -0.09759243577718735], [0.9120451534297598, 0.4100893233358527, 0.000620476613802753, 0.041717059910297394], [-2.484892586821932e-05, -0.0014577619506497435, 0.9999989371557483, -0.00020489064627327025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0618958473205566, 1.4657618999481201, -0.17754676938056946, 0.07055195420980453, 0.08665620535612106, 0.31278178095817566, -0.9299534559249878, -1.1755050420761108, -1.1536624431610107, -0.6191790103912354, 0.25331857800483704, -1.4916446208953857, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5383031964302063, -0.8426900506019592, 1.2103967666625977, -1.5807406902313232, 0.663471519947052, 0.5245412588119507, 1.0805481672286987, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41031779419757697, -0.9119416451317216, -0.0013204693423652448, -0.09758195281028748], [0.911942601013564, 0.41031734037232115, 0.000610447704860316, 0.04174152761697769], [-1.4881215634704947e-05, -0.00145466980236649, 0.9999989418565979, -0.0002045540459221229], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0620875358581543, 1.4657618999481201, -0.17764262855052948, 0.07045610249042511, 0.0872313603758812, 0.31278061866760254, -0.9299522638320923, -1.1755027770996094, -1.153656244277954, -0.6191892027854919, 0.2533177435398102, -1.4916578531265259, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5382921695709229, -0.8426944613456726, 1.2103917598724365, -1.5807387828826904, 0.6634799838066101, 0.5245471000671387, 1.0805559158325195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103945248988783, -0.9119071150299048, -0.0013219269495415304, -0.09757903963327408], [0.9119080731794417, 0.4103940965280636, 0.0005929629605849573, 0.041749194264411926], [1.7838734265759343e-06, -0.0014488246099322896, 0.9999989504514829, -0.0002039716055151075], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0619916915893555, 1.4657618999481201, -0.17764262855052948, 0.07026438415050507, 0.08761479705572128, 0.31278088688850403, -0.9299521446228027, -1.1755019426345825, -1.1536561250686646, -0.6191893219947815, 0.2533184587955475, -1.4916589260101318, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5382911562919617, -0.8426936864852905, 1.2103922367095947, -1.5807371139526367, 0.6634793877601624, 0.5245477557182312, 1.0805619955062866, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103541151753689, -0.9119252973064034, -0.0013237413901182257, -0.09758996218442917], [0.9119262580306561, 0.4103536964126754, 0.0005863059433078867, 0.041744962334632874], [8.5349508659116e-06, -0.0014477475890789804, 0.9999989519764872, -0.000203878284082748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0620875358581543, 1.4657618999481201, -0.17764262855052948, 0.07026438415050507, 0.08780651539564133, 0.31278127431869507, -0.9299510717391968, -1.1755026578903198, -1.1536567211151123, -0.6191892027854919, 0.2533189654350281, -1.4916592836380005, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5382909178733826, -0.8426938652992249, 1.2103925943374634, -1.5807373523712158, 0.6634793877601624, 0.5245473384857178, 1.0805655717849731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103541151753689, -0.9119252973064034, -0.0013237413901182257, -0.09758996218442917], [0.9119262580306561, 0.4103536964126754, 0.0005863059433078867, 0.041744962334632874], [8.5349508659116e-06, -0.0014477475890789804, 0.9999989519764872, -0.000203878284082748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0620875358581543, 1.4657618999481201, -0.17764262855052948, 0.07007266581058502, 0.08780651539564133, 0.31278228759765625, -0.9299499988555908, -1.1755032539367676, -1.1536575555801392, -0.6191886067390442, 0.2533196806907654, -1.4916592836380005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5514802932739258, -0.841278612613678, 1.2151023149490356, -1.5853710174560547, 0.6637927889823914, 0.5218852162361145, 1.066277027130127, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4103541151753689, -0.9119252973064034, -0.0013237413901182257, -0.09758996218442917], [0.9119262580306561, 0.4103536964126754, 0.0005863059433078867, 0.041744962334632874], [8.5349508659116e-06, -0.0014477475890789804, 0.9999989519764872, -0.000203878284082748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0612248182296753, 1.4644198417663574, -0.17831362783908844, 0.06882650405168533, 0.0877106562256813, 0.31278473138809204, -0.9299565553665161, -1.1755024194717407, -1.1536571979522705, -0.6191853284835815, 0.2533208727836609, -1.4916574954986572, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5484156012535095, -0.8344113826751709, 1.2273056507110596, -1.5929038524627686, 0.6500368118286133, 0.5469084978103638, 1.0854287147521973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4102747866147963, -0.911960981595008, -0.0013294797676665047, -0.09757430106401443], [0.911961950662763, 0.4102743452103964, 0.0006018351506185767, 0.04173704981803894], [-3.39873356665184e-06, -0.0014593527502851432, 0.9999989351384324, -0.0002050781185971573], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0598827600479126, 1.459435224533081, -0.18042252957820892, 0.06604660302400589, 0.08732721954584122, 0.3127860724925995, -0.9299486875534058, -1.1755024194717407, -1.1536574363708496, -0.6191838979721069, 0.2533213496208191, -1.4916574954986572, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5336631536483765, -0.830960750579834, 1.218540072441101, -1.5869935750961304, 0.6302109360694885, 0.5612805485725403, 1.1184871196746826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40973013838773376, -0.9122058151391798, -0.0013283535045773966, -0.09761054068803787], [0.9122067806910108, 0.4097297900632868, 0.0005370251736080433, 0.04166802391409874], [5.438851631894331e-05, -0.001431768472730289, 0.999998973539938, -0.00020227101049385965], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0568153858184814, 1.4514789581298828, -0.18262727558612823, 0.06326670199632645, 0.08665620535612106, 0.3127843141555786, -0.9299368858337402, -1.1755039691925049, -1.1536591053009033, -0.6191838979721069, 0.2533223032951355, -1.4916573762893677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5164286494255066, -0.8319616317749023, 1.198831558227539, -1.5658234357833862, 0.6227075457572937, 0.5648645758628845, 1.1380785703659058, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41008002572359536, -0.9120485871321689, -0.0013218217543026036, -0.09759515523910522], [0.9120495448676605, 0.41007961798400805, 0.0005784641590560439, 0.041724223643541336], [1.4464741073700167e-05, -0.0014427835266337425, 0.9999989590826915, -0.00020331985433585942], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0507762432098389, 1.4428516626358032, -0.18406514823436737, 0.06173296272754669, 0.0855059027671814, 0.31278547644615173, -0.9299408197402954, -1.1755040884017944, -1.1536586284637451, -0.6191834211349487, 0.2533232569694519, -1.4916565418243408, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5009461641311646, -0.8362664580345154, 1.1774941682815552, -1.5477941036224365, 0.6360958218574524, 0.5670881271362305, 1.1453648805618286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4099627684327054, -0.9121012989321213, -0.0013224920903523747, -0.09760046750307083], [0.9121022575993296, 0.40996235884955423, 0.0005796625875067337, 0.04171180725097656], [1.3460977913491114e-05, -0.0014438881003987836, 0.9999989575024344, -0.00020341049821581692], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.042340636253357, 1.4329782724380493, -0.1858864724636078, 0.0630749836564064, 0.08310943841934204, 0.31279027462005615, -0.9299412369728088, -1.1755045652389526, -1.1536563634872437, -0.6191810369491577, 0.2533251941204071, -1.4916551113128662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4924030900001526, -0.8408833742141724, 1.1569089889526367, -1.5440149307250977, 0.6542755365371704, 0.5724376440048218, 1.1455684900283813, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41034763306454825, -0.9119282080665262, -0.0013279197631388005, -0.09760123491287231], [0.911929173428131, 0.41034728014960264, 0.0005406704256659438, 0.04173307120800018], [5.185565062880114e-05, -0.0014328316014180678, 0.9999989721517685, -0.00020223741012159735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.033713459968567, 1.4208041429519653, -0.18866637349128723, 0.06901822239160538, 0.07937095314264297, 0.31278830766677856, -0.9299449324607849, -1.1755046844482422, -1.1536582708358765, -0.61918044090271, 0.25332650542259216, -1.491654396057129, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4844719171524048, -0.8415086269378662, 1.1450625658035278, -1.5497336387634277, 0.6579049229621887, 0.5863863229751587, 1.1548296213150024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41044486751280584, -0.9118844495106718, -0.0013272049631064809, -0.09759324043989182], [0.9118854130287195, 0.41044453563935945, 0.0005259935667855647, 0.04173852503299713], [6.509867068608331e-05, -0.001426150205788009, 0.9999989809283576, -0.00020167941693216562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0230730772018433, 1.405946135520935, -0.1924048513174057, 0.07754963636398315, 0.07486559450626373, 0.31278178095817566, -0.9299452900886536, -1.175506353378296, -1.1536635160446167, -0.6191822290420532, 0.2533275783061981, -1.4916539192199707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.488585501909256, -0.8382517695426941, 1.1456542015075684, -1.554257869720459, 0.6637095212936401, 0.6075482964515686, 1.166472315788269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41026601161860177, -0.9119649431065578, -0.0013199451571757135, -0.09759625792503357], [0.9119658974386252, 0.41026564536383503, 0.0005496755031797879, 0.04173430800437927], [4.0243362769138894e-05, -0.0014292581462075364, 0.9999989778002892, -0.0002020654355874285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0086942911148071, 1.3915672302246094, -0.19652678072452545, 0.08790237456560135, 0.07045610249042511, 0.31278133392333984, -0.9299525618553162, -1.1755061149597168, -1.153664231300354, -0.6191829442977905, 0.2533286511898041, -1.4916541576385498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5093896389007568, -0.8332584500312805, 1.1521167755126953, -1.5639183521270752, 0.67605060338974, 0.6363807916641235, 1.1681560277938843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4101695710793253, -0.9120083223647889, -0.0013201886098961496, -0.09758707880973816], [0.9120092778909562, 0.41016913944694566, 0.0005950513999707064, 0.04173838347196579], [-1.191202979339645e-06, -0.0014480962382873894, 0.9999989515073832, -0.0002038546372205019], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9909604787826538, 1.3758465051651, -0.20247000455856323, 0.09537934511899948, 0.06662175059318542, 0.31278523802757263, -0.9299651980400085, -1.1755049228668213, -1.1536622047424316, -0.6191800832748413, 0.2533298432826996, -1.4916528463363647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5276731848716736, -0.8299588561058044, 1.1579711437225342, -1.5829428434371948, 0.6930857300758362, 0.6557188034057617, 1.1600433588027954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4098196821907555, -0.9121655961534164, -0.001324115988309723, -0.09761327505111694], [0.9121665568763735, 0.40981921110232167, 0.000621874402399283, 0.041691213846206665], [-2.4604265260030013e-05, -0.0014626706919152765, 0.9999989299939661, -0.0002054884098470211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9733224511146545, 1.3580167293548584, -0.20918011665344238, 0.10285631567239761, 0.06345842033624649, 0.3127857744693756, -0.9299479126930237, -1.1755061149597168, -1.1536619663238525, -0.61918044090271, 0.2533303499221802, -1.4916516542434692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5297537446022034, -0.8289983868598938, 1.1590558290481567, -1.5870920419692993, 0.7010505795478821, 0.6506212949752808, 1.1521815061569214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41020504209245756, -0.9119923681431512, -0.0013205644898988522, -0.09759557247161865], [0.9119933241527465, 0.41020459304918366, 0.0006070767472461084, 0.04172161594033241], [-1.1947741191458394e-05, -0.0014533719415583722, 0.9999989437830676, -0.00020470535673666745], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9536714553833008, 1.3401870727539062, -0.2149316370487213, 0.11052501201629639, 0.0613495297729969, 0.3127819299697876, -0.9299541115760803, -1.1755061149597168, -1.1536667346954346, -0.6191833019256592, 0.25333118438720703, -1.4916517734527588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5127700567245483, -0.8293653130531311, 1.156708002090454, -1.5898630619049072, 0.7016528844833374, 0.641867995262146, 1.1502164602279663, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4095831703340359, -0.9122718213596598, -0.0013230768114858426, -0.09761637449264526], [0.9122727783291537, 0.4095826318391034, 0.0006675442759135988, 0.04167689010500908], [-6.707254985225333e-05, -0.0014804218596240976, 0.9999989019255924, -0.00020746693189721555], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9337328672409058, 1.3225491046905518, -0.21895769238471985, 0.11685167998075485, 0.060582660138607025, 0.31278371810913086, -0.929948627948761, -1.1755064725875854, -1.1536632776260376, -0.6191821098327637, 0.2533315420150757, -1.4916516542434692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.487610787153244, -0.8319018483161926, 1.1449476480484009, -1.5743645429611206, 0.698889434337616, 0.6307187080383301, 1.153782606124878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40985319029762846, -0.9121505384445758, -0.001325751909836805, -0.09760534018278122], [0.9121515016302518, 0.40985272249511284, 0.0006196265172773156, 0.041686177253723145], [-2.1829631769330675e-05, -0.0014632425002459321, 0.9999989292218531, -0.0002056149678537622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9135066866874695, 1.3061572313308716, -0.22183345258235931, 0.12317834794521332, 0.060582660138607025, 0.31278231739997864, -0.9299519658088684, -1.175506353378296, -1.1536632776260376, -0.6191827058792114, 0.25333166122436523, -1.4916510581970215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.46138182282447815, -0.8349137902259827, 1.1268620491027832, -1.5516836643218994, 0.6922765374183655, 0.6261388659477234, 1.1640138626098633, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4098344202633565, -0.912158968891269, -0.0013279452606823337, -0.09760995954275131], [0.9121599340288721, 0.4098339020505303, 0.0006538214436175744, 0.04168863967061043], [-5.215210595425829e-05, -0.0014792569936787103, 0.9999989045388522, -0.0002073375362670049], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8956769704818726, 1.2899571657180786, -0.2226003259420395, 0.12864229083061218, 0.061924681067466736, 0.31278523802757263, -0.9299510717391968, -1.1755059957504272, -1.1536611318588257, -0.6191813945770264, 0.2533320188522339, -1.4916505813598633, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.433523952960968, -0.8380060195922852, 1.1064215898513794, -1.5221118927001953, 0.680803656578064, 0.6217013001441956, 1.1786662340164185, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40983276947726044, -0.9121597088085288, -0.001329168513969773, -0.09760964661836624], [0.9121606748984099, 0.4098322294136725, 0.0006685078131143389, 0.04168687015771866], [-6.504979679991168e-05, -0.001486391657222221, 0.9999988932035702, -0.000208157449378632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8792851567268372, 1.2771121263504028, -0.2217375934123993, 0.13420209288597107, 0.0656631663441658, 0.3127845227718353, -0.9299522042274475, -1.1755064725875854, -1.1536617279052734, -0.6191822290420532, 0.253332257270813, -1.4916502237319946, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4072948098182678, -0.8408135175704956, 1.0903265476226807, -1.501572608947754, 0.6706247329711914, 0.6126865744590759, 1.1904361248016357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4097940143454175, -0.9121771171645433, -0.0013314383390250028, -0.09760278463363647], [0.9121780863468111, 0.4097934682064891, 0.0006724611265435706, 0.04168323054909706], [-6.778891716359223e-05, -0.0014900794207181355, 0.9999988875333725, -0.00020851596491411328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.86576908826828, 1.2658965587615967, -0.21867011487483978, 0.14100806415081024, 0.07189397513866425, 0.3127884566783905, -0.9299521446228027, -1.17550790309906, -1.1536635160446167, -0.6191805601119995, 0.25333118438720703, -1.4916481971740723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3795769512653351, -0.8431287407875061, 1.0778250694274902, -1.4899063110351562, 0.6606603860855103, 0.6044960618019104, 1.201296091079712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4098890593312394, -0.9121344105097164, -0.0013327432775144185, -0.0976029559969902], [0.9121353835617886, 0.4098885685177188, 0.0006351795684239925, 0.041688721626996994], [-3.309290699023658e-05, -0.0014759954564327422, 0.9999989101705422, -0.0002069466863758862], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8549370765686035, 1.2552562952041626, -0.21416476368904114, 0.14925189316272736, 0.07994610071182251, 0.3292517066001892, -0.9286385178565979, -1.1805781126022339, -1.17249596118927, -0.6210026144981384, 0.2407747060060501, -1.461269736289978, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35234206914901733, -0.8443152904510498, 1.0717322826385498, -1.4768444299697876, 0.6557988524436951, 0.6001686453819275, 1.2119104862213135, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4098656225507997, -0.9121449407762369, -0.0013335919019606252, -0.09759938716888428], [0.9121459151513255, 0.4098651355506894, 0.0006325604840986748, 0.04169190302491188], [-3.039401963917984e-05, -0.0014756952024684096, 0.9999989106993432, -0.00020675378618761897], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8455429077148438, 1.2463414669036865, -0.2079339474439621, 0.15711231529712677, 0.08962782472372055, 0.3493182361125946, -0.9215163588523865, -1.1938985586166382, -1.1831426620483398, -0.6096158027648926, 0.22087310254573822, -1.4399878978729248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32857123017311096, -0.8452991247177124, 1.0661410093307495, -1.4530588388442993, 0.6534169912338257, 0.5944888591766357, 1.2232418060302734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4094950666169891, -0.9123113555924263, -0.0013344937081784024, -0.09761275351047516], [0.9123123308758532, 0.4094945693217398, 0.0006392400727017534, 0.04166559502482414], [-3.671805098245159e-05, -0.0014792407216026524, 0.9999989052487369, -0.00020712619880214334], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8376824855804443, 1.2391520738601685, -0.20036111772060394, 0.16439756751060486, 0.09998056292533875, 0.3683204650878906, -0.9138570427894592, -1.2127599716186523, -1.1745023727416992, -0.608877956867218, 0.1956653594970703, -1.4399455785751343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3075968623161316, -0.8474276065826416, 1.0574604272842407, -1.4322915077209473, 0.6522883176803589, 0.5866971015930176, 1.22900390625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40966759789291207, -0.9122338933722016, -0.001335297587016642, -0.09761037677526474], [0.9122348704854208, 0.4096671308192248, 0.000618867345839062, 0.04168041795492172], [-1.752423711274651e-05, -0.0014716349203358718, 0.9999989169911947, -0.00020637163834180683], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8312599658966064, 1.2326337099075317, -0.19250071048736572, 0.16966979205608368, 0.11148359626531601, 0.3813536763191223, -0.9066149592399597, -1.222988486289978, -1.174888253211975, -0.5929136276245117, 0.1652342975139618, -1.45491361618042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28937044739723206, -0.8498663306236267, 1.0454941987991333, -1.4199484586715698, 0.6486007571220398, 0.5801966190338135, 1.2344545125961304, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40993966060986675, -0.912111665598564, -0.0013357163174055704, -0.09759828448295593], [0.9121126433279843, 0.40993925823275046, 0.0005748398208521167, 0.04168137162923813], [2.324444991681619e-05, -0.001453973382070269, 0.999998942709991, -0.0002044139982899651], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8268504738807678, 1.2273614406585693, -0.1833941489458084, 0.17331241071224213, 0.12250734120607376, 0.38872769474983215, -0.8993327617645264, -1.2204781770706177, -1.1846457719802856, -0.552375078201294, 0.14458979666233063, -1.4796147346496582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27284884452819824, -0.8511929512023926, 1.032608985900879, -1.4136962890625, 0.6378079056739807, 0.5774343609809875, 1.2416629791259766, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4098991802076032, -0.9121298585846915, -0.0013353439278780035, -0.09760013967752457], [0.9121308359300726, 0.4098987176037233, 0.0006159970212549664, 0.04168664291501045], [-1.4513512288770966e-05, -0.001470505047212246, 0.9999989187015474, -0.0002061208797385916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.823878824710846, 1.222856044769287, -0.17361655831336975, 0.1753254532814026, 0.13295593857765198, 0.3994120955467224, -0.8932557702064514, -1.2201056480407715, -1.1862815618515015, -0.5267172455787659, 0.1402171105146408, -1.4868899583816528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.25486087799072266, -0.8511719107627869, 1.017892837524414, -1.4145352840423584, 0.6225586533546448, 0.5760201215744019, 1.2441314458847046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40951125469940897, -0.9123040900455832, -0.0013340017302668982, -0.09761008620262146], [0.9123050651329632, 0.409510784461139, 0.0006209208987989087, 0.04165460914373398], [-2.0180580534909797e-05, -0.0014712906317548538, 0.9999989174477246, -0.00020623617456294596], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8219617009162903, 1.2183507680892944, -0.162592813372612, 0.17503787577152252, 0.14359624683856964, 0.40922513604164124, -0.8901640772819519, -1.221933364868164, -1.1889700889587402, -0.5342851281166077, 0.14568683505058289, -1.4868160486221313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23736579716205597, -0.848847508430481, 0.9996208548545837, -1.4137396812438965, 0.6087738275527954, 0.5735971331596375, 1.2464038133621216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40995706354006367, -0.9121038505707926, -0.0013311001245881406, -0.09758533537387848], [0.9121048215460635, 0.4099565887776223, 0.0006243638673800666, 0.041686948388814926], [-2.379142119700808e-05, -0.0014700652192490588, 0.9999989191705256, -0.00020609078637789935], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8204279541969299, 1.2140370607376099, -0.15243180096149445, 0.1728331297636032, 0.15433241426944733, 0.41430723667144775, -0.8899068236351013, -1.2205828428268433, -1.1932746171951294, -0.5569041967391968, 0.14881950616836548, -1.48458993434906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21974249184131622, -0.845061182975769, 0.9833545684814453, -1.409651756286621, 0.6055848002433777, 0.5736015439033508, 1.2464993000030518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4097644965451648, -0.9121903754579523, -0.0013327764130909234, -0.09760179370641708], [0.9121913482283196, 0.4097639949480578, 0.0006423874286853594, 0.04168722778558731], [-3.9855842361286996e-05, -0.0014789746744465126, 0.9999989055221131, -0.00020702679466921836], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8198527693748474, 1.2103945016860962, -0.14179149270057678, 0.16727332770824432, 0.16478100419044495, 0.4164859652519226, -0.8901996612548828, -1.2137787342071533, -1.197678565979004, -0.5694822072982788, 0.15187188982963562, -1.487410545349121, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20754440128803253, -0.8411512970924377, 0.9718108773231506, -1.3998578786849976, 0.6170485615730286, 0.5751057863235474, 1.2449250221252441, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4096444237325175, -0.9122443055014143, -0.0013316099638557715, -0.09760761260986328], [0.9122452760014469, 0.40964390639722204, 0.0006529660542582855, 0.0416647270321846], [-5.0178657291506596e-05, -0.0014822388020174161, 0.9999989002245133, -0.0002073994983220473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8194693326950073, 1.2074228525161743, -0.13134290277957916, 0.15922120213508606, 0.1740792840719223, 0.41847050189971924, -0.8896008729934692, -1.2063603401184082, -1.1993067264556885, -0.5735417604446411, 0.1564570516347885, -1.4940162897109985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2010834664106369, -0.8370703458786011, 0.963060200214386, -1.3900413513183594, 0.6236411929130554, 0.5765733122825623, 1.243431568145752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40979932465936353, -0.9121747317077937, -0.0013312935604702114, -0.09760119020938873], [0.9121757028265063, 0.4097988462691894, 0.0006267131804285213, 0.041682180017232895], [-2.6109362088830504e-05, -0.001471200277285047, 0.9999989174434367, -0.00020619857241399586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.2044512033462524, -0.12003158032894135, 0.1511690765619278, 0.18203555047512054, 0.41739577054977417, -0.8881216645240784, -1.1974042654037476, -1.1994348764419556, -0.5642949938774109, 0.16099967062473297, -1.5007253885269165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.197567880153656, -0.8332825303077698, 0.955418586730957, -1.3801014423370361, 0.6280733346939087, 0.5786544680595398, 1.2413177490234375, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40979932465936353, -0.9121747317077937, -0.0013312935604702114, -0.09760119020938873], [0.9121757028265063, 0.4097988462691894, 0.0006267131804285213, 0.041682180017232895], [-2.6109362088830504e-05, -0.001471200277285047, 0.9999989174434367, -0.00020619857241399586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.201192021369934, -0.10967884957790375, 0.14244593679904938, 0.18826636672019958, 0.4095506966114044, -0.887557864189148, -1.1857798099517822, -1.1976392269134521, -0.5552214980125427, 0.1623879224061966, -1.5164443254470825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19374506175518036, -0.8285897970199585, 0.9504609704017639, -1.3716552257537842, 0.6307847499847412, 0.5817102193832397, 1.238263726234436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4101059861702542, -0.9120369009700203, -0.0013309306235866996, -0.09758713841438293], [0.9120378717543678, 0.41010551038971665, 0.0006251669805028267, 0.04170550778508186], [-2.4353372807255748e-05, -0.0014702438544489187, 0.9999989188943764, -0.00020605919416993856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.197836995124817, -0.09903854131698608, 0.1347772479057312, 0.1930592954158783, 0.3982996642589569, -0.8883863687515259, -1.1766356229782104, -1.1893987655639648, -0.5563555359840393, 0.15572169423103333, -1.5226011276245117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19053180515766144, -0.8236674666404724, 0.9485715627670288, -1.3704338073730469, 0.6299657821655273, 0.5839463472366333, 1.2359890937805176, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4098919218259295, -0.9121331237569087, -0.0013330293731652798, -0.09760279953479767], [0.9121340977078503, 0.40989150783979067, 0.0005827516699040028, 0.04168817773461342], [1.4850318717354465e-05, -0.0014547667464343951, 0.9999989417160308, -0.00020445659174583852], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.1943860054016113, -0.08858995139598846, 0.1287381500005722, 0.19718122482299805, 0.3854700028896332, -0.8905885815620422, -1.1667377948760986, -1.1795214414596558, -0.560096263885498, 0.14174522459506989, -1.5249637365341187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18756280839443207, -0.8193296790122986, 0.9496082663536072, -1.37633216381073, 0.6243983507156372, 0.5857216715812683, 1.2326295375823975, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4100649135794975, -0.9120553643635664, -0.0013337865951977966, -0.09760072082281113], [0.9120563394549037, 0.4100645033040098, 0.0005803362450163206, 0.04170141741633415], [1.763975227158686e-05, -0.0014544640517897892, 0.999998942111021, -0.00020450651936698705], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8189900517463684, 1.1906476020812988, -0.07900408655405045, 0.12413693964481354, 0.20091970264911652, 0.378991037607193, -0.892004132270813, -1.1607826948165894, -1.1713520288467407, -0.5591223239898682, 0.12382256984710693, -1.5157607793807983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18706950545310974, -0.8182001113891602, 0.9577196836471558, -1.3798081874847412, 0.6314316987991333, 0.5722581148147583, 1.2277761697769165, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4099298134607613, -0.9121160884990818, -0.0013375863189829763, -0.09761200100183487], [0.9121170681315672, 0.4099294451288511, 0.0005513977025261265, 0.04169129207730293], [4.537730191712316e-05, -0.0014460696689828749, 0.9999989534111587, -0.00020357497851364315], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.187675952911377, -0.07325256615877151, 0.12202804535627365, 0.2034120261669159, 0.37913137674331665, -0.8920690417289734, -1.1604629755020142, -1.1712167263031006, -0.5593898296356201, 0.12426742166280746, -1.5151532888412476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18722474575042725, -0.818339467048645, 0.9576020240783691, -1.3795385360717773, 0.6318507790565491, 0.5727165341377258, 1.2278025150299072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.41008368166852993, -0.912046920420198, -0.001337528024740166, -0.09759578853845596], [0.9120478999363076, 0.41008331642652884, 0.0005493727243604858, 0.04169837012887001], [4.744422678303624e-05, -0.0014451784154842445, 0.99999895460365, -0.00020351941930130124], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.1865257024765015, -0.070185087621212, 0.120973601937294, 0.20446647703647614, 0.379224568605423, -0.8920361995697021, -1.1606088876724243, -1.1713722944259644, -0.5594304203987122, 0.12455996125936508, -1.515337347984314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.187265545129776, -0.8183415532112122, 0.9574815630912781, -1.3794732093811035, 0.6316530108451843, 0.5729352235794067, 1.2279155254364014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4099091259362816, -0.9121253833841731, -0.0013392014146452217, -0.09759882092475891], [0.9121263655866662, 0.4099087496037416, 0.0005569559735556168, 0.04168490320444107], [4.093669643726253e-05, -0.0014498222554340417, 0.999998948169254, -0.0002040235121967271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.1860463619232178, -0.06865134835243225, 0.12068602442741394, 0.20504163205623627, 0.379240483045578, -0.8920164108276367, -1.1606374979019165, -1.1713833808898926, -0.5594375133514404, 0.12459171563386917, -1.5154255628585815, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726713955402374, -0.8183435797691345, 0.9574651718139648, -1.379469871520996, 0.6316149234771729, 0.572954535484314, 1.2279396057128906, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4099271297622209, -0.9121172891653353, -0.00134130182558101, -0.09760265797376633], [0.9121182743513105, 0.40992675596185535, 0.0005552845907915271, 0.04168151319026947], [4.335083045808747e-05, -0.0014510521250375738, 0.9999989462836628, -0.00020412653975654393], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.1854711771011353, -0.06807620078325272, 0.12030258774757385, 0.20532920956611633, 0.379241943359375, -0.8920059204101562, -1.160644292831421, -1.1713852882385254, -0.5594382286071777, 0.12459567189216614, -1.5154502391815186, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872662901878357, -0.8183459043502808, 0.9574633240699768, -1.3794705867767334, 0.6316083073616028, 0.5729564428329468, 1.2279460430145264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8192776441574097, 1.1852794885635376, -0.06778862327337265, 0.12030258774757385, 0.20552091300487518, 0.3792414963245392, -0.892005205154419, -1.1606450080871582, -1.171386957168579, -0.5594384670257568, 0.12459591031074524, -1.5154567956924438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726620078086853, -0.8183459043502808, 0.957463800907135, -1.3794716596603394, 0.6316079497337341, 0.5729563236236572, 1.2279478311538696, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.1852794885635376, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.37924090027809143, -0.892005205154419, -1.1606444120407104, -1.171386480331421, -0.5594382286071777, 0.12459543347358704, -1.515457272529602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872662454843521, -0.8183460831642151, 0.957463800907135, -1.3794723749160767, 0.6316081881523132, 0.5729559659957886, 1.2279472351074219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.1851836442947388, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.37924039363861084, -0.8920055031776428, -1.1606439352035522, -1.1713863611221313, -0.5594378709793091, 0.12459543347358704, -1.5154573917388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726475536823273, -0.8183457255363464, 0.957464337348938, -1.379473328590393, 0.6316085457801819, 0.5729548931121826, 1.2279466390609741, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.379239946603775, -0.8920058012008667, -1.160643219947815, -1.1713855266571045, -0.5594371557235718, 0.12459435313940048, -1.515457272529602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726475536823273, -0.8183462023735046, 0.9574644565582275, -1.379474401473999, 0.6316096186637878, 0.5729538202285767, 1.2279462814331055, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.3792394995689392, -0.8920062184333801, -1.1606427431106567, -1.1713855266571045, -0.5594351291656494, 0.12459363788366318, -1.5154571533203125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726405501365662, -0.8183459639549255, 0.9574651718139648, -1.3794749975204468, 0.6316115856170654, 0.5729531049728394, 1.2279449701309204, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.37923914194107056, -0.8920063376426697, -1.1606420278549194, -1.1713846921920776, -0.5594342947006226, 0.12459267675876617, -1.5154566764831543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726365268230438, -0.8183459043502808, 0.9574657678604126, -1.3794748783111572, 0.6316133737564087, 0.5729513168334961, 1.2279444932937622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.37923890352249146, -0.8920067548751831, -1.1606413125991821, -1.1713842153549194, -0.5594332218170166, 0.12459183484315872, -1.515456199645996, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726350367069244, -0.8183454275131226, 0.9574657678604126, -1.379475712776184, 0.6316156387329102, 0.5729506015777588, 1.2279441356658936, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06750104576349258, 0.12020673602819443, 0.2056167721748352, 0.37923863530158997, -0.8920067548751831, -1.1606405973434448, -1.1713837385177612, -0.559432864189148, 0.12459076195955276, -1.5154560804367065, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872631013393402, -0.8183456659317017, 0.9574661254882812, -1.3794760704040527, 0.6316171884536743, 0.5729500651359558, 1.2279434204101562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920063972473145, -1.1606401205062866, -1.171383261680603, -0.559431791305542, 0.12458980083465576, -1.5154552459716797, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726284801959991, -0.818345844745636, 0.9574662446975708, -1.3794759511947632, 0.6316180229187012, 0.5729491114616394, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923839688301086, -0.8920072317123413, -1.1606390476226807, -1.1713826656341553, -0.5594309568405151, 0.1245884820818901, -1.5154545307159424, 0.09300000955770305, -0.09300000955770305, 0.09300000955770305, 0.09300000955770305, -0.09300000955770305, -0.09300000955770305, 0.09300000955770305, 0.09300000955770305, -0.18726244568824768, -0.8183453679084778, 0.9574668407440186, -1.3794760704040527, 0.6316190958023071, 0.5729488730430603, 1.2279430627822876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923839688301086, -0.8920074105262756, -1.1606388092041016, -1.1713825464248657, -0.5594308376312256, 0.1245877593755722, -1.5154541730880737, 0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.18726220726966858, -0.8183457255363464, 0.957466721534729, -1.3794769048690796, 0.6316192150115967, 0.5729485154151917, 1.2279422283172607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920074105262756, -1.1606385707855225, -1.171382188796997, -0.559430718421936, 0.12458692491054535, -1.515453815460205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726210296154022, -0.8183456063270569, 0.9574670791625977, -1.3794766664505005, 0.6316196918487549, 0.5729485154151917, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12030258774757385, 0.2056167721748352, 0.3792356550693512, -0.8920159935951233, -1.1606366634368896, -1.1713840961456299, -0.5594313144683838, 0.12458596378564835, -1.5154529809951782, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872619092464447, -0.8183329105377197, 0.9574688673019409, -1.3794759511947632, 0.6316196918487549, 0.5729485154151917, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.40992683144301456, -0.912117423304118, -0.0013412561823419955, -0.0975930392742157], [0.9121184085852754, 0.4099264519973751, 0.0005591714481386615, 0.041691165417432785], [3.9786367585530335e-05, -0.0014526038345118262, 0.999998944179015, -0.00020428499556146562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12030258774757385, 0.20552091300487518, 0.37923505902290344, -0.8920250535011292, -1.1606345176696777, -1.171384572982788, -0.5594311952590942, 0.1245856061577797, -1.5154520273208618, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726105988025665, -0.8183285593986511, 0.9574716091156006, -1.3794755935668945, 0.6316198110580444, 0.5729487538337708, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4206486414943734, -0.9072226544010339, -0.0013325728798984598, -0.09709446132183075], [0.9072236313724987, 0.4206482769017793, 0.0005566137444221591, 0.042867157608270645], [5.557188708455903e-05, -0.001443080422598267, 0.9999989572147859, -0.00020330693223513663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792372941970825, -0.8920176029205322, -1.1606347560882568, -1.1713827848434448, -0.5594310760498047, 0.12458488345146179, -1.5154515504837036, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726065754890442, -0.8183515071868896, 0.957470178604126, -1.3794759511947632, 0.631619930267334, 0.572948157787323, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.4426887917602288, -0.8966743583673878, -0.0013147989588288764, -0.09596232324838638], [0.8966753157469158, 0.44268849010104017, 0.0005280740764725424, 0.04526660218834877], [0.00010853588217890723, -0.0014127202464251274, 0.99999899622023, -0.00020021382078994066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923774123191833, -0.8920031785964966, -1.1606354713439941, -1.1713818311691284, -0.5594310760498047, 0.12458452582359314, -1.5154509544372559, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726155161857605, -0.8183628916740417, 0.9574685096740723, -1.3794764280319214, 0.6316195726394653, 0.5729486346244812, 1.2279422283172607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.47117895077719807, -0.882036694185383, -0.0012909124757039374, -0.0942864939570427], [0.8820376358086928, 0.47117856601799946, 0.0006065824209780261, 0.04830513522028923], [7.322233580650216e-05, -0.0014244422567821666, 0.999998982800856, -0.00020140166452620178], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792378902435303, -0.8920016884803772, -1.1606355905532837, -1.1713818311691284, -0.5594311952590942, 0.12458392977714539, -1.5154505968093872, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726129829883575, -0.8183543086051941, 0.9574682712554932, -1.3794764280319214, 0.6316196918487549, 0.5729483962059021, 1.2279419898986816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5002843998507019, -0.8658602223595573, -0.0012627753089391174, -0.09237746149301529], [0.8658611429807054, 0.5002838365416727, 0.0007509802204161083, 0.051339469850063324], [-1.84978243909633e-05, -0.001469091761196458, 0.9999989207130314, -0.00020597167895175517], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920019865036011, -1.160636067390442, -1.1713813543319702, -0.5594313144683838, 0.12458392977714539, -1.5154496431350708, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726180493831635, -0.8183493614196777, 0.9574675559997559, -1.3794763088226318, 0.6316196918487549, 0.5729482769966125, 1.2279421091079712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5288583073030413, -0.8487092436525671, -0.0012290383433521, -0.09044105559587479], [0.8487101321004572, 0.5288576671306396, 0.0008243707673419156, 0.054273057729005814], [-4.96647393607458e-05, -0.001479072623349443, 0.9999989049381947, -0.00020693587430287153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923890352249146, -0.8920005559921265, -1.1606366634368896, -1.1713812351226807, -0.5594315528869629, 0.12458344548940659, -1.5154492855072021, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726176023483276, -0.8183490037918091, 0.9574664831161499, -1.3794769048690796, 0.6316198110580444, 0.5729487538337708, 1.2279423475265503, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5567319221895791, -0.8306913636527061, -0.0011938039637647234, -0.08851440995931625], [0.8306922186142784, 0.5567312261423789, 0.0008830468229594023, 0.05719076842069626], [-6.891142501296924e-05, -0.0014833040183798265, 0.9999988975295946, -0.00020734350255224854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923911213874817, -0.892002284526825, -1.160636305809021, -1.1713812351226807, -0.5594310760498047, 0.12458308786153793, -1.5154489278793335, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726114928722382, -0.8183460831642151, 0.9574666023254395, -1.37947678565979, 0.6316195726394653, 0.5729485154151917, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.5834710100005406, -0.8121331347979205, -0.0011626918129075652, -0.08619648963212967], [0.8121339505231224, 0.5834701110488714, 0.001037265792420086, 0.05998775735497475], [-0.00016400199842398283, -0.001549476014799871, 0.9999987861129753, -0.00021415796072687954], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8192776441574097, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792388141155243, -0.8920027613639832, -1.1606367826461792, -1.1713811159133911, -0.559431791305542, 0.12458308786153793, -1.5154489278793335, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872614473104477, -0.8183451890945435, 0.957466721534729, -1.3794769048690796, 0.6316194534301758, 0.5729486346244812, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6067883608485528, -0.7948626248327509, -0.0011370060316467253, -0.08444850891828537], [0.7948633833801364, 0.6067871678211046, 0.001238841848199512, 0.062311358749866486], [-0.0002947884134740907, -0.001655479275657912, 0.9999985862430802, -0.0002250772377010435], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923863530158997, -0.8920037150382996, -1.1606367826461792, -1.1713813543319702, -0.559431791305542, 0.12458332628011703, -1.5154485702514648, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872619092464447, -0.8183463215827942, 0.9574660062789917, -1.37947678565979, 0.6316195726394653, 0.5729485154151917, 1.2279419898986816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6277918092617553, -0.7783805023390565, -0.0011125656159994915, -0.08280617743730545], [0.7783812211590755, 0.6277904735991434, 0.0013400765164103504, 0.06447264552116394], [-0.000344631337037818, -0.0017072892435877273, 0.9999984831951898, -0.00023047484864946455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.2056167721748352, 0.37923869490623474, -0.8920040130615234, -1.1606367826461792, -1.1713814735412598, -0.5594311952590942, 0.12458320707082748, -1.5154483318328857, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726076185703278, -0.8183456659317017, 0.9574663639068604, -1.3794770240783691, 0.6316195726394653, 0.5729487538337708, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6450256666548815, -0.7641601371013208, -0.0010836151144964052, -0.08141377568244934], [0.7641608781718099, 0.6450246165212676, 0.0011816739313412856, 0.0662437155842781], [-0.0002040296896981202, -0.0015902662928259266, 0.9999987147116758, -0.000218457673327066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.379238486289978, -0.8920061588287354, -1.1606367826461792, -1.171381950378418, -0.5594313144683838, 0.12458308786153793, -1.515447974205017, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872614026069641, -0.8183421492576599, 0.9574664831161499, -1.379476547241211, 0.6316195726394653, 0.5729486346244812, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6619132826012744, -0.7495796657235422, -0.001063508245518088, -0.08020138740539551], [0.7495804006470906, 0.6619122752412288, 0.0011674119782109419, 0.06801016628742218], [-0.00017111911786033189, -0.0015699104314125848, 0.999998753048965, -0.00021638046018779278], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792386054992676, -0.8920086026191711, -1.1606372594833374, -1.171381950378418, -0.5594314336776733, 0.12458308786153793, -1.515447735786438, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726159632205963, -0.8183437585830688, 0.9574660062789917, -1.379476547241211, 0.6316195726394653, 0.5729487538337708, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6776113275622324, -0.7354194753247414, -0.0010411879902500845, -0.07885933667421341], [0.7354201999949473, 0.6776103773510265, 0.0011427797649351714, 0.06969264894723892], [-0.0001349027081736385, -0.001540071193651032, 0.9999988049902749, -0.00021330811432562768], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923845648765564, -0.8920080661773682, -1.1606371402740479, -1.1713817119598389, -0.5594316720962524, 0.12458296865224838, -1.515447735786438, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872612088918686, -0.8183436989784241, 0.9574664831161499, -1.3794766664505005, 0.6316193342208862, 0.5729487538337708, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.6929600570294459, -0.7209752553355219, -0.0010200762844230777, -0.07746332138776779], [0.7209759716068656, 0.6929591857837709, 0.001102362657905135, 0.07140278071165085], [-8.790496726434923e-05, -0.0014993437805641237, 0.9999988721198362, -0.00020913418848067522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923839688301086, -0.8920081257820129, -1.1606372594833374, -1.1713820695877075, -0.5594315528869629, 0.12458320707082748, -1.5154476165771484, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726125359535217, -0.818344235420227, 0.9574668407440186, -1.3794766664505005, 0.6316195726394653, 0.5729485154151917, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7074654797392317, -0.7067471839944586, -0.001006425974287789, -0.0760950893163681], [0.706747900367297, 0.7074647270919918, 0.0010321080712126706, 0.07301541417837143], [-1.7428595669704442e-05, -0.0014414702759462112, 0.999998960929304, -0.0002032287884503603], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920087814331055, -1.160637378692627, -1.1713818311691284, -0.5594316720962524, 0.12458284944295883, -1.5154471397399902, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.18726159632205963, -0.8183441162109375, 0.9574669599533081, -1.3794763088226318, 0.6316194534301758, 0.572948157787323, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7215035116739119, -0.6924100693665804, -0.0009891824809143922, -0.07470420747995377], [0.6924107748496988, 0.7215028545575, 0.0009745447238270398, 0.07457932084798813], [3.891340383208803e-05, -0.0013880580486021735, 0.9999990358898356, -0.00019773657550103962], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792382478713989, -0.8920084834098816, -1.1606369018554688, -1.171382188796997, -0.5594316720962524, 0.12458308786153793, -1.5154473781585693, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872616559267044, -0.8183439373970032, 0.9574668407440186, -1.37947678565979, 0.6316192150115967, 0.5729482769966125, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7355782468246517, -0.6774390760789041, -0.0009700514071876203, -0.07321927696466446], [0.6774397654543683, 0.7355776636892215, 0.0009299799121903456, 0.07616491615772247], [8.354341527134334e-05, -0.0013412243911549793, 0.9999990970684075, -0.00019287846225779504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920084834098816, -1.1606374979019165, -1.1713820695877075, -0.5594319105148315, 0.12458273023366928, -1.5154472589492798, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1872614026069641, -0.8183457851409912, 0.9574664831161499, -1.379476547241211, 0.6316193342208862, 0.5729485154151917, 1.2279433012008667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7495933691011598, -0.6618979314092769, -0.0009536224056967513, -0.07168301194906235], [0.6618986027552768, 0.7495928863859616, 0.0008627573095679883, 0.07772818207740784], [0.00014377129309726768, -0.001277918496282526, 0.9999991731267243, -0.00018631228886079043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383074760437, -0.8920084238052368, -1.1606374979019165, -1.1713820695877075, -0.5594315528869629, 0.12458320707082748, -1.5154471397399902, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726150691509247, -0.8183457255363464, 0.9574668407440186, -1.3794764280319214, 0.6316190958023071, 0.5729483962059021, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.763011897817701, -0.6463837570221316, -0.0009393862805954692, -0.07011999934911728], [0.6463844113542554, 0.7630114885028547, 0.0008131241423363037, 0.07919993251562119], [0.00019117228618757085, -0.0012276280430223792, 0.9999992281909746, -0.00018109714437741786], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920086622238159, -1.1606371402740479, -1.171381950378418, -0.5594315528869629, 0.12458320707082748, -1.5154471397399902, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.818345844745636, 0.9574669599533081, -1.3794764280319214, 0.6316190958023071, 0.5729487538337708, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7761660789773561, -0.630527835843733, -0.0009306294295802476, -0.06841423362493515], [0.6305284667200997, 0.7761657862773828, 0.0007244777515018658, 0.08049729466438293], [0.0002655193341716198, -0.0011491034030073689, 0.9999993045301844, -0.00017298519378528], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792380392551422, -0.892008364200592, -1.1606366634368896, -1.1713824272155762, -0.5594319105148315, 0.12458344548940659, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726180493831635, -0.818345844745636, 0.9574666023254395, -1.3794763088226318, 0.6316193342208862, 0.5729485154151917, 1.2279433012008667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.7901520552854877, -0.6129101750061144, -0.0009202728365940429, -0.06682706624269485], [0.6129107929275425, 0.7901518031858679, 0.0006984518971070544, 0.08214645832777023], [0.0002990669667685192, -0.0011159283560037208, 0.9999993326312041, -0.0001695429818937555], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920089602470398, -1.1606370210647583, -1.1713823080062866, -0.5594315528869629, 0.12458320707082748, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872612088918686, -0.8183453679084778, 0.9574670791625977, -1.37947678565979, 0.6316192150115967, 0.5729486346244812, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8036384421689535, -0.5951171572822835, -0.0009074009650698955, -0.06514199823141098], [0.5951177514683743, 0.8036382494186176, 0.0006526550435860122, 0.08364501595497131], [0.0003408159088646826, -0.0010645091045138025, 0.9999993753322463, -0.0001641982380533591], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06730932742357254, 0.12020673602819443, 0.2056167721748352, 0.3792382478713989, -0.8920083045959473, -1.1606371402740479, -1.1713823080062866, -0.5594315528869629, 0.12458332628011703, -1.5154470205307007, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872619092464447, -0.8183465600013733, 0.9574671983718872, -1.379476547241211, 0.631618857383728, 0.5729483962059021, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8170902300812157, -0.5765091158040139, -0.0008917963332945809, -0.06332271546125412], [0.5765096514117386, 0.8170901652124026, 0.0005326746514618725, 0.08520543575286865], [0.0004215862209819886, -0.0009493724467593382, 0.9999994604783623, -0.00015222260844893754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920086026191711, -1.1606369018554688, -1.171382188796997, -0.559431791305542, 0.12458332628011703, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726110458374023, -0.8183459639549255, 0.9574670791625977, -1.379476547241211, 0.6316189765930176, 0.5729486346244812, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8299140228509774, -0.5578906240827394, -0.0008753490041164065, -0.06149516627192497], [0.557891093344869, 0.8299140631553235, 0.0004192177101070907, 0.08664815127849579], [0.0004925868187670311, -0.0008362640692101948, 0.9999995290102054, -0.00014040461974218488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920083045959473, -1.160637617111206, -1.171382188796997, -0.559431791305542, 0.12458344548940659, -1.5154465436935425, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.8183457255363464, 0.9574674367904663, -1.3794766664505005, 0.631618857383728, 0.5729488730430603, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8425858050286865, -0.5385614311958689, -0.0008637085258675774, -0.05957222729921341], [0.5385618621803263, 0.8425858928909942, 0.0003656582357595037, 0.08808925747871399], [0.0005308191966865022, -0.0007732589110150575, 0.9999995601507218, -0.00013381728786043823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920083045959473, -1.1606374979019165, -1.1713820695877075, -0.5594315528869629, 0.12458381056785583, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.8183454871177673, 0.9574668407440186, -1.3794764280319214, 0.6316190958023071, 0.5729486346244812, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8552517972037921, -0.518211948040565, -0.0008603997248654132, -0.05748886242508888], [0.5182123733823831, 0.8552518948056016, 0.00036401212301678034, 0.08952943980693817], [0.0005472230636024556, -0.0007571918058941244, 0.9999995636036486, -0.00013216305524110794], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923839688301086, -0.8920080065727234, -1.1606371402740479, -1.171382188796997, -0.5594316720962524, 0.12458344548940659, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726199865341187, -0.8183456659317017, 0.957466721534729, -1.3794763088226318, 0.6316187381744385, 0.5729485154151917, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8682755546441225, -0.4960814683156792, -0.0008590699629077471, -0.05506829917430878], [0.4960819382752326, 0.8682755930393158, 0.0004528237104302876, 0.09081599861383438], [0.0005212720303475762, -0.0008193448506431749, 0.9999995284746319, -0.00013867330562788993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920083045959473, -1.1606372594833374, -1.1713820695877075, -0.5594320297241211, 0.12458332628011703, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726180493831635, -0.8183461427688599, 0.957466721534729, -1.3794763088226318, 0.631618857383728, 0.5729483962059021, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.8803704268482355, -0.4742859643712192, -0.00085763134160138, -0.052869562059640884], [0.4742864131951044, 0.880370503363079, 0.0004184098010683289, 0.09219583123922348], [0.0005565874399034973, -0.0007751185080158338, 0.9999995447007565, -0.00013408344238996506], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923815846443176, -0.8920081257820129, -1.160637378692627, -1.1713823080062866, -0.5594319105148315, 0.12458344548940659, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.187261700630188, -0.8183455467224121, 0.9574674367904663, -1.3794763088226318, 0.6316184997558594, 0.5729486346244812, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.89168732574582, -0.45265106304050096, -0.0008533654389600218, -0.05057304725050926], [0.45265143871811075, 0.8916874913159444, 0.00030472463326935723, 0.09358341246843338], [0.0006230013582579902, -0.0006579961870263948, 0.9999995894550785, -0.00012178579345345497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923845648765564, -0.8920082449913025, -1.1606372594833374, -1.171381950378418, -0.5594315528869629, 0.12458344548940659, -1.5154471397399902, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726176023483276, -0.8183456659317017, 0.9574666023254395, -1.3794763088226318, 0.6316186189651489, 0.5729485154151917, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9021646923671924, -0.4313909356802241, -0.0008534980667307259, -0.0484466515481472], [0.43139116792149074, 0.90216497945997, 0.00010037591443416869, 0.09480508416891098], [0.0007266948061937353, -0.0004587471337922797, 0.9999996307327947, -0.00010086925612995401], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.2056167721748352, 0.37923863530158997, -0.8920072317123413, -1.1606374979019165, -1.1713817119598389, -0.559431791305542, 0.12458369135856628, -1.515446662902832, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.8183496594429016, 0.9574666023254395, -1.3794766664505005, 0.631618857383728, 0.5729483962059021, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9117727914613787, -0.4106941097320002, -0.0008514588451853997, -0.04642211273312569], [0.41069421992057764, 0.9117731380690204, -4.918942382522582e-05, 0.09593573957681656], [0.0007965391098374472, -0.0003048396479463906, 0.9999996362990516, -8.471203909721226e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920074105262756, -1.1606370210647583, -1.1713824272155762, -0.5594316720962524, 0.12458344548940659, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726125359535217, -0.8183460831642151, 0.9574671983718872, -1.3794763088226318, 0.6316184997558594, 0.5729482769966125, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9201378039824157, -0.39159378887768753, -0.0008521706604123827, -0.04449424147605896], [0.39159390295479235, 0.9201381493591028, -3.5533620288267e-05, 0.0968770757317543], [0.0007980294794111977, -0.0003010090075548569, 0.9999996362711975, -8.43116213218309e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920080065727234, -1.160637617111206, -1.1713823080062866, -0.559431791305542, 0.12458381056785583, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872614473104477, -0.8183452486991882, 0.9574669599533081, -1.379476547241211, 0.6316187381744385, 0.5729487538337708, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.927900259691789, -0.3728275451872288, -0.0008541742066784722, -0.04256988316774368], [0.3728276282794888, 0.9279006171290941, -6.574905086967694e-05, 0.09771963953971863], [0.0008171018307468405, -0.0002574511822369868, 0.9999996330316762, -7.974482286954299e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792382478713989, -0.8920079469680786, -1.1606371402740479, -1.1713825464248657, -0.5594319105148315, 0.12458392977714539, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726159632205963, -0.81834477186203, 0.9574671983718872, -1.3794760704040527, 0.6316186189651489, 0.5729488730430603, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9354876367636583, -0.3533583842586094, -0.0008565841993696183, -0.04053692892193794], [0.35335844877161854, 0.9354880011542754, -7.986296888486711e-05, 0.09855251759290695], [0.0008295444901358719, -0.00022797044390449322, 0.9999996299426394, -7.666271267225966e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792382478713989, -0.8920080661773682, -1.1606374979019165, -1.1713825464248657, -0.559431791305542, 0.12458356469869614, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.8183450102806091, 0.9574673175811768, -1.379476547241211, 0.6316184997558594, 0.5729483962059021, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9427014580353693, -0.33363636910396316, -0.0008568717015437504, -0.03852789103984833], [0.3336364323773252, 0.9427018223035705, -7.222228163082229e-05, 0.09936106950044632], [0.0008318704943373661, -0.00021779956731212785, 0.9999996302773462, -7.557999924756587e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923845648765564, -0.8920078277587891, -1.1606378555297852, -1.171382188796997, -0.559431791305542, 0.12458369135856628, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726184964179993, -0.8183456063270569, 0.9574669599533081, -1.3794764280319214, 0.6316184997558594, 0.5729486346244812, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9497935251458014, -0.3128762178131626, -0.000855522087607434, -0.036698151379823685], [0.3128763190211823, 0.9497938769700758, -1.6306681910989616e-05, 0.1001913994550705], [0.0008176716133835903, -0.00025218462071626124, 0.9999996339079579, -7.920704229036346e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923845648765564, -0.8920079469680786, -1.1606374979019165, -1.171382188796997, -0.5594316720962524, 0.12458356469869614, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726195394992828, -0.8183450102806091, 0.9574673175811768, -1.37947678565979, 0.631618857383728, 0.5729486346244812, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9559375951838043, -0.29356869519771156, -0.0008575045879415591, -0.03477167338132858], [0.2935688054395727, 0.9559379459278926, 2.8184750955855265e-06, 0.10086474567651749], [0.0008188937583643396, -0.000254430883845916, 0.9999996323389013, -7.945806282805279e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.379238098859787, -0.8920084238052368, -1.1606372594833374, -1.1713825464248657, -0.5594323873519897, 0.12458356469869614, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726159632205963, -0.8183443546295166, 0.9574671983718872, -1.3794764280319214, 0.6316183805465698, 0.5729485154151917, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9619146473479067, -0.27334863231572787, -0.000858154224714456, -0.032743193209171295], [0.27334880703296843, 0.9619149761774253, 9.1100144206328e-05, 0.10159993171691895], [0.0008005693008001976, -0.00032220599666357187, 0.9999996276359758, -8.66117698024027e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923845648765564, -0.8920084238052368, -1.1606377363204956, -1.1713824272155762, -0.5594314336776733, 0.12458381056785583, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.187261700630188, -0.8183451294898987, 0.9574668407440186, -1.3794761896133423, 0.6316182613372803, 0.5729485154151917, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9677973289798814, -0.2517292071170878, -0.0008580813536770298, -0.030553828924894333], [0.2517294401597387, 0.9677976331971605, 0.0001735938905871703, 0.10237086564302444], [0.0007867504507413662, -0.0003840080424101187, 0.9999996167807024, -9.315686475019902e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923839688301086, -0.8920078277587891, -1.1606377363204956, -1.1713824272155762, -0.5594319105148315, 0.12458381056785583, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872614473104477, -0.8183454275131226, 0.9574670791625977, -1.3794761896133423, 0.6316184997558594, 0.5729486346244812, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9732079382827016, -0.22992513546022186, -0.0008607828599441681, -0.028328804299235344], [0.22992544049328723, 0.9732082086998248, 0.00027264124071323017, 0.10310758650302887], [0.0007750338710027436, -0.0004632524980070949, 0.9999995923597279, -0.00010156559437746182], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792382478713989, -0.8920082449913025, -1.160637378692627, -1.1713825464248657, -0.559431791305542, 0.12458381056785583, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.8183450698852539, 0.9574669599533081, -1.379476547241211, 0.6316186189651489, 0.5729482769966125, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9779600521249907, -0.20879029830252913, -0.0008647441392841582, -0.02615646831691265], [0.20879065359434607, 0.9779602986929169, 0.00034227489902373994, 0.10373103618621826], [0.0007742217584786501, -0.0005152816721233523, 0.9999995675326401, -0.00010712713992688805], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920084834098816, -1.1606371402740479, -1.1713825464248657, -0.5594321489334106, 0.12458344548940659, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872614026069641, -0.8183451294898987, 0.9574671983718872, -1.3794766664505005, 0.6316189765930176, 0.5729485154151917, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9823706001055459, -0.1869418488029167, -0.0008655717284793368, -0.023906173184514046], [0.1869422859928249, 0.9823707931000626, 0.00045450162913099074, 0.1043504849076271], [0.0007653470105575532, -0.0006083009957710476, 0.9999995221068118, -0.00011701431503752246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.20571263134479523, 0.37924304604530334, -0.891982913017273, -1.1606396436691284, -1.1713792085647583, -0.559431791305542, 0.12458369135856628, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726110458374023, -0.8183637261390686, 0.9574576020240784, -1.3794777393341064, 0.6316183805465698, 0.5729487538337708, 1.2279419898986816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9858046464811604, -0.16789414238135195, -0.0008694424562085976, -0.021718965843319893], [0.16789455315695018, 0.9858048692937755, 0.00042272557299054237, 0.10483020544052124], [0.0007861274593612631, -0.0005626994867213113, 0.9999995326863435, -0.00011226755304960534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.20571263134479523, 0.37923988699913025, -0.8919973969459534, -1.1606404781341553, -1.1713804006576538, -0.5594320297241211, 0.12458392977714539, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872633546590805, -0.8183407783508301, 0.9574592709541321, -1.3794766664505005, 0.6316177845001221, 0.5729483962059021, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9872027195886126, -0.15946797003652893, -0.0008700398128376412, -0.020969267934560776], [0.1594684322471681, 0.9872029066244672, 0.0004901722492053587, 0.10507082939147949], [0.0007807390585633087, -0.0006226432624282355, 0.9999995013808208, -0.00011865890701301396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.20571263134479523, 0.3792400062084198, -0.8920210003852844, -1.1606388092041016, -1.1713812351226807, -0.5594322681427002, 0.12458356469869614, -1.515446662902832, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.187261700630188, -0.8183348774909973, 0.9574626088142395, -1.3794769048690796, 0.6316180229187012, 0.5729485154151917, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9872272073960773, -0.1593162881917272, -0.0008725214915483059, -0.02095610275864601], [0.15931672462422045, 0.9872274174787964, 0.000455448302832338, 0.10506820678710938], [0.0007888168057255117, -0.0005886382223161675, 0.9999995156364279, -0.00011507586168590933], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06730932742357254, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920279741287231, -1.1606383323669434, -1.171383261680603, -0.5594320297241211, 0.12458369135856628, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726180493831635, -0.8183296322822571, 0.957466721534729, -1.3794760704040527, 0.6316182613372803, 0.5729485154151917, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9870873883246617, -0.16018029896401395, -0.0008715699614110142, -0.021040143445134163], [0.1601808204021041, 0.9870875267283732, 0.0005651128842465538, 0.10508464276790619], [0.0007697958868329124, -0.0006974245924761941, 0.9999994605064697, -0.0001266647595912218], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.20571263134479523, 0.3792388141155243, -0.8920226693153381, -1.160638451576233, -1.1713827848434448, -0.5594322681427002, 0.12458369135856628, -1.515446662902832, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872616559267044, -0.8183479905128479, 0.9574666023254395, -1.3794764280319214, 0.6316182613372803, 0.5729485154151917, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9871516062683632, -0.15978405815006358, -0.00087235479451676, -0.02100202441215515], [0.15978454009202234, 0.9871517801487669, 0.0005135140713117714, 0.10507013648748398], [0.0007790952260971754, -0.0006463050499757531, 0.9999994876500743, -0.00012121594772906974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.20571263134479523, 0.3792385458946228, -0.8920183777809143, -1.1606383323669434, -1.1713833808898926, -0.5594325065612793, 0.12458369135856628, -1.5154470205307007, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872614473104477, -0.8183460831642151, 0.9574671983718872, -1.3794761896133423, 0.6316180229187012, 0.5729488730430603, 1.2279425859451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9871446063591818, -0.15982729421316114, -0.000873018027080192, -0.0210065059363842], [0.15982779912897147, 0.9871447615796558, 0.0005425047774339798, 0.10507937520742416], [0.0007750881015218314, -0.0006750632148361854, 0.9999994717639059, -0.00012430180504452437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792386054992676, -0.8920137286186218, -1.1606382131576538, -1.1713833808898926, -0.5594326257705688, 0.12458369135856628, -1.5154465436935425, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872619092464447, -0.8183463215827942, 0.9574673175811768, -1.3794761896133423, 0.6316186189651489, 0.5729486346244812, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9871445814274933, -0.15982745143803137, -0.0008724248751899524, -0.021005339920520782], [0.1598279636823027, 0.9871447293965473, 0.0005524941501914576, 0.10508095473051071], [0.0007729058853786806, -0.0006848294978992822, 0.9999994668123834, -0.00012534578854683787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06730932742357254, 0.12030258774757385, 0.2056167721748352, 0.3792361915111542, -0.8920210599899292, -1.1606357097625732, -1.1713852882385254, -0.5594323873519897, 0.12458392977714539, -1.515446662902832, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726155161857605, -0.8183167576789856, 0.9574766755104065, -1.3794755935668945, 0.6316180229187012, 0.5729487538337708, 1.2279434204101562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9876551440503946, -0.15664148920606624, -0.0008719461567067744, -0.020671237260103226], [0.1566420404664908, 0.9876552567237797, 0.0006041724745707575, 0.10516197234392166], [0.0007665437290974646, -0.0007332974775669285, 0.9999994373426021, -0.00013054237933829427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06730932742357254, 0.12030258774757385, 0.2056167721748352, 0.3792346119880676, -0.8920233249664307, -1.1606357097625732, -1.1713902950286865, -0.559432864189148, 0.12458392977714539, -1.5154467821121216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.1872614026069641, -0.8183307647705078, 0.9574777483940125, -1.37947416305542, 0.6316183805465698, 0.5729487538337708, 1.2279431819915771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9902934622551661, -0.13898959246489237, -0.0008670646567211213, -0.018915651366114616], [0.13899015653382762, 0.9902935635481362, 0.0006279982767386407, 0.10550171136856079], [0.0007713633241784423, -0.0007424160401244046, 0.9999994269083585, -0.0001315251283813268], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792368471622467, -0.8920095562934875, -1.1606361865997314, -1.17138671875, -0.5594327449798584, 0.12458369135856628, -1.5154470205307007, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726180493831635, -0.8183611631393433, 0.9574737548828125, -1.3794748783111572, 0.6316179037094116, 0.5729485154151917, 1.2279422283172607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9942306343740895, -0.10726007223566007, -0.0008500447614101835, -0.016045816242694855], [0.10726031428995945, 0.9942309416201409, 0.00024434309272118745, 0.10576197504997253], [0.0008189325457805556, -0.0003341094563505031, 0.9999996088601019, -8.800652722129598e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8192776441574097, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.20571263134479523, 0.3792421817779541, -0.8919395804405212, -1.1606385707855225, -1.1713776588439941, -0.5594327449798584, 0.12458381056785583, -1.5154469013214111, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18725906312465668, -0.8183774948120117, 0.9574587941169739, -1.3794785737991333, 0.6316187381744385, 0.5729487538337708, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018021423369646072, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9973069328016465, -0.07333609399406198, -0.0008361240735172914, -0.012419324368238449], [0.07333587123624587, 0.9973072563205757, -0.00029407540907498795, 0.1065158098936081], [0.0008554389475443787, 0.00023196555684397625, 0.9999996072080166, -2.7535044864634983e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.20571263134479523, 0.3792405426502228, -0.8919906616210938, -1.160639762878418, -1.1713781356811523, -0.5594325065612793, 0.12458356469869614, -1.515446662902832, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.18726159632205963, -0.8183490633964539, 0.9574576020240784, -1.3794779777526855, 0.6316180229187012, 0.5729487538337708, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9986957457670235, -0.05104981506378267, -0.0008507460270349196, -0.010180288925766945], [0.05104935142311888, 0.9986959758938581, -0.0005580794687918238, 0.10680414736270905], [0.0008781264873801782, 0.0005139215583763869, 0.9999994823891181, 2.5401432139915414e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.2056167721748352, 0.37924066185951233, -0.8920121192932129, -1.160638689994812, -1.1713786125183105, -0.5594327449798584, 0.12458416819572449, -1.5154470205307007, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.187261700630188, -0.8183399438858032, 0.9574597477912903, -1.3794775009155273, 0.6316179037094116, 0.5729487538337708, 1.2279424667358398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9992946861678171, -0.037541832144935436, -0.0008608344587497363, -0.00899041909724474], [0.03754122416014974, 0.9992948262202375, -0.0007118834333934478, 0.1069435402750969], [0.0008869528292239271, 0.0006790645527802686, 0.9999993760928113, 2.025085996137932e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792394995689392, -0.8920184373855591, -1.1606380939483643, -1.1713809967041016, -0.5594326257705688, 0.12458356469869614, -1.515446662902832, 0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.1872616559267044, -0.8183363676071167, 0.9574630856513977, -1.3794775009155273, 0.6316183805465698, 0.5729486346244812, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995438938617858, -0.030186924225550863, -0.0008682450230181498, -0.008154231123626232], [0.030186275292661317, 0.9995440083908236, -0.0007510485742767585, 0.10703040659427643], [0.0008905209569743448, 0.000724496933125625, 0.9999993410380924, 2.5127430490101688e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1201108768582344, 0.2056167721748352, 0.379239559173584, -0.8920173645019531, -1.1606380939483643, -1.1713811159133911, -0.5594325065612793, 0.12458404898643494, -1.5154470205307007, 0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.1872614026069641, -0.8183448314666748, 0.957463800907135, -1.3794772624969482, 0.6316181421279907, 0.5729488730430603, 1.2279438972473145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996175151936765, -0.027641632013453776, -0.0008737835274025663, -0.007907889783382416], [0.027640926913626098, 0.9996175892332907, -0.000808983794397589, 0.10704224556684494], [0.0008958110155235001, 0.0007845221837684052, 0.9999992910235325, 3.162330904160626e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923839688301086, -0.8920180201530457, -1.1606380939483643, -1.171382188796997, -0.5594322681427002, 0.12458404898643494, -1.5154467821121216, 0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.18726125359535217, -0.8183370232582092, 0.9574680328369141, -1.37947678565979, 0.6316182613372803, 0.5729485154151917, 1.2279433012008667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995955897638025, -0.028423516725061455, -0.0008721363058870493, -0.007988178171217442], [0.02842283845441432, 0.999595684805713, -0.0007804947096962927, 0.1070517748594284], [0.0008939680923619645, 0.0007553904803139362, 0.9999993151029015, 2.852110810636077e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792380094528198, -0.8920172452926636, -1.160637378692627, -1.1713825464248657, -0.5594325065612793, 0.12458392977714539, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726135790348053, -0.8183400630950928, 0.9574683904647827, -1.3794764280319214, 0.6316180229187012, 0.5729486346244812, 1.2279434204101562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995930923369708, -0.028511228058740262, -0.0008715657144595206, -0.00799572467803955], [0.028510582515631086, 0.9995932135869489, -0.000744335633842956, 0.10704842954874039], [0.0008924330963775408, 0.0007191839117497864, 0.999999343168619, 2.4652117645018734e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920146226882935, -1.1606372594833374, -1.1713827848434448, -0.5594325065612793, 0.12458404898643494, -1.515446662902832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726184964179993, -0.8183457255363464, 0.9574687480926514, -1.3794766664505005, 0.6316179037094116, 0.5729486346244812, 1.2279430627822876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995973622765713, -0.028361156394263846, -0.0008707110320539241, -0.00798348244279623], [0.02836050508197261, 0.9995974775057911, -0.0007514755850944591, 0.10704490542411804], [0.0008916732678729013, 0.0007264792080261696, 0.999999338573153, 2.5451363399042748e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792380392551422, -0.8920137286186218, -1.1606370210647583, -1.1713827848434448, -0.5594320297241211, 0.12458392977714539, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726150691509247, -0.8183444738388062, 0.9574686288833618, -1.3794763088226318, 0.6316183805465698, 0.5729483962059021, 1.2279431819915771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995930982309386, -0.028511044486546688, -0.0008708107482813021, -0.007994608022272587], [0.028510389811600836, 0.9995932109464218, -0.0007551838271579941, 0.10704737901687622], [0.0008919875916927854, 0.0007300493876371252, 0.9999993356927933, 2.5830442609731108e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923815846443176, -0.8920117020606995, -1.1606374979019165, -1.1713824272155762, -0.5594323873519897, 0.12458381056785583, -1.515446662902832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872614026069641, -0.8183455467224121, 0.9574682712554932, -1.379476547241211, 0.6316179037094116, 0.5729488730430603, 1.2279430627822876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995973129848126, -0.02836288933999626, -0.0008708512099310674, -0.007983807474374771], [0.0283622233888169, 0.9995974163684278, -0.0007677721060484354, 0.10704302042722702], [0.0008922768547706019, 0.0007427636576362201, 0.9999993260718546, 2.719999974942766e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923815846443176, -0.8920106887817383, -1.160637378692627, -1.1713823080062866, -0.5594323873519897, 0.12458369135856628, -1.5154467821121216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726125359535217, -0.8183450698852539, 0.9574685096740723, -1.37947678565979, 0.6316181421279907, 0.5729486346244812, 1.2279433012008667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995954504920792, -0.028428449539194076, -0.0008709835444031595, -0.007986125536262989], [0.02842776889620698, 0.9995955417565949, -0.0007841274917071892, 0.10704725235700607], [0.0008929227967590482, 0.0007590501544035797, 0.9999993132656353, 2.8936092348885722e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920090794563293, -1.1606371402740479, -1.1713825464248657, -0.5594319105148315, 0.12458392977714539, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872614026069641, -0.8183455467224121, 0.9574681520462036, -1.3794766664505005, 0.6316180229187012, 0.5729486346244812, 1.2279433012008667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999597309258509, -0.02836302117582386, -0.0008708346160783901, -0.00798390619456768], [0.028362352116212727, 0.9995974100235446, -0.0007712695102635303, 0.1070433035492897], [0.0008923595602426784, 0.0007462600091563506, 0.9999993233949781, 2.7563455660128966e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920084238052368, -1.160637617111206, -1.1713826656341553, -0.5594320297241211, 0.12458392977714539, -1.5154465436935425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872614473104477, -0.818345308303833, 0.9574679136276245, -1.3794764280319214, 0.6316180229187012, 0.5729486346244812, 1.2279431819915771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995954998361386, -0.028426728687502126, -0.0008705190792245592, -0.00798711832612753], [0.028426072256976593, 0.9995956106297467, -0.0007573808717757299, 0.1070486307144165], [0.0008916969111173907, 0.0007323290728418772, 0.9999993342851523, 2.6073204935528338e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383372783661, -0.8920079469680786, -1.160637617111206, -1.1713827848434448, -0.5594322681427002, 0.12458404898643494, -1.5154465436935425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872614473104477, -0.8183453679084778, 0.9574681520462036, -1.3794764280319214, 0.6316183805465698, 0.5729487538337708, 1.2279430627822876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995967338479111, -0.028383367292578798, -0.0008684133363617127, -0.00798216462135315], [0.028382724900901456, 0.9995968529343473, -0.0007433242553404333, 0.10703911632299423], [0.0008891612834301949, 0.0007183765610019994, 0.9999993466634509, 2.4603081328677945e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792382478713989, -0.8920078873634338, -1.1606371402740479, -1.1713824272155762, -0.5594323873519897, 0.12458404898643494, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872619092464447, -0.8183457255363464, 0.9574679136276245, -1.379476547241211, 0.6316182613372803, 0.5729483962059021, 1.2279431819915771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995955736462854, -0.02842431004318594, -0.0008647226852788711, -0.007986165583133698], [0.028423696544066412, 0.9995957103417658, -0.0007136813796292648, 0.10704803466796875], [0.0008846589876466033, 0.0006888141328700503, 0.9999993714565855, 2.146612860087771e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792380094528198, -0.8920077681541443, -1.1606374979019165, -1.1713820695877075, -0.5594322681427002, 0.12458416819572449, -1.5154467821121216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872616559267044, -0.8183454275131226, 0.9574676752090454, -1.3794761896133423, 0.6316184997558594, 0.5729483962059021, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995961865873273, -0.028402726556032865, -0.0008653809891832147, -0.00798825453966856], [0.028402122880507856, 0.9995963317846327, -0.0007020673665014747, 0.10704340785741806], [0.0008849722898183538, 0.0006772052050890444, 0.9999993791083854, 2.023250090132933e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.89200758934021, -1.1606374979019165, -1.1713827848434448, -0.5594319105148315, 0.12458404898643494, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726180493831635, -0.8183451294898987, 0.9574680328369141, -1.379476547241211, 0.6316183805465698, 0.5729485154151917, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995955922689548, -0.028423688999225274, -0.000863608796173127, -0.00798652321100235], [0.028423089184227934, 0.9995957379453013, -0.0006990585197396665, 0.10704869776964188], [0.0008831294938640692, 0.0006742293852359182, 0.9999993827483261, 1.9926006643800065e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383074760437, -0.8920078277587891, -1.1606371402740479, -1.1713823080062866, -0.5594319105148315, 0.12458381056785583, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726150691509247, -0.8183457255363464, 0.9574676752090454, -1.379476547241211, 0.6316181421279907, 0.5729485154151917, 1.2279431819915771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995962069354154, -0.028402100513865314, -0.0008624191153652561, -0.007988648489117622], [0.028401505526232815, 0.9995963546185891, -0.0006944905119710211, 0.1070440411567688], [0.0008817959931994252, 0.0006697160802478922, 0.9999993869579112, 1.9430621250648983e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.379238098859787, -0.89200758934021, -1.1606370210647583, -1.1713825464248657, -0.5594322681427002, 0.12458404898643494, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872616559267044, -0.8183456063270569, 0.9574673175811768, -1.3794764280319214, 0.6316182613372803, 0.5729485154151917, 1.227942943572998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995961919677764, -0.028402643905238976, -0.0008618716334702945, -0.007988573983311653], [0.028402064617013188, 0.9995963506730512, -0.0006770868552755017, 0.10704401135444641], [0.0008807547964088361, 0.0006523345083394344, 0.9999993993651586, 1.7567374015925452e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923815846443176, -0.8920072317123413, -1.160637378692627, -1.1713824272155762, -0.5594325065612793, 0.12458428740501404, -1.5154467821121216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18726159632205963, -0.8183456659317017, 0.9574671983718872, -1.3794766664505005, 0.6316181421279907, 0.5729485154151917, 1.2279428243637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923815846443176, -0.8920076489448547, -1.1606371402740479, -1.1713824272155762, -0.5594321489334106, 0.12458381056785583, -1.515446424484253, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872616559267044, -0.8183453679084778, 0.9574675559997559, -1.379476547241211, 0.6316183805465698, 0.5729482769966125, 1.227942705154419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.37923818826675415, -0.8920079469680786, -1.1606372594833374, -1.1713820695877075, -0.5594323873519897, 0.12458381056785583, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1872614026069641, -0.818345308303833, 0.9574673175811768, -1.3794766664505005, 0.6316184997558594, 0.5729485154151917, 1.2279430627822876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.12020673602819443, 0.2056167721748352, 0.3792383074760437, -0.8920074701309204, -1.1606377363204956, -1.171381950378418, -0.5594320297241211, 0.12458404898643494, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18861228227615356, -0.8183361291885376, 0.9577004909515381, -1.380503535270691, 0.6317967176437378, 0.5717852115631104, 1.2265595197677612, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8191817998886108, 1.18508780002594, -0.06740518659353256, 0.1204943060874939, 0.2056167721748352, 0.37923869490623474, -0.892008900642395, -1.160636305809021, -1.1713826656341553, -0.559431791305542, 0.12458381056785583, -1.5154465436935425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21075257658958435, -0.8156123161315918, 0.9626263976097107, -1.405333161354065, 0.6259425282478333, 0.5629271864891052, 1.1873100996017456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8190858960151672, 1.1848961114883423, -0.06807620078325272, 0.12193218618631363, 0.20580849051475525, 0.37923964858055115, -0.8920073509216309, -1.1606365442276, -1.1713815927505493, -0.5594313144683838, 0.12458404898643494, -1.5154467821121216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21934926509857178, -0.8086976408958435, 0.9719369411468506, -1.4269706010818481, 0.6051610708236694, 0.5691542029380798, 1.1759653091430664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8188942074775696, 1.184129238128662, -0.0705685243010521, 0.12404108047485352, 0.2069588005542755, 0.37923699617385864, -0.8920080661773682, -1.1606361865997314, -1.1713835000991821, -0.5594314336776733, 0.12458404898643494, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2230202853679657, -0.801496148109436, 0.9838552474975586, -1.440443992614746, 0.5837470293045044, 0.5764170289039612, 1.1727880239486694, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8183190226554871, 1.183266520500183, -0.07382772117853165, 0.1248079463839531, 0.20925940573215485, 0.37923794984817505, -0.8920075297355652, -1.1606366634368896, -1.1713833808898926, -0.5594314336776733, 0.12458416819572449, -1.5154472589492798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2289562225341797, -0.7954753637313843, 0.9965787529945374, -1.4516851902008057, 0.5761076807975769, 0.5805917382240295, 1.167406678199768, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8169770240783691, 1.182499647140503, -0.07785378396511078, 0.12413693964481354, 0.21156001091003418, 0.37923741340637207, -0.8920067548751831, -1.1606369018554688, -1.1713829040527344, -0.5594315528869629, 0.12458416819572449, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23567217588424683, -0.7906565070152283, 1.0034868717193604, -1.4633498191833496, 0.5694274306297302, 0.5863417387008667, 1.1659876108169556, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8151556849479675, 1.1815409660339355, -0.08322186768054962, 0.12145289778709412, 0.2129978984594345, 0.37923765182495117, -0.8920072913169861, -1.1606367826461792, -1.171383261680603, -0.5594316720962524, 0.12458416819572449, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23770275712013245, -0.7854923605918884, 1.0111318826675415, -1.4734150171279907, 0.5565493106842041, 0.5913181900978088, 1.1634188890457153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8139095306396484, 1.1804865598678589, -0.09021954238414764, 0.11656410247087479, 0.21357305347919464, 0.37923765182495117, -0.8920059204101562, -1.1606372594833374, -1.1713827848434448, -0.5594322681427002, 0.12458416819572449, -1.5154471397399902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24165260791778564, -0.7793839573860168, 1.020925521850586, -1.484683871269226, 0.5433852672576904, 0.5997004508972168, 1.1601356267929077, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8129509687423706, 1.1801990270614624, -0.09760066121816635, 0.11004571616649628, 0.2137647569179535, 0.3792382478713989, -0.8920057415962219, -1.1606371402740479, -1.1713825464248657, -0.5594315528869629, 0.12458416819572449, -1.5154467821121216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24926812946796417, -0.7723503708839417, 1.0332375764846802, -1.4958056211471558, 0.5352489352226257, 0.6082862019538879, 1.1606248617172241, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8119924068450928, 1.18039071559906, -0.1055569276213646, 0.10122672468423843, 0.21405233442783356, 0.379238098859787, -0.8920060992240906, -1.1606371402740479, -1.1713826656341553, -0.5594322681427002, 0.12458404898643494, -1.5154471397399902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26012733578681946, -0.7658818960189819, 1.0424940586090088, -1.5026205778121948, 0.5305925607681274, 0.618381917476654, 1.1630715131759644, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8113213777542114, 1.182116150856018, -0.11437591910362244, 0.09250358492136002, 0.2147233486175537, 0.3792380392551422, -0.8920010328292847, -1.1606378555297852, -1.1713823080062866, -0.5594326257705688, 0.12458392977714539, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.270709365606308, -0.7608924508094788, 1.0476946830749512, -1.5135457515716553, 0.5290782451629639, 0.6265320181846619, 1.1639926433563232, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8103627562522888, 1.1846084594726562, -0.12357835471630096, 0.08128812164068222, 0.21529850363731384, 0.37923839688301086, -0.8920015096664429, -1.1606377363204956, -1.1713820695877075, -0.5594320297241211, 0.12458452582359314, -1.5154471397399902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2800917625427246, -0.7573174238204956, 1.049170970916748, -1.5232126712799072, 0.5297655463218689, 0.632433295249939, 1.1638046503067017, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8100752234458923, 1.1873884201049805, -0.13393108546733856, 0.06930579245090485, 0.21529850363731384, 0.3792389929294586, -0.8920018672943115, -1.1606382131576538, -1.1713813543319702, -0.5594323873519897, 0.12458428740501404, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.29075127840042114, -0.7531946897506714, 1.0523329973220825, -1.5250039100646973, 0.5262256264686584, 0.6370117664337158, 1.1579225063323975, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.81026691198349, 1.1913186311721802, -0.14418795704841614, 0.05473528429865837, 0.21529850363731384, 0.3792383372783661, -0.8920014500617981, -1.160638451576233, -1.1713815927505493, -0.5594333410263062, 0.12458404898643494, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.300777792930603, -0.7464210391044617, 1.0610073804855347, -1.5233877897262573, 0.5112997889518738, 0.6452199816703796, 1.150853157043457, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8108420968055725, 1.196878433227539, -0.15386967360973358, 0.03719315305352211, 0.2154902219772339, 0.37923774123191833, -0.891991376876831, -1.1606401205062866, -1.1713813543319702, -0.5594339370727539, 0.12458381056785583, -1.5154471397399902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31301745772361755, -0.7371016144752502, 1.0746817588806152, -1.5291939973831177, 0.4941084086894989, 0.6572195887565613, 1.1525561809539795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8106503486633301, 1.2034926414489746, -0.16163423657417297, 0.019363444298505783, 0.21654465794563293, 0.3792388439178467, -0.8919945955276489, -1.160640001296997, -1.1713805198669434, -0.5594326257705688, 0.12458392977714539, -1.5154473781585693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3259091079235077, -0.7271634936332703, 1.089292049407959, -1.541921615600586, 0.4773911237716675, 0.6638378500938416, 1.1562949419021606, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8106503486633301, 1.2085731029510498, -0.1682484745979309, 0.0, 0.2181742638349533, 0.3792409598827362, -0.891997218132019, -1.1606395244598389, -1.171378493309021, -0.5594305992126465, 0.12458392977714539, -1.5154469013214111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3380128741264343, -0.7173031568527222, 1.1023292541503906, -1.5468188524246216, 0.46754464507102966, 0.6619688868522644, 1.1582789421081543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8115130662918091, 1.2126951217651367, -0.17284968495368958, -0.015337382443249226, 0.2198038548231125, 0.3792422413825989, -0.891996443271637, -1.1606392860412598, -1.1713768243789673, -0.5594303011894226, 0.12458392977714539, -1.5154470205307007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34112441539764404, -0.7150545120239258, 1.1046710014343262, -1.5456275939941406, 0.4673267602920532, 0.6615664958953857, 1.158495306968689, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9995956290033682, -0.02842249492396005, -0.0008603834366970711, -0.007986160926520824], [0.028421919466182576, 0.9995957885246319, -0.0006738380199160989, 0.10704862326383591], [0.0008791878175393782, 0.0006491117906165754, 0.9999994028411541, 1.723479545034934e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8114172220230103, 1.2154749631881714, -0.17495858669281006, -0.02319779060781002, 0.2207624465227127, 0.37924543023109436, -0.8919954299926758, -1.160640001296997, -1.1713733673095703, -0.5594283938407898, 0.12458404898643494, -1.5154471397399902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3407435715198517, -0.7153356075286865, 1.1043272018432617, -1.5455981492996216, 0.4675576984882355, 0.6615778803825378, 1.1584489345550537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996359104208667, -0.026968582638552195, -0.0008614798386204839, -0.007862229831516743], [0.026968003386619133, 0.9996360679557178, -0.000677078555957649, 0.1070171594619751], [0.0008794261674908423, 0.000653599647505749, 0.9999993997083781, 1.771696588548366e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8114172220230103, 1.216529369354248, -0.17582130432128906, -0.026073548942804337, 0.22095416486263275, 0.37998276948928833, -0.8919823169708252, -1.1606439352035522, -1.1717499494552612, -0.5586005449295044, 0.12448961287736893, -1.514671802520752, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34070906043052673, -0.7153273820877075, 1.1043028831481934, -1.5455968379974365, 0.46758562326431274, 0.6616035103797913, 1.1584100723266602, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996387030352046, -0.026865018621045077, -0.0008568363815547764, -0.007836400531232357], [0.026864569829591994, 0.9996389412514375, -0.0005310570365825259, 0.10706308484077454], [0.0008707938704597561, 0.0005078466264822622, 0.9999994919047905, 2.143176288882387e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8119924068450928, 1.2167211771011353, -0.17630060017108917, -0.02751142904162407, 0.22133760154247284, 0.39438486099243164, -0.8910084366798401, -1.1588860750198364, -1.185823678970337, -0.5241365432739258, 0.14434735476970673, -1.4359784126281738, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34068670868873596, -0.7153347134590149, 1.1042989492416382, -1.5456045866012573, 0.4676068425178528, 0.6616249680519104, 1.1583961248397827, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996249425524439, -0.027372420358648092, -0.0008513699152493903, -0.007871038280427456], [0.027371970858227904, 0.9996251741279701, -0.0005352204795976797, 0.10707949846982956], [0.0008657010797305919, 0.0005117160686609439, 0.999999494354025, 2.5959541289921617e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8115130662918091, 1.216817021369934, -0.17591716349124908, -0.02751142904162407, 0.22258375585079193, 0.39914610981941223, -0.8915988802909851, -1.1537322998046875, -1.183547019958496, -0.4958467185497284, 0.1797330528497696, -1.325234293937683, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3406864404678345, -0.7153319120407104, 1.1042978763580322, -1.5456058979034424, 0.46761247515678406, 0.6616404056549072, 1.1583855152130127, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996243357550194, -0.027394541611842304, -0.0008523240071426261, -0.007869350723922253], [0.027394141006933156, 0.9996245957204083, -0.00047819379186015386, 0.10708445310592651], [0.0008651039407923838, 0.00045466546751512095, 0.9999995224371281, -3.991501671407605e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8108420968055725, 1.216817021369934, -0.17447929084300995, -0.02751142904162407, 0.2245967835187912, 0.40165504813194275, -0.8951556086540222, -1.13766348361969, -1.1576827764511108, -0.4741552472114563, 0.18525226414203644, -1.2680338621139526, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34068962931632996, -0.7153334617614746, 1.104297161102295, -1.5456042289733887, 0.4676104485988617, 0.661647379398346, 1.158383846282959, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996203363889209, -0.02754002276625719, -0.0008545312953682511, -0.007889551110565662], [0.027539612613061367, 0.9996205937793345, -0.0004880874646580269, 0.10707920789718628], [0.000867649020767642, 0.0004643686947684932, 0.9999995157733288, -3.105676569248317e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8100752234458923, 1.2163376808166504, -0.1720828264951706, -0.028661733493208885, 0.22708910703659058, 0.40424394607543945, -0.8990037441253662, -1.1235134601593018, -1.1145415306091309, -0.45889046788215637, 0.17056237161159515, -1.2255045175552368, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3406927287578583, -0.7153334021568298, 1.104297161102295, -1.5456054210662842, 0.4676066040992737, 0.6616494059562683, 1.1583856344223022, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996150015384225, -0.027732942114293124, -0.0008559328389868215, -0.00791509635746479], [0.02773254021573423, 0.9996152649032866, -0.00047789697096541414, 0.10707109421491623], [0.0008688570206156136, 0.0004539757894876303, 0.9999995194966147, -4.265644292900106e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8099793195724487, 1.2149956226348877, -0.16987808048725128, -0.03144163265824318, 0.22900629043579102, 0.4132325053215027, -0.9016504287719727, -1.110149621963501, -1.0710009336471558, -0.43337976932525635, 0.14845626056194305, -1.1915701627731323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34069424867630005, -0.7153353691101074, 1.1042968034744263, -1.5456064939498901, 0.4676002562046051, 0.661649763584137, 1.1583869457244873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996161828761014, -0.027690411841423554, -0.0008532433795970833, -0.007919376716017723], [0.027690005452402744, 0.999616440880953, -0.00048447759715944546, 0.10706149786710739], [0.0008663314945113606, 0.00046066533252824064, 0.9999995186284807, -3.492840050967061e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8100752234458923, 1.2131743431091309, -0.1681526154279709, -0.03441325202584267, 0.23006072640419006, 0.42750662565231323, -0.9060896039009094, -1.0939395427703857, -1.0353693962097168, -0.41733986139297485, 0.1282176673412323, -1.1612741947174072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.340694397687912, -0.7153393626213074, 1.1042969226837158, -1.545611023902893, 0.4675971269607544, 0.6616496443748474, 1.1583898067474365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996279094600198, -0.027263965669985422, -0.0008478234110466362, -0.007873380556702614], [0.027263580474716425, 0.9996281724522166, -0.0004626224595808277, 0.10705633461475372], [0.0008601210898029293, 0.0004393356203446168, 0.999999533587853, -5.694486389984377e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8100752234458923, 1.2123116254806519, -0.16681060194969177, -0.03623456507921219, 0.23015658557415009, 0.4378940463066101, -0.9151830673217773, -1.0690255165100098, -1.0096514225006104, -0.4034534990787506, 0.11863280087709427, -1.1192585229873657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34069597721099854, -0.715336263179779, 1.104297161102295, -1.5456122159957886, 0.4675941467285156, 0.6616496443748474, 1.1583918333053589, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996342138830779, -0.02703191167366341, -0.0008450950407963262, -0.007844358682632446], [0.0270315298624929, 0.9996344755913665, -0.00046000268118952416, 0.1070728451013565], [0.0008572208897788637, 0.0004369902067630676, 0.9999995371058455, -5.928899554419331e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8092125058174133, 1.2116405963897705, -0.16613958775997162, -0.036713857203722, 0.22919800877571106, 0.43361738324165344, -0.9285143613815308, -1.037165641784668, -0.9961559772491455, -0.3860606551170349, 0.11677931994199753, -1.0716228485107422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3406970202922821, -0.7153403162956238, 1.1042972803115845, -1.54561448097229, 0.4675914943218231, 0.6616490483283997, 1.1583932638168335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999637032565529, -0.026927423648585618, -0.0008467462624083995, -0.00782876554876566], [0.026927025786653975, 0.9996372877075796, -0.00047781473242001284, 0.10706730931997299], [0.0008593054568558722, 0.0004548409427898101, 0.9999995273568126, -4.010694283351768e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8075828552246094, 1.2111613750457764, -0.16527685523033142, -0.03661799803376198, 0.2271849662065506, 0.42297548055648804, -0.9463106393814087, -1.0020945072174072, -0.9794280529022217, -0.384358286857605, 0.11633854359388351, -1.031335473060608, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34069788455963135, -0.7153319120407104, 1.1042979955673218, -1.5456129312515259, 0.46758970618247986, 0.6616490483283997, 1.1583930253982544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996277887268136, -0.027268495755559785, -0.0008444787563927818, -0.007865682244300842], [0.027268147140526198, 0.999628066027747, -0.0004216173015300107, 0.10707549750804901], [0.000855661535651675, 0.00039843299983104385, 0.9999995545471413, -1.0003403986047488e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8055698275566101, 1.2108737230300903, -0.16460584104061127, -0.03527597710490227, 0.22478850185871124, 0.40971434116363525, -0.9662405252456665, -0.9650561809539795, -0.9463135600090027, -0.3885536193847656, 0.12009739130735397, -1.0041069984436035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34069862961769104, -0.7153328657150269, 1.1042982339859009, -1.545612096786499, 0.46758851408958435, 0.6616484522819519, 1.1583935022354126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996225814463776, -0.027458763959060863, -0.0008431751423786938, -0.007889949716627598], [0.027458442096038014, 0.9996228694394385, -0.0003909620465354362, 0.10707006603479385], [0.0008535924898173649, 0.0003676622143814876, 0.9999995681020855, -1.3273140211822465e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8033651113510132, 1.2108737230300903, -0.16374312341213226, -0.03335880488157272, 0.22172102332115173, 0.398672878742218, -0.9853416085243225, -0.9356771111488342, -0.9071630239486694, -0.3983842730522156, 0.12477914988994598, -0.9770388603210449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34069934487342834, -0.715334415435791, 1.1042981147766113, -1.5456115007400513, 0.4675881564617157, 0.6616484522819519, 1.158393383026123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996226322064774, -0.0274569503827923, -0.0008420547906715023, -0.007889815606176853], [0.027456670425082118, 0.9996229359687377, -0.00034224904561729356, 0.10705224424600601], [0.00085113439716166, 0.0003189998709827848, 0.9999995869045748, -1.8458254999131896e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.800872802734375, 1.2107778787612915, -0.16335968673229218, -0.031249916180968285, 0.21798254549503326, 0.38875478506088257, -1.0010874271392822, -0.9210337996482849, -0.8699195384979248, -0.4206969738006592, 0.12008960545063019, -0.9621011018753052, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3407014310359955, -0.7153365612030029, 1.1042978763580322, -1.5456106662750244, 0.46758779883384705, 0.6616479754447937, 1.1583930253982544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996249102759367, -0.02737385757371307, -0.000843016820505637, -0.00788162276148796], [0.027373597119252895, 0.9996252219929728, -0.00031896120883344407, 0.10705219209194183], [0.0008514320750439035, 0.000295765166952361, 0.9999995937931113, -2.098646837112028e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7988597750663757, 1.2102986574172974, -0.16335968673229218, -0.029045168310403824, 0.2137647569179535, 0.3785000145435333, -1.0122185945510864, -0.9131068587303162, -0.8429127335548401, -0.43502989411354065, 0.10936060547828674, -0.9656625986099243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34070098400115967, -0.7153357863426208, 1.1042983531951904, -1.5456104278564453, 0.46758803725242615, 0.6616474986076355, 1.1583932638168335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996249155205946, -0.027373730440420633, -0.000840923432485913, -0.007880891673266888], [0.027373467808555357, 0.9996252244780031, -0.00032225368266889, 0.10705284774303436], [0.0008494295604103547, 0.00029911381980547664, 0.9999995945000901, -2.0699348169728182e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7972301244735718, 1.209627628326416, -0.16374312341213226, -0.026840418577194214, 0.20964284241199493, 0.36837729811668396, -1.0184231996536255, -0.9143254160881042, -0.8206669092178345, -0.445480614900589, 0.10202290862798691, -0.9748239517211914, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.3407004177570343, -0.7153306007385254, 1.1042990684509277, -1.5456098318099976, 0.4675879180431366, 0.6616472601890564, 1.1583932638168335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999617258927782, -0.027651939267204436, -0.0008401835933809525, -0.007905513048171997], [0.027651695878945694, 0.9996175737520397, -0.0002999351657130143, 0.10706429183483124], [0.0008481560741081331, 0.00027658786699944355, 0.9999996020651337, -2.3129892724682577e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7961757183074951, 1.2089565992355347, -0.16441413760185242, -0.025210822001099586, 0.20667122304439545, 0.3608490526676178, -1.0199607610702515, -0.923408031463623, -0.8024470210075378, -0.45500484108924866, 0.09476357698440552, -0.9926007390022278, 0.524399998489317, -0.524399998489317, 0.524399998489317, 0.524399998489317, -0.524399998489317, -0.524399998489317, 0.524399998489317, 0.524399998489317, -0.3407008647918701, -0.7153342962265015, 1.1042989492416382, -1.545610785484314, 0.46758827567100525, 0.6616466641426086, 1.1583940982818604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996183885650795, -0.027611124106686247, -0.0008384915735944868, -0.00790078192949295], [0.027610863882711657, 0.9996186960875415, -0.00032035588606084745, 0.10705479979515076], [0.0008470172396052452, 0.00029708215788616443, 0.9999995971519124, -2.096532261930406e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7956964373588562, 1.2079020738601685, -0.16527685523033142, -0.023772941902279854, 0.2051374912261963, 0.3572309613227844, -1.0180854797363281, -0.9328961968421936, -0.7927749156951904, -0.4527807831764221, 0.09286707639694214, -1.0146280527114868, 0.3804000023957137, -0.3804000023957137, 0.3804000023957137, 0.3804000023957137, -0.3804000023957137, -0.3804000023957137, 0.3804000023957137, 0.3804000023957137, -0.3407004773616791, -0.7153342366218567, 1.1042991876602173, -1.545609951019287, 0.4675881564617157, 0.66164630651474, 1.1583935022354126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996184007677503, -0.027610721514641622, -0.0008372000753896775, -0.007900365628302097], [0.027610462231269343, 0.9996187073924963, -0.0003196972483370082, 0.10706406086683273], [0.0008457079288827603, 0.0002964597710509279, 0.9999995984447709, -2.106947431457229e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7956005334854126, 1.2069435119628906, -0.16594786942005157, -0.02233506180346012, 0.2047540545463562, 0.3544034957885742, -1.0123977661132812, -0.94725102186203, -0.7877277731895447, -0.44687148928642273, 0.09299255162477493, -1.0406980514526367, 0.30600000449589326, -0.30600000449589326, 0.30600000449589326, 0.30600000449589326, -0.30600000449589326, -0.30600000449589326, 0.30600000449589326, 0.30600000449589326, -0.34070008993148804, -0.7153377532958984, 1.1042989492416382, -1.5456101894378662, 0.46758875250816345, 0.6616464257240295, 1.1583936214447021, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996190726129456, -0.027586464952519915, -0.0008346375608509826, -0.007893593050539494], [0.027586229029633088, 0.9996193846631487, -0.00029287129024097334, 0.10706880688667297], [0.0008423991685784423, 0.0002697352246352691, 0.9999996088031982, -2.3930950192152523e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7952170968055725, 1.2064642906188965, -0.16623544692993164, -0.021280618384480476, 0.2051374912261963, 0.34827494621276855, -0.999010443687439, -0.9743252992630005, -0.7925965785980225, -0.44271573424339294, 0.10330953449010849, -1.0926653146743774, 0.18179999183822462, -0.18179999183822462, 0.18179999183822462, 0.18179999183822462, -0.18179999183822462, -0.18179999183822462, 0.18179999183822462, 0.18179999183822462, -0.3406996726989746, -0.7153281569480896, 1.1043000221252441, -1.5456093549728394, 0.46758851408958435, 0.6616459488868713, 1.158393144607544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999616754414182, -0.02767039739014125, -0.0008327080692721102, -0.007902026176452637], [0.027670170694185172, 0.9996170675933187, -0.0002825418363275141, 0.10706738382577896], [0.0008402072432576036, 0.000259392379000748, 0.9999996133836163, -2.5098650439758785e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7942585349082947, 1.2061766386032104, -0.16633130609989166, -0.020417889580130577, 0.20667122304439545, 0.3361603021621704, -0.9749477505683899, -1.0200022459030151, -0.8176518082618713, -0.43107232451438904, 0.1263289451599121, -1.1653332710266113, 0.1560000099978604, -0.1560000099978604, 0.1560000099978604, 0.1560000099978604, -0.1560000099978604, -0.1560000099978604, 0.1560000099978604, 0.1560000099978604, -0.3406981825828552, -0.7153411507606506, 1.1043018102645874, -1.5456088781356812, 0.46759113669395447, 0.661645233631134, 1.1583904027938843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996169037891357, -0.027664970402812624, -0.000833709561744844, -0.007919884286820889], [0.027664740307607908, 0.9996172168346383, -0.0002862716965594937, 0.10704851150512695], [0.0008413101297722882, 0.0002630976684396233, 0.9999996114883657, -2.4997247237479314e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7942585349082947, 1.2056015729904175, -0.16642716526985168, -0.019842738285660744, 0.20887596905231476, 0.3329361379146576, -0.9470230937004089, -1.0737720727920532, -0.8542929291725159, -0.4181908369064331, 0.16042886674404144, -1.229917049407959, 0.15360001260107692, -0.15360001260107692, 0.15360001260107692, 0.15360001260107692, -0.15360001260107692, -0.15360001260107692, 0.15360001260107692, 0.15360001260107692, -0.3407002389431, -0.7153276801109314, 1.10430109500885, -1.5456066131591797, 0.4675905406475067, 0.6616453528404236, 1.1583935022354126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996121282599169, -0.02783715262552193, -0.000828232686498945, -0.007938707247376442], [0.027836977500477, 0.9996124515522335, -0.00022222819678675937, 0.10704773664474487], [0.0008340979064385504, 0.0001990865060901454, 0.9999996323225552, -3.190482675563544e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7938750982284546, 1.2049305438995361, -0.16623544692993164, -0.019555162638425827, 0.2121351659297943, 0.3390330672264099, -0.9244388341903687, -1.1389570236206055, -0.8880046010017395, -0.4570019841194153, 0.19679678976535797, -1.2637213468551636, 0.15360001260107692, -0.15360001260107692, 0.15360001260107692, 0.15360001260107692, -0.15360001260107692, -0.15360001260107692, 0.15360001260107692, 0.15360001260107692, -0.34069928526878357, -0.7153307795524597, 1.10430109500885, -1.545611023902893, 0.46759089827537537, 0.661645233631134, 1.158393383026123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996192132587796, -0.027581626216832068, -0.0008260624271232686, -0.00789315439760685], [0.027581451049517747, 0.9996195346044662, -0.00022269969375620936, 0.1070709154009819], [0.0008318905586669843, 0.0001998308922680069, 0.9999996340127895, -3.178607948939316e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7934916615486145, 1.2043553590774536, -0.16498927772045135, -0.018980009481310844, 0.215969517827034, 0.354000061750412, -0.9125730991363525, -1.190049648284912, -0.9337502717971802, -0.5224338173866272, 0.2148757129907608, -1.285926103591919, 0.15299998377705668, -0.15299998377705668, 0.15299998377705668, 0.15299998377705668, -0.15299998377705668, -0.15299998377705668, 0.15299998377705668, 0.15299998377705668, -0.3406996428966522, -0.7153347134590149, 1.1042993068695068, -1.5456111431121826, 0.46759113669395447, 0.6616451144218445, 1.1583932638168335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996376592646427, -0.026904900057804763, -0.0008225161309752677, -0.007822156883776188], [0.026904725418910924, 0.9996379775568017, -0.0002226573156324334, 0.10705713927745819], [0.0008282089345001917, 0.0002004470671604399, 0.9999996369454012, -3.1592444429406896e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7930123805999756, 1.2036843299865723, -0.16374312341213226, -0.01830899901688099, 0.22009143233299255, 0.3608502447605133, -0.9096691012382507, -1.2064425945281982, -0.9997636079788208, -0.5648402571678162, 0.21857920289039612, -1.310687780380249, 0.15299998377705668, -0.15299998377705668, 0.15299998377705668, 0.15299998377705668, -0.15299998377705668, -0.15299998377705668, 0.15299998377705668, 0.15299998377705668, -0.34069934487342834, -0.7153409123420715, 1.10429847240448, -1.54561185836792, 0.467591255903244, 0.6616449952125549, 1.1583937406539917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996445487958866, -0.026647720894167847, -0.0008216044151075523, -0.00780419260263443], [0.026647524052740557, 0.9996448605171043, -0.00024960688624281284, 0.10704904049634933], [0.000827964085578287, 0.0002276244397611265, 0.9999996313312257, -2.8555643439176492e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7926289439201355, 1.202917456626892, -0.16240109503269196, -0.0170628372579813, 0.22411750257015228, 0.3523136377334595, -0.9169784784317017, -1.1957814693450928, -1.0565109252929688, -0.6106088161468506, 0.23089371621608734, -1.316298007965088, 0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.3406997323036194, -0.7153353691101074, 1.1042989492416382, -1.5456106662750244, 0.467591255903244, 0.6616449952125549, 1.1583932638168335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996371744840854, -0.026922970978829786, -0.0008203798798408394, -0.007829725742340088], [0.026922787288301112, 0.9996374886447954, -0.0002341378981332721, 0.10706073045730591], [0.0008263861706553021, 0.0002119660339290298, 0.9999996360780825, -3.0312907256302424e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7923413515090942, 1.2017672061920166, -0.16115494072437286, -0.015241523273289204, 0.22737668454647064, 0.32833778858184814, -0.932056188583374, -1.1619884967803955, -1.0894004106521606, -0.6502313017845154, 0.2399410754442215, -1.3085572719573975, 0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.34069937467575073, -0.7153370976448059, 1.1042988300323486, -1.5456116199493408, 0.4675910174846649, 0.6616451144218445, 1.158393383026123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999640578060573, -0.026796295769993362, -0.0008205045584561162, -0.00781624112278223], [0.026796145401538633, 0.9996409000569864, -0.00019371339073424399, 0.10706167668104172], [0.0008254007166286554, 0.00017165740644063795, 0.9999996446236328, -3.461056257947348e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7915744781494141, 1.2006168365478516, -0.15990877151489258, -0.012845057062804699, 0.22958144545555115, 0.29775989055633545, -0.951339602470398, -1.1149725914001465, -1.09574556350708, -0.6792842149734497, 0.2345009595155716, -1.30023992061615, 0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.3586679697036743, -0.7176120281219482, 1.1048566102981567, -1.551823616027832, 0.48836424946784973, 0.6431262493133545, 1.1310133934020996, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996269131787515, -0.027301428954322908, -0.0008163490508580229, -0.007869747467339039], [0.027301297140165475, 0.9996272352874845, -0.00017218003481521182, 0.10707838088274002], [0.0008207455057266278, 0.00014982840870577323, 0.9999996519640708, -3.68940964108333e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7909993529319763, 1.1996582746505737, -0.15856675803661346, -0.010448591783642769, 0.23140275478363037, 0.2674217224121094, -0.971260130405426, -1.0662786960601807, -1.08951735496521, -0.7036864757537842, 0.23125994205474854, -1.3006460666656494, 0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.3735806345939636, -0.7234909534454346, 1.0975946187973022, -1.551367998123169, 0.5230547189712524, 0.6298750638961792, 1.0825724601745605, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996204141990294, -0.02753841722583319, -0.0008143053830726557, -0.007899814285337925], [0.02753833316538015, 0.9996207416566013, -0.00011426451311708334, 0.10705249011516571], [0.0008171432147983759, 9.179652699293197e-05, 0.9999996619251249, -4.312594319344498e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7907117605209351, 1.1984121799468994, -0.15722472965717316, -0.008435560390353203, 0.23331992328166962, 0.24523663520812988, -0.9853323101997375, -1.0287537574768066, -1.0763384103775024, -0.7126870155334473, 0.22876518964767456, -1.3070905208587646, 0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.37085407972335815, -0.7307524085044861, 1.0838987827301025, -1.5398499965667725, 0.5496521592140198, 0.6213129162788391, 1.0590463876724243, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99961341176583, -0.027791543587552925, -0.0008106311729153864, -0.007910078391432762], [0.0277914981837344, 0.999613739456263, -6.722328318810887e-05, 0.10706960409879684], [0.0008121862968825868, 4.4668640688009624e-05, 0.9999996691790112, -4.821234324481338e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7904241681098938, 1.197453498840332, -0.1561702936887741, -0.0074769738130271435, 0.23475781083106995, 0.24358980357646942, -0.9861060380935669, -1.0267536640167236, -1.074179768562317, -0.7122983336448669, 0.22733522951602936, -1.3084429502487183, 0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.3695961534976959, -0.7311599254608154, 1.082771897315979, -1.5393407344818115, 0.5500362515449524, 0.6201978921890259, 1.0586175918579102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996122045215775, -0.027834947158639493, -0.000810116156876693, -0.007914863526821136], [0.027834875857994455, 0.9996125298603635, -9.915711741248243e-05, 0.1070588156580925], [0.0008125622941798457, 7.656918207347815e-05, 0.9999996669397837, -4.483343582251109e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7906159162521362, 1.1966866254806519, -0.15588271617889404, -0.006901822052896023, 0.2354288101196289, 0.25476834177970886, -0.9862076640129089, -1.0298504829406738, -1.0872999429702759, -0.7221391797065735, 0.22595033049583435, -1.2956150770187378, 0.1512000152042934, -0.1512000152042934, 0.1512000152042934, 0.1512000152042934, -0.1512000152042934, -0.1512000152042934, 0.1512000152042934, 0.1512000152042934, -0.3847735524177551, -0.732570230960846, 1.0767284631729126, -1.551024317741394, 0.5531546473503113, 0.6015269756317139, 1.0466073751449585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.4499604403972626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996228053369127, -0.027451828226904975, -0.0008026066042720953, -0.007902617566287518], [0.02745177168461447, 0.999623125787069, -8.138221807807135e-05, 0.10706114768981934], [0.0008045382132112207, 5.9318547886700815e-05, 0.9999996745997337, -4.663763684220612e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.790328323841095, 1.1967825889587402, -0.15549927949905396, -0.006326670292764902, 0.23552466928958893, 0.27847492694854736, -0.9892858862876892, -1.0317093133926392, -1.1337289810180664, -0.7538956999778748, 0.23698444664478302, -1.2580722570419312, 0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.4016834497451782, -0.7412225604057312, 1.0509005784988403, -1.5548285245895386, 0.5819382667541504, 0.5732869505882263, 1.041237235069275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996204671324819, -0.02753683967813815, -0.0008025897951219195, -0.00790330208837986], [0.027536794501610538, 0.9996207883097875, -6.728666366927655e-05, 0.1070515438914299], [0.0008041383057591018, 4.5160375911506426e-05, 0.9999996756610102, -4.8135570978047326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7895614504814148, 1.1967825889587402, -0.15501998364925385, -0.005751518066972494, 0.2354288101196289, 0.2850956320762634, -0.9970042109489441, -1.0204293727874756, -1.168270468711853, -0.7831840515136719, 0.24398910999298096, -1.2406690120697021, 0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.39337509870529175, -0.7572949528694153, 1.0155887603759766, -1.5359820127487183, 0.6279420852661133, 0.5512321591377258, 1.0425913333892822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999621109151041, -0.027513610462057497, -0.0007996117713569204, -0.00789568480104208], [0.02751358533742178, 0.9996214287537007, -4.2406253290481864e-05, 0.1070488765835762], [0.0008004758104662719, 2.0389999241135843e-05, 0.999999679411311, -5.076774687040597e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7890821695327759, 1.1967825889587402, -0.15501998364925385, -0.004505355842411518, 0.23533295094966888, 0.28764137625694275, -1.0066167116165161, -1.0027663707733154, -1.182419776916504, -0.8055527806282043, 0.23781831562519073, -1.2307851314544678, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.37447845935821533, -0.7765609622001648, 0.9805314540863037, -1.514129400253296, 0.6827989220619202, 0.5263227224349976, 1.0466506481170654, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996152583702748, -0.02772540967569722, -0.0007980549126649757, -0.007917453534901142], [0.027725388341804807, 0.9996155768161923, -3.7785279455336996e-05, 0.10706736892461777], [0.0007987957342072055, 1.5644359513618157e-05, 0.9999996808402636, -5.131023135618307e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7887945771217346, 1.196974277496338, -0.1544448286294937, -0.0034509110264480114, 0.23514123260974884, 0.28799864649772644, -1.0163333415985107, -0.986264705657959, -1.1877543926239014, -0.8314148187637329, 0.2347410023212433, -1.228413701057434, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.3523831069469452, -0.7954235672950745, 0.9457244277000427, -1.4912035465240479, 0.7195464968681335, 0.5086398720741272, 1.0439541339874268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018213141709566116, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996233351539694, -0.02743270338073447, -0.0007966184027275867, -0.007876915857195854], [0.02743264940877042, 0.9996236509648335, -7.860122268801775e-05, 0.10706011205911636], [0.0007984748401876878, 5.671826301597559e-05, 0.9999996796104328, -4.6815031964797527e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7884111404418945, 1.1972618103027344, -0.15386967360973358, -0.002396465977653861, 0.2345660924911499, 0.2877550721168518, -1.0240862369537354, -0.9748163819313049, -1.1891753673553467, -0.8487973213195801, 0.22940155863761902, -1.2257351875305176, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.3308838903903961, -0.811903178691864, 0.9194747805595398, -1.4632052183151245, 0.750969648361206, 0.4981870949268341, 1.0435566902160645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996211042168321, -0.027513877396048395, -0.0007965895783782793, -0.007886135019361973], [0.027513828546005405, 0.9996214203502406, -7.22198624228607e-05, 0.10706014186143875], [0.0007982750542149569, 5.0275269540493016e-05, 0.9999996801146164, -4.7561206883983687e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7883152961730957, 1.197453498840332, -0.15329453349113464, -0.0015337382210418582, 0.23389507830142975, 0.2868216037750244, -1.0306724309921265, -0.9680867791175842, -1.185768723487854, -0.8665860295295715, 0.22677388787269592, -1.2247039079666138, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.31405550241470337, -0.8255063891410828, 0.8956916332244873, -1.4425197839736938, 0.7619377374649048, 0.491790771484375, 1.0412696599960327, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996175874531437, -0.027641344880828724, -0.0007968108531613916, -0.00791054219007492], [0.027641300135117116, 0.9996179040124723, -6.711596064815667e-05, 0.10706766694784164], [0.0007983615703468637, 4.5065406719557735e-05, 0.999999680293905, -4.8054025683086365e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7884111404418945, 1.197453498840332, -0.1527193784713745, 0.0, 0.23331992328166962, 0.2835327684879303, -1.0356916189193726, -0.9634559154510498, -1.1823642253875732, -0.8726645112037659, 0.2229517698287964, -1.2256519794464111, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.3019365668296814, -0.8355340361595154, 0.8793687224388123, -1.4260962009429932, 0.767010509967804, 0.4902338981628418, 1.0431950092315674, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996275261057134, -0.027279568755144732, -0.0007963543838096948, -0.007868736982345581], [0.02727951945258774, 0.9996278420151417, -7.270891857373296e-05, 0.1070673018693924], [0.0007980414821103274, 5.0957671495392344e-05, 0.9999996802665032, -4.747721322928555e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7890821695327759, 1.197453498840332, -0.15204836428165436, 0.0, 0.23264890909194946, 0.2799908518791199, -1.0389727354049683, -0.961867094039917, -1.1730806827545166, -0.8711536526679993, 0.2201981544494629, -1.2249716520309448, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.29324615001678467, -0.841721773147583, 0.871548056602478, -1.4164354801177979, 0.7675632238388062, 0.48870962858200073, 1.0515133142471313, 0.4649999990568056, 0.4649999990568056, 0.4649999990568056, 0.4649999990568056, -0.4649999990568056, -0.4649999990568056, -0.4649999990568056, 0.4649999990568056, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996181886895751, -0.027619584398627016, -0.0007971189498809857, -0.007905146107077599], [0.027619533598210656, 0.999618505124938, -7.466995159451225e-05, 0.1070631816983223], [0.0007988772061168973, 5.26253881444363e-05, 0.9999996795128376, -4.729624924948439e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.789849042892456, 1.197453498840332, -0.15147320926189423, 0.0019171728054061532, 0.23207376897335052, 0.27942827343940735, -1.0414237976074219, -0.9631772041320801, -1.162329077720642, -0.8702955842018127, 0.21989662945270538, -1.217100739479065, 0.14339999418992264, -0.14339999418992264, 0.14339999418992264, 0.14339999418992264, -0.14339999418992264, -0.14339999418992264, 0.14339999418992264, 0.14339999418992264, -0.28733256459236145, -0.8448157906532288, 0.8685118556022644, -1.4110841751098633, 0.7608739137649536, 0.4905131161212921, 1.0628764629364014, 0.30899999141693113, 0.30899999141693113, 0.30899999141693113, 0.30899999141693113, -0.30899999141693113, -0.30899999141693113, -0.30899999141693113, 0.30899999141693113, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996263502806629, -0.02732259089342618, -0.0007974029293575416, -0.007872062735259533], [0.027322512680738716, 0.999626664540309, -0.00010881556596679525, 0.10705456137657166], [0.0008000783537600982, 8.698785541208264e-05, 0.999999676153818, -4.3835239921463653e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7901366353034973, 1.1973576545715332, -0.1508980691432953, 0.0038343456108123064, 0.23092345893383026, 0.2757795751094818, -1.0424466133117676, -0.9691058993339539, -1.1509300470352173, -0.865017294883728, 0.21871940791606903, -1.2043200731277466, 0.40199999861664826, -0.40199999861664826, 0.40199999861664826, 0.40199999861664826, -0.40199999861664826, -0.40199999861664826, 0.40199999861664826, 0.40199999861664826, -0.2854189872741699, -0.8454029560089111, 0.8737671971321106, -1.4042408466339111, 0.7550094127655029, 0.48763129115104675, 1.068118691444397, 0.3077999927185394, 0.3077999927185394, 0.3077999927185394, 0.3077999927185394, -0.3077999927185394, -0.3077999927185394, -0.3077999927185394, 0.3077999927185394, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996192969034938, -0.027579456860539843, -0.0007967543173814689, -0.007898705080151558], [0.027579414112031492, 0.9996196135255763, -6.459268284507585e-05, 0.10705200582742691], [0.0007982326739257306, 4.2594074946092585e-05, 0.9999996805051204, -4.863301364821382e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7901366353034973, 1.1973576545715332, -0.15022705495357513, 0.0059432354755699635, 0.22967730462551117, 0.26639553904533386, -1.0393568277359009, -0.9861697554588318, -1.1262624263763428, -0.8560566902160645, 0.21430203318595886, -1.2137149572372437, 0.534600002163059, -0.534600002163059, 0.534600002163059, 0.534600002163059, -0.534600002163059, -0.534600002163059, 0.534600002163059, 0.534600002163059, -0.2876002788543701, -0.8414807915687561, 0.890252947807312, -1.3905094861984253, 0.7471076250076294, 0.48584288358688354, 1.0692198276519775, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996245305177115, -0.027389111853567818, -0.0007965796366897749, -0.007873721420764923], [0.0273890565184336, 0.9996248461977653, -8.029398558516108e-05, 0.10705764591693878], [0.0007984799777626488, 5.8446272953232996e-05, 0.9999996795068278, -4.692938455264084e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7901366353034973, 1.1971659660339355, -0.14955604076385498, 0.008435560390353203, 0.22823941707611084, 0.2618667483329773, -1.0256731510162354, -1.018750786781311, -1.0809047222137451, -0.8271315693855286, 0.21517592668533325, -1.2535488605499268, 0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.2927168905735016, -0.8353715538978577, 0.910969614982605, -1.3847447633743286, 0.7382895946502686, 0.4846743047237396, 1.0752116441726685, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999599264215603, -0.028296214466670997, -0.0007970109669062342, -0.007974782958626747], [0.02829614158782747, 0.9995995787566622, -0.00010257068350637458, 0.10706481337547302], [0.0007995941888424012, 7.997724459643342e-05, 0.9999996771263346, -4.465040910872631e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7891780138015747, 1.196878433227539, -0.14898088574409485, 0.011119602248072624, 0.22641810774803162, 0.2694508731365204, -1.0026562213897705, -1.060899019241333, -1.0461026430130005, -0.7730600237846375, 0.2033706158399582, -1.3241465091705322, 0.591599999900375, -0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.591599999900375, -0.2999701499938965, -0.8259419202804565, 0.9375025629997253, -1.3920068740844727, 0.7224298119544983, 0.48298630118370056, 1.0862226486206055, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996228838166787, -0.027449109451045072, -0.0007978348019940523, -0.007875424809753895], [0.027449020578052905, 0.9996231971863545, -0.0001221320441312171, 0.10706159472465515], [0.0008008865914426742, 0.00010018620226305161, 0.9999996742716432, -4.252881262800656e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.787740170955658, 1.1963032484054565, -0.14859744906425476, 0.013803644105792046, 0.22392578423023224, 0.28476226329803467, -0.9755336046218872, -1.1093777418136597, -1.0227075815200806, -0.7186266183853149, 0.19025832414627075, -1.4053702354431152, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.31823086738586426, -0.8098531365394592, 0.9785214066505432, -1.405914068222046, 0.703636884689331, 0.48053672909736633, 1.1060410737991333, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999630507983126, -0.027170010955840856, -0.0007987578211927518, -0.00785005372017622], [0.027169898835751223, 0.9996308187676964, -0.00015088763970985854, 0.10706868767738342], [0.0008025625536200296, 0.00012912971873546865, 0.999999669609377, -3.945057324017398e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7860146760940552, 1.1954405307769775, -0.1483098864555359, 0.016487685963511467, 0.22105002403259277, 0.30452513694763184, -0.949996292591095, -1.1563105583190918, -1.0086681842803955, -0.6743842363357544, 0.18041950464248657, -1.4679557085037231, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.35416778922080994, -0.7903798818588257, 1.0269314050674438, -1.4257287979125977, 0.6894612312316895, 0.4760046601295471, 1.1288617849349976, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996258144315153, -0.027342125005894155, -0.0007995763202094223, -0.007876637391746044], [0.027342055816334365, 0.9996261313656275, -9.733820299856417e-05, 0.10704686492681503], [0.0008019388170167449, 7.54397200711546e-05, 0.9999996756014385, -4.516174885793589e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7841933965682983, 1.1941943168640137, -0.1483098864555359, 0.019075868651270866, 0.2180784046649933, 0.3275880813598633, -0.9314789772033691, -1.1945992708206177, -1.0062745809555054, -0.6522086262702942, 0.1780277043581009, -1.479177474975586, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.3989439606666565, -0.7719027996063232, 1.0736231803894043, -1.4601131677627563, 0.6740871071815491, 0.47651973366737366, 1.1336618661880493, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996257935808668, -0.027342937202674274, -0.0007978677541003015, -0.007866215892136097], [0.0273428745919865, 0.9996261097223337, -8.927731990957582e-05, 0.10707594454288483], [0.0008000105432560906, 6.742791382202818e-05, 0.9999996777182516, -4.606737275025807e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7821803689002991, 1.1930440664291382, -0.14869330823421478, 0.021664051339030266, 0.21481920778751373, 0.3471592664718628, -0.9214600920677185, -1.2103055715560913, -1.023185133934021, -0.6297146677970886, 0.17321962118148804, -1.4712175130844116, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.4201110005378723, -0.76307612657547, 1.0958282947540283, -1.4803096055984497, 0.658619225025177, 0.4860427677631378, 1.1259475946426392, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996251846239127, -0.027365282210386654, -0.0007947296108041749, -0.007870337925851345], [0.027365263519927654, 0.999625500460142, -3.438452613668576e-05, 0.10706142336130142], [0.000795372927192018, 1.2623653060844463e-05, 0.9999996836112249, -5.1980590797029436e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7804548740386963, 1.1923730373382568, -0.14926846325397491, 0.023964660242199898, 0.21261446177959442, 0.34836339950561523, -0.9211033582687378, -1.2103562355041504, -1.0247111320495605, -0.6291055083274841, 0.17339123785495758, -1.470924735069275, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.4188403785228729, -0.7635122537612915, 1.0946967601776123, -1.4791843891143799, 0.6590895652770996, 0.48612940311431885, 1.125873327255249, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999611621558263, -0.027856257733087232, -0.0007968379809132267, -0.007927496917545795], [0.027856250928324687, 0.9996119391536528, -1.963904724723559e-05, 0.10707198083400726], [0.0007970758296537032, -2.5654988808699367e-06, 0.9999996823317195, -5.3579569794237614e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7794963121414185, 1.1920855045318604, -0.14955604076385498, 0.024731528013944626, 0.2116558700799942, 0.34796032309532166, -0.921277642250061, -1.2101153135299683, -1.024261713027954, -0.6295589208602905, 0.17357447743415833, -1.4711198806762695, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.41868314146995544, -0.763601541519165, 1.0944949388504028, -1.4790204763412476, 0.659360408782959, 0.4859125018119812, 1.1260713338851929, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996187031021129, -0.0276009397232282, -0.0007978313384359889, -0.007900134660303593], [0.027600918401147787, 0.9996190213677505, -3.7725242919420685e-05, 0.10705479234457016], [0.0007985686338997689, 1.5689980731273216e-05, 0.9999996810209298, -5.155239341547713e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7794963121414185, 1.191414475440979, -0.149651899933815, 0.025114962831139565, 0.21108071506023407, 0.34795597195625305, -0.9212897419929504, -1.2101144790649414, -1.0242611169815063, -0.6295669078826904, 0.17359833419322968, -1.471179485321045, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.42371460795402527, -0.7635312080383301, 1.096382975578308, -1.4801000356674194, 0.6620997786521912, 0.48161759972572327, 1.1206222772598267, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018117282539606094, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999616948271821, -0.027664510013133598, -0.0007947411306205575, -0.007902474142611027], [0.027664517583171705, 0.99961726398894, -1.4684291074756304e-06, 0.10704952478408813], [0.0007944775779421457, -2.051826335895387e-05, 0.9999996841921397, -5.543458246393129e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7794963121414185, 1.1913186311721802, -0.1500353366136551, 0.02540253847837448, 0.2107931524515152, 0.34796270728111267, -0.9212892055511475, -1.2101165056228638, -1.0242640972137451, -0.6295652389526367, 0.1736024022102356, -1.4711933135986328, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.46323269605636597, -0.7595954537391663, 1.1159722805023193, -1.4922897815704346, 0.6834360361099243, 0.4520114064216614, 1.0986489057540894, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996273646907577, -0.027285586586796882, -0.0007927963326936852, -0.007869615219533443], [0.02728560657806566, 0.9996276784213431, 1.4409118450754017e-05, 0.10705224424600601], [0.000792107996262416, -3.603567793485736e-05, 0.9999996856331267, -5.708726530428976e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7787294387817383, 1.191414475440979, -0.1500353366136551, 0.02664870209991932, 0.21050557494163513, 0.34796902537345886, -0.9212885499000549, -1.210117220878601, -1.024266242980957, -0.6295590400695801, 0.1736031174659729, -1.471195101737976, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5044850707054138, -0.7508382797241211, 1.1440612077713013, -1.5025569200515747, 0.6991990804672241, 0.43416067957878113, 1.117841362953186, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996267937320671, -0.027306388696187737, -0.0007964856057741733, -0.007868360728025436], [0.0273063955596138, 0.9996271108550641, -2.2581942679080162e-06, 0.10705817490816116], [0.0007962502680681135, -1.949179951315517e-05, 0.9999996828027399, -5.53311147086788e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7777708172798157, 1.191414475440979, -0.1500353366136551, 0.028949309140443802, 0.2094511240720749, 0.34796950221061707, -0.9212899804115295, -1.210118293762207, -1.024273157119751, -0.6295539736747742, 0.1736028790473938, -1.4711945056915283, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5393327474594116, -0.742731511592865, 1.167258858680725, -1.5191093683242798, 0.7076935172080994, 0.42830708622932434, 1.1430150270462036, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996162500782485, -0.02768970190247639, -0.0007956054628301126, -0.007908911444246769], [0.027689759240881875, 0.9996165632355227, 6.114232818250417e-05, 0.1070568636059761], [0.0007936073856046475, -8.314898853534463e-05, 0.9999996816367309, -6.215638859430328e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7770040035247803, 1.191414475440979, -0.1500353366136551, 0.031729210168123245, 0.20753395557403564, 0.34797096252441406, -0.9212818145751953, -1.2101221084594727, -1.0242741107940674, -0.629551351070404, 0.1736021637916565, -1.4711945056915283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5683275461196899, -0.7342205047607422, 1.1845587491989136, -1.5390101671218872, 0.692562460899353, 0.42753830552101135, 1.1667672395706177, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996267984282569, -0.02730622303657831, -0.0007962710278386355, -0.007867897860705853], [0.02730627075384168, 0.9996271130603324, 4.911398281648792e-05, 0.10704896599054337], [0.000794632991402917, -7.083884568050781e-05, 0.9999996817700828, -6.08346272201743e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7757577896118164, 1.191414475440979, -0.14993947744369507, 0.03527597710490227, 0.20379546284675598, 0.3479726016521454, -0.9212823510169983, -1.2101227045059204, -1.024275779724121, -0.6295494437217712, 0.1736021637916565, -1.4711941480636597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5896362066268921, -0.7273595333099365, 1.204355239868164, -1.547149419784546, 0.688003420829773, 0.4361162483692169, 1.1719826459884644, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996250599735349, -0.02736976138012424, -0.000797267145859254, -0.007860756479203701], [0.02736982826905756, 0.9996253734054487, 7.310635788227328e-05, 0.10705285519361496], [0.0007949675648128453, -9.490001224924359e-05, 0.999999679510228, -6.341646803775802e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7740323543548584, 1.191414475440979, -0.1500353366136551, 0.0393020398914814, 0.197852224111557, 0.3479733467102051, -0.9212852716445923, -1.2101221084594727, -1.0242769718170166, -0.6295469403266907, 0.17360204458236694, -1.471193552017212, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6042678356170654, -0.725449800491333, 1.215656042098999, -1.5506482124328613, 0.6936784386634827, 0.4393513798713684, 1.1483736038208008, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996180033626828, -0.027626332841765754, -0.0007956675936065068, -0.00789690762758255], [0.027626446592203757, 0.999618308124913, 0.00013232601624012634, 0.10705997049808502], [0.0007917082111824825, -0.0001542569364268105, 0.9999996747014, -6.973314157221466e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7720193266868591, 1.1906476020812988, -0.15108978748321533, 0.04399911314249039, 0.19085454940795898, 0.3479732573032379, -0.921289324760437, -1.2101225852966309, -1.0242772102355957, -0.6295453310012817, 0.17360109090805054, -1.4711925983428955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6079185605049133, -0.7264106273651123, 1.2131017446517944, -1.5495301485061646, 0.6931895017623901, 0.4426722228527069, 1.131604552268982, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996215183390043, -0.027498900553666775, -0.0007940667247026455, -0.007883228361606598], [0.027499032296921945, 0.999621818015281, 0.0001554688299950273, 0.10705140233039856], [0.0007894912010774701, -0.0001772460544025268, 0.9999996726436863, -7.217903475975618e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7701979875564575, 1.1891138553619385, -0.1531028151512146, 0.04898376390337944, 0.18328171968460083, 0.34797316789627075, -0.9212886095046997, -1.21012282371521, -1.024278163909912, -0.629544734954834, 0.17360036075115204, -1.4711921215057373, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6059713959693909, -0.7281004190444946, 1.2085092067718506, -1.538109302520752, 0.6953352689743042, 0.4437040686607361, 1.125291109085083, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996221303402092, -0.02747667999949644, -0.0007928368728789295, -0.007876375690102577], [0.02747681387039412, 0.9996224285159663, 0.0001584530643903503, 0.1070563793182373], [0.0007881837561390467, -0.000180177820970496, 0.9999996731511063, -7.248484325828031e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7687601447105408, 1.1878676414489746, -0.15473240613937378, 0.05253053456544876, 0.17829707264900208, 0.34797191619873047, -0.9212958812713623, -1.2101223468780518, -1.0242819786071777, -0.6295448541641235, 0.17359928786754608, -1.4711915254592896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6056783199310303, -0.7281889915466309, 1.20833158493042, -1.5371589660644531, 0.6956671476364136, 0.4439258873462677, 1.1248681545257568, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999605610731206, -0.028071281522338017, -0.0007912953849785078, -0.007929984480142593], [0.028071463664641128, 0.999605894599621, 0.00022002139941224567, 0.10706157982349396], [0.0007848072485501529, -0.00024214744498083482, 0.9999996627210419, -7.91340644354932e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7680891156196594, 1.1873884201049805, -0.15549927949905396, 0.054064273834228516, 0.1761881709098816, 0.34797221422195435, -0.9212923645973206, -1.210123062133789, -1.02428138256073, -0.6295453310012817, 0.17359821498394012, -1.4711904525756836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6141064167022705, -0.7282347083091736, 1.2117094993591309, -1.5405399799346924, 0.6949644684791565, 0.4369989037513733, 1.1091867685317993, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996102235090796, -0.027906598401059385, -0.0007891906043848705, -0.007921715267002583], [0.027906780145238553, 0.9996105057089264, 0.00022022322718866862, 0.1070631816983223], [0.0007827375379901543, -0.00024216115804121237, 0.9999996643399037, -7.91218044469133e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7678015232086182, 1.1871007680892944, -0.1560744345188141, 0.05473528429865837, 0.17484615743160248, 0.34797415137290955, -0.9212853908538818, -1.2101234197616577, -1.0242788791656494, -0.6295446157455444, 0.17359736561775208, -1.4711893796920776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6339835524559021, -0.7262802720069885, 1.2264626026153564, -1.550782561302185, 0.6998727321624756, 0.4319086968898773, 1.0752887725830078, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996242985804309, -0.02739774348736478, -0.0007907840299888428, -0.007877152413129807], [0.02739793571559708, 0.9996245788782698, 0.00023328301609147278, 0.10704844444990158], [0.0007840957247264252, -0.000254861221349721, 0.9999996601197684, -8.042586705414578e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7680891156196594, 1.1860463619232178, -0.15760816633701324, 0.05646073818206787, 0.17139524221420288, 0.34797564148902893, -0.921281635761261, -1.210123896598816, -1.0242778062820435, -0.6295442581176758, 0.17359593510627747, -1.4711886644363403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6510501503944397, -0.7233773469924927, 1.2397159337997437, -1.553075909614563, 0.7048535346984863, 0.4375605881214142, 1.0693483352661133, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996243191103338, -0.02739699698177752, -0.0007906956317391581, -0.007876977324485779], [0.027397203852498553, 0.9996245943952106, 0.00025199459402236283, 0.10704842209815979], [0.0007834949050354658, -0.0002735627738771273, 0.999999655649512, -8.244156197179109e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7692394256591797, 1.184225082397461, -0.1604839265346527, 0.05981579050421715, 0.16449342668056488, 0.3479757606983185, -0.9212815761566162, -1.2101243734359741, -1.024277687072754, -0.6295443773269653, 0.1735946089029312, -1.4711881875991821, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6692270040512085, -0.721164345741272, 1.2527893781661987, -1.5478562116622925, 0.7172014713287354, 0.4421868622303009, 1.0634087324142456, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996236825662117, -0.027420237958429145, -0.0007898120464910398, -0.00787427369505167], [0.027420460949550633, 0.9996239512167502, 0.0002729013127981437, 0.1070537194609642], [0.000782032019695868, -0.00029445562565472627, 0.9999996508608414, -8.461852121399716e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7700062990188599, 1.1815409660339355, -0.1647017002105713, 0.06412942707538605, 0.15433241426944733, 0.34797364473342896, -0.9212819933891296, -1.2101250886917114, -1.0242784023284912, -0.6295450925827026, 0.1735934168100357, -1.471187710762024, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.684965193271637, -0.7180386781692505, 1.2655285596847534, -1.5452592372894287, 0.718625545501709, 0.4490502178668976, 1.0608628988265991, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996218629949586, -0.02748655396169129, -0.000787638114367837, -0.007877437397837639], [0.02748680365393964, 0.9996221189956513, 0.00030796027920098403, 0.10705870389938354], [0.0007788757140538012, -0.0003294934822233232, 0.9999996423932697, -8.84214969119057e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.769910454750061, 1.178377628326416, -0.16891948878765106, 0.06863478571176529, 0.14158320426940918, 0.3479727506637573, -0.921282172203064, -1.2101258039474487, -1.0242784023284912, -0.6295448541641235, 0.17359258234500885, -1.4711875915527344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6963362097740173, -0.7134135961532593, 1.2762701511383057, -1.550262451171875, 0.7018458247184753, 0.4636082947254181, 1.0629338026046753, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996200478655481, -0.027552486855821207, -0.0007876378222279981, -0.007888692431151867], [0.027552761673824793, 0.9996202926994407, 0.0003402170334269224, 0.10706252604722977], [0.0007779649250550798, -0.0003617893644400334, 0.9999996319394479, -9.19378362596035e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7693352699279785, 1.1750226020812988, -0.17332898080348969, 0.07304428517818451, 0.12777955830097198, 0.34797370433807373, -0.9212825894355774, -1.2101256847381592, -1.024277925491333, -0.6295458078384399, 0.17359209060668945, -1.4711867570877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7037529945373535, -0.7092178463935852, 1.287206768989563, -1.5560410022735596, 0.68649822473526, 0.4804573953151703, 1.0586698055267334, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996212193203038, -0.02750996389238122, -0.0007872555042292535, -0.00788369495421648], [0.027510256222713136, 0.9996214553911055, 0.00036293846415581755, 0.10705269873142242], [0.0007769730688582221, -0.0003844585907117647, 0.9999996242521506, -9.442504961043596e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7681849598884583, 1.171475887298584, -0.17745091021060944, 0.07707034796476364, 0.11196289211511612, 0.34797289967536926, -0.921283483505249, -1.21012544631958, -1.0242786407470703, -0.6295454502105713, 0.1735917329788208, -1.471186876296997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7091832160949707, -0.7061349749565125, 1.3000162839889526, -1.5577627420425415, 0.6822355389595032, 0.48961132764816284, 1.0510817766189575, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996194463220063, -0.027574397116858468, -0.0007843204240014097, -0.007885308004915714], [0.02757473471544435, 0.9996196552384893, 0.00042292582887753214, 0.1070576086640358], [0.0007723601870803494, -0.00044439231052157796, 0.9999996029875291, -0.00010080252832267433], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7672263979911804, 1.1688876152038574, -0.18147696554660797, 0.079466812312603, 0.09509176760911942, 0.3479725420475006, -0.9212826490402222, -1.2101259231567383, -1.0242782831192017, -0.629546046257019, 0.17359161376953125, -1.4711860418319702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7162332534790039, -0.7034056186676025, 1.3150358200073242, -1.5570791959762573, 0.683354377746582, 0.4954032897949219, 1.039239764213562, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999617653011557, -0.02763935807751632, -0.0007833726631006854, -0.007896517403423786], [0.02763973200420983, 0.9996178388564753, 0.0004705896783086873, 0.1070629358291626], [0.0007700664918815919, -0.0004920619602299208, 0.9999995824362256, -0.00010593303159112111], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7668429613113403, 1.1666829586029053, -0.1858864724636078, 0.07937095314264297, 0.07668691128492355, 0.34797295928001404, -0.9212834239006042, -1.210125207901001, -1.0242780447006226, -0.6295455694198608, 0.1735914945602417, -1.4711859226226807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7284161448478699, -0.7014082670211792, 1.3277900218963623, -1.5589334964752197, 0.6921373009681702, 0.5011769533157349, 1.0286377668380737, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996158988935285, -0.027702722127019824, -0.000783496034470884, -0.00790781807154417], [0.02770311975528069, 0.9996160692319643, 0.0005012874038632119, 0.10705817490816116], [0.0007693082005816189, -0.0005228001432874623, 0.9999995674223577, -0.00010920536442426965], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7667471170425415, 1.165149211883545, -0.19000838696956635, 0.07649519294500351, 0.05626901984214783, 0.3479727506637573, -0.9212799668312073, -1.2101261615753174, -1.024277687072754, -0.629546046257019, 0.1735910177230835, -1.471185326576233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.739776611328125, -0.7003669142723083, 1.3372924327850342, -1.5575658082962036, 0.7013180255889893, 0.5015871524810791, 1.0173252820968628, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996176774778136, -0.027638537423842438, -0.0007811036632523134, -0.007896481081843376], [0.02763894721458907, 0.9996178366994182, 0.0005187959565290552, 0.10706353932619095], [0.0007664663926384019, -0.0005401864920682078, 0.9999995603638148, -0.00011109344632131979], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7667471170425415, 1.1645740270614624, -0.19422616064548492, 0.07246913015842438, 0.03402981534600258, 0.3479732573032379, -0.9212762117385864, -1.2101258039474487, -1.0242763757705688, -0.6295463442802429, 0.17359089851379395, -1.4711849689483643, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7498530745506287, -0.6996163725852966, 1.34640371799469, -1.556482195854187, 0.7131947875022888, 0.5022203922271729, 1.0100666284561157, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996205673781068, -0.027533850293677147, -0.0007799760747520064, -0.007889708504080772], [0.0275342624169765, 0.999620723683954, 0.0005226611914445755, 0.10704994201660156], [0.0007652893733002205, -0.0005439389426595288, 0.9999995592312038, -0.00011142322182422504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7667471170425415, 1.1646698713302612, -0.1979646533727646, 0.06834720820188522, 0.010352732613682747, 0.34797409176826477, -0.921278715133667, -1.21012544631958, -1.0242761373519897, -0.6295459270477295, 0.17359089851379395, -1.4711848497390747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7581130266189575, -0.6988552808761597, 1.3489830493927002, -1.5619890689849854, 0.713847279548645, 0.5060002207756042, 1.005496621131897, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.018021423369646072, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996182183676655, -0.02761908514884102, -0.0007769446538736807, -0.00789820309728384], [0.027619529961565376, 0.9996183467932734, 0.000567731437540683, 0.10705826431512833], [0.0007609679075399706, -0.0005889735342518733, 0.9999995370189027, -0.00011624290345935151], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7668429613113403, 1.165149211883545, -0.2015114277601242, 0.06614246219396591, -0.015049805864691734, 0.34797391295433044, -0.9212756156921387, -1.2101261615753174, -1.024275302886963, -0.6295459270477295, 0.1735910177230835, -1.4711848497390747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.761026918888092, -0.6986225247383118, 1.350600242614746, -1.5660161972045898, 0.7147642374038696, 0.5101900100708008, 0.9994836449623108, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996252650261825, -0.027362965863529275, -0.0007730591734885812, -0.007871365174651146], [0.027363427052714676, 0.9996253757696278, 0.0005924334233065081, 0.10704993456602097], [0.0007565588312523311, -0.0006133649660843234, 0.9999995257009642, -0.00011883892875630409], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7665553689002991, 1.1666829586029053, -0.20419546961784363, 0.06614246219396591, -0.04054820537567139, 0.347973495721817, -0.9212790727615356, -1.2101258039474487, -1.0242758989334106, -0.6295461654663086, 0.1735907793045044, -1.4711848497390747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.761306643486023, -0.6985875368118286, 1.3517261743545532, -1.5730087757110596, 0.7152801156044006, 0.5118920207023621, 0.9947025179862976, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7655009627342224, 1.1686959266662598, -0.20601677894592285, 0.06758034229278564, -0.06643003970384598, 0.3479737639427185, -0.9212827682495117, -1.2101256847381592, -1.0242754220962524, -0.629546582698822, 0.17359089851379395, -1.4711846113204956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7602881789207458, -0.6985799074172974, 1.3544262647628784, -1.5812278985977173, 0.7166150808334351, 0.5096701383590698, 0.9898785352706909, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7646381855010986, 1.1709965467453003, -0.20687951147556305, 0.07064781337976456, -0.09307873994112015, 0.34797364473342896, -0.9212860465049744, -1.2101250886917114, -1.024275302886963, -0.6295463442802429, 0.1735907793045044, -1.471184253692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7608731389045715, -0.6982632875442505, 1.3576974868774414, -1.5862172842025757, 0.7152307629585266, 0.5105656385421753, 0.9813416600227356, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7645423412322998, 1.1728178262710571, -0.20764636993408203, 0.07390701025724411, -0.11857713758945465, 0.34797370433807373, -0.9212916493415833, -1.2101250886917114, -1.0242756605148315, -0.6295463442802429, 0.17359066009521484, -1.471184253692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7636885046958923, -0.6971057057380676, 1.362443447113037, -1.5929466485977173, 0.7094478011131287, 0.5133439302444458, 0.9739944934844971, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7645423412322998, 1.1738723516464233, -0.20850910246372223, 0.07707034796476364, -0.1438838094472885, 0.34797340631484985, -0.9212884902954102, -1.2101250886917114, -1.0242761373519897, -0.6295463442802429, 0.1735907793045044, -1.4711840152740479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7671775221824646, -0.696453332901001, 1.371456503868103, -1.5959669351577759, 0.7148295640945435, 0.511777937412262, 0.9637874364852905, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7646381855010986, 1.1747350692749023, -0.20937183499336243, 0.07994610071182251, -0.16947807371616364, 0.34797316789627075, -0.9212889671325684, -1.2101248502731323, -1.0242762565612793, -0.6295459270477295, 0.17359066009521484, -1.4711840152740479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7716130018234253, -0.6959904432296753, 1.3769463300704956, -1.5971909761428833, 0.7189396619796753, 0.5157950520515442, 0.9547467827796936, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7648299336433411, 1.1753102540969849, -0.21061798930168152, 0.08224671334028244, -0.19411374628543854, 0.34797319769859314, -0.921283483505249, -1.210125207901001, -1.0242760181427002, -0.6295467019081116, 0.17359066009521484, -1.4711837768554688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7772383689880371, -0.6957892775535583, 1.3794550895690918, -1.5981532335281372, 0.723111093044281, 0.522269070148468, 0.9481120705604553, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7650216221809387, 1.1753102540969849, -0.21196001768112183, 0.08425974100828171, -0.2190369814634323, 0.347973495721817, -0.9212838411331177, -1.2101250886917114, -1.0242760181427002, -0.6295463442802429, 0.17359066009521484, -1.471184253692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7818759679794312, -0.6956834197044373, 1.3849294185638428, -1.6006947755813599, 0.7289741635322571, 0.5185592174530029, 0.9419633150100708, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7647340893745422, 1.1753102540969849, -0.21378132700920105, 0.08675206452608109, -0.2444395273923874, 0.34797319769859314, -0.9212825894355774, -1.2101247310638428, -1.0242762565612793, -0.6295464634895325, 0.17359066009521484, -1.4711838960647583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7867093086242676, -0.6956658959388733, 1.3891609907150269, -1.6054354906082153, 0.7357097864151001, 0.5104167461395264, 0.9432408213615417, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.763583779335022, 1.1748309135437012, -0.21598607301712036, 0.08962782472372055, -0.2694586217403412, 0.34797361493110657, -0.9212782382965088, -1.21012544631958, -1.0242762565612793, -0.6295461654663086, 0.17359066009521484, -1.4711841344833374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7927029728889465, -0.6957024931907654, 1.3903909921646118, -1.6091578006744385, 0.7393315434455872, 0.5034794807434082, 0.9478676915168762, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7612831592559814, 1.1738723516464233, -0.2182866930961609, 0.09317459911108017, -0.29534047842025757, 0.3479733467102051, -0.9212819337844849, -1.2101249694824219, -1.0242762565612793, -0.6295463442802429, 0.1735905408859253, -1.4711840152740479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7978425621986389, -0.6958687901496887, 1.393064260482788, -1.6098363399505615, 0.7435954809188843, 0.502579927444458, 0.9425532817840576, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7587908506393433, 1.1724344491958618, -0.22192931175231934, 0.09739237278699875, -0.32122230529785156, 0.34797346591949463, -0.9212824702262878, -1.2101246118545532, -1.0242760181427002, -0.6295463442802429, 0.17359089851379395, -1.4711841344833374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8027417063713074, -0.6958276033401489, 1.395493984222412, -1.61320161819458, 0.745381772518158, 0.5046257376670837, 0.9375906586647034, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7560109496116638, 1.1705172061920166, -0.22624295949935913, 0.10256874561309814, -0.3468165397644043, 0.34797272086143494, -0.921282172203064, -1.2101248502731323, -1.024276614189148, -0.629546582698822, 0.17359066009521484, -1.471184253692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8073354363441467, -0.6953210234642029, 1.401543140411377, -1.61537504196167, 0.7468716502189636, 0.5032045245170593, 0.931835949420929, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7528476119041443, 1.168600082397461, -0.23065245151519775, 0.10784097015857697, -0.3723149597644806, 0.3479726016521454, -0.9212870001792908, -1.2101244926452637, -1.0242774486541748, -0.6295467019081116, 0.17359089851379395, -1.4711838960647583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.812449038028717, -0.6939994692802429, 1.4107255935668945, -1.6192991733551025, 0.7478935122489929, 0.5016260743141174, 0.9323416352272034, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7491090893745422, 1.1666829586029053, -0.2356370985507965, 0.11234632134437561, -0.39723819494247437, 0.34797319769859314, -0.9212864637374878, -1.210124135017395, -1.024276614189148, -0.6295464634895325, 0.17359089851379395, -1.4711838960647583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8176487684249878, -0.692672848701477, 1.41588294506073, -1.6258783340454102, 0.7467457056045532, 0.5013856887817383, 0.9404895901679993, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7455623149871826, 1.1645740270614624, -0.24138861894607544, 0.11646824330091476, -0.4212028682231903, 0.34797295928001404, -0.921285092830658, -1.2101248502731323, -1.0242769718170166, -0.6295461654663086, 0.1735905408859253, -1.4711840152740479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8221412301063538, -0.6917153000831604, 1.4205241203308105, -1.631983757019043, 0.7445183992385864, 0.501505434513092, 0.9409294128417969, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7415362596511841, 1.1620817184448242, -0.2480987161397934, 0.1204943060874939, -0.4458385407924652, 0.3479727506637573, -0.9212852120399475, -1.2101243734359741, -1.0242770910263062, -0.629546046257019, 0.17359066009521484, -1.4711841344833374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8267993927001953, -0.6904982924461365, 1.4286766052246094, -1.63624107837677, 0.7459918856620789, 0.5055235028266907, 0.9383705854415894, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7370309233665466, 1.1594935655593872, -0.2550964057445526, 0.12404108047485352, -0.4695156216621399, 0.3479737639427185, -0.9212854504585266, -1.2101240158081055, -1.0242767333984375, -0.629546046257019, 0.17359089851379395, -1.471184253692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8345134854316711, -0.6890427470207214, 1.438051462173462, -1.6391874551773071, 0.748134434223175, 0.5068169236183167, 0.937225341796875, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7322379946708679, 1.1572887897491455, -0.2624775171279907, 0.12691684067249298, -0.49357613921165466, 0.34797346591949463, -0.9212858080863953, -1.2101243734359741, -1.0242772102355957, -0.6295463442802429, 0.17359066009521484, -1.4711841344833374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8435351848602295, -0.6871689558029175, 1.4477702379226685, -1.6408802270889282, 0.7487497925758362, 0.5098079442977905, 0.9401052594184875, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7279243469238281, 1.1551798582077026, -0.2705296576023102, 0.12931330502033234, -0.5178283452987671, 0.347973495721817, -0.9212854504585266, -1.2101242542266846, -1.0242767333984375, -0.6295467019081116, 0.1735907793045044, -1.471184492111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8514799475669861, -0.685132622718811, 1.4554970264434814, -1.642661690711975, 0.7447632551193237, 0.5132162570953369, 0.9431266188621521, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7237065434455872, 1.1534544229507446, -0.27906104922294617, 0.1313263326883316, -0.5413137078285217, 0.34797102212905884, -0.9212847352027893, -1.210125207901001, -1.024277925491333, -0.6295467019081116, 0.17359089851379395, -1.4711846113204956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8591048121452332, -0.6834540367126465, 1.4624191522598267, -1.6411609649658203, 0.7423248291015625, 0.5154998898506165, 0.9445977807044983, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7191053628921509, 1.1523041725158691, -0.28807178139686584, 0.13295593857765198, -0.5642239451408386, 0.34797221422195435, -0.9212854504585266, -1.2101237773895264, -1.024277925491333, -0.6295464634895325, 0.17359066009521484, -1.4711847305297852, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8644415140151978, -0.6824542880058289, 1.4656414985656738, -1.6417338848114014, 0.7395083904266357, 0.513779878616333, 0.9465773701667786, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7146000266075134, 1.1514413356781006, -0.2960280478000641, 0.13410623371601105, -0.5845459699630737, 0.34797316789627075, -0.9212865233421326, -1.2101236581802368, -1.0242775678634644, -0.6295463442802429, 0.1735907793045044, -1.4711846113204956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8627841472625732, -0.6822460889816284, 1.4584356546401978, -1.6470296382904053, 0.7355966567993164, 0.5146012902259827, 0.9603114128112793, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7104780673980713, 1.1508662700653076, -0.30446359515190125, 0.13448967039585114, -0.6015129685401917, 0.34797221422195435, -0.9212872385978699, -1.210124135017395, -1.024277925491333, -0.6295464634895325, 0.1735907793045044, -1.4711846113204956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8541813492774963, -0.6832108497619629, 1.4468835592269897, -1.6464738845825195, 0.7370656728744507, 0.5170040130615234, 0.9764875769615173, 0.307200003194285, 0.307200003194285, 0.307200003194285, 0.307200003194285, -0.307200003194285, -0.307200003194285, -0.307200003194285, 0.307200003194285, -0.12365764379501343, -0.0179255660623312, 0.44986459612846375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996165267633352, -0.02768042231397465, -0.0007704817494748592, -0.007899567484855652], [0.02768093747181598, 0.9996165874490269, 0.0006661812390222491, 0.10705362260341644], [0.0007517461590680322, -0.0006872534334767048, 0.9999994812800808, -0.00012678399798460305], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000010/gt/hand_left.mp4 b/agibot-challenge-2026/000010/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65a7728ed04bc63ff3a1a6266c54ae84fdb0d3a3 --- /dev/null +++ b/agibot-challenge-2026/000010/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:832150ca20d75059b29d7db1c2619e964d262cf63b8dad77cf8af77ddf7e51a3 +size 1466077 diff --git a/agibot-challenge-2026/000010/gt/hand_right.mp4 b/agibot-challenge-2026/000010/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f5f38e5421a10e36133bbfa44fd958bc8baae27a --- /dev/null +++ b/agibot-challenge-2026/000010/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:268825ea09e906c27e03b7c24469f393372280d6a766e1136c2c2738e17e838a +size 2580208 diff --git a/agibot-challenge-2026/000010/gt/head.mp4 b/agibot-challenge-2026/000010/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5e2214d1baddeec9de65d8073ec45f0d7bbb700 --- /dev/null +++ b/agibot-challenge-2026/000010/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3e2ad8ba8fe25e5bae101efeda957343aeb23a7f087d47055f32c47ba5aabe6 +size 1685686 diff --git a/agibot-challenge-2026/000010/meta.json b/agibot-challenge-2026/000010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d69ea4dbc745af2f227a1db086fcb6709da3f9c --- /dev/null +++ b/agibot-challenge-2026/000010/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 678, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000010/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000010/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..233556bbab95015904b950d317371c2d9c57375b --- /dev/null +++ b/agibot-challenge-2026/000010/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000010/ref_images/hand_left.png b/agibot-challenge-2026/000010/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..40ac69e3554e089475c542105902132c381ef9ee --- /dev/null +++ b/agibot-challenge-2026/000010/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef66584cd8f066e132ab0c06fdf156b3242379a58a02516acc445bcd72bfa822 +size 345639 diff --git a/agibot-challenge-2026/000010/ref_images/hand_right.png b/agibot-challenge-2026/000010/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..37d0c6efb49c1271814efb24585cdd83c7aea8ca --- /dev/null +++ b/agibot-challenge-2026/000010/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e92c9990edac44572422c4eff53e4ce32b7e9698f818b207a3b2a5e8b6fc7344 +size 368430 diff --git a/agibot-challenge-2026/000010/ref_images/head.png b/agibot-challenge-2026/000010/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..ada82dbb83551b153837d21710917e681b6f5b85 --- /dev/null +++ b/agibot-challenge-2026/000010/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64f1d98f65c7ed8cbc38f05f30413847f08364c0a82cfc0627a522f822c94cdf +size 259053 diff --git a/agibot-challenge-2026/000010/temporal.json b/agibot-challenge-2026/000010/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0882b9c6d1f1e792a0f880f072a1adfe035a1a --- /dev/null +++ b/agibot-challenge-2026/000010/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7317583560943604, -1.1497927904129028, -1.6000490188598633, -1.8004168272018433, -0.4200845956802368, -5.7524280236975756e-06, -0.0001720934669720009, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731233835220337, -1.1502033472061157, 1.6000943183898926, -1.8003519773483276, 0.4199700355529785, 0.00011804461246356368, -0.00043442816240713, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7317582368850708, -1.1497925519943237, -1.6000484228134155, -1.800416350364685, -0.42008328437805176, -8.149272616719827e-06, -0.00016933710139710456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728883981704712, -1.1518445014953613, 1.6008034944534302, -1.801551103591919, 0.41416293382644653, 0.005184854846447706, 0.0020314459688961506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7317582368850708, -1.149793028831482, -1.6000481843948364, -1.8004169464111328, -0.4200814664363861, -1.0066748473036569e-05, -0.00016741962463129312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7011709213256836, -1.1735104322433472, 1.599360704421997, -1.8100508451461792, 0.3826705515384674, 0.038190729916095734, -0.004178899340331554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7317593097686768, -1.149792194366455, -1.6000475883483887, -1.8004168272018433, -0.42008039355278015, -1.126517145166872e-05, -0.0001578322408022359, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6307238340377808, -1.2031159400939941, 1.5768051147460938, -1.81600821018219, 0.3584081530570984, 0.10186279565095901, -0.03046593628823757, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7317733764648438, -1.1497749090194702, -1.6000455617904663, -1.800435185432434, -0.4200774133205414, -1.66580721270293e-05, -0.0001436908496543765, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5159945487976074, -1.2314693927764893, 1.5385282039642334, -1.7973041534423828, 0.3544311821460724, 0.19592446088790894, -0.08708984404802322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318336963653564, -1.1497392654418945, -1.6000447273254395, -1.800456166267395, -0.42007535696029663, -2.1691446818294935e-05, -0.00014129401824902743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4037989377975464, -1.252398133277893, 1.4954031705856323, -1.7553369998931885, 0.33299607038497925, 0.24442389607429504, -0.11690180003643036, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318276166915894, -1.149692416191101, -1.6000444889068604, -1.800466775894165, -0.420073926448822, -2.0612866137525998e-05, -0.0001301486772717908, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2872196435928345, -1.2749435901641846, 1.4453998804092407, -1.6910796165466309, 0.31093478202819824, 0.284807026386261, -0.1391206681728363, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318309545516968, -1.1496756076812744, -1.6000428199768066, -1.8004802465438843, -0.4200732111930847, -2.0972393031115644e-05, -0.00014548849139828235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1958110332489014, -1.2964591979980469, 1.4120572805404663, -1.6338286399841309, 0.30324918031692505, 0.29950830340385437, -0.1498023271560669, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318203449249268, -1.149665355682373, -1.6000452041625977, -1.8004701137542725, -0.4200734496116638, -1.7856495105661452e-05, -0.0001387773227179423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1149734258651733, -1.3170846700668335, 1.3871313333511353, -1.583202600479126, 0.30143824219703674, 0.32475823163986206, -0.15722116827964783, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318215370178223, -1.1496621370315552, -1.600045084953308, -1.8004690408706665, -0.4200741648674011, -1.2942962712259032e-05, -0.00013853763812221587, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.056682825088501, -1.3354179859161377, 1.3710774183273315, -1.5350446701049805, 0.29182055592536926, 0.32930049300193787, -0.15744635462760925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.731816291809082, -1.149661660194397, -1.600045084953308, -1.8004717826843262, -0.4200742840766907, -9.227853297488764e-06, -0.00014405038382392377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0170464515686035, -1.3516407012939453, 1.3678802251815796, -1.4995317459106445, 0.2834451496601105, 0.3354158103466034, -0.15620370209217072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318075895309448, -1.1496614217758179, -1.6000460386276245, -1.8004721403121948, -0.4200746417045593, -5.273058832244715e-06, -0.00014836470654699951, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0023564100265503, -1.3627279996871948, 1.374770164489746, -1.4821605682373047, 0.27431556582450867, 0.3394416570663452, -0.1503543257713318, 0.5802000005985354, 0.5802000005985354, 0.5802000005985354, 0.5802000005985354, -0.5802000005985354, -0.5802000005985354, -0.5802000005985354, 0.5802000005985354, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7317830324172974, -1.1496596336364746, -1.600048303604126, -1.8004727363586426, -0.4200754761695862, -1.3182647080611787e-06, -0.00015951003297232091, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.999638020992279, -1.3699859380722046, 1.3871922492980957, -1.47623610496521, 0.27255159616470337, 0.34621214866638184, -0.1411474496126175, 0.393600007727906, 0.393600007727906, 0.393600007727906, 0.393600007727906, -0.393600007727906, -0.393600007727906, -0.393600007727906, 0.393600007727906, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7317825555801392, -1.1496480703353882, -1.600048542022705, -1.8004721403121948, -0.4200781285762787, 1.5579491901007714e-06, -0.00016981647058855742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9985265731811523, -1.375714898109436, 1.3984789848327637, -1.4741421937942505, 0.2634270489215851, 0.34798091650009155, -0.13122893869876862, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7317818403244019, -1.1496458053588867, -1.6000488996505737, -1.800471544265747, -0.4200807511806488, 2.0373181541799568e-06, -0.0001737712591420859, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9951404929161072, -1.3811317682266235, 1.4060827493667603, -1.4742852449417114, 0.25942131876945496, 0.3505922555923462, -0.12753084301948547, 0.27839999513311703, 0.27839999513311703, 0.27839999513311703, 0.27839999513311703, -0.27839999513311703, -0.27839999513311703, -0.27839999513311703, 0.27839999513311703, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.731781244277954, -1.149645447731018, -1.6000484228134155, -1.8004719018936157, -0.4200838804244995, 1.4381070059243939e-06, -0.00018132131663151085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9873272180557251, -1.386757493019104, 1.4108556509017944, -1.4690874814987183, 0.25722965598106384, 0.3532510995864868, -0.12279804050922394, 0.24120001583308964, 0.24120001583308964, 0.24120001583308964, 0.24120001583308964, -0.24120001583308964, -0.24120001583308964, -0.24120001583308964, 0.24120001583308964, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.731782078742981, -1.1496456861495972, -1.600049376487732, -1.8004711866378784, -0.4200863838195801, 3.5952675148109847e-07, -0.00018839201948139817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9773054718971252, -1.390621542930603, 1.4152578115463257, -1.4535034894943237, 0.25395458936691284, 0.35398703813552856, -0.11276364326477051, 0.21599998421721403, 0.21599998421721403, 0.21599998421721403, 0.21599998421721403, -0.21599998421721403, -0.21599998421721403, -0.21599998421721403, 0.21599998421721403, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317816019058228, -1.149645447731018, -1.600049614906311, -1.800471544265747, -0.4200873374938965, -1.6777914879639866e-06, -0.00019845875794999301, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9719045162200928, -1.3935707807540894, 1.4178462028503418, -1.4437257051467896, 0.25068387389183044, 0.35398319363594055, -0.10917460918426514, 0.17880000491718667, 0.17880000491718667, 0.17880000491718667, 0.17880000491718667, -0.17880000491718667, -0.17880000491718667, -0.17880000491718667, 0.17880000491718667, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317818403244019, -1.149645447731018, -1.6000502109527588, -1.800471544265747, -0.420089989900589, -6.2317967604030855e-06, -0.00020888504514005035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9712015986442566, -1.3961213827133179, 1.421344518661499, -1.4408011436462402, 0.24911236763000488, 0.3542553782463074, -0.10509590059518814, 0.10739999393840413, 0.10739999393840413, 0.10739999393840413, 0.10739999393840413, -0.10739999393840413, -0.10739999393840413, -0.10739999393840413, 0.10739999393840413, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317818403244019, -1.1496456861495972, -1.6000494956970215, -1.8004721403121948, -0.4200904667377472, -8.988168701762334e-06, -0.0002124803140759468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.967045247554779, -1.3993937969207764, 1.4234341382980347, -1.4301223754882812, 0.24919241666793823, 0.35735052824020386, -0.10417119413614273, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731780767440796, -1.1496459245681763, -1.6000491380691528, -1.8004711866378784, -0.4200907051563263, -9.946907084668055e-06, -0.00021224062948022038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9631299376487732, -1.4018796682357788, 1.4256237745285034, -1.4211620092391968, 0.24916738271713257, 0.358909547328949, -0.10349289327859879, 0.040199988228934176, 0.040199988228934176, 0.040199988228934176, 0.040199988228934176, -0.040199988228934176, -0.040199988228934176, -0.040199988228934176, 0.040199988228934176, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317811250686646, -1.1496458053588867, -1.6000498533248901, -1.8004704713821411, -0.4200909435749054, -1.0905644558079075e-05, -0.00021056283731013536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9530472755432129, -1.4050148725509644, 1.4260976314544678, -1.4077502489089966, 0.24825549125671387, 0.35968253016471863, -0.10063381493091583, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7504511475563049, 1.6090705394744873, -0.812897801399231, 0.0, 0.0, 1.73177969455719, -1.149646282196045, -1.6000491380691528, -1.8004697561264038, -0.4200904667377472, -1.2343751222942956e-05, -0.0002085255109705031, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9465013742446899, -1.4060688018798828, 1.426111102104187, -1.398777961730957, 0.2478017657995224, 0.36098355054855347, -0.09822438657283783, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968534940598847, -0.9974992777709123, -0.011795885921518132, -33.80028533935547], [0.997554786790635, 0.06974265152792303, -0.004517732721771628, 11.142578125], [0.005329111488416788, -0.011452222682207152, 0.9999202204007983, 0.27870309352874756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7507386803627014, 1.6090705394744873, -0.812897801399231, 0.0, 0.0, 1.7317761182785034, -1.1496461629867554, -1.6000487804412842, -1.8004697561264038, -0.4200902283191681, -1.2823120414395817e-05, -0.00020864536054432392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9417943954467773, -1.4064918756484985, 1.4283205270767212, -1.3938583135604858, 0.2518112063407898, 0.364398330450058, -0.09413033723831177, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06965771080833716, -0.9975012796613354, -0.011789843041387759, -33.800148010253906], [0.9975566622404973, 0.0697151054472136, -0.004528762754036739, 11.14163875579834], [0.005339376793270686, -0.011445573226465866, 0.9999202417738012, 0.2790219485759735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.6089746952056885, -0.8129937052726746, 0.0, 0.0, 1.7317776679992676, -1.149646282196045, -1.6000488996505737, -1.8004693984985352, -0.4200904667377472, -1.2583435818669386e-05, -0.00020960409892722964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.937849760055542, -1.4067765474319458, 1.4337393045425415, -1.3911552429199219, 0.2636673152446747, 0.3711813986301422, -0.08826106041669846, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06965120014163018, -0.9975018919362906, -0.01177649788142758, -33.79997634887695], [0.9975572143650994, 0.06970832551616757, -0.004511476684514571, 11.14141845703125], [0.005321126475988759, -0.011433500656085971, 0.9999204771759471, 0.279279500246048], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7505469918251038, 1.6089746952056885, -0.812897801399231, 0.0, 0.0, 1.7317789793014526, -1.149646520614624, -1.600048542022705, -1.8004697561264038, -0.42008867859840393, -1.2463593520806171e-05, -0.00020684771880041808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9360420107841492, -1.4073238372802734, 1.4433214664459229, -1.3930820226669312, 0.2936875820159912, 0.37918949127197266, -0.08478743582963943, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0696346511503152, -0.9975026243265218, -0.011812274161899491, -33.80010223388672], [0.9975583964758339, 0.06969188182365404, -0.004504134593990735, 11.140865325927734], [0.005316105692785333, -0.011469789430490769, 0.9999200882824003, 0.2779831886291504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6090705394744873, -0.8128019571304321, 0.0, 0.0, 1.7317854166030884, -1.1496466398239136, -1.6000479459762573, -1.8004697561264038, -0.4200868606567383, -1.1744540643121582e-05, -0.0001975000195670873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9407058954238892, -1.4091309309005737, 1.4620344638824463, -1.40805184841156, 0.35634109377861023, 0.3933373689651489, -0.08505743741989136, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968629180303998, -0.997499194659696, -0.011797346650807812, -33.79960632324219], [0.997554659268411, 0.06974373290811242, -0.004529182258005992, 11.142606735229492], [0.005340646648666314, -0.011452876202057361, 0.9999201513721355, 0.27878159284591675], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7493966817855835, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7317875623703003, -1.1496466398239136, -1.6000468730926514, -1.800468921661377, -0.42008376121520996, -9.467537893215194e-06, -0.00019054918084293604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9459677934646606, -1.4128942489624023, 1.4872398376464844, -1.4229918718338013, 0.44174477458000183, 0.41556066274642944, -0.09162503480911255, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968148443896638, -0.9974993302400444, -0.01181426667401342, -33.79997253417969], [0.9975548705724588, 0.06973926953930587, -0.004551316434717117, 11.142436981201172], [0.005363853423329091, -0.011468236777581417, 0.99991985109891, 0.278453528881073], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7493008375167847, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7317835092544556, -1.1496473550796509, -1.6000452041625977, -1.8004683256149292, -0.4200800359249115, -6.8310082497191615e-06, -0.00018156100122723728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9429758191108704, -1.4143131971359253, 1.5063796043395996, -1.423139214515686, 0.5386773943901062, 0.42486175894737244, -0.10867378860712051, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06965889658698188, -0.997501066627255, -0.01180085606101204, -33.800621032714844], [0.9975565355583029, 0.06971643521068893, -0.004536190740035976, 11.141679763793945], [0.005347568718618775, -0.011456035047186381, 0.9999200781911509, 0.2787332236766815], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7317826747894287, -1.1496468782424927, -1.6000456809997559, -1.8004679679870605, -0.4200776517391205, -5.39290113010793e-06, -0.0001726926857372746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9429928064346313, -1.4167081117630005, 1.5204029083251953, -1.4236490726470947, 0.6084251999855042, 0.43076518177986145, -0.12016282975673676, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06966590357845182, -0.9975005296193247, -0.011804884064008625, -33.80046081542969], [0.9975560768332281, 0.06972339438293917, -0.004530104725014983, 11.141914367675781], [0.005341858449673198, -0.011460439995390356, 0.9999200582363651, 0.2785303294658661], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7317869663238525, -1.1496467590332031, -1.6000462770462036, -1.8004684448242188, -0.4200757145881653, -5.033374236518284e-06, -0.00016202671395149082, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9435901045799255, -1.4167850017547607, 1.5351672172546387, -1.4245024919509888, 0.6944627165794373, 0.43344640731811523, -0.13680759072303772, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973492844612383, -0.9974958611840372, -0.01179180543131751, -33.79964065551758], [0.9975510970912653, 0.06979268982520093, -0.00455951082644673, 11.144247055053711], [0.005371074997351485, -0.011444971283465931, 0.9999200788991556, 0.27931979298591614], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7317841053009033, -1.1496468782424927, -1.6000444889068604, -1.800467610359192, -0.4200748801231384, -5.512743427971145e-06, -0.0001529187138658017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9388700723648071, -1.4145171642303467, 1.5449323654174805, -1.4120404720306396, 0.7913841605186462, 0.42646846175193787, -0.15602730214595795, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0696861281582416, -0.9974990508517848, -0.0118104653634609, -33.80025100708008], [0.9975547064583008, 0.0697435520156916, -0.0045215677732213895, 11.142600059509277], [0.005333963367556413, -0.011466494757462285, 0.9999200309688624, 0.2782531976699829], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7317848205566406, -1.149646282196045, -1.6000444889068604, -1.8004660606384277, -0.4200741648674011, -5.39290113010793e-06, -0.0001442900684196502, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9406973123550415, -1.4130454063415527, 1.5547600984573364, -1.4121100902557373, 0.873192310333252, 0.42325812578201294, -0.1731063723564148, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974295600897118, -0.9974951670582511, -0.011803041242082483, -33.79957580566406], [0.9975507479713132, 0.06980031403063913, -0.004519002444975627, 11.14453125], [0.005331539084001551, -0.011458964030651268, 0.9999201302275798, 0.2784924805164337], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7317854166030884, -1.1496461629867554, -1.6000444889068604, -1.8004662990570068, -0.420073926448822, -6.711165951855946e-06, -0.0001444099034415558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9430107474327087, -1.409680962562561, 1.563446044921875, -1.4133186340332031, 0.9648730754852295, 0.42189252376556396, -0.1954447329044342, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972056556596429, -0.9974967786626242, -0.011799122630513545, -33.79987335205078], [0.9975522185764037, 0.06977811034473891, -0.004537238148062704, 11.143759727478027], [0.0053492009176007976, -0.011453902147533439, 0.9999200938950761, 0.2788214683532715], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7317832708358765, -1.1496458053588867, -1.6000456809997559, -1.8004653453826904, -0.4200741648674011, -7.550061582151102e-06, -0.00014321148046292365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9349908232688904, -1.404013991355896, 1.5706727504730225, -1.3976244926452637, 1.055530309677124, 0.41931280493736267, -0.2133617401123047, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697312750882293, -0.9974959830590593, -0.011803095170793188, -33.799835205078125], [0.9975514995678676, 0.06978877377835979, -0.004531309348500701, 11.144131660461426], [0.00534368641188635, -0.011458221308476832, 0.9999200738958977, 0.2786237895488739], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.731784462928772, -1.149645447731018, -1.6000458002090454, -1.80046546459198, -0.4200741648674011, -9.347695595351979e-06, -0.0001444099034415558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9307995438575745, -1.3989664316177368, 1.578690767288208, -1.382102131843567, 1.1472959518432617, 0.4141075909137726, -0.224625363945961, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974965495850749, -0.997494747926945, -0.011798876697778926, -33.79949188232422], [0.997550163321567, 0.06980724289488749, -0.004540979688242075, 11.14475154876709], [0.005353250440993086, -0.011453239610451924, 0.9999200798124526, 0.27887898683547974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6093580722808838, -0.812897801399231, 0.0, 0.0, 1.7317839860916138, -1.1496450901031494, -1.6000456809997559, -1.8004661798477173, -0.4200744032859802, -1.126517145166872e-05, -0.00014572817599400878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9248794317245483, -1.3953016996383667, 1.587541103363037, -1.3608026504516602, 1.2484055757522583, 0.406002402305603, -0.23495995998382568, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971633903152419, -0.9974970273955678, -0.011803067781182123, -33.79982376098633], [0.9975524273912595, 0.06977408723226108, -0.004553169962831548, 11.143619537353516], [0.005365321784123749, -0.01145674857498488, 0.9999199749151141, 0.2788640856742859], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7505469918251038, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317813634872437, -1.1496447324752808, -1.6000454425811768, -1.8004653453826904, -0.4200754761695862, -1.1984225238848012e-05, -0.0001466869143769145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9138440489768982, -1.389219045639038, 1.5926320552825928, -1.337873935699463, 1.3296535015106201, 0.4056375026702881, -0.24579429626464844, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969871638430547, -0.9974982628862286, -0.011802731604868425, -33.79997253417969], [0.9975536233884513, 0.06975654003840304, -0.004559998513436845, 11.143019676208496], [0.005371908315674566, -0.011456031635216999, 0.9999199477659304, 0.27894651889801025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7504511475563049, 1.6093580722808838, -0.812897801399231, 0.0, 0.0, 1.7317819595336914, -1.149644136428833, -1.600046992301941, -1.8004659414291382, -0.4200771749019623, -1.3422331903711893e-05, -0.00014716628356836736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9136354327201843, -1.382468819618225, 1.593696117401123, -1.3243211507797241, 1.3984931707382202, 0.39447417855262756, -0.24619708955287933, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974191545707542, -0.997495103325261, -0.011814570263237598, -33.79922866821289], [0.9975505083725423, 0.06979999402171733, -0.004576470282910782, 11.144478797912598], [0.0053896636314602194, -0.011466458768733208, 0.9999197327032029, 0.2787438929080963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7505469918251038, 1.609262228012085, -0.8129937052726746, 0.0, 0.0, 1.7317835092544556, -1.1496434211730957, -1.60004723072052, -1.800466775894165, -0.42007920145988464, -1.3662016499438323e-05, -0.00015279886429198086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9124194383621216, -1.3779562711715698, 1.601131796836853, -1.3077943325042725, 1.4788769483566284, 0.3918471336364746, -0.2483874410390854, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974183946213841, -0.9974953311919649, -0.011795765285451324, -33.79914855957031], [0.9975506310428687, 0.06979958195665625, -0.004555970220531198, 11.144479751586914], [0.0053678985098128355, -0.011449131360420963, 0.9999200483322055, 0.2791483700275421], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317832708358765, -1.1496434211730957, -1.6000479459762573, -1.8004662990570068, -0.4200819432735443, -1.3542174201575108e-05, -0.0001634648215258494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9102601408958435, -1.3712506294250488, 1.6027060747146606, -1.2893708944320679, 1.5493671894073486, 0.3828510344028473, -0.24300916492938995, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975837244311855, -0.9974939765856599, -0.011812542038623107, -33.79896926879883], [0.9975495558446678, 0.0698160174263005, -0.004539531345505719, 11.14504337310791], [0.00535285981448117, -0.011466925745707946, 0.9999199250468754, 0.27840474247932434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.731784462928772, -1.1496433019638062, -1.6000481843948364, -1.8004664182662964, -0.42008447647094727, -1.2823120414395817e-05, -0.00017005615518428385, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9152552485466003, -1.3691918849945068, 1.6001665592193604, -1.2818912267684937, 1.6096997261047363, 0.3646535873413086, -0.23764874041080475, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06977357635207115, -0.9974928857551517, -0.011814859749543874, -33.79874801635742], [0.9975483939045461, 0.06983144164960997, -0.004557584403760924, 11.145560264587402], [0.005371206708178754, -0.011467895403988139, 0.999919815541977, 0.27853086590766907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317837476730347, -1.1496434211730957, -1.6000486612319946, -1.8004661798477173, -0.4200879633426666, -1.0905644558079075e-05, -0.00017652763926889747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9147648215293884, -1.3631305694580078, 1.5957845449447632, -1.276151418685913, 1.6442646980285645, 0.3592545986175537, -0.2412557452917099, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697452536489801, -0.997495205062809, -0.01178624071297067, -33.799041748046875], [0.9975504170498791, 0.06980289969631126, -0.0045519927063789895, 11.144596099853516], [0.005363304676377993, -0.011439889452759446, 0.9999201787604134, 0.27942827343940735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7317825555801392, -1.1496436595916748, -1.6000491380691528, -1.8004659414291382, -0.42009082436561584, -7.3103769864246715e-06, -0.0001831189583754167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9090633988380432, -1.3566621541976929, 1.593854546546936, -1.2571724653244019, 1.709002137184143, 0.3543732762336731, -0.24092869460582733, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975324860514953, -0.9974943625664466, -0.011810205636925286, -33.79890060424805], [0.9975499134114868, 0.06981088490719534, -0.004539889999711361, 11.14487361907959], [0.00535299558783357, -0.011464597534696775, 0.9999199510168821, 0.27848678827285767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7504511475563049, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7317835092544556, -1.1496436595916748, -1.6000491380691528, -1.80046546459198, -0.4200907051563263, -5.512743427971145e-06, -0.00018827216990757734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9088196754455566, -1.354361653327942, 1.593765139579773, -1.246686339378357, 1.764234185218811, 0.3498334288597107, -0.2423272579908371, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974243834341698, -0.9974951643169585, -0.011806331276005215, -33.79887390136719], [0.9975507799423341, 0.06979982038325228, -0.004519569770085811, 11.144514083862305], [0.005332328792904043, -0.011462209156607594, 0.9999200888225491, 0.27838683128356934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.731784462928772, -1.149643898010254, -1.6000491380691528, -1.8004648685455322, -0.42009106278419495, -3.834952167380834e-06, -0.00020001671509817243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9053446650505066, -1.3485817909240723, 1.5948055982589722, -1.231545329093933, 1.8366453647613525, 0.34899261593818665, -0.2481241524219513, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975696482348315, -0.9974943758028434, -0.011787115860602292, -33.79869079589844], [0.9975496932986382, 0.06981441071549088, -0.004534033109918848, 11.145002365112305], [0.005345583074691092, -0.011441953423462211, 0.9999202500416955, 0.2791995406150818], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7317824363708496, -1.1496440172195435, -1.6000488996505737, -1.8004637956619263, -0.4200914204120636, -2.3968450477696024e-06, -0.000201454822672531, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.900305986404419, -1.3447260856628418, 1.5939569473266602, -1.2187856435775757, 1.8742828369140625, 0.35087448358535767, -0.25133219361305237, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972769445957672, -0.9974962376811464, -0.011802730078674313, -33.79903030395508], [0.9975516288085666, 0.06978545074870202, -0.004553979048749723, 11.144001960754395], [0.005366235806212165, -0.011456294154682887, 0.9999199752167738, 0.2788880169391632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7317835092544556, -1.1496440172195435, -1.600048542022705, -1.8004636764526367, -0.42009106278419495, -3.355582975927973e-06, -0.0002022937114816159, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8996148109436035, -1.3393805027008057, 1.586913824081421, -1.2168716192245483, 1.8907390832901, 0.3442372679710388, -0.2506624162197113, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697572831974893, -0.9974941124842139, -0.011807497628023338, -33.79854202270508], [0.9975496990035789, 0.06981476169236378, -0.00452736873998336, 11.145013809204102], [0.005340361296262077, -0.011462748761485673, 0.999920039769209, 0.27843859791755676], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7317849397659302, -1.149643898010254, -1.6000486612319946, -1.8004640340805054, -0.42009106278419495, -3.5952675716544036e-06, -0.00020133497309871018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9000082612037659, -1.3352514505386353, 1.5855321884155273, -1.2113646268844604, 1.9294089078903198, 0.3432179093360901, -0.2540441155433655, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975833254655583, -0.9974941156339493, -0.01180103029270511, -33.79848098754883], [0.9975497257794289, 0.0698155663596427, -0.004509023316468591, 11.145051956176758], [0.005321619838946202, -0.011457572584432326, 0.9999201990122822, 0.2784520983695984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7317856550216675, -1.1496440172195435, -1.6000486612319946, -1.8004635572433472, -0.42009106278419495, -4.793690095539205e-06, -0.00019965718092862517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8999992609024048, -1.3322398662567139, 1.5847939252853394, -1.2069292068481445, 1.956216812133789, 0.34325385093688965, -0.2556583881378174, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06979228608789345, -0.9974913372170424, -0.011835074126611753, -33.798213958740234], [0.9975470823749331, 0.0698502480696479, -0.004556455845012137, 11.146197319030762], [0.005371708097478068, -0.01148803819481067, 0.999919581631718, 0.2778385877609253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7317854166030884, -1.1496442556381226, -1.600048303604126, -1.8004631996154785, -0.42009034752845764, -6.2317967604030855e-06, -0.00019965718092862517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8998253345489502, -1.3291248083114624, 1.58268404006958, -1.2034846544265747, 1.974752426147461, 0.34221482276916504, -0.2554200291633606, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06978722180370134, -0.9974919876814661, -0.011810088238414508, -33.798301696777344], [0.9975473660603971, 0.06984522052540199, -0.004571393192719509, 11.146016120910645], [0.005384806299715824, -0.011462097584479018, 0.999919808874731, 0.2788502871990204], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7317856550216675, -1.1496442556381226, -1.6000479459762573, -1.800463080406189, -0.4200883209705353, -7.909588020993397e-06, -0.0001998968655243516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8998563289642334, -1.326297402381897, 1.5814781188964844, -1.1992028951644897, 1.9994415044784546, 0.3415619134902954, -0.2568698823451996, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0698050224470258, -0.9974907491039753, -0.011809500123232782, -33.798091888427734], [0.9975460834875021, 0.06986309602929774, -0.004578114453208657, 11.14661979675293], [0.005391675056582255, -0.011460945213704752, 0.9999197850702288, 0.2789502441883087], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7317858934402466, -1.1496440172195435, -1.6000478267669678, -1.8004631996154785, -0.4200868606567383, -8.988168701762334e-06, -0.00019893812714144588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8993715047836304, -1.3235982656478882, 1.5813523530960083, -1.1942100524902344, 2.0305991172790527, 0.3414788544178009, -0.2606653869152069, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06980270396145671, -0.9974908743493618, -0.011812625001033803, -33.798187255859375], [0.997546285055405, 0.06986070837770852, -0.00457062327537031, 11.1465425491333], [0.005384393357643126, -0.011464598323123854, 0.9999197824293005, 0.2787604331970215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7317852973937988, -1.1496442556381226, -1.6000475883483887, -1.8004636764526367, -0.42008423805236816, -1.0306433068762999e-05, -0.00019534287275746465, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8993591666221619, -1.3222944736480713, 1.5791890621185303, -1.194753646850586, 2.031291961669922, 0.338672399520874, -0.2601373791694641, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06981290254711903, -0.9974901571135718, -0.011812920870312094, -33.798095703125], [0.997545511875311, 0.06987103407058293, -0.004581521071764919, 11.146881103515625], [0.005395403170296606, -0.011464076912217328, 0.9999197290608786, 0.27887555956840515], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7317770719528198, -1.149644374847412, -1.600043773651123, -1.8004636764526367, -0.4200809895992279, -1.0066748473036569e-05, -0.00019378491560928524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8999167680740356, -1.3192250728607178, 1.5762007236480713, -1.1954082250595093, 2.040384292602539, 0.33405259251594543, -0.2616114318370819, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06983333670055691, -0.9974884636956067, -0.011835112143311819, -33.7978630065918], [0.9975439646991823, 0.0698918168917605, -0.00460135021543279, 11.14757251739502], [0.005416971248131303, -0.01148471705122721, 0.999919375598228, 0.2783525586128235], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7493008375167847, 1.6094539165496826, -0.8125143647193909, 0.0, 0.0, 1.7319552898406982, -1.149601936340332, -1.600064992904663, -1.8004753589630127, -0.4200752377510071, -2.133191992470529e-05, -0.00012331767356954515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8982903361320496, -1.2929792404174805, 1.6037224531173706, -1.185288429260254, 2.0375986099243164, 0.28953346610069275, -0.2609695494174957, 0.1200000097463419, 0.1200000097463419, 0.1200000097463419, 0.1200000097463419, -0.1200000097463419, -0.1200000097463419, -0.1200000097463419, 0.1200000097463419, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06963084350186644, -0.9975022924035839, -0.011862642320047384, -33.800411224365234], [0.997558375091432, 0.06968892090298906, -0.004554403179194733, 11.140737533569336], [0.005369722354119149, -0.011516551262062413, 0.9999192643053078, 0.2768408954143524], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7494925260543823, 1.6094539165496826, -0.8126102685928345, 0.0, 0.0, 1.731845498085022, -1.149593472480774, -1.6000603437423706, -1.8004767894744873, -0.42007118463516235, -1.941444497788325e-05, -0.00014057496446184814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8975456953048706, -1.2624399662017822, 1.6171939373016357, -1.1860679388046265, 2.035452127456665, 0.27576181292533875, -0.26095637679100037, 0.2699999845944918, 0.2699999845944918, 0.2699999845944918, 0.2699999845944918, -0.2699999845944918, -0.2699999845944918, -0.2699999845944918, 0.2699999845944918, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06962383728543586, -0.997503318712202, -0.011817378719266927, -33.80131912231445], [0.9975589707024884, 0.06968148033914467, -0.004537760321701266, 11.14049243927002], [0.005349883423304387, -0.011472595865314971, 0.9999198759358012, 0.27818232774734497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6094539165496826, -0.8126102685928345, 0.0, 0.0, 1.7316992282867432, -1.149582862854004, -1.6000516414642334, -1.800477385520935, -0.4200717806816101, -1.8575548892840743e-05, -0.00014776548778172582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9038870930671692, -1.260653018951416, 1.6146167516708374, -1.2086807489395142, 2.039314031600952, 0.2875789701938629, -0.2714696526527405, 0.5321999998538048, 0.5321999998538048, 0.5321999998538048, 0.5321999998538048, -0.5321999998538048, -0.5321999998538048, -0.5321999998538048, 0.5321999998538048, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973045682295997, -0.9974959494395119, -0.01181076809645121, -33.799861907958984], [0.9975513634354222, 0.06978840382120755, -0.004566837003697731, 11.144098281860352], [0.005379656066292736, -0.011463400187330648, 0.999919821664094, 0.2787598967552185], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7317063808441162, -1.149573564529419, -1.600050687789917, -1.8004770278930664, -0.4200720191001892, -1.737712591420859e-05, -0.00015339808305725455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9265676140785217, -1.2702299356460571, 1.6102014780044556, -1.2469751834869385, 2.0401713848114014, 0.2933822274208069, -0.2818155288696289, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, -0.5843999997272596, -0.5843999997272596, -0.5843999997272596, 0.5843999997272596, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974216465450733, -0.9974948347423492, -0.01183575648774447, -33.79952621459961], [0.9975504583141978, 0.06980040990732195, -0.004581036335143584, 11.144485473632812], [0.005395700736480556, -0.011487272918470869, 0.9999194612439839, 0.27807697653770447], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7317450046539307, -1.1495712995529175, -1.6000494956970215, -1.8004776239395142, -0.4200720191001892, -1.5579493265249766e-05, -0.00014776548778172582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9510481357574463, -1.2707278728485107, 1.6144888401031494, -1.273369312286377, 2.0395965576171875, 0.303785115480423, -0.2970283031463623, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06966010609012718, -0.9975004998723496, -0.011841552851078714, -33.80049133300781], [0.9975562638927504, 0.06971823076257988, -0.004568223689043157, 11.141711235046387], [0.005382377527608051, -0.011494392273988449, 0.9999194512351492, 0.2777140438556671], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.731752872467041, -1.1495712995529175, -1.6000500917434692, -1.8004781007766724, -0.42007142305374146, -1.4620753972849343e-05, -0.0001442900684196502, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9751214981079102, -1.2609844207763672, 1.6203619241714478, -1.310838222503662, 2.0171847343444824, 0.34608691930770874, -0.32884666323661804, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969765151154639, -0.9974981202135862, -0.011821063578927937, -33.80009078979492], [0.9975535323230744, 0.06975591143910076, -0.004589441039745462, 11.142980575561523], [0.005402547874104861, -0.011472270466754237, 0.9999195965110423, 0.27865472435951233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6093580722808838, -0.812897801399231, 0.0, 0.0, 1.7317736148834229, -1.149571180343628, -1.6000518798828125, -1.8004781007766724, -0.420071542263031, -1.2583435818669386e-05, -0.00014345116505865008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9795344471931458, -1.2546231746673584, 1.6193698644638062, -1.324963927268982, 1.971164584159851, 0.36083123087882996, -0.33710604906082153, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972802286340563, -0.9974960096530331, -0.011820048808541955, -33.79969024658203], [0.9975512484499652, 0.06978661752957038, -0.004618953311884971, 11.143997192382812], [0.005432268722761493, -0.011469033963564431, 0.9999194726159034, 0.27902665734291077], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7318156957626343, -1.1495717763900757, -1.600050449371338, -1.800480842590332, -0.42007213830947876, -1.2583435818669386e-05, -0.0001468067493988201, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9773353338241577, -1.2545833587646484, 1.619390606880188, -1.3201044797897339, 1.9753559827804565, 0.35904940962791443, -0.3349159359931946, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972218482770942, -0.9974963214255944, -0.011828173369458711, -33.79973220825195], [0.9975514074174048, 0.06978134156351012, -0.004664110756837957, 11.143791198730469], [0.005477819128634019, -0.011474018999635438, 0.9999191669258021, 0.2792527973651886], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.812897801399231, 0.0, 0.0, 1.731821060180664, -1.1495721340179443, -1.600050687789917, -1.8004810810089111, -0.4200748801231384, -1.3182647307985462e-05, -0.00014704643399454653, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9770876169204712, -1.2548332214355469, 1.619394063949585, -1.3201042413711548, 1.9764666557312012, 0.358806848526001, -0.3346509635448456, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968418796453635, -0.9974990434369373, -0.01182253315148188, -33.80027770996094], [0.9975540812236082, 0.06974328186700418, -0.004661509255840984, 11.14250373840332], [0.005474393285639613, -0.01146878270847971, 0.9999192457600463, 0.27940431237220764], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.812897801399231, 0.0, 0.0, 1.7318214178085327, -1.1495721340179443, -1.6000505685806274, -1.8004813194274902, -0.42007681727409363, -1.4620753972849343e-05, -0.00014788533735554665, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.977550208568573, -1.2551333904266357, 1.6199967861175537, -1.320072054862976, 1.9765558242797852, 0.35913702845573425, -0.3349277973175049, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697132885195969, -0.9974970115561189, -0.01182240840080213, -33.79988479614258], [0.9975520363774187, 0.06977240389246386, -0.004663300797917674, 11.143488883972168], [0.0054765064638325695, -0.011468373541126767, 0.9999192388814573, 0.27943694591522217], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.731823205947876, -1.1495718955993652, -1.6000516414642334, -1.800480842590332, -0.4200797975063324, -1.689775672275573e-05, -0.00014656706480309367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9884036779403687, -1.2500802278518677, 1.6388050317764282, -1.3337470293045044, 1.97490656375885, 0.40620410442352295, -0.3683025538921356, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06967277502552227, -0.9974995828207299, -0.011844268348554676, -33.80036926269531], [0.9975550397523543, 0.06973163176616537, -0.004630571876876843, 11.142126083374023], [0.005444913674427117, -0.011492684790662861, 0.9999191322858967, 0.27832093834877014], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7318230867385864, -1.1495723724365234, -1.600051999092102, -1.8004810810089111, -0.4200824499130249, -2.0013656467199326e-05, -0.0001498028141213581, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9912849068641663, -1.240333080291748, 1.652605414390564, -1.3378294706344604, 1.982831597328186, 0.4585665464401245, -0.394214004278183, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0696760020398074, -0.9974997221439589, -0.011813511860311085, -33.800323486328125], [0.9975547679226121, 0.06973481339893428, -0.004641206209512728, 11.142230033874512], [0.005453414949566653, -0.011461244388842474, 0.9999194468268167, 0.2794807553291321], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318224906921387, -1.1495723724365234, -1.6000515222549438, -1.800480842590332, -0.42008399963378906, -2.0972393031115644e-05, -0.00015807192539796233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9844362139701843, -1.233004093170166, 1.6597169637680054, -1.333235502243042, 2.0081803798675537, 0.49961647391319275, -0.4212168753147125, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06965798493882713, -0.9975007012985954, -0.011837062265296171, -33.800479888916016], [0.9975559161163224, 0.0697171386315889, -0.00465991441426959, 11.141613006591797], [0.005473514007165753, -0.01148353124409806, 0.9999190813033718, 0.27888748049736023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318233251571655, -1.1495721340179443, -1.6000521183013916, -1.8004790544509888, -0.4200885593891144, -2.3129554392653517e-05, -0.00016861804760992527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9567528367042542, -1.231238842010498, 1.6553601026535034, -1.3096463680267334, 2.0323996543884277, 0.49597758054733276, -0.4533695876598358, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973629145674909, -0.9974952007928212, -0.011839512200628488, -33.79960632324219], [0.9975504228055212, 0.06979549708201704, -0.00466289047696712, 11.144270896911621], [0.005477555511848722, -0.011485337712215394, 0.9999190384242371, 0.27885982394218445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731823444366455, -1.1495721340179443, -1.6000521183013916, -1.800478219985962, -0.42009106278419495, -2.5047029339475557e-05, -0.00017580858548171818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9367387294769287, -1.228790283203125, 1.6492502689361572, -1.3030279874801636, 2.0658621788024902, 0.5016449093818665, -0.46836161613464355, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968604206625217, -0.9974989111313434, -0.01182276756621266, -33.80030822753906], [0.9975539571639478, 0.06974512548055423, -0.004660474037062063, 11.142565727233887], [0.005473398184758231, -0.011469078580509634, 0.9999192478139548, 0.27938538789749146], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318247556686401, -1.1495715379714966, -1.6000522375106812, -1.8004757165908813, -0.4200918972492218, -3.103914423263632e-05, -0.00019066901586484164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.911665678024292, -1.225948452949524, 1.6364796161651611, -1.2841614484786987, 2.075533390045166, 0.5061956644058228, -0.4704057574272156, 0.46679999710439324, 0.46679999710439324, 0.46679999710439324, 0.46679999710439324, -0.46679999710439324, -0.46679999710439324, -0.46679999710439324, 0.46679999710439324, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974640641217322, -0.9974947062995155, -0.011821577603312724, -33.79952621459961], [0.9975498485496256, 0.06980524852955361, -0.004639712959482886, 11.144610404968262], [0.005453297278444087, -0.011469009642094331, 0.9999193584317799, 0.2792130410671234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318273782730103, -1.1495716571807861, -1.6000511646270752, -1.8004744052886963, -0.4200914204120636, -3.7390782381407917e-05, -0.0002189517836086452, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.896858274936676, -1.2241181135177612, 1.62563157081604, -1.2749207019805908, 2.0814080238342285, 0.5064486861228943, -0.4667125642299652, 0.28619999649760486, 0.28619999649760486, 0.28619999649760486, 0.28619999649760486, -0.28619999649760486, -0.28619999649760486, -0.28619999649760486, 0.28619999649760486, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968852682369386, -0.9974989277010269, -0.011806712685786824, -33.80018615722656], [0.9975539455023834, 0.06974719526583806, -0.004631907293623488, 11.14265251159668], [0.005443807653743213, -0.011455042027443145, 0.999919570250717, 0.2796124219894409], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318214178085327, -1.149564504623413, -1.600050687789917, -1.8004724979400635, -0.4200911819934845, -3.6192359402775764e-05, -0.0002480734547134489, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8788669109344482, -1.2235008478164673, 1.6172882318496704, -1.2499250173568726, 2.099177122116089, 0.5073110461235046, -0.4722079336643219, 0.2183999816139976, 0.2183999816139976, 0.2183999816139976, 0.2183999816139976, -0.2183999816139976, -0.2183999816139976, -0.2183999816139976, 0.2183999816139976, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318226099014282, -1.1495604515075684, -1.6000510454177856, -1.800471305847168, -0.42009130120277405, -3.463440953055397e-05, -0.0002394448092672974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8713215589523315, -1.221967339515686, 1.608840823173523, -1.2364524602890015, 2.1013412475585938, 0.5080016851425171, -0.46622925996780396, 0.19559998669467132, 0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -0.19559998669467132, -0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318226099014282, -1.1495567560195923, -1.6000498533248901, -1.8004719018936157, -0.42009153962135315, -3.055977504118346e-05, -0.00022949790582060814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8660870790481567, -1.221745252609253, 1.603780746459961, -1.2248258590698242, 2.1075820922851562, 0.5049921274185181, -0.4638819098472595, 0.15899999691889835, 0.15899999691889835, 0.15899999691889835, 0.15899999691889835, -0.15899999691889835, -0.15899999691889835, -0.15899999691889835, 0.15899999691889835, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318222522735596, -1.1495543718338013, -1.6000499725341797, -1.8004714250564575, -0.42009058594703674, -2.5885925424518064e-05, -0.00022314627130981535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8636026382446289, -1.2213577032089233, 1.601732611656189, -1.217979907989502, 2.122762680053711, 0.5053118467330933, -0.46110790967941284, 0.13499998365129745, 0.13499998365129745, 0.13499998365129745, 0.13499998365129745, -0.13499998365129745, -0.13499998365129745, -0.13499998365129745, 0.13499998365129745, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318189144134521, -1.1495516300201416, -1.6000487804412842, -1.800471544265747, -0.4200875759124756, -2.157160452043172e-05, -0.0002139184216503054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8630625605583191, -1.2204761505126953, 1.5978578329086304, -1.2175328731536865, 2.123572826385498, 0.5041285157203674, -0.4569109082221985, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318185567855835, -1.149550437927246, -1.6000474691390991, -1.8004724979400635, -0.42008495330810547, -1.7976337403524667e-05, -0.00020684771880041808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8615984320640564, -1.2199420928955078, 1.5951865911483765, -1.214047908782959, 2.1326630115509033, 0.5032399892807007, -0.45792874693870544, 0.02820000124501658, 0.02820000124501658, 0.02820000124501658, 0.02820000124501658, -0.02820000124501658, -0.02820000124501658, -0.02820000124501658, 0.02820000124501658, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318179607391357, -1.1495498418807983, -1.6000463962554932, -1.8004724979400635, -0.42008256912231445, -1.6058860637713224e-05, -0.00020816599135287106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8596692681312561, -1.2186461687088013, 1.5931751728057861, -1.2077574729919434, 2.1392178535461426, 0.49982258677482605, -0.46030449867248535, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318187952041626, -1.1495497226715088, -1.6000452041625977, -1.8004735708236694, -0.4200802743434906, -1.6298545233439654e-05, -0.0002084056759485975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8537166714668274, -1.218200922012329, 1.5856149196624756, -1.1980359554290771, 2.136094093322754, 0.4983901083469391, -0.4569496214389801, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318180799484253, -1.1495494842529297, -1.600042462348938, -1.8004741668701172, -0.4200774133205414, -1.713744131848216e-05, -0.0002052897762041539, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.850441038608551, -1.2184334993362427, 1.5799371004104614, -1.1941636800765991, 2.1344759464263916, 0.4978220760822296, -0.45564502477645874, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731817364692688, -1.149549961090088, -1.6000417470932007, -1.800474762916565, -0.42007607221603394, -1.917476038215682e-05, -0.00019941749633289874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8500005006790161, -1.2200309038162231, 1.5792487859725952, -1.1922863721847534, 2.136171817779541, 0.4980770945549011, -0.4551588296890259, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731817364692688, -1.149550199508667, -1.6000401973724365, -1.8004755973815918, -0.4200744032859802, -2.157160452043172e-05, -0.00019366508058737963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8505805730819702, -1.2203993797302246, 1.5784553289413452, -1.1922866106033325, 2.133903741836548, 0.49559012055397034, -0.45355701446533203, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318171262741089, -1.1495500802993774, -1.600037932395935, -1.8004761934280396, -0.4200736880302429, -2.3129554392653517e-05, -0.00018851185450330377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8523935079574585, -1.2204041481018066, 1.5784361362457275, -1.192280650138855, 2.130174160003662, 0.4938170611858368, -0.45270493626594543, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318164110183716, -1.1495503187179565, -1.6000381708145142, -1.8004766702651978, -0.4200734496116638, -2.3249396690516733e-05, -0.00018156100122723728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8566800355911255, -1.2203762531280518, 1.5810694694519043, -1.1948033571243286, 2.1273727416992188, 0.4914340078830719, -0.4527921676635742, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731814980506897, -1.149550437927246, -1.600037693977356, -1.8004761934280396, -0.42007309198379517, -2.384860817983281e-05, -0.00017149426275864244, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8639374375343323, -1.2197877168655396, 1.5900189876556396, -1.203891634941101, 2.1231253147125244, 0.48973438143730164, -0.4553189277648926, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318130731582642, -1.149550437927246, -1.6000381708145142, -1.8004765510559082, -0.4200734496116638, -2.468750244588591e-05, -0.00015879097918514162, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8730762004852295, -1.2173782587051392, 1.5960878133773804, -1.2123152017593384, 2.113774538040161, 0.4884336292743683, -0.45765358209609985, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318131923675537, -1.149549961090088, -1.600038766860962, -1.8004766702651978, -0.4200747609138489, -2.3728765881969593e-05, -0.00014524880680255592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.881229817867279, -1.2160815000534058, 1.600907564163208, -1.2188441753387451, 2.1116480827331543, 0.4900507628917694, -0.4631347954273224, 0.04800000924330496, 0.04800000924330496, 0.04800000924330496, 0.04800000924330496, -0.04800000924330496, -0.04800000924330496, -0.04800000924330496, 0.04800000924330496, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318066358566284, -1.1495503187179565, -1.6000381708145142, -1.8004767894744873, -0.4200752377510071, -2.432797737128567e-05, -0.00013278520782478154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8863829374313354, -1.215066909790039, 1.602247953414917, -1.2273961305618286, 2.1004600524902344, 0.4903138279914856, -0.4626476466655731, 0.508800000672812, 0.508800000672812, 0.508800000672812, 0.508800000672812, -0.508800000672812, -0.508800000672812, -0.508800000672812, 0.508800000672812, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318062782287598, -1.1495503187179565, -1.6000388860702515, -1.8004769086837769, -0.4200769364833832, -2.3369238988379948e-05, -0.00013781858433503658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8835399150848389, -1.2141586542129517, 1.5994720458984375, -1.2291496992111206, 2.082087516784668, 0.49054789543151855, -0.4539812505245209, 0.5802000005985354, 0.5802000005985354, 0.5802000005985354, 0.5802000005985354, -0.5802000005985354, -0.5802000005985354, -0.5802000005985354, 0.5802000005985354, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318077087402344, -1.1495500802993774, -1.6000394821166992, -1.8004772663116455, -0.42007967829704285, -2.2770027499063872e-05, -0.00013925669190939516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8631240725517273, -1.2137888669967651, 1.5862354040145874, -1.2115684747695923, 2.058651924133301, 0.490492045879364, -0.44785553216934204, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318072319030762, -1.1495498418807983, -1.600040316581726, -1.8004772663116455, -0.4200836420059204, -1.9294602680020034e-05, -0.0001411741686752066, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8419241309165955, -1.2144404649734497, 1.571174144744873, -1.1950592994689941, 2.036017656326294, 0.4929569363594055, -0.43921008706092834, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318075895309448, -1.149549126625061, -1.6000404357910156, -1.800478219985962, -0.42008650302886963, -1.7496968212071806e-05, -0.00014285196084529161, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8259316086769104, -1.2167319059371948, 1.5577874183654785, -1.1833837032318115, 2.0199368000030518, 0.499759316444397, -0.43397849798202515, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, -0.5423999986150763, -0.5423999986150763, -0.5423999986150763, 0.5423999986150763, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318072319030762, -1.1495482921600342, -1.6000417470932007, -1.8004786968231201, -0.4200892746448517, -1.3901701095164753e-05, -0.00014572817599400878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.812835156917572, -1.2197954654693604, 1.5494681596755981, -1.168407678604126, 2.0082061290740967, 0.5028939247131348, -0.42776575684547424, 0.4565999983431218, 0.4565999983431218, 0.4565999983431218, 0.4565999983431218, -0.4565999983431218, -0.4565999983431218, -0.4565999983431218, 0.4565999983431218, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318072319030762, -1.1495469808578491, -1.600043535232544, -1.8004812002182007, -0.4200921356678009, -1.2583435818669386e-05, -0.00017616810509935021, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7972331643104553, -1.2230381965637207, 1.5426479578018188, -1.1480339765548706, 2.000577926635742, 0.5064486861228943, -0.4258039593696594, 0.31740000195555634, 0.31740000195555634, 0.31740000195555634, 0.31740000195555634, -0.31740000195555634, -0.31740000195555634, -0.31740000195555634, 0.31740000195555634, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318073511123657, -1.1495466232299805, -1.600045084953308, -1.8004788160324097, -0.4200928509235382, -1.2463593520806171e-05, -0.0001807221124181524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7844505310058594, -1.225773811340332, 1.538031816482544, -1.1304731369018555, 1.9980509281158447, 0.5113692879676819, -0.4243936538696289, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, -0.2951999965604845, -0.2951999965604845, -0.2951999965604845, 0.2951999965604845, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731806993484497, -1.1495471000671387, -1.6000447273254395, -1.8004796504974365, -0.4200926125049591, -1.3182647307985462e-05, -0.00018431738135404885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7762326598167419, -1.2274965047836304, 1.5352064371109009, -1.115784764289856, 1.99680495262146, 0.5184729099273682, -0.42018526792526245, 0.27540000821207905, 0.27540000821207905, 0.27540000821207905, 0.27540000821207905, -0.27540000821207905, -0.27540000821207905, -0.27540000821207905, 0.27540000821207905, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318061590194702, -1.1495471000671387, -1.6000449657440186, -1.8004801273345947, -0.42009320855140686, -1.5100123164302204e-05, -0.0001880324853118509, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7690799236297607, -1.2298907041549683, 1.5318704843521118, -1.1048005819320679, 1.9964240789413452, 0.521647572517395, -0.4179595410823822, 0.2640000107524159, 0.2640000107524159, 0.2640000107524159, 0.2640000107524159, -0.2640000107524159, -0.2640000107524159, -0.2640000107524159, 0.2640000107524159, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318081855773926, -1.1495466232299805, -1.6000453233718872, -1.8004803657531738, -0.4200928509235382, -1.965412957360968e-05, -0.00020636834960896522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7604900002479553, -1.2321778535842896, 1.5278511047363281, -1.0939346551895142, 1.992557406425476, 0.523169755935669, -0.4133164882659912, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, -0.22320001570733042, -0.22320001570733042, -0.22320001570733042, 0.22320001570733042, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318062782287598, -1.1495469808578491, -1.6000442504882812, -1.8004803657531738, -0.4200921356678009, -2.253034290333744e-05, -0.00021799304522573948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7532986402511597, -1.2344530820846558, 1.525511384010315, -1.0831701755523682, 1.9892504215240479, 0.5256869196891785, -0.41138511896133423, 0.1872000154558119, 0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -0.1872000154558119, -0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318060398101807, -1.1495469808578491, -1.600043773651123, -1.8004794120788574, -0.4200921356678009, -2.5166871637338772e-05, -0.00022254705254454166, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7496861815452576, -1.2354196310043335, 1.5267083644866943, -1.078414797782898, 1.9907337427139282, 0.5309054851531982, -0.4107614755630493, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, -0.12059999927059636, -0.12059999927059636, -0.12059999927059636, 0.12059999927059636, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318084239959717, -1.1495474576950073, -1.6000429391860962, -1.8004801273345947, -0.42009010910987854, -3.0439930924330838e-05, -0.00022218753292690963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7436898350715637, -1.2355140447616577, 1.534692645072937, -1.0761371850967407, 1.998071312904358, 0.5402113199234009, -0.40989333391189575, 0.04859999876755936, 0.04859999876755936, 0.04859999876755936, 0.04859999876755936, -0.04859999876755936, -0.04859999876755936, -0.04859999876755936, 0.04859999876755936, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.73180091381073, -1.149545669555664, -1.6000431776046753, -1.8004792928695679, -0.4200885593891144, -3.09193019347731e-05, -0.0002172739914385602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7431367635726929, -1.2352806329727173, 1.5386663675308228, -1.0782756805419922, 2.0026543140411377, 0.5461531281471252, -0.4124886393547058, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318015098571777, -1.149541974067688, -1.6000429391860962, -1.8004796504974365, -0.4200855493545532, -3.067961733904667e-05, -0.00021595573343802243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7555068731307983, -1.232749581336975, 1.5498408079147339, -1.0920395851135254, 2.021925687789917, 0.5545814037322998, -0.42436403036117554, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318004369735718, -1.149539828300476, -1.6000416278839111, -1.8004798889160156, -0.4200824499130249, -3.067961733904667e-05, -0.00021475731045939028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7743144035339355, -1.2317739725112915, 1.5610096454620361, -1.1140539646148682, 2.0341858863830566, 0.5560082197189331, -0.4313068687915802, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318028211593628, -1.1495392322540283, -1.600041389465332, -1.8004807233810425, -0.4200790822505951, -2.9720877137151547e-05, -0.0002133192028850317, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7944363355636597, -1.2305467128753662, 1.5761312246322632, -1.1367257833480835, 2.0564420223236084, 0.5603731274604797, -0.44448038935661316, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318025827407837, -1.1495392322540283, -1.600040078163147, -1.8004809617996216, -0.42007631063461304, -2.672482150956057e-05, -0.00021307951828930527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8223501443862915, -1.226001262664795, 1.5959962606430054, -1.1699483394622803, 2.0845487117767334, 0.5683843493461609, -0.46246859431266785, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731804370880127, -1.149539589881897, -1.6000405550003052, -1.8004809617996216, -0.4200747609138489, -2.1691446818294935e-05, -0.00020996361854486167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.850090503692627, -1.2223190069198608, 1.61143159866333, -1.2030613422393799, 2.1024930477142334, 0.5711063146591187, -0.47368115186691284, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.731805682182312, -1.1495397090911865, -1.6000399589538574, -1.8004798889160156, -0.4200745224952698, -1.8575548892840743e-05, -0.00019821907335426658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8751381039619446, -1.2187970876693726, 1.6263272762298584, -1.2358366250991821, 2.1167819499969482, 0.5721241235733032, -0.48582130670547485, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.731804609298706, -1.149539828300476, -1.6000391244888306, -1.8004792928695679, -0.4200741648674011, -1.5699333744123578e-05, -0.00019162775424774736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8995224833488464, -1.2140649557113647, 1.6390235424041748, -1.2669520378112793, 2.13299822807312, 0.5721156597137451, -0.4982340931892395, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318066358566284, -1.1495400667190552, -1.6000397205352783, -1.8004792928695679, -0.4200734496116638, -1.5339808669523336e-05, -0.00018228005501441658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9239146709442139, -1.2086181640625, 1.6520460844039917, -1.29787278175354, 2.148592710494995, 0.5720682740211487, -0.5089002847671509, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318081855773926, -1.1495399475097656, -1.6000396013259888, -1.8004788160324097, -0.42007333040237427, -1.5339808669523336e-05, -0.0001633449865039438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9434352517127991, -1.2038894891738892, 1.664383053779602, -1.321806788444519, 2.165091037750244, 0.5722429156303406, -0.5218493342399597, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318090200424194, -1.149539828300476, -1.6000399589538574, -1.8004786968231201, -0.42007380723953247, -1.5100123164302204e-05, -0.0001529187138658017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9694388508796692, -1.1974588632583618, 1.6801060438156128, -1.353428840637207, 2.1831791400909424, 0.5758805871009827, -0.5362319946289062, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.731811285018921, -1.149539828300476, -1.6000397205352783, -1.8004786968231201, -0.42007583379745483, -1.6538229829166085e-05, -0.00014656706480309367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0017019510269165, -1.189785361289978, 1.7003809213638306, -1.3911784887313843, 2.1926794052124023, 0.5843127965927124, -0.5472555756568909, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318115234375, -1.1495403051376343, -1.6000406742095947, -1.8004783391952515, -0.4200774133205414, -1.9294602680020034e-05, -0.00014081464905757457, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0290693044662476, -1.1829502582550049, 1.7267593145370483, -1.4180256128311157, 2.2359228134155273, 0.5919949412345886, -0.5728818774223328, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318124771118164, -1.1495399475097656, -1.600041389465332, -1.800478219985962, -0.42007872462272644, -2.229065830761101e-05, -0.00014237259165383875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0659741163253784, -1.1754330396652222, 1.7491892576217651, -1.4581444263458252, 2.2388741970062256, 0.5957082509994507, -0.5759503245353699, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318134307861328, -1.1495399475097656, -1.6000425815582275, -1.8004781007766724, -0.42008134722709656, -2.5406556233065203e-05, -0.00014237259165383875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.106955647468567, -1.1692684888839722, 1.7793124914169312, -1.5004873275756836, 2.248164176940918, 0.600763201713562, -0.5816075205802917, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318121194839478, -1.1495399475097656, -1.6000423431396484, -1.8004781007766724, -0.42008495330810547, -2.8282771381782368e-05, -0.00014488927263300866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1381416320800781, -1.16316556930542, 1.804809331893921, -1.528100609779358, 2.2565860748291016, 0.6062716245651245, -0.5834280252456665, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318140268325806, -1.1495400667190552, -1.6000430583953857, -1.8004783391952515, -0.4200887978076935, -3.127882519038394e-05, -0.00014716628356836736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1643450260162354, -1.1580575704574585, 1.8306218385696411, -1.5495795011520386, 2.2709803581237793, 0.617152214050293, -0.5908124446868896, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318155765533447, -1.149539828300476, -1.600045084953308, -1.8004770278930664, -0.4200916588306427, -3.2716932764742523e-05, -0.00014632738020736724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1998919248580933, -1.1512376070022583, 1.8656238317489624, -1.5799309015274048, 2.2766849994659424, 0.6300912499427795, -0.5944738984107971, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318145036697388, -1.149539828300476, -1.600046157836914, -1.800477147102356, -0.4200921356678009, -3.199787897756323e-05, -0.00014776548778172582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2309144735336304, -1.1436634063720703, 1.8977664709091187, -1.6003600358963013, 2.2809808254241943, 0.6486449837684631, -0.589561402797699, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968722769418034, -0.9974987980277616, -0.011825321537716283, -33.800270080566406], [0.9975540447297824, 0.06974596477634343, -0.004629064772542593, 11.14261531829834], [0.005442255006042385, -0.011473810639363802, 0.9999193635138092, 0.2789495587348938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318156957626343, -1.149539828300476, -1.6000468730926514, -1.8004759550094604, -0.4200926125049591, -3.0200246328604408e-05, -0.00015591476403642446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2574005126953125, -1.1364597082138062, 1.9288570880889893, -1.6153727769851685, 2.295961618423462, 0.663872480392456, -0.5915559530258179, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974511334054267, -0.9974946382403906, -0.011834941773698692, -33.799381256103516], [0.9975499398961478, 0.06980401573630124, -0.004638620514551476, 11.144573211669922], [0.005453125553906452, -0.011482424341496381, 0.9999192054125849, 0.2787476181983948], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318137884140015, -1.149539828300476, -1.6000471115112305, -1.8004757165908813, -0.4200921356678009, -2.8402613679645583e-05, -0.00016562198288738728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.280102252960205, -1.130859136581421, 1.955942988395691, -1.6316341161727905, 2.3013014793395996, 0.6705249547958374, -0.5954393148422241, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972072789323536, -0.9974964054632894, -0.01182967412289562, -33.79969787597656], [0.9975517255297692, 0.06977943696897482, -0.004624399298558915, 11.143749237060547], [0.00543828967756158, -0.011478295348584893, 0.9999193336171042, 0.27875837683677673], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318140268325806, -1.149539828300476, -1.6000466346740723, -1.8004744052886963, -0.4200926125049591, -2.384860817983281e-05, -0.00017772606224752963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.298470139503479, -1.126755714416504, 1.9803909063339233, -1.6429381370544434, 2.3057568073272705, 0.6771200895309448, -0.5982602834701538, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972191582168219, -0.9974963572364766, -0.011826738946726381, -33.79964828491211], [0.9975516456390048, 0.06978060457965718, -0.00462401420967443, 11.143789291381836], [0.005437714323868295, -0.011475387769364626, 0.9999193701186485, 0.27885350584983826], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.731815218925476, -1.1495397090911865, -1.6000463962554932, -1.8004719018936157, -0.42009225487709045, -2.0133496946073137e-05, -0.000187193596502766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3114233016967773, -1.12296462059021, 1.9992198944091797, -1.64998459815979, 2.3106939792633057, 0.6837749481201172, -0.6004021167755127, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972355886009718, -0.9974964383106454, -0.011810203108300067, -33.79964065551758], [0.9975516894628206, 0.06978183555301232, -0.004595897814858988, 11.143851280212402], [0.0054085293523125876, -0.011460845711774475, 0.9999196951884767, 0.27910280227661133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.731813907623291, -1.149539589881897, -1.6000465154647827, -1.800471544265747, -0.42009225487709045, -1.737712591420859e-05, -0.00019809923833236098, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3221999406814575, -1.1193780899047852, 2.015061616897583, -1.6550581455230713, 2.312965154647827, 0.6873279213905334, -0.6019217371940613, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697402966008106, -0.9974947755233957, -0.011851743903798416, -33.799468994140625], [0.997550531319984, 0.0697987380744971, -0.004590601967659029, 11.144427299499512], [0.005406338247714546, -0.011502563485501686, 0.9999192280079493, 0.2776448130607605], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7318142652511597, -1.149539589881897, -1.6000460386276245, -1.8004716634750366, -0.42009130120277405, -1.545965096738655e-05, -0.0002109223569277674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3269668817520142, -1.1163156032562256, 2.031428098678589, -1.6520302295684814, 2.3263802528381348, 0.6970459222793579, -0.6101667284965515, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971722219799126, -0.9974967391474796, -0.011822196037163682, -33.79970932006836], [0.9975520593519113, 0.06977570926033483, -0.004608609332343911, 11.143637657165527], [0.00542197489452551, -0.01147195656208788, 0.9999194949599096, 0.278834730386734], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7318142652511597, -1.149539589881897, -1.6000456809997559, -1.8004719018936157, -0.42008844017982483, -1.5819176041986793e-05, -0.0002171541564166546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3333560228347778, -1.1119087934494019, 2.0454323291778564, -1.6509395837783813, 2.326356887817383, 0.7004887461662292, -0.6107146739959717, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973465400807188, -0.9974955191411842, -0.011822323106481172, -33.7995491027832], [0.9975508552373691, 0.069793110016239, -0.004605758293151645, 11.144227027893066], [0.0054193399568842815, -0.011472187564745063, 0.9999195065938613, 0.27880576252937317], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.731820821762085, -1.149539589881897, -1.6000430583953857, -1.8004727363586426, -0.4200856685638428, -1.7257283616345376e-05, -0.00022817964782007039, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3387553691864014, -1.1093498468399048, 2.059138536453247, -1.6501847505569458, 2.3241169452667236, 0.7010107636451721, -0.6085372567176819, 0.07500000943194382, 0.07500000943194382, 0.07500000943194382, 0.07500000943194382, -0.07500000943194382, -0.07500000943194382, -0.07500000943194382, 0.07500000943194382, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969771203764696, -0.9974978183797203, -0.011846149771804142, -33.7999267578125], [0.9975534863289619, 0.06975617617601726, -0.004595410562116197, 11.142989158630371], [0.005410254120759486, -0.011496878402385119, 0.9999192722101867, 0.2778724730014801], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318220138549805, -1.149538516998291, -1.6000429391860962, -1.8004728555679321, -0.4200817048549652, -2.0133496946073137e-05, -0.0002251835830975324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3468304872512817, -1.105156660079956, 2.079115152359009, -1.6507242918014526, 2.3255581855773926, 0.6980597972869873, -0.5997257232666016, 0.3029999979249724, 0.3029999979249724, 0.3029999979249724, 0.3029999979249724, -0.3029999979249724, -0.3029999979249724, -0.3029999979249724, 0.3029999979249724, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06970041465562271, -0.9974974406507244, -0.011862044178337217, -33.80010223388672], [0.9975533436398887, 0.06975885353103584, -0.004585732974525761, 11.143074035644531], [0.005401739508012382, -0.011513394342679959, 0.9999191282103755, 0.27722999453544617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.731817364692688, -1.149538278579712, -1.6000419855117798, -1.8004698753356934, -0.42007967829704285, -2.3728765881969593e-05, -0.00021847241441719234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3658829927444458, -1.1041951179504395, 2.104954957962036, -1.6604535579681396, 2.3194751739501953, 0.6978839635848999, -0.585236668586731, 0.534600002163059, 0.534600002163059, 0.534600002163059, 0.534600002163059, -0.534600002163059, -0.534600002163059, -0.534600002163059, 0.534600002163059, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972911564529982, -0.9974959897638276, -0.011815279785371557, -33.799800872802734], [0.9975514714030735, 0.06978705308475497, -0.00456389343748552, 11.144047737121582], [0.005377018959194214, -0.011468113481641133, 0.9999197818026627, 0.2785739600658417], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318223714828491, -1.1495376825332642, -1.6000419855117798, -1.8004707098007202, -0.4200771749019623, -2.5047029339475557e-05, -0.0002182327298214659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.401138186454773, -1.104605793952942, 2.1336941719055176, -1.6804730892181396, 2.2884621620178223, 0.6995168328285217, -0.5468805432319641, 0.5814000005250448, 0.5814000005250448, 0.5814000005250448, 0.5814000005250448, -0.5814000005250448, -0.5814000005250448, -0.5814000005250448, 0.5814000005250448, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971023160358403, -0.9974970885939546, -0.011833928188015264, -33.799957275390625], [0.9975529568626919, 0.06976790089812868, -0.004531915573978106, 11.14341926574707], [0.005346200919853781, -0.011489049170985479, 0.9999197067189302, 0.27758198976516724], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318207025527954, -1.149537205696106, -1.6000409126281738, -1.8004701137542725, -0.42007285356521606, -2.6125610020244494e-05, -0.00021607556845992804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4785149097442627, -1.1141902208328247, 2.1559410095214844, -1.730959415435791, 2.1586146354675293, 0.7091898918151855, -0.4245348274707794, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06970837987930179, -0.9974971650672246, -0.011838389140961686, -33.800045013427734], [0.9975529419291487, 0.06976637907304062, -0.004558552351048161, 11.143352508544922], [0.005373064591403572, -0.011491650616281868, 0.9999195328340226, 0.2777285873889923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318171262741089, -1.1495368480682373, -1.6000373363494873, -1.8004707098007202, -0.42007166147232056, -2.6604979211697355e-05, -0.00021547636424656957, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5506342649459839, -1.1348522901535034, 2.1607143878936768, -1.7578994035720825, 2.0263516902923584, 0.7070246934890747, -0.30180448293685913, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969514921901476, -0.9974983331075705, -0.011817851875771342, -33.80009460449219], [0.9975538754349194, 0.06975303624528906, -0.004558457999882716, 11.142900466918945], [0.005371385306656013, -0.011471241527481095, 0.9999197762009239, 0.27842065691947937], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.731820821762085, -1.1495360136032104, -1.6000354290008545, -1.8004709482192993, -0.42007213830947876, -2.8402613679645583e-05, -0.00020960409892722964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.597508192062378, -1.154502034187317, 2.159862518310547, -1.7350976467132568, 1.8890864849090576, 0.7127863168716431, -0.2026442587375641, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969089590672795, -0.9974984892678369, -0.011829747930561635, -33.80007553100586], [0.9975543129208809, 0.06974853685262261, -0.00453148759983137, 11.142763137817383], [0.005345259644459741, -0.011485012638276148, 0.9999197581226366, 0.27771252393722534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.812897801399231, 0.0, 0.0, 1.7318214178085327, -1.1495361328125, -1.6000337600708008, -1.8004732131958008, -0.4200724959373474, -2.912166564783547e-05, -0.00020361198403406888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6464329957962036, -1.1736325025558472, 2.1454660892486572, -1.7289772033691406, 1.7979425191879272, 0.7084643244743347, -0.12578870356082916, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06964299634946103, -0.9975018137115887, -0.011831513071454502, -33.8007698059082], [0.9975574071856336, 0.06970118580973073, -0.004578653272897776, 11.141129493713379], [0.005391885435075742, -0.011483742369473218, 0.9999195223779995, 0.27816545963287354], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7318072319030762, -1.1495364904403687, -1.600026249885559, -1.800475001335144, -0.42007213830947876, -2.8642298275372013e-05, -0.0001941444497788325, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6893178224563599, -1.1957961320877075, 2.0982396602630615, -1.7187514305114746, 1.6757967472076416, 0.6917935609817505, -0.05627959966659546, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06959858723167522, -0.9975052011739214, -0.011807213317695036, -33.80120086669922], [0.9975604670417832, 0.06965675243907066, -0.00458818428373354, 11.139613151550293], [0.00539918982203463, -0.011459078087555391, 0.9999197659205707, 0.27908384799957275], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7318118810653687, -1.1495349407196045, -1.6000239849090576, -1.8005082607269287, -0.42007285356521606, -2.8043086786055937e-05, -0.00015639413322787732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6926344633102417, -1.2180242538452148, 2.011687994003296, -1.6648927927017212, 1.5412219762802124, 0.6646864414215088, -0.04490381106734276, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06958482572087787, -0.997506021732951, -0.01181899470751639, -33.80115509033203], [0.9975614118921933, 0.06964307840759121, -0.004590330442123525, 11.139158248901367], [0.005401993432876766, -0.011470755703760006, 0.9999196168845453, 0.2787032723426819], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6094539165496826, -0.8126102685928345, 0.0, 0.0, 1.7318437099456787, -1.1495321989059448, -1.6000257730484009, -1.8005073070526123, -0.4200736880302429, -2.648513691383414e-05, -0.00015267902927007526, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6651031970977783, -1.232898235321045, 1.9508916139602661, -1.5845893621444702, 1.485666275024414, 0.6563500165939331, -0.061889052391052246, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06986281295498908, -0.9974861382254869, -0.01185712503184847, -33.79812240600586], [0.9975422126908345, 0.06992072614991307, -0.0045415806216365096, 11.148590087890625], [0.0053592225079930654, -0.01151069514293261, 0.9999193880665762, 0.2769511342048645], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.731838345527649, -1.1495215892791748, -1.6000423431396484, -1.8004961013793945, -0.4200759530067444, -2.205097371188458e-05, -0.00011708587408065796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6653856039047241, -1.2368203401565552, 1.9614695310592651, -1.5967830419540405, 1.5000073909759521, 0.6565491557121277, -0.06572172790765762, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06982406245859385, -0.9974895256216705, -0.011800278676085406, -33.798885345458984], [0.9975445956737539, 0.06988242114840981, -0.004607261282263376, 11.147275924682617], [0.0054203269149707845, -0.011449606521237417, 0.9999197600640982, 0.2795935273170471], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318217754364014, -1.1495176553726196, -1.600036859512329, -1.8004969358444214, -0.4200781285762787, -2.0253339243936352e-05, -0.00011984224693151191, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6638609170913696, -1.229580044746399, 1.9703181982040405, -1.6018775701522827, 1.5037380456924438, 0.6563272476196289, -0.06324099749326706, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06979213751125135, -0.9974915129084188, -0.011821134348454136, -33.79912567138672], [0.9975469228050591, 0.06985039777471369, -0.004588979502188813, 11.146174430847168], [0.005403179042731893, -0.011471861504912537, 0.9999195977926647, 0.2786732614040375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7318202257156372, -1.14951753616333, -1.600032091140747, -1.8004989624023438, -0.4200783669948578, -1.941444497788325e-05, -0.00012331767356954515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6638928651809692, -1.2298961877822876, 1.9702973365783691, -1.6018491983413696, 1.5039986371994019, 0.656417965888977, -0.06329084932804108, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971175632368598, -0.9974970612857594, -0.011827246363407701, -33.799861907958984], [0.9975526129091933, 0.06976990286331675, -0.004576585242784159, 11.143465995788574], [0.005390316160316445, -0.01147925871809856, 0.999919582321986, 0.2783043682575226], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7318187952041626, -1.1495170593261719, -1.6000347137451172, -1.800498604774475, -0.4200783669948578, -1.9534287275746465e-05, -0.00012152003910159692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6650583744049072, -1.2285453081130981, 1.9640179872512817, -1.6051889657974243, 1.4854778051376343, 0.6452626585960388, -0.06228824704885483, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06968719339923701, -0.9974986744783089, -0.011835940611294801, -33.80025100708008], [0.9975545087281015, 0.06974499772128728, -0.0045428415219806026, 11.142626762390137], [0.005356976047504723, -0.011490418046110822, 0.9999196333209744, 0.27762943506240845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7318204641342163, -1.1495170593261719, -1.6000351905822754, -1.800498127937317, -0.42007848620414734, -1.9294602680020034e-05, -0.00012152003910159692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.668859601020813, -1.224001169204712, 1.942847490310669, -1.6165345907211304, 1.4236180782318115, 0.6077636480331421, -0.05863138288259506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971053055865617, -0.9974972201536366, -0.011821070805896061, -33.799964904785156], [0.9975528710027339, 0.069768280708435, -0.0045449489757168095, 11.143423080444336], [0.005358309755277677, -0.011475312316288979, 0.9999197996458566, 0.2781631648540497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.731820821762085, -1.1495171785354614, -1.6000351905822754, -1.800498604774475, -0.42007848620414734, -1.941444497788325e-05, -0.0001214001968037337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6752686500549316, -1.2162712812423706, 1.9067590236663818, -1.6358144283294678, 1.3180619478225708, 0.5439296960830688, -0.05241444706916809, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06970571872262099, -0.9974974220304385, -0.01183240550320053, -33.79999923706055], [0.9975532178595045, 0.06976349813272609, -0.004542231437631521, 11.143263816833496], [0.005356334148531242, -0.01148683467777161, 0.99991967793097, 0.2777487635612488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7318228483200073, -1.1495169401168823, -1.6000447273254395, -1.8004980087280273, -0.42007848620414734, -1.989381416933611e-05, -0.00011828429705929011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6844210624694824, -1.2051985263824463, 1.855897068977356, -1.6629679203033447, 1.1690536737442017, 0.45365971326828003, -0.04378592222929001, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975418472565598, -0.9974940588513386, -0.011830311472701376, -33.799495697021484], [0.9975496728231692, 0.06981228701188691, -0.004571086583938361, 11.144896507263184], [0.005385532809945822, -0.01148247092101644, 0.9999195712145558, 0.2781561017036438], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7318216562271118, -1.1495177745819092, -1.6000380516052246, -1.8004987239837646, -0.4200781285762787, -1.989381416933611e-05, -0.00012319783854763955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6961253881454468, -1.190993309020996, 1.7898916006088257, -1.698323369026184, 0.975951075553894, 0.3367471396923065, -0.032509125769138336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06969012080272674, -0.9974986362005062, -0.011821922036265873, -33.80019760131836], [0.9975541013540333, 0.06974829408465544, -0.004581522020815064, 11.142716407775879], [0.005394620862316954, -0.011473719990073693, 0.9999196226774136, 0.2785366475582123], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318220138549805, -1.1495176553726196, -1.6000421047210693, -1.80049729347229, -0.4200783669948578, -1.941444497788325e-05, -0.00011804461246356368, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7081681489944458, -1.1763509511947632, 1.7222801446914673, -1.734616756439209, 0.7778741121292114, 0.21674849092960358, -0.02082330919802189, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06975566545552914, -0.9974938086258114, -0.011842672419235511, -33.79947280883789], [0.9975495651343458, 0.0698138331179412, -0.0045709742569593065, 11.144941329956055], [0.005386300876651829, -0.011494801370762605, 0.9999194254060239, 0.2777351140975952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318229675292969, -1.149518609046936, -1.6000291109085083, -1.8004982471466064, -0.42007872462272644, -1.965412957360968e-05, -0.00012643357331398875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7168229818344116, -1.1659702062606812, 1.6739423274993896, -1.7604128122329712, 0.6365658640861511, 0.13119789958000183, -0.012555752880871296, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06971844088369528, -0.9974965262178235, -0.011832970215533093, -33.79989242553711], [0.9975521933043167, 0.06977651176441946, -0.0045672792488699755, 11.143692016601562], [0.00538150857046672, -0.01148558180349802, 0.9999195571525448, 0.2780117392539978], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318217754364014, -1.1495188474655151, -1.6000319719314575, -1.800498127937317, -0.42007848620414734, -1.941444497788325e-05, -0.00012295815395191312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.724364995956421, -1.1567646265029907, 1.6313437223434448, -1.7832990884780884, 0.5117067694664001, 0.05545029044151306, -0.005245734937489033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697158069907573, -0.9974965417619709, -0.011847169642404978, -33.799896240234375], [0.9975525413253353, 0.06977359172287523, -0.004535768232011085, 11.143624305725098], [0.0053510327033656725, -0.011501959441675758, 0.9999195324514916, 0.2771790325641632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318216562271118, -1.149518609046936, -1.6000354290008545, -1.8004977703094482, -0.42007872462272644, -1.989381416933611e-05, -0.00012175972369732335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7285364866256714, -1.1517572402954102, 1.6082310676574707, -1.7956266403198242, 0.44398581981658936, 0.014572937041521072, -0.001441342756152153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0696801426974396, -0.9974989805431507, -0.011851646680498547, -33.800315856933594], [0.9975550524263176, 0.06973790906243293, -0.004532264150144322, 11.142402648925781], [0.005347437927765924, -0.011506861212978375, 0.9999194952858125, 0.27698129415512085], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318222522735596, -1.149518609046936, -1.6000347137451172, -1.8004980087280273, -0.42007848620414734, -2.0013656467199326e-05, -0.0001227184693561867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300074100494385, -1.1500259637832642, 1.6000360250473022, -1.7999622821807861, 0.4201960563659668, 6.231797306099907e-05, 1.6058860637713224e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0697212850491975, -0.9974963045404515, -0.011834899206651756, -33.79984664916992], [0.9975519819090449, 0.06977939146353185, -0.0045694547066127454, 11.143789291381836], [0.005383846248283582, -0.011487338905170097, 0.999919524384064, 0.27797162532806396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7318226099014282, -1.149518370628357, -1.600035548210144, -1.800498127937317, -0.4200783669948578, -1.989381416933611e-05, -0.0001227184693561867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300306558609009, -1.1499627828598022, 1.5999531745910645, -1.8000154495239258, 0.41989344358444214, -8.065383008215576e-05, 4.6978162572486326e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972161095824181, -0.9974963796825517, -0.01182664303975795, -33.79985046386719], [0.9975519294782594, 0.06977974271332521, -0.004575532872108735, 11.143790245056152], [0.0053893375835236184, -0.011478677060725358, 0.9999195942741328, 0.27831825613975525], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7322335243225098, -1.1495109796524048, -1.6000356674194336, -1.800512433052063, -0.4200795590877533, -1.941444497788325e-05, -0.00014297179586719722, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730014681816101, -1.1499769687652588, 1.5999891757965088, -1.8000162839889526, 0.4199192225933075, 4.6738477976759896e-05, -0.00023572970530949533, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06973395255428982, -0.9974953217167148, -0.011843099865475284, -33.79971694946289], [0.9975513144648666, 0.06979162827449525, -0.004528093661935416, 11.144229888916016], [0.005343301467504659, -0.011498337969560773, 0.9999196154458443, 0.27723702788352966], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.732649564743042, -1.1495028734207153, -1.600035548210144, -1.8005287647247314, -0.42008015513420105, -1.893507578643039e-05, -0.000182519739610143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300219535827637, -1.1500247716903687, 1.6000334024429321, -1.8000141382217407, 0.41993144154548645, 8.688562957104295e-05, -0.0003549727553036064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06974212862580931, -0.9974945205329768, -0.011862419712176383, -33.79961395263672], [0.9975507981487542, 0.06979977215687005, -0.004516294900946392, 11.144515037536621], [0.005332973609944124, -0.011518390231963178, 0.9999194397944966, 0.2764549255371094], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7327603101730347, -1.149501919746399, -1.6000354290008545, -1.8005483150482178, -0.4200814664363861, -1.8096179701387882e-05, -0.00021607556845992804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300289869308472, -1.1501126289367676, 1.600087285041809, -1.8000104427337646, 0.41994163393974304, 9.024121391121298e-05, -0.00040147153777070343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7328239679336548, -1.149501919746399, -1.6000354290008545, -1.800569772720337, -0.42008233070373535, -1.737712591420859e-05, -0.00022542326769325882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300403118133545, -1.1501468420028687, 1.6000980138778687, -1.8000073432922363, 0.4199509620666504, 8.976184471976012e-05, -0.00041309621883556247, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7328976392745972, -1.1495023965835571, -1.6000360250473022, -1.8005808591842651, -0.420082688331604, -1.761681050993502e-05, -0.0002268613752676174, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730055570602417, -1.1501643657684326, 1.6001025438308716, -1.8000047206878662, 0.41995635628700256, 8.928247552830726e-05, -0.0004216050438117236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7329462766647339, -1.1495026350021362, -1.600035548210144, -1.8005865812301636, -0.42008304595947266, -1.7496968212071806e-05, -0.00022782011365052313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300636768341064, -1.150177001953125, 1.600103497505188, -1.8000035285949707, 0.4199593663215637, 8.72451564646326e-05, -0.0004308328789193183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.73297917842865, -1.1495028734207153, -1.6000359058380127, -1.8005894422531128, -0.42008304595947266, -1.7736652807798237e-05, -0.00022901853662915528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300695180892944, -1.1501835584640503, 1.600103735923767, -1.8000025749206543, 0.41996127367019653, 8.508799510309473e-05, -0.00044293695827946067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.733012080192566, -1.1495029926300049, -1.6000359058380127, -1.8005915880203247, -0.42008352279663086, -1.8335864297114313e-05, -0.00022973759041633457, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300766706466675, -1.1501878499984741, 1.6001032590866089, -1.8000017404556274, 0.4199628233909607, 8.353004523087293e-05, -0.0004582767724059522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.733039379119873, -1.1495029926300049, -1.6000361442565918, -1.8005927801132202, -0.4200843572616577, -2.0373181541799568e-05, -0.00022949790582060814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730085015296936, -1.1501890420913696, 1.6001033782958984, -1.7999999523162842, 0.4199633002281189, 8.209193765651435e-05, -0.0004694220842793584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06972179178544113, -0.9974962414241997, -0.011837233410831304, -33.799842834472656], [0.997552186071915, 0.06977939537026878, -0.0045246043919070856, 11.143817901611328], [0.005339270865123299, -0.011492794540694238, 0.9999197007061488, 0.27739304304122925], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000011/gt/hand_left.mp4 b/agibot-challenge-2026/000011/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8e4c377822ebdaa6e503275c074714d57467cdcb --- /dev/null +++ b/agibot-challenge-2026/000011/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cabdb44bf52de9ac3f4da355840586f52075781b9153dcbc6d03836ca68bddf +size 11487346 diff --git a/agibot-challenge-2026/000011/gt/hand_right.mp4 b/agibot-challenge-2026/000011/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..49b7c1c84c6f320d46a958844a7c98e0c8214774 --- /dev/null +++ b/agibot-challenge-2026/000011/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6121142fe73e495592c162f0fd67f5b24cf8a5c2098989a13f8c501ff5b46c8 +size 16149907 diff --git a/agibot-challenge-2026/000011/gt/head.mp4 b/agibot-challenge-2026/000011/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7e59a8be53bc66e2963c0ad310a24dd619e7013e --- /dev/null +++ b/agibot-challenge-2026/000011/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5c042638590059c15446a9461863cc1a6dd53a23be2b6c74c5f79050d5da39b +size 10634860 diff --git a/agibot-challenge-2026/000011/meta.json b/agibot-challenge-2026/000011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edef39e4dedf97d04c0a39abc705dd8d03857536 --- /dev/null +++ b/agibot-challenge-2026/000011/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Frozen Food Area - Pushang Fresh Food.", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 159, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000011/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000011/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..3d10a5b84a76182f64b131e17ad16d2f2d938947 --- /dev/null +++ b/agibot-challenge-2026/000011/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000011/ref_images/hand_left.png b/agibot-challenge-2026/000011/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..caecacb4a38934475de47c11e56bebb983d1a080 --- /dev/null +++ b/agibot-challenge-2026/000011/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99c85d915f44aaf5cf1a872e600f8de2633eb55280970c64484dedcdb89406f4 +size 566766 diff --git a/agibot-challenge-2026/000011/ref_images/hand_right.png b/agibot-challenge-2026/000011/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..1c7dba295b1e81f1e2972c4d0da76f39d7ddac38 --- /dev/null +++ b/agibot-challenge-2026/000011/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:677d1eb8e38dec08d44f5b5b8bc15af56567b967cb8968100ad12fad90b5c09b +size 521238 diff --git a/agibot-challenge-2026/000011/ref_images/head.png b/agibot-challenge-2026/000011/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..209dc1b3abc29950f75b42f0563483461fc4d612 --- /dev/null +++ b/agibot-challenge-2026/000011/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:095084686a4379476b459af37dd6e730e4cfb4d4f94a58206a212a2957d06429 +size 476544 diff --git a/agibot-challenge-2026/000011/temporal.json b/agibot-challenge-2026/000011/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..7118c10dbb438a22d62d52b57e9b75c98ef562f5 --- /dev/null +++ b/agibot-challenge-2026/000011/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.3557564616203308, -1.2154970169067383, -1.6383957862854004, -1.2451175451278687, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490437030792236, -0.38064324855804443, 1.2158516645431519, -1.6406655311584473, 1.2415244579315186, 0.3290826082229614, 1.2775956392288208, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144158482551575, -0.35575616359710693, -1.2154971361160278, -1.6383955478668213, -1.2451176643371582, 0.3299484848976135, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490437626838684, -0.38064339756965637, 1.2158513069152832, -1.6406657695770264, 1.2415246963500977, 0.329083114862442, 1.2775958776474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.3557562530040741, -1.2154968976974487, -1.6383955478668213, -1.2451177835464478, 0.3299484848976135, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490438222885132, -0.3806435465812683, 1.215851902961731, -1.640665888786316, 1.2415250539779663, 0.3290824890136719, 1.2775958776474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.35575631260871887, -1.2154971361160278, -1.6383955478668213, -1.2451176643371582, 0.3299487233161926, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490437030792236, -0.3806433379650116, 1.2158516645431519, -1.6406657695770264, 1.2415250539779663, 0.32908299565315247, 1.2775957584381104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157290458679, -0.3557562232017517, -1.2154968976974487, -1.6383956670761108, -1.2451176643371582, 0.329948365688324, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490437030792236, -0.3806435465812683, 1.2158515453338623, -1.6406652927398682, 1.241524577140808, 0.3290826082229614, 1.2775965929031372, 0.4356000014713833, 0.4356000014713833, 0.4356000014713833, 0.4356000014713833, -0.4356000014713833, -0.4356000014713833, -0.4356000014713833, 0.4356000014713833, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.35575637221336365, -1.21549654006958, -1.6383962631225586, -1.2451177835464478, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490436434745789, -0.380643755197525, 1.215851068496704, -1.640666127204895, 1.241524577140808, 0.3290826082229614, 1.2775970697402954, 0.05399998308538081, 0.05399998308538081, 0.05399998308538081, 0.05399998308538081, -0.05399998308538081, -0.05399998308538081, -0.05399998308538081, 0.05399998308538081, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.3557564616203308, -1.2154967784881592, -1.6383960247039795, -1.2451179027557373, 0.3299486041069031, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.749043881893158, -0.3806438148021698, 1.2158511877059937, -1.6406656503677368, 1.2415246963500977, 0.3290828466415405, 1.2775973081588745, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.35575631260871887, -1.2154966592788696, -1.6383957862854004, -1.2451177835464478, 0.3299487233161926, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490437626838684, -0.3806436359882355, 1.2158515453338623, -1.6406657695770264, 1.2415249347686768, 0.3290824890136719, 1.277597188949585, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.35575640201568604, -1.2154970169067383, -1.6383956670761108, -1.2451177835464478, 0.3299487233161926, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7490439414978027, -0.3806435465812683, 1.2158511877059937, -1.6406656503677368, 1.2415250539779663, 0.329082727432251, 1.2775973081588745, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.3557565212249756, -1.2154967784881592, -1.6383960247039795, -1.2451177835464478, 0.3299487233161926, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.749043881893158, -0.3806435465812683, 1.2158516645431519, -1.640665888786316, 1.2415248155593872, 0.3290826082229614, 1.2775973081588745, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144156098365784, -0.35575637221336365, -1.2154970169067383, -1.6383955478668213, -1.2451177835464478, 0.3299486041069031, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7515960931777954, -0.3808424472808838, 1.2145416736602783, -1.6426987648010254, 1.2391420602798462, 0.3286341726779938, 1.2748147249221802, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415967464447, -0.35575491189956665, -1.2154971361160278, -1.6383955478668213, -1.2451177835464478, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7926568388938904, -0.3809948265552521, 1.202311635017395, -1.656678557395935, 1.1923776865005493, 0.3251352608203888, 1.2366780042648315, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157886505127, -0.35575881600379944, -1.2154972553253174, -1.6383966207504272, -1.2451175451278687, 0.3299487233161926, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8718464970588684, -0.37904515862464905, 1.1933135986328125, -1.680039882659912, 1.1581581830978394, 0.29162052273750305, 1.1770402193069458, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144155502319336, -0.3557368814945221, -1.2154991626739502, -1.6383823156356812, -1.2451194524765015, 0.3299486041069031, -1.2901705503463745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9806053638458252, -0.37149834632873535, 1.185034990310669, -1.7482059001922607, 1.0611170530319214, 0.20836180448532104, 1.113781452178955, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.7144159078598022, -0.3557629883289337, -1.215494155883789, -1.6384059190750122, -1.2451175451278687, 0.329948365688324, -1.2901651859283447, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1036421060562134, -0.36319348216056824, 1.1845076084136963, -1.7999299764633179, 1.0690675973892212, 0.16250692307949066, 1.0707690715789795, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2700035681083871, -0.9628424500312847, -0.00569996723608854, 44.01515197753906], [0.9628489008670963, 0.27002345661966776, -0.0030540095269928776, 4.3969316482543945], [0.004479654871096189, -0.004663613718921227, 0.9999790914810752, 1.1464084386825562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.3557492792606354, -1.2154953479766846, -1.6383912563323975, -1.2451170682907104, 0.3299488425254822, -1.2901638746261597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2543898820877075, -0.3500345051288605, 1.19440758228302, -1.8624873161315918, 1.1032233238220215, 0.11446492373943329, 1.027829647064209, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27006586167709346, -0.9628251974582924, -0.005662993555466781, 44.01554870605469], [0.9628315023860783, 0.27008555702299863, -0.0030479338155411408, 4.3941144943237305], [0.004464120246634103, -0.00462936572078389, 0.999979320087894, 1.1447343826293945], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144154906272888, -0.35574546456336975, -1.2154971361160278, -1.6383745670318604, -1.2451175451278687, 0.329948365688324, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3878631591796875, -0.3367290198802948, 1.2008095979690552, -1.9124534130096436, 1.1028008460998535, 0.08857911825180054, 1.018623948097229, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27003901383410944, -0.962832397934065, -0.005718784489698775, 44.015533447265625], [0.9628386931659658, 0.270059238525847, -0.0031078335371656257, 4.395363807678223], [0.004536733401550563, -0.0046670306810225855, 0.9999788182129987, 1.147448182106018], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144128680229187, -0.35575610399246216, -1.2154967784881592, -1.6384023427963257, -1.245118498802185, 0.3299484848976135, -1.290163516998291, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5125216245651245, -0.3250393569469452, 1.2042534351348877, -1.9436821937561035, 1.082212209701538, 0.0602429024875164, 0.9917015433311462, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27000774033746233, -0.9628411156939276, -0.00572765983017848, 44.015594482421875], [0.9628476733954278, 0.2700277766072272, -0.003059035398466746, 4.397122383117676], [0.004491992305112564, -0.004688900705935486, 0.9999789178854226, 1.147626280784607], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415967464447, -0.35575592517852783, -1.2154957056045532, -1.63839852809906, -1.2451180219650269, 0.3299487233161926, -1.2901651859283447, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6185404062271118, -0.31755778193473816, 1.2055929899215698, -1.9697645902633667, 1.04855477809906, 0.01835503801703453, 0.9399836659431458, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27001583713255073, -0.962838276025082, -0.005822535414739428, 44.01557540893555], [0.9628449960735368, 0.2700366016472092, -0.0031220677406545152, 4.396998882293701], [0.004578343997412076, -0.004763191353965454, 0.9999781751490213, 1.152100682258606], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144150733947754, -0.3557557463645935, -1.2154960632324219, -1.6383929252624512, -1.2451180219650269, 0.3299487233161926, -1.2901617288589478, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.700778603553772, -0.3147311508655548, 1.2020034790039062, -1.9917315244674683, 1.0088820457458496, -0.024113938212394714, 0.8874655365943909, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27005565314214863, -0.96282710538875, -0.0058231722186598755, 44.01585006713867], [0.9628336604613099, 0.27007659390999916, -0.003158433891697174, 4.39553689956665], [0.004613728280071507, -0.004753793295260317, 0.9999780572395894, 1.152323603630066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6234811544418335, 0.0, 0.0, 0.714415431022644, -0.35575607419013977, -1.2154958248138428, -1.6383963823318481, -1.2451179027557373, 0.3299486041069031, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7559852600097656, -0.3159349858760834, 1.1982828378677368, -2.0000429153442383, 0.9771475791931152, -0.0522208996117115, 0.834587037563324, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27008835799411524, -0.9628187511202907, -0.005686067815850248, 44.016353607177734], [0.9628246328110089, 0.27010869916277513, -0.003164978505344542, 4.394532203674316], [0.0045831570329290285, -0.004619862309339334, 0.9999788255477484, 1.1463059186935425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6234811544418335, 0.0, 0.0, 0.7144157290458679, -0.3557559549808502, -1.2154959440231323, -1.6383955478668213, -1.245118260383606, 0.3299484848976135, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7898043394088745, -0.32205730676651, 1.193509817123413, -2.003187656402588, 0.9603112936019897, -0.07723269611597061, 0.7656130194664001, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270137610229939, -0.9628049273509536, -0.005687126513688307, 44.0167350769043], [0.9628108392132637, 0.2701579299985867, -0.003159232870415783, 4.392746448516846], [0.0045781473008635245, -0.004622199433582251, 0.9999788376959223, 1.1463223695755005], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144158482551575, -0.35575616359710693, -1.2154961824417114, -1.63839590549469, -1.2451180219650269, 0.3299486041069031, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8087615966796875, -0.3313695192337036, 1.1836659908294678, -2.0073468685150146, 0.9474778771400452, -0.09625142067670822, 0.7063205242156982, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27015047463746056, -0.962800690197273, -0.005792409585813717, 44.016746520996094], [0.9628070385677784, 0.2701713345033281, -0.0031711980441537246, 4.392580032348633], [0.00461817469345261, -0.004720272062691402, 0.9999781955093595, 1.1510077714920044], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6234811544418335, 0.0, 0.0, 0.714415431022644, -0.35575631260871887, -1.2154955863952637, -1.6383960247039795, -1.2451181411743164, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8164184093475342, -0.343371719121933, 1.168931007385254, -2.0042269229888916, 0.9273130893707275, -0.11312736570835114, 0.6534706354141235, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144150733947754, -0.3557555079460144, -1.21549654006958, -1.6383965015411377, -1.245118260383606, 0.3299488425254822, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.813361406326294, -0.35847219824790955, 1.148133397102356, -1.9984992742538452, 0.9086025953292847, -0.12147318571805954, 0.6019056439399719, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.35575592517852783, -1.2154964208602905, -1.6383967399597168, -1.2451179027557373, 0.3299482464790344, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7983169555664062, -0.3760645389556885, 1.1245266199111938, -1.989839792251587, 0.8883233666419983, -0.1297019124031067, 0.5647498965263367, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.3557562232017517, -1.2154967784881592, -1.6383960247039795, -1.2451177835464478, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7753344774246216, -0.3945672810077667, 1.099962592124939, -1.9772942066192627, 0.8751139640808105, -0.12895949184894562, 0.5508099794387817, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157886505127, -0.35575607419013977, -1.2154964208602905, -1.6383963823318481, -1.2451180219650269, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7489184141159058, -0.4129636585712433, 1.077731728553772, -1.9628344774246216, 0.8674483895301819, -0.12396793812513351, 0.5442444086074829, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144154906272888, -0.35575711727142334, -1.2154967784881592, -1.638396143913269, -1.2451181411743164, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7238218784332275, -0.4303281009197235, 1.059216856956482, -1.947435736656189, 0.8643541932106018, -0.11701265722513199, 0.5379036664962769, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.3557566702365875, -1.2154966592788696, -1.6383954286575317, -1.2451177835464478, 0.3299482464790344, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.700836181640625, -0.44718337059020996, 1.0436147451400757, -1.930922269821167, 0.8674119710922241, -0.11092167347669601, 0.526353657245636, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.35575684905052185, -1.2154971361160278, -1.6383955478668213, -1.2451180219650269, 0.3299487233161926, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6787109375, -0.46361663937568665, 1.0311076641082764, -1.9163545370101929, 0.8837471604347229, -0.10473229736089706, 0.5193434357643127, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144154906272888, -0.3557567596435547, -1.21549654006958, -1.6383957862854004, -1.2451177835464478, 0.329948365688324, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.65694260597229, -0.4783547818660736, 1.0209537744522095, -1.9020631313323975, 0.8854035139083862, -0.09782926738262177, 0.5194138288497925, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6058962941169739, 1.233400583267212, -0.6234811544418335, 0.0, 0.0, 0.7144154906272888, -0.3557532727718353, -1.215497374534607, -1.6383954286575317, -1.2451177835464478, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6380548477172852, -0.4922664761543274, 1.009965181350708, -1.884400486946106, 0.8804903626441956, -0.08736272156238556, 0.5183060765266418, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702268123468391, -0.9627798942033111, -0.005687284653241556, 44.017276763916016], [0.962785802236413, 0.2702471360897878, -0.003159817598262092, 4.389245510101318], [0.00457918124262247, -0.004621769480242202, 0.9999788349490296, 1.1463242769241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.35575631260871887, -1.2154972553253174, -1.6383960247039795, -1.2451180219650269, 0.329948365688324, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.619640588760376, -0.5061023831367493, 1.0000090599060059, -1.869337797164917, 0.8793797492980957, -0.07807435095310211, 0.5180298686027527, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2701736250408534, -0.9627956672723716, -0.005542148846151834, 44.017154693603516], [0.9628009040519201, 0.2701932982632317, -0.003162393151004192, 4.391659736633301], [0.004542189900206187, -0.004481590698054122, 0.999979641720633, 1.1399539709091187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.714415431022644, -0.3557565212249756, -1.2154971361160278, -1.6383957862854004, -1.2451176643371582, 0.3299484848976135, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6017776727676392, -0.5191510915756226, 0.9932107329368591, -1.8529690504074097, 0.8768261671066284, -0.07472703605890274, 0.5192505717277527, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270197925819751, -0.9627883112432558, -0.005634591029012456, 44.01716232299805], [0.962793922552209, 0.2702180635803928, -0.0031718782123311756, 4.390617847442627], [0.004576415544446808, -0.004567915084875646, 0.9999790950677628, 1.1440688371658325], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.3557557165622711, -1.2154968976974487, -1.63839590549469, -1.2451176643371582, 0.3299484848976135, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5821269750595093, -0.5322827696800232, 0.9899735450744629, -1.8351707458496094, 0.8829916715621948, -0.07571981102228165, 0.5190926194190979, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702131150365178, -0.9627839700238252, -0.005647966662767843, 44.01747131347656], [0.9627897757433427, 0.2702331800351133, -0.0031426314123814973, 4.390190124511719], [0.0045519431395463, -0.004588624333300911, 0.9999791119520358, 1.1445307731628418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144151329994202, -0.35575565695762634, -1.2154970169067383, -1.6383951902389526, -1.2451180219650269, 0.3299482464790344, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.560823917388916, -0.5453824400901794, 0.987330436706543, -1.8155215978622437, 0.8866316676139832, -0.07362975925207138, 0.5163169503211975, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27027286975526055, -0.9627670500676228, -0.005673021976293348, 44.017642974853516], [0.9627728357688988, 0.2702931843344173, -0.0031719407109295217, 4.387710094451904], [0.004587219176022472, -0.004604541936858766, 0.9999788775838132, 1.1457582712173462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144157290458679, -0.3557559549808502, -1.2154970169067383, -1.6383955478668213, -1.2451179027557373, 0.329948365688324, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.536952257156372, -0.5591953992843628, 0.9820756912231445, -1.7942681312561035, 0.8867049813270569, -0.06567259132862091, 0.51240074634552, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27023759900004807, -0.9627761890857781, -0.005800846158563595, 44.01746368408203], [0.9627825218373479, 0.2702585531588435, -0.003182780074949635, 4.3896379470825195], [0.00463203316116859, -0.004724846447732766, 0.9999781098078293, 1.1514381170272827], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144153118133545, -0.35575592517852783, -1.2154972553253174, -1.638396143913269, -1.2451181411743164, 0.329948365688324, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.508000135421753, -0.5742694735527039, 0.9751648902893066, -1.7724525928497314, 0.884048581123352, -0.05530755594372749, 0.5050072073936462, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27021690334465165, -0.9627818888462646, -0.005818905089985692, 44.01753234863281], [0.9627884536157859, 0.2702377910271465, -0.0031511719870616264, 4.390977382659912], [0.004606379375496982, -0.004750874697074144, 0.9999781049896351, 1.152094841003418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.35575586557388306, -1.2154970169067383, -1.6383956670761108, -1.2451180219650269, 0.329948365688324, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.473853588104248, -0.5907184481620789, 0.9653269052505493, -1.74823796749115, 0.8794231414794922, -0.04431622475385666, 0.503892183303833, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27027886736851103, -0.9627637663440101, -0.00593835575652902, 44.01774978637695], [0.9627708159931331, 0.2703003998685749, -0.003170126622880611, 4.388490200042725], [0.004657222982783602, -0.0048604573843240295, 0.9999773428573788, 1.1574313640594482], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.35575631260871887, -1.2154967784881592, -1.6383955478668213, -1.2451179027557373, 0.3299482464790344, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.435973882675171, -0.6085664629936218, 0.9532040357589722, -1.7179646492004395, 0.8767133951187134, -0.03307022899389267, 0.5017397999763489, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27027715577689027, -0.9627642568819644, -0.005936727690694675, 44.01800537109375], [0.9627713065669384, 0.270298672427694, -0.0031684278777418303, 4.388941287994385], [0.004655138724557713, -0.0048593574004219655, 0.9999773579082228, 1.1573610305786133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144150137901306, -0.35575586557388306, -1.2154971361160278, -1.6383956670761108, -1.245118260383606, 0.3299488425254822, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3959803581237793, -0.6286685466766357, 0.9362179636955261, -1.6811476945877075, 0.8771327137947083, -0.021550511941313744, 0.4987345337867737, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27025212220109285, -0.9627714052535734, -0.0059170661535172305, 44.01797103881836], [0.962778313426579, 0.27027359575926546, -0.003178463595680303, 4.3904595375061035], [0.004659360608216998, -0.004837836439645297, 0.9999774425942346, 1.156540036201477], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.714415431022644, -0.3557545244693756, -1.2154972553253174, -1.6383953094482422, -1.2451177835464478, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.352831482887268, -0.6502590775489807, 0.9169484972953796, -1.6422662734985352, 0.8725021481513977, -0.014472869224846363, 0.4941004812717438, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27026676843674013, -0.9627670477621791, -0.005956980951739297, 44.01809310913086], [0.9627741690506468, 0.2702884078501353, -0.0031742701011937924, 4.3901591300964355], [0.0046661855511653, -0.0048773276634663226, 0.9999772189341442, 1.158278465270996], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144156694412231, -0.3557564616203308, -1.21549654006958, -1.6383957862854004, -1.2451177835464478, 0.3299484848976135, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3082138299942017, -0.6731125116348267, 0.896620512008667, -1.6027101278305054, 0.8701695203781128, -0.00863595213741064, 0.4911438524723053, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27021504511874284, -0.9627816825882769, -0.005938102724106908, 44.01793670654297], [0.9627885684548473, 0.270236746340741, -0.00320521135586291, 4.392867565155029], [0.0046906123418484855, -0.004851041089941117, 0.999977232518922, 1.1575970649719238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144154906272888, -0.3557567000389099, -1.2154971361160278, -1.63839590549469, -1.2451177835464478, 0.3299488425254822, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2622144222259521, -0.6967613697052002, 0.876971423625946, -1.5620819330215454, 0.8699381351470947, -0.005340650212019682, 0.4880521595478058, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702010990906627, -0.9627859629850306, -0.005878395119843958, 44.01805114746094], [0.9627923811563922, 0.2702227043695177, -0.0032435829615202285, 4.393843650817871], [0.004711351971765899, -0.00478325435361817, 0.9999774615662028, 1.1551378965377808], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144156694412231, -0.35575610399246216, -1.2154967784881592, -1.6383953094482422, -1.2451179027557373, 0.3299488425254822, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2143793106079102, -0.7216134667396545, 0.8562006950378418, -1.5170187950134277, 0.8710685968399048, -0.0014595587272197008, 0.4865269362926483, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702747143512506, -0.9627653786063338, -0.005865538283283984, 44.01851272583008], [0.9627716259328355, 0.2702963684437527, -0.0032664207878583124, 4.390816688537598], [0.004730230543449472, -0.004764342884579222, 0.9999774627239776, 1.1546586751937866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153118133545, -0.3557562530040741, -1.21549654006958, -1.6383963823318481, -1.2451175451278687, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1677228212356567, -0.7471185922622681, 0.834472119808197, -1.4697484970092773, 0.8677089214324951, 0.00020672788377851248, 0.48338204622268677, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144151926040649, -0.3557548522949219, -1.215497374534607, -1.6383945941925049, -1.2451177835464478, 0.3299487233161926, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1234185695648193, -0.7730080485343933, 0.8125362992286682, -1.418015956878662, 0.8674308061599731, 0.0022034195717424154, 0.4832552373409271, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.714415967464447, -0.3557574152946472, -1.2154964208602905, -1.638396978378296, -1.2451176643371582, 0.329948365688324, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0812524557113647, -0.7984076142311096, 0.7932497262954712, -1.3652156591415405, 0.8633723258972168, -0.0019535485189408064, 0.4816598892211914, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144156098365784, -0.3557545244693756, -1.2154971361160278, -1.6383944749832153, -1.2451177835464478, 0.3299487233161926, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0425461530685425, -0.8230850100517273, 0.7770843505859375, -1.3156144618988037, 0.8623079061508179, -0.008028351701796055, 0.48066821694374084, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144156694412231, -0.3557572066783905, -1.2154967784881592, -1.6383967399597168, -1.2451179027557373, 0.3299484848976135, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.009743332862854, -0.8462498188018799, 0.762937068939209, -1.272173523902893, 0.8608648777008057, -0.01124491821974516, 0.478624165058136, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.714415431022644, -0.35575607419013977, -1.2154972553253174, -1.63839590549469, -1.2451181411743164, 0.329948365688324, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9880629777908325, -0.8671927452087402, 0.749596357345581, -1.2359555959701538, 0.8593066930770874, -0.011033277027308941, 0.4773916006088257, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.714415431022644, -0.3557555079460144, -1.2154974937438965, -1.6383955478668213, -1.2451179027557373, 0.3299482464790344, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9693729281425476, -0.8859599232673645, 0.7433928847312927, -1.2060134410858154, 0.8564890623092651, -0.018478475511074066, 0.46759581565856934, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.7144149541854858, -0.3557541072368622, -1.2154978513717651, -1.638396143913269, -1.2451176643371582, 0.3299486041069031, -1.2901631593704224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9507065415382385, -0.9021981954574585, 0.74573814868927, -1.1750030517578125, 0.8577098846435547, -0.032193463295698166, 0.45923465490341187, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144150733947754, -0.3557530641555786, -1.2154974937438965, -1.6383949518203735, -1.2451179027557373, 0.3299482464790344, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9319054484367371, -0.9176128506660461, 0.7454749941825867, -1.1459351778030396, 0.8627285361289978, -0.025740796700119972, 0.4654025733470917, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144153118133545, -0.3557586967945099, -1.2154970169067383, -1.638396978378296, -1.2451176643371582, 0.3299484848976135, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9126339554786682, -0.9344016313552856, 0.7407889366149902, -1.123034954071045, 0.857806384563446, -0.022680865600705147, 0.4676275849342346, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.3557567000389099, -1.21549654006958, -1.6383956670761108, -1.2451177835464478, 0.3299486041069031, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8930051922798157, -0.9520167112350464, 0.734785795211792, -1.1016031503677368, 0.8524206876754761, -0.021315861493349075, 0.46351194381713867, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.3557566702365875, -1.2154971361160278, -1.6383957862854004, -1.245118260383606, 0.3299484848976135, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8702298402786255, -0.9707465767860413, 0.728778600692749, -1.0781389474868774, 0.8481111526489258, -0.01720275543630123, 0.45502686500549316, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.7144156694412231, -0.3557566702365875, -1.2154970169067383, -1.6383957862854004, -1.2451180219650269, 0.3299484848976135, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.847020149230957, -0.9896827340126038, 0.7230702638626099, -1.0503262281417847, 0.8477901816368103, -0.009811005555093288, 0.45108598470687866, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702126319620599, -0.9627826780863568, -0.005886281083921101, 44.01830291748047], [0.9627888462970788, 0.2702345643505256, -0.0033041907059644525, 4.39393949508667], [0.004771894181154664, -0.004774411706605484, 0.9999772167498516, 1.1557471752166748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.7144153714179993, -0.3557569086551666, -1.2154967784881592, -1.6383956670761108, -1.2451177835464478, 0.3299481272697449, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8274112343788147, -1.00754976272583, 0.7170199155807495, -1.0213502645492554, 0.84309983253479, -0.007281135767698288, 0.45278942584991455, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27019085858941816, -0.9627887155465431, -0.005898232866790338, 44.0181884765625], [0.9627949075815381, 0.27021288174226143, -0.0033112649547169305, 4.3949384689331055], [0.004781827032708532, -0.004784115046743776, 0.9999771229250441, 1.1563091278076172], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.35575637221336365, -1.2154967784881592, -1.6383957862854004, -1.2451180219650269, 0.3299484848976135, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.81136155128479, -1.0237371921539307, 0.7135671377182007, -0.9935086369514465, 0.8375644087791443, -0.007569955661892891, 0.455911785364151, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702722113749416, -0.9627664435468805, -0.005805767700356703, 44.0187873840332], [0.9627721644268457, 0.2702938246524851, -0.0033177943846288828, 4.391436576843262], [0.004763524256882236, -0.004692923909810881, 0.9999776424009843, 1.1522572040557861], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.3557565212249756, -1.2154970169067383, -1.6383955478668213, -1.2451175451278687, 0.3299487233161926, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7987917065620422, -1.0378445386886597, 0.7139377593994141, -0.9711740016937256, 0.8342303037643433, -0.012713105417788029, 0.46282657980918884, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2703677775322485, -0.9627399964948072, -0.00574143026180557, 44.01939010620117], [0.9627454720516452, 0.2703890299966124, -0.0033058284205746873, 4.387432098388672], [0.004735073001319314, -0.004633746504679881, 0.9999780534976768, 1.1493602991104126], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.7144158482551575, -0.3557565212249756, -1.21549654006958, -1.6383962631225586, -1.2451176643371582, 0.3299487233161926, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7965107560157776, -1.0464401245117188, 0.720903754234314, -0.9659852385520935, 0.8331189751625061, -0.02323956973850727, 0.4853084981441498, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27036961742727583, -0.9627395234143133, -0.0057341109345255175, 44.0195198059082], [0.9627448526316205, 0.2703909447924069, -0.003329520324144838, 4.3877339363098145], [0.004755912483196297, -0.004620284650377753, 0.9999780168914723, 1.1491457223892212], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6232894062995911, 0.0, 0.0, 0.7144152522087097, -0.35575631260871887, -1.2154967784881592, -1.6383955478668213, -1.2451180219650269, 0.3299487233161926, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.807108461856842, -1.0452523231506348, 0.7412170171737671, -0.9775001406669617, 0.832482635974884, -0.030595246702432632, 0.5195941925048828, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2703985102565958, -0.962731934350807, -0.005645195494142909, 44.01982498168945], [0.9627367971109133, 0.2704194722275596, -0.0033419348868928282, 4.3868489265441895], [0.0047439582242803004, -0.004531183214305739, 0.999978481387997, 1.1452833414077759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.3557562530040741, -1.2154967784881592, -1.6383954286575317, -1.2451179027557373, 0.3299487233161926, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8302966356277466, -1.0316067934036255, 0.7812458872795105, -1.0121400356292725, 0.8335757255554199, -0.01699686609208584, 0.5736669898033142, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704463247047548, -0.962718851209336, -0.005585604700178174, 44.02016830444336], [0.9627234016898109, 0.2704670452656862, -0.0033510094073867713, 4.385087966918945], [0.00473680192635039, -0.0044711241791713175, 0.9999787856530182, 1.1426912546157837], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144150733947754, -0.3557550013065338, -1.2154970169067383, -1.6383960247039795, -1.2451180219650269, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8467411994934082, -1.0222386121749878, 0.8060820698738098, -1.0373560190200806, 0.8465448021888733, 0.008816554211080074, 0.6245758533477783, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2703254696672338, -0.9627524825921723, -0.005638945982955707, 44.01966094970703], [0.9627573619642741, 0.27034636023297953, -0.0033327904782422778, 4.391078472137451], [0.004733120828929762, -0.004527998607476148, 0.9999785471678028, 1.1449666023254395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.35575374960899353, -1.215497374534607, -1.6383963823318481, -1.2451175451278687, 0.3299486041069031, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8481888771057129, -1.0213128328323364, 0.8083498477935791, -1.0392186641693115, 0.8476369380950928, 0.010611431673169136, 0.6242831945419312, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27037246103733137, -0.9627390001463089, -0.005687698119846223, 44.020076751708984], [0.9627439766327965, 0.2703937017926936, -0.003358792657089711, 4.3893022537231445], [0.004771558433689876, -0.0045676720689761694, 0.9999781840630245, 1.1472171545028687], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144157290458679, -0.3557545244693756, -1.2154967784881592, -1.6383957862854004, -1.2451177835464478, 0.329948365688324, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8483057022094727, -1.0212740898132324, 0.8085451126098633, -1.0394272804260254, 0.8477640748023987, 0.01075308583676815, 0.6243960857391357, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27040457598463985, -0.9627294883118582, -0.005770409115019594, 44.02012634277344], [0.9627348280042889, 0.270426229142811, -0.0033623710610561873, 4.388238430023193], [0.004797523748711277, -0.004646173305794848, 0.9999776981710607, 1.1508700847625732], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.3557542562484741, -1.2154970169067383, -1.6383957862854004, -1.2451177835464478, 0.329948365688324, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8483167886734009, -1.0212669372558594, 0.8085618615150452, -1.0394470691680908, 0.8477764129638672, 0.01077022310346365, 0.6244189739227295, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704546411751534, -0.9627157762807068, -0.0057114942926532125, 44.02061462402344], [0.962720842845101, 0.27047601237403396, -0.0033623625414088056, 4.386394500732422], [0.004781821665163444, -0.004589208044690589, 0.9999780364343435, 1.1482722759246826], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.3557546138763428, -1.2154968976974487, -1.63839590549469, -1.2451177835464478, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8483173251152039, -1.0212613344192505, 0.8085632920265198, -1.039452075958252, 0.8477783203125, 0.010771661065518856, 0.6244248747825623, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704930166094246, -0.9627047056590204, -0.005760005860410603, 44.02092742919922], [0.9627100197070378, 0.2705145965363762, -0.0033572334497778823, 4.385006904602051], [0.004790190101473171, -0.004637107152096062, 0.9999777754110597, 1.150381326675415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144154906272888, -0.3557550609111786, -1.2154968976974487, -1.6383957862854004, -1.2451175451278687, 0.3299488425254822, -1.2901619672775269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8483165502548218, -1.0212643146514893, 0.8085625767707825, -1.0394521951675415, 0.8477783203125, 0.010771301575005054, 0.6244246363639832, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27050994759078595, -0.9626995467826306, -0.005826738276939456, 44.02103805541992], [0.962705325573221, 0.2705316971467505, -0.003325199521449335, 4.384648323059082], [0.004777485467151459, -0.004709932421654782, 0.9999774958313785, 1.1531785726547241], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2335922718048096, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.35575541853904724, -1.2154967784881592, -1.6383960247039795, -1.2451180219650269, 0.3299487233161926, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8483152389526367, -1.0212661027908325, 0.808561384677887, -1.0394515991210938, 0.8477780818939209, 0.010770942084491253, 0.6244238018989563, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27058120712710176, -0.9626793509929304, -0.0058547008011126805, 44.02149200439453], [0.9626853962778509, 0.27060295567743786, -0.0032966910670512643, 4.381793022155762], [0.004757955758241257, -0.004744212312359549, 0.9999774268984964, 1.1542761325836182], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157290458679, -0.3557557165622711, -1.2154971361160278, -1.6383956670761108, -1.2451177835464478, 0.3299486041069031, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8483142852783203, -1.0212676525115967, 0.8085600733757019, -1.039450764656067, 0.8477779626846313, 0.010771062225103378, 0.6244229674339294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144155502319336, -0.35575437545776367, -1.2154970169067383, -1.6383942365646362, -1.2451181411743164, 0.3299488425254822, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8557734489440918, -1.0219357013702393, 0.8098031878471375, -1.0427742004394531, 0.8454837203025818, 0.012704596854746342, 0.6136186718940735, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.35575830936431885, -1.2154968976974487, -1.6383945941925049, -1.2451180219650269, 0.3299488425254822, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8767690658569336, -1.026775598526001, 0.8132163286209106, -1.0566716194152832, 0.8476046919822693, 0.02575601637363434, 0.5863430500030518, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157886505127, -0.3557591438293457, -1.2154966592788696, -1.6383949518203735, -1.2451180219650269, 0.32994896173477173, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8901068568229675, -1.0350135564804077, 0.8074551224708557, -1.0604227781295776, 0.8447548151016235, 0.041872523725032806, 0.5815003514289856, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.3557579219341278, -1.2154968976974487, -1.6383953094482422, -1.245118260383606, 0.329948365688324, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8937427997589111, -1.046194314956665, 0.7963679432868958, -1.0479657649993896, 0.8393517136573792, 0.05579327791929245, 0.5820891261100769, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153714179993, -0.3557579219341278, -1.2154970169067383, -1.6383954286575317, -1.2451180219650269, 0.3299484848976135, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8909070491790771, -1.0590171813964844, 0.7860637903213501, -1.0276249647140503, 0.8279910683631897, 0.04534459114074707, 0.5809503793716431, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.35575735569000244, -1.2154970169067383, -1.6383951902389526, -1.2451177835464478, 0.3299484848976135, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8822923302650452, -1.07301664352417, 0.7795679569244385, -0.9985922574996948, 0.8231287002563477, 0.03323093801736832, 0.567922830581665, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144160270690918, -0.3557594418525696, -1.2154964208602905, -1.6383986473083496, -1.2451171875, 0.3299484848976135, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8712275624275208, -1.0895665884017944, 0.7741566300392151, -0.9651221036911011, 0.8263386487960815, 0.01747240126132965, 0.5474032163619995, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157886505127, -0.3557533621788025, -1.215498685836792, -1.6383949518203735, -1.2451177835464478, 0.3299488425254822, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8561252355575562, -1.1063648462295532, 0.7703877091407776, -0.925579309463501, 0.8349904417991638, 0.003837109077721834, 0.5355628132820129, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.3557492792606354, -1.2154990434646606, -1.6383920907974243, -1.2451177835464478, 0.3299486041069031, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8399327993392944, -1.1230323314666748, 0.7648354172706604, -0.8861651420593262, 0.8346241116523743, -0.010569727048277855, 0.5296514630317688, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27060472880966135, -0.9626730546106501, -0.00580264357424006, 44.021732330322266], [0.9626787600341862, 0.27062632262051034, -0.003316396228000717, 4.380978107452393], [0.004762953379082811, -0.004688649219066241, 0.9999776651723824, 1.1520684957504272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.35575607419013977, -1.2154979705810547, -1.638394832611084, -1.2451177835464478, 0.3299484848976135, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8243725895881653, -1.1387460231781006, 0.7609379887580872, -0.8519424796104431, 0.8354701995849609, -0.018713846802711487, 0.5290992259979248, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27057871005707157, -0.9626806398228872, -0.005757375621556598, 44.02165985107422], [0.9626862577301801, 0.2705999675390641, -0.0032904019995078954, 4.38221549987793], [0.004725551958464183, -0.004652233662867236, 0.9999780126985962, 1.1499663591384888], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.355756014585495, -1.2154980897903442, -1.6383953094482422, -1.2451177835464478, 0.3299486041069031, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8098021745681763, -1.1532926559448242, 0.7586366534233093, -0.8214130401611328, 0.8333151936531067, -0.027580495923757553, 0.5259333252906799, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27054832812300245, -0.9626890349557298, -0.005781360207948841, 44.02164840698242], [0.9626945944832508, 0.27056986692943585, -0.00332638881020216, 4.383698463439941], [0.004766539895716909, -0.004665735289665654, 0.9999777552584004, 1.1511828899383545], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144161462783813, -0.35575592517852783, -1.2154978513717651, -1.6383945941925049, -1.2451177835464478, 0.3299484848976135, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7964372038841248, -1.1669560670852661, 0.7585530281066895, -0.7916646003723145, 0.8309471011161804, -0.03508441895246506, 0.5164942145347595, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27059352947214943, -0.9626762948274361, -0.005787329705849616, 44.02192306518555], [0.9626817304839144, 0.2706152440556451, -0.0033578977351492725, 4.381845951080322], [0.00479870819086192, -0.004662731176347693, 0.9999776154183033, 1.1515824794769287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.3557557165622711, -1.2154977321624756, -1.6383947134017944, -1.2451177835464478, 0.3299486041069031, -1.2901631593704224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7853477001190186, -1.179959774017334, 0.7598537802696228, -0.765212893486023, 0.8287200331687927, -0.04606759920716286, 0.5061779618263245, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27057975879826446, -0.9626786976431143, -0.006026544020451027, 44.02165603637695], [0.9626853026157273, 0.27060260275374093, -0.003352537929221893, 4.382755279541016], [0.004858215345046518, -0.0048945364498040045, 0.9999762203455653, 1.1620957851409912], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157290458679, -0.35575610399246216, -1.2154979705810547, -1.6383956670761108, -1.2451177835464478, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7772737741470337, -1.1915611028671265, 0.7622531652450562, -0.7421221733093262, 0.8290432691574097, -0.05355198681354523, 0.5093511343002319, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705892310216087, -0.9626766340490378, -0.005930118982738335, 44.021812438964844], [0.9626826571737482, 0.27061172091365904, -0.003376104417742888, 4.3826518058776855], [0.004854856540212388, -0.00479528520141332, 0.9999767175328689, 1.157952070236206], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415967464447, -0.355756014585495, -1.2154978513717651, -1.6383953094482422, -1.245117425918579, 0.3299484848976135, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7717827558517456, -1.200901985168457, 0.7673541307449341, -0.7221469879150391, 0.8288153409957886, -0.06298177689313889, 0.5152380466461182, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27052895981197567, -0.962694045330113, -0.00585294703483879, 44.02180862426758], [0.9626997901162028, 0.27055098984931814, -0.003357975844624519, 4.38576602935791], [0.004816223963793647, -0.004726201169680544, 0.9999772332454546, 1.1544864177703857], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.35575610399246216, -1.2154978513717651, -1.6383954286575317, -1.2451176643371582, 0.3299484848976135, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7683039903640747, -1.2082253694534302, 0.7741303443908691, -0.7022086977958679, 0.8260332942008972, -0.06987186521291733, 0.5208611488342285, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705571332970448, -0.9626858948033264, -0.005891143250979825, 44.02196502685547], [0.9626916960195969, 0.27057946977258096, -0.003383630077447522, 4.384739875793457], [0.004851395365995456, -0.004755889433888311, 0.9999769224730616, 1.1562763452529907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.35575616359710693, -1.215497612953186, -1.6383956670761108, -1.2451179027557373, 0.3299484848976135, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7650482654571533, -1.2145134210586548, 0.7821457386016846, -0.6855685114860535, 0.8213515281677246, -0.07785192131996155, 0.5215720534324646, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27059377811665686, -0.9626756962714201, -0.005874610871356898, 44.02223587036133], [0.9626815438990658, 0.27061591126054263, -0.0033576195045347612, 4.383396148681641], [0.004822061868595839, -0.004746828516233856, 0.9999771074071511, 1.155430793762207], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144158482551575, -0.3557557165622711, -1.2154977321624756, -1.63839590549469, -1.2451180219650269, 0.3299486041069031, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7611097097396851, -1.220537781715393, 0.7909685373306274, -0.6734740138053894, 0.818819522857666, -0.08232491463422775, 0.522043764591217, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705764011345725, -0.962680818307619, -0.0058355129711140305, 44.02228546142578], [0.962686576385999, 0.2705982527129219, -0.003337854837738115, 4.384530544281006], [0.004792368440252822, -0.004714625254113053, 0.9999774025013995, 1.1536287069320679], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.35575592517852783, -1.2154974937438965, -1.63839590549469, -1.2451179027557373, 0.3299484848976135, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7583746314048767, -1.2258002758026123, 0.7990918159484863, -0.6662281155586243, 0.8144432306289673, -0.08367505669593811, 0.5260099172592163, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27058590625785794, -0.9626779859935171, -0.0058619636709725574, 44.02233123779297], [0.962684170826679, 0.270607584121498, -0.0032745466367229917, 4.384467601776123], [0.004738625788492206, -0.00475717346672502, 0.9999774571090311, 1.1545169353485107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.3557557463645935, -1.2154974937438965, -1.6383956670761108, -1.2451177835464478, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7570837140083313, -1.2286113500595093, 0.8103492259979248, -0.6593978404998779, 0.8085585236549377, -0.09080279618501663, 0.5307447910308838, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705990374355528, -0.9626749146485631, -0.005759309449393782, 44.022586822509766], [0.9626804197629444, 0.2706204232651025, -0.003316009176426861, 4.383995532989502], [0.004750825611800231, -0.004647065547018529, 0.999977916975074, 1.1501795053482056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144159078598022, -0.3557559549808502, -1.2154972553253174, -1.6383954286575317, -1.2451179027557373, 0.3299488425254822, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7586358189582825, -1.2294050455093384, 0.8238329887390137, -0.650842547416687, 0.8026785850524902, -0.09723592549562454, 0.5354765057563782, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705990374355528, -0.9626749146485631, -0.005759309449393782, 44.022586822509766], [0.9626804197629444, 0.2706204232651025, -0.003316009176426861, 4.383995532989502], [0.004750825611800231, -0.004647065547018529, 0.999977916975074, 1.1501795053482056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144160270690918, -0.3557591140270233, -1.215496301651001, -1.6383960247039795, -1.2451179027557373, 0.3299484848976135, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7607219815254211, -1.2289363145828247, 0.8404909372329712, -0.644487738609314, 0.7993955016136169, -0.10385768860578537, 0.5396468639373779, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705990374355528, -0.9626749146485631, -0.005759309449393782, 44.022586822509766], [0.9626804197629444, 0.2706204232651025, -0.003316009176426861, 4.383995532989502], [0.004750825611800231, -0.004647065547018529, 0.999977916975074, 1.1501795053482056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144157290458679, -0.3557562232017517, -1.21549654006958, -1.63839590549469, -1.2451177835464478, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7620331048965454, -1.2265087366104126, 0.8570514917373657, -0.6425057053565979, 0.7917019724845886, -0.10213255882263184, 0.5474843382835388, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705990374355528, -0.9626749146485631, -0.005759309449393782, 44.022586822509766], [0.9626804197629444, 0.2706204232651025, -0.003316009176426861, 4.383995532989502], [0.004750825611800231, -0.004647065547018529, 0.999977916975074, 1.1501795053482056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6056087017059326, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144133448600769, -0.3557785451412201, -1.215493083000183, -1.6384141445159912, -1.2451180219650269, 0.3299487233161926, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7637835741043091, -1.2201347351074219, 0.8792304396629333, -0.657540500164032, 0.7919784784317017, -0.08948369324207306, 0.5835313200950623, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705990374355528, -0.9626749146485631, -0.005759309449393782, 44.022586822509766], [0.9626804197629444, 0.2706204232651025, -0.003316009176426861, 4.383995532989502], [0.004750825611800231, -0.004647065547018529, 0.999977916975074, 1.1501795053482056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6232894062995911, 0.0, 0.0, 0.7144160270690918, -0.3557575047016144, -1.2154927253723145, -1.6383920907974243, -1.245117425918579, 0.3299484848976135, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7638510465621948, -1.2061307430267334, 0.9136624336242676, -0.6883183717727661, 0.8004521727561951, -0.0599081814289093, 0.6520880460739136, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705990374355528, -0.9626749146485631, -0.005759309449393782, 44.022586822509766], [0.9626804197629444, 0.2706204232651025, -0.003316009176426861, 4.383995532989502], [0.004750825611800231, -0.004647065547018529, 0.999977916975074, 1.1501795053482056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144172191619873, -0.3557579219341278, -1.2154932022094727, -1.638391375541687, -1.2451175451278687, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7702111005783081, -1.1846920251846313, 0.9574171900749207, -0.7403045296669006, 0.8025109171867371, -0.014745150692760944, 0.7435365319252014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27063994885527076, -0.9626636137091249, -0.005725812091320623, 44.02293014526367], [0.9626685589665009, 0.2706615646013373, -0.0034004448115807747, 4.382026672363281], [0.004823241749784888, -0.0045917630649732, 0.9999778257796411, 1.1490753889083862], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144163250923157, -0.35575830936431885, -1.21549391746521, -1.638401985168457, -1.245117425918579, 0.3299487233161926, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7896914482116699, -1.1594264507293701, 1.0058356523513794, -0.8080097436904907, 0.798892617225647, 0.03711837902665138, 0.8352500200271606, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705805804738538, -0.9626804482751261, -0.005701226116750386, 44.0228385925293], [0.9626857982030158, 0.2706015810858239, -0.0032921500686364518, 4.38506555557251], [0.004712049305184373, -0.004597697538361038, 0.999978328649522, 1.1475340127944946], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.3557552099227905, -1.2154951095581055, -1.638393759727478, -1.245117425918579, 0.3299484848976135, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8123898506164551, -1.1354824304580688, 1.0592044591903687, -0.8902395367622375, 0.8016059994697571, 0.09257298707962036, 0.9034425616264343, 0.19739999456720037, 0.19739999456720037, 0.19739999456720037, 0.19739999456720037, -0.19739999456720037, -0.19739999456720037, -0.19739999456720037, 0.19739999456720037, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706673111947214, -0.9626558727953084, -0.005733866350249506, 44.0233268737793], [0.9626611843491175, 0.27068864868935194, -0.003331608963674227, 4.381328582763672], [0.004759285468852871, -0.004618012931480807, 0.9999780113374447, 1.149137258529663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144171595573425, -0.3557588458061218, -1.215495228767395, -1.6383947134017944, -1.2451177835464478, 0.3299488425254822, -1.2901614904403687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8368623852729797, -1.1128499507904053, 1.1140228509902954, -0.9779277443885803, 0.8046941757202148, 0.14673054218292236, 0.9696885943412781, 0.5045999954034994, 0.5045999954034994, 0.5045999954034994, 0.5045999954034994, -0.5045999954034994, -0.5045999954034994, -0.5045999954034994, 0.5045999954034994, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707475891361377, -0.9626331202171057, -0.0057635785800639995, 44.023963928222656], [0.9626385986368261, 0.2707690383615442, -0.0033250983883509034, 4.377906799316406], [0.004761448466252223, -0.004647980835159573, 0.9999778621962885, 1.1504091024398804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144157886505127, -0.355756014585495, -1.2154980897903442, -1.6384012699127197, -1.2451180219650269, 0.3299487233161926, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8543499708175659, -1.0872446298599243, 1.1749767065048218, -1.0689072608947754, 0.7930578589439392, 0.22240959107875824, 1.0405547618865967, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27074709962020604, -0.9626331877961811, -0.005775274937916744, 44.023963928222656], [0.9626387716352245, 0.27076855463421523, -0.0033143877148521924, 4.378293991088867], [0.00475430245909559, -0.0046621427112787965, 0.9999778302709851, 1.1508606672286987], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144145965576172, -0.35575661063194275, -1.2154985666275024, -1.6384012699127197, -1.2451176643371582, 0.3299484848976135, -1.2901614904403687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8685511350631714, -1.0621063709259033, 1.2372183799743652, -1.1560165882110596, 0.7774614691734314, 0.3067300021648407, 1.1088111400604248, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27074302146044027, -0.9626342357605396, -0.005791758989568133, 44.02386474609375], [0.9626397234150424, 0.27076472437767063, -0.0033506620382433494, 4.378886699676514], [0.0047936660169485504, -0.004668208907677652, 0.9999776140452906, 1.151755928993225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144149541854858, -0.3557552099227905, -1.2154983282089233, -1.6383919715881348, -1.2451179027557373, 0.3299484848976135, -1.2901602983474731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.872058629989624, -1.038049340248108, 1.298228144645691, -1.2362852096557617, 0.7562774419784546, 0.3882000744342804, 1.178362250328064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706444066900333, -0.9626626575320978, -0.005675642751189896, 44.02368927001953], [0.9626676243061475, 0.2706655423040354, -0.003348032559660693, 4.383812427520752], [0.004759226844561735, -0.004557631238010102, 0.9999782886429787, 1.146644949913025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144141793251038, -0.3557495176792145, -1.2154992818832397, -1.6383922100067139, -1.2451179027557373, 0.3299487233161926, -1.2901612520217896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8680441379547119, -1.0164470672607422, 1.355639934539795, -1.296933650970459, 0.7462705373764038, 0.4683140218257904, 1.2477139234542847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270594992932925, -0.9626757495786417, -0.005809558746654837, 44.023406982421875], [0.9626814007308931, 0.2706167050967554, -0.0033346078302238166, 4.386425018310547], [0.004782309738597288, -0.0046904259696046, 0.9999775644572171, 1.1524912118911743], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.233400583267212, -0.6234811544418335, 0.0, 0.0, 0.714414656162262, -0.3557552993297577, -1.2154983282089233, -1.6383951902389526, -1.245118260383606, 0.3299486041069031, -1.2901618480682373, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8637334704399109, -0.998056948184967, 1.3892964124679565, -1.339977741241455, 0.724922776222229, 0.5022805333137512, 1.3095535039901733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27051494980117496, -0.9626988478920618, -0.005708782826889922, 44.02314758300781], [0.9627036234666407, 0.2705365722697375, -0.003420004201975508, 4.390410423278809], [0.004836868642846973, -0.004570703648013848, 0.9999778564397783, 1.1484520435333252], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6234811544418335, 0.0, 0.0, 0.7144152522087097, -0.35575640201568604, -1.215497612953186, -1.6383951902389526, -1.2451175451278687, 0.3299484848976135, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8598154783248901, -0.9791065454483032, 1.3874605894088745, -1.3691707849502563, 0.7264124155044556, 0.49462947249412537, 1.3247302770614624, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705571024565868, -0.9626870473656853, -0.005701152921547417, 44.02347183227539], [0.9626918444470653, 0.27057863407551386, -0.0034081398059067937, 4.388818264007568], [0.004823582216925797, -0.0045663569908661605, 0.9999779404759029, 1.1480672359466553], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144154906272888, -0.355756551027298, -1.2154972553253174, -1.6383955478668213, -1.2451176643371582, 0.3299486041069031, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8517819046974182, -0.956926703453064, 1.3645439147949219, -1.395094394683838, 0.7606412768363953, 0.49149033427238464, 1.3287185430526733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704760429866997, -0.9627094735018314, -0.0057601909763103695, 44.02295684814453], [0.9627146113536292, 0.2704977946634246, -0.0033941373652961147, 4.392885684967041], [0.004825687151869229, -0.004627387173162723, 0.9999776497659645, 1.1506184339523315], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144147753715515, -0.35575607419013977, -1.2154978513717651, -1.6383955478668213, -1.2451177835464478, 0.3299486041069031, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8375151753425598, -0.9336144924163818, 1.3336573839187622, -1.4120694398880005, 0.823560357093811, 0.49433717131614685, 1.325798749923706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27041287986202367, -0.9627262505147317, -0.005919541753639967, 44.022560119628906], [0.9627322023474864, 0.27043534170969186, -0.0033812006034596507, 4.396112442016602], [0.004856023876117271, -0.004784613276796969, 0.9999767629839735, 1.157590389251709], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153118133545, -0.3557555079460144, -1.2154974937438965, -1.63839590549469, -1.2451177835464478, 0.3299487233161926, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8152165412902832, -0.9103899598121643, 1.2986887693405151, -1.4220659732818604, 0.8908479809761047, 0.5013758540153503, 1.3189022541046143, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2703994595514202, -0.9627308586456353, -0.0057815297056700125, 44.022727966308594], [0.9627360778503279, 0.2704213324556567, -0.0033981404141657156, 4.397064685821533], [0.00483494360536744, -0.004647231901341661, 0.999977513025162, 1.15159273147583], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144153118133545, -0.3557549715042114, -1.2154971361160278, -1.638397216796875, -1.2451179027557373, 0.3299488425254822, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7875954508781433, -0.8869954347610474, 1.2566983699798584, -1.4265646934509277, 0.9085493683815002, 0.49476346373558044, 1.3253214359283447, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.714415431022644, -0.3557569086551666, -1.2154966592788696, -1.6383963823318481, -1.2451177835464478, 0.3299484848976135, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7559957504272461, -0.8657193779945374, 1.2095980644226074, -1.4313883781433105, 0.9144143462181091, 0.4762463867664337, 1.3437288999557495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.233400583267212, -0.6233853101730347, 0.0, 0.0, 0.7144152522087097, -0.3557552993297577, -1.2154970169067383, -1.6383956670761108, -1.2451176643371582, 0.3299486041069031, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7238739728927612, -0.8478538990020752, 1.1716502904891968, -1.428294062614441, 0.9104279279708862, 0.45741280913352966, 1.3625191450119019, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144162058830261, -0.35575681924819946, -1.2154968976974487, -1.638394832611084, -1.2451171875, 0.3299487233161926, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6959307193756104, -0.8346888422966003, 1.1384207010269165, -1.4224002361297607, 0.9205888509750366, 0.44742539525032043, 1.372667908668518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144162654876709, -0.3557579219341278, -1.2154961824417114, -1.6383956670761108, -1.2451175451278687, 0.3299482464790344, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.674214780330658, -0.827032208442688, 1.1255781650543213, -1.409094214439392, 0.9245897531509399, 0.44169971346855164, 1.3782397508621216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.3557589054107666, -1.2154967784881592, -1.6383968591690063, -1.2451177835464478, 0.329948365688324, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.666636049747467, -0.8255870342254639, 1.1249619722366333, -1.399292230606079, 0.9232573509216309, 0.44161736965179443, 1.3757426738739014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144150733947754, -0.3557569682598114, -1.2154970169067383, -1.6383963823318481, -1.2451179027557373, 0.329948365688324, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6660006046295166, -0.8254860639572144, 1.1248910427093506, -1.3985579013824463, 0.9231115579605103, 0.44160202145576477, 1.3755149841308594, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144160270690918, -0.35575681924819946, -1.215497374534607, -1.6383953094482422, -1.2451177835464478, 0.329948365688324, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659539937973022, -0.825475811958313, 1.1248897314071655, -1.3984949588775635, 0.9230905771255493, 0.4415995180606842, 1.3754855394363403, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144155502319336, -0.3557564616203308, -1.2154968976974487, -1.63839590549469, -1.2451181411743164, 0.3299484848976135, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659529209136963, -0.8254754543304443, 1.1248911619186401, -1.3984915018081665, 0.9230904579162598, 0.44159916043281555, 1.3754839897155762, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156098365784, -0.3557567000389099, -1.2154968976974487, -1.6383957862854004, -1.2451176643371582, 0.32994896173477173, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659541130065918, -0.82547926902771, 1.1248921155929565, -1.3984917402267456, 0.9230905771255493, 0.44159939885139465, 1.375484824180603, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6057046055793762, 1.2334964275360107, -0.6233853101730347, 0.0, 0.0, 0.7144156694412231, -0.35575637221336365, -1.2154972553253174, -1.6383956670761108, -1.2451179027557373, 0.3299488425254822, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659538149833679, -0.825480043888092, 1.1248935461044312, -1.3984929323196411, 0.9230908155441284, 0.4415997564792633, 1.3754863739013672, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.605800449848175, 1.2334964275360107, -0.6221391558647156, 0.0, 0.0, 0.7144150733947754, -0.3557520806789398, -1.215497612953186, -1.6383954286575317, -1.2451180219650269, 0.3299487233161926, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659522652626038, -0.8254834413528442, 1.1248955726623535, -1.3984977006912231, 0.9230921268463135, 0.44160011410713196, 1.375489592552185, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038866876626266, -0.9627330987168666, -0.005911720378056604, 44.022640228271484], [0.9627389004556293, 0.27041120363949234, -0.0034044817119102543, 4.397803783416748], [0.004876202651042662, -0.004770909898648852, 0.9999767302624821, 1.1573549509048462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6058962941169739, 1.235605239868164, -0.6124573945999146, 0.004409497138112783, -0.005272225011140108, 0.714414656162262, -0.35574743151664734, -1.215498685836792, -1.638396978378296, -1.2451188564300537, 0.3299486041069031, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659485697746277, -0.8254781365394592, 1.1249001026153564, -1.3984991312026978, 0.9230935573577881, 0.44160059094429016, 1.3754944801330566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704156350427781, -0.9627259679604949, -0.0058390871666215705, 44.022945404052734], [0.9627313680507277, 0.27043787172509537, -0.0034162125190611682, 4.3965559005737305], [0.004867986810330379, -0.004697675098306015, 0.9999771170147271, 1.1542043685913086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6067590117454529, 1.2395354509353638, -0.5924229621887207, 0.010448591783642769, -0.01179061271250248, 0.7144153118133545, -0.35575705766677856, -1.2154974937438965, -1.6383966207504272, -1.2451176643371582, 0.3299487233161926, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659544110298157, -0.8254798054695129, 1.1248990297317505, -1.3984949588775635, 0.9230934381484985, 0.4416009485721588, 1.375491976737976, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704039352280222, -0.96272898949133, -0.005882567993818856, 44.022850036621094], [0.9627345334230263, 0.2704264435037246, -0.0034288203036564094, 4.3969550132751465], [0.004891826647323763, -0.00473618484955999, 0.9999768190238828, 1.1561776399612427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6113602519035339, 1.2438491582870483, -0.5667328238487244, 0.014282937161624432, -0.016871120780706406, 0.7144156098365784, -0.35576504468917847, -1.21549654006958, -1.6383956670761108, -1.2451173067092896, 0.3299488425254822, -1.2901612520217896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659562587738037, -0.8254804611206055, 1.124898910522461, -1.398492693901062, 0.9230931997299194, 0.44160154461860657, 1.375488042831421, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27038291645263046, -0.9627352436521126, -0.0058248708721462756, 44.021610260009766], [0.9627406005945115, 0.27040506181857293, -0.003411526024095078, 4.397914886474609], [0.0048594709063006164, -0.004685421325886708, 0.9999772159251978, 1.1535521745681763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6188372373580933, 1.2480669021606445, -0.5378794074058533, 0.01485808938741684, -0.01926758699119091, 0.7144153714179993, -0.3557659387588501, -1.2154959440231323, -1.6383953094482422, -1.2451173067092896, 0.3299486041069031, -1.2901602983474731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659576296806335, -0.825486421585083, 1.1248979568481445, -1.3984923362731934, 0.9230934381484985, 0.4416021406650543, 1.375484585762024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2703772695676536, -0.9627370874903386, -0.005782081957262717, 44.0213508605957], [0.9627423240482702, 0.27039913128680304, -0.00339518563228748, 4.398305416107178], [0.004832141065390429, -0.004648674000439462, 0.9999775198687028, 1.1516003608703613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6275603771209717, 1.2522846460342407, -0.5075880289077759, 0.010927884839475155, -0.021280618384480476, 0.7144152522087097, -0.35576415061950684, -1.2154957056045532, -1.6383954286575317, -1.2451168298721313, 0.329948365688324, -1.2901602983474731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665958046913147, -0.8254832625389099, 1.1248983144760132, -1.3984925746917725, 0.9230939149856567, 0.4416028559207916, 1.3754879236221313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2702590754038937, -0.9627694446253021, -0.0059185013069106935, 44.021324157714844], [0.962775329622891, 0.27028159563184606, -0.0033946623155993116, 4.40384578704834], [0.0048679391292609795, -0.004780748747912143, 0.9999767235341246, 1.1576074361801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6368586421012878, 1.2584196329116821, -0.4762422740459442, 0.003259193617850542, -0.022622639313340187, 0.7144160270690918, -0.35576245188713074, -1.2154953479766846, -1.6383928060531616, -1.2451173067092896, 0.3299487233161926, -1.2901604175567627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665956974029541, -0.8254907131195068, 1.1248975992202759, -1.3984956741333008, 0.923096776008606, 0.4416033625602722, 1.3754900693893433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27037867002757265, -0.9627367136906458, -0.0057788326032600845, 44.022647857666016], [0.9627416369491137, 0.27040080050861326, -0.003456525544862154, 4.3985676765441895], [0.00489032500577516, -0.004628951980381361, 0.9999773285054523, 1.1517256498336792], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6482658386230469, 1.265992522239685, -0.4442254900932312, -0.003546769730746746, -0.023868801072239876, 0.7144161462783813, -0.3557617962360382, -1.2154951095581055, -1.6383882761001587, -1.2451173067092896, 0.3299487233161926, -1.2901599407196045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659587621688843, -0.8254921436309814, 1.1248955726623535, -1.3984959125518799, 0.9230965375900269, 0.4416041970252991, 1.3754899501800537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2703141006182975, -0.9627546822086726, -0.005805935945115391, 44.02211380004883], [0.9627595255857502, 0.27033655930687694, -0.0034986563164386055, 4.401711463928223], [0.00493790449704883, -0.004643984000549921, 0.9999770249919648, 1.1531115770339966], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6618777513504028, 1.2714563608169556, -0.4117294251918793, -0.006901822052896023, -0.023964660242199898, 0.7144178748130798, -0.355762243270874, -1.2154935598373413, -1.6383851766586304, -1.2451162338256836, 0.3299486041069031, -1.2901591062545776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659554839134216, -0.8254896998405457, 1.1248970031738281, -1.3984967470169067, 0.9230971336364746, 0.44160526990890503, 1.3754874467849731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27037395409672427, -0.9627368484809093, -0.005973736113106244, 44.02211380004883], [0.9627422673799996, 0.27039745255188097, -0.0035417867624597124, 4.399139404296875], [0.00502509165288297, -0.004793561358728023, 0.9999758848209191, 1.1606886386871338], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6731890439987183, 1.2739487886428833, -0.37913748621940613, -0.0064225285314023495, -0.022814355790615082, 0.7144166231155396, -0.3557620048522949, -1.2154935598373413, -1.6383870840072632, -1.2451165914535522, 0.3299487233161926, -1.2901594638824463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659573912620544, -0.8254842162132263, 1.124896764755249, -1.3984954357147217, 0.9230976104736328, 0.4416058659553528, 1.3754889965057373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27036015213312015, -0.9627407279409882, -0.005973181916909287, 44.022117614746094], [0.9627462099988419, 0.27038358516637395, -0.003528739922971819, 4.400071144104004], [0.005012311983701203, -0.004796627589725158, 0.9999759342565918, 1.1606112718582153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6835417747497559, 1.2742363214492798, -0.34683310985565186, -0.0030674764420837164, -0.02003445476293564, 0.7144165635108948, -0.3557566702365875, -1.2154945135116577, -1.6383891105651855, -1.2451163530349731, 0.3299487233161926, -1.2901601791381836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659596562385559, -0.8254848122596741, 1.1248958110809326, -1.398497223854065, 0.9230976104736328, 0.44160622358322144, 1.3754911422729492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704924063902291, -0.9627036273269299, -0.005965234010070945, 44.02281188964844], [0.962708935288936, 0.2705159268173982, -0.003555172705712817, 4.3942670822143555], [0.0050362684664804315, -0.0047811368622836265, 0.9999758880744264, 1.1603610515594482], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6915939450263977, 1.2710729837417603, -0.3141453266143799, 0.001629596808925271, -0.017350412905216217, 0.7144166827201843, -0.35575854778289795, -1.2154936790466309, -1.6383917331695557, -1.245115876197815, 0.3299488425254822, -1.2901594638824463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659570336341858, -0.8254818320274353, 1.1248975992202759, -1.3984969854354858, 0.9230985641479492, 0.44160693883895874, 1.3754899501800537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27041020004067917, -0.9627268598759765, -0.005942809714412025, 44.022701263427734], [0.9627321551724689, 0.27043351959846396, -0.0035367887356477987, 4.3983235359191895], [0.005012096460887316, -0.00476495025462763, 0.9999760867831479, 1.1593248844146729], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6965785622596741, 1.2625415325164795, -0.28203266859054565, 0.007093539461493492, -0.013707784935832024, 0.7144144773483276, -0.3557586073875427, -1.2154943943023682, -1.6383968591690063, -1.2451163530349731, 0.3299487233161926, -1.290160059928894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659576892852783, -0.8254773616790771, 1.1248992681503296, -1.3984962701797485, 0.923099160194397, 0.4416070580482483, 1.3754912614822388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270423392807714, -0.9627235368859158, -0.005880488775382665, 44.02283477783203], [0.962728526436898, 0.270446410331765, -0.0035388590395231557, 4.397989273071289], [0.004997299971368906, -0.004704324025316772, 0.9999764478868794, 1.156578540802002], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6988791823387146, 1.253243327140808, -0.25174134969711304, 0.010544450022280216, -0.009202429093420506, 0.7144155502319336, -0.3557575047016144, -1.2154947519302368, -1.6383975744247437, -1.245116114616394, 0.3299486041069031, -1.2901597023010254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659595966339111, -0.8254823684692383, 1.1248972415924072, -1.3984965085983276, 0.923098087310791, 0.44160717725753784, 1.3754899501800537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705177706812054, -0.9626971712791041, -0.005855950553242943, 44.02350997924805], [0.9627022534260254, 0.27054046818367383, -0.003496615994253085, 4.393996715545654], [0.004950453931051507, -0.00469164002986477, 0.9999767404893509, 1.1552975177764893], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6994543671607971, 1.2491213083267212, -0.2313234657049179, 0.012174046598374844, -0.0071893977001309395, 0.7144157290458679, -0.3557589650154114, -1.2154945135116577, -1.6383965015411377, -1.245116114616394, 0.3299484848976135, -1.2901593446731567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659581065177917, -0.8254823684692383, 1.124897837638855, -1.3984960317611694, 0.9230978488922119, 0.4416077733039856, 1.3754899501800537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705080061303471, -0.9626999718849102, -0.005846601763191719, 44.02369689941406], [0.9627049003478415, 0.270530761214279, -0.003518818420337148, 4.3946919441223145], [0.004969252019839678, -0.004676683612986858, 0.9999767173113319, 1.1549855470657349], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6994543671607971, 1.2473958730697632, -0.2251885086297989, 0.012940916232764721, -0.0064225285314023495, 0.7144153714179993, -0.3557606637477875, -1.2154946327209473, -1.6383956670761108, -1.2451157569885254, 0.3299486041069031, -1.2901583909988403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659581065177917, -0.8254837393760681, 1.1248973608016968, -1.398496150970459, 0.9230978488922119, 0.4416077733039856, 1.3754891157150269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705908537058169, -0.9626771395173135, -0.005771909694419767, 44.02350616455078], [0.9626817110590348, 0.2706132465490251, -0.0035205091458287608, 4.391189098358154], [0.004951068895345696, -0.004603894325453309, 0.9999771452757475, 1.1516952514648438], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.699933648109436, 1.2464373111724854, -0.2235589176416397, 0.013516068458557129, -0.006614245939999819, 0.7144142985343933, -0.35575437545776367, -1.2154961824417114, -1.6383965015411377, -1.245116949081421, 0.3299487233161926, -1.2901594638824463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659550666809082, -0.8254812955856323, 1.1248998641967773, -1.398499608039856, 0.9230990409851074, 0.44160765409469604, 1.3754924535751343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706108589286128, -0.9626717096539139, -0.0057395524153761495, 44.0235595703125], [0.9626762955651327, 0.27063294008022, -0.0034873629764670057, 4.390542507171631], [0.0049104976236570294, -0.00458161276697864, 0.9999774476644668, 1.1501202583312988], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6989750266075134, 1.2479710578918457, -0.21857425570487976, 0.014570512808859348, -0.011982330121099949, 0.7144141793251038, -0.3557531237602234, -1.2154968976974487, -1.6383968591690063, -1.2451170682907104, 0.3299487233161926, -1.2901599407196045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659560799598694, -0.8254790306091309, 1.1248997449874878, -1.3984999656677246, 0.9230993986129761, 0.44160789251327515, 1.3754953145980835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705698088667473, -0.9626822815318482, -0.005899436790673801, 44.02467727661133], [0.9626875049959052, 0.27059278159449285, -0.003509169946581131, 4.392677307128906], [0.004974560741487029, -0.004729838643167422, 0.999976440908404, 1.1572620868682861], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6978247165679932, 1.252476453781128, -0.21061798930168152, 0.01466637197881937, -0.02099304087460041, 0.7144145369529724, -0.35575371980667114, -1.2154971361160278, -1.6383965015411377, -1.2451173067092896, 0.32994896173477173, -1.2901601791381836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659562587738037, -0.8254804015159607, 1.124899983406067, -1.3984997272491455, 0.9230992794036865, 0.4416080117225647, 1.3754948377609253, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706384414356785, -0.962663466537808, -0.005821014574579413, 44.02552032470703], [0.9626681975005966, 0.27066114034528144, -0.0035339252884023188, 4.389834403991699], [0.004977503211341165, -0.004647289575931733, 0.999976813311878, 1.1539102792739868], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6979206204414368, 1.257652759552002, -0.1980605125427246, 0.013420209288597107, -0.03364638239145279, 0.7144144773483276, -0.35575756430625916, -1.2154966592788696, -1.6383955478668213, -1.245116949081421, 0.3299484848976135, -1.2901591062545776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659570336341858, -0.8254827260971069, 1.1248995065689087, -1.3984978199005127, 0.9230989217758179, 0.4416077733039856, 1.3754924535751343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706337691412274, -0.9626649377694597, -0.00579487616220159, 44.02432632446289], [0.9626695356484058, 0.27065634921527537, -0.0035363489564429603, 4.390326499938965], [0.0049727391743013645, -0.004621495297125815, 0.9999769565576614, 1.152770757675171], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7013714909553528, 1.262253999710083, -0.18396928906440735, 0.011982330121099949, -0.04514941945672035, 0.7144148349761963, -0.3557600677013397, -1.2154959440231323, -1.6383932828903198, -1.2451164722442627, 0.3299486041069031, -1.2901593446731567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659571528434753, -0.8254832625389099, 1.1248990297317505, -1.3984978199005127, 0.9230986833572388, 0.44160789251327515, 1.3754916191101074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27059595169902195, -0.9626746481086162, -0.005945823160182942, 44.02293395996094], [0.9626799180031075, 0.27061932088290375, -0.003543816926134572, 4.392268180847168], [0.005020597338026505, -0.0047649820385314064, 0.9999760439873256, 1.159464716911316], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7061644196510315, 1.2644587755203247, -0.16767331957817078, 0.011503036133944988, -0.05262639373540878, 0.7144148945808411, -0.3557603061199188, -1.2154958248138428, -1.6383936405181885, -1.2451162338256836, 0.3299488425254822, -1.2901591062545776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659569144248962, -0.8254822492599487, 1.1248993873596191, -1.3984979391098022, 0.9230988025665283, 0.44160789251327515, 1.3754911422729492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705713265931404, -0.9626807094380418, -0.006083494184806489, 44.022865295410156], [0.9626865344784904, 0.2705954962063416, -0.0035656369189543, 4.393601894378662], [0.005078736006343504, -0.004891738822980466, 0.9999751383568821, 1.1656205654144287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7128745317459106, 1.2643628120422363, -0.14907674491405487, 0.011311319656670094, -0.05416012927889824, 0.7144138813018799, -0.3557583689689636, -1.2154966592788696, -1.6383941173553467, -1.245116949081421, 0.3299486041069031, -1.2901593446731567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659561395645142, -0.8254824876785278, 1.12489914894104, -1.3984991312026978, 0.9230992794036865, 0.4416082501411438, 1.3754922151565552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706551122357229, -0.962658702267974, -0.005833795369092862, 44.02406692504883], [0.9626631721597864, 0.2706781719639513, -0.0035978034286394582, 4.3900885581970215], [0.005042537845747149, -0.004642216064961526, 0.9999765110451747, 1.1547620296478271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7192012071609497, 1.2627332210540771, -0.1297132968902588, 0.011694753542542458, -0.05109265446662903, 0.7144149541854858, -0.3557583689689636, -1.2154960632324219, -1.6383941173553467, -1.245116949081421, 0.32994896173477173, -1.2901595830917358, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659578084945679, -0.8254817128181458, 1.1248992681503296, -1.398498296737671, 0.923099160194397, 0.44160789251327515, 1.375492811203003, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706487494062154, -0.9626599129738189, -0.005928439768684382, 44.02466583251953], [0.962664767660038, 0.27067234262900186, -0.003609437874952715, 4.390634536743164], [0.005079325830911126, -0.004730210245591701, 0.9999759124899639, 1.1589877605438232], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7252402901649475, 1.25937819480896, -0.10833682864904404, 0.013036774471402168, -0.04380739852786064, 0.7144134044647217, -0.3557576537132263, -1.2154968976974487, -1.638394832611084, -1.2451173067092896, 0.3299484848976135, -1.290159821510315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.665955662727356, -0.8254843950271606, 1.1248997449874878, -1.398498773574829, 0.9230995178222656, 0.4416080117225647, 1.3754922151565552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706673906448541, -0.9626558798054099, -0.005728936862806334, 44.02506637573242], [0.9626597359099925, 0.27069004231466187, -0.0036240653125705863, 4.3900885581970215], [0.005039493943755979, -0.004534100545714159, 0.9999770224525323, 1.1502621173858643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7315669655799866, 1.2551604509353638, -0.08715207129716873, 0.014187078922986984, -0.03460496664047241, 0.7144142389297485, -0.3557575047016144, -1.215496301651001, -1.6383944749832153, -1.2451168298721313, 0.3299486041069031, -1.290159821510315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659563779830933, -0.8254860639572144, 1.12489914894104, -1.3984986543655396, 0.9230995178222656, 0.44160836935043335, 1.3754913806915283, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707440622124697, -0.9626342393924169, -0.005742292754063568, 44.02536392211914], [0.962638217213001, 0.27076672475109387, -0.0036115825534689524, 4.38686990737915], [0.0050314548259412385, -0.004549935927945018, 0.9999769910079862, 1.1507844924926758], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7371267676353455, 1.2506550550460815, -0.06721346825361252, 0.01485808938741684, -0.026361126452684402, 0.7144149541854858, -0.35575366020202637, -1.2154967784881592, -1.638394832611084, -1.2451168298721313, 0.3299486041069031, -1.2901606559753418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659582257270813, -0.8254840970039368, 1.1248979568481445, -1.3984988927841187, 0.9230995178222656, 0.44160836935043335, 1.3754922151565552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707598681274759, -0.9626303515028887, -0.00564802416928672, 44.025814056396484], [0.9626339948228324, 0.27078197680773963, -0.0035934729062288414, 4.386486053466797], [0.004988569236456526, -0.004464011818726206, 0.9999775931366939, 1.1465598344802856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7390439510345459, 1.2484502792358398, -0.05638144537806511, 0.015337382443249226, -0.02310193143785, 0.7144148349761963, -0.3557550609111786, -1.215496301651001, -1.6383942365646362, -1.2451167106628418, 0.3299487233161926, -1.2901602983474731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659587621688843, -0.8254839181900024, 1.1248975992202759, -1.3984979391098022, 0.9230995178222656, 0.4416080117225647, 1.3754916191101074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27074226138246227, -0.962633687934106, -0.005916988752136277, 44.02608108520508], [0.9626385116642507, 0.2707657732702303, -0.003604425919677883, 4.387475490570068], [0.005071859850848236, -0.004720050821411426, 0.9999759983909097, 1.1584428548812866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7398108243942261, 1.2473000288009644, -0.0515885129570961, 0.015433240681886673, -0.021088900044560432, 0.7144147157669067, -0.35575544834136963, -1.2154964208602905, -1.6383945941925049, -1.2451170682907104, 0.3299487233161926, -1.2901605367660522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659587621688843, -0.8254817128181458, 1.1248984336853027, -1.3984980583190918, 0.9230992794036865, 0.4416082501411438, 1.375491738319397, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27080175605191203, -0.9626152684147048, -0.006184976482276382, 44.02530288696289], [0.9626214202719392, 0.27082660805390424, -0.00359855577301946, 4.385028839111328], [0.0051390809329384946, -0.004979295623133018, 0.9999743979033974, 1.1702090501785278], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7403859496116638, 1.2467248439788818, -0.049287907779216766, 0.015529099851846695, -0.02003445476293564, 0.7144150733947754, -0.3557555079460144, -1.2154968976974487, -1.6383951902389526, -1.2451167106628418, 0.3299486041069031, -1.2901599407196045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659583449363708, -0.8254807591438293, 1.1248986721038818, -1.3984981775283813, 0.9230992794036865, 0.4416080117225647, 1.3754922151565552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708473847152384, -0.9626032739323162, -0.006052372072325508, 44.02543640136719], [0.9626087911449963, 0.27087154045599615, -0.0035949661144916174, 4.383270263671875], [0.005099941498129029, -0.004852379393851037, 0.9999752221984972, 1.1643481254577637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.246628999710083, -0.04823346063494682, 0.015624958090484142, -0.019459303468465805, 0.7144148349761963, -0.3557558059692383, -1.2154967784881592, -1.6383951902389526, -1.2451170682907104, 0.3299484848976135, -1.2901604175567627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659583449363708, -0.8254811763763428, 1.1248985528945923, -1.3984988927841187, 0.9230995178222656, 0.44160813093185425, 1.375492811203003, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708236707201539, -0.9626096489568416, -0.006099435453184809, 44.025508880615234], [0.9626154239855976, 0.27084804001654306, -0.0035895298055694984, 4.384624481201172], [0.005107336163761896, -0.00489928100673655, 0.9999749557678569, 1.1664018630981445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2464373111724854, -0.04756245017051697, 0.015624958090484142, -0.019363444298505783, 0.7144150137901306, -0.3557557463645935, -1.21549654006958, -1.6383953094482422, -1.2451170682907104, 0.3299486041069031, -1.290160894393921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659584641456604, -0.8254808783531189, 1.1248983144760132, -1.3984986543655396, 0.9230993986129761, 0.44160789251327515, 1.3754931688308716, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708423754899818, -0.9626050712217593, -0.00599036702506886, 44.02580261230469], [0.9626102336387188, 0.27086626812673764, -0.003605951345402706, 4.384069442749023], [0.00509369541245344, -0.004789744173293048, 0.9999755560101454, 1.1616685390472412], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.04737073555588722, 0.015624958090484142, -0.018980009481310844, 0.7144148945808411, -0.35575592517852783, -1.2154966592788696, -1.6383953094482422, -1.245117425918579, 0.3299487233161926, -1.290160894393921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6659169793128967, -0.8254531621932983, 1.1248836517333984, -1.3985522985458374, 0.9230841994285583, 0.44159436225891113, 1.3754642009735107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708723274149397, -0.9625963288285648, -0.00604069255824975, 44.02595520019531], [0.9626019521951772, 0.27089626795343424, -0.0035628133455217, 4.383006572723389], [0.005065952116584545, -0.004849714906135618, 0.9999754078948551, 1.1636929512023926], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144150733947754, -0.3557535707950592, -1.215497612953186, -1.6383912563323975, -1.2451173067092896, 0.3299484848976135, -1.2901619672775269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6546188592910767, -0.8199516534805298, 1.1255216598510742, -1.4242660999298096, 0.8617511987686157, 0.4122912585735321, 1.357135534286499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708759701631972, -0.9625953382088939, -0.006035200630644572, 44.02607345581055], [0.9626009716201958, 0.270899847715089, -0.003555551124206575, 4.383144378662109], [0.005057491868696264, -0.004846376630746979, 0.9999754669038391, 1.1634178161621094], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2459579706192017, -0.047083158046007156, 0.01581667549908161, -0.01888415217399597, 0.7144138813018799, -0.35576125979423523, -1.2154967784881592, -1.6384037733078003, -1.245118260383606, 0.3299486041069031, -1.2901620864868164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6309484243392944, -0.8161523342132568, 1.1209666728973389, -1.4343481063842773, 0.7555912137031555, 0.38661086559295654, 1.355546474456787, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706982615739866, -0.9626449456843932, -0.006095878042854872, 44.0252685546875], [0.9626509961792967, 0.2707223321644092, -0.0035324810645081233, 4.39152193069458], [0.005050815362826056, -0.004911966587336369, 0.9999751806162068, 1.1660165786743164], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2459579706192017, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144155502319336, -0.3557572662830353, -1.2154967784881592, -1.6383966207504272, -1.2451177835464478, 0.3299486041069031, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5917365550994873, -0.8151221871376038, 1.0988448858261108, -1.427390217781067, 0.6491004824638367, 0.36010870337486267, 1.3674944639205933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708923501457231, -0.9625917698960815, -0.0058667845414855455, 44.02653884887695], [0.9625967707485081, 0.2709152199080177, -0.0035214438422818315, 4.382939338684082], [0.0049791140849412404, -0.004693415655969343, 0.9999765898621874, 1.1558610200881958], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2459579706192017, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144153714179993, -0.3557577133178711, -1.21549654006958, -1.6383986473083496, -1.245117425918579, 0.3299486041069031, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5419442057609558, -0.8203442096710205, 1.0587615966796875, -1.3997539281845093, 0.5498199462890625, 0.33546051383018494, 1.3817874193191528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708643205143133, -0.9625994018091989, -0.00590859618622071, 44.02635192871094], [0.9626044684665304, 0.2708875233068818, -0.0035478169248280536, 4.384449005126953], [0.005015691436673852, -0.004726664070567625, 0.9999762504610678, 1.157816767692566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2459579706192017, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144148349761963, -0.35575607419013977, -1.2154968976974487, -1.6383931636810303, -1.2451176643371582, 0.3299484848976135, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4909164607524872, -0.8311388492584229, 0.9960693120956421, -1.352911353111267, 0.4423535466194153, 0.2963036000728607, 1.4078305959701538, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27092154080787434, -0.9625838097012273, -0.005824777022239611, 44.02674865722656], [0.9625884458274179, 0.2709443582179083, -0.0035550962634081596, 4.382035732269287], [0.005000268577139155, -0.004643710903726026, 0.9999767163605356, 1.1541513204574585], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2459579706192017, -0.047083158046007156, 0.015624958090484142, -0.01878829300403595, 0.7144123911857605, -0.35575276613235474, -1.2155003547668457, -1.6383980512619019, -1.245118498802185, 0.3299486041069031, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4520999789237976, -0.8479928970336914, 0.9290498495101929, -1.2944929599761963, 0.3536898195743561, 0.2390792965888977, 1.401821494102478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27094088108972847, -0.9625775132286378, -0.005964057418669072, 44.02678298950195], [0.9625828002236555, 0.27096440221841256, -0.0035560433074178174, 4.381317138671875], [0.005039014577033538, -0.004777421583852127, 0.9999758919969534, 1.1602815389633179], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2460538148880005, -0.046987298876047134, 0.015624958090484142, -0.01878829300403595, 0.714414656162262, -0.3557572662830353, -1.2154982089996338, -1.6384049654006958, -1.245118498802185, 0.3299487233161926, -1.2901641130447388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4229844808578491, -0.8679458498954773, 0.866511344909668, -1.2356548309326172, 0.2867099940776825, 0.1834927499294281, 1.3858904838562012, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708615558158698, -0.9626000505487613, -0.005929609137909363, 44.026546478271484], [0.962604915860675, 0.27088514645051953, -0.0036074081198689367, 4.3851494789123535], [0.005078734278252767, -0.004730762729473431, 0.9999759128809695, 1.1589994430541992], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2460538148880005, -0.046987298876047134, 0.015624958090484142, -0.01878829300403595, 0.7144155502319336, -0.35575640201568604, -1.2154972553253174, -1.6383953094482422, -1.2451175451278687, 0.3299486041069031, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3954111635684967, -0.889651894569397, 0.8090735077857971, -1.1846569776535034, 0.24121248722076416, 0.16017024219036102, 1.3803129196166992, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27090500579004806, -0.9625870668385995, -0.006051164594988146, 44.0267219543457], [0.9625924764395379, 0.27092925088433994, -0.003614597798945477, 4.38331413269043], [0.005118802583786162, -0.004845592875180873, 0.9999751587363539, 1.1643741130828857], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2461497783660889, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144151926040649, -0.35575127601623535, -1.2154978513717651, -1.6383929252624512, -1.245117425918579, 0.32994896173477173, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.37979480624198914, -0.912104070186615, 0.7491891384124756, -1.1330682039260864, 0.1861090213060379, 0.12829448282718658, 1.370221734046936, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708335568235911, -0.9626078273003554, -0.00594603383540084, 44.02643585205078], [0.9626130321569356, 0.2708569854584697, -0.003555805110085512, 4.386957168579102], [0.00503337063141365, -0.004760698314266976, 0.999976000177828, 1.1594867706298828], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2461497783660889, -0.047083158046007156, 0.015624958090484142, -0.01878829300403595, 0.7144138813018799, -0.3557538688182831, -1.2154988050460815, -1.6383966207504272, -1.2451183795928955, 0.329948365688324, -1.2901637554168701, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.37189212441444397, -0.9322838187217712, 0.6959940195083618, -1.0806564092636108, 0.12885546684265137, 0.1071510761976242, 1.362181544303894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27087184466699754, -0.9625968383155953, -0.005980855416869599, 44.02669906616211], [0.9626021813281768, 0.2708954748550051, -0.0035612084068608377, 4.385474681854248], [0.00504819462121918, -0.004792553380077104, 0.9999757732881159, 1.1610432863235474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144163846969604, -0.35575899481773376, -1.21549654006958, -1.6383956670761108, -1.2451173067092896, 0.3299487233161926, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36574479937553406, -0.9538542032241821, 0.6518441438674927, -1.0265518426895142, 0.10047885775566101, 0.10018044710159302, 1.3654438257217407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144157886505127, -0.35575541853904724, -1.2154970169067383, -1.6383941173553467, -1.2451175451278687, 0.3299487233161926, -1.2901631593704224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3632546365261078, -0.9752814769744873, 0.6145620942115784, -0.9801506996154785, 0.07033949345350266, 0.07912775874137878, 1.3457145690917969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144151926040649, -0.3557566702365875, -1.2154974937438965, -1.6383965015411377, -1.2451177835464478, 0.3299486041069031, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3652659058570862, -0.9975501298904419, 0.5828807950019836, -0.9351323246955872, 0.05282490700483322, 0.06272207945585251, 1.3218724727630615, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144158482551575, -0.35575559735298157, -1.2154970169067383, -1.6383956670761108, -1.2451176643371582, 0.3299488425254822, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3653988540172577, -1.0201047658920288, 0.5562504529953003, -0.8872114419937134, 0.03291790932416916, 0.047710757702589035, 1.286605715751648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144149541854858, -0.3557564616203308, -1.2154968976974487, -1.6384003162384033, -1.2451179027557373, 0.3299486041069031, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36711400747299194, -1.0444896221160889, 0.5346632599830627, -0.8345770835876465, 0.02997254580259323, 0.03817550837993622, 1.2585186958312988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144163250923157, -0.3557567596435547, -1.21549654006958, -1.6383949518203735, -1.2451176643371582, 0.329948365688324, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3666992485523224, -1.069637656211853, 0.5193949937820435, -0.7806882262229919, 0.04651173576712608, 0.03854702040553093, 1.2527871131896973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144147753715515, -0.3557509779930115, -1.2154982089996338, -1.6383945941925049, -1.245118260383606, 0.3299486041069031, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3653247654438019, -1.0933715105056763, 0.5018602609634399, -0.7340866327285767, 0.040595244616270065, 0.024446740746498108, 1.2371617555618286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.7144156694412231, -0.355756551027298, -1.2154971361160278, -1.6383949518203735, -1.245118260383606, 0.3299486041069031, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36246591806411743, -1.116700291633606, 0.48770594596862793, -0.6929216384887695, 0.034950073808431625, 0.008353005163371563, 1.218279480934143, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144155502319336, -0.35575854778289795, -1.2154967784881592, -1.6383968591690063, -1.2451177835464478, 0.3299488425254822, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3610975742340088, -1.1395602226257324, 0.47799980640411377, -0.6503993272781372, 0.0363389253616333, 0.003057655179873109, 1.2020829916000366, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.7144159078598022, -0.35575276613235474, -1.215497374534607, -1.6383908987045288, -1.2451177835464478, 0.3299486041069031, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35761627554893494, -1.1617469787597656, 0.4684722125530243, -0.6089744567871094, 0.033558107912540436, -0.0031330359634011984, 1.1900743246078491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.714415431022644, -0.35575544834136963, -1.2154972553253174, -1.6383967399597168, -1.2451179027557373, 0.3299481272697449, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35237544775009155, -1.1813138723373413, 0.46049192547798157, -0.5712969899177551, 0.0248598363250494, -0.017504997551441193, 1.182405948638916, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144156694412231, -0.35575631260871887, -1.2154970169067383, -1.6383967399597168, -1.2451179027557373, 0.3299487233161926, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34605398774147034, -1.1980502605438232, 0.456379771232605, -0.5381587147712708, 0.021964088082313538, -0.03205564618110657, 1.1924552917480469, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.7144157886505127, -0.3557555675506592, -1.2154970169067383, -1.6383957862854004, -1.245118260383606, 0.3299488425254822, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33600136637687683, -1.2110176086425781, 0.45796266198158264, -0.5082302689552307, 0.027296949177980423, -0.043799225240945816, 1.216718316078186, 0.34440000214419525, 0.34440000214419525, 0.34440000214419525, 0.34440000214419525, -0.34440000214419525, -0.34440000214419525, -0.34440000214419525, 0.34440000214419525, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.714415431022644, -0.3557562232017517, -1.2154972553253174, -1.6383963823318481, -1.2451176643371582, 0.329948365688324, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32569971680641174, -1.2188979387283325, 0.4615768492221832, -0.4794573187828064, 0.030298277735710144, -0.059425096958875656, 1.2518267631530762, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, -0.06539998054504394, -0.06539998054504394, -0.06539998054504394, 0.06539998054504394, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.714415431022644, -0.35575559735298157, -1.2154968976974487, -1.6383953094482422, -1.2451176643371582, 0.3299488425254822, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3133445382118225, -1.2213786840438843, 0.47361981868743896, -0.45332619547843933, 0.046290505677461624, -0.07893433421850204, 1.2955020666122437, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, -0.06539998054504394, -0.06539998054504394, -0.06539998054504394, 0.06539998054504394, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144154906272888, -0.35575565695762634, -1.215497374534607, -1.6383953094482422, -1.2451175451278687, 0.3299486041069031, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2989943325519562, -1.2184404134750366, 0.4937269389629364, -0.4348181188106537, 0.07168939709663391, -0.10823804140090942, 1.3367441892623901, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, 0.06539998054504394, -0.06539998054504394, -0.06539998054504394, -0.06539998054504394, 0.06539998054504394, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144154906272888, -0.35575586557388306, -1.2154970169067383, -1.6383966207504272, -1.2451179027557373, 0.3299484848976135, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.285087525844574, -1.2100021839141846, 0.5227658152580261, -0.4276427924633026, 0.10836867243051529, -0.14655305445194244, 1.3666709661483765, 0.06479999102078955, 0.06479999102078955, 0.06479999102078955, 0.06479999102078955, -0.06479999102078955, -0.06479999102078955, -0.06479999102078955, 0.06479999102078955, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144156694412231, -0.35575607419013977, -1.2154966592788696, -1.6383956670761108, -1.2451176643371582, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27680644392967224, -1.1971373558044434, 0.5567014217376709, -0.435268372297287, 0.15237486362457275, -0.18934020400047302, 1.4034711122512817, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144153714179993, -0.3557559549808502, -1.2154968976974487, -1.63839590549469, -1.2451177835464478, 0.3299484848976135, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27450111508369446, -1.178929328918457, 0.5947146415710449, -0.4578501284122467, 0.1989327371120453, -0.23027999699115753, 1.4436670541763306, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.7144156098365784, -0.3557540774345398, -1.2154972553253174, -1.6383938789367676, -1.2451179027557373, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28296148777008057, -1.154418706893921, 0.6403428912162781, -0.49265697598457336, 0.2533237338066101, -0.26751941442489624, 1.4865132570266724, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144155502319336, -0.35575535893440247, -1.2154967784881592, -1.6383944749832153, -1.2451175451278687, 0.3299484848976135, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3021204173564911, -1.123841404914856, 0.6898480653762817, -0.541804313659668, 0.29582569003105164, -0.3019024133682251, 1.4998375177383423, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144158482551575, -0.35575684905052185, -1.2154968976974487, -1.6383967399597168, -1.2451179027557373, 0.32994896173477173, -1.290162205696106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33401936292648315, -1.0879136323928833, 0.7464349269866943, -0.619229793548584, 0.34622281789779663, -0.31123510003089905, 1.5009053945541382, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.714415431022644, -0.35575830936431885, -1.2154966592788696, -1.638394832611084, -1.2451176643371582, 0.3299484848976135, -1.2901614904403687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3778247535228729, -1.0456788539886475, 0.8077453970909119, -0.7210808396339417, 0.383777916431427, -0.30052649974823, 1.5010390281677246, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01878829300403595, 0.7144163846969604, -0.3557569682598114, -1.21549654006958, -1.6383929252624512, -1.2451181411743164, 0.32994896173477173, -1.290158987045288, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4331343173980713, -1.000875473022461, 0.8825976848602295, -0.8515573143959045, 0.4223777651786804, -0.2866804003715515, 1.5009939670562744, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144137620925903, -0.3557555079460144, -1.215497612953186, -1.6383963823318481, -1.2451179027557373, 0.3299486041069031, -1.2901556491851807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5036131739616394, -0.9581220746040344, 0.9708465933799744, -1.0067362785339355, 0.4627528786659241, -0.23934762179851532, 1.4978103637695312, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144131660461426, -0.35575610399246216, -1.215497612953186, -1.638396143913269, -1.2451189756393433, 0.3299486041069031, -1.2901595830917358, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.582765519618988, -0.9228957295417786, 1.0612958669662476, -1.1620453596115112, 0.4862910807132721, -0.19328242540359497, 1.4746949672698975, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144150137901306, -0.3557492196559906, -1.2154978513717651, -1.6383954286575317, -1.2451183795928955, 0.329948365688324, -1.2901647090911865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6552287340164185, -0.8977117538452148, 1.1449875831604004, -1.3018784523010254, 0.5209071636199951, -0.15086689591407776, 1.4469579458236694, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144160866737366, -0.3557586967945099, -1.2154960632324219, -1.6384025812149048, -1.2451175451278687, 0.3299484848976135, -1.2901617288589478, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.710063099861145, -0.8809162378311157, 1.2138932943344116, -1.409100890159607, 0.5665283203125, -0.10593730956315994, 1.4372098445892334, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.7144166231155396, -0.3557569682598114, -1.2154966592788696, -1.6383945941925049, -1.2451173067092896, 0.3299487233161926, -1.2901616096496582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7368261218070984, -0.8713694214820862, 1.2640984058380127, -1.488439679145813, 0.600046694278717, -0.07701362669467926, 1.4204037189483643, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.7144159078598022, -0.35575437545776367, -1.215497374534607, -1.6383932828903198, -1.2451181411743164, 0.3299487233161926, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7386378645896912, -0.8697934150695801, 1.2889126539230347, -1.5358505249023438, 0.6351559162139893, -0.062018245458602905, 1.3895699977874756, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.7144150733947754, -0.3557562530040741, -1.2154971361160278, -1.638397216796875, -1.2451183795928955, 0.3299486041069031, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7218383550643921, -0.8735419511795044, 1.2950572967529297, -1.5538406372070312, 0.6661208271980286, -0.06261709332466125, 1.345974326133728, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.7144155502319336, -0.3557555079460144, -1.2154970169067383, -1.63839590549469, -1.2451179027557373, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6999680995941162, -0.8800573348999023, 1.2878656387329102, -1.5571579933166504, 0.6951766014099121, -0.06327550858259201, 1.2982146739959717, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.7144156694412231, -0.35575592517852783, -1.2154967784881592, -1.6383965015411377, -1.2451181411743164, 0.3299490809440613, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6818389296531677, -0.8870980143547058, 1.2744107246398926, -1.5645802021026611, 0.7037917971611023, -0.0833946242928505, 1.2533597946166992, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2461497783660889, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144162654876709, -0.3557559549808502, -1.2154967784881592, -1.6383955478668213, -1.2451179027557373, 0.329948365688324, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6474098563194275, -0.8954076766967773, 1.2547838687896729, -1.566319465637207, 0.7138649225234985, -0.0895833969116211, 1.223218321800232, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144160270690918, -0.3557558059692383, -1.2154967784881592, -1.6383953094482422, -1.2451176643371582, 0.3299488425254822, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.606311559677124, -0.9042340517044067, 1.2296948432922363, -1.5547462701797485, 0.715984582901001, -0.09512574225664139, 1.2090355157852173, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.714415431022644, -0.35575637221336365, -1.2154967784881592, -1.638396143913269, -1.2451177835464478, 0.3299487233161926, -1.2901629209518433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5667701363563538, -0.913532018661499, 1.2045581340789795, -1.537108063697815, 0.7103040218353271, -0.11268778890371323, 1.1938971281051636, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144157290458679, -0.3557549715042114, -1.215497374534607, -1.6383944749832153, -1.2451179027557373, 0.3299487233161926, -1.290163278579712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5222066044807434, -0.9237248301506042, 1.1809293031692505, -1.5126062631607056, 0.7061613202095032, -0.1357901394367218, 1.17972731590271, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144159078598022, -0.35575881600379944, -1.2154968976974487, -1.6383975744247437, -1.2451181411743164, 0.3299486041069031, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.46614131331443787, -0.9356170296669006, 1.1504801511764526, -1.4710386991500854, 0.6927689909934998, -0.15058502554893494, 1.172391653060913, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144159078598022, -0.35575276613235474, -1.2154972553253174, -1.6383917331695557, -1.2451177835464478, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4095114469528198, -0.9485421776771545, 1.1164276599884033, -1.4219441413879395, 0.6762850284576416, -0.1674027293920517, 1.1687867641448975, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.714415431022644, -0.3557567000389099, -1.2154970169067383, -1.638400673866272, -1.2451177835464478, 0.3299486041069031, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3633287847042084, -0.961279034614563, 1.0900535583496094, -1.381062388420105, 0.6762419939041138, -0.18749535083770752, 1.1618074178695679, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144157886505127, -0.3557562232017517, -1.21549654006958, -1.6383978128433228, -1.2451181411743164, 0.3299487233161926, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33283868432044983, -0.9716546535491943, 1.0744704008102417, -1.355368733406067, 0.6958829760551453, -0.2037191241979599, 1.1613870859146118, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.7144153118133545, -0.3557565212249756, -1.2154967784881592, -1.63839590549469, -1.2451179027557373, 0.3299484848976135, -1.2901623249053955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31458911299705505, -0.9789648056030273, 1.0696170330047607, -1.3390839099884033, 0.7158781290054321, -0.22146151959896088, 1.1612157821655273, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144154906272888, -0.35575640201568604, -1.21549654006958, -1.6383962631225586, -1.2451181411743164, 0.3299484848976135, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3107985854148865, -0.9808050394058228, 1.0693399906158447, -1.3339611291885376, 0.7236860990524292, -0.22550201416015625, 1.160179615020752, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144153714179993, -0.3557565212249756, -1.2154971361160278, -1.6383957862854004, -1.2451180219650269, 0.3299486041069031, -1.290162444114685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104493021965027, -0.980959951877594, 1.0693278312683105, -1.33357834815979, 0.724355936050415, -0.2258354127407074, 1.1600767374038696, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144156098365784, -0.3557562530040741, -1.2154966592788696, -1.63839590549469, -1.2451177835464478, 0.3299487233161926, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104031980037689, -0.9809780716896057, 1.0693269968032837, -1.3335281610488892, 0.7244145274162292, -0.22586488723754883, 1.160055160522461, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144151926040649, -0.3557566702365875, -1.2154970169067383, -1.6383957862854004, -1.2451180219650269, 0.3299486041069031, -1.2901625633239746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31039872765541077, -0.98097825050354, 1.0693275928497314, -1.3335219621658325, 0.7244213223457336, -0.2258674055337906, 1.1600537300109863, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144157886505127, -0.3557564616203308, -1.2154968976974487, -1.63839590549469, -1.2451176643371582, 0.3299487233161926, -1.2901628017425537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3103994131088257, -0.9809778928756714, 1.0693285465240479, -1.333521842956543, 0.7244224548339844, -0.2258676439523697, 1.1600539684295654, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144155502319336, -0.35575640201568604, -1.2154970169067383, -1.6383960247039795, -1.2451177835464478, 0.3299488425254822, -1.2901626825332642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040021777153015, -0.9809778928756714, 1.0693292617797852, -1.3335225582122803, 0.724422812461853, -0.2258671671152115, 1.160054326057434, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144156694412231, -0.35575631260871887, -1.2154966592788696, -1.63839590549469, -1.2451179027557373, 0.3299482464790344, -1.2901630401611328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040090322494507, -0.9809774160385132, 1.069330096244812, -1.3335227966308594, 0.7244225740432739, -0.22586692869663239, 1.1600552797317505, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7144163846969604, -0.3558412492275238, -1.2155158519744873, -1.6387122869491577, -1.2451845407485962, 0.3297557830810547, -1.2899506092071533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104017972946167, -0.9809765219688416, 1.0693310499191284, -1.333523154258728, 0.7244225740432739, -0.22586572170257568, 1.160056471824646, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.7098391056060791, -0.3594784736633301, -1.226717472076416, -1.6573578119277954, -1.265309453010559, 0.3120623826980591, -1.2496583461761475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104032576084137, -0.9809641242027283, 1.0693328380584717, -1.3335227966308594, 0.7244212031364441, -0.22586548328399658, 1.1600571870803833, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.70018070936203, -0.36163800954818726, -1.2418606281280518, -1.6592845916748047, -1.2775958776474, 0.3034704029560089, -1.223475694656372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040385365486145, -0.9809868931770325, 1.0693321228027344, -1.3335258960723877, 0.7244215607643127, -0.22586476802825928, 1.1600592136383057, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6745951175689697, -0.3645200729370117, -1.2608846426010132, -1.6539058685302734, -1.268322467803955, 0.29925161600112915, -1.1858323812484741, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104046583175659, -0.9809618592262268, 1.069334864616394, -1.3335245847702026, 0.7244207262992859, -0.22586381435394287, 1.1600589752197266, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6361690163612366, -0.37259963154792786, -1.2622833251953125, -1.663713812828064, -1.2605847120285034, 0.2955112159252167, -1.1479893922805786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104054629802704, -0.9809627532958984, 1.0693330764770508, -1.3335243463516235, 0.724420964717865, -0.22586260735988617, 1.1600602865219116, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.5925155878067017, -0.3877726197242737, -1.2360875606536865, -1.6774353981018066, -1.2485170364379883, 0.2889147400856018, -1.1146235466003418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104057013988495, -0.9809702038764954, 1.0693333148956299, -1.3335257768630981, 0.7244206070899963, -0.22586165368556976, 1.1600607633590698, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.544006884098053, -0.4099206030368805, -1.1910604238510132, -1.6801308393478394, -1.2509404420852661, 0.28040042519569397, -1.0882720947265625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040650606155396, -0.9809725880622864, 1.0693327188491821, -1.3335262537002563, 0.7244203686714172, -0.2258603423833847, 1.1600615978240967, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.48719218373298645, -0.4358290135860443, -1.137211799621582, -1.6738619804382324, -1.2462568283081055, 0.2798942029476166, -1.0662552118301392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104066550731659, -0.9809714555740356, 1.0693329572677612, -1.333526372909546, 0.7244192957878113, -0.2258596122264862, 1.1600617170333862, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.4316807687282562, -0.4618888199329376, -1.0825241804122925, -1.649628758430481, -1.2267999649047852, 0.28509703278541565, -1.0366500616073608, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040725111961365, -0.9809868335723877, 1.069331407546997, -1.3335280418395996, 0.7244183421134949, -0.2258593738079071, 1.1600626707077026, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.390143483877182, -0.4876706600189209, -1.0300780534744263, -1.6178319454193115, -1.2216317653656006, 0.28696107864379883, -1.0078914165496826, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040725111961365, -0.9809680581092834, 1.0693343877792358, -1.3335264921188354, 0.7244183421134949, -0.225859135389328, 1.1600630283355713, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.35919737815856934, -0.5130213499069214, -0.980223536491394, -1.5915884971618652, -1.2231568098068237, 0.28585085272789, -0.9887263774871826, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040745973587036, -0.9809754490852356, 1.0693328380584717, -1.33352792263031, 0.7244173884391785, -0.22585830092430115, 1.1600635051727295, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.33345896005630493, -0.5368033051490784, -0.9367831349372864, -1.5638048648834229, -1.2238633632659912, 0.2826230227947235, -0.968721330165863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040745973587036, -0.9809744954109192, 1.0693331956863403, -1.3335278034210205, 0.7244173884391785, -0.2258581817150116, 1.16006338596344, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.31397995352745056, -0.5582101345062256, -0.9045015573501587, -1.538021445274353, -1.2363686561584473, 0.2757956087589264, -0.9477506279945374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040769815444946, -0.9809738397598267, 1.0693331956863403, -1.3335282802581787, 0.7244169116020203, -0.22585806250572205, 1.16006338596344, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.2979821562767029, -0.5786625742912292, -0.8783759474754333, -1.5199373960494995, -1.2603272199630737, 0.2658255696296692, -0.9385177493095398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3104080557823181, -0.9809759855270386, 1.0693334341049194, -1.3335278034210205, 0.7244158387184143, -0.2258579432964325, 1.1600635051727295, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.27940285205841064, -0.5985984802246094, -0.8530393838882446, -1.5083998441696167, -1.2718899250030518, 0.26043206453323364, -0.9250588417053223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040799617767334, -0.9809763431549072, 1.0693333148956299, -1.3335285186767578, 0.7244156002998352, -0.2258577048778534, 1.1600635051727295, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.2629939615726471, -0.6183682084083557, -0.8273009061813354, -1.4956316947937012, -1.2816053628921509, 0.2605202794075012, -0.9159902334213257, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040850281715393, -0.9809725880622864, 1.0693333148956299, -1.3335274457931519, 0.7244135737419128, -0.2258579432964325, 1.160062551498413, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.2445189356803894, -0.638020396232605, -0.8011230230331421, -1.4855798482894897, -1.2808349132537842, 0.2604556679725647, -0.9192328453063965, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31040826439857483, -0.980970561504364, 1.0693334341049194, -1.3335272073745728, 0.7244136929512024, -0.22585806250572205, 1.160062551498413, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.22795723378658295, -0.6563373804092407, -0.7781170010566711, -1.4713672399520874, -1.2765679359436035, 0.2612338066101074, -0.9199008345603943, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.310408353805542, -0.9809744358062744, 1.0693331956863403, -1.333527684211731, 0.7244123816490173, -0.2258579432964325, 1.1600626707077026, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.21326562762260437, -0.671225368976593, -0.7625305652618408, -1.455849051475525, -1.2708429098129272, 0.26375168561935425, -0.9243353605270386, 0.5099999993712038, -0.5099999993712038, 0.5099999993712038, 0.5099999993712038, -0.5099999993712038, -0.5099999993712038, 0.5099999993712038, 0.5099999993712038, -0.3104085624217987, -0.9809718728065491, 1.0693334341049194, -1.333526849746704, 0.7244119048118591, -0.22585782408714294, 1.1600608825683594, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.20277123153209686, -0.682361364364624, -0.7551564574241638, -1.4411975145339966, -1.2684985399246216, 0.26582208275794983, -0.9304628968238831, 0.12599998358841782, -0.12599998358841782, 0.12599998358841782, 0.12599998358841782, -0.12599998358841782, -0.12599998358841782, 0.12599998358841782, 0.12599998358841782, -0.310408353805542, -0.9809720516204834, 1.0693331956863403, -1.3335245847702026, 0.7244056463241577, -0.22585685551166534, 1.1600468158721924, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.19736965000629425, -0.6895343661308289, -0.7542181015014648, -1.4328762292861938, -1.2666548490524292, 0.2693687081336975, -0.9395309686660767, 0.06479999102078955, -0.06479999102078955, 0.06479999102078955, 0.06479999102078955, -0.06479999102078955, -0.06479999102078955, 0.06479999102078955, 0.06479999102078955, -0.3104073405265808, -0.980970025062561, 1.0693401098251343, -1.3335257768630981, 0.7244123816490173, -0.22585758566856384, 1.160048007965088, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.19617322087287903, -0.6929932832717896, -0.7610114812850952, -1.430771827697754, -1.2680108547210693, 0.27086806297302246, -0.9524899125099182, 0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.3104066550731659, -0.9809695482254028, 1.0693446397781372, -1.333526372909546, 0.7244206070899963, -0.22585973143577576, 1.1600483655929565, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.19905413687229156, -0.6927723288536072, -0.7751784920692444, -1.4341206550598145, -1.2686152458190918, 0.26821497082710266, -0.9683029651641846, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.3104064166545868, -0.9809842705726624, 1.0693384408950806, -1.3335310220718384, 0.7244263887405396, -0.22586117684841156, 1.1600624322891235, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, 0.07920001470125641, -0.07920001470125641, -0.07920001470125641, -0.07920001470125641, 0.07920001470125641, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.20704425871372223, -0.6871645450592041, -0.7980620265007019, -1.4418892860412598, -1.2661875486373901, 0.26758041977882385, -0.9869300723075867, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.3104062080383301, -0.9809910655021667, 1.0693359375, -1.3335342407226562, 0.7244282960891724, -0.22586381435394287, 1.1600759029388428, 0.4992000012607365, 0.4992000012607365, 0.4992000012607365, 0.4992000012607365, -0.4992000012607365, -0.4992000012607365, -0.4992000012607365, 0.4992000012607365, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.22502544522285461, -0.6738707423210144, -0.8303064107894897, -1.4542632102966309, -1.251017689704895, 0.2746994197368622, -1.0143498182296753, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.31040650606155396, -0.98097825050354, 1.0693364143371582, -1.3335318565368652, 0.7244265079498291, -0.22586405277252197, 1.1600708961486816, 0.5783999988665948, 0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -0.5783999988665948, -0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.25975146889686584, -0.650488018989563, -0.8780995011329651, -1.4662606716156006, -1.232565999031067, 0.2930954396724701, -1.046139121055603, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.31040680408477783, -0.9809726476669312, 1.069334864616394, -1.3335319757461548, 0.7244260311126709, -0.22586357593536377, 1.1600704193115234, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.30527549982070923, -0.617344856262207, -0.9512277245521545, -1.484939455986023, -1.222198486328125, 0.32895535230636597, -1.0685272216796875, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.31040719151496887, -0.9809755682945251, 1.069333553314209, -1.333531141281128, 0.7244249582290649, -0.22586260735988617, 1.1600674390792847, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.35866639018058777, -0.5770912766456604, -1.0500407218933105, -1.5103535652160645, -1.2146077156066895, 0.3776671588420868, -1.0829777717590332, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.31040725111961365, -0.9809760451316833, 1.069333791732788, -1.3335304260253906, 0.7244243621826172, -0.22586296498775482, 1.1600637435913086, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.42298415303230286, -0.5371355414390564, -1.1604853868484497, -1.5345356464385986, -1.225993275642395, 0.4397810399532318, -1.092093586921692, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.3104073405265808, -0.9809589982032776, 1.069334626197815, -1.3335282802581787, 0.7244222164154053, -0.22586248815059662, 1.1600614786148071, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.48307666182518005, -0.5003845691680908, -1.2717252969741821, -1.561470627784729, -1.2181415557861328, 0.5133041143417358, -1.110795497894287, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.3104071617126465, -0.9809918403625488, 1.0693291425704956, -1.3335295915603638, 0.7244204878807068, -0.22586224973201752, 1.1600615978240967, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015433240681886673, -0.01888415217399597, 0.5343488454818726, -0.4692869186401367, -1.3742974996566772, -1.58298921585083, -1.1993030309677124, 0.5889288783073425, -1.14118230342865, 0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.31040719151496887, -0.9809791445732117, 1.069329857826233, -1.333527684211731, 0.724419891834259, -0.22586213052272797, 1.1600607633590698, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015529099851846695, -0.01888415217399597, 0.5824480056762695, -0.44506436586380005, -1.4571914672851562, -1.5985212326049805, -1.1711050271987915, 0.6380677223205566, -1.1715891361236572, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.3104073405265808, -0.9809646606445312, 1.0693339109420776, -1.33352792263031, 0.7244189381599426, -0.2258612960577011, 1.160059928894043, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6327748894691467, -0.429317831993103, -1.5133750438690186, -1.6121371984481812, -1.1794651746749878, 0.6409538388252258, -1.178393006324768, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.31040799617767334, -0.9809709191322327, 1.0693312883377075, -1.3335269689559937, 0.7244169116020203, -0.2258605808019638, 1.1600608825683594, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015433240681886673, -0.01888415217399597, 0.6557837724685669, -0.4243335425853729, -1.535646915435791, -1.616821050643921, -1.188707947731018, 0.6391369104385376, -1.1809725761413574, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.31040680408477783, -0.9809809327125549, 1.0693318843841553, -1.333528757095337, 0.7244167923927307, -0.22586020827293396, 1.1600606441497803, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6576651334762573, -0.42392364144325256, -1.537428379058838, -1.6172223091125488, -1.189427375793457, 0.6388968825340271, -1.1811386346817017, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.31040719151496887, -0.9809647798538208, 1.0693333148956299, -1.3335275650024414, 0.7244163155555725, -0.2258600890636444, 1.1600608825683594, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578248143196106, -0.4238576591014862, -1.5375993251800537, -1.617254614830017, -1.189517855644226, 0.6388677358627319, -1.181166410446167, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.3110915422439575, -0.9809756278991699, 1.0694820880889893, -1.3344486951828003, 0.7243597507476807, -0.22527597844600677, 1.1592191457748413, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578387022018433, -0.42385515570640564, -1.5376200675964355, -1.6172642707824707, -1.1895341873168945, 0.6388624906539917, -1.181169867515564, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.310486763715744, -0.9776362776756287, 1.072182059288025, -1.358713984489441, 0.6947509050369263, -0.19388198852539062, 1.1590769290924072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578404307365417, -0.4238545596599579, -1.5376256704330444, -1.617262840270996, -1.1895350217819214, 0.6388616561889648, -1.1811679601669312, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.2928977906703949, -0.9659531116485596, 1.0881931781768799, -1.3470908403396606, 0.6410838961601257, -0.1505795121192932, 1.2531040906906128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578393578529358, -0.42385172843933105, -1.537627100944519, -1.6172587871551514, -1.189535140991211, 0.6388617753982544, -1.1811652183532715, 0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.27558213472366333, -0.9511286020278931, 1.1056052446365356, -1.3375862836837769, 0.5873870253562927, -0.08709307760000229, 1.3612662553787231, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.01572081632912159, -0.01888415217399597, 0.6578385829925537, -0.4238533079624176, -1.537628412246704, -1.6172552108764648, -1.1895341873168945, 0.638862133026123, -1.1811609268188477, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.26901090145111084, -0.9346914887428284, 1.1235071420669556, -1.3474445343017578, 0.5629153251647949, -0.005991273559629917, 1.470137357711792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01878829300403595, 0.6578378081321716, -0.4238544702529907, -1.5376267433166504, -1.6172510385513306, -1.1895335912704468, 0.638863205909729, -1.1811600923538208, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.29046010971069336, -0.9105992317199707, 1.1046322584152222, -1.4115926027297974, 0.5348105430603027, 0.059074319899082184, 1.498432993888855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.01572081632912159, -0.01888415217399597, 0.6578335762023926, -0.423861026763916, -1.5376228094100952, -1.6172633171081543, -1.1895332336425781, 0.6388641595840454, -1.1811566352844238, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.32232236862182617, -0.8733310103416443, 1.081908106803894, -1.4695534706115723, 0.5009087324142456, 0.07904866337776184, 1.5007970333099365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.018980009481310844, 0.6578332185745239, -0.4238630533218384, -1.5376161336898804, -1.6172435283660889, -1.189530372619629, 0.6388658285140991, -1.1811529397964478, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3560503125190735, -0.8338887095451355, 1.0635637044906616, -1.501550316810608, 0.4421422779560089, 0.052687566727399826, 1.5010075569152832, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.657832145690918, -0.4238628149032593, -1.537614345550537, -1.6172475814819336, -1.1895285844802856, 0.6388674974441528, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4010840356349945, -0.7987123131752014, 1.0425139665603638, -1.5313565731048584, 0.4283774495124817, 0.05502532795071602, 1.5010260343551636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.657831072807312, -0.42386096715927124, -1.53761625289917, -1.6172493696212769, -1.1895281076431274, 0.6388687491416931, -1.18115234375, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.44566816091537476, -0.7644857168197632, 1.0159740447998047, -1.5527236461639404, 0.41735124588012695, 0.056331489235162735, 1.5010173320770264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578312516212463, -0.42385995388031006, -1.5376157760620117, -1.6172497272491455, -1.1895272731781006, 0.6388702988624573, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.47608762979507446, -0.732144832611084, 0.9790794253349304, -1.5625101327896118, 0.4097929000854492, 0.05569584667682648, 1.5009835958480835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578311324119568, -0.42386022210121155, -1.5376157760620117, -1.6172515153884888, -1.1895266771316528, 0.6388717293739319, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4930677115917206, -0.705570638179779, 0.9329380989074707, -1.548514485359192, 0.3838609457015991, 0.04459965229034424, 1.5009902715682983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578310132026672, -0.42385992407798767, -1.537616491317749, -1.6172515153884888, -1.189526081085205, 0.6388731598854065, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4976975619792938, -0.6916883587837219, 0.8789435625076294, -1.517783522605896, 0.3561415672302246, 0.026320593431591988, 1.5009852647781372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578309535980225, -0.423859179019928, -1.5376166105270386, -1.6172502040863037, -1.1895254850387573, 0.638873279094696, -1.181152582168579, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4978945255279541, -0.6912336349487305, 0.8336837887763977, -1.4914677143096924, 0.3287423849105835, 0.006156176328659058, 1.5009881258010864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.018980009481310844, 0.6578309535980225, -0.4238600730895996, -1.5376157760620117, -1.6172504425048828, -1.189523696899414, 0.6388736367225647, -1.1811516284942627, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.49228763580322266, -0.7027879357337952, 0.7958716750144958, -1.4502589702606201, 0.28071296215057373, -0.017675653100013733, 1.4703270196914673, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.018980009481310844, 0.6578311324119568, -0.42386266589164734, -1.5376148223876953, -1.6172550916671753, -1.189522385597229, 0.6388738751411438, -1.181152105331421, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.48478302359580994, -0.7254977226257324, 0.7532580494880676, -1.4095340967178345, 0.23865541815757751, -0.026292670518159866, 1.4006540775299072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578310132026672, -0.4238584637641907, -1.5376172065734863, -1.6172479391098022, -1.1895225048065186, 0.6388747096061707, -1.181152105331421, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.47190696001052856, -0.7578998804092407, 0.6961063146591187, -1.3616124391555786, 0.19909225404262543, -0.030227210372686386, 1.3390744924545288, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578317284584045, -0.42386022210121155, -1.5376150608062744, -1.6172511577606201, -1.189521312713623, 0.6388747096061707, -1.181152105331421, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4559570252895355, -0.7906861901283264, 0.6469765305519104, -1.312509298324585, 0.1718854308128357, -0.036807987838983536, 1.2892205715179443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578312516212463, -0.4238586127758026, -1.5376170873641968, -1.617244839668274, -1.189521312713623, 0.6388755440711975, -1.1811504364013672, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4420159161090851, -0.8241809010505676, 0.6016923189163208, -1.2628873586654663, 0.14911168813705444, -0.03385939076542854, 1.2435407638549805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578311324119568, -0.42385971546173096, -1.537615418434143, -1.6172542572021484, -1.1895216703414917, 0.6388759016990662, -1.181153655052185, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4294692277908325, -0.8566272258758545, 0.5591941475868225, -1.2075141668319702, 0.10789062082767487, -0.053618382662534714, 1.1982357501983643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578318476676941, -0.42386066913604736, -1.5376149415969849, -1.6172505617141724, -1.1895207166671753, 0.6388756632804871, -1.1811518669128418, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.41576680541038513, -0.888730525970459, 0.5236498713493347, -1.1527950763702393, 0.07370933145284653, -0.07315434515476227, 1.161600947380066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578305959701538, -0.4238600730895996, -1.5376158952713013, -1.617248773574829, -1.1895208358764648, 0.6388756632804871, -1.181151032447815, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.40622034668922424, -0.9205568432807922, 0.494305282831192, -1.0947439670562744, 0.04920027777552605, -0.08670981973409653, 1.1197972297668457, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578313112258911, -0.4238598048686981, -1.537615418434143, -1.6172457933425903, -1.1895205974578857, 0.6388756632804871, -1.1811505556106567, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.40176665782928467, -0.9530161023139954, 0.4671929180622101, -1.0353455543518066, 0.029549982398748398, -0.09652753919363022, 1.0779017210006714, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.657831072807312, -0.423860102891922, -1.5376150608062744, -1.61724853515625, -1.1895208358764648, 0.6388757824897766, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3983049988746643, -0.984926164150238, 0.4437076449394226, -0.9776152968406677, 0.01268470287322998, -0.1082664430141449, 1.0431792736053467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578316688537598, -0.423862099647522, -1.5376136302947998, -1.6172517538070679, -1.1895205974578857, 0.6388756632804871, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.39347130060195923, -1.0162067413330078, 0.4252449870109558, -0.9224429130554199, -0.0005796769401058555, -0.12206316739320755, 1.0114790201187134, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578319668769836, -0.42386066913604736, -1.5376149415969849, -1.6172499656677246, -1.1895208358764648, 0.6388751864433289, -1.1811513900756836, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.38934096693992615, -1.0469366312026978, 0.4074873626232147, -0.8702904582023621, -0.022570010274648666, -0.14235089719295502, 0.9758608341217041, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578313708305359, -0.42385920882225037, -1.5376156568527222, -1.6172477006912231, -1.1895208358764648, 0.6388751864433289, -1.1811513900756836, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.38696688413619995, -1.0765279531478882, 0.3925205171108246, -0.8175369501113892, -0.03862479701638222, -0.15890051424503326, 0.9528142809867859, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578309535980225, -0.42385950684547424, -1.5376152992248535, -1.6172521114349365, -1.1895209550857544, 0.6388755440711975, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.38422662019729614, -1.1040111780166626, 0.38245663046836853, -0.7702422142028809, -0.05067865177989006, -0.17554792761802673, 0.9329273104667664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578314304351807, -0.423859566450119, -1.5376150608062744, -1.6172500848770142, -1.1895208358764648, 0.6388753056526184, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.37943634390830994, -1.1283963918685913, 0.3757160007953644, -0.7273612022399902, -0.0641845092177391, -0.19323736429214478, 0.9168497920036316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.657831609249115, -0.42386001348495483, -1.5376149415969849, -1.6172518730163574, -1.1895207166671753, 0.6388755440711975, -1.1811518669128418, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.37417709827423096, -1.1504261493682861, 0.3723505735397339, -0.6851999759674072, -0.07675021141767502, -0.21462105214595795, 0.8999212384223938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578310132026672, -0.42386069893836975, -1.5376148223876953, -1.6172537803649902, -1.1895208358764648, 0.6388753056526184, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.36899861693382263, -1.1705207824707031, 0.37041860818862915, -0.647165060043335, -0.08580285310745239, -0.23309101164340973, 0.8949393630027771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578309535980225, -0.4238574802875519, -1.5376174449920654, -1.6172503232955933, -1.189521312713623, 0.6388751864433289, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.36492079496383667, -1.1876943111419678, 0.3688751757144928, -0.6127830147743225, -0.09812827408313751, -0.25045087933540344, 0.8934057354927063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578313112258911, -0.4238586127758026, -1.5376163721084595, -1.617250680923462, -1.1895209550857544, 0.6388751864433289, -1.1811515092849731, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.35993295907974243, -1.2029582262039185, 0.36952781677246094, -0.5821943879127502, -0.11094947159290314, -0.2663363218307495, 0.8844850659370422, 0.5615999998954626, 0.5615999998954626, 0.5615999998954626, 0.5615999998954626, -0.5615999998954626, -0.5615999998954626, -0.5615999998954626, 0.5615999998954626, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578309535980225, -0.42385920882225037, -1.5376155376434326, -1.6172527074813843, -1.189521074295044, 0.6388745903968811, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.35620301961898804, -1.2167059183120728, 0.37200987339019775, -0.5535097718238831, -0.11957655847072601, -0.2792244255542755, 0.8798494338989258, 0.5142000046405163, 0.5142000046405163, 0.5142000046405163, 0.5142000046405163, -0.5142000046405163, -0.5142000046405163, -0.5142000046405163, 0.5142000046405163, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578309535980225, -0.4238588511943817, -1.5376168489456177, -1.617250680923462, -1.189521312713623, 0.6388748288154602, -1.181152582168579, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3532085120677948, -1.2286181449890137, 0.3739390969276428, -0.5296027660369873, -0.1310391128063202, -0.28982672095298767, 0.876957893371582, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, -0.3323999955103948, -0.3323999955103948, -0.3323999955103948, 0.3323999955103948, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578312516212463, -0.4238591194152832, -1.5376160144805908, -1.617249846458435, -1.1895214319229126, 0.6388753056526184, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.351203054189682, -1.2388486862182617, 0.37689822912216187, -0.5104249119758606, -0.14420582354068756, -0.30190348625183105, 0.8646718859672546, 0.22919998954940626, 0.22919998954940626, 0.22919998954940626, 0.22919998954940626, -0.22919998954940626, -0.22919998954940626, -0.22919998954940626, 0.22919998954940626, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578313708305359, -0.4238593280315399, -1.5376160144805908, -1.6172511577606201, -1.1895211935043335, 0.6388750672340393, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3479487895965576, -1.2470593452453613, 0.3823954164981842, -0.4927849769592285, -0.1533537358045578, -0.3146528899669647, 0.855003833770752, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, -0.11159999920771672, -0.11159999920771672, -0.11159999920771672, 0.11159999920771672, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578313708305359, -0.42385920882225037, -1.5376161336898804, -1.6172510385513306, -1.189521312713623, 0.6388751864433289, -1.1811527013778687, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.34129685163497925, -1.252996802330017, 0.3916860520839691, -0.47940289974212646, -0.15439803898334503, -0.32886821031570435, 0.8572173714637756, 0.06840000676584768, 0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -0.06840000676584768, -0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.657831072807312, -0.42385897040367126, -1.5376161336898804, -1.6172499656677246, -1.1895209550857544, 0.6388747096061707, -1.181152105331421, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3306191563606262, -1.2557040452957153, 0.40319737792015076, -0.4703024625778198, -0.15561695396900177, -0.34911760687828064, 0.8614885210990906, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.6578312516212463, -0.42385950684547424, -1.5376161336898804, -1.6172508001327515, -1.1895211935043335, 0.6388744711875916, -1.1811513900756836, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.31788986921310425, -1.2546509504318237, 0.41957491636276245, -0.4627740681171417, -0.14513951539993286, -0.3748214840888977, 0.8835124373435974, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.6578313708305359, -0.42385947704315186, -1.5376160144805908, -1.6172505617141724, -1.1895216703414917, 0.6388745903968811, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.30442216992378235, -1.2483903169631958, 0.44300752878189087, -0.45793184638023376, -0.11808200925588608, -0.4096009135246277, 0.9269213080406189, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.6578314900398254, -0.423859566450119, -1.5376160144805908, -1.6172502040863037, -1.189521074295044, 0.6388747096061707, -1.18115234375, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.29086586833000183, -1.236163854598999, 0.47402727603912354, -0.45799070596694946, -0.07475064694881439, -0.4420554041862488, 0.9910335540771484, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578313112258911, -0.42385971546173096, -1.5376158952713013, -1.6172511577606201, -1.1895214319229126, 0.6388745903968811, -1.1811515092849731, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.2770831286907196, -1.217801809310913, 0.5087670087814331, -0.4703645408153534, -0.0309107918292284, -0.4704209864139557, 1.0622096061706543, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.018980009481310844, 0.6578318476676941, -0.42386046051979065, -1.5376152992248535, -1.6172510385513306, -1.189521074295044, 0.638874351978302, -1.1811518669128418, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.265800416469574, -1.1941189765930176, 0.5480471253395081, -0.4985896646976471, 0.014031490311026573, -0.4903567433357239, 1.1330854892730713, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.015624958090484142, -0.01888415217399597, 0.657831609249115, -0.42386335134506226, -1.537613868713379, -1.617251992225647, -1.1895208358764648, 0.6388745903968811, -1.181151032447815, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.26125726103782654, -1.1652082204818726, 0.593620240688324, -0.5476877093315125, 0.06269451230764389, -0.49808835983276367, 1.2037087678909302, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.046987298876047134, 0.01572081632912159, -0.01888415217399597, 0.6578313708305359, -0.4238600730895996, -1.53761625289917, -1.6172547340393066, -1.1895211935043335, 0.6388747096061707, -1.1811524629592896, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.2673514783382416, -1.1305255889892578, 0.6470691561698914, -0.6226984262466431, 0.11122966557741165, -0.4916457533836365, 1.2674157619476318, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578311324119568, -0.4238584041595459, -1.5376169681549072, -1.617253303527832, -1.1895211935043335, 0.6388744711875916, -1.1811540126800537, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.28841230273246765, -1.0893399715423584, 0.7083771228790283, -0.7275128960609436, 0.14671039581298828, -0.467473566532135, 1.3261864185333252, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7408652901649475, 1.2463414669036865, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578316688537598, -0.4238588213920593, -1.5376160144805908, -1.6172540187835693, -1.1895207166671753, 0.6388749480247498, -1.1811537742614746, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3293589949607849, -1.0437242984771729, 0.7819010615348816, -0.8602167367935181, 0.17757625877857208, -0.4152607023715973, 1.3717740774154663, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2463414669036865, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578308939933777, -0.42385920882225037, -1.5376166105270386, -1.6172503232955933, -1.1895219087600708, 0.638874351978302, -1.1811497211456299, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.3893227279186249, -0.9966953992843628, 0.8694794774055481, -1.0149424076080322, 0.2034626603126526, -0.34488165378570557, 1.4027878046035767, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01878829300403595, 0.6578313708305359, -0.42385557293891907, -1.5376209020614624, -1.6172467470169067, -1.1895216703414917, 0.6388742327690125, -1.181150197982788, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.46168214082717896, -0.9530246257781982, 0.9677876234054565, -1.1753509044647217, 0.23413076996803284, -0.2655763030052185, 1.4251105785369873, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578297019004822, -0.4238608181476593, -1.5376182794570923, -1.6172515153884888, -1.189522385597229, 0.6388739943504333, -1.1811505556106567, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.5344447493553162, -0.916228175163269, 1.0693506002426147, -1.321238398551941, 0.27015379071235657, -0.1908932477235794, 1.4477102756500244, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578300595283508, -0.4238570034503937, -1.5376173257827759, -1.6172493696212769, -1.189522624015808, 0.6388742327690125, -1.1811518669128418, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.5962322950363159, -0.8883036375045776, 1.1617953777313232, -1.4353580474853516, 0.3062400817871094, -0.12693750858306885, 1.468630075454712, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.6578304767608643, -0.4238586723804474, -1.5376170873641968, -1.617249846458435, -1.1895216703414917, 0.6388742327690125, -1.1811518669128418, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.6401705145835876, -0.8701226711273193, 1.243814468383789, -1.5162736177444458, 0.36748558282852173, -0.07554831355810165, 1.4731508493423462, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578313112258911, -0.4238574206829071, -1.5376172065734863, -1.6172444820404053, -1.1895216703414917, 0.6388742327690125, -1.1811513900756836, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.6620490550994873, -0.8564899563789368, 1.323243498802185, -1.577414870262146, 0.4511423110961914, -0.031223339959979057, 1.485066533088684, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.01572081632912159, -0.01888415217399597, 0.657829999923706, -0.42385897040367126, -1.5376174449920654, -1.6172525882720947, -1.1895225048065186, 0.6388739943504333, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.666892945766449, -0.8455386161804199, 1.3943114280700684, -1.6125303506851196, 0.5281191468238831, 0.005430412013083696, 1.4993531703948975, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578312516212463, -0.42385461926460266, -1.5376191139221191, -1.617241382598877, -1.1895217895507812, 0.6388742327690125, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.6508796811103821, -0.8383381962776184, 1.4442352056503296, -1.622598648071289, 0.5953649282455444, 0.010929493233561516, 1.5006955862045288, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2461497783660889, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578311920166016, -0.4238598644733429, -1.5376157760620117, -1.617250919342041, -1.1895216703414917, 0.6388741135597229, -1.181152582168579, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.6118513345718384, -0.8345428705215454, 1.4741063117980957, -1.6071293354034424, 0.6386092901229858, 0.014013273641467094, 1.493008017539978, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578314304351807, -0.4238600730895996, -1.5376150608062744, -1.617254376411438, -1.1895214319229126, 0.638874351978302, -1.181152105331421, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.5609715580940247, -0.8342435359954834, 1.482100248336792, -1.5760966539382935, 0.6732046008110046, 0.019017407670617104, 1.4675971269607544, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578314304351807, -0.4238586127758026, -1.537616491317749, -1.6172417402267456, -1.189521312713623, 0.6388739943504333, -1.1811507940292358, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.5089415907859802, -0.8374332189559937, 1.4737663269042969, -1.5460678339004517, 0.7162250876426697, 0.03569741174578667, 1.4268534183502197, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7410569787025452, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578306555747986, -0.42385897040367126, -1.5376169681549072, -1.6172505617141724, -1.1895217895507812, 0.638874351978302, -1.1811515092849731, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4649371802806854, -0.8414744138717651, 1.4586108922958374, -1.527675986289978, 0.7548699378967285, 0.05048318952322006, 1.3808742761611938, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015529099851846695, -0.01888415217399597, 0.6578308343887329, -0.4238593578338623, -1.5376163721084595, -1.6172500848770142, -1.1895217895507812, 0.6388739943504333, -1.1811513900756836, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.43498867750167847, -0.8438888192176819, 1.4441810846328735, -1.5159077644348145, 0.7706395983695984, 0.041749805212020874, 1.3599193096160889, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578310132026672, -0.42385947704315186, -1.5376161336898804, -1.6172511577606201, -1.1895215511322021, 0.6388742327690125, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4251858592033386, -0.8451888561248779, 1.433123230934143, -1.5031006336212158, 0.7898711562156677, 0.04865271598100662, 1.3495144844055176, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578311920166016, -0.4238594174385071, -1.5376160144805908, -1.617250919342041, -1.1895216703414917, 0.6388745903968811, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42414340376853943, -0.8453172445297241, 1.4314104318618774, -1.5013720989227295, 0.7929233908653259, 0.050873514264822006, 1.3481618165969849, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578312516212463, -0.42385926842689514, -1.5376167297363281, -1.617250919342041, -1.1895215511322021, 0.6388744711875916, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240502715110779, -0.8453378081321716, 1.4312548637390137, -1.5012227296829224, 0.7932188510894775, 0.05107880383729935, 1.3480408191680908, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.047083158046007156, 0.015624958090484142, -0.01888415217399597, 0.6578309535980225, -0.42385947704315186, -1.5376160144805908, -1.617250680923462, -1.189521312713623, 0.6388738751411438, -1.1811522245407104, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240376353263855, -0.8453387022018433, 1.4312435388565063, -1.5012052059173584, 0.7932514548301697, 0.05110001564025879, 1.3480180501937866, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7409611344337463, 1.2462456226348877, -0.04717901721596718, 0.015624958090484142, -0.01888415217399597, 0.6578312516212463, -0.4238594174385071, -1.53761625289917, -1.6172505617141724, -1.1895215511322021, 0.6388741135597229, -1.1811519861221313, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403608560562134, -0.8453380465507507, 1.4312427043914795, -1.5012038946151733, 0.7932541966438293, 0.0511024110019207, 1.3480159044265747, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7417280077934265, 1.244903564453125, -0.05015063285827637, 0.014474654570221901, -0.019938597455620766, 0.6578336954116821, -0.42386651039123535, -1.5376092195510864, -1.6172480583190918, -1.1895183324813843, 0.6388742327690125, -1.1811473369598389, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404142022132874, -0.8453459143638611, 1.431221842765808, -1.5011794567108154, 0.7932496070861816, 0.051103610545396805, 1.3480159044265747, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709592080298766, -0.9625741777478305, -0.005662147729450693, 44.02756881713867], [0.9625780721678345, 0.27098121448998536, -0.003554767951328351, 4.381628036499023], [0.004956063506182489, -0.004487062136922211, 0.9999776516042257, 1.1469690799713135], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.745370626449585, 1.239727258682251, -0.06462528556585312, 0.013707784935832024, -0.021088900044560432, 0.6578375697135925, -0.42386940121650696, -1.537605881690979, -1.6172432899475098, -1.189515233039856, 0.638874351978302, -1.1811455488204956, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.424040287733078, -0.8453459143638611, 1.4312241077423096, -1.5011838674545288, 0.7932491302490234, 0.051103971898555756, 1.3480157852172852, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710680326409246, -0.9625424748436927, -0.005840017290881436, 44.02620315551758], [0.9625473161272973, 0.27109079836729644, -0.0035275000664046416, 4.377024173736572], [0.004978543593792279, -0.0046651004663339, 0.9999767251998037, 1.1546604633331299], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.2324419021606445, -0.08820651471614838, 0.01572081632912159, -0.019746879115700722, 0.6578354835510254, -0.42386576533317566, -1.5376081466674805, -1.6172493696212769, -1.1895173788070679, 0.6388742327690125, -1.1811504364013672, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403727769851685, -0.8453261852264404, 1.4312416315078735, -1.501206874847412, 0.7932527661323547, 0.051103610545396805, 1.3480197191238403, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710065124988008, -0.962560232168719, -0.005767983229780389, 44.02616882324219], [0.9625646590928668, 0.27102899607503395, -0.0035440586891833975, 4.380335807800293], [0.004974660658824947, -0.004591593825780269, 0.9999770847461799, 1.1515686511993408], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7553399205207825, 1.2237187623977661, -0.11562208086252213, 0.020705465227365494, -0.011407177895307541, 0.6578333377838135, -0.4238572120666504, -1.537613868713379, -1.6172584295272827, -1.1895204782485962, 0.638874351978302, -1.1811563968658447, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403513193130493, -0.845312774181366, 1.4312586784362793, -1.5012253522872925, 0.7932614684104919, 0.05110325291752815, 1.3480273485183716, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27098447772200795, -0.9625671008590945, -0.005655897581162022, 44.02864074707031], [0.9625711819878435, 0.27100625749362517, -0.00351112600525862, 4.382002830505371], [0.004912478015870731, -0.004492743373150145, 0.9999778411628563, 1.1464953422546387], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.757640540599823, 1.2158583402633667, -0.14543412625789642, 0.02837415784597397, 0.0012461623409762979, 0.6578313112258911, -0.42384982109069824, -1.5376204252243042, -1.617262363433838, -1.189523696899414, 0.6388741135597229, -1.1811634302139282, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240379333496094, -0.8453143239021301, 1.4312618970870972, -1.5012270212173462, 0.7932654619216919, 0.05110229179263115, 1.3480370044708252, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27103583516571295, -0.9625519328760747, -0.005775168617200083, 44.03028106689453], [0.96255658545651, 0.27105817512211905, -0.0035050668710874576, 4.380178451538086], [0.004939215558025913, -0.0046089278578908465, 0.999977180706476, 1.1517177820205688], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.757640540599823, 1.2108737230300903, -0.1763964593410492, 0.035180121660232544, 0.01620011031627655, 0.6578272581100464, -0.4238458275794983, -1.5376248359680176, -1.6172655820846558, -1.1895259618759155, 0.6388741135597229, -1.1811652183532715, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240380823612213, -0.8453242778778076, 1.4312610626220703, -1.5012248754501343, 0.7932665348052979, 0.0511016920208931, 1.3480361700057983, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711198613218516, -0.9625289468750863, -0.005661026793551155, 44.03042984008789], [0.962533211513618, 0.27114151660201224, -0.003477744677393768, 4.376938819885254], [0.004882369312160346, -0.004506040645413628, 0.9999779287902316, 1.146564245223999], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7563943862915039, 1.2075186967849731, -0.20822152495384216, 0.03805587813258171, 0.02933274395763874, 0.6578273773193359, -0.4238473176956177, -1.5376245975494385, -1.6172640323638916, -1.1895264387130737, 0.6388737559318542, -1.1811646223068237, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404136061668396, -0.845329761505127, 1.4312560558319092, -1.5012171268463135, 0.7932619452476501, 0.05110085383057594, 1.3480350971221924, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.271121124058322, -0.9625293977379271, -0.005522189748236023, 44.0297737121582], [0.9625333215894839, 0.27114185351882414, -0.003420540935560493, 4.377446174621582], [0.00478966797046233, -0.004387910737480349, 0.9999789024374928, 1.1402015686035156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7536144852638245, 1.2056015729904175, -0.24014244973659515, 0.03680971637368202, 0.038726888597011566, 0.6578285694122314, -0.42384952306747437, -1.537623643875122, -1.6172600984573364, -1.1895263195037842, 0.6388742327690125, -1.1811635494232178, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404207587242126, -0.8453354835510254, 1.431252360343933, -1.5012153387069702, 0.7932607531547546, 0.05110001564025879, 1.34803307056427, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27110634942196676, -0.9625337667615651, -0.005485904381877319, 44.02988052368164], [0.9625375828928607, 0.27112685910503176, -0.003409954634474379, 4.378600120544434], [0.004769572503215609, -0.004355928791066683, 0.9999791383136469, 1.1385753154754639], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.751697301864624, 1.2036843299865723, -0.2722550928592682, 0.029141025617718697, 0.043423961848020554, 0.6578280925750732, -0.4238508343696594, -1.537623405456543, -1.6172583103179932, -1.189527153968811, 0.6388739943504333, -1.1811636686325073, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240422248840332, -0.8453329801559448, 1.4312515258789062, -1.5012085437774658, 0.7932565808296204, 0.051099177449941635, 1.3480327129364014, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27108596630121773, -0.9625373815245168, -0.005847054169529145, 44.02927017211914], [0.9625425959087297, 0.2711084448216541, -0.0034586424602786534, 4.379793167114258], [0.004914258420035142, -0.004690449265322485, 0.9999769246086985, 1.154694676399231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.202438235282898, -0.3051346242427826, 0.016871120780706406, 0.043423961848020554, 0.6578280925750732, -0.4238501191139221, -1.5376241207122803, -1.6172541379928589, -1.1895270347595215, 0.6388738751411438, -1.1811624765396118, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404013872146606, -0.8453325033187866, 1.4312504529953003, -1.5012149810791016, 0.7932571768760681, 0.05109762027859688, 1.3480323553085327, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27109165900442156, -0.9625368603803126, -0.005666112198056567, 44.02980041503906], [0.9625411398575688, 0.2711133470485313, -0.0034795306917405995, 4.379953384399414], [0.00488533519039256, -0.0045105943458974805, 0.9999778937750196, 1.1468168497085571], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7468085289001465, 1.2031091451644897, -0.33772656321525574, 0.0038343456108123064, 0.039493758231401443, 0.6578295826911926, -0.42385023832321167, -1.537623643875122, -1.617246389389038, -1.189527153968811, 0.6388737559318542, -1.181161880493164, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240337908267975, -0.8453342318534851, 1.4312491416931152, -1.5012253522872925, 0.7932578921318054, 0.05109618231654167, 1.3480321168899536, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711573921670798, -0.9625185597610125, -0.005629457232694532, 44.03074264526367], [0.9625223913862437, 0.2711791582350517, -0.0035369788005244736, 4.377275466918945], [0.004930999214668376, -0.004459400690119264, 0.9999778992518934, 1.1454492807388306], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7427824139595032, 1.2066559791564941, -0.3704143464565277, -0.004121921490877867, 0.03278365358710289, 0.6578297019004822, -0.42385077476501465, -1.5376243591308594, -1.6172468662261963, -1.1895273923873901, 0.6388739943504333, -1.1811623573303223, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403459548950195, -0.8453331589698792, 1.431249737739563, -1.5012259483337402, 0.7932582497596741, 0.05109510198235512, 1.3480325937271118, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0011503036366775632, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27117209869136716, -0.9625144791661955, -0.005618744232186052, 44.03095626831055], [0.9625182771773656, 0.27119379896830853, -0.0035340487620560963, 4.3769636154174805], [0.004925341697316168, -0.0044498085985795995, 0.9999779698636369, 1.1449717283248901], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7359764575958252, 1.2118322849273682, -0.40300628542900085, -0.0069976807571947575, 0.023293649777770042, 0.6578308343887329, -0.42385321855545044, -1.5376228094100952, -1.6172465085983276, -1.189526915550232, 0.6388737559318542, -1.1811593770980835, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240381419658661, -0.845333456993103, 1.4312479496002197, -1.5012232065200806, 0.7932553887367249, 0.051094263792037964, 1.3480302095413208, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0011503036366775632, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711245810747406, -0.9625269090979448, -0.005780207557127491, 44.03042221069336], [0.9625313703147365, 0.2711471437238999, -0.003547902254361042, 4.3793792724609375], [0.004982238159918184, -0.004601707588257753, 0.9999770005306072, 1.152153730392456], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7284995317459106, 1.2182549238204956, -0.43531063199043274, -0.004792931955307722, 0.014378795400261879, 0.6578309535980225, -0.4238550066947937, -1.537621259689331, -1.6172473430633545, -1.1895263195037842, 0.6388741135597229, -1.1811575889587402, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240379333496094, -0.8453333377838135, 1.4312481880187988, -1.501217246055603, 0.793252170085907, 0.05109402537345886, 1.3480279445648193, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0011503036366775632, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711258159424178, -0.9625260012955585, -0.005872713132826916, 44.03017807006836], [0.9625309376835144, 0.2711487980781906, -0.0035388278916925454, 4.379598617553711], [0.004998592967288041, -0.004693200478871254, 0.999976493692533, 1.1561827659606934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7210225462913513, 1.2260193824768066, -0.46771085262298584, 0.0019171728054061532, 0.002875759033486247, 0.6578306555747986, -0.4238567054271698, -1.537620186805725, -1.6172534227371216, -1.1895265579223633, 0.6388742327690125, -1.1811579465866089, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.424039363861084, -0.8453235626220703, 1.4312514066696167, -1.5012151002883911, 0.7932532429695129, 0.05109330639243126, 1.348028302192688, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0011503036366775632, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711049417391328, -0.9625320487089878, -0.0058451495019573516, 44.03012466430664], [0.9625371968197649, 0.27112746521232367, -0.003470208335202131, 4.380930423736572], [0.004924967306581886, -0.004685383188068846, 0.9999768956738001, 1.1546686887741089], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.712682843208313, 1.2329212427139282, -0.5005903840065002, 0.01159889530390501, -0.006614245939999819, 0.6578298807144165, -0.42385706305503845, -1.5376206636428833, -1.6172542572021484, -1.1895265579223633, 0.6388741135597229, -1.1811577081680298, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240410327911377, -0.8453235030174255, 1.431250810623169, -1.5012125968933105, 0.7932506799697876, 0.05109330639243126, 1.3480277061462402, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0012653340818360448, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27114820035700893, -0.9625201706566467, -0.005794352617436529, 44.030433654785156], [0.9625251526016043, 0.27117040650982915, -0.003455610301024262, 4.379260063171387], [0.004897351571396295, -0.004640227623067729, 0.9999772418586297, 1.1523691415786743], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7050141096115112, 1.2395354509353638, -0.5294438004493713, 0.01840485818684101, -0.014187078922986984, 0.6578302979469299, -0.42386260628700256, -1.5376169681549072, -1.6172603368759155, -1.1895257234573364, 0.6388739943504333, -1.181156873703003, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240436851978302, -0.8453229069709778, 1.4312527179718018, -1.50120210647583, 0.7932476997375488, 0.05109330639243126, 1.348026990890503, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0012653340818360448, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27112952568212567, -0.9625246467843005, -0.005923228523612655, 44.03017044067383], [0.9625304553658689, 0.27115215124530234, -0.003410772378420289, 4.380415916442871], [0.004889048635295745, -0.004776526750898205, 0.9999766407249919, 1.157841444015503], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7014673948287964, 1.2426029443740845, -0.5464107990264893, 0.02147233486175537, -0.01754213124513626, 0.6578297019004822, -0.42386290431022644, -1.5376170873641968, -1.61725652217865, -1.1895259618759155, 0.6388733983039856, -1.1811543703079224, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240398406982422, -0.8453348278999329, 1.4312511682510376, -1.5012023448944092, 0.7932447195053101, 0.05109294503927231, 1.3480257987976074, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0012653340818360448, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27114254502686774, -0.9625213956941435, -0.005855177824039461, 44.029361724853516], [0.962526669667898, 0.27116504201057434, -0.0034540077343103133, 4.380043983459473], [0.004912275885801774, -0.004699236363662648, 0.9999768930946455, 1.155029058456421], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7003170847892761, 1.2438491582870483, -0.5514913201332092, 0.023293649777770042, -0.01888415217399597, 0.6578298211097717, -0.4238612651824951, -1.5376169681549072, -1.6172561645507812, -1.1895263195037842, 0.6388738751411438, -1.1811552047729492, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404061555862427, -0.8453319072723389, 1.4312506914138794, -1.5012054443359375, 0.7932455539703369, 0.05109306424856186, 1.3480265140533447, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0011503036366775632, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711603786904613, -0.9625164555115556, -0.005841395202973666, 44.0301628112793], [0.9625217102800504, 0.2711827642340423, -0.0034446512088292173, 4.379531383514404], [0.0048996191701217665, -0.0046884167749452095, 0.9999770059757035, 1.1543800830841064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6991667747497559, 1.2445201873779297, -0.5527374744415283, 0.024156376719474792, -0.019842738285660744, 0.6578304171562195, -0.4238612651824951, -1.5376172065734863, -1.6172547340393066, -1.1895257234573364, 0.6388737559318542, -1.1811546087265015, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240416884422302, -0.8453330993652344, 1.4312494993209839, -1.5012058019638062, 0.7932440042495728, 0.05109270662069321, 1.3480262756347656, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711577015882213, -0.9625178237460023, -0.005739324058892413, 44.03107452392578], [0.9625225619693238, 0.27117962893965364, -0.0034534834820613, 4.379950523376465], [0.004880427174151279, -0.004587790253668675, 0.9999775665539633, 1.1499272584915161], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6983999013900757, 1.2450952529907227, -0.5530250668525696, 0.024635670706629753, -0.020322030410170555, 0.657830536365509, -0.42386120557785034, -1.5376161336898804, -1.6172525882720947, -1.18952476978302, 0.6388741135597229, -1.1811543703079224, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240419864654541, -0.8453336358070374, 1.431248664855957, -1.5012067556381226, 0.793244481086731, 0.05109294503927231, 1.3480267524719238, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711264031232028, -0.9625251837445898, -0.005978644237441441, 44.03030776977539], [0.9625310946788513, 0.27114946075975854, -0.003444082755103758, 4.381587982177734], [0.004936122547744502, -0.004820849213109985, 0.9999761967702322, 1.1604290008544922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6981123089790344, 1.2451910972595215, -0.5533125996589661, 0.024827387183904648, -0.020417889580130577, 0.6578307151794434, -0.4238610565662384, -1.53761625289917, -1.6172508001327515, -1.189524531364441, 0.6388741135597229, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404186725616455, -0.8453347086906433, 1.4312478303909302, -1.5012069940567017, 0.793244481086731, 0.05109306424856186, 1.3480265140533447, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21798254549503326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27113409067312855, -0.9625243673672665, -0.005757351743548184, 44.03034591674805], [0.9625292564242278, 0.27115604225691026, -0.0034396620461702603, 4.381567001342773], [0.004871899247608675, -0.004609009851578918, 0.9999775105600671, 1.15066659450531], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6981123089790344, 1.2450952529907227, -0.5535043478012085, 0.02492324635386467, -0.02060960792005062, 0.657830536365509, -0.42386090755462646, -1.5376163721084595, -1.617250919342041, -1.1895246505737305, 0.6388741135597229, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240417182445526, -0.8453343510627747, 1.4312480688095093, -1.5012086629867554, 0.7932447195053101, 0.05109342560172081, 1.3480262756347656, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27113247262390716, -0.9625237886278799, -0.005927783251647742, 44.030269622802734], [0.96252950286241, 0.2711552335844042, -0.003434445985764895, 4.3818559646606445], [0.004913085414294503, -0.004774476434070933, 0.9999765327078892, 1.1581491231918335], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6981123089790344, 1.2450952529907227, -0.5537919402122498, 0.02492324635386467, -0.020705465227365494, 0.6578305959701538, -0.42386046051979065, -1.5376161336898804, -1.617250680923462, -1.1895246505737305, 0.6388738751411438, -1.1811529397964478, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404112219810486, -0.8453344702720642, 1.4312477111816406, -1.5012104511260986, 0.7932446002960205, 0.05109306424856186, 1.3480260372161865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27115585655490115, -0.9625178456828121, -0.005822215909454207, 44.03062438964844], [0.9625230201636332, 0.27117813922581546, -0.003442740347823712, 4.381062030792236], [0.0048925566993293056, -0.00467049763330236, 0.9999771244087542, 1.15353524684906], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6981123089790344, 1.2451910972595215, -0.5538877844810486, 0.025019103661179543, -0.021664051339030266, 0.657830536365509, -0.4238584637641907, -1.5376166105270386, -1.617250919342041, -1.1895242929458618, 0.6388741135597229, -1.1811532974243164, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240412712097168, -0.8453375101089478, 1.4312461614608765, -1.5012112855911255, 0.793244481086731, 0.05109318345785141, 1.348026156425476, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27124917047246877, -0.9624914021661162, -0.005847073994850778, 44.0309944152832], [0.9624967223683875, 0.27127154516462093, -0.0034363082094393, 4.377059459686279], [0.004893561904053211, -0.004695693804191163, 0.9999770014913285, 1.1545910835266113], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6983999013900757, 1.2470124959945679, -0.5541753768920898, 0.025019103661179543, -0.03220850229263306, 0.6578301191329956, -0.4238525331020355, -1.5376189947128296, -1.6172497272491455, -1.1895242929458618, 0.6388738751411438, -1.181153416633606, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240414798259735, -0.8453445434570312, 1.4312409162521362, -1.5012120008468628, 0.7932443618774414, 0.05109330639243126, 1.3480263948440552, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713128652832699, -0.9624734312162507, -0.005850071332863007, 44.031429290771484], [0.962478727171347, 0.2713352903296242, -0.003443829897432773, 4.374390125274658], [0.004901925581458625, -0.004696213853294897, 0.999976958085054, 1.1547507047653198], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6988791823387146, 1.2496964931488037, -0.5563800930976868, 0.024731528013944626, -0.059336498379707336, 0.6578302383422852, -0.42385241389274597, -1.5376187562942505, -1.617248296737671, -1.1895240545272827, 0.6388738751411438, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404401302337646, -0.8453546166419983, 1.4312301874160767, -1.501211404800415, 0.7932422161102295, 0.05109330639243126, 1.348025918006897, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714100641049364, -0.9624459536296893, -0.0058620341513730264, 44.03180694580078], [0.9624513222009459, 0.2714325304607782, -0.0034400292600064125, 4.370199680328369], [0.004901989005015588, -0.004708263957794872, 0.9999769011103699, 1.1552494764328003], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.700412929058075, 1.2527639865875244, -0.5611730217933655, 0.022047486156225204, -0.10554035753011703, 0.657830536365509, -0.4238540232181549, -1.5376181602478027, -1.6172467470169067, -1.189522624015808, 0.6388738751411438, -1.1811496019363403, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404356598854065, -0.8453420400619507, 1.4312344789505005, -1.5012106895446777, 0.793242335319519, 0.05109330639243126, 1.3480240106582642, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27142100264543667, -0.9624432165375406, -0.005804676030464421, 44.031593322753906], [0.9624482584971742, 0.27144324336591286, -0.0034518613457586913, 4.3699445724487305], [0.004897860625051233, -0.004649792669201922, 0.99997719493468, 1.1527742147445679], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.703001081943512, 1.2565025091171265, -0.5683624148368835, 0.017637988552451134, -0.17120352387428284, 0.6578312516212463, -0.42385587096214294, -1.5376172065734863, -1.617242693901062, -1.1895198822021484, 0.6388742327690125, -1.1811410188674927, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240427315235138, -0.8453307151794434, 1.4312407970428467, -1.5012104511260986, 0.7932441234588623, 0.05109330639243126, 1.3480205535888672, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713117168596185, -0.9624733637840689, -0.005914076501491877, 44.03115463256836], [0.9624790041228158, 0.2713344157379233, -0.003435325153780787, 4.375173091888428], [0.004911101448613097, -0.004760130496018752, 0.999976610846585, 1.1575305461883545], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7052058577537537, 1.261966347694397, -0.5776607394218445, 0.011023743078112602, -0.24769872426986694, 0.657830536365509, -0.42385485768318176, -1.5376187562942505, -1.617246150970459, -1.189521312713623, 0.6388737559318542, -1.1811473369598389, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403697967529297, -0.8453192114830017, 1.4312530755996704, -1.5012153387069702, 0.7932469844818115, 0.05109342560172081, 1.3480206727981567, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714147827555363, -0.9624443178357592, -0.0059119174068340856, 44.03190994262695], [0.9624499904400879, 0.2714374280179045, -0.003426160080844007, 4.370724678039551], [0.0049022039573693435, -0.004760014357662088, 0.9999766550573445, 1.1573840379714966], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7066437602043152, 1.2698267698287964, -0.5849459767341614, 0.006134952884167433, -0.33291706442832947, 0.6578306555747986, -0.42385637760162354, -1.5376189947128296, -1.617248296737671, -1.1895215511322021, 0.6388744711875916, -1.1811505556106567, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403697967529297, -0.8453241586685181, 1.431255578994751, -1.5012184381484985, 0.7932467460632324, 0.05109318345785141, 1.348021149635315, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714704984746912, -0.9624290636065125, -0.00583660718177398, 44.03300476074219], [0.9624346314029917, 0.2714925318394156, -0.003374230521396671, 4.368525505065918], [0.004832052782232246, -0.004701348840022623, 0.9999772740342623, 1.153827428817749], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7090402245521545, 1.2785499095916748, -0.5905057787895203, 0.003930204082280397, -0.4250372052192688, 0.6578313112258911, -0.4238620102405548, -1.5376169681549072, -1.6172462701797485, -1.1895191669464111, 0.638874351978302, -1.1811459064483643, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403867840766907, -0.8453310132026672, 1.4312540292739868, -1.5012149810791016, 0.793244481086731, 0.05109318345785141, 1.3480218648910522, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714241302726266, -0.9624420685301458, -0.005848609164763003, 44.03237533569336], [0.9624477326418668, 0.2714461835642322, -0.0033662086897182876, 4.370915412902832], [0.004827363491370329, -0.004715310363811651, 0.9999772309457327, 1.1543338298797607], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7145041227340698, 1.288615107536316, -0.595298707485199, 0.0011503036366775632, -0.5191704034805298, 0.6578336954116821, -0.42387041449546814, -1.5376110076904297, -1.6172441244125366, -1.1895174980163574, 0.6388741135597229, -1.181143879890442, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240425229072571, -0.8453352451324463, 1.431250810623169, -1.5012074708938599, 0.7932413816452026, 0.05109318345785141, 1.3480240106582642, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27139527002665, -0.9624498756963535, -0.0059028958346932755, 44.03134536743164], [0.9624558732653063, 0.27141751122614377, -0.0033506144097189636, 4.372500896453857], [0.004826947718620047, -0.004771935862892994, 0.9999769643366002, 1.1566681861877441], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7219811081886292, 1.2982968091964722, -0.5997081995010376, 0.0, -0.6123449802398682, 0.6578325033187866, -0.4238662123680115, -1.537611961364746, -1.6172492504119873, -1.1895188093185425, 0.6388742327690125, -1.1811491250991821, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404136061668396, -0.8453289270401001, 1.4312515258789062, -1.5012081861495972, 0.7932438850402832, 0.05109354481101036, 1.3480265140533447, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27143795150951255, -0.9624370635494996, -0.0060280333887635955, 44.03155517578125], [0.9624437304910916, 0.2714607329427663, -0.0033370808451619297, 4.370790481567383], [0.004848104651362164, -0.004895832553574104, 0.9999762630707275, 1.1620997190475464], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7301291227340698, 1.3097999095916748, -0.6034467220306396, -0.0033550523221492767, -0.7049444317817688, 0.6578311920166016, -0.4238610565662384, -1.5376139879226685, -1.617262840270996, -1.1895197629928589, 0.6388741135597229, -1.1811524629592896, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404112219810486, -0.8453229665756226, 1.4312533140182495, -1.5012078285217285, 0.7932453155517578, 0.05109342560172081, 1.3480267524719238, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27146242245103347, -0.962432147736934, -0.005702122367079061, 44.03281021118164], [0.9624373812343006, 0.27148353058481456, -0.0033135817578582344, 4.370060920715332], [0.00473712991995869, -0.004588422787471351, 0.999978252751751, 1.1476606130599976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.737701952457428, 1.322932481765747, -0.604213535785675, -0.009394146502017975, -0.7948598265647888, 0.6578295230865479, -0.42386022210121155, -1.5376147031784058, -1.6172657012939453, -1.1895211935043335, 0.6388737559318542, -1.1811531782150269, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240417778491974, -0.8453212380409241, 1.4312548637390137, -1.5012084245681763, 0.7932462692260742, 0.05109366402029991, 1.348029375076294, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714313434370381, -0.9624410645220801, -0.005676541338700734, 44.033653259277344], [0.9624464218808535, 0.2714520969365628, -0.003262526242824512, 4.371808052062988], [0.004680898279912644, -0.004577815019002823, 0.999978566170768, 1.1463111639022827], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7449871897697449, 1.3398035764694214, -0.6015295386314392, -0.01878829300403595, -0.8815160393714905, 0.657831609249115, -0.42385995388031006, -1.537614107131958, -1.617247223854065, -1.1895192861557007, 0.6388741135597229, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240415692329407, -0.8453503251075745, 1.4312487840652466, -1.5012092590332031, 0.7932451963424683, 0.05109354481101036, 1.3480268716812134, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27152341114218614, -0.962414247987841, -0.0058182876956882935, 44.033714294433594], [0.9624199397644657, 0.27154515030964044, -0.0033302983465536653, 4.367766857147217], [0.004785054385644005, -0.004695382126439225, 0.9999775280681127, 1.1528292894363403], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7554357647895813, 1.356770634651184, -0.5971200466156006, -0.026744559407234192, -0.9653923511505127, 0.6578366756439209, -0.42386162281036377, -1.5376132726669312, -1.6172223091125488, -1.1895184516906738, 0.6388738751411438, -1.181150197982788, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240395128726959, -0.8453646302223206, 1.4312399625778198, -1.5012198686599731, 0.7932446002960205, 0.05109366402029991, 1.3480273485183716, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714745771599568, -0.962427299216425, -0.0059369755600505135, 44.03147506713867], [0.9624335335388421, 0.27149690846917895, -0.0033349979935425526, 4.370192527770996], [0.004821563622028142, -0.004808577196666892, 0.9999768147860142, 1.1580746173858643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7693352699279785, 1.3709577322006226, -0.5965448617935181, -0.030962340533733368, -1.0458177328109741, 0.6578356027603149, -0.42386341094970703, -1.5376131534576416, -1.6172382831573486, -1.189518928527832, 0.6388742327690125, -1.1811493635177612, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404118180274963, -0.8453362584114075, 1.4312394857406616, -1.501219630241394, 0.7932443618774414, 0.05109414458274841, 1.3480271100997925, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713864336615056, -0.962453302707433, -0.005748367772122809, 44.03026580810547], [0.9624588627703806, 0.2714076514641708, -0.003290015417703184, 4.374543190002441], [0.004726637201510983, -0.00463970195784139, 0.9999780657926991, 1.1495836973190308], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7785376906394958, 1.3824607133865356, -0.6014336347579956, -0.034700825810432434, -1.1207791566848755, 0.6578291654586792, -0.42385780811309814, -1.5376158952713013, -1.6172914505004883, -1.1895227432250977, 0.6388739943504333, -1.1811559200286865, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240396320819855, -0.8452807664871216, 1.4312665462493896, -1.5012165307998657, 0.7932513356208801, 0.05109366402029991, 1.3480273485183716, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.271303008708373, -0.9624773800124419, -0.0056542400170061765, 44.03221893310547], [0.9624823754903298, 0.2713239114814975, -0.0033184226482459627, 4.378605365753174], [0.0047280372541270484, -0.00454180831452545, 0.9999785085895385, 1.145573616027832], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7794963121414185, 1.392430067062378, -0.6078562140464783, -0.0349884033203125, -1.1885513067245483, 0.6578314900398254, -0.42386215925216675, -1.537613868713379, -1.6172668933868408, -1.189521312713623, 0.6388742327690125, -1.1811540126800537, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403972148895264, -0.845329999923706, 1.4312618970870972, -1.5012153387069702, 0.7932487726211548, 0.05109342560172081, 1.3480284214019775, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27132007227192667, -0.9624719405435851, -0.005760386152176389, 44.03537368774414], [0.9624772729030495, 0.27134162463273703, -0.0033499084726957666, 4.378104209899902], [0.004787225445402354, -0.0046353433456990676, 0.9999777977858321, 1.1503796577453613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7795921564102173, 1.4000986814498901, -0.6161959171295166, -0.03316709026694298, -1.2436699867248535, 0.6578322052955627, -0.4238623082637787, -1.537612795829773, -1.617246150970459, -1.1895198822021484, 0.638874351978302, -1.1811500787734985, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404061555862427, -0.8453425765037537, 1.4312529563903809, -1.5012151002883911, 0.7932469844818115, 0.05109366402029991, 1.3480275869369507, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27133252948720776, -0.9624685982274724, -0.005732003848367593, 44.03337860107422], [0.9624737966736704, 0.2713539485219678, -0.0033504235713545084, 4.377827167510986], [0.004780079355387517, -0.004607824604017264, 0.9999779591539879, 1.1491328477859497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7803590297698975, 1.4055626392364502, -0.622905969619751, -0.03134577348828316, -1.2840265035629272, 0.6578317284584045, -0.4238620102405548, -1.5376137495040894, -1.6172460317611694, -1.1895209550857544, 0.6388741135597229, -1.1811504364013672, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404136061668396, -0.8453424572944641, 1.4312481880187988, -1.5012125968933105, 0.793246865272522, 0.05109354481101036, 1.348027229309082, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712925140532819, -0.962480593302305, -0.005610644801889994, 44.03059768676758], [0.9624853001117577, 0.27131329828016304, -0.003337850373973801, 4.379944801330566], [0.004734858754975851, -0.004494629326478524, 0.9999786894828249, 1.1437430381774902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7814134955406189, 1.4080549478530884, -0.626644492149353, -0.030483046546578407, -1.3071284294128418, 0.6578313112258911, -0.4238603115081787, -1.5376148223876953, -1.6172467470169067, -1.1895211935043335, 0.638874351978302, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404136061668396, -0.8453407287597656, 1.431243658065796, -1.5012120008468628, 0.793245792388916, 0.05109354481101036, 1.3480271100997925, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.271391987480459, -0.9624515105820013, -0.005786096251388497, 44.03121566772461], [0.9624570990553334, 0.2714135285640621, -0.003320992381391549, 4.375596523284912], [0.004766718934302259, -0.004667578690172996, 0.9999777458022615, 1.151381492614746], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7825638055801392, 1.4089176654815674, -0.62884920835495, -0.03009961172938347, -1.3184397220611572, 0.6578308343887329, -0.42385992407798767, -1.5376157760620117, -1.6172518730163574, -1.189521312713623, 0.6388739943504333, -1.1811532974243164, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.424041211605072, -0.8453305959701538, 1.4312443733215332, -1.5012106895446777, 0.7932467460632324, 0.05109366402029991, 1.3480266332626343, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27140370172814055, -0.9624494151260158, -0.005581577899908482, 44.03355026245117], [0.9624540846481984, 0.27142425866087005, -0.003317642897539594, 4.375374794006348], [0.004708039109974518, -0.0044715918851447115, 0.9999789193946799, 1.1423583030700684], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7827554941177368, 1.40949285030365, -0.6299036741256714, -0.030003754422068596, -1.3248622417449951, 0.6578307747840881, -0.4238596260547638, -1.5376158952713013, -1.6172547340393066, -1.1895215511322021, 0.6388737559318542, -1.1811535358428955, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404118180274963, -0.8453302979469299, 1.4312448501586914, -1.5012089014053345, 0.7932463884353638, 0.05109390243887901, 1.3480266332626343, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27138600426588644, -0.9624542637824185, -0.005605962507833269, 44.034385681152344], [0.9624590064501267, 0.2714067108194913, -0.003325390981537495, 4.376436233520508], [0.004722032574152779, -0.004493044534384594, 0.9999787572539632, 1.1434693336486816], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7825638055801392, 1.4104514122009277, -0.6300954222679138, -0.029907895252108574, -1.3277380466461182, 0.6578311324119568, -0.4238593280315399, -1.5376161336898804, -1.6172525882720947, -1.1895219087600708, 0.6388738751411438, -1.1811535358428955, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240412712097168, -0.8453376889228821, 1.431244134902954, -1.501208782196045, 0.7932459115982056, 0.05109378322958946, 1.3480267524719238, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713943491143096, -0.9624522723295116, -0.005543532860906117, 44.03386306762695], [0.9624567021038853, 0.2714147935229443, -0.0033326314243309696, 4.376321315765381], [0.004712095514014569, -0.00443095301906802, 0.9999790811868065, 1.140754222869873], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7824679017066956, 1.4107390642166138, -0.6299995183944702, -0.029907895252108574, -1.3289841413497925, 0.6578309535980225, -0.4238587021827698, -1.5376161336898804, -1.6172502040863037, -1.1895214319229126, 0.6388741135597229, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404136061668396, -0.8453419208526611, 1.4312433004379272, -1.5012091398239136, 0.7932460308074951, 0.05109378322958946, 1.3480263948440552, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.271382089169351, -0.962454384425597, -0.00577231132421089, 44.03264236450195], [0.9624598591855964, 0.2714036129963515, -0.0033314124585181394, 4.377068519592285], [0.004772958675761431, -0.004651532271397979, 0.9999777908098797, 1.1508216857910156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7825638055801392, 1.4106431007385254, -0.6300954222679138, -0.029907895252108574, -1.3298468589782715, 0.6578309535980225, -0.4238590598106384, -1.537616491317749, -1.6172504425048828, -1.189521312713623, 0.6388737559318542, -1.18115234375, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240410327911377, -0.8453400135040283, 1.431244134902954, -1.5012089014053345, 0.7932460308074951, 0.05109330639243126, 1.348026156425476, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714139885597987, -0.9624463526004653, -0.0056093832212197265, 44.03306198120117], [0.962451229537671, 0.27143459726788, -0.0033000253709929085, 4.375918388366699], [0.0046986780573741015, -0.004503084729921192, 0.9999788221019624, 1.1435078382492065], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7825638055801392, 1.4106431007385254, -0.6304788589477539, -0.029428601264953613, -1.3301345109939575, 0.6578306555747986, -0.4238584041595459, -1.5376168489456177, -1.6172511577606201, -1.1895217895507812, 0.638874351978302, -1.181152582168579, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404088377952576, -0.8453341126441956, 1.4312453269958496, -1.5012093782424927, 0.7932454347610474, 0.05109366402029991, 1.3480262756347656, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27139135504291223, -0.9624524471103446, -0.005658573961824429, 44.03346252441406], [0.9624574425635645, 0.27141229586632243, -0.003322184006782574, 4.377153396606445], [0.004733250677386898, -0.004544524604551702, 0.9999784715853355, 1.145774245262146], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7830430865287781, 1.4116017818450928, -0.6302871108055115, -0.02453981153666973, -1.331284761428833, 0.6578294634819031, -0.42385366559028625, -1.5376228094100952, -1.6172515153884888, -1.1895232200622559, 0.6388742327690125, -1.1811542510986328, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403802275657654, -0.8453301191329956, 1.4312483072280884, -1.501211166381836, 0.7932476997375488, 0.05109354481101036, 1.3480260372161865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27145222158437876, -0.9624349165831474, -0.005720379226564469, 44.033714294433594], [0.9624400749759306, 0.2714735702112381, -0.003347051999760872, 4.374550819396973], [0.004774251483786968, -0.004596957510611936, 0.9999780370110212, 1.1485956907272339], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7850561141967773, 1.4147651195526123, -0.62923264503479, -0.009969298727810383, -1.3334895372390747, 0.6578295230865479, -0.42385396361351013, -1.5376224517822266, -1.6172510385513306, -1.1895229816436768, 0.6388741135597229, -1.1811540126800537, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240391254425049, -0.8453320264816284, 1.4312478303909302, -1.5012118816375732, 0.7932473421096802, 0.05109354481101036, 1.3480256795883179, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27147783846597207, -0.9624277184141501, -0.005715772036847558, 44.03382110595703], [0.9624328046209659, 0.2714992137085238, -0.003357610024265977, 4.373585224151611], [0.004783284568720063, -0.004589529800197878, 0.9999780279610886, 1.148441195487976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7879318594932556, 1.4176408052444458, -0.6268361806869507, 0.01620011031627655, -1.3382824659347534, 0.6578300595283508, -0.42385557293891907, -1.5376207828521729, -1.6172503232955933, -1.189522385597229, 0.6388739943504333, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240397810935974, -0.8453382253646851, 1.4312469959259033, -1.5012109279632568, 0.7932456731796265, 0.05109402537345886, 1.3480252027511597, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714824504049692, -0.9624263993525424, -0.005718824303474699, 44.03384780883789], [0.9624317138806318, 0.27150363324222304, -0.0033125900836280435, 4.373648166656494], [0.0047408057229843805, -0.004604667802684823, 0.9999781606592835, 1.1483839750289917], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.790328323841095, 1.4185993671417236, -0.6240562796592712, 0.04860033094882965, -1.3449925184249878, 0.6578305959701538, -0.4238600730895996, -1.5376179218292236, -1.617250680923462, -1.1895217895507812, 0.6388742327690125, -1.181150197982788, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240424335002899, -0.8453364968299866, 1.4312468767166138, -1.5012073516845703, 0.7932431697845459, 0.05109414458274841, 1.3480224609375, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714370089000724, -0.9624405718558962, -0.00548596801645302, 44.03419494628906], [0.9624450413686361, 0.27145690638229913, -0.0032696058288686895, 4.376016139984131], [0.004636005209938328, -0.004392450688071782, 0.9999796067083799, 1.1379424333572388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7910951972007751, 1.4183118343353271, -0.6195509433746338, 0.08425974100828171, -1.3517985343933105, 0.6578304171562195, -0.4238625466823578, -1.537615418434143, -1.6172517538070679, -1.1895217895507812, 0.638874351978302, -1.1811493635177612, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404627799987793, -0.8453342914581299, 1.4312459230422974, -1.5011979341506958, 0.7932396531105042, 0.05109390243887901, 1.348022222518921, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714542399986415, -0.962433592901917, -0.005845925133572553, 44.03440475463867], [0.9624399318968044, 0.27147559589515335, -0.003221540601308091, 4.3754119873046875], [0.004687544904791411, -0.004751850931876531, 0.9999777231696149, 1.1535818576812744], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7905200719833374, 1.4168739318847656, -0.6113070845603943, 0.12202804535627365, -1.3607133626937866, 0.657831609249115, -0.42386680841445923, -1.5376118421554565, -1.6172481775283813, -1.1895201206207275, 0.6388742327690125, -1.1811470985412598, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404401302337646, -0.8453410863876343, 1.4312440156936646, -1.501198410987854, 0.793237030506134, 0.051094263792037964, 1.3480197191238403, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27151297736391733, -0.962417094955116, -0.005834248977927103, 44.034671783447266], [0.9624233454141465, 0.2715343110957392, -0.003228327679278277, 4.372976303100586], [0.004691196523636647, -0.004738484559208476, 0.9999777694725313, 1.153093934059143], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7897531986236572, 1.4124644994735718, -0.601625382900238, 0.1611383706331253, -1.3696281909942627, 0.6578328013420105, -0.42386776208877563, -1.5376089811325073, -1.6172410249710083, -1.1895180940628052, 0.6388744711875916, -1.1811436414718628, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240446090698242, -0.8453441262245178, 1.4312416315078735, -1.5011993646621704, 0.7932351231575012, 0.051094263792037964, 1.3480186462402344, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2715296545638137, -0.9624125414242432, -0.005809199754332675, 44.03425979614258], [0.9624184945303286, 0.27155104980736355, -0.0032663028786264225, 4.372375011444092], [0.004721025146309892, -0.004703983189656583, 0.9999777919852617, 1.1521601676940918], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7891780138015747, 1.4061378240585327, -0.590218186378479, 0.19919425249099731, -1.3771052360534668, 0.6578338742256165, -0.4238719344139099, -1.5376054048538208, -1.617241621017456, -1.1895171403884888, 0.638874351978302, -1.1811411380767822, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.424044132232666, -0.8453428745269775, 1.4312410354614258, -1.5011992454528809, 0.793233335018158, 0.051094621419906616, 1.3480182886123657, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27153000423634344, -0.9624130019215246, -0.005715814186184853, 44.034244537353516], [0.9624183799875423, 0.2715510967550173, -0.0032960147605881934, 4.3725128173828125], [0.004724263071221722, -0.0046060377274722755, 0.9999782326405345, 1.1481871604919434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.788123607635498, 1.3975105285644531, -0.5799612998962402, 0.23360750079154968, -1.3826650381088257, 0.657833456993103, -0.4238719940185547, -1.5376049280166626, -1.6172431707382202, -1.1895161867141724, 0.6388745903968811, -1.1811411380767822, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240424335002899, -0.8453391790390015, 1.4312433004379272, -1.5012006759643555, 0.7932345271110535, 0.051094502210617065, 1.348017930984497, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27152622646132296, -0.9624133059600325, -0.005842675308041386, 44.03437805175781], [0.9624194639362714, 0.2715477329719511, -0.0032564020657349846, 4.372851371765137], [0.00472056991200892, -0.004738905873169004, 0.9999776292451902, 1.153603434562683], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7857270836830139, 1.3866784572601318, -0.5697044730186462, 0.2638988196849823, -1.3854448795318604, 0.6578339338302612, -0.423871785402298, -1.537604808807373, -1.6172465085983276, -1.1895158290863037, 0.6388744711875916, -1.18114173412323, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240454137325287, -0.8453338146209717, 1.4312437772750854, -1.5012000799179077, 0.7932339310646057, 0.051094383001327515, 1.3480178117752075, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27144261814653947, -0.9624366799896298, -0.005877249721657468, 44.03423309326172], [0.9624431998822611, 0.27146408901971053, -0.0032148675077929433, 4.376896381378174], [0.0046895686524378675, -0.004783866975309586, 0.9999775610295546, 1.1549558639526367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7805507183074951, 1.3734500408172607, -0.5595434308052063, 0.29141026735305786, -1.3848696947097778, 0.6578324437141418, -0.423869788646698, -1.5376062393188477, -1.6172493696212769, -1.1895160675048828, 0.6388748288154602, -1.1811425685882568, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240420162677765, -0.8453307151794434, 1.431246280670166, -1.5012001991271973, 0.7932352423667908, 0.051094621419906616, 1.3480173349380493, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27147524268987944, -0.9624279810283736, -0.005794302384199002, 44.034976959228516], [0.9624341982381638, 0.27149623321730443, -0.0031952168123298317, 4.375639915466309], [0.004648297337070591, -0.004709212509912024, 0.9999781080850734, 1.1512185335159302], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.772498607635498, 1.3600298166275024, -0.546123206615448, 0.3147997558116913, -1.3806519508361816, 0.6578325033187866, -0.42386680841445923, -1.5376068353652954, -1.6172484159469604, -1.1895155906677246, 0.6388745903968811, -1.1811434030532837, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404282093048096, -0.8453365564346313, 1.4312448501586914, -1.5012012720108032, 0.793235719203949, 0.051094863563776016, 1.348017930984497, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714715502146682, -0.9624286001887017, -0.005864039807254216, 44.03500747680664], [0.962435171418155, 0.27149284179994215, -0.003190245867954964, 4.375910758972168], [0.004662428696653119, -0.004777697165757924, 0.9999777174359641, 1.1542781591415405], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7649257779121399, 1.3463220596313477, -0.5304982662200928, 0.3359845280647278, -1.3751879930496216, 0.6578325033187866, -0.42386594414711, -1.5376079082489014, -1.6172479391098022, -1.189516305923462, 0.6388741135597229, -1.181143879890442, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404142022132874, -0.8453394770622253, 1.4312446117401123, -1.5012037754058838, 0.7932365536689758, 0.051094502210617065, 1.3480182886123657, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27152495388482456, -0.9624141705607079, -0.005758795168129333, 44.03511047363281], [0.9624204717158057, 0.27154552442327473, -0.0031406668105316885, 4.373680591583252], [0.004586397297441299, -0.0046896129513285196, 0.9999784860136726, 1.1494196653366089], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7600370049476624, 1.3306012153625488, -0.5122851133346558, 0.35486868023872375, -1.3695323467254639, 0.6578328013420105, -0.4238643944263458, -1.5376083850860596, -1.6172457933425903, -1.1895157098770142, 0.6388741135597229, -1.1811435222625732, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404118180274963, -0.8453422784805298, 1.431243896484375, -1.5012086629867554, 0.7932369112968445, 0.051094383001327515, 1.348019003868103, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2715558750256035, -0.9624044911485926, -0.005916262003757718, 44.034698486328125], [0.9624115011387638, 0.2715772140749131, -0.0031494874408279825, 4.372347831726074], [0.004637802810586722, -0.004838616778290506, 0.999977539034134, 1.1563926935195923], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7560109496116638, 1.3139218091964722, -0.4944554269313812, 0.3736569583415985, -1.3628222942352295, 0.6578325629234314, -0.42386162281036377, -1.5376108884811401, -1.6172467470169067, -1.189516544342041, 0.6388748288154602, -1.1811457872390747, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42404037714004517, -0.8453410267829895, 1.4312446117401123, -1.5012104511260986, 0.7932392954826355, 0.051094263792037964, 1.3480192422866821, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2715577318269726, -0.962404888298369, -0.005764483011881893, 44.03485107421875], [0.9624112630465864, 0.2715782798913108, -0.003130279915805945, 4.3724446296691895], [0.004578105073543415, -0.004697751662356053, 0.999978485810197, 1.1496233940124512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.751697301864624, 1.2953251600265503, -0.4778718650341034, 0.3918701112270355, -1.3560162782669067, 0.6578322052955627, -0.4238625168800354, -1.5376112461090088, -1.6172488927841187, -1.1895164251327515, 0.6388742327690125, -1.1811455488204956, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240417182445526, -0.8453349471092224, 1.43124520778656, -1.5012091398239136, 0.7932390570640564, 0.051094383001327515, 1.3480198383331299, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714669344466506, -0.9624311373379657, -0.0056576836680162276, 44.03523254394531], [0.9624371599685936, 0.271486850261787, -0.0030989105378838233, 4.376798152923584], [0.004518474712291414, -0.004603913257602491, 0.9999791934680395, 1.1447885036468506], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7460416555404663, 1.277591347694397, -0.46138420701026917, 0.40442758798599243, -1.3500730991363525, 0.6578317880630493, -0.42386335134506226, -1.5376105308532715, -1.6172503232955933, -1.1895159482955933, 0.6388745903968811, -1.1811457872390747, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240417778491974, -0.8453330993652344, 1.4312459230422974, -1.5012065172195435, 0.7932386994361877, 0.051094263792037964, 1.3480198383331299, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27142110000584674, -0.9624433753683789, -0.005773706014150999, 44.035396575927734], [0.9624502380811213, 0.27144122945853477, -0.0030328481056671906, 4.379123210906982], [0.0044861664268112085, -0.004733725758939194, 0.9999787328494693, 1.1496210098266602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7398108243942261, 1.2611995935440063, -0.44537580013275146, 0.41017910838127136, -1.3450883626937866, 0.6578312516212463, -0.42386120557785034, -1.5376131534576416, -1.6172502040863037, -1.1895170211791992, 0.6388748288154602, -1.181147575378418, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4240420162677765, -0.8453347086906433, 1.431244969367981, -1.5012067556381226, 0.793239414691925, 0.051094744354486465, 1.348021149635315, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714274433821845, -0.9624422081002346, -0.0056691309877132355, 44.03569030761719], [0.9624486050312607, 0.27144708012517405, -0.003027435366381215, 4.379068374633789], [0.004452600632362581, -0.004634518169362437, 0.9999793475812121, 1.1449885368347168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7348261475563049, 1.2499840259552002, -0.43195557594299316, 0.413054883480072, -1.3422126770019531, 0.6578317880630493, -0.42386046051979065, -1.537613868713379, -1.6172492504119873, -1.189517617225647, 0.6388744711875916, -1.1811487674713135, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403802275657654, -0.8453347682952881, 1.4312465190887451, -1.5012110471725464, 0.7932431697845459, 0.051094621419906616, 1.3480212688446045, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27145176085810885, -0.9624349893163165, -0.0057299970971967686, 44.03554153442383], [0.9624415107991382, 0.27147183525342955, -0.0030628344400561182, 4.378081321716309], [0.0045033118595658875, -0.004683375261130641, 0.9999788928664739, 1.1478172540664673], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7328131198883057, 1.2445201873779297, -0.42677921056747437, 0.41478031873703003, -1.3406789302825928, 0.6578314900398254, -0.42386046051979065, -1.5376142263412476, -1.6172490119934082, -1.189517617225647, 0.6388742327690125, -1.1811492443084717, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.42403897643089294, -0.8453356623649597, 1.4312465190887451, -1.501211166381836, 0.7932432889938354, 0.051094621419906616, 1.3480225801467896, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27142044251722086, -0.9624446647404585, -0.005586653415279378, 44.0352897644043], [0.962450650777776, 0.27143974582510944, -0.00303466700569058, 4.379767417907715], [0.004437138851947216, -0.004553207553628575, 0.9999797898456659, 1.141383171081543], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7322379946708679, 1.2416443824768066, -0.4242869019508362, 0.4154513478279114, -1.3400079011917114, 0.657831072807312, -0.4238603115081787, -1.5376152992248535, -1.6172499656677246, -1.1895180940628052, 0.6388744711875916, -1.181151032447815, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.424039363861084, -0.8453333973884583, 1.4312465190887451, -1.5012106895446777, 0.7932432889938354, 0.051094621419906616, 1.3480238914489746, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713903235097541, -0.9624537140562535, -0.005490045955578254, 44.03541946411133], [0.9624593002886125, 0.2714091638191337, -0.003026728093667048, 4.381349563598633], [0.004403134477320365, -0.004462521072441812, 0.9999803489631447, 1.1371023654937744], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7320462465286255, 1.2402064800262451, -0.4231365919113159, 0.41583478450775146, -1.339720368385315, 0.6578311324119568, -0.4238625466823578, -1.5376149415969849, -1.617271065711975, -1.189518690109253, 0.638874351978302, -1.1811528205871582, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4425802230834961, -0.8433359265327454, 1.426334261894226, -1.5241707563400269, 0.7748504877090454, 0.04423389211297035, 1.3504927158355713, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27133840550243804, -0.9624664935897924, -0.005806756096528377, 44.035003662109375], [0.9624735764542778, 0.27135861751133916, -0.0030191604207661137, 4.383862495422363], [0.004481554050339324, -0.0047696351332966016, 0.9999785828976484, 1.1510231494903564], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.239727258682251, -0.4221780002117157, 0.4160265028476715, -1.339432716369629, 0.6578308939933777, -0.4238515794277191, -1.5376231670379639, -1.617245078086853, -1.189518928527832, 0.6388744711875916, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.4954559803009033, -0.833810031414032, 1.4257564544677734, -1.5746968984603882, 0.696794331073761, 0.025247525423765182, 1.382370114326477, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27136013385069546, -0.9624610829847309, -0.005686958448226853, 44.0352668762207], [0.9624673796971044, 0.27138004091565726, -0.0030686172140196658, 4.3830790519714355], [0.0044967516634364015, -0.0046408116181782845, 0.9999791208280311, 1.1459619998931885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2393437623977661, -0.42198628187179565, 0.41612234711647034, -1.339432716369629, 0.6578305959701538, -0.42385226488113403, -1.5376235246658325, -1.6172442436218262, -1.1895192861557007, 0.6388741135597229, -1.1811517477035522, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.5557107329368591, -0.8250337243080139, 1.4240626096725464, -1.6236238479614258, 0.6316181421279907, -0.011069589294493198, 1.4302376508712769, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27137431845948157, -0.9624542720879145, -0.006144381203556238, 44.034671783447266], [0.962462678643432, 0.27139643524635604, -0.00309308164783541, 4.3824005126953125], [0.004644512801315794, -0.005074354667660226, 0.9999763394328613, 1.166214108467102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2392479181289673, -0.42198628187179565, 0.4163140654563904, -1.339432716369629, 0.6578313112258911, -0.4238618016242981, -1.5376179218292236, -1.617260456085205, -1.1895195245742798, 0.6388739943504333, -1.1811540126800537, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.597484290599823, -0.8208402991294861, 1.4077420234680176, -1.6642040014266968, 0.5673403739929199, -0.08272674679756165, 1.4637352228164673, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712359923719875, -0.9624929472211523, -0.006193786525487735, 44.03419876098633], [0.962501569910243, 0.2712583805161969, -0.003101438383689191, 4.388797283172607], [0.004665229072708662, -0.0051203075366903425, 0.9999760087564246, 1.1684404611587524], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4218904376029968, 0.4164099097251892, -1.339432716369629, 0.6578311324119568, -0.4238598644733429, -1.5376189947128296, -1.6172515153884888, -1.189520239830017, 0.638874351978302, -1.181151270866394, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.6192963719367981, -0.8234773278236389, 1.362304925918579, -1.6997724771499634, 0.49625298380851746, -0.18878233432769775, 1.4737547636032104, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.271330603614952, -0.9624664497433422, -0.0061673868366088815, 44.0347785949707], [0.9624751229093835, 0.271352663393181, -0.003061021070534155, 4.384649753570557], [0.004619666926636438, -0.005105407708848728, 0.9999762964638779, 1.1670889854431152], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42160284519195557, 0.4164099097251892, -1.339432716369629, 0.6578302383422852, -0.42385831475257874, -1.5376191139221191, -1.6172505617141724, -1.1895207166671753, 0.6388742327690125, -1.1811527013778687, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.6397998929023743, -0.8303896188735962, 1.2903860807418823, -1.7305654287338257, 0.43167608976364136, -0.2778893709182739, 1.4801039695739746, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27143191136999767, -0.9624389763944252, -0.005994514732723198, 44.03532409667969], [0.9624467878782651, 0.2714531679261877, -0.0030591053670694294, 4.380211353302002], [0.0045714322525429105, -0.004939062632532505, 0.9999773535773059, 1.1594562530517578], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42150700092315674, 0.4163140654563904, -1.339432716369629, 0.6578314304351807, -0.4238596558570862, -1.537617564201355, -1.6172525882720947, -1.1895205974578857, 0.6388747096061707, -1.1811532974243164, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.66741544008255, -0.8385568261146545, 1.2012337446212769, -1.7621302604675293, 0.3480779826641083, -0.33990222215652466, 1.4750077724456787, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27135640884466905, -0.962460276325755, -0.0059929853892695855, 44.03499984741211], [0.9624679539460901, 0.2713777955494586, -0.0030870227636619054, 4.383817195892334], [0.004597499945838027, -0.0049303729744700694, 0.9999772769501218, 1.1595227718353271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42160284519195557, 0.4164099097251892, -1.339432716369629, 0.657829761505127, -0.42386046051979065, -1.537617564201355, -1.6172617673873901, -1.1895219087600708, 0.6388742327690125, -1.1811535358428955, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6997942924499512, -0.8477106690406799, 1.1077709197998047, -1.7702947854995728, 0.2762432098388672, -0.3686528503894806, 1.4503695964813232, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714180468994484, -0.9624433055437481, -0.0059268399094472264, 44.035396575927734], [0.9624505882514783, 0.27143920430379276, -0.003102183312964379, 4.381199836730957], [0.004594452271188411, -0.00486230202139097, 0.9999776242633535, 1.1566731929779053], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42150700092315674, 0.4164099097251892, -1.339432716369629, 0.6578311920166016, -0.4238618016242981, -1.5376148223876953, -1.6172449588775635, -1.1895205974578857, 0.6388742327690125, -1.1811500787734985, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7159209251403809, -0.8599412441253662, 1.0278854370117188, -1.7497308254241943, 0.20978133380413055, -0.3959740102291107, 1.4129704236984253, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713919164769153, -0.9624504513101806, -0.005962922422492651, 44.035221099853516], [0.9624582088130169, 0.2714129197654639, -0.003036984166082271, 4.382618427276611], [0.004541360966291437, -0.0049148506809001385, 0.9999776098910207, 1.1579750776290894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42160284519195557, 0.4164099097251892, -1.339432716369629, 0.657830536365509, -0.42386141419410706, -1.5376150608062744, -1.6172523498535156, -1.1895208358764648, 0.638874351978302, -1.1811496019363403, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7207347750663757, -0.8764765858650208, 0.9439143538475037, -1.7207821607589722, 0.09162754565477371, -0.4412916302680969, 1.362869143486023, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27133334487295613, -0.9624671062570551, -0.005940145892467651, 44.03502655029297], [0.9624747706455202, 0.2713542256422904, -0.003033166155373208, 4.3855438232421875], [0.004531206341211681, -0.004894241436960875, 0.9999777570375503, 1.1569645404815674], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42160284519195557, 0.4164099097251892, -1.339432716369629, 0.657829225063324, -0.4238589107990265, -1.5376166105270386, -1.6172510385513306, -1.1895222663879395, 0.6388739943504333, -1.1811522245407104, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7180587649345398, -0.8993566632270813, 0.8555358648300171, -1.678477168083191, -0.020199770107865334, -0.4710034132003784, 1.2990974187850952, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27137366418405284, -0.9624555242123333, -0.005974805476626101, 44.03525161743164], [0.9624632750854755, 0.2713947921789406, -0.003051375081800086, 4.383903503417969], [0.004558343894560889, -0.00492246801028419, 0.9999774951515792, 1.1585640907287598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42160284519195557, 0.4163140654563904, -1.339432716369629, 0.6578301787376404, -0.42385855317115784, -1.5376163721084595, -1.617250919342041, -1.189521312713623, 0.6388741135597229, -1.1811507940292358, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7010914087295532, -0.9271630048751831, 0.7688519954681396, -1.6331790685653687, -0.11199713498353958, -0.46742552518844604, 1.2416603565216064, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27141119566608907, -0.9624461144334315, -0.0057827051709455, 44.035789489746094], [0.9624526316101897, 0.2714317710452272, -0.003118585235639387, 4.382429122924805], [0.004571080148552726, -0.00471916086201085, 0.9999784171406071, 1.1503980159759521], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42160284519195557, 0.4163140654563904, -1.339432716369629, 0.6578309535980225, -0.4238620698451996, -1.5376155376434326, -1.6172547340393066, -1.1895216703414917, 0.638874351978302, -1.1811511516571045, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6814695596694946, -0.9586788415908813, 0.6854437589645386, -1.5715184211730957, -0.202240988612175, -0.4643099904060364, 1.1840554475784302, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27129840246579806, -0.9624766192907573, -0.005994508999111964, 44.03504943847656], [0.9624844294803573, 0.2713196624661043, -0.0030600273120379145, 4.387841701507568], [0.0045716329005167184, -0.00493944105276755, 0.9999773507908613, 1.1594818830490112], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42160284519195557, 0.4163140654563904, -1.339432716369629, 0.6578308343887329, -0.42386186122894287, -1.537615180015564, -1.6172512769699097, -1.1895217895507812, 0.6388739943504333, -1.18115234375, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6562742590904236, -0.9928956031799316, 0.6113197207450867, -1.5097829103469849, -0.3079683482646942, -0.4801568388938904, 1.1131973266601562, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713510766581563, -0.9624616387843753, -0.006015568547850444, 44.0354118347168], [0.9624695263468118, 0.2713724612482846, -0.003065636930849233, 4.385695934295654], [0.0045830175870209995, -0.004957937529127451, 0.99997720714287, 1.1604374647140503], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42160284519195557, 0.4163140654563904, -1.339432716369629, 0.6578303575515747, -0.4238587021827698, -1.5376167297363281, -1.6172480583190918, -1.18952214717865, 0.6388744711875916, -1.181151270866394, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6383819580078125, -1.0297110080718994, 0.5505856275558472, -1.4412604570388794, -0.3897814154624939, -0.4614209532737732, 1.0240752696990967, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714998312980321, -0.9624202458166558, -0.005925541945530001, 44.03618240356445], [0.9624277390042821, 0.2715207506330579, -0.0030543691273604585, 4.379174709320068], [0.004548494283327033, -0.0048736452342111915, 0.9999777791440596, 1.1564087867736816], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42160284519195557, 0.4163140654563904, -1.339432716369629, 0.6578307151794434, -0.423859566450119, -1.5376160144805908, -1.6172481775283813, -1.1895214319229126, 0.6388741135597229, -1.1811518669128418, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6228697299957275, -1.065901756286621, 0.49992674589157104, -1.3655290603637695, -0.4642163813114166, -0.43876752257347107, 0.9407965540885925, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714388033907419, -0.96243744613707, -0.0059277556424351206, 44.03593444824219], [0.9624447946773355, 0.2714598995962396, -0.0030887068007525043, 4.382212162017822], [0.004581835036708921, -0.00486674268415978, 0.9999776605521458, 1.1566656827926636], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42160284519195557, 0.4164099097251892, -1.339432716369629, 0.6578320860862732, -0.42385995388031006, -1.537615180015564, -1.6172499656677246, -1.1895214319229126, 0.638874351978302, -1.1811528205871582, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6137457489967346, -1.0981982946395874, 0.46147438883781433, -1.2918450832366943, -0.5250648260116577, -0.4246731102466583, 0.86741042137146, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6578308939933777, -0.4238594174385071, -1.5376161336898804, -1.6172525882720947, -1.1895220279693604, 0.6388744711875916, -1.1811530590057373, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6081555485725403, -1.1242523193359375, 0.43700355291366577, -1.2283875942230225, -0.5830078721046448, -0.4173259437084198, 0.7950568199157715, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6578309535980225, -0.42386025190353394, -1.5376158952713013, -1.617250680923462, -1.1895219087600708, 0.6388742327690125, -1.181151032447815, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6063119769096375, -1.1438705921173096, 0.42121565341949463, -1.176191806793213, -0.6357067823410034, -0.42930787801742554, 0.7317227125167847, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.3395285606384277, 0.6578308343887329, -0.42386162281036377, -1.5376150608062744, -1.6172517538070679, -1.1895214319229126, 0.6388745903968811, -1.181151270866394, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.609541118144989, -1.1587426662445068, 0.41913101077079773, -1.1314140558242798, -0.6277600526809692, -0.43584349751472473, 0.7137975692749023, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, 0.16559999958499452, -0.16559999958499452, -0.16559999958499452, -0.16559999958499452, 0.16559999958499452, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.657831072807312, -0.42386025190353394, -1.5376156568527222, -1.6172508001327515, -1.1895214319229126, 0.6388744711875916, -1.1811518669128418, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6163030862808228, -1.1673260927200317, 0.4340932071208954, -1.0940271615982056, -0.577241063117981, -0.4444553554058075, 0.7104361057281494, 0.5189999994340834, 0.5189999994340834, 0.5189999994340834, 0.5189999994340834, -0.5189999994340834, -0.5189999994340834, -0.5189999994340834, 0.5189999994340834, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6578305959701538, -0.4238588213920593, -1.5376166105270386, -1.6172499656677246, -1.1895217895507812, 0.6388741135597229, -1.181152582168579, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6244538426399231, -1.1642944812774658, 0.47568804025650024, -1.0885343551635742, -0.4566028118133545, -0.45715945959091187, 0.7510213851928711, 0.5819999998742408, 0.5819999998742408, 0.5819999998742408, 0.5819999998742408, -0.5819999998742408, -0.5819999998742408, -0.5819999998742408, 0.5819999998742408, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.33933687210083, 0.6578306555747986, -0.4238555133342743, -1.5376181602478027, -1.6172471046447754, -1.1895222663879395, 0.638874351978302, -1.1811535358428955, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6242668032646179, -1.1403498649597168, 0.5438650846481323, -1.150266170501709, -0.32278549671173096, -0.48092934489250183, 0.8497793078422546, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4217945635318756, 0.4164099097251892, -1.339432716369629, 0.6578312516212463, -0.4238620698451996, -1.5376142263412476, -1.6172499656677246, -1.18952214717865, 0.6388738751411438, -1.1811527013778687, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6484895944595337, -1.0946569442749023, 0.6475363373756409, -1.2521979808807373, -0.15581290423870087, -0.45182564854621887, 1.0025634765625, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.6578313112258911, -0.42385706305503845, -1.537616491317749, -1.6172384023666382, -1.1895246505737305, 0.6388742327690125, -1.1811516284942627, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6950675845146179, -1.0366129875183105, 0.783207356929779, -1.3808456659317017, 0.002512133214622736, -0.3914905786514282, 1.177085041999817, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2714572226108417, -0.9624325191628966, -0.005884075982557379, 44.03607177734375], [0.9624397218203243, 0.27147804907462225, -0.0030742044586776537, 4.381475448608398], [0.004556111809938462, -0.004828553447731673, 0.999977963215579, 1.1546777486801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.657831072807312, -0.42385077476501465, -1.5376169681549072, -1.617246389389038, -1.189524531364441, 0.6388739943504333, -1.1811518669128418, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7587863206863403, -0.9778974056243896, 0.948093593120575, -1.5088169574737549, 0.14714746177196503, -0.2863321304321289, 1.341130256652832, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713720186920813, -0.9624566580492226, -0.00586590553166645, 44.035682678222656], [0.9624636436102751, 0.27139290012785566, -0.0031029806034166465, 4.3854475021362305], [0.004578449455670935, -0.004803658700769811, 0.9999779810894179, 1.1540170907974243], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.41621822118759155, -1.339432716369629, 0.6578305959701538, -0.4238588511943817, -1.5376150608062744, -1.617242455482483, -1.1895219087600708, 0.638874351978302, -1.1811420917510986, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.8287551999092102, -0.9222312569618225, 1.1429957151412964, -1.6152195930480957, 0.2783268988132477, -0.1441551297903061, 1.477986216545105, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712700246300356, -0.9624855329721757, -0.005845729765122125, 44.0352897644043], [0.9624925579731681, 0.2712906722852736, -0.0030735935436819574, 4.39036226272583], [0.004544181278008583, -0.004792697598554959, 0.9999781899952825, 1.1530120372772217], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.6578337550163269, -0.42385897040367126, -1.53761625289917, -1.6172422170639038, -1.1895238161087036, 0.6388747096061707, -1.1811546087265015, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.8719358444213867, -0.8769161105155945, 1.290594220161438, -1.6632089614868164, 0.3835022747516632, -0.0004931508447043598, 1.499027132987976, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2713010953411169, -0.9624762563661643, -0.0059305647356532815, 44.035423278808594], [0.9624837055843602, 0.2713221138817302, -0.0030703425456746654, 4.389255046844482], [0.004564225159712603, -0.004875084627265533, 0.9999777004506493, 1.1567379236221313], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4218904376029968, 0.4163140654563904, -1.339432716369629, 0.6578315496444702, -0.4238603115081787, -1.5376157760620117, -1.6172510385513306, -1.1895238161087036, 0.6388739943504333, -1.181156039237976, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.8692411780357361, -0.8353796005249023, 1.410667896270752, -1.6746093034744263, 0.4822743237018585, 0.14015382528305054, 1.5008491277694702, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712862528259973, -0.9624809667688352, -0.0058444533839823575, 44.03558349609375], [0.9624878738619361, 0.2713070119275697, -0.003098055464869424, 4.39022159576416], [0.004567460602889223, -0.004784755653322848, 0.9999781219691654, 1.1530741453170776], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7315669655799866, 1.2389603853225708, -0.4217945635318756, 0.41621822118759155, -1.339432716369629, 0.6578315496444702, -0.42386162281036377, -1.537614107131958, -1.6172513961791992, -1.18952214717865, 0.6388742327690125, -1.1811518669128418, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.8285040259361267, -0.7990434765815735, 1.494936466217041, -1.6687085628509521, 0.5783593058586121, 0.25560325384140015, 1.5010018348693848, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712446483353781, -0.9624929781464349, -0.005797220732700208, 44.035457611083984], [0.962499723094686, 0.27126512718822915, -0.0030844471476388566, 4.3924360275268555], [0.00454134254046036, -0.0047431835680723615, 0.999978438976346, 1.1509414911270142], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7315669655799866, 1.2389603853225708, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.6578312516212463, -0.42386394739151, -1.5376136302947998, -1.6172583103179932, -1.1895225048065186, 0.6388739943504333, -1.1811515092849731, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.773168683052063, -0.7678180932998657, 1.537670612335205, -1.6251400709152222, 0.6595242619514465, 0.3199416399002075, 1.5010076761245728, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27111964721459536, -0.9625283130865214, -0.005777837056269016, 44.03496170043945], [0.9625351313663508, 0.27113986716494354, -0.003048494602034755, 4.398464679718018], [0.004500864338687349, -0.004734864368930006, 0.9999786614121386, 1.1499419212341309], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7315669655799866, 1.2389603853225708, -0.4217945635318756, 0.4164099097251892, -1.339432716369629, 0.6578328609466553, -0.42386534810066223, -1.5376123189926147, -1.6172419786453247, -1.1895211935043335, 0.6388748288154602, -1.1811492443084717, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7302767634391785, -0.7379188537597656, 1.5388418436050415, -1.5668766498565674, 0.7433257699012756, 0.3359592854976654, 1.483547568321228, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711469431655713, -0.9625203340736268, -0.005825951146410558, 44.03508377075195], [0.9625273739624947, 0.2711673873275552, -0.0030499873461500996, 4.397429466247559], [0.004515482790406855, -0.004780642712186067, 0.999978377701452, 1.1520721912384033], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2389603853225708, -0.4217945635318756, 0.41621822118759155, -1.339432716369629, 0.6578296422958374, -0.423857718706131, -1.5376176834106445, -1.6172541379928589, -1.1895229816436768, 0.6388739943504333, -1.1811517477035522, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.7023369073867798, -0.7062414884567261, 1.5260398387908936, -1.5477696657180786, 0.7920949459075928, 0.34720706939697266, 1.4730576276779175, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27116740869042244, -0.9625156672268056, -0.005641525242248192, 44.03544998168945], [0.9625216681400649, 0.27118720244280803, -0.0030886230120077624, 4.396724700927734], [0.004502757487170489, -0.00459255638843526, 0.9999793165865136, 1.1441147327423096], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7315669655799866, 1.2389603853225708, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.6578309535980225, -0.42386096715927124, -1.5376157760620117, -1.6172579526901245, -1.189522624015808, 0.6388741135597229, -1.1811519861221313, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.694671094417572, -0.6919273734092712, 1.5255346298217773, -1.5348093509674072, 0.809007465839386, 0.3564017415046692, 1.463648796081543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710748252433246, -0.962542099648715, -0.005580817426168825, 44.035011291503906], [0.9625480786560915, 0.2710940875818071, -0.0030318234866533126, 4.401291370391846], [0.004431184352715454, -0.004549954069076082, 0.9999798310582076, 1.1412056684494019], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6578318476676941, -0.42386069893836975, -1.5376152992248535, -1.6172517538070679, -1.1895219087600708, 0.6388742327690125, -1.1811522245407104, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6940320134162903, -0.6907162666320801, 1.5254743099212646, -1.533730149269104, 0.8102666139602661, 0.35715076327323914, 1.4630740880966187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27111330579182313, -0.9625304257232862, -0.0057231966224216835, 44.035316467285156], [0.9625369656206326, 0.2711333023180581, -0.0030532258235318813, 4.399688243865967], [0.004490571951806219, -0.0046810181642493315, 0.9999789611949301, 1.1475645303726196], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6578311324119568, -0.4238600730895996, -1.5376160144805908, -1.617250919342041, -1.18952214717865, 0.6388741135597229, -1.181152105331421, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939477324485779, -0.6905819773674011, 1.525490164756775, -1.533636212348938, 0.8103944063186646, 0.3572237491607666, 1.463016152381897, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27109344689619475, -0.9625369822248633, -0.005558857741796301, 44.03535842895508], [0.962542807436279, 0.27111266700894, -0.003043951377091459, 4.400884628295898], [0.004436992520446517, -0.004525443265927363, 0.9999799165286373, 1.1402899026870728], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2390562295913696, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6578363180160522, -0.4238610565662384, -1.5376112461090088, -1.617277979850769, -1.1895127296447754, 0.6388664245605469, -1.1811366081237793, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939457654953003, -0.6905810832977295, 1.5255030393600464, -1.53362238407135, 0.8103986978530884, 0.35723379254341125, 1.4630111455917358, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27107351677609537, -0.962542127873415, -0.005639199549429261, 44.03529357910156], [0.9625483590077699, 0.27109305398886874, -0.0030352348241048837, 4.402009963989258], [0.004450289214096835, -0.0046052304944091075, 0.9999794931787372, 1.1437931060791016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6509520411491394, -0.42166540026664734, -1.5322837829589844, -1.6297094821929932, -1.1429983377456665, 0.6089170575141907, -1.1737806797027588, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939458847045898, -0.690581202507019, 1.5255135297775269, -1.5336179733276367, 0.8103981018066406, 0.35723477602005005, 1.4630110263824463, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710537839616324, -0.9625477836395957, -0.005622313632543598, 44.035396575927734], [0.9625540107880006, 0.2710731701606237, -0.0030187306940033373, 4.403171539306641], [0.004429730918928616, -0.004593542159542164, 0.9999796382199062, 1.1429808139801025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.6240882277488708, -0.422475129365921, -1.4843881130218506, -1.6689233779907227, -1.0522708892822266, 0.5638895630836487, -1.2005434036254883, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939460039138794, -0.6905790567398071, 1.5255229473114014, -1.5336189270019531, 0.8103973865509033, 0.3572346568107605, 1.4630136489868164, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711327895939838, -0.9625247742726317, -0.00575059287412357, 44.035396575927734], [0.9625315406276992, 0.27115280624746607, -0.0030313299048484884, 4.3997063636779785], [0.004477019527815457, -0.004713234085371592, 0.999978870637077, 1.1486761569976807], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.5834694504737854, -0.4385334849357605, -1.3971551656723022, -1.7086446285247803, -1.0175590515136719, 0.5116822719573975, -1.18361234664917, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939461827278137, -0.6905871629714966, 1.5255210399627686, -1.533620834350586, 0.8103965520858765, 0.3572346568107605, 1.4630156755447388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27112669699552505, -0.9625266512864374, -0.00572361246186154, 44.035484313964844], [0.9625334003156613, 0.27114647783739787, -0.003006797822306841, 4.400251388549805], [0.00444606039854035, -0.004693945002909291, 0.9999790994952056, 1.1473828554153442], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.42160284519195557, 0.4164099097251892, -1.339432716369629, 0.5428487062454224, -0.4671070873737335, -1.28709077835083, -1.7425639629364014, -1.0615051984786987, 0.46832409501075745, -1.1278190612792969, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939476132392883, -0.6905897855758667, 1.5255173444747925, -1.5336230993270874, 0.8103945255279541, 0.35723453760147095, 1.4630155563354492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711365426763892, -0.9625243455092921, -0.0056444244527935885, 44.03572082519531], [0.962530825068387, 0.271155868272985, -0.002984274500392902, 4.4000935554504395], [0.004402955673709261, -0.004623786655149752, 0.9999796170814198, 1.1437901258468628], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4164099097251892, -1.339432716369629, 0.48402246832847595, -0.496391624212265, -1.1718003749847412, -1.7616443634033203, -1.0005964040756226, 0.44210487604141235, -1.1091399192810059, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939496397972107, -0.6905893683433533, 1.525516390800476, -1.5336259603500366, 0.8103907704353333, 0.35723429918289185, 1.4630190134048462, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27110443005481466, -0.9625331776206485, -0.005680667579703917, 44.03537368774414], [0.9625396926217252, 0.27112405546917195, -0.003014410991222098, 4.401745796203613], [0.004441636222017186, -0.004650647852328173, 0.9999793214573114, 1.1455312967300415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2391520738601685, -0.4217945635318756, 0.4163140654563904, -1.33933687210083, 0.4122195839881897, -0.5293804407119751, -1.0540226697921753, -1.7520766258239746, -0.9080317616462708, 0.4180392324924469, -1.1325231790542603, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939489245414734, -0.6905848979949951, 1.5255160331726074, -1.5336259603500366, 0.8103881478309631, 0.35723379254341125, 1.463015079498291, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711323019084879, -0.9625254582611634, -0.005658362037031605, 44.03583526611328], [0.962531816829822, 0.2711518830650915, -0.003026202329197079, 4.400696277618408], [0.004447072305106566, -0.00462585228822889, 0.9999794123073338, 1.144598364830017], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.33933687210083, 0.33877307176589966, -0.5672398805618286, -0.9386241436004639, -1.7210404872894287, -0.8244814872741699, 0.3999611735343933, -1.1622952222824097, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939505934715271, -0.6905885934829712, 1.5255138874053955, -1.5336252450942993, 0.8103880286216736, 0.35723355412483215, 1.463017463684082, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27106006631619384, -0.9625459558781491, -0.005632341545139592, 44.03544998168945], [0.962552380163564, 0.27107933927524175, -0.0029845032344051822, 4.40428352355957], [0.0043995329432108985, -0.004612444115529476, 0.9999796845282222, 1.1432660818099976], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4164099097251892, -1.33933687210083, 0.27455225586891174, -0.6061388850212097, -0.8294466733932495, -1.6819744110107422, -0.7343342304229736, 0.37477895617485046, -1.1952022314071655, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.693949818611145, -0.6905877590179443, 1.5255159139633179, -1.533625602722168, 0.8103857636451721, 0.3572331964969635, 1.4630169868469238, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710483308882381, -0.9625495537530513, -0.005582015093306544, 44.03547286987305], [0.9625557525161603, 0.27106737733126474, -0.0029833278060366346, 4.405064582824707], [0.004384703039965772, -0.004564374716375546, 0.9999799702307541, 1.1410512924194336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2390562295913696, -0.4217945635318756, 0.4164099097251892, -1.33933687210083, 0.22746407985687256, -0.647264838218689, -0.735113799571991, -1.6361886262893677, -0.6847018003463745, 0.3333934545516968, -1.2112404108047485, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939516067504883, -0.690592885017395, 1.525511622428894, -1.5336260795593262, 0.8103852868080139, 0.35723260045051575, 1.463017463684082, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27101559375144846, -0.9625589355253125, -0.005553700021378781, 44.03547668457031], [0.9625650755069021, 0.27103444380591646, -0.00296743748198335, 4.406834125518799], [0.00436157746025511, -0.004541575849321129, 0.9999801751689196, 1.1397371292114258], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4164099097251892, -1.33933687210083, 0.19578957557678223, -0.6877182126045227, -0.6424897313117981, -1.609528660774231, -0.6225183010101318, 0.3040618300437927, -1.229344129562378, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939520835876465, -0.6905900239944458, 1.5255123376846313, -1.5336277484893799, 0.8103858828544617, 0.35723212361335754, 1.4630215167999268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709849364942799, -0.9625677226415595, -0.005526619385538527, 44.035335540771484], [0.9625737283771326, 0.2710036809937315, -0.0029702400565682703, 4.408465385437012], [0.004356791403881913, -0.00451488831415724, 0.9999803168823743, 1.138560175895691], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.33933687210083, 0.1793685406446457, -0.7263287901878357, -0.5598915815353394, -1.577009916305542, -0.5606462359428406, 0.2932126522064209, -1.2169169187545776, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.6939512491226196, -0.690587043762207, 1.5255135297775269, -1.5336278676986694, 0.8103858828544617, 0.3572315275669098, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27100333889084804, -0.9625626012537912, -0.0055162466901993905, 44.03573226928711], [0.9625686169756367, 0.2710219791151879, -0.002957101637875567, 4.407844543457031], [0.004341419539990796, -0.004508381530177787, 0.9999804130943546, 1.1380501985549927], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4164099097251892, -1.339432716369629, 0.18325991928577423, -0.7598310708999634, -0.4870806038379669, -1.5322781801223755, -0.512347400188446, 0.2954161763191223, -1.1990457773208618, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939509510993958, -0.6905895471572876, 1.5255130529403687, -1.533629059791565, 0.8103854060173035, 0.3572305738925934, 1.4630204439163208, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710052102841094, -0.9625617329793953, -0.0055755002079818945, 44.035789489746094], [0.9625680971876912, 0.27102402453429775, -0.002938775544294036, 4.408021926879883], [0.0043398473859122, -0.004570375141707506, 0.999980138500626, 1.1405823230743408], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.19986866414546967, -0.7822628617286682, -0.43067312240600586, -1.4990206956863403, -0.46336767077445984, 0.3086426854133606, -1.176115870475769, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939519047737122, -0.6905891299247742, 1.5255132913589478, -1.5336285829544067, 0.810385525226593, 0.3572300970554352, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27100379648921913, -0.9625621706628024, -0.005568653099653317, 44.03585433959961], [0.9625685962123397, 0.27102248332218026, -0.002917382334278082, 4.408347129821777], [0.004317392064163822, -0.004569588908526846, 0.999980239296243, 1.1401875019073486], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.21666529774665833, -0.7963926196098328, -0.39014238119125366, -1.4845657348632812, -0.40598657727241516, 0.3236211836338043, -1.1488901376724243, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939499974250793, -0.690589189529419, 1.525513768196106, -1.5336289405822754, 0.8103851675987244, 0.3572295010089874, 1.4630193710327148, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27100411349722775, -0.9625617089302774, -0.005632669776013731, 44.03585433959961], [0.9625685388219477, 0.2710229595024035, -0.0028919703903995306, 4.408661842346191], [0.004310282793753715, -0.004638094844053628, 0.999979954568318, 1.1428935527801514], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.33933687210083, 0.22633357346057892, -0.8120663166046143, -0.3535407483577728, -1.4816151857376099, -0.3420671820640564, 0.3400326073169708, -1.1212794780731201, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939520835876465, -0.6905900835990906, 1.5255128145217896, -1.5336289405822754, 0.8103851675987244, 0.3572283983230591, 1.4630206823349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709724601871165, -0.9625714772930449, -0.005484243067780634, 44.035850524902344], [0.9625776273147039, 0.27099067199087223, -0.0028925917670153895, 4.410367488861084], [0.004270505044680859, -0.004495196972376238, 0.9999807778106752, 1.1363673210144043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2390562295913696, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.23111991584300995, -0.8313466310501099, -0.32829225063323975, -1.474160075187683, -0.295264333486557, 0.3438655138015747, -1.0777466297149658, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939504742622375, -0.6905902624130249, 1.5255131721496582, -1.533630609512329, 0.8103850483894348, 0.3572276830673218, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710297194783372, -0.9625553698524565, -0.005481890886783883, 44.0362548828125], [0.9625616449210987, 0.2710477771151839, -0.0028604628482432034, 4.408010482788086], [0.004239208214090703, -0.004501387465923113, 0.9999808831295722, 1.1361156702041626], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.23557636141777039, -0.8535751700401306, -0.3014802038669586, -1.4562981128692627, -0.2536686360836029, 0.3443703055381775, -1.0459858179092407, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939525604248047, -0.6905928254127502, 1.5255125761032104, -1.5336283445358276, 0.8103845715522766, 0.35722672939300537, 1.4630203247070312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709930806378448, -0.9625650201500406, -0.005597519983212311, 44.03602600097656], [0.9625720056302925, 0.27101143136710415, -0.0028174536783196593, 4.4099297523498535], [0.004228974259399907, -0.004624505584954044, 0.9999803646696309, 1.1410245895385742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.23783552646636963, -0.8805950284004211, -0.2761952877044678, -1.4298186302185059, -0.22875332832336426, 0.33728688955307007, -1.0302538871765137, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939516663551331, -0.690589964389801, 1.5255132913589478, -1.533629298210144, 0.8103851675987244, 0.35722649097442627, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.23339183628559113, -0.914469838142395, -0.2502598464488983, -1.4075605869293213, -0.20478762686252594, 0.32225915789604187, -1.022510051727295, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939524412155151, -0.6905918717384338, 1.5255119800567627, -1.5336291790008545, 0.8103846907615662, 0.35722601413726807, 1.463020920753479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.22819018363952637, -0.9535540342330933, -0.22690355777740479, -1.3823107481002808, -0.19330182671546936, 0.3088582754135132, -1.0183907747268677, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939513683319092, -0.6905859708786011, 1.5255154371261597, -1.5336287021636963, 0.8103854060173035, 0.3572261333465576, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.2243001013994217, -0.9931996464729309, -0.20437166094779968, -1.3477978706359863, -0.1782255619764328, 0.2984740734100342, -1.0131216049194336, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939517855644226, -0.690589189529419, 1.5255138874053955, -1.5336287021636963, 0.8103849291801453, 0.3572258949279785, 1.4630197286605835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.22324678301811218, -1.0280790328979492, -0.18828439712524414, -1.2983144521713257, -0.16254539787769318, 0.29631510376930237, -1.0009434223175049, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939522624015808, -0.690588116645813, 1.5255136489868164, -1.5336278676986694, 0.8103851675987244, 0.35722577571868896, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.22271758317947388, -1.0560779571533203, -0.18176929652690887, -1.2485620975494385, -0.15856866538524628, 0.28077757358551025, -0.9967005252838135, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939525008201599, -0.6905879378318787, 1.5255135297775269, -1.5336284637451172, 0.8103852868080139, 0.3572258949279785, 1.4630205631256104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2390562295913696, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.2202545702457428, -1.0755202770233154, -0.18187104165554047, -1.213027834892273, -0.15956994891166687, 0.26862281560897827, -1.0049710273742676, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.6939510107040405, -0.6905876994132996, 1.5255147218704224, -1.533629298210144, 0.8103856444358826, 0.35722553730010986, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4217945635318756, 0.4163140654563904, -1.339432716369629, 0.2196771800518036, -1.0853773355484009, -0.19068075716495514, -1.2005726099014282, -0.17303986847400665, 0.26420170068740845, -1.017988920211792, 0.34259999427166615, -0.34259999427166615, 0.34259999427166615, 0.34259999427166615, -0.34259999427166615, -0.34259999427166615, 0.34259999427166615, 0.34259999427166615, -0.6939518451690674, -0.6905882954597473, 1.5255138874053955, -1.5336278676986694, 0.8103851675987244, 0.3572256565093994, 1.4630181789398193, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.22014601528644562, -1.084636926651001, -0.21047331392765045, -1.217376947402954, -0.20019371807575226, 0.27199575304985046, -1.0326533317565918, 0.5555999990347977, -0.5555999990347977, 0.5555999990347977, 0.5555999990347977, -0.5555999990347977, -0.5555999990347977, 0.5555999990347977, 0.5555999990347977, -0.6939517855644226, -0.6905888319015503, 1.525513768196106, -1.533628225326538, 0.8103854060173035, 0.35722553730010986, 1.4630203247070312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.2153431922197342, -1.0688941478729248, -0.2555377185344696, -1.2612687349319458, -0.25729724764823914, 0.28740304708480835, -1.0556787252426147, 0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.6939520239830017, -0.690588116645813, 1.5255146026611328, -1.533627986907959, 0.8103852868080139, 0.3572258949279785, 1.463019847869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2390562295913696, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.21317614614963531, -1.0347756147384644, -0.3250690996646881, -1.3294357061386108, -0.3367020785808563, 0.30112341046333313, -1.1067516803741455, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.6939513087272644, -0.6905866861343384, 1.5255144834518433, -1.5336287021636963, 0.8103862404823303, 0.3572256565093994, 1.4630213975906372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7314711213111877, 1.2391520738601685, -0.4216987192630768, 0.4164099097251892, -1.339432716369629, 0.22564803063869476, -0.9839146137237549, -0.42241600155830383, -1.4170784950256348, -0.443692684173584, 0.31762558221817017, -1.1862996816635132, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.6939520239830017, -0.6905879974365234, 1.5255142450332642, -1.5336270332336426, 0.8103858828544617, 0.3572258949279785, 1.4630235433578491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.2583034932613373, -0.9250234365463257, -0.54173344373703, -1.5111068487167358, -0.5505897998809814, 0.34861284494400024, -1.258448600769043, 0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.6939581036567688, -0.6905929446220398, 1.5255100727081299, -1.5336216688156128, 0.8103779554367065, 0.3572258949279785, 1.4630149602890015, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.42160284519195557, 0.41621822118759155, -1.339432716369629, 0.3061632513999939, -0.8684175610542297, -0.6792736649513245, -1.5900518894195557, -0.6713199615478516, 0.40046796202659607, -1.305564284324646, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.6939442157745361, -0.6905876398086548, 1.5255122184753418, -1.5336312055587769, 0.8103852868080139, 0.3572258949279785, 1.4630221128463745, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.41621822118759155, -1.3395285606384277, 0.34699469804763794, -0.8165839910507202, -0.8347992897033691, -1.6088764667510986, -0.774696946144104, 0.4588792026042938, -1.311148762702942, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.6939793229103088, -0.6905876398086548, 1.5255120992660522, -1.5336158275604248, 0.8103775978088379, 0.35722601413726807, 1.463025450706482, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2392479181289673, -0.42160284519195557, 0.41621822118759155, -1.339432716369629, 0.3788655996322632, -0.7722423076629639, -0.9758949875831604, -1.601149320602417, -0.8241415023803711, 0.5046757459640503, -1.3110600709915161, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.6939097046852112, -0.6905032992362976, 1.5255898237228394, -1.5336034297943115, 0.8103885054588318, 0.3572256565093994, 1.4630061388015747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708670636378063, -0.9626010353759895, -0.005502774691507314, 44.03556442260742], [0.9626075255878732, 0.27088508270329403, -0.002832604882736271, 4.415761947631836], [0.00421728797033957, -0.004529752962626542, 0.9999808477267316, 1.1369329690933228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7309918403625488, 1.2396312952041626, -0.42150700092315674, 0.4163140654563904, -1.3395285606384277, 0.38725364208221436, -0.7344208359718323, -1.0575627088546753, -1.5972713232040405, -0.8969877362251282, 0.5245484709739685, -1.2954070568084717, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.6939935088157654, -0.6906311511993408, 1.5254757404327393, -1.5336400270462036, 0.8103742599487305, 0.3572256565093994, 1.4630268812179565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708967990176909, -0.9625925815249928, -0.005517814333488844, 44.03570556640625], [0.962599084635057, 0.2709149405989292, -0.0028455614611260483, 4.4143452644348145], [0.004233974695146404, -0.004540589535375409, 0.9999807280667723, 1.137656569480896], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7309918403625488, 1.239439606666565, -0.42150700092315674, 0.41621822118759155, -1.3395285606384277, 0.372961163520813, -0.6991927027702332, -1.0930601358413696, -1.6012217998504639, -0.9571910500526428, 0.5344820618629456, -1.2857651710510254, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.693947970867157, -0.6905567646026611, 1.525535225868225, -1.5336287021636963, 0.8103947639465332, 0.3572261333465576, 1.4630228281021118, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707366438221209, -0.9626373207386906, -0.005573007533617917, 44.035003662109375], [0.9626441430975726, 0.2707549488934007, -0.0028304433702543057, 4.421990871429443], [0.00423360979239145, -0.004598518323084712, 0.9999804648978688, 1.1400293111801147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2393437623977661, -0.42150700092315674, 0.41621822118759155, -1.3395285606384277, 0.3506755530834198, -0.6707887053489685, -1.106679916381836, -1.5933271646499634, -0.9959561824798584, 0.5551760792732239, -1.2649939060211182, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.6939452290534973, -0.6905797719955444, 1.5255132913589478, -1.5336247682571411, 0.8103910088539124, 0.3572258949279785, 1.463020920753479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707672988653762, -0.9626288928100797, -0.005539367507946418, 44.035465240478516], [0.9626357208350196, 0.2707852875721163, -0.002792312111554035, 4.421108245849609], [0.004187939539932344, -0.004576326225947526, 0.9999807590152341, 1.138376235961914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.239439606666565, -0.42150700092315674, 0.41621822118759155, -1.3395285606384277, 0.3348768949508667, -0.6502746343612671, -1.0979125499725342, -1.5894041061401367, -1.0225610733032227, 0.5669968128204346, -1.2533713579177856, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.6939547061920166, -0.6905932426452637, 1.5255076885223389, -1.5336251258850098, 0.810387909412384, 0.3572258949279785, 1.4630221128463745, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077550136684847, -0.9626265938783444, -0.005537925397543803, 44.035621643066406], [0.9626334228437603, 0.27079347568637835, -0.002790474833561053, 4.421198844909668], [0.004185819350826871, -0.004575399858781917, 0.9999807721313918, 1.1383105516433716], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7312794327735901, 1.2393437623977661, -0.42160284519195557, 0.41621822118759155, -1.339432716369629, 0.3273232877254486, -0.6409268379211426, -1.0894339084625244, -1.5863817930221558, -1.0266876220703125, 0.568422794342041, -1.2517848014831543, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.6939528584480286, -0.6905944347381592, 1.5255128145217896, -1.5336252450942993, 0.8103876709938049, 0.3572261333465576, 1.4630197286605835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708341900780513, -0.9626103311469445, -0.005494711451542448, 44.035945892333984], [0.9626169898253537, 0.2708519541385054, -0.0027838532518440163, 4.41898775100708], [0.004168019234699563, -0.004535339956683367, 0.9999810289736183, 1.1363767385482788], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2392479181289673, -0.42160284519195557, 0.41621822118759155, -1.339432716369629, 0.3266761898994446, -0.6401551961898804, -1.088681936264038, -1.586111307144165, -1.0271044969558716, 0.5685158371925354, -1.2516558170318604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905914545059204, 1.5255132913589478, -1.5336270332336426, 0.8103876709938049, 0.3572256565093994, 1.463019847869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27078608513734737, -0.9626240693786674, -0.005458676473647705, 44.03594970703125], [0.9626306585015851, 0.27080359853870783, -0.00276158130264331, 4.421666622161865], [0.004136593863792927, -0.004506891538643322, 0.9999812880848646, 1.134697675704956], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2392479181289673, -0.42160284519195557, 0.4163140654563904, -1.3395285606384277, 0.3266300559043884, -0.6400752663612366, -1.0886144638061523, -1.5860847234725952, -1.0271395444869995, 0.5685290098190308, -1.2516413927078247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939523816108704, -0.6905879378318787, 1.525513768196106, -1.5336267948150635, 0.8103871941566467, 0.3572261333465576, 1.463019847869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27075526926362825, -0.9626329646467673, -0.005418444551337743, 44.03596496582031], [0.9626393157361903, 0.2707726789910424, -0.002775628032194265, 4.423469543457031], [0.004139077788517975, -0.004464491840021821, 0.9999814680021181, 1.1329941749572754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2392479181289673, -0.4216987192630768, 0.4163140654563904, -1.3395285606384277, 0.3266301453113556, -0.6400769352912903, -1.088614821434021, -1.5860841274261475, -1.02714204788208, 0.5685303211212158, -1.2516416311264038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905878186225891, 1.5255143642425537, -1.5336278676986694, 0.8103870749473572, 0.35722601413726807, 1.4630202054977417, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077993952113666, -0.9626259959679202, -0.005423674003768534, 44.03617477416992], [0.9626322802988027, 0.2707974675484557, -0.0027972300710771025, 4.422719478607178], [0.004161403568150924, -0.004463569884372079, 0.9999813794587529, 1.1333199739456177], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2392479181289673, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.32663145661354065, -0.6400802731513977, -1.088616132736206, -1.5860844850540161, -1.0271415710449219, 0.568529486656189, -1.2516433000564575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939525008201599, -0.6905882358551025, 1.525514006614685, -1.5336277484893799, 0.8103869557380676, 0.3572258949279785, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707681283897243, -0.9626296157799178, -0.005370611858398256, 44.03628921508789], [0.9626355493019197, 0.27078555833391216, -0.0028249987579568206, 4.4236297607421875], [0.004173711599621821, -0.004405022270001346, 0.9999815877856372, 1.1311100721359253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.326633095741272, -0.6400856971740723, -1.0886181592941284, -1.5860848426818848, -1.0271408557891846, 0.5685282945632935, -1.251645565032959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517855644226, -0.6905879974365234, 1.5255138874053955, -1.5336278676986694, 0.8103871941566467, 0.35722601413726807, 1.4630200862884521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077782876975787, -0.9626268642968908, -0.0053747167991541325, 44.03643035888672], [0.9626328952233765, 0.27079519172866584, -0.0028059170506669244, 4.423578262329102], [0.004156498598074906, -0.0044140990666878275, 0.9999816194554946, 1.131207823753357], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.4163140654563904, -1.339432716369629, 0.3266356885433197, -0.6400885581970215, -1.0886201858520508, -1.5860859155654907, -1.0271399021148682, 0.5685272216796875, -1.251648187637329, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693952202796936, -0.6905882954597473, 1.5255132913589478, -1.533628225326538, 0.810386598110199, 0.35722625255584717, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27079744695819086, -0.962621329585194, -0.005377596913041182, 44.03667068481445], [0.9626274513725553, 0.27081473838518433, -0.002786994320513943, 4.423071384429932], [0.004139152679505739, -0.0044219114642276005, 0.9999816568888142, 1.1312512159347534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7313752770423889, 1.2391520738601685, -0.4216987192630768, 0.41621822118759155, -1.3395285606384277, 0.3266378939151764, -0.6400904059410095, -1.088622808456421, -1.5860865116119385, -1.0271389484405518, 0.5685269832611084, -1.2516509294509888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905882358551025, 1.525513768196106, -1.5336284637451172, 0.810386598110199, 0.35722625255584717, 1.4630205631256104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27079543177286225, -0.9626221951691818, -0.005323861250556307, 44.03682327270508], [0.9626280668186895, 0.2708125159249144, -0.002790374765268048, 4.4235453605651855], [0.004127844941585333, -0.0043692775242650875, 0.9999819349918548, 1.128902554512024], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7315669655799866, 1.2392479181289673, -0.4217945635318756, 0.41410931944847107, -1.3401037454605103, 0.326646089553833, -0.6400966048240662, -1.0886235237121582, -1.5860859155654907, -1.0271357297897339, 0.5685259699821472, -1.2516515254974365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939531564712524, -0.6905912756919861, 1.5255119800567627, -1.5336277484893799, 0.8103830218315125, 0.3572261333465576, 1.463019847869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27079316932166797, -0.9626229402474875, -0.00530418306701841, 44.03694152832031], [0.962628837739238, 0.2708100540446835, -0.0027632193397328485, 4.424055576324463], [0.004096364428404507, -0.004357698658422894, 0.9999821149704989, 1.1279168128967285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7321421504020691, 1.238576889038086, -0.42380762100219727, 0.40279799699783325, -1.3425002098083496, 0.3266522288322449, -0.6400955319404602, -1.0886242389678955, -1.586085557937622, -1.0271328687667847, 0.5685251355171204, -1.2516534328460693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939523816108704, -0.6905933022499084, 1.5255115032196045, -1.5336281061172485, 0.8103822469711304, 0.3572261333465576, 1.4630199670791626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708569283016581, -0.9626048321606766, -0.005334931293477586, 44.03709030151367], [0.9626108923459007, 0.270873908086222, -0.0027560578958949742, 4.421526908874512], [0.004098088337138846, -0.004388965597114887, 0.9999819711639647, 1.129237413406372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.733484148979187, 1.236755609512329, -0.42984670400619507, 0.3830511271953583, -1.3453760147094727, 0.32665136456489563, -0.6400948762893677, -1.0886257886886597, -1.5860873460769653, -1.0271316766738892, 0.5685235857963562, -1.2516555786132812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939528584480286, -0.6905907392501831, 1.5255123376846313, -1.533628225326538, 0.8103821277618408, 0.3572258949279785, 1.4630212783813477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27082147869948026, -0.9626150360658906, -0.005293299055513519, 44.036800384521484], [0.9626209280299513, 0.2708382739928892, -0.002752863837536623, 4.423544883728027], [0.004083576102178274, -0.0043499057940184944, 0.9999822012045019, 1.1273974180221558], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7337717413902283, 1.2354135513305664, -0.44010356068611145, 0.35707342624664307, -1.3472931385040283, 0.32664841413497925, -0.6400949358940125, -1.0886279344558716, -1.5860931873321533, -1.027130365371704, 0.5685215592384338, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939522624015808, -0.690584659576416, 1.5255147218704224, -1.533628225326538, 0.8103836178779602, 0.35722601413726807, 1.463021993637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27072740502112214, -0.9626416973427672, -0.0052568724129028015, 44.03678512573242], [0.9626474977754184, 0.27074398251973153, -0.002736961103359042, 4.428249359130859], [0.004057979454766096, -0.004319544697249367, 0.9999824370139473, 1.1257374286651611], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7325255870819092, 1.23512601852417, -0.4512231647968292, 0.3242897689342499, -1.3481558561325073, 0.3266488313674927, -0.6400927305221558, -1.0886305570602417, -1.586094617843628, -1.0271282196044922, 0.5685194134712219, -1.2516614198684692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939668655395508, -0.6905837655067444, 1.525512933731079, -1.5336272716522217, 0.8103822469711304, 0.3572256565093994, 1.463024377822876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27076786599398384, -0.962630782034825, -0.005171095056666011, 44.03742980957031], [0.9626361277583998, 0.27078418773333013, -0.002758479275690948, 4.426777362823486], [0.004055647836996378, -0.004230975374752104, 0.9999828251365123, 1.1220530271530151], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7298415303230286, 1.2355093955993652, -0.4637806713581085, 0.2849877178668976, -1.34949791431427, 0.32664602994918823, -0.6400870084762573, -1.0886350870132446, -1.586095929145813, -1.0271283388137817, 0.5685173869132996, -1.2516621351242065, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939560174942017, -0.6905817985534668, 1.5255168676376343, -1.533629298210144, 0.8103848099708557, 0.35722577571868896, 1.4630229473114014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27079864197729786, -0.9626223277075248, -0.005133196099701461, 44.03767395019531], [0.9626274539460516, 0.27081487172465657, -0.002773114152014264, 4.425724029541016], [0.004059607443288809, -0.0041903999456479315, 0.9999829799230094, 1.1204476356506348], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7272533178329468, 1.2381935119628906, -0.4765298664569855, 0.2397424578666687, -1.352373719215393, 0.32664594054222107, -0.6400805711746216, -1.0886355638504028, -1.5860958099365234, -1.02712881565094, 0.5685160756111145, -1.251664638519287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939537525177002, -0.6905834078788757, 1.525516390800476, -1.533632755279541, 0.8103862404823303, 0.35722649097442627, 1.4630268812179565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27083288652840165, -0.9626123405624581, -0.005198977934175476, 44.037872314453125], [0.9626177419241597, 0.27084938622080124, -0.002773610759843719, 4.424534320831299], [0.004078051927789297, -0.004253443391114821, 0.9999826387051891, 1.1233434677124023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7261030673980713, 1.2418360710144043, -0.4886080324649811, 0.19334687292575836, -1.356687307357788, 0.3266449272632599, -0.6400752663612366, -1.088636875152588, -1.5860955715179443, -1.0271291732788086, 0.5685144662857056, -1.251665711402893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693946897983551, -0.690582811832428, 1.5255188941955566, -1.5336421728134155, 0.810390055179596, 0.3572256565093994, 1.4630271196365356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708194550823101, -0.9626153453858146, -0.0053403723343533735, 44.0374870300293], [0.9626212427483262, 0.27083665644823285, -0.002801523444510079, 4.425431728363037], [0.004143158045368438, -0.004382048800591488, 0.9999818157795273, 1.1296989917755127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7261030673980713, 1.2460538148880005, -0.5026034116744995, 0.14886847138404846, -1.3619595766067505, 0.3266417980194092, -0.6400760412216187, -1.0886383056640625, -1.586098313331604, -1.0271291732788086, 0.5685138702392578, -1.251666784286499, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939499974250793, -0.6905776858329773, 1.5255206823349, -1.5336413383483887, 0.8103927969932556, 0.35722601413726807, 1.463029384613037, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27078924850490294, -0.9626245861956744, -0.005204704194929542, 44.03739547729492], [0.9626296480755295, 0.27080614698386973, -0.002862062496332217, 4.427116870880127], [0.004164557615417613, -0.00423518681494639, 0.9999823596706646, 1.1239991188049316], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7263906002044678, 1.2519971132278442, -0.5168863534927368, 0.10975813865661621, -1.3658897876739502, 0.32663872838020325, -0.6400806903839111, -1.088638424873352, -1.5861035585403442, -1.0271302461624146, 0.5685135126113892, -1.2516683340072632, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939526796340942, -0.6905710697174072, 1.525524616241455, -1.53363835811615, 0.8103950023651123, 0.3572258949279785, 1.4630297422409058, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707745910230076, -0.9626288509665053, -0.005178430575838869, 44.037845611572266], [0.9626336935320747, 0.2707914896792456, -0.0028881125481216474, 4.428150177001953], [0.004182455393492248, -0.004202904257873143, 0.9999824211768328, 1.1229628324508667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.726678192615509, 1.2611995935440063, -0.5287728309631348, 0.07927509397268295, -1.3667525053024292, 0.3266376852989197, -0.6400797367095947, -1.0886389017105103, -1.5861036777496338, -1.0271306037902832, 0.5685136318206787, -1.2516684532165527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939482688903809, -0.6905714869499207, 1.5255284309387207, -1.5336391925811768, 0.8103975057601929, 0.35722601413726807, 1.463029384613037, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077567711591866, -0.9626278102410383, -0.005313344799604309, 44.0380859375], [0.9626331122184054, 0.27079326155175665, -0.0029156060894954183, 4.428370475769043], [0.004245461473490327, -0.004325326427646157, 0.999981633635424, 1.1290308237075806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.727157473564148, 1.2704977989196777, -0.537591814994812, 0.06029508262872696, -1.366560697555542, 0.3266390264034271, -0.6400798559188843, -1.0886391401290894, -1.5860978364944458, -1.0271307229995728, 0.5685136318206787, -1.2516676187515259, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939522624015808, -0.6905866861343384, 1.5255208015441895, -1.533638596534729, 0.8103952407836914, 0.3572261333465576, 1.463028907775879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707762492657869, -0.9626284230673916, -0.0051712606141507515, 44.038047790527344], [0.9626329399617766, 0.27079341153307335, -0.002958237790681622, 4.428678512573242], [0.004248027083134712, -0.004177005274911403, 0.9999822532889443, 1.1229671239852905], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7277326583862305, 1.274619698524475, -0.5420971512794495, 0.050900936126708984, -1.366560697555542, 0.3266404867172241, -0.6400821208953857, -1.088637351989746, -1.5860893726348877, -1.027130126953125, 0.5685139894485474, -1.2516653537750244, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905981302261353, 1.5255142450332642, -1.5336370468139648, 0.8103914856910706, 0.35722577571868896, 1.4630252122879028, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27080378747697287, -0.9626214641242685, -0.005022498917498524, 44.03793716430664], [0.9626254737615141, 0.2708202208888991, -0.002933466057127181, 4.427839756011963], [0.004184011657121819, -0.004040391681218525, 0.9999830844976906, 1.1163055896759033], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7287870645523071, 1.2761534452438354, -0.5446853637695312, 0.045628711581230164, -1.3664648532867432, 0.3266408443450928, -0.6400904655456543, -1.0886353254318237, -1.586090087890625, -1.0271296501159668, 0.5685141086578369, -1.2516651153564453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939529776573181, -0.6905951499938965, 1.5255143642425537, -1.533631443977356, 0.810390055179596, 0.3572263717651367, 1.463024616241455, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707495450954134, -0.9626354356943594, -0.005263247681553001, 44.037479400634766], [0.9626404533026234, 0.2707669869830738, -0.0029319661368755723, 4.430610656738281], [0.004247528216092079, -0.0042727866362199446, 0.9999818507345095, 1.1269090175628662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7291705012321472, 1.2772079706192017, -0.5459315180778503, 0.04323224723339081, -1.3664648532867432, 0.32664093375205994, -0.6400942802429199, -1.0886338949203491, -1.5860906839370728, -1.0271295309066772, 0.5685136318206787, -1.2516632080078125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939533948898315, -0.6905872225761414, 1.5255144834518433, -1.5336265563964844, 0.8103887438774109, 0.3572263717651367, 1.4630240201950073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707657607372095, -0.9626314947478534, -0.005148604851188746, 44.03837203979492], [0.9626361201836595, 0.2707826267774204, -0.0029101809688301325, 4.430269718170166], [0.004195584601855565, -0.0041682556343988625, 0.9999825112044785, 1.1217644214630127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7290746569633484, 1.2778788805007935, -0.5465066432952881, 0.04208194091916084, -1.3662731647491455, 0.32664212584495544, -0.6400941014289856, -1.0886319875717163, -1.586090087890625, -1.0271291732788086, 0.5685137510299683, -1.2516624927520752, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693953275680542, -0.6905882954597473, 1.525514006614685, -1.5336260795593262, 0.8103873133659363, 0.3572261333465576, 1.463021993637085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708081839522304, -0.9626196957110805, -0.005123371312106246, 44.03879165649414], [0.9626242287503176, 0.2708249313270078, -0.0029070250390259744, 4.428709506988525], [0.004185896242255611, -0.004144635186395493, 0.9999826499853989, 1.1206363439559937], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7289788126945496, 1.2783582210540771, -0.5466025471687317, 0.04150678962469101, -1.3660814762115479, 0.3266434371471405, -0.640093207359314, -1.0886311531066895, -1.586090087890625, -1.0271289348602295, 0.568514347076416, -1.2516604661941528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693952739238739, -0.6905885338783264, 1.5255136489868164, -1.5336265563964844, 0.8103864789009094, 0.3572261333465576, 1.4630213975906372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27079248653968757, -0.9626238093501525, -0.005179855775450073, 44.038448333740234], [0.9626285768610424, 0.27080947215974305, -0.0029073697813747357, 4.429784774780273], [0.004201457382549698, -0.004198983301078142, 0.9999823579919297, 1.1231286525726318], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7293622493743896, 1.2783582210540771, -0.5483279824256897, 0.04236951842904091, -1.3627264499664307, 0.3266441822052002, -0.6400935649871826, -1.0886297225952148, -1.586089849472046, -1.0271286964416504, 0.5685141086578369, -1.2516593933105469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939505934715271, -0.6905817985534668, 1.5255165100097656, -1.5336275100708008, 0.8103867173194885, 0.35722601413726807, 1.4630215167999268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27073035570344817, -0.9626413716810115, -0.005163722376844831, 44.038116455078125], [0.9626460709685156, 0.2707472749613733, -0.002907774040411772, 4.432993412017822], [0.004197207352988229, -0.00418361435737595, 0.9999824402565001, 1.1224285364151], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7303208112716675, 1.2782623767852783, -0.5530250668525696, 0.04754588380455971, -1.3485393524169922, 0.32664623856544495, -0.6401116847991943, -1.088620662689209, -1.5860902070999146, -1.0271270275115967, 0.568514347076416, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939521431922913, -0.6905816197395325, 1.5255169868469238, -1.533625602722168, 0.8103856444358826, 0.35722625255584717, 1.4630213975906372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27068399387526665, -0.9626540547392227, -0.005229374137339462, 44.03793716430664], [0.9626591872713449, 0.2707010313127355, -0.002870680806905171, 4.435515880584717], [0.004179069490727266, -0.0042570577110348316, 0.9999822062606097, 1.1251626014709473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7309918403625488, 1.2788375616073608, -0.5586807131767273, 0.05329740419983864, -1.3193024396896362, 0.3266451358795166, -0.6401081681251526, -1.0886210203170776, -1.5860931873321533, -1.0271272659301758, 0.5685144662857056, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939522624015808, -0.6905745267868042, 1.5255194902420044, -1.5336247682571411, 0.8103846907615662, 0.35722577571868896, 1.4630212783813477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27070016450600676, -0.9626499560297521, -0.00514617259107358, 44.03840255737305], [0.9626547149090062, 0.2707168778501392, -0.002876092928366705, 4.435164451599121], [0.004161826507763091, -0.00417542847968905, 0.9999826223475737, 1.121522307395935], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7307042479515076, 1.2820008993148804, -0.562610924243927, 0.05761104077100754, -1.275782585144043, 0.3266454339027405, -0.6401040554046631, -1.0886200666427612, -1.5860921144485474, -1.027125597000122, 0.5685147047042847, -1.2516558170318604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939537525177002, -0.6905806064605713, 1.5255173444747925, -1.533618450164795, 0.8103795051574707, 0.35722577571868896, 1.4630179405212402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707540384490724, -0.9626353838149736, -0.00503671429768544, 44.039371490478516], [0.9626399247676961, 0.2707700654115499, -0.0028190282491183704, 4.433156490325928], [0.004077487800418891, -0.004085278989649475, 0.9999833421556652, 1.1164430379867554], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7297456860542297, 1.286026954650879, -0.5636653304100037, 0.05818619206547737, -1.2198970317840576, 0.32664602994918823, -0.6400895118713379, -1.088621735572815, -1.5860868692398071, -1.0271250009536743, 0.5685149431228638, -1.2516552209854126, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693953812122345, -0.6905888915061951, 1.5255143642425537, -1.5336207151412964, 0.8103793859481812, 0.3572261333465576, 1.463016390800476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0010352733079344034, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27075617185685585, -0.9626343961246797, -0.005110264092371984, 44.039432525634766], [0.962639115587395, 0.2707726252072453, -0.0028493121089670096, 4.433411598205566], [0.004126565465180078, -0.004147871267249697, 0.9999828831642129, 1.119819164276123], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7296497821807861, 1.2890944480895996, -0.5628985166549683, 0.057035889476537704, -1.1537545919418335, 0.32664597034454346, -0.6400790214538574, -1.0886240005493164, -1.5860755443572998, -1.027123212814331, 0.5685149431228638, -1.2516535520553589, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519643783569, -0.6906030178070068, 1.5255074501037598, -1.5336250066757202, 0.8103780746459961, 0.3572258949279785, 1.463011384010315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27084494757050837, -0.9626089414483213, -0.005200021083705084, 44.039085388183594], [0.9626141079112369, 0.27086169887252476, -0.0028318428881879618, 4.429754257202148], [0.004134443829851877, -0.004238623318031207, 0.9999824700696436, 1.1236839294433594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.73089599609375, 1.2904363870620728, -0.5609813332557678, 0.05425598844885826, -1.0816688537597656, 0.326646089553833, -0.6400802135467529, -1.0886255502700806, -1.5860800743103027, -1.0271214246749878, 0.5685151815414429, -1.2516533136367798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939520239830017, -0.6905959248542786, 1.5255087614059448, -1.5336264371871948, 0.8103768825531006, 0.35722601413726807, 1.4630151987075806, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27080943018481896, -0.962619414644416, -0.005110290854307573, 44.038761138916016], [0.9626241530893648, 0.27082586401093156, -0.0028445160776046953, 4.431762218475342], [0.004122185337535471, -0.004148967627540469, 0.9999828966815726, 1.1197993755340576], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7329090237617493, 1.2909157276153564, -0.5587765574455261, 0.05147608742117882, -1.0066115856170654, 0.3266454339027405, -0.6400814056396484, -1.088629126548767, -1.5860878229141235, -1.0271220207214355, 0.5685153603553772, -1.251654028892517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939513683319092, -0.6905857920646667, 1.5255104303359985, -1.5336260795593262, 0.8103808164596558, 0.3572261333465576, 1.463016390800476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708143378729102, -0.9626177269736111, -0.005167796301655614, 44.03910446166992], [0.9626226586966669, 0.27083105671536367, -0.0028558155052425915, 4.4318976402282715], [0.004148658363579756, -0.004201242030363066, 0.9999825689476715, 1.122376561164856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7342510223388672, 1.2908198833465576, -0.5557090640068054, 0.04907962307333946, -0.9281033277511597, 0.3266453444957733, -0.6400914788246155, -1.088629126548767, -1.5860955715179443, -1.0271210670471191, 0.5685153603553772, -1.2516543865203857, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939532160758972, -0.6905831098556519, 1.5255115032196045, -1.5336251258850098, 0.8103806972503662, 0.3572261333465576, 1.463017225265503, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077159988039845, -0.9626297553685953, -0.00516669886944368, 44.039306640625], [0.9626348630387168, 0.2707881306915879, -0.002812248030718737, 4.434327602386475], [0.004106234362549586, -0.004212167560010998, 0.9999826980922251, 1.122137427330017], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7347303032875061, 1.29062819480896, -0.5513954758644104, 0.04591628909111023, -0.8469110727310181, 0.3266453444957733, -0.6400880813598633, -1.088631272315979, -1.5860929489135742, -1.0271213054656982, 0.5685157179832458, -1.2516554594039917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939520239830017, -0.6905872225761414, 1.5255112648010254, -1.5336261987686157, 0.8103816509246826, 0.35722625255584717, 1.4630179405212402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708451349839667, -0.9626093495219827, -0.005114007076852911, 44.04004669189453], [0.9626141084903963, 0.27086157855770576, -0.0028431314544634045, 4.431340217590332], [0.004122012949578165, -0.004152767040537039, 0.9999828816210559, 1.1199430227279663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7354971766471863, 1.290340542793274, -0.5465066432952881, 0.04256123676896095, -0.7661980986595154, 0.3266451358795166, -0.6400870680809021, -1.0886321067810059, -1.5860916376113892, -1.0271217823028564, 0.5685157179832458, -1.25165593624115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939515471458435, -0.6905900835990906, 1.5255111455917358, -1.5336267948150635, 0.8103825449943542, 0.3572258949279785, 1.4630188941955566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708470575132692, -0.9626082654641248, -0.005215236960362272, 44.039756774902344], [0.9626133747518999, 0.2708639963450501, -0.002861159336209507, 4.431612968444824], [0.004166795550815257, -0.004245320263256204, 0.9999823073788356, 1.1244796514511108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7374143600463867, 1.2897653579711914, -0.5406593084335327, 0.03805587813258171, -0.6864436864852905, 0.3266450762748718, -0.6400863528251648, -1.0886318683624268, -1.5860918760299683, -1.027122974395752, 0.568515956401825, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517259597778, -0.6905916333198547, 1.5255112648010254, -1.5336272716522217, 0.8103837370872498, 0.35722601413726807, 1.4630192518234253, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270840230637865, -0.9626105345080407, -0.005150565228434443, 44.03984069824219], [0.9626153207884065, 0.2708569514288319, -0.0028733336236808392, 4.4323506355285645], [0.004160967611220436, -0.004179798658273782, 0.9999826076646107, 1.1216920614242554], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7401942610740662, 1.2891902923583984, -0.5343326330184937, 0.0324002206325531, -0.6084147691726685, 0.3266446888446808, -0.6400874853134155, -1.088632345199585, -1.5860927104949951, -1.027124047279358, 0.5685157179832458, -1.2516589164733887, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939514875411987, -0.6905898451805115, 1.5255123376846313, -1.533627986907959, 0.8103846907615662, 0.3572258949279785, 1.4630224704742432, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708137527857697, -0.9626182222671169, -0.005105826219475106, 44.03995132446289], [0.9626227414154414, 0.27083036863937315, -0.002892945295257715, 4.43397331237793], [0.004167614654466021, -0.004131535060569288, 0.9999827805548129, 1.119819164276123], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7429741621017456, 1.2889984846115112, -0.5274307727813721, 0.025690114125609398, -0.5328781604766846, 0.3266451358795166, -0.6400878429412842, -1.0886317491531372, -1.586090087890625, -1.0271230936050415, 0.5685160756111145, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693952739238739, -0.6905905604362488, 1.5255111455917358, -1.533630609512329, 0.8103843331336975, 0.35722601413726807, 1.463026762008667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27080043668176057, -0.9626219612607203, -0.005107170599461971, 44.04000473022461], [0.9626264070906432, 0.2708171362948898, -0.0029118826889640423, 4.434985637664795], [0.004186151541327452, -0.004127758180821521, 0.9999827187245156, 1.1199629306793213], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.745370626449585, 1.2874648571014404, -0.5213916897773743, 0.019555162638425827, -0.4609842002391815, 0.32664456963539124, -0.6400880813598633, -1.0886317491531372, -1.5860892534255981, -1.0271236896514893, 0.5685163140296936, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939513683319092, -0.690591037273407, 1.525511622428894, -1.5336321592330933, 0.8103840947151184, 0.35722625255584717, 1.4630203247070312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708661338837117, -0.9626033596073991, -0.00512928722530824, 44.04024887084961], [0.9626080198951966, 0.27088280313456925, -0.0028821865669962673, 4.432393550872803], [0.004163838174079755, -0.004156806286893845, 0.9999826915567855, 1.1207947731018066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7478629350662231, 1.2854517698287964, -0.5161194801330566, 0.013899502344429493, -0.39321213960647583, 0.3266443908214569, -0.6400882601737976, -1.0886324644088745, -1.5860921144485474, -1.0271246433258057, 0.568516194820404, -1.2516593933105469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519643783569, -0.6905905604362488, 1.525512456893921, -1.5336309671401978, 0.8103856444358826, 0.3572263717651367, 1.4630223512649536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27086513888950703, -0.9626031843532212, -0.005214020272935423, 44.040279388427734], [0.9626082384384981, 0.2708821233037172, -0.0028730758433007392, 4.432834625244141], [0.004178016838130983, -0.004240842782777242, 0.999982279556889, 1.1244996786117554], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.2840138673782349, -0.5110389590263367, 0.008627277798950672, -0.3300412893295288, 0.3266439735889435, -0.6400858163833618, -1.0886319875717163, -1.58609139919281, -1.0271254777908325, 0.5685158371925354, -1.2516605854034424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939486265182495, -0.6905893087387085, 1.5255135297775269, -1.5336339473724365, 0.810385525226593, 0.35722601413726807, 1.4630175828933716, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.2176949679851532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708899860286782, -0.9625975459834307, -0.00495781565405318, 44.04096984863281], [0.9626013735236135, 0.2709060743773638, -0.002914542142229083, 4.432106971740723], [0.004148633490101196, -0.003982879878080033, 0.9999834626172783, 1.1133935451507568], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.2827677726745605, -0.507108747959137, 0.0062308115884661674, -0.27281367778778076, 0.3266441226005554, -0.6400880217552185, -1.088631510734558, -1.5860923528671265, -1.0271248817443848, 0.568515956401825, -1.251660943031311, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939505934715271, -0.6905906796455383, 1.5255123376846313, -1.5336285829544067, 0.8103836178779602, 0.3572261333465576, 1.4630100727081299, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27092226301020017, -0.9625870805430264, -0.005219173984952376, 44.0409049987793], [0.9625919504177021, 0.2709394760788869, -0.0029218646687473107, 4.430939674377441], [0.004226629446278844, -0.004232336677478068, 0.9999821113048835, 1.124936819076538], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7521765828132629, 1.2817132472991943, -0.5038495659828186, 0.0054639424197375774, -0.2216251790523529, 0.3266447186470032, -0.640091061592102, -1.0886309146881104, -1.5860947370529175, -1.0271259546279907, 0.5685160756111145, -1.2516608238220215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939504146575928, -0.6905897855758667, 1.5255154371261597, -1.533629298210144, 0.8103856444358826, 0.35722625255584717, 1.4630168676376343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709059552707165, -0.9625929517383045, -0.004977214341224791, 44.04107666015625], [0.9625967828367021, 0.27092219494258074, -0.0029322278092365575, 4.432136535644531], [0.004170979656086472, -0.003996692536619091, 0.999983314549536, 1.1143282651901245], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7533268928527832, 1.2803713083267212, -0.5013572573661804, 0.0064225285314023495, -0.17935150861740112, 0.3266439735889435, -0.6400891542434692, -1.088631272315979, -1.5860868692398071, -1.0271252393722534, 0.568516194820404, -1.251656174659729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939505934715271, -0.6905907392501831, 1.5255118608474731, -1.5336326360702515, 0.8103868365287781, 0.3572261333465576, 1.4630216360092163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708865892150244, -0.9625980861659797, -0.0050378857711997635, 44.04100036621094], [0.9626020638490695, 0.27090317695091914, -0.0029555695578000053, 4.433364391326904], [0.004209804860402564, -0.004048855084092552, 0.9999829420122852, 1.1171096563339233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7543813586235046, 1.2797002792358398, -0.49934419989585876, 0.007860408164560795, -0.14311695098876953, 0.3266436457633972, -0.6400937438011169, -1.0886310338974, -1.5860928297042847, -1.0271257162094116, 0.5685164332389832, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.69058758020401, 1.5255142450332642, -1.5336297750473022, 0.8103860020637512, 0.35722601413726807, 1.463021159172058, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27086861834157905, -0.9626031268115209, -0.005041016802867836, 44.04114532470703], [0.9626072112534539, 0.27088512865269976, -0.002933243538865582, 4.434593677520752], [0.004189085887396975, -0.004057995501858528, 0.9999829919713309, 1.117150902748108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7552440762519836, 1.2795085906982422, -0.4974270462989807, 0.008818994276225567, -0.11368834227323532, 0.326643168926239, -0.6400932669639587, -1.0886311531066895, -1.586092233657837, -1.0271258354187012, 0.568515956401825, -1.2516584396362305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939531564712524, -0.6905877590179443, 1.5255122184753418, -1.5336294174194336, 0.8103856444358826, 0.35722625255584717, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27089501565905716, -0.9625958421237841, -0.005013503473833512, 44.041500091552734], [0.9625997291821847, 0.27091149324325026, -0.002953676877555024, 4.4337310791015625], [0.004201412793788087, -0.004025860742169018, 0.9999830701446004, 1.1160286664962769], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.755915105342865, 1.2794126272201538, -0.4960850179195404, 0.009777581319212914, -0.08924439549446106, 0.3266436457633972, -0.6400947570800781, -1.0886298418045044, -1.5860909223556519, -1.027125597000122, 0.5685163140296936, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517259597778, -0.6905854940414429, 1.5255155563354492, -1.5336296558380127, 0.8103858828544617, 0.3572261333465576, 1.4630206823349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27086477293840416, -0.9626041145810059, -0.00505898930067548, 44.041282653808594], [0.9626082179961832, 0.2708814111144887, -0.0029461430439959783, 4.435479164123535], [0.004206355576874813, -0.004071818308928952, 0.9999828632873765, 1.1180039644241333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.756777822971344, 1.2792209386825562, -0.49493470788002014, 0.011311319656670094, -0.06767620146274567, 0.3266436755657196, -0.6400941014289856, -1.0886296033859253, -1.586091160774231, -1.0271257162094116, 0.568516194820404, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516663551331, -0.6905844211578369, 1.5255160331726074, -1.5336294174194336, 0.8103856444358826, 0.35722625255584717, 1.4630206823349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27080588310955334, -0.9626205157529444, -0.005090807872065298, 44.04111862182617], [0.9626247493040505, 0.2708226559186969, -0.0029463652959401338, 4.438573360443115], [0.004214937789459002, -0.0041026445956715354, 0.9999827011537512, 1.1194154024124146], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7570653557777405, 1.2786457538604736, -0.49416783452033997, 0.013516068458557129, -0.04975063353776932, 0.32664409279823303, -0.640096127986908, -1.0886285305023193, -1.5860906839370728, -1.0271258354187012, 0.568516194820404, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517259597778, -0.6905834078788757, 1.5255162715911865, -1.533629298210144, 0.8103856444358826, 0.35722625255584717, 1.463020920753479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077828884418653, -0.9626286397830053, -0.005021967755299999, 44.041160583496094], [0.962632605452311, 0.2707947606715685, -0.002943554470889072, 4.440235137939453], [0.004193472392835928, -0.004037259262034935, 0.999983057519947, 1.1163750886917114], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7568736672401428, 1.2773996591567993, -0.49416783452033997, 0.016391826793551445, -0.032112643122673035, 0.32664358615875244, -0.6400937438011169, -1.088628888130188, -1.586091160774231, -1.0271257162094116, 0.5685160756111145, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517855644226, -0.6905861496925354, 1.525514841079712, -1.5336285829544067, 0.8103856444358826, 0.35722601413726807, 1.4630202054977417, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707764498464247, -0.9626292998872585, -0.004994517707783892, 44.04118728637695], [0.9626330974863972, 0.270792861771186, -0.0029573024052120707, 4.440675735473633], [0.004199265687141866, -0.004007120205089051, 0.9999831544357889, 1.1152286529541016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7565860748291016, 1.2766327857971191, -0.4942637085914612, 0.017829706892371178, -0.022143345326185226, 0.3266439437866211, -0.6400898098945618, -1.088628888130188, -1.58609139919281, -1.0271257162094116, 0.5685165524482727, -1.2516582012176514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517259597778, -0.6905867457389832, 1.5255153179168701, -1.5336284637451172, 0.8103856444358826, 0.35722601413726807, 1.4630204439163208, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27078459305492486, -0.9626265690092279, -0.005078661398520367, 44.04130172729492], [0.9626307092893908, 0.2708013571520389, -0.0029567714856210095, 4.440645694732666], [0.0042215751897826575, -0.00408822726080802, 0.9999827322013021, 1.1189333200454712], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7561067938804626, 1.2761534452438354, -0.4942637085914612, 0.01888415217399597, -0.01696697808802128, 0.3266436457633972, -0.6400919556617737, -1.0886292457580566, -1.5860910415649414, -1.027125597000122, 0.5685163140296936, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517855644226, -0.6905861496925354, 1.525514841079712, -1.5336284637451172, 0.8103856444358826, 0.3572263717651367, 1.4630205631256104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707879168325281, -0.9626256606431037, -0.0050736149763166, 44.041500091552734], [0.9626298282763265, 0.2708046130930921, -0.0029453760695240124, 4.440896034240723], [0.004209252925412676, -0.00408644086323706, 0.9999827914473735, 1.1186624765396118], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.755915105342865, 1.275865912437439, -0.4942637085914612, 0.019363444298505783, -0.014474654570221901, 0.3266439437866211, -0.6400919556617737, -1.088629126548767, -1.5860910415649414, -1.0271257162094116, 0.5685160756111145, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519643783569, -0.6905868053436279, 1.5255144834518433, -1.5336281061172485, 0.810385525226593, 0.3572261333465576, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707864386720844, -0.962626317300932, -0.005027710307405626, 44.04161834716797], [0.9626302579168754, 0.2708029809076896, -0.0029550083586122053, 4.441339015960693], [0.004206087752230099, -0.004039649880274369, 0.9999829948827457, 1.116686224937439], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7558192014694214, 1.2757700681686401, -0.49455127120018005, 0.019555162638425827, -0.01313263364136219, 0.32664379477500916, -0.6400917768478394, -1.0886287689208984, -1.5860910415649414, -1.0271254777908325, 0.5685160756111145, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939518451690674, -0.690587043762207, 1.5255146026611328, -1.5336277484893799, 0.8103854060173035, 0.35722625255584717, 1.4630204439163208, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27081219114547994, -0.9626187953554779, -0.00508054675724999, 44.041831970214844], [0.9626229314936778, 0.270828974331335, -0.002959463660025012, 4.4405059814453125], [0.004224794610619995, -0.00408919197466789, 0.9999827146603547, 1.1190317869186401], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7558192014694214, 1.2757700681686401, -0.49464714527130127, 0.019746879115700722, -0.012749198824167252, 0.3266436755657196, -0.6400916576385498, -1.088629126548767, -1.586091160774231, -1.027125597000122, 0.568516194820404, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905866861343384, 1.5255146026611328, -1.533628225326538, 0.8103854060173035, 0.35722625255584717, 1.463020920753479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708289755761446, -0.9626141215847263, -0.005071381867080905, 44.0419807434082], [0.9626181873692349, 0.27084575161575375, -0.0029671834567008863, 4.4399189949035645], [0.0042298149302728875, -0.004078205164421844, 0.9999827383051632, 1.1186612844467163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7557233572006226, 1.2757700681686401, -0.49464714527130127, 0.019842738285660744, -0.012557481415569782, 0.3266439437866211, -0.6400917172431946, -1.0886292457580566, -1.5860909223556519, -1.027125597000122, 0.568515956401825, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939518451690674, -0.690587043762207, 1.5255142450332642, -1.5336278676986694, 0.8103856444358826, 0.35722625255584717, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708289755761446, -0.9626141215847263, -0.005071381867080905, 44.0419807434082], [0.9626181873692349, 0.27084575161575375, -0.0029671834567008863, 4.4399189949035645], [0.0042298149302728875, -0.004078205164421844, 0.9999827383051632, 1.1186612844467163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7557233572006226, 1.2757700681686401, -0.49464714527130127, 0.019842738285660744, -0.012365764006972313, 0.32664409279823303, -0.6400913596153259, -1.088629126548767, -1.5860909223556519, -1.0271259546279907, 0.5685160756111145, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.6905872225761414, 1.5255146026611328, -1.5336281061172485, 0.810385525226593, 0.35722601413726807, 1.4630208015441895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708289755761446, -0.9626141215847263, -0.005071381867080905, 44.0419807434082], [0.9626181873692349, 0.27084575161575375, -0.0029671834567008863, 4.4399189949035645], [0.0042298149302728875, -0.004078205164421844, 0.9999827383051632, 1.1186612844467163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7557233572006226, 1.2757700681686401, -0.49464714527130127, 0.019842738285660744, -0.012174046598374844, 0.3266439437866211, -0.6400913596153259, -1.0886292457580566, -1.5860906839370728, -1.0271257162094116, 0.5685164332389832, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517259597778, -0.6905872821807861, 1.5255147218704224, -1.533627986907959, 0.8103854060173035, 0.3572261333465576, 1.4630206823349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708289755761446, -0.9626141215847263, -0.005071381867080905, 44.0419807434082], [0.9626181873692349, 0.27084575161575375, -0.0029671834567008863, 4.4399189949035645], [0.0042298149302728875, -0.004078205164421844, 0.9999827383051632, 1.1186612844467163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7556275129318237, 1.2757700681686401, -0.49455127120018005, 0.019842738285660744, -0.012174046598374844, 0.32664379477500916, -0.6400913596153259, -1.0886293649673462, -1.5860905647277832, -1.0271259546279907, 0.5685163140296936, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.6905874013900757, 1.525514006614685, -1.5336284637451172, 0.8103856444358826, 0.35722625255584717, 1.4630206823349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708289755761446, -0.9626141215847263, -0.005071381867080905, 44.0419807434082], [0.9626181873692349, 0.27084575161575375, -0.0029671834567008863, 4.4399189949035645], [0.0042298149302728875, -0.004078205164421844, 0.9999827383051632, 1.1186612844467163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7547647953033447, 1.2750990390777588, -0.49244239926338196, 0.018021423369646072, -0.012365764006972313, 0.3266432285308838, -0.6400913000106812, -1.0886292457580566, -1.5860927104949951, -1.0271260738372803, 0.5685165524482727, -1.251658320426941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939518451690674, -0.6905865669250488, 1.525515079498291, -1.5336273908615112, 0.8103854060173035, 0.3572266101837158, 1.4630210399627686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708289755761446, -0.9626141215847263, -0.005071381867080905, 44.0419807434082], [0.9626181873692349, 0.27084575161575375, -0.0029671834567008863, 4.4399189949035645], [0.0042298149302728875, -0.004078205164421844, 0.9999827383051632, 1.1186612844467163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.2723190784454346, -0.4860198497772217, 0.013707784935832024, -0.013707784935832024, 0.3266439437866211, -0.6400864720344543, -1.0886298418045044, -1.5860886573791504, -1.0271257162094116, 0.5685163140296936, -1.2516582012176514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939505338668823, -0.6905896663665771, 1.5255135297775269, -1.5336291790008545, 0.8103856444358826, 0.35722625255584717, 1.4630205631256104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708803211267765, -0.9625997980962862, -0.005047804596429211, 44.04235076904297], [0.9626036206531312, 0.2708971376259173, -0.003001721434031115, 4.437520980834961], [0.004256892262807267, -0.0040459277148888, 0.999982754519891, 1.1177700757980347], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7451788783073425, 1.2662800550460815, -0.4775843024253845, 0.011407177895307541, -0.01667940244078636, 0.32664427161216736, -0.6400924324989319, -1.088629126548767, -1.586089015007019, -1.0271254777908325, 0.5685166716575623, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939518451690674, -0.6905891299247742, 1.525514006614685, -1.533627986907959, 0.8103851675987244, 0.35722601413726807, 1.463019609451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708228055216254, -0.962615887792071, -0.005065627273965742, 44.042083740234375], [0.9626198297799173, 0.27083965361856743, -0.0029908765031870068, 4.440248966217041], [0.004251037976633455, -0.0040662756986315956, 0.9999826968893332, 1.1185168027877808], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.735209584236145, 1.2565983533859253, -0.46905288100242615, 0.007381115108728409, -0.018117282539606094, 0.3266447186470032, -0.6400953531265259, -1.0886280536651611, -1.586087703704834, -1.0271248817443848, 0.5685165524482727, -1.2516570091247559, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939523220062256, -0.6905909776687622, 1.5255125761032104, -1.5336267948150635, 0.8103845715522766, 0.35722601413726807, 1.4630188941955566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270780214290673, -0.9626276894969445, -0.005099702194386393, 44.041717529296875], [0.9626317892443924, 0.27079718999499613, -0.0029866748992479083, 4.4424238204956055], [0.004256040981592685, -0.004100402978760804, 0.9999825362527962, 1.1199992895126343], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7226521372795105, 1.244040846824646, -0.4627262055873871, 0.0037384869065135717, -0.018117282539606094, 0.3266448676586151, -0.6400931477546692, -1.088628888130188, -1.586086630821228, -1.0271254777908325, 0.5685165524482727, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939510107040405, -0.6905913352966309, 1.5255123376846313, -1.5336278676986694, 0.8103843331336975, 0.35722625255584717, 1.4630190134048462, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707461345563307, -0.9626376337670686, -0.005031568159576184, 44.04153823852539], [0.9626414469407681, 0.2707628303063532, -0.0029890393569342805, 4.444296836853027], [0.004239723409562032, -0.004034325201588819, 0.999982874336145, 1.117017388343811], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7082733511924744, 1.2286076545715332, -0.4579332768917084, 0.002396465977653861, -0.017637988552451134, 0.32664501667022705, -0.6400926113128662, -1.0886287689208984, -1.5860871076583862, -1.0271254777908325, 0.5685164332389832, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939513087272644, -0.6905897259712219, 1.5255136489868164, -1.5336277484893799, 0.8103844523429871, 0.3572263717651367, 1.4630197286605835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27073328972995825, -0.9626408441877586, -0.005107928491448701, 44.041664123535156], [0.9626450376203104, 0.2707502431213039, -0.00297277559624478, 4.445175647735596], [0.004244688090455813, -0.004112292698012204, 0.9999825356833891, 1.1203105449676514], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.688526451587677, 1.2095317840576172, -0.45486581325531006, 0.002396465977653861, -0.01610425114631653, 0.32664522528648376, -0.6400914192199707, -1.0886284112930298, -1.5860878229141235, -1.027125358581543, 0.568516194820404, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905890703201294, 1.5255131721496582, -1.5336273908615112, 0.810384213924408, 0.3572261333465576, 1.4630200862884521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27077098338752037, -0.9626300880549891, -0.005136937472731416, 44.04218673706055], [0.9626343970169582, 0.27078806360561425, -0.0029735985806721207, 4.4437384605407715], [0.004253496814656652, -0.0041398284946883, 0.9999823846372906, 1.1215882301330566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6671499609947205, 1.1889221668243408, -0.4538113474845886, 0.0038343456108123064, -0.013803644105792046, 0.3266449272632599, -0.6400898098945618, -1.0886286497116089, -1.5860878229141235, -1.0271252393722534, 0.5685165524482727, -1.2516570091247559, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939506530761719, -0.6905903220176697, 1.5255115032196045, -1.5336283445358276, 0.8103827834129333, 0.3572261333465576, 1.4630200862884521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708010336565564, -0.9626212741556794, -0.005204105440602738, 44.04214096069336], [0.9626258485474287, 0.270818414365145, -0.0029769361920118256, 4.44266414642334], [0.004275029693847638, -0.004203449017764086, 0.9999820274072289, 1.124567985534668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6411722898483276, 1.1649574041366577, -0.45438650250434875, 0.006901822052896023, -0.01179061271250248, 0.3266450762748718, -0.640095055103302, -1.0886280536651611, -1.5860882997512817, -1.0271250009536743, 0.5685165524482727, -1.2516570091247559, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939486861228943, -0.6905850172042847, 1.5255154371261597, -1.5336276292800903, 0.8103830218315125, 0.35722577571868896, 1.463019609451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27080842120477877, -0.9626195145852204, -0.0051448172260491025, 44.04225540161133], [0.962623901456448, 0.2708254902939533, -0.0029627945940122347, 4.4426589012146], [0.0042453915416212976, -0.004150174304061221, 0.9999823761966529, 1.121888279914856], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6144277453422546, 1.1391714811325073, -0.4563036859035492, 0.010544450022280216, -0.009394146502017975, 0.3266464173793793, -0.6400923132896423, -1.0886260271072388, -1.5860888957977295, -1.0271245241165161, 0.5685169100761414, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939526200294495, -0.6905880570411682, 1.525512456893921, -1.5336265563964844, 0.8103817701339722, 0.3572261333465576, 1.4630192518234253, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707672852435382, -0.9626314799994589, -0.005070597193205889, 44.042213439941406], [0.9626355043820896, 0.2707840955210894, -0.002976460291272612, 4.444851875305176], [0.004238271450061407, -0.004075208813897083, 0.9999827147147288, 1.1186752319335938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.586724579334259, 1.1129062175750732, -0.4602338969707489, 0.013516068458557129, -0.007956267334520817, 0.32664087414741516, -0.6400887370109558, -1.0886305570602417, -1.5860923528671265, -1.0271259546279907, 0.5685164332389832, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939488649368286, -0.6905876398086548, 1.5255142450332642, -1.533627986907959, 0.8103840947151184, 0.35722625255584717, 1.463019609451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707490161342587, -0.9626367484554874, -0.0050458681490536976, 44.04237747192383], [0.9626407113965085, 0.27076568448385374, -0.0029672997849984743, 4.4459991455078125], [0.004222679759917398, -0.004053964607254301, 0.9999828670265347, 1.1175397634506226], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5565291047096252, 1.0851072072982788, -0.4657936990261078, 0.013899502344429493, -0.0071893977001309395, 0.3266488313674927, -0.6400949954986572, -1.0886249542236328, -1.586090087890625, -1.0271241664886475, 0.5685167908668518, -1.2516571283340454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693956196308136, -0.690588653087616, 1.5255115032196045, -1.5336260795593262, 0.8103832602500916, 0.3572263717651367, 1.4630202054977417, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27075433110167, -0.9626340070791498, -0.005278314544137649, 44.04236602783203], [0.9626390662560277, 0.27077186004837805, -0.0029373327467089524, 4.4460225105285645], [0.004256795439125802, -0.0042858162211160625, 0.9999817555695245, 1.1276402473449707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5271963477134705, 1.0574040412902832, -0.47288721799850464, 0.011694753542542458, -0.006614245939999819, 0.32663577795028687, -0.6400913000106812, -1.0886327028274536, -1.5860923528671265, -1.0271261930465698, 0.5685163140296936, -1.2516571283340454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939445734024048, -0.6905848383903503, 1.5255175828933716, -1.533627986907959, 0.8103863596916199, 0.35722625255584717, 1.463019847869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270749943087798, -0.962635717508234, -0.005190731678823752, 44.04226303100586], [0.9626403650137851, 0.270767139944878, -0.0029467901515580156, 4.446554183959961], [0.004242165022787629, -0.0041989645721654985, 0.999982186207555, 1.1238325834274292], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5005476474761963, 1.031522274017334, -0.4792138934135437, 0.006901822052896023, -0.007668691221624613, 0.326641321182251, -0.6400870680809021, -1.0886313915252686, -1.5860915184020996, -1.0271261930465698, 0.5685166716575623, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939533948898315, -0.6905907392501831, 1.5255123376846313, -1.5336284637451172, 0.810385525226593, 0.3572266101837158, 1.463021159172058, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708156414385403, -0.9626175329532309, -0.005135523660494603, 44.04273986816406], [0.9626220160346376, 0.270832538867137, -0.0029308934116954732, 4.443892002105713], [0.0042121962966991805, -0.004149836360182594, 0.9999825179774603, 1.121321439743042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.47495341300964355, 1.0082285404205322, -0.48247310519218445, 0.0, -0.011407177895307541, 0.32664117217063904, -0.6400866508483887, -1.0886321067810059, -1.58609139919281, -1.0271259546279907, 0.5685165524482727, -1.2516587972640991, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939479112625122, -0.690585196018219, 1.5255171060562134, -1.5336298942565918, 0.8103875517845154, 0.3572261333465576, 1.4630217552185059, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707983095598666, -0.9626218624712485, -0.005236929625586566, 44.04295349121094], [0.9626267064899328, 0.2708157005630273, -0.002946231644255145, 4.444958686828613], [0.0042543497580171145, -0.004243373768761873, 0.9999819469806418, 1.125861644744873], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4509887397289276, 0.9885775446891785, -0.48333582282066345, -0.004409497138112783, -0.01744627207517624, 0.32664167881011963, -0.6400888562202454, -1.088631510734558, -1.5860896110534668, -1.0271258354187012, 0.5685165524482727, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939486861228943, -0.6905879378318787, 1.5255149602890015, -1.5336297750473022, 0.8103862404823303, 0.35722601413726807, 1.4630193710327148, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27079427479818075, -0.9626225155203031, -0.005324786370484258, 44.042938232421875], [0.9626276276923262, 0.27081214991786406, -0.002971508086560226, 4.445413112640381], [0.00430245743401771, -0.004321119094430686, 0.999981408222073, 1.1298397779464722], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.43248802423477173, 0.970939576625824, -0.4822813868522644, -0.007572832517325878, -0.023293649777770042, 0.32664382457733154, -0.6400901675224304, -1.0886304378509521, -1.5860871076583862, -1.0271257162094116, 0.5685164332389832, -1.2516571283340454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939487457275391, -0.6905890107154846, 1.5255149602890015, -1.5336295366287231, 0.8103857636451721, 0.35722601413726807, 1.4630194902420044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707986901108099, -0.962620383982403, -0.005483226772651119, 44.04234313964844], [0.962626171525941, 0.270817272234827, -0.0029763992670911936, 4.445483207702637], [0.004350095122986617, -0.004472292572990619, 0.9999805374463858, 1.1368314027786255], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.41667136549949646, 0.9554104804992676, -0.47950148582458496, -0.009394146502017975, -0.02847001515328884, 0.3266448378562927, -0.6400943994522095, -1.0886286497116089, -1.5860874652862549, -1.0271252393722534, 0.5685165524482727, -1.2516565322875977, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939531564712524, -0.6905904412269592, 1.5255123376846313, -1.5336285829544067, 0.8103846907615662, 0.3572261333465576, 1.463019847869873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707518241207423, -0.9626331512678201, -0.00555570116879785, 44.041778564453125], [0.962639277728807, 0.27077071014192833, -0.002973802783787291, 4.448003768920898], [0.004367002295817911, -0.0045429736321229005, 0.9999801451436554, 1.1400158405303955], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4061269164085388, 0.9402648210525513, -0.473558247089386, -0.010544450022280216, -0.030866481363773346, 0.32664427161216736, -0.6400929093360901, -1.0886290073394775, -1.5860884189605713, -1.0271254777908325, 0.5685167908668518, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693952202796936, -0.6905878186225891, 1.5255131721496582, -1.5336287021636963, 0.8103849291801453, 0.35722625255584717, 1.4630197286605835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27083623162318626, -0.9626089901254681, -0.005627412351916583, 44.0423698425293], [0.9626154045803508, 0.2708554725853183, -0.002982588672906152, 4.4444098472595215], [0.004395282102396674, -0.004609240741228741, 0.9999797179918349, 1.1432034969329834], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.39749962091445923, 0.9276114702224731, -0.4649309515953064, -0.011886470951139927, -0.030291330069303513, 0.32664331793785095, -0.6400896310806274, -1.088630199432373, -1.58609139919281, -1.0271259546279907, 0.5685165524482727, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516663551331, -0.690586268901825, 1.5255142450332642, -1.5336291790008545, 0.8103854060173035, 0.35722625255584717, 1.463020920753479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708038371879866, -0.9626186425710231, -0.005534504402694114, 44.042903900146484], [0.9626247288165158, 0.27082257194129067, -0.0029607428179131497, 4.446337699890137], [0.004348934949139479, -0.0045258702837595805, 0.9999803014374747, 1.13901948928833], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3925149738788605, 0.9180256128311157, -0.4515107572078705, -0.014187078922986984, -0.02751142904162407, 0.3266444206237793, -0.6400904059410095, -1.0886292457580566, -1.5860888957977295, -1.0271251201629639, 0.5685167908668518, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939524412155151, -0.6905888319015503, 1.5255122184753418, -1.5336285829544067, 0.8103848099708557, 0.3572263717651367, 1.4630191326141357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708409404917277, -0.9626087616142909, -0.00543663654824572, 44.04377365112305], [0.9626142632299137, 0.2708593996842221, -0.0029942994227286058, 4.445063591003418], [0.004354902970974307, -0.004422405013572724, 0.9999807383914999, 1.1348567008972168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.39155638217926025, 0.9088231921195984, -0.43416035175323486, -0.015145665034651756, -0.023677082732319832, 0.3266439735889435, -0.6400913596153259, -1.0886294841766357, -1.5860881805419922, -1.0271252393722534, 0.5685163140296936, -1.251656174659729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693951427936554, -0.6905902028083801, 1.525512933731079, -1.5336283445358276, 0.8103844523429871, 0.35722601413726807, 1.4630175828933716, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27082872260539836, -0.9626113106604767, -0.005591743954036204, 44.04287338256836], [0.9626176060191056, 0.27084776037793057, -0.0029724199409111767, 4.4459919929504395], [0.004375796381711384, -0.00457769448286235, 0.9999799483585895, 1.1416181325912476], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.39376112818717957, 0.9011545181274414, -0.4140300154685974, -0.014570512808859348, -0.01830899901688099, 0.32664433121681213, -0.6400911211967468, -1.0886297225952148, -1.5860882997512817, -1.0271254777908325, 0.5685163140296936, -1.2516565322875977, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939513087272644, -0.6905902028083801, 1.5255123376846313, -1.533627986907959, 0.8103839755058289, 0.3572266101837158, 1.4630182981491089, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708064573054936, -0.9626179846539018, -0.005520715760513744, 44.042850494384766], [0.9626240978236779, 0.27082503913541767, -0.002940147351706586, 4.447484493255615], [0.0043253867801819525, -0.004518163140033713, 0.9999804384241933, 1.1383603811264038], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.39807477593421936, 0.8955947160720825, -0.39294111728668213, -0.012653340585529804, -0.012940916232764721, 0.3266441822052002, -0.6400899887084961, -1.0886294841766357, -1.5860899686813354, -1.027125358581543, 0.5685164332389832, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939520835876465, -0.6905903220176697, 1.5255128145217896, -1.5336278676986694, 0.8103834986686707, 0.35722625255584717, 1.4630190134048462, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707539040744287, -0.9626321070532544, -0.005634704842929354, 44.04298782348633], [0.9626387355768724, 0.2707729877584556, -0.0029417456245482416, 4.450277805328369], [0.004357544654430586, -0.004627696032706088, 0.9999797979129446, 1.1434056758880615], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40018367767333984, 0.8930065035820007, -0.37961676716804504, -0.011311319656670094, -0.009873439557850361, 0.3266443908214569, -0.6400914192199707, -1.088629126548767, -1.5860893726348877, -1.0271251201629639, 0.5685164332389832, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939530968666077, -0.6905911564826965, 1.5255117416381836, -1.533627986907959, 0.8103836178779602, 0.3572263717651367, 1.463019609451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27075848193318053, -0.962631619769127, -0.005496278914534191, 44.04425811767578], [0.9626376827817537, 0.2707768962689522, -0.0029264544296958156, 4.450582504272461], [0.004305362913344674, -0.0044985628393783336, 0.9999806132033583, 1.13723886013031], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4008546769618988, 0.8918561935424805, -0.3746321201324463, -0.010736167430877686, -0.00853141862899065, 0.3266443908214569, -0.6400922536849976, -1.088629126548767, -1.5860893726348877, -1.0271250009536743, 0.5685169100761414, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.693952739238739, -0.6905913352966309, 1.5255120992660522, -1.5336275100708008, 0.8103836178779602, 0.3572261333465576, 1.4630191326141357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27069961374145635, -0.9626491565413664, -0.005321703714237362, 44.043888092041016], [0.9626544556602266, 0.27071727445786387, -0.0029251166846062052, 4.453762531280518], [0.004256538234211871, -0.004331133835542583, 0.9999815614109889, 1.129549264907837], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40152567625045776, 0.8912810683250427, -0.372619092464447, -0.010352732613682747, -0.007956267334520817, 0.3266444206237793, -0.6400918364524841, -1.0886286497116089, -1.5860892534255981, -1.0271250009536743, 0.5685165524482727, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939524412155151, -0.6905907988548279, 1.5255122184753418, -1.5336272716522217, 0.8103837370872498, 0.3572263717651367, 1.4630197286605835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706698160416159, -0.9626575571457417, -0.005317739575306347, 44.04307556152344], [0.9626628487950422, 0.2706874504188822, -0.002922966906900739, 4.45556116104126], [0.004253261549846174, -0.0043280314137279915, 0.9999815887856488, 1.1293723583221436], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8907058835029602, -0.3716605007648468, -0.010161015205085278, -0.0077645499259233475, 0.3266444206237793, -0.640091598033905, -1.088629126548767, -1.5860893726348877, -1.0271250009536743, 0.5685166716575623, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939520239830017, -0.690589964389801, 1.5255125761032104, -1.533627986907959, 0.8103844523429871, 0.35722625255584717, 1.463019609451294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706834948789285, -0.9626545025777669, -0.00517245269494177, 44.04374313354492], [0.962659136153306, 0.27070055311419083, -0.002932255828157429, 4.455375671386719], [0.004222935081163372, -0.004185595587661724, 0.9999823236482117, 1.1230127811431885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.37108534574508667, -0.010161015205085278, -0.0074769738130271435, 0.3266441822052002, -0.6400913596153259, -1.088629126548767, -1.5860899686813354, -1.0271250009536743, 0.5685166716575623, -1.2516570091247559, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517855644226, -0.6905884146690369, 1.5255131721496582, -1.533627986907959, 0.8103845715522766, 0.3572263717651367, 1.4630203247070312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270704786102945, -0.9626464383840162, -0.005545579097552379, 44.043800354003906], [0.9626528631304136, 0.27072326700902993, -0.0028944441218847813, 4.454821586608887], [0.004287643615780303, -0.004554927719073227, 0.9999804341814384, 1.1392773389816284], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.37060606479644775, -0.010161015205085278, -0.007381115108728409, 0.3266444206237793, -0.6400914788246155, -1.0886292457580566, -1.5860899686813354, -1.0271251201629639, 0.5685167908668518, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939515471458435, -0.690588116645813, 1.5255131721496582, -1.5336278676986694, 0.8103843331336975, 0.3572263717651367, 1.4630203247070312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707057270867913, -0.9626461330292193, -0.005552646783495784, 44.04387283325195], [0.9626526958221627, 0.2707241253505599, -0.002869700245141702, 4.455257415771484], [0.004265741287781158, -0.00456842610369825, 0.9999804662763172, 1.1394823789596558], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.3266443908214569, -0.6400913596153259, -1.0886290073394775, -1.5860894918441772, -1.027125358581543, 0.5685167908668518, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519643783569, -0.6905883550643921, 1.5255131721496582, -1.5336277484893799, 0.8103843331336975, 0.35722625255584717, 1.4630205631256104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27064691781126915, -0.9626636442721787, -0.005380880584843712, 44.04386901855469], [0.9626694080976679, 0.27066461779150497, -0.0028766975274479435, 4.45842981338501], [0.004225706112120256, -0.0044014398083766434, 0.9999813851944781, 1.1319533586502075], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.32664453983306885, -0.6400913596153259, -1.088628888130188, -1.5860897302627563, -1.0271254777908325, 0.5685164332389832, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939519047737122, -0.6905883550643921, 1.5255131721496582, -1.5336271524429321, 0.8103846907615662, 0.3572263717651367, 1.4630202054977417, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706735092240131, -0.9626552912546557, -0.005535487672460277, 44.04407501220703], [0.9626616700791948, 0.2706919473079229, -0.0028945851136665053, 4.45758581161499], [0.004284899613015294, -0.004545314297009703, 0.9999804896862977, 1.138843297958374], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.3266441226005554, -0.640091061592102, -1.088629126548767, -1.586089849472046, -1.027125358581543, 0.5685165524482727, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516663551331, -0.69058758020401, 1.5255138874053955, -1.5336276292800903, 0.8103843331336975, 0.3572263717651367, 1.463018536567688, 0.554400000336406, 0.554400000336406, 0.554400000336406, 0.554400000336406, -0.554400000336406, -0.554400000336406, -0.554400000336406, 0.554400000336406, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270668717499018, -0.9626569050956242, -0.005488937889182694, 44.04433822631836], [0.9626630863140578, 0.2706869428433982, -0.00289157783706157, 4.4582719802856445], [0.004269381188148949, -0.004501338224280741, 0.9999807549840452, 1.1367839574813843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664427161216736, -0.6400914192199707, -1.0886292457580566, -1.5860897302627563, -1.0271252393722534, 0.5685164332389832, -1.2516560554504395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939514875411987, -0.6905881762504578, 1.5255134105682373, -1.5336273908615112, 0.8103857636451721, 0.35722625255584717, 1.4630237817764282, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, -0.14819998898348968, -0.14819998898348968, -0.14819998898348968, 0.14819998898348968, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27063326278476196, -0.9626664543650122, -0.005561898486131668, 44.044219970703125], [0.9626730219080973, 0.27065174174636597, -0.0028788157270338874, 4.460350036621094], [0.004276676841401959, -0.004575186330027178, 0.9999803886603176, 1.1399437189102173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441226005554, -0.6400911211967468, -1.088628888130188, -1.586090087890625, -1.0271254777908325, 0.5685165524482727, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.6905880570411682, 1.5255136489868164, -1.5336278676986694, 0.8103850483894348, 0.3572263717651367, 1.463022232055664, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705589742426754, -0.9626872269384196, -0.005580729913468313, 44.04397201538086], [0.9626938365802234, 0.2705775821943722, -0.0028894678226002958, 4.464170932769775], [0.004291674172332937, -0.0045907628411248754, 0.999980253019696, 1.1408370733261108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266444802284241, -0.6400909423828125, -1.088629126548767, -1.586090087890625, -1.0271259546279907, 0.5685165524482727, -1.2516578435897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.6905878186225891, 1.525513768196106, -1.5336277484893799, 0.8103851675987244, 0.3572261333465576, 1.4630212783813477, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270589694175729, -0.9626788259117753, -0.005540356216990509, 44.04428482055664], [0.9626852242656939, 0.2706081570452389, -0.0028955692169225678, 4.4632086753845215], [0.00428676875934723, -0.004550107878393606, 0.9999804598750411, 1.1390860080718994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441226005554, -0.6400906443595886, -1.0886292457580566, -1.5860904455184937, -1.027125597000122, 0.5685166716575623, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939517855644226, -0.6905882358551025, 1.525513768196106, -1.5336278676986694, 0.8103852868080139, 0.3572261333465576, 1.4630213975906372, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705561602017573, -0.9626877756335466, -0.005622350275061553, 44.044158935546875], [0.9626947110695748, 0.2705748023218668, -0.0028582559630621696, 4.465211868286133], [0.0042728743895307135, -0.004639288115342451, 0.9999801095773027, 1.142539620399475], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400907635688782, -1.088629126548767, -1.586090087890625, -1.0271252393722534, 0.5685166716575623, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939514875411987, -0.690588116645813, 1.5255136489868164, -1.5336283445358276, 0.8103851675987244, 0.3572263717651367, 1.463021159172058, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27051834193419244, -0.962698363220033, -0.0056292211401714025, 44.04408645629883], [0.9627054110341509, 0.27053692623901815, -0.0028395610067139714, 4.467377185821533], [0.004256552917808642, -0.0046511283161935904, 0.9999801241837981, 1.1427651643753052], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400909423828125, -1.0886293649673462, -1.5860904455184937, -1.0271252393722534, 0.5685165524482727, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516663551331, -0.690588116645813, 1.525513768196106, -1.5336281061172485, 0.8103852868080139, 0.3572261333465576, 1.4630205631256104, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27052332168312065, -0.9626968327664315, -0.005651602163275479, 44.04421615600586], [0.9627040489514311, 0.27054193091306233, -0.002824491166920739, 4.467615127563477], [0.004248124062576346, -0.004676729553107939, 0.9999800406221296, 1.1436824798583984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664433121681213, -0.6400907039642334, -1.088629126548767, -1.5860902070999146, -1.027125358581543, 0.5685164332389832, -1.251656413078308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516663551331, -0.6905880570411682, 1.5255131721496582, -1.5336284637451172, 0.8103850483894348, 0.3572261333465576, 1.4630212783813477, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27052136808513294, -0.9626976138088386, -0.0056119315851260645, 44.044349670410156], [0.9627044967457887, 0.2705399707508134, -0.0028594005642159502, 4.468127727508545], [0.004270989906989913, -0.004629102819895485, 0.9999801648294316, 1.1420928239822388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266444802284241, -0.6400907635688782, -1.0886292457580566, -1.5860904455184937, -1.0271252393722534, 0.5685163140296936, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.690588116645813, 1.5255136489868164, -1.5336281061172485, 0.8103851675987244, 0.3572263717651367, 1.4630208015441895, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705120444896437, -0.962700286662051, -0.005602842746133551, 44.04444122314453], [0.9627071148149621, 0.2705306222711972, -0.002862428725848277, 4.468990802764893], [0.004271401489522998, -0.004619575128057066, 0.999980207131597, 1.1417112350463867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664433121681213, -0.6400907635688782, -1.0886293649673462, -1.586090087890625, -1.0271250009536743, 0.5685163140296936, -1.2516571283340454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6939516067504883, -0.6905882358551025, 1.525514006614685, -1.533627986907959, 0.8103852868080139, 0.3572261333465576, 1.463021159172058, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37051019072532654, -0.010161015205085278, -0.0074769738130271435, 0.32664477825164795, -0.6400973796844482, -1.0886282920837402, -1.58609139919281, -1.0271254777908325, 0.5685167908668518, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7147987484931946, -0.6909925937652588, 1.51360285282135, -1.5393434762954712, 0.7968873381614685, 0.35117098689079285, 1.446621060371399, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.009969298727810383, -0.0074769738130271435, 0.32664692401885986, -0.6401199698448181, -1.0886216163635254, -1.5860915184020996, -1.0271246433258057, 0.5685165524482727, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7703313231468201, -0.6933609247207642, 1.4746915102005005, -1.551937222480774, 0.7593255043029785, 0.34349173307418823, 1.4027186632156372, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.3266458809375763, -0.6400843262672424, -1.0886290073394775, -1.5860882997512817, -1.0271252393722534, 0.5685166716575623, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8109070658683777, -0.7004051208496094, 1.4184712171554565, -1.5581095218658447, 0.723635196685791, 0.3193831741809845, 1.350123405456543, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.326644629240036, -0.6400926113128662, -1.0886294841766357, -1.5860897302627563, -1.027125597000122, 0.5685164332389832, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8343690633773804, -0.7147480845451355, 1.3402674198150635, -1.555135726928711, 0.6823571920394897, 0.2719060182571411, 1.2751730680465698, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.32664456963539124, -0.640094518661499, -1.088630199432373, -1.5860912799835205, -1.0271271467208862, 0.5685165524482727, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8343200087547302, -0.737847626209259, 1.232738971710205, -1.5364017486572266, 0.616035521030426, 0.21333670616149902, 1.18247389793396, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.326644629240036, -0.6400913596153259, -1.0886297225952148, -1.5860912799835205, -1.0271263122558594, 0.5685163140296936, -1.2516584396362305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8022353053092957, -0.772487998008728, 1.1085939407348633, -1.4850468635559082, 0.559483528137207, 0.15785285830497742, 1.0875152349472046, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.3266448676586151, -0.6400896906852722, -1.0886303186416626, -1.5860874652862549, -1.027126431465149, 0.568516194820404, -1.251658320426941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7381030321121216, -0.8187130689620972, 0.9791930317878723, -1.403257966041565, 0.5019815564155579, 0.09752906113862991, 0.9986196756362915, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8905141949653625, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.3266443908214569, -0.6400907039642334, -1.088630199432373, -1.586084008216858, -1.0271269083023071, 0.568516194820404, -1.2516546249389648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6554276943206787, -0.8760720491409302, 0.8551220297813416, -1.2920112609863281, 0.47619807720184326, 0.06575396656990051, 0.9322580099105835, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8905141949653625, -0.3703184723854065, -0.010161015205085278, -0.007381115108728409, 0.32664453983306885, -0.6401042342185974, -1.0886297225952148, -1.5860849618911743, -1.0271258354187012, 0.5685165524482727, -1.2516518831253052, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.573096752166748, -0.9411135911941528, 0.7403009533882141, -1.1718838214874268, 0.45549917221069336, 0.046179771423339844, 0.8819360136985779, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8906100392341614, -0.3703184723854065, -0.010161015205085278, -0.007381115108728409, 0.3266444206237793, -0.6400867104530334, -1.0886297225952148, -1.5860902070999146, -1.027126669883728, 0.568516194820404, -1.2516605854034424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5038118958473206, -1.0071032047271729, 0.6448169946670532, -1.054836630821228, 0.43710362911224365, 0.023574408143758774, 0.8444799184799194, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8906100392341614, -0.3703184723854065, -0.010161015205085278, -0.007285256404429674, 0.32664358615875244, -0.640089213848114, -1.088630199432373, -1.5860905647277832, -1.027125597000122, 0.568516194820404, -1.2516558170318604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44863688945770264, -1.0694212913513184, 0.5770530104637146, -0.9483233690261841, 0.4258086085319519, 0.00485732639208436, 0.8006353974342346, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8906100392341614, -0.3703184723854065, -0.010161015205085278, -0.007285256404429674, 0.3266439437866211, -0.6400873064994812, -1.0886311531066895, -1.5860905647277832, -1.027126431465149, 0.5685164332389832, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.40593311190605164, -1.1242437362670898, 0.5292350053787231, -0.856244683265686, 0.4065721333026886, -0.01464376412332058, 0.7621152400970459, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8906100392341614, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.3266434371471405, -0.6400893330574036, -1.0886305570602417, -1.5860886573791504, -1.0271254777908325, 0.568516194820404, -1.2516553401947021, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.37362614274024963, -1.1709576845169067, 0.494244784116745, -0.7753358483314514, 0.3818497657775879, -0.039611220359802246, 0.7439573407173157, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400935053825378, -1.0886293649673462, -1.5860950946807861, -1.0271261930465698, 0.5685166716575623, -1.25165855884552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3467184007167816, -1.209721565246582, 0.4710068702697754, -0.7032566070556641, 0.36170607805252075, -0.06087099388241768, 0.7497695684432983, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.32664456963539124, -0.6400894522666931, -1.0886279344558716, -1.5860918760299683, -1.0271258354187012, 0.5685167908668518, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32552680373191833, -1.2415846586227417, 0.4581907093524933, -0.6412157416343689, 0.34783950448036194, -0.08137312531471252, 0.7589834928512573, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3703184723854065, -0.010161015205085278, -0.007381115108728409, 0.3266444802284241, -0.6400827765464783, -1.0886294841766357, -1.5860881805419922, -1.027125358581543, 0.5685169100761414, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31052419543266296, -1.2678028345108032, 0.45084139704704285, -0.5885944366455078, 0.3340943157672882, -0.10604517161846161, 0.7673134803771973, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.010161015205085278, -0.0074769738130271435, 0.32664456963539124, -0.6400894522666931, -1.0886292457580566, -1.5860894918441772, -1.0271258354187012, 0.5685166716575623, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.29827940464019775, -1.2898235321044922, 0.44437888264656067, -0.5417382717132568, 0.31275829672813416, -0.12684990465641022, 0.7729466557502747, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.010161015205085278, -0.007381115108728409, 0.3266444802284241, -0.6400862336158752, -1.0886298418045044, -1.5860891342163086, -1.0271260738372803, 0.5685164332389832, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2906447649002075, -1.3091323375701904, 0.43973082304000854, -0.5010371804237366, 0.2957206964492798, -0.1429370492696762, 0.7882750034332275, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.0074769738130271435, 0.32664427161216736, -0.6400932669639587, -1.088628888130188, -1.5860906839370728, -1.0271257162094116, 0.5685165524482727, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28593146800994873, -1.32534921169281, 0.4357212483882904, -0.4638000428676605, 0.2760923206806183, -0.1627485305070877, 0.8047522306442261, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400916576385498, -1.0886293649673462, -1.5860902070999146, -1.0271257162094116, 0.5685164332389832, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2820371389389038, -1.3392276763916016, 0.4342612028121948, -0.4332949221134186, 0.2582884430885315, -0.1799992173910141, 0.8166993856430054, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.640091061592102, -1.0886294841766357, -1.5860902070999146, -1.0271259546279907, 0.5685163140296936, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2788848578929901, -1.3511414527893066, 0.4363190233707428, -0.40872904658317566, 0.24687743186950684, -0.1966787427663803, 0.826494574546814, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400904655456543, -1.0886296033859253, -1.5860902070999146, -1.0271257162094116, 0.5685165524482727, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27519509196281433, -1.36110258102417, 0.44013383984565735, -0.3883398175239563, 0.2374642938375473, -0.21112525463104248, 0.8374319672584534, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.0074769738130271435, 0.32664403319358826, -0.6400904059410095, -1.0886293649673462, -1.586090087890625, -1.0271259546279907, 0.5685165524482727, -1.2516578435897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2726668417453766, -1.3698267936706543, 0.4452616572380066, -0.37151575088500977, 0.23088987171649933, -0.2206270694732666, 0.8475676774978638, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705182436132484, -0.9626979531089761, -0.005703591166169213, 44.04451370239258], [0.96270521229172, 0.27053729606366406, -0.0028715265827568633, 4.469232082366943], [0.004307446895466064, -0.004714076616795971, 0.999979611483601, 1.1461923122406006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400898098945618, -1.0886294841766357, -1.586090087890625, -1.0271257162094116, 0.5685170292854309, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2706935405731201, -1.3771731853485107, 0.45002105832099915, -0.3564227223396301, 0.22189739346504211, -0.2295142114162445, 0.8558793067932129, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27057750050192, -0.962681489728926, -0.005671468542589112, 44.04483413696289], [0.962688509712291, 0.2705965097695461, -0.0028917414248573886, 4.466526031494141], [0.0043185055356849454, -0.004677417432309479, 0.9999797359327349, 1.1448606252670288], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266444802284241, -0.6400909423828125, -1.0886294841766357, -1.586090087890625, -1.0271258354187012, 0.5685165524482727, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2695794105529785, -1.3832569122314453, 0.4584338665008545, -0.34256091713905334, 0.2177586406469345, -0.23818658292293549, 0.8442107439041138, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705823367178096, -0.9626806834725158, -0.005576802418920792, 44.0450439453125], [0.9626874333125227, 0.2706007574553321, -0.0028523335617318536, 4.466567516326904], [0.00425497338143831, -0.004596926526529888, 0.9999803815415745, 1.1405137777328491], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266439437866211, -0.6400899887084961, -1.0886297225952148, -1.5860904455184937, -1.0271260738372803, 0.5685165524482727, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26801252365112305, -1.3888871669769287, 0.4672851860523224, -0.3311634361743927, 0.21272215247154236, -0.24515901505947113, 0.8223696351051331, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706463878114833, -0.962662602193893, -0.005589910721876165, 44.04545974731445], [0.9626693123097152, 0.27066497141887946, -0.002875479778613461, 4.463984966278076], [0.0042811098720066535, -0.004602997295194535, 0.9999802420618941, 1.141191005706787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400907039642334, -1.0886296033859253, -1.5860904455184937, -1.0271257162094116, 0.5685164332389832, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26908549666404724, -1.3949337005615234, 0.47225767374038696, -0.3217340111732483, 0.20339913666248322, -0.2455683946609497, 0.816659152507782, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706500351792529, -0.962661472003516, -0.005607920959932675, 44.045570373535156], [0.9626681267052518, 0.2706688444811701, -0.002907654214210905, 4.4642558097839355], [0.004316976172096208, -0.004611610049844221, 0.9999800481857014, 1.1421276330947876], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400913000106812, -1.0886293649673462, -1.5860902070999146, -1.0271258354187012, 0.5685164332389832, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2726533114910126, -1.4012333154678345, 0.4736673831939697, -0.3147236108779907, 0.18930041790008545, -0.2420734316110611, 0.8238204121589661, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27066132960502354, -0.9626577694208036, -0.005697686390417054, 44.0455322265625], [0.9626650792925073, 0.27068026854930416, -0.002852600362346254, 4.464341163635254], [0.004288329184133025, -0.004712875113910264, 0.9999796993144257, 1.145835280418396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400904655456543, -1.0886296033859253, -1.586090326309204, -1.0271261930465698, 0.5685165524482727, -1.2516578435897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2750079035758972, -1.4068001508712769, 0.4767841100692749, -0.3088502585887909, 0.17894341051578522, -0.24298064410686493, 0.8337997198104858, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706166457237711, -0.9626704164982353, -0.0056833314463575835, 44.04534149169922], [0.9626775279562161, 0.2706356666741605, -0.0028832433025100627, 4.466863632202148], [0.004313725225808315, -0.004690961836004544, 0.99997969311968, 1.1453461647033691], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37051019072532654, -0.01006515696644783, -0.0074769738130271435, 0.32664424180984497, -0.6400900483131409, -1.0886296033859253, -1.5860904455184937, -1.0271257162094116, 0.5685166716575623, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2759757339954376, -1.4116555452346802, 0.4825209677219391, -0.3042244613170624, 0.17398720979690552, -0.24578027427196503, 0.8422172665596008, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27048984036075363, -0.9627067087455496, -0.005571283328422708, 44.0451545715332], [0.9627133790982526, 0.2705082972131947, -0.0028654570389819657, 4.47320032119751], [0.004265673081513983, -0.004588471981984755, 0.9999803747864416, 1.1403428316116333], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37051019072532654, -0.01006515696644783, -0.0074769738130271435, 0.32664453983306885, -0.6400913000106812, -1.0886294841766357, -1.5860902070999146, -1.027125597000122, 0.5685164332389832, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27553790807724, -1.415486216545105, 0.48987868428230286, -0.29849204421043396, 0.17255881428718567, -0.2467210292816162, 0.857239305973053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2704620001156133, -0.9627149183582873, -0.005503858996955881, 44.045169830322266], [0.9627213035799668, 0.2704801468330882, -0.0028603850161249772, 4.474974632263184], [0.004242419916917266, -0.004525056855707803, 0.9999807626818134, 1.1373534202575684], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37060606479644775, -0.01006515696644783, -0.0074769738130271435, 0.3266439735889435, -0.640091061592102, -1.0886296033859253, -1.5860902070999146, -1.0271257162094116, 0.568516194820404, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2751966118812561, -1.4175463914871216, 0.49686238169670105, -0.29247045516967773, 0.16937687993049622, -0.25131747126579285, 0.8764969706535339, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27049786932774555, -0.9627046049140069, -0.005544940623323047, 44.04536437988281], [0.9627113175332478, 0.27051603838461447, -0.002827024954313061, 4.473820209503174], [0.0042215853122232585, -0.0045734728664449074, 0.9999806305941088, 1.1390119791030884], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37060606479644775, -0.01006515696644783, -0.007381115108728409, 0.32664433121681213, -0.6400905847549438, -1.0886293649673462, -1.5860902070999146, -1.0271257162094116, 0.5685165524482727, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2735674977302551, -1.4177359342575073, 0.5047916173934937, -0.286906898021698, 0.16722559928894043, -0.2548634707927704, 0.9017357230186462, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2705614270505823, -0.9626867727938466, -0.0055400072311454175, 44.045799255371094], [0.9626935851422975, 0.2705794415030064, -0.002797670779623437, 4.47141170501709], [0.004192292716701276, -0.004576387624513002, 0.9999807404935795, 1.1386586427688599], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37060606479644775, -0.01006515696644783, -0.007285256404429674, 0.32664409279823303, -0.6400908827781677, -1.088629126548767, -1.5860905647277832, -1.027125597000122, 0.5685165524482727, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27185630798339844, -1.4158644676208496, 0.5135385394096375, -0.2817956209182739, 0.1664445847272873, -0.25712141394615173, 0.9323585629463196, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27059757502741155, -0.9626766385329332, -0.005535522759116248, 44.04610824584961], [0.9626834423560228, 0.2706155571172837, -0.0027946483965652883, 4.470248699188232], [0.00418834129968057, -0.004572731025821328, 0.9999807737792377, 1.1384490728378296], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8903224468231201, -0.37060606479644775, -0.01006515696644783, -0.007285256404429674, 0.32664409279823303, -0.6400903463363647, -1.0886296033859253, -1.586089849472046, -1.0271260738372803, 0.5685166716575623, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2710267901420593, -1.4121599197387695, 0.5229394435882568, -0.2782942056655884, 0.16547362506389618, -0.26262038946151733, 0.9621735215187073, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270638237125126, -0.9626640787959037, -0.00572852527603472, 44.046241760253906], [0.9626720907617259, 0.2706566832275241, -0.0027213034970178366, 4.468898773193359], [0.004170164775077341, -0.00477820262334639, 0.9999798890504943, 1.1466208696365356], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37060606479644775, -0.010161015205085278, -0.0071893977001309395, 0.3266439735889435, -0.6400898098945618, -1.0886293649673462, -1.5860899686813354, -1.027125358581543, 0.5685164332389832, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27101436257362366, -1.4070664644241333, 0.5330854058265686, -0.27729445695877075, 0.1656394898891449, -0.2671225070953369, 0.9905700087547302, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706775706073886, -0.9626536493310568, -0.005621761261450913, 44.04664611816406], [0.9626612760010127, 0.270695437174547, -0.0026922074553873943, 4.467635154724121], [0.004113448454044341, -0.00468313169572604, 0.999980573720978, 1.1417862176895142], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37060606479644775, -0.01006515696644783, -0.007285256404429674, 0.3266439437866211, -0.6400907635688782, -1.0886296033859253, -1.5860910415649414, -1.0271258354187012, 0.5685164332389832, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27286821603775024, -1.400919795036316, 0.5436615943908691, -0.27956417202949524, 0.16594316065311432, -0.2697480022907257, 1.016924262046814, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706340024242604, -0.9626663307661968, -0.005547282305115325, 44.04647445678711], [0.9626737384216509, 0.2706514200697516, -0.0026612342079454037, 4.4700751304626465], [0.004063260403679555, -0.004620002529661022, 0.999981072566635, 1.1383718252182007], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37060606479644775, -0.01006515696644783, -0.007285256404429674, 0.3266438841819763, -0.64009028673172, -1.0886294841766357, -1.5860902070999146, -1.027125597000122, 0.5685165524482727, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27761417627334595, -1.3944075107574463, 0.5542758107185364, -0.28636881709098816, 0.1678859293460846, -0.26921889185905457, 1.043999433517456, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706096255610563, -0.9626733331552225, -0.00552124854709756, 44.0465202331543], [0.9626808221349206, 0.27062670811873357, -0.002611426133611518, 4.471729755401611], [0.004008147619338809, -0.0046085230423341455, 0.9999813479600657, 1.137006163597107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8903224468231201, -0.37060606479644775, -0.01006515696644783, -0.007285256404429674, 0.3266441822052002, -0.6400895118713379, -1.0886297225952148, -1.586090087890625, -1.0271254777908325, 0.5685164332389832, -1.251658320426941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28563106060028076, -1.3871747255325317, 0.563944935798645, -0.2971246540546417, 0.16682568192481995, -0.2705134451389313, 1.0644053220748901, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706964422001882, -0.9626487525745693, -0.005551157247424055, 44.04706573486328], [0.9626563482815749, 0.2707136800280794, -0.0026188850371581984, 4.468185901641846], [0.004023840621021253, -0.004634933902452009, 0.9999811628697696, 1.1383486986160278], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8902266025543213, -0.37060606479644775, -0.01006515696644783, -0.007381115108728409, 0.32664427161216736, -0.6400912404060364, -1.088629126548767, -1.5860904455184937, -1.0271258354187012, 0.5685164332389832, -1.2516582012176514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2940015494823456, -1.379367709159851, 0.57365882396698, -0.31064334511756897, 0.16454975306987762, -0.26758256554603577, 1.0837252140045166, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2706469808540346, -0.9626630223533358, -0.005487909268277742, 44.04692840576172], [0.9626703751972634, 0.27066391002516244, -0.0026070150461282374, 4.470942497253418], [0.003995055964041812, -0.004577466923065825, 0.9999815429918756, 1.1355139017105103], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8902266025543213, -0.3707019090652466, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400906443595886, -1.0886293649673462, -1.5860902070999146, -1.027125597000122, 0.5685164332389832, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3017459511756897, -1.3707525730133057, 0.5834084749221802, -0.32680466771125793, 0.1607309877872467, -0.2633918225765228, 1.0998848676681519, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27072262713608164, -0.9626417834916158, -0.00548232000338302, 44.04741668701172], [0.9626491512088409, 0.2707394866664472, -0.002596543180246781, 4.467972755432129], [0.003983821461402867, -0.004574607706683229, 0.9999816008961833, 1.1352148056030273], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8903224468231201, -0.37051019072532654, -0.01006515696644783, -0.0074769738130271435, 0.32664427161216736, -0.6400904059410095, -1.0886294841766357, -1.5860902070999146, -1.0271254777908325, 0.5685164332389832, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30810025334358215, -1.3608852624893188, 0.5954407453536987, -0.3471321761608124, 0.15985842049121857, -0.2581001818180084, 1.1205732822418213, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707370000235081, -0.9626370759622601, -0.005597928286499153, 44.0474853515625], [0.9626450857003285, 0.27075419670716483, -0.002569813702447639, 4.46778678894043], [0.003989460524727338, -0.004693074502681292, 0.999981029448276, 1.1401886940002441], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40238842368125916, 0.8903224468231201, -0.3703184723854065, -0.01006515696644783, -0.0074769738130271435, 0.32664409279823303, -0.6400907635688782, -1.0886296033859253, -1.586090326309204, -1.027125597000122, 0.5685165524482727, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3141660988330841, -1.3493760824203491, 0.607627272605896, -0.3712286353111267, 0.15677151083946228, -0.25089454650878906, 1.1446961164474487, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707389979941113, -0.9626370282398062, -0.005508795401809894, 44.04777908325195], [0.9626446014063699, 0.2707558657675444, -0.002575370971104219, 4.468165397644043], [0.0039706861265921345, -0.004605758797624651, 0.9999815101478537, 1.1362874507904053], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8904183506965637, -0.37022262811660767, -0.01006515696644783, -0.0074769738130271435, 0.32664403319358826, -0.6400912404060364, -1.0886292457580566, -1.5860904455184937, -1.0271257162094116, 0.5685167908668518, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32410621643066406, -1.336105227470398, 0.620241641998291, -0.39864781498908997, 0.1523168683052063, -0.24127432703971863, 1.1696524620056152, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707378038139654, -0.9626380763014614, -0.005382902619647642, 44.04804611206055], [0.9626451818408978, 0.2707540542330251, -0.0025487241680474003, 4.468742370605469], [0.003910941637963363, -0.0044917892873378214, 0.9999822640249689, 1.1306242942810059], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8903224468231201, -0.3703184723854065, -0.01006515696644783, -0.007285256404429674, 0.32664358615875244, -0.6400903463363647, -1.0886296033859253, -1.5860908031463623, -1.027125597000122, 0.5685164332389832, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33783459663391113, -1.321075677871704, 0.6325721144676208, -0.4285586476325989, 0.1430703103542328, -0.23091097176074982, 1.1904330253601074, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708597291265692, -0.9626030785015371, -0.0055063959942310775, 44.048587799072266], [0.9626107444968053, 0.27087646495315576, -0.0025485905492978636, 4.463578701019287], [0.003944834190143578, -0.004610205401663651, 0.9999815919752557, 1.1360516548156738], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8903224468231201, -0.3703184723854065, -0.01006515696644783, -0.007285256404429674, 0.32664409279823303, -0.6400906443595886, -1.0886296033859253, -1.586090326309204, -1.0271257162094116, 0.5685163140296936, -1.251658320426941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35321760177612305, -1.3040693998336792, 0.6475948095321655, -0.46424803137779236, 0.13392838835716248, -0.21773934364318848, 1.205790400505066, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708809880720662, -0.9625972991664611, -0.005470826129184363, 44.04886245727539], [0.9626048719808391, 0.2708975016428793, -0.0025306209512152675, 4.46312952041626], [0.003918002023172504, -0.004580746782011879, 0.99998183284451, 1.1344027519226074], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8903224468231201, -0.3704143464565277, -0.01006515696644783, -0.007285256404429674, 0.32664409279823303, -0.640091061592102, -1.0886292457580566, -1.586090087890625, -1.027125358581543, 0.5685163140296936, -1.2516571283340454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3716440498828888, -1.2854753732681274, 0.6645463705062866, -0.5069551467895508, 0.12294640392065048, -0.2039169818162918, 1.219374656677246, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27094924623346384, -0.9625789974511624, -0.0053084490609716485, 44.049461364746094], [0.9625858080925115, 0.27096516178388097, -0.0025383377083932697, 4.460495948791504], [0.0038817553251653484, -0.004422077040298194, 0.9999826884552778, 1.1272791624069214], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8904183506965637, -0.3704143464565277, -0.01006515696644783, -0.007285256404429674, 0.32664409279823303, -0.6400904059410095, -1.0886297225952148, -1.586089849472046, -1.0271254777908325, 0.5685160756111145, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3934076428413391, -1.2650315761566162, 0.6839171648025513, -0.5559282898902893, 0.11249100416898727, -0.18420401215553284, 1.2365131378173828, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270905204465003, -0.9625909708023118, -0.005384526315069291, 44.049320220947266], [0.962598185797707, 0.2709213414051491, -0.0025217990002820473, 4.463120937347412], [0.0038862440399596923, -0.004499966788474663, 0.9999823235468538, 1.1305584907531738], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8903224468231201, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664427161216736, -0.6400915384292603, -1.088629126548767, -1.586090326309204, -1.027125597000122, 0.5685164332389832, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.42030584812164307, -1.2431145906448364, 0.7059028744697571, -0.6115564107894897, 0.1006610170006752, -0.1615847498178482, 1.2492592334747314, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27092329119976044, -0.9625857778420251, -0.005402830901775817, 44.04954528808594], [0.9625932530389679, 0.27093929137543993, -0.002475801452441516, 4.462921142578125], [0.003847010442829301, -0.004529976295507242, 0.9999823397567653, 1.1311571598052979], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8904183506965637, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441226005554, -0.6400914788246155, -1.0886293649673462, -1.586090326309204, -1.0271257162094116, 0.5685163140296936, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4554033875465393, -1.217477560043335, 0.7327136993408203, -0.6844896674156189, 0.08417719602584839, -0.13259825110435486, 1.262352705001831, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708960221214566, -0.9625933232058782, -0.005425801160655149, 44.049591064453125], [0.9626011211007518, 0.2709118507641872, -0.0024188367242404763, 4.464776515960693], [0.0037982699149906223, -0.004567629033358367, 0.9999823547996567, 1.131919264793396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8903224468231201, -0.37051019072532654, -0.01006515696644783, -0.0074769738130271435, 0.3266439437866211, -0.6400904655456543, -1.0886297225952148, -1.5860897302627563, -1.027125597000122, 0.5685164332389832, -1.2516571283340454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4941527843475342, -1.1932226419448853, 0.7587966322898865, -0.7607308030128479, 0.0666854977607727, -0.10280667245388031, 1.2762024402618408, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707973203595211, -0.9626207589398795, -0.005485047320954197, 44.04923629760742], [0.9626290363462942, 0.27081312228794807, -0.002364567541453438, 4.469982147216797], [0.0037616045922032643, -0.004639747262849269, 0.9999821613790062, 1.1343027353286743], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8903224468231201, -0.37051019072532654, -0.01006515696644783, -0.007572832517325878, 0.3266441822052002, -0.6400906443595886, -1.0886298418045044, -1.5860908031463623, -1.0271257162094116, 0.5685166716575623, -1.2516586780548096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5356890559196472, -1.1683969497680664, 0.7885732650756836, -0.843028724193573, 0.04817670211195946, -0.06938063353300095, 1.290425419807434, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707212485902859, -0.9626429011315122, -0.0053526127099216315, 44.049224853515625], [0.9626506533913969, 0.2707364572757761, -0.0023431233169638518, 4.474087715148926], [0.0037047384298044476, -0.004518362852587688, 0.9999829295094487, 1.1283804178237915], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.37051019072532654, -0.01006515696644783, -0.007572832517325878, 0.32664424180984497, -0.640091061592102, -1.0886297225952148, -1.5860904455184937, -1.027125597000122, 0.5685164332389832, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5791993737220764, -1.144087791442871, 0.8210717439651489, -0.9271706938743591, 0.031644824892282486, -0.03318947181105614, 1.3068256378173828, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27074077261816243, -0.9626363473533023, -0.005540468970479024, 44.04935073852539], [0.9626449026649617, 0.27075676012689665, -0.0023597073446701353, 4.473659515380859], [0.003771659487126522, -0.004694635223156276, 0.9999818673280204, 1.136731505393982], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.0074769738130271435, 0.3266444206237793, -0.6400887370109558, -1.0886297225952148, -1.5860893726348877, -1.0271254777908325, 0.5685164332389832, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6232198476791382, -1.1214327812194824, 0.8532344102859497, -1.0091381072998047, 0.01537324395030737, -4.637895108317025e-05, 1.3255878686904907, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.270812999389181, -0.96261491717579, -0.005730671206991457, 44.04962158203125], [0.9626245125351054, 0.2708295419672059, -0.002325309524417601, 4.470995903015137], [0.0037904126934094756, -0.0048867605303133535, 0.9999808759887026, 1.1449490785598755], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8907058835029602, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.32664403319358826, -0.6400898694992065, -1.0886297225952148, -1.586090087890625, -1.0271258354187012, 0.5685165524482727, -1.25165855884552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6663588285446167, -1.100784420967102, 0.8841828107833862, -1.085766315460205, 0.0003061969473492354, 0.03150233253836632, 1.3461507558822632, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708844334755648, -0.9625956257796385, -0.005593293352608079, 44.05022430419922], [0.962604575720827, 0.2709004356926825, -0.0023205048678226095, 4.4682936668396], [0.003748933441544916, -0.004755541128072003, 0.9999816649952289, 1.138870120048523], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.890801727771759, -0.37022262811660767, -0.01006515696644783, -0.007381115108728409, 0.3266441226005554, -0.6400924921035767, -1.0886293649673462, -1.5860915184020996, -1.0271258354187012, 0.5685165524482727, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7072824239730835, -1.0819774866104126, 0.9139328002929688, -1.1558144092559814, -0.011839215643703938, 0.05882001295685768, 1.3689615726470947, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708368154130433, -0.9626090782142028, -0.00558408063372161, 44.0501823425293], [0.9626179250037735, 0.2708528587137171, -0.0023365333373525903, 4.471071243286133], [0.0037616324050171344, -0.004742516864491868, 0.9999816791598932, 1.1385436058044434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.890801727771759, -0.37012675404548645, -0.01006515696644783, -0.007285256404429674, 0.32664427161216736, -0.640095055103302, -1.0886290073394775, -1.5860912799835205, -1.0271258354187012, 0.5685164332389832, -1.2516586780548096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7464844584465027, -1.065136432647705, 0.9415895342826843, -1.2181036472320557, -0.02131682075560093, 0.08189503848552704, 1.3912677764892578, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708373589024198, -0.962608870158087, -0.0055935780796445705, 44.050201416015625], [0.9626177547397172, 0.27085344713960213, -0.0023384679728985203, 4.471141815185547], [0.0037660699180089643, -0.004751133082331025, 0.9999816215570198, 1.1389708518981934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8908976316452026, -0.37012675404548645, -0.01006515696644783, -0.007381115108728409, 0.3266444206237793, -0.6400946378707886, -1.0886286497116089, -1.586091160774231, -1.0271251201629639, 0.5685165524482727, -1.2516587972640991, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7829477190971375, -1.0502982139587402, 0.9661750197410583, -1.2710596323013306, -0.030125224962830544, 0.10118017345666885, 1.4101747274398804, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708373589024198, -0.962608870158087, -0.0055935780796445705, 44.050201416015625], [0.9626177547397172, 0.27085344713960213, -0.0023384679728985203, 4.471141815185547], [0.0037660699180089643, -0.004751133082331025, 0.9999816215570198, 1.1389708518981934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8908976316452026, -0.37012675404548645, -0.01006515696644783, -0.007285256404429674, 0.3266444802284241, -0.6400855183601379, -1.0886296033859253, -1.5860891342163086, -1.027125358581543, 0.5685164332389832, -1.251658320426941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8153919577598572, -1.0375410318374634, 0.9859287738800049, -1.3137779235839844, -0.03954590484499931, 0.11555705219507217, 1.4286805391311646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708373589024198, -0.962608870158087, -0.0055935780796445705, 44.050201416015625], [0.9626177547397172, 0.27085344713960213, -0.0023384679728985203, 4.471141815185547], [0.0037660699180089643, -0.004751133082331025, 0.9999816215570198, 1.1389708518981934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8908976316452026, -0.37012675404548645, -0.009969298727810383, -0.007381115108728409, 0.3266439735889435, -0.6400924921035767, -1.0886290073394775, -1.586090326309204, -1.027125358581543, 0.5685164332389832, -1.2516578435897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8449298143386841, -1.0257765054702759, 1.0031564235687256, -1.3534475564956665, -0.0461234450340271, 0.12817488610744476, 1.4525243043899536, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2707989373069615, -0.9626197779067467, -0.005576624085056853, 44.050052642822266], [0.9626285171868441, 0.2708150436474799, -0.0023558507744339367, 4.472949981689453], [0.003778022244267293, -0.004730255487736227, 0.9999816754475767, 1.1383044719696045], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.8908976316452026, -0.37022262811660767, -0.009969298727810383, -0.007381115108728409, 0.3266441226005554, -0.6400963068008423, -1.0886287689208984, -1.5860908031463623, -1.027125358581543, 0.5685165524482727, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8724609017372131, -1.0153313875198364, 1.021105408668518, -1.3946746587753296, -0.047069959342479706, 0.1384291797876358, 1.4669939279556274, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27073349803370406, -0.9626376809661815, -0.005662881464987945, 44.049922943115234], [0.9626468904224056, 0.27074985771910876, -0.0023407061233205917, 4.4762372970581055], [0.0037864762653023396, -0.0048176476764658265, 0.9999812262579522, 1.1420416831970215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40200498700141907, 0.890801727771759, -0.3703184723854065, -0.01006515696644783, -0.007381115108728409, 0.32664403319358826, -0.640087902545929, -1.0886300802230835, -1.586089015007019, -1.0271257162094116, 0.5685166716575623, -1.251657247543335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8973520994186401, -1.0061426162719727, 1.036547303199768, -1.4325103759765625, -0.04787122458219528, 0.14656168222427368, 1.4776804447174072, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27085963180568073, -0.9626022492218703, -0.0056541711229412175, 44.050628662109375], [0.9626113750975811, 0.270876009843965, -0.002351132441222302, 4.470912456512451], [0.003794784688896382, -0.004805942572335616, 0.9999812510868173, 1.1416940689086914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8907058835029602, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664403319358826, -0.6400901079177856, -1.0886297225952148, -1.5860899686813354, -1.0271259546279907, 0.5685160756111145, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9158315062522888, -0.9986428618431091, 1.0481764078140259, -1.4587960243225098, -0.051663994789123535, 0.14858438074588776, 1.4819337129592896, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27090574264968104, -0.9625890489751485, -0.005692222109505712, 44.05100631713867], [0.9625983451604395, 0.27092228158683795, -0.0023544073915519564, 4.469329357147217], [0.0038084765731403896, -0.004841501099987583, 0.9999810275066676, 1.1433875560760498], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8907058835029602, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400906443595886, -1.0886294841766357, -1.586090087890625, -1.0271258354187012, 0.5685165524482727, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9294247031211853, -0.9930089116096497, 1.054048776626587, -1.4766948223114014, -0.05542943626642227, 0.1508392095565796, 1.4849414825439453, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709030376847512, -0.9625898030271152, -0.005693441963689225, 44.05109786987305], [0.9625989862628973, 0.27091973169785066, -0.002385502548126551, 4.46997594833374], [0.0038387261971617867, -0.004834261575901691, 0.9999809468665886, 1.1435825824737549], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8907058835029602, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400908827781677, -1.0886298418045044, -1.586089849472046, -1.0271257162094116, 0.568516194820404, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9398704171180725, -0.988370954990387, 1.0572069883346558, -1.4920601844787598, -0.05450533330440521, 0.1565552055835724, 1.492695927619934, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27093727034545834, -0.9625794726238633, -0.005809855498848719, 44.05127716064453], [0.9625891416858967, 0.27095451898592815, -0.002406854692956996, 4.468880653381348], [0.00389099552309712, -0.004940397177327952, 0.9999802261192816, 1.1488049030303955], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266439437866211, -0.6400913596153259, -1.0886292457580566, -1.586090326309204, -1.027125358581543, 0.5685164332389832, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9510384798049927, -0.9837445020675659, 1.0573580265045166, -1.5103908777236938, -0.05383853241801262, 0.15833821892738342, 1.5004042387008667, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2708906035212817, -0.9625929599388697, -0.00575103468963434, 44.05125045776367], [0.9626021664798065, 0.2709078416453947, -0.0024516164906008228, 4.4715256690979], [0.003917909169319022, -0.004871838581000952, 0.9999804573973342, 1.1464208364486694], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400904655456543, -1.0886298418045044, -1.586090087890625, -1.0271254777908325, 0.5685169100761414, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9627791047096252, -0.9779669642448425, 1.0561822652816772, -1.5307685136795044, -0.050776682794094086, 0.16093747317790985, 1.500829815864563, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709207184162289, -0.9625838021470201, -0.005864143332212867, 44.05145263671875], [0.9625935593457697, 0.270938409303242, -0.0024531347844659462, 4.470616340637207], [0.003950169474366308, -0.0049801815644891926, 0.999979796772269, 1.1514098644256592], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400901675224304, -1.0886296033859253, -1.586090087890625, -1.0271252393722534, 0.5685163140296936, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9747433066368103, -0.9708784818649292, 1.052751898765564, -1.552747130393982, -0.04272424057126045, 0.16766409575939178, 1.5011314153671265, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709471091598826, -0.9625768511638486, -0.005785295272741196, 44.05158996582031], [0.9625861989267883, 0.27096451371110364, -0.00245803681476578, 4.4698944091796875], [0.0039336590574555255, -0.004902847417087711, 0.9999802440116627, 1.1479628086090088], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400911211967468, -1.0886294841766357, -1.5860904455184937, -1.027125358581543, 0.5685164332389832, -1.2516578435897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9863103032112122, -0.962331235408783, 1.0507076978683472, -1.5737473964691162, -0.0356244258582592, 0.17384496331214905, 1.501060128211975, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27096423706072137, -0.9625721129794202, -0.005771442491733408, 44.05181884765625], [0.962581349011282, 0.2709816414589188, -0.0024691147908963516, 4.4695658683776855], [0.003940656001457512, -0.004886441093903206, 0.9999802967677484, 1.147404432296753], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266438841819763, -0.6400899291038513, -1.088629961013794, -1.5860902070999146, -1.0271252393722534, 0.5685164332389832, -1.2516584396362305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9972383975982666, -0.952616810798645, 1.051092505455017, -1.5925785303115845, -0.029185662046074867, 0.18092285096645355, 1.500481367111206, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27103906006649303, -0.9625509728025246, -0.005783828765234776, 44.05228042602539], [0.9625601313367159, 0.27105668294628094, -0.0025036355971702357, 4.466543197631836], [0.003977622319433062, -0.004888699936887429, 0.9999801393695832, 1.1481027603149414], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021008312702179, 0.8906100392341614, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400907635688782, -1.0886293649673462, -1.5860902070999146, -1.027125597000122, 0.5685164332389832, -1.2516584396362305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.006784200668335, -0.942359983921051, 1.052524447441101, -1.6087207794189453, -0.023685742169618607, 0.18617014586925507, 1.5015270709991455, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710108366228965, -0.9625579134815858, -0.005948918131357855, 44.05168151855469], [0.9625678084621, 0.27102922503627536, -0.0025245373251331247, 4.4681901931762695], [0.004042344051132692, -0.005042060115851525, 0.999979118324158, 1.1554815769195557], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.37051019072532654, -0.01006515696644783, -0.007381115108728409, 0.3266441226005554, -0.6400915384292603, -1.0886293649673462, -1.5860905647277832, -1.0271254777908325, 0.5685165524482727, -1.25165855884552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0140390396118164, -0.9319910407066345, 1.053998351097107, -1.6200337409973145, -0.018521498888731003, 0.18809372186660767, 1.5009961128234863, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710126678833026, -0.9625579925415666, -0.005851909186248323, 44.05221939086914], [0.9625674629908545, 0.2710305912125077, -0.0025095454465383846, 4.468555450439453], [0.004001629433682605, -0.004952738772419163, 0.9999797284647962, 1.1511411666870117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400916576385498, -1.0886294841766357, -1.586090087890625, -1.0271254777908325, 0.5685165524482727, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0157536268234253, -0.9239601492881775, 1.062902808189392, -1.6257644891738892, -0.014570659957826138, 0.19296902418136597, 1.4979045391082764, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709625394926971, -0.9625718579735731, -0.005892404345584863, 44.05237579345703], [0.9625815531075698, 0.27098059671196983, -0.0025039613901833343, 4.471232891082764], [0.004006970013277654, -0.004993439989435131, 0.9999795046641629, 1.1529099941253662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400901675224304, -1.0886294841766357, -1.586089849472046, -1.0271254777908325, 0.5685165524482727, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.013179063796997, -0.9216907620429993, 1.0759841203689575, -1.6249793767929077, -0.006218015216290951, 0.19733931124210358, 1.4671368598937988, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710040819966828, -0.962560476905146, -0.0058408767555313025, 44.052738189697266], [0.9625698775718263, 0.2710219800826926, -0.002513384852312185, 4.469706058502197], [0.004002290905790854, -0.004941114468878661, 0.9999797833232984, 1.1506869792938232], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664409279823303, -0.6400911211967468, -1.088629126548767, -1.586090326309204, -1.0271254777908325, 0.5685164332389832, -1.2516577243804932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.006769061088562, -0.9212024807929993, 1.0811702013015747, -1.620613694190979, 0.003804631996899843, 0.2021603286266327, 1.4486455917358398, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709921026742589, -0.9625634575640388, -0.00590512070549785, 44.052696228027344], [0.9625731418035501, 0.2710103031743474, -0.002522350449636906, 4.4706130027771], [0.004028270922668797, -0.005000573538191795, 0.99997938343631, 1.153559923171997], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400909423828125, -1.088629126548767, -1.5860896110534668, -1.027125597000122, 0.5685165524482727, -1.2516568899154663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9981181025505066, -0.9217352867126465, 1.0922837257385254, -1.6170105934143066, 0.03228382393717766, 0.21044442057609558, 1.4264755249023438, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2709609063767545, -0.9625727188550864, -0.005826502502731012, 44.052711486816406], [0.9625819817456805, 0.27097882970721665, -0.0025302705518374245, 4.47242546081543], [0.004014428233997329, -0.004922881923620706, 0.9999798245962366, 1.1501410007476807], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8904183506965637, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266441822052002, -0.6400907635688782, -1.0886297225952148, -1.586089849472046, -1.0271254777908325, 0.5685163140296936, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.978754460811615, -0.9255415201187134, 1.117966890335083, -1.6017030477523804, 0.10646749287843704, 0.24270176887512207, 1.386941909790039, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27099826936938975, -0.962561617107332, -0.005922100177602386, 44.05296325683594], [0.962571217498523, 0.2710167470554663, -0.0025639927621628044, 4.471037864685059], [0.004072989345269322, -0.005005605576881187, 0.9999791771185048, 1.1545010805130005], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664382457733154, -0.6400923728942871, -1.0886297225952148, -1.5860869884490967, -1.0271252393722534, 0.5685163140296936, -1.2516552209854126, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9431978464126587, -0.9308786988258362, 1.1495485305786133, -1.5734314918518066, 0.21333466470241547, 0.29725611209869385, 1.3664363622665405, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710717245641521, -0.9625408158019744, -0.005941216801839826, 44.05337142944336], [0.9625504488511579, 0.27109035684936067, -0.0025791160735414613, 4.468025207519531], [0.004093111072404759, -0.005019595457426957, 0.9999790248316175, 1.1554172039031982], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.009969298727810383, -0.0074769738130271435, 0.32664403319358826, -0.6400939226150513, -1.0886294841766357, -1.5860897302627563, -1.027125597000122, 0.5685163140296936, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8869383335113525, -0.9352990388870239, 1.186988115310669, -1.5373057126998901, 0.33736851811408997, 0.3578224778175354, 1.3756760358810425, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710168240496471, -0.9625551980042821, -0.0061132542053940146, 44.052913665771484], [0.9625656909832115, 0.27103618769911153, -0.002583698810714838, 4.470842361450195], [0.0041438658345966045, -0.005184182912390328, 0.9999779760692111, 1.1630194187164307], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.009969298727810383, -0.0074769738130271435, 0.3266444206237793, -0.6401003003120422, -1.0886294841766357, -1.586092233657837, -1.027125597000122, 0.5685163140296936, -1.25165855884552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8193742632865906, -0.9386070966720581, 1.2223273515701294, -1.5015913248062134, 0.4506809115409851, 0.41751983761787415, 1.386394739151001, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27094243432188525, -0.9625770782378389, -0.005963701437550632, 44.052772521972656], [0.9625867329592421, 0.2709612725937869, -0.002601977172878374, 4.474607467651367], [0.004120535715598933, -0.005035593853846556, 0.9999788317659307, 1.1565335988998413], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.40229254961013794, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664403319358826, -0.6400973796844482, -1.088627815246582, -1.5860899686813354, -1.0271263122558594, 0.5685166716575623, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7520388960838318, -0.940050482749939, 1.2396329641342163, -1.468322992324829, 0.578524649143219, 0.44683146476745605, 1.3717342615127563, 0.25199998446873256, 0.25199998446873256, 0.25199998446873256, 0.25199998446873256, -0.25199998446873256, -0.25199998446873256, -0.25199998446873256, 0.25199998446873256, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2710494321461009, -0.962546447311329, -0.006045006337063704, 44.05320358276367], [0.9625564653794747, 0.27106866552858955, -0.0026133359373587536, 4.470031261444092], [0.004154069023035415, -0.005110316711172477, 0.9999783139516893, 1.1601818799972534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664403319358826, -0.6400899887084961, -1.0886298418045044, -1.5860886573791504, -1.0271259546279907, 0.568516194820404, -1.2516584396362305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6821933388710022, -0.9356589913368225, 1.2430555820465088, -1.4453457593917847, 0.7011465430259705, 0.46005114912986755, 1.3597583770751953, 0.527999999496963, 0.527999999496963, 0.527999999496963, 0.527999999496963, -0.527999999496963, -0.527999999496963, -0.527999999496963, 0.527999999496963, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.271119079332935, -0.9625271574289087, -0.005992998705688904, 44.05358123779297], [0.962536753875046, 0.27113828709141174, -0.002650794753296138, 4.4671406745910645], [0.004176393342419134, -0.005049800487136927, 0.9999785283963298, 1.1580748558044434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007285256404429674, 0.32664379477500916, -0.6400848627090454, -1.0886304378509521, -1.5860872268676758, -1.0271257162094116, 0.5685164332389832, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6210798621177673, -0.9249401092529297, 1.234421730041504, -1.4306670427322388, 0.8088095784187317, 0.4743194282054901, 1.345706820487976, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712122002638251, -0.9625005153402437, -0.006058085326230975, 44.054019927978516], [0.9625104440396363, 0.27123167722066877, -0.0026499786197721783, 4.463201999664307], [0.004193750430950899, -0.005112263865260073, 0.999978138368782, 1.160934567451477], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.009969298727810383, -0.007381115108728409, 0.3266438841819763, -0.6400926113128662, -1.0886292457580566, -1.58609139919281, -1.0271257162094116, 0.5685164332389832, -1.251658320426941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5814171433448792, -0.9091600179672241, 1.2164194583892822, -1.4290529489517212, 0.9111472964286804, 0.48843914270401, 1.3316177129745483, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27117228538304683, -0.962511824942884, -0.006048014984655921, 44.053863525390625], [0.9625217482781473, 0.27119166451258436, -0.002639164730172639, 4.465363502502441], [0.004180398511449253, -0.0051056776252602016, 0.9999782279251246, 1.1604431867599487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266439735889435, -0.6400876641273499, -1.0886304378509521, -1.5860899686813354, -1.027125597000122, 0.5685163140296936, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5613673329353333, -0.8898257613182068, 1.2025790214538574, -1.4349125623703003, 0.9898759126663208, 0.4964843988418579, 1.323693871498108, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712048341844052, -0.9625024772632178, -0.006076115303244887, 44.05403137207031], [0.962512443278588, 0.27122445399722617, -0.0026630974051897395, 4.464136123657227], [0.004211228905235156, -0.005126091695977252, 0.9999779941253868, 1.1617934703826904], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8904183506965637, -0.3704143464565277, -0.010161015205085278, -0.007381115108728409, 0.3266439735889435, -0.6400901079177856, -1.0886293649673462, -1.5860904455184937, -1.0271251201629639, 0.5685164332389832, -1.2516567707061768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5498623847961426, -0.8713442087173462, 1.200441837310791, -1.4437923431396484, 1.0012682676315308, 0.4819177985191345, 1.3379566669464111, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.27120801866532507, -0.9625016357682937, -0.00606726915403343, 44.054141998291016], [0.9625115111397947, 0.27122765622851963, -0.002673839967716386, 4.4643144607543945], [0.004219186535065744, -0.005114649562068063, 0.9999780191708414, 1.1614590883255005], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.009969298727810383, -0.0074769738130271435, 0.32664453983306885, -0.6400973796844482, -1.0886282920837402, -1.5860909223556519, -1.0271252393722534, 0.5685164332389832, -1.2516576051712036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5462081432342529, -0.8593995571136475, 1.1974791288375854, -1.44680917263031, 0.9914261698722839, 0.46668463945388794, 1.3532918691635132, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711118591508621, -0.9625285221589472, -0.006099496559224537, 44.053958892822266], [0.9625385619717851, 0.2711316353188554, -0.002674518014753376, 4.469018459320068], [0.004228066348952329, -0.005145907095555576, 0.9999778213016091, 1.1628928184509277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266443908214569, -0.6400868892669678, -1.0886296033859253, -1.586090326309204, -1.0271254777908325, 0.5685164332389832, -1.2516579627990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5456827878952026, -0.8578662872314453, 1.1969621181488037, -1.4473509788513184, 0.9900223612785339, 0.46462923288345337, 1.3554414510726929, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711699450644143, -0.9625116560395135, -0.006178420658706214, 44.05414962768555], [0.9625219175738723, 0.2711902838142831, -0.00271811601012917, 4.466596603393555], [0.0042917459941755115, -0.005209793930850499, 0.9999772192222779, 1.1665579080581665], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266437351703644, -0.6400899887084961, -1.0886294841766357, -1.5860904455184937, -1.0271254777908325, 0.568516194820404, -1.2516580820083618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5456416010856628, -0.8577336668968201, 1.196942687034607, -1.4473979473114014, 0.9899007081985474, 0.46447333693504333, 1.3556396961212158, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2711629177103022, -0.9625152291384497, -0.005925009315916417, 44.05442428588867], [0.9625241349547695, 0.27118225555940734, -0.0027338433175200846, 4.467312335968018], [0.004238123217692178, -0.004961647535859843, 0.9999787099560278, 1.155468463897705], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664424180984497, -0.6400916576385498, -1.088629126548767, -1.5860906839370728, -1.027125597000122, 0.5685164332389832, -1.2516578435897827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5456369519233704, -0.8577104210853577, 1.1969413757324219, -1.4474068880081177, 0.9898889660835266, 0.4644618332386017, 1.3556575775146484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712590329793998, -0.9624868653366715, -0.006129525386936522, 44.054710388183594], [0.9624967638543885, 0.2712792924519549, -0.0027431836606594128, 4.463015556335449], [0.004303091552625289, -0.005155535001814359, 0.999977451676754, 1.1645101308822632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664379477500916, -0.6400903463363647, -1.0886296033859253, -1.586090326309204, -1.0271257162094116, 0.5685165524482727, -1.251657485961914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5456371903419495, -0.8577192425727844, 1.1969406604766846, -1.4474058151245117, 0.9898888468742371, 0.46446219086647034, 1.3556584119796753, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712590329793998, -0.9624868653366715, -0.006129525386936522, 44.054710388183594], [0.9624967638543885, 0.2712792924519549, -0.0027431836606594128, 4.463015556335449], [0.004303091552625289, -0.005155535001814359, 0.999977451676754, 1.1645101308822632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.32664403319358826, -0.6400903463363647, -1.0886293649673462, -1.5860899686813354, -1.027125597000122, 0.5685160756111145, -1.2516582012176514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.545637309551239, -0.8577212691307068, 1.1969410181045532, -1.4474058151245117, 0.9898888468742371, 0.4644627869129181, 1.3556575775146484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712590329793998, -0.9624868653366715, -0.006129525386936522, 44.054710388183594], [0.9624967638543885, 0.2712792924519549, -0.0027431836606594128, 4.463015556335449], [0.004303091552625289, -0.005155535001814359, 0.999977451676754, 1.1645101308822632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266438841819763, -0.6400905847549438, -1.0886294841766357, -1.5860904455184937, -1.0271254777908325, 0.5685165524482727, -1.2516573667526245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5456372499465942, -0.8577274680137634, 1.1969412565231323, -1.447403907775879, 0.9898893237113953, 0.4644637405872345, 1.3556565046310425, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712590329793998, -0.9624868653366715, -0.006129525386936522, 44.054710388183594], [0.9624967638543885, 0.2712792924519549, -0.0027431836606594128, 4.463015556335449], [0.004303091552625289, -0.005155535001814359, 0.999977451676754, 1.1645101308822632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4021967053413391, 0.8905141949653625, -0.3704143464565277, -0.01006515696644783, -0.007381115108728409, 0.3266439735889435, -0.64009028673172, -1.0886294841766357, -1.5860902070999146, -1.027125597000122, 0.568515956401825, -1.2516582012176514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5456377863883972, -0.8577284812927246, 1.19694185256958, -1.4474034309387207, 0.989889919757843, 0.46446576714515686, 1.3556543588638306, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0011503036366775632, 0.0, 0.21788668632507324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.2712590329793998, -0.9624868653366715, -0.006129525386936522, 44.054710388183594], [0.9624967638543885, 0.2712792924519549, -0.0027431836606594128, 4.463015556335449], [0.004303091552625289, -0.005155535001814359, 0.999977451676754, 1.1645101308822632], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000012/gt/hand_left.mp4 b/agibot-challenge-2026/000012/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ed2ad1c91e742420b12aff876380cb4f97a199a --- /dev/null +++ b/agibot-challenge-2026/000012/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887652ff845f3c55d55d19feba157a40e7e571583749b7d55f25dc18e4167853 +size 1351891 diff --git a/agibot-challenge-2026/000012/gt/hand_right.mp4 b/agibot-challenge-2026/000012/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c0cc07fa17ed5da228614ce9d93d7e709b903cf9 --- /dev/null +++ b/agibot-challenge-2026/000012/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:152f70c0e5911f73695a9111aa97e734c6425a8ad75981213d7cecab9c787be2 +size 2465773 diff --git a/agibot-challenge-2026/000012/gt/head.mp4 b/agibot-challenge-2026/000012/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b97c1767736dcb7c06dc8e49820abc1816ece2f8 --- /dev/null +++ b/agibot-challenge-2026/000012/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2631c2b447787016cb4d107be6667d6aca924dee4f281a745204af97015cf2f0 +size 1725644 diff --git a/agibot-challenge-2026/000012/meta.json b/agibot-challenge-2026/000012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22ea5d7fede9f6a9ec9bae794a6294306c927867 --- /dev/null +++ b/agibot-challenge-2026/000012/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 776, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000012/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000012/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..2e98a7528f32791fbb9dd1358a9db16992b3f728 --- /dev/null +++ b/agibot-challenge-2026/000012/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000012/ref_images/hand_left.png b/agibot-challenge-2026/000012/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..9da89bd85bc6a0194e3dc74225a1ab016b17754a --- /dev/null +++ b/agibot-challenge-2026/000012/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cf2f9e76e55712b239ab0b4a79ef0e96c315a9b8c712fc7c711922042c34822 +size 328068 diff --git a/agibot-challenge-2026/000012/ref_images/hand_right.png b/agibot-challenge-2026/000012/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..5ecc04b83a6e77b76cce5c96b5a70a0bc9c13a06 --- /dev/null +++ b/agibot-challenge-2026/000012/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2e350a4669dacb028336fff69edd6d8c2d19978f1b07c11d56ef229e1921db0 +size 361959 diff --git a/agibot-challenge-2026/000012/ref_images/head.png b/agibot-challenge-2026/000012/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..0f7ee9fd15bb94346916da90756379d1d6e15a41 --- /dev/null +++ b/agibot-challenge-2026/000012/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e34a03b648c27b8b154c0715bb20060db33d66a11946647ea1234626576337da +size 260561 diff --git a/agibot-challenge-2026/000012/temporal.json b/agibot-challenge-2026/000012/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..647a90493468e9eda6c225dbd1e1aec37bc11932 --- /dev/null +++ b/agibot-challenge-2026/000012/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739656686782837, -1.151189923286438, -1.6009708642959595, -1.8012138605117798, -0.4227471351623535, -0.00043814326636493206, -0.000976834213361144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318087816238403, -1.15048348903656, 1.5997345447540283, -1.80015230178833, 0.42001017928123474, 0.0008463259437121451, 0.00033819483360275626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396570444107056, -1.151190161705017, -1.600970983505249, -1.8012126684188843, -0.4227457046508789, -0.0004386226355563849, -0.0009708420839160681, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318086624145508, -1.1504837274551392, 1.5997345447540283, -1.8001524209976196, 0.4200098216533661, 0.0008457267540507019, 0.0003379551344551146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396570444107056, -1.1511904001235962, -1.600972056388855, -1.8012123107910156, -0.42274582386016846, -0.00043490753159858286, -0.0009700031368993223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318081855773926, -1.1504837274551392, 1.5997343063354492, -1.8001525402069092, 0.4200098216533661, 0.0008463259437121451, 0.0003369963960722089, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396575212478638, -1.1511902809143066, -1.6009726524353027, -1.8012114763259888, -0.42274507880210876, -0.00043035350972786546, -0.0009700031368993223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731808066368103, -1.1504838466644287, 1.5997345447540283, -1.8001517057418823, 0.42001017928123474, 0.0008472846820950508, 0.0003371162456460297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396594285964966, -1.1511900424957275, -1.600975751876831, -1.8012105226516724, -0.4227457046508789, -0.0004266384057700634, -0.0009683253592811525, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730925440788269, -1.1509097814559937, 1.5997302532196045, -1.8001590967178345, 0.42112889885902405, 0.0017734256107360125, 0.0013544571120291948, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396764755249023, -1.1511902809143066, -1.6009787321090698, -1.8012070655822754, -0.4227449595928192, -0.0004226836026646197, -0.0009672467713244259, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6887094974517822, -1.1687248945236206, 1.598423957824707, -1.7994956970214844, 0.4324742555618286, 0.06362172961235046, 0.03353413939476013, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7396769523620605, -1.1511907577514648, -1.6009767055511475, -1.8012043237686157, -0.4227454364299774, -0.0004177700902801007, -0.0009781523840501904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.613438606262207, -1.1964730024337769, 1.5782445669174194, -1.800492286682129, 0.39982861280441284, 0.11990025639533997, 0.03925229236483574, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15094315190799634, -0.9885420891167755, 0.0008384132159901412, -27.301929473876953], [0.9885412047089982, 0.1509415649602377, -0.0017118877991706845, -1.2984957695007324], [0.0015657217384208097, 0.0010872037506985059, 0.9999981832500708, 0.006077386438846588], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396923303604126, -1.1511900424957275, -1.6009812355041504, -1.8011963367462158, -0.422745943069458, -0.0004123771796002984, -0.000976834213361144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.534417986869812, -1.2196284532546997, 1.5538280010223389, -1.800433874130249, 0.38566961884498596, 0.16756103932857513, 0.039753712713718414, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15139156894429284, -0.9884735084641867, 0.0008461188373553541, -27.302507400512695], [0.9884726374567546, 0.15138997253040343, -0.0017091566724169347, -1.2861069440841675], [0.001561362184954258, 0.0010951172289712962, 0.9999981814315375, 0.006313423626124859], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397124767303467, -1.1511908769607544, -1.6009798049926758, -1.8011983633041382, -0.4227473735809326, -0.00041429465636610985, -0.0009922938188537955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4423730373382568, -1.237489104270935, 1.5232173204421997, -1.7779347896575928, 0.3688870370388031, 0.21599024534225464, 0.03310977667570114, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15098342632225314, -0.9885359352472314, 0.0008424374601871036, -27.301965713500977], [0.9885350711941738, 0.15098184415789961, -0.0017016914554604905, -1.2973734140396118], [0.001554990393099112, 0.001089706181171424, 0.9999981972710331, 0.0062032886780798435], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397091388702393, -1.1511868238449097, -1.6009795665740967, -1.8011878728866577, -0.42274749279022217, -0.00041848912951536477, -0.0010000835172832012, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3401141166687012, -1.2564224004745483, 1.4873887300491333, -1.7370631694793701, 0.3442608714103699, 0.2526355981826782, 0.011726204305887222, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113909550340754, -0.9885121553199779, 0.0008322229651618103, -27.30217170715332], [0.9885112975495508, 0.15113754100021892, -0.0016906558817864706, -1.2930793762207031], [0.001545453757090675, 0.0010781860039233587, 0.9999982245422367, 0.005946062039583921], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.739709734916687, -1.151188611984253, -1.6009782552719116, -1.8011850118637085, -0.422749400138855, -0.0004322709864936769, -0.0010075138416141272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.240881085395813, -1.2760066986083984, 1.45928156375885, -1.6836024522781372, 0.32703477144241333, 0.2828950583934784, -0.007844993844628334, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513877129737321, -0.9884741033825634, 0.0008410128537820341, -27.302492141723633], [0.9884732464396203, 0.15138613829188963, -0.00169652768522516, -1.286208987236023], [0.001549655994328732, 0.0010881521521382337, 0.9999982072439896, 0.0061900317668914795], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397091388702393, -1.151189923286438, -1.6009767055511475, -1.8012064695358276, -0.4227491617202759, -0.0004447345854714513, -0.0010063153458759189, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1575164794921875, -1.293562650680542, 1.4340713024139404, -1.6339231729507446, 0.3148956894874573, 0.3164619207382202, -0.03052298165857792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512576125250098, -0.9884940125985565, 0.0008495351897327048, -27.302316665649414], [0.9884931433388571, 0.15125600964175523, -0.001710298020435009, -1.289800763130188], [0.00156212205010995, 0.0010984553053531036, 0.999998176583659, 0.006398953963071108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.739707112312317, -1.1511892080307007, -1.6009762287139893, -1.801209568977356, -0.4227496385574341, -0.0004448544350452721, -0.0010057161562144756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0874701738357544, -1.3098636865615845, 1.413926124572754, -1.586639642715454, 0.30722805857658386, 0.3671610653400421, -0.04417301341891289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513214445915847, -0.9884842575611593, 0.0008324424783248873, -27.302413940429688], [0.988483361947398, 0.15131986297132227, -0.0017152910859542082, -1.2880338430404663], [0.0015695731538490903, 0.0010824158646240674, 0.9999981824063535, 0.005929261911660433], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397077083587646, -1.1511905193328857, -1.6009739637374878, -1.8012083768844604, -0.422749400138855, -0.0004440155462361872, -0.0010070344433188438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.033913493156433, -1.326625943183899, 1.4012489318847656, -1.5388091802597046, 0.3077189326286316, 0.3967842757701874, -0.0543878898024559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512793316782567, -0.9884906966437335, 0.0008405092305019099, -27.302345275878906], [0.9884898270432323, 0.15127774951100592, -0.0017042109394134898, -1.2892065048217773], [0.0015574463138951556, 0.00108864671584032, 0.999998194603024, 0.00616071093827486], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397068738937378, -1.151190996170044, -1.600974440574646, -1.801208734512329, -0.4227503538131714, -0.00044461473589763045, -0.0010072741424664855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9856650233268738, -1.3418574333190918, 1.3945820331573486, -1.5007508993148804, 0.3201897144317627, 0.45471805334091187, -0.07250647991895676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15123646436501992, -0.9884972586507604, 0.0008375477894735353, -27.302288055419922], [0.98849637336442, 0.15123487822610115, -0.0017121487452436827, -1.2903915643692017], [0.0015657879031261493, 0.001086852275111636, 0.9999981835285374, 0.006068444345146418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397059202194214, -1.1511918306350708, -1.6009718179702759, -1.8012088537216187, -0.42274975776672363, -0.00044317662832327187, -0.0010078733321279287, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9494305849075317, -1.3524556159973145, 1.3860028982162476, -1.4661979675292969, 0.30939000844955444, 0.47468602657318115, -0.0733695849776268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15125043306025077, -0.9884951042427862, 0.0008575471588365094, -27.302310943603516], [0.9884942514153102, 0.15124882307388443, -0.0017054142165250578, -1.2899998426437378], [0.0015560906052366915, 0.0011056250756239449, 0.9999981780859505, 0.006623187102377415], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.73970627784729, -1.1511918306350708, -1.6009714603424072, -1.8012088537216187, -0.42274951934814453, -0.0004406599618960172, -0.0010035589803010225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9276471734046936, -1.3621182441711426, 1.3847485780715942, -1.4423556327819824, 0.2943401038646698, 0.486055463552475, -0.06539575755596161, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15122760877264052, -0.9884986133125191, 0.0008377494468830968, -27.302284240722656], [0.9884977216305224, 0.1512260177481355, -0.0017163587348506633, -1.2906334400177002], [0.001569928716623877, 0.0010876742468086717, 0.9999981761426155, 0.006067828740924597], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397061586380005, -1.1511924266815186, -1.6009700298309326, -1.8012076616287231, -0.422749400138855, -0.00043490753159858286, -0.001000203425064683, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.909430980682373, -1.3696630001068115, 1.3846184015274048, -1.4229484796524048, 0.28490710258483887, 0.5041690468788147, -0.05669461190700531, 0.579000000672026, 0.579000000672026, 0.579000000672026, 0.579000000672026, -0.579000000672026, -0.579000000672026, -0.579000000672026, 0.579000000672026, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121022615417912, -0.9885012682578135, 0.0008427093782527956, -27.3022518157959], [0.9885003952423289, 0.1512086366312405, -0.0017078682270435675, -1.2911114692687988], [0.0015608049722878243, 0.0010912656943301005, 0.9999981865118671, 0.006213408429175615], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.739704966545105, -1.1511929035186768, -1.6009694337844849, -1.8012058734893799, -0.4227484464645386, -0.0004256796673871577, -0.0009943310869857669, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8966969847679138, -1.377037763595581, 1.3832818269729614, -1.4105252027511597, 0.27210864424705505, 0.5129460096359253, -0.05197606235742569, 0.5262000014493753, 0.5262000014493753, 0.5262000014493753, 0.5262000014493753, -0.5262000014493753, -0.5262000014493753, -0.5262000014493753, 0.5262000014493753, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511630160951597, -0.9885084933934656, 0.0008372896721869287, -27.302194595336914], [0.9885075822429007, 0.15116141282707796, -0.001728328792985193, -1.292414903640747], [0.0015819018014490431, 0.0010889265826422004, 0.9999981559110938, 0.006036592647433281], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397054433822632, -1.1511932611465454, -1.6009690761566162, -1.801203727722168, -0.42274749279022217, -0.0004189684987068176, -0.0009861818980425596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8886607885360718, -1.3831568956375122, 1.3836365938186646, -1.4073189496994019, 0.26047953963279724, 0.518794596195221, -0.047959551215171814, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, -0.48479999723015244, -0.48479999723015244, -0.48479999723015244, 0.48479999723015244, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512046415776176, -0.9885021248063183, 0.0008400111773794487, -27.302248001098633], [0.988501189413096, 0.15120301521497748, -0.001745485260316879, -1.2912755012512207], [0.0015984036658072886, 0.0010942775211251084, 0.999998123829454, 0.006090734153985977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397068738937378, -1.1511932611465454, -1.6009690761566162, -1.801203966140747, -0.4227471351623535, -0.00041597243398427963, -0.000977673102170229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8859734535217285, -1.3892735242843628, 1.388121247291565, -1.4079866409301758, 0.2521620988845825, 0.520685076713562, -0.04740036651492119, 0.417600001345624, 0.417600001345624, 0.417600001345624, 0.417600001345624, -0.417600001345624, -0.417600001345624, -0.417600001345624, 0.417600001345624, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121984691037926, -0.9884997982890996, 0.0008406442831858119, -27.302263259887695], [0.9884988826834152, 0.1512182326229402, -0.0017335097444159103, -1.2908509969711304], [0.0015864532899193791, 0.0010931170128316002, 0.9999981441288555, 0.006124285981059074], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397059202194214, -1.1511927843093872, -1.6009703874588013, -1.8011996746063232, -0.42274630069732666, -0.0004116581112612039, -0.00095442368183285, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.885503888130188, -1.3934577703475952, 1.3920941352844238, -1.4082649946212769, 0.24617347121238708, 0.5235200524330139, -0.047740597277879715, 0.3131999966862437, 0.3131999966862437, 0.3131999966862437, 0.3131999966862437, -0.3131999966862437, -0.3131999966862437, -0.3131999966862437, 0.3131999966862437, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397063970565796, -1.1511926651000977, -1.6009713411331177, -1.8012003898620605, -0.42274558544158936, -0.0004150136956013739, -0.0009543038322590292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8848133683204651, -1.396836280822754, 1.394087791442871, -1.4070355892181396, 0.23862402141094208, 0.524803102016449, -0.04674219340085983, 0.20760001297835465, 0.20760001297835465, 0.20760001297835465, 0.20760001297835465, -0.20760001297835465, -0.20760001297835465, -0.20760001297835465, 0.20760001297835465, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.73970627784729, -1.1511926651000977, -1.600972294807434, -1.8011993169784546, -0.4227447211742401, -0.0004204066062811762, -0.0009537046425975859, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8848109841346741, -1.4010688066482544, 1.3971322774887085, -1.4067158699035645, 0.23359854519367218, 0.52476966381073, -0.046859756112098694, 0.1463999811109606, 0.1463999811109606, 0.1463999811109606, 0.1463999811109606, -0.1463999811109606, -0.1463999811109606, -0.1463999811109606, 0.1463999811109606, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397068738937378, -1.1511924266815186, -1.6009734869003296, -1.801199197769165, -0.42274388670921326, -0.000428076513344422, -0.0009543038322590292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8838651180267334, -1.4047425985336304, 1.3989285230636597, -1.402305245399475, 0.2304544895887375, 0.5245590209960938, -0.049243420362472534, 0.08880000428839045, 0.08880000428839045, 0.08880000428839045, 0.08880000428839045, -0.08880000428839045, -0.08880000428839045, -0.08880000428839045, 0.08880000428839045, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397058010101318, -1.15119206905365, -1.6009767055511475, -1.8011983633041382, -0.4227442443370819, -0.0004355067212600261, -0.0009545435314066708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.881453812122345, -1.4080885648727417, 1.402093529701233, -1.400933027267456, 0.22641652822494507, 0.5179753303527832, -0.056594304740428925, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -0.026999982896741947, -0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397056818008423, -1.151192307472229, -1.6009777784347534, -1.8012001514434814, -0.42274388670921326, -0.0004420980694703758, -0.0009605356026440859, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8791045546531677, -1.410470962524414, 1.4033077955245972, -1.3947217464447021, 0.22378946840763092, 0.5133588910102844, -0.05683015286922455, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397058010101318, -1.1511917114257812, -1.6009796857833862, -1.8012008666992188, -0.4227447211742401, -0.00044257743866182864, -0.0009658086928538978, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8786318898200989, -1.4128332138061523, 1.4033312797546387, -1.3938777446746826, 0.2238205075263977, 0.5127292275428772, -0.06015637516975403, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397054433822632, -1.1511917114257812, -1.6009799242019653, -1.8012017011642456, -0.4227447211742401, -0.0004447345854714513, -0.0009747968288138509, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8725497722625732, -1.415661334991455, 1.4038554430007935, -1.3860055208206177, 0.23087705671787262, 0.5133920907974243, -0.06344964355230331, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397050857543945, -1.1511917114257812, -1.6009795665740967, -1.8012036085128784, -0.42274507880210876, -0.00044581317342817783, -0.000982227036729455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8706756830215454, -1.4223988056182861, 1.4121692180633545, -1.384367823600769, 0.2752360701560974, 0.5150854587554932, -0.08296559005975723, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397044897079468, -1.1511915922164917, -1.6009787321090698, -1.801207423210144, -0.42274558544158936, -0.000442337739514187, -0.0009951700922101736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8707095384597778, -1.4341425895690918, 1.4286787509918213, -1.3903831243515015, 0.36427417397499084, 0.5240625143051147, -0.125081866979599, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397047281265259, -1.1511917114257812, -1.6009784936904907, -1.8012079000473022, -0.4227464199066162, -0.00043478768202476203, -0.0010026003001257777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8661983609199524, -1.4467958211898804, 1.4528181552886963, -1.3967167139053345, 0.4856048822402954, 0.5415219664573669, -0.1806214451789856, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396997213363647, -1.1511914730072021, -1.6009771823883057, -1.8012089729309082, -0.4227484464645386, -0.0004274772945791483, -0.0010165019193664193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8643054962158203, -1.45695960521698, 1.4713387489318848, -1.4002126455307007, 0.603836178779602, 0.5391727685928345, -0.23524998128414154, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124065340530857, -0.9884966179769099, 0.0008372608590968908, -27.30230140686035], [0.9884956951671383, 0.15123904203378746, -0.0017357421290127098, -1.2902698516845703], [0.0015891486939469052, 0.0010901435286842201, 0.9999981430950337, 0.006030164659023285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396998405456543, -1.1511914730072021, -1.6009759902954102, -1.801209568977356, -0.4227484464645386, -0.00041932801832444966, -0.0010169813176617026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8734404444694519, -1.457449197769165, 1.4900729656219482, -1.4082105159759521, 0.7008187770843506, 0.5174252390861511, -0.2583966553211212, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15134426247190247, -0.9884807602957292, 0.0008371033467618157, -27.302433013916016], [0.9884798690966884, 0.1513426730476205, -0.00171572299484481, -1.2874035835266113], [0.0015692697122850208, 0.0010871246378883908, 0.9999981777746356, 0.006056757643818855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7396998405456543, -1.1511914730072021, -1.6009762287139893, -1.8012096881866455, -0.4227478504180908, -0.00041573276394046843, -0.001013745553791523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.884297251701355, -1.4559193849563599, 1.5062652826309204, -1.417558193206787, 0.7918997406959534, 0.512080192565918, -0.27853304147720337, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15173065373881067, -0.9884215270714094, 0.0008327891787270991, -27.302928924560547], [0.9884206053900509, 0.15172905257165337, -0.001732468202736606, -1.2767452001571655], [0.0015860505534713882, 0.0010860145171826502, 0.9999981525063485, 0.005936448462307453], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7396992444992065, -1.1511917114257812, -1.600974202156067, -1.8012100458145142, -0.4227480888366699, -0.00041489387513138354, -0.0010138654615730047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8802465796470642, -1.4486722946166992, 1.5196304321289062, -1.4155035018920898, 0.8706918358802795, 0.5180383920669556, -0.2910299599170685, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1517251410327276, -0.9884223756941223, 0.0008299432427908602, -27.302921295166016], [0.9884214595576706, 0.15172355029235174, -0.0017270126138424905, -1.27689790725708], [0.001581095975290534, 0.0010823649437899196, 0.9999981643091378, 0.00586489075794816], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7396998405456543, -1.1511921882629395, -1.6009714603424072, -1.8012089729309082, -0.422748327255249, -0.0004162121331319213, -0.0010127868736162782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8826282620429993, -1.4445033073425293, 1.5308027267456055, -1.4159468412399292, 0.9468706250190735, 0.5121945142745972, -0.3083028197288513, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1522565754382027, -0.9883406418267898, 0.0008431780597262979, -27.303604125976562], [0.9883397387621103, 0.15225496176912712, -0.001728409767765342, -1.262215256690979], [0.001579879575964696, 0.0010965081354737227, 0.9999981508235074, 0.006250771228224039], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397003173828125, -1.15119206905365, -1.6009712219238281, -1.8012055158615112, -0.4227484464645386, -0.00041992723708972335, -0.001008472521789372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8800165057182312, -1.4403834342956543, 1.5475834608078003, -1.4075300693511963, 1.0479816198349, 0.514239490032196, -0.33241721987724304, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15261368600518088, -0.9882855686675076, 0.0008352289824796872, -27.304065704345703], [0.9882846251658013, 0.15261206240098713, -0.001748734001735646, -1.252348780632019], [0.0016007825597602163, 0.0010923247037250188, 0.9999981221592058, 0.006025543436408043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7397007942199707, -1.1511919498443604, -1.6009708642959595, -1.801207423210144, -0.42274773120880127, -0.00042627888615243137, -0.001004637568257749, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8763538599014282, -1.431253433227539, 1.5618153810501099, -1.3974883556365967, 1.1404589414596558, 0.5111171007156372, -0.3434446454048157, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15252334754414099, -0.9882995213116522, 0.0008274231614745223, -27.30394744873047], [0.9882986192906379, 0.15252177071465067, -0.0017171389828188233, -1.2548422813415527], [0.0015708475890270123, 0.001079644953912433, 0.9999981834006627, 0.0058482009917497635], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.739700198173523, -1.1511921882629395, -1.6009700298309326, -1.8012053966522217, -0.42274677753448486, -0.0004337090940680355, -0.0009974470594897866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8764878511428833, -1.4232808351516724, 1.570709466934204, -1.3888294696807861, 1.222766637802124, 0.5058459639549255, -0.35816460847854614, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15269723464964724, -0.9882726547850308, 0.0008451831148872394, -27.30416488647461], [0.9882717400285037, 0.15269560726209008, -0.0017376374463230536, -1.2500388622283936], [0.001588203823156194, 0.001100603020469528, 0.9999981331390612, 0.006316389422863722], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397011518478394, -1.1511924266815186, -1.6009703874588013, -1.8012045621871948, -0.4227464199066162, -0.0004382631159387529, -0.0009869008790701628, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8727316856384277, -1.4131970405578613, 1.5777920484542847, -1.3732123374938965, 1.308206558227539, 0.4965123236179352, -0.3661077618598938, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15261508707160343, -0.9882853602628209, 0.0008257652894840622, -27.304058074951172], [0.9882844469236551, 0.15261350613233116, -0.0017232860476989883, -1.2523051500320435], [0.0015770754364155452, 0.0010790904426253689, 0.9999981741967755, 0.005799004342406988], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397005558013916, -1.1511921882629395, -1.6009711027145386, -1.8012022972106934, -0.42274558544158936, -0.00044341632747091353, -0.0009771937038749456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8717122673988342, -1.4036427736282349, 1.5841081142425537, -1.3585736751556396, 1.3849416971206665, 0.48857852816581726, -0.36822131276130676, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15265546311396538, -0.9882791096412128, 0.0008432249004001064, -27.30410385131836], [0.9882781822215206, 0.15265383166605861, -0.0017441968345991172, -1.2511956691741943], [0.00159503178273433, 0.0010996019473189806, 0.9999981233728239, 0.006251463200896978], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397007942199707, -1.151192307472229, -1.6009718179702759, -1.8012012243270874, -0.42274436354637146, -0.0004479703202378005, -0.0009672467713244259, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8638430833816528, -1.3944021463394165, 1.5910426378250122, -1.3314054012298584, 1.4680931568145752, 0.4796174168586731, -0.3690350353717804, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15260716282482734, -0.9882865752518762, 0.0008360810211859252, -27.30405616760254], [0.9882856585692517, 0.15260555561936018, -0.0017324723509550032, -1.2525261640548706], [0.0015845885576630068, 0.001090674572791686, 0.9999981497523279, 0.006068974733352661], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739701271057129, -1.1511921882629395, -1.6009743213653564, -1.8012001514434814, -0.4227447211742401, -0.00044785047066397965, -0.0009601761121302843, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8569301962852478, -1.3840925693511963, 1.5936002731323242, -1.305949091911316, 1.5402225255966187, 0.4776039719581604, -0.3669918477535248, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15246204225583837, -0.9883089749952514, 0.0008340353796763264, -27.303857803344727], [0.9883080198681372, 0.15246041385434084, -0.0017550133004779474, -1.2565370798110962], [0.0016073380169437782, 0.0010918567665649072, 0.9999981121548683, 0.005978014785796404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739700198173523, -1.1511924266815186, -1.6009751558303833, -1.8012009859085083, -0.4227442443370819, -0.00044281710870563984, -0.0009602959617041051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8551367521286011, -1.3738596439361572, 1.5893784761428833, -1.2928268909454346, 1.5933740139007568, 0.46737566590309143, -0.36617907881736755, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15242360333398897, -0.9883149046582419, 0.0008332928974564859, -27.303810119628906], [0.9883139460415491, 0.1524219743883347, -0.0017566397876501109, -1.257604956626892], [0.0016091011355762002, 0.0010913083578870987, 0.9999981099180155, 0.005953577812761068], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397006750106812, -1.15119206905365, -1.6009773015975952, -1.801201581954956, -0.42274388670921326, -0.00043778374674730003, -0.0009598165634088218, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8527275323867798, -1.3666486740112305, 1.5882474184036255, -1.2767547369003296, 1.6374845504760742, 0.46327081322669983, -0.36035364866256714, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1523798076276659, -0.9883216655706074, 0.0008243731535442582, -27.303752899169922], [0.9883207292119123, 0.15237821470980095, -0.0017366323409941965, -1.2588073015213013], [0.0015907348583434045, 0.0010793727782942638, 0.9999981522568009, 0.005732928402721882], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397009134292603, -1.1511921882629395, -1.6009788513183594, -1.8012028932571411, -0.42274364829063416, -0.000428436032962054, -0.000958138785790652, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.844323992729187, -1.3567495346069336, 1.584855556488037, -1.2556898593902588, 1.6931151151657104, 0.45798924565315247, -0.3617379665374756, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15230402287613887, -0.9883333489795028, 0.0008221378869265835, -27.303659439086914], [0.9883324209554555, 0.1523024409540652, -0.0017297883575219128, -1.260905385017395], [0.0015843939134356495, 0.001075999253720249, 0.9999981659590846, 0.005677220411598682], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739700436592102, -1.1511919498443604, -1.6009801626205444, -1.801203727722168, -0.4227435290813446, -0.00042088597547262907, -0.0009610150009393692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8429754972457886, -1.3502408266067505, 1.5783483982086182, -1.2479006052017212, 1.7233126163482666, 0.4479745328426361, -0.35853588581085205, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15240997599327222, -0.9883170045429179, 0.0008353137396756413, -27.30379867553711], [0.9883160730983707, 0.1524083608529806, -0.0017410334641910165, -1.2579796314239502], [0.0015933841802763078, 0.001090904863482181, 0.9999981355249783, 0.006027526687830687], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397000789642334, -1.15119206905365, -1.60098135471344, -1.8012046813964844, -0.4227447211742401, -0.00041693117236718535, -0.0009646102553233504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8459386229515076, -1.343231201171875, 1.57713782787323, -1.2434889078140259, 1.759170651435852, 0.4474910795688629, -0.35699915885925293, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15230996029005972, -0.9883324196477219, 0.0008392077927938381, -27.30365753173828], [0.9883315275701924, 0.1523083634112884, -0.001718733762064018, -1.260740876197815], [0.0015708619323085342, 0.001091195790849899, 0.999998170840595, 0.0061574093997478485], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739700436592102, -1.1511921882629395, -1.6009817123413086, -1.8012081384658813, -0.42274507880210876, -0.0004188486491329968, -0.0009752762271091342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8440479636192322, -1.3354260921478271, 1.5746442079544067, -1.233831524848938, 1.7938112020492554, 0.447856605052948, -0.356806218624115, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1524044516585632, -0.9883178583369804, 0.0008330707395595703, -27.303783416748047], [0.9883169815199453, 0.15240287943277575, -0.0017048108115021048, -1.258128046989441], [0.0015579325906134192, 0.0010831587156226714, 0.9999981998049996, 0.006011607125401497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397013902664185, -1.15119206905365, -1.6009821891784668, -1.8012073040008545, -0.42274531722068787, -0.0004187288286630064, -0.000980069860816002, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8431086540222168, -1.3291369676589966, 1.571262001991272, -1.22919762134552, 1.8196995258331299, 0.4476836621761322, -0.3579327166080475, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15245291299306396, -0.9883103842174102, 0.0008329273463138759, -27.303848266601562], [0.988309493763946, 0.15245133154179613, -0.0017134897683202908, -1.2567917108535767], [0.0015664788482581027, 0.0010844165105418522, 0.9999981850907779, 0.005998999811708927], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739701271057129, -1.151192307472229, -1.6009814739227295, -1.8012080192565918, -0.42274558544158936, -0.0004224439326208085, -0.000990496133454144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8437623381614685, -1.3224929571151733, 1.5644394159317017, -1.2295924425125122, 1.825539231300354, 0.44691476225852966, -0.35554787516593933, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397013902664185, -1.15119206905365, -1.600980520248413, -1.801208257675171, -0.42274558544158936, -0.0004275971441529691, -0.0009961287723854184, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.843869149684906, -1.3168530464172363, 1.556699514389038, -1.2294988632202148, 1.8301410675048828, 0.44328737258911133, -0.3524148166179657, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397018671035767, -1.1511921882629395, -1.6009801626205444, -1.801208257675171, -0.4227466583251953, -0.0004343083128333092, -0.0010011621052399278, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8436475396156311, -1.3123912811279297, 1.5507888793945312, -1.2281615734100342, 1.8292560577392578, 0.4421042799949646, -0.3469948470592499, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397018671035767, -1.1511918306350708, -1.6009784936904907, -1.8012080192565918, -0.422745943069458, -0.00043742419802583754, -0.0010034391889348626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8429885506629944, -1.3084121942520142, 1.5462511777877808, -1.2276297807693481, 1.8308409452438354, 0.44101816415786743, -0.34540116786956787, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397021055221558, -1.1511917114257812, -1.6009780168533325, -1.8012081384658813, -0.42274701595306396, -0.0004406599618960172, -0.0010041581699624658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8434697985649109, -1.3059871196746826, 1.5416110754013062, -1.2315548658370972, 1.8335545063018799, 0.43570446968078613, -0.34804898500442505, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397018671035767, -1.1511919498443604, -1.6009771823883057, -1.8012069463729858, -0.42274701595306396, -0.0004403004131745547, -0.0010049970587715507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.848554790019989, -1.3027819395065308, 1.539869785308838, -1.2398005723953247, 1.8373231887817383, 0.43326354026794434, -0.35166677832603455, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397022247314453, -1.1511918306350708, -1.6009751558303833, -1.8012069463729858, -0.42274630069732666, -0.0004403004131745547, -0.0010067947441712022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8504890203475952, -1.3009041547775269, 1.5393542051315308, -1.243531584739685, 1.8461987972259521, 0.4324161112308502, -0.3552159070968628, 0.030000009117545676, 0.030000009117545676, 0.030000009117545676, 0.030000009117545676, -0.030000009117545676, -0.030000009117545676, -0.030000009117545676, 0.030000009117545676, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397042512893677, -1.1511913537979126, -1.6009736061096191, -1.8011934757232666, -0.42274460196495056, -0.0004368250083643943, -0.000997087568975985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.857527494430542, -1.295374870300293, 1.5416511297225952, -1.266502022743225, 1.8448443412780762, 0.4166991710662842, -0.3582705557346344, 0.1356000124753177, 0.1356000124753177, 0.1356000124753177, 0.1356000124753177, -0.1356000124753177, -0.1356000124753177, -0.1356000124753177, 0.1356000124753177, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7397091388702393, -1.1511893272399902, -1.6009730100631714, -1.8011983633041382, -0.4227442443370819, -0.00042951462091878057, -0.0009925335180014372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.859241783618927, -1.2868841886520386, 1.552451252937317, -1.279374122619629, 1.858081340789795, 0.41549572348594666, -0.3587653934955597, 0.49800000256234467, 0.49800000256234467, 0.49800000256234467, 0.49800000256234467, -0.49800000256234467, -0.49800000256234467, -0.49800000256234467, 0.49800000256234467, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15247638656731743, -0.9883067656154977, 0.000829806006051218, -27.303884506225586], [0.9883058680919199, 0.1524748074141261, -0.0017158668659608195, -1.2561458349227905], [0.0015692783215607937, 0.0010817313247106313, 0.9999981836097956, 0.005912148393690586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7397091388702393, -1.1511907577514648, -1.60097074508667, -1.8012001514434814, -0.4227449595928192, -0.00042460107943043113, -0.000994211295619607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8675675392150879, -1.2825915813446045, 1.5546892881393433, -1.2880500555038452, 1.8684824705123901, 0.4169616103172302, -0.3653743267059326, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, -0.5729999998113611, -0.5729999998113611, -0.5729999998113611, 0.5729999998113611, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15120789229744203, -0.9885016320246583, 0.0008347404099237369, -27.302242279052734], [0.9885007088650651, 0.15120628663799496, -0.0017342013758802671, -1.2911736965179443], [0.0015880428926258062, 0.001087366421794108, 0.9999981478753028, 0.005961126182228327], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8128019571304321, 0.0, 0.0, 1.7397085428237915, -1.1511908769607544, -1.600969910621643, -1.801200270652771, -0.4227442443370819, -0.00042136534466408193, -0.000991095439530909, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8959851861000061, -1.2824804782867432, 1.559616208076477, -1.3179247379302979, 1.872601866722107, 0.42112818360328674, -0.37725070118904114, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15158559939035088, -0.9884437805467462, 0.0008359162181991861, -27.302734375], [0.9884428538833983, 0.15158398781162818, -0.0017375977575981541, -1.2807526588439941], [0.0015908061827588204, 0.0010896502099090666, 0.9999981409973265, 0.006007493007928133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739708423614502, -1.151191234588623, -1.6009705066680908, -1.8012001514434814, -0.4227428138256073, -0.0004170510219410062, -0.0009858222911134362, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9263949394226074, -1.2812143564224243, 1.5772438049316406, -1.3411606550216675, 1.8858416080474854, 0.43554866313934326, -0.39340853691101074, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15140359119134095, -0.988471685129387, 0.0008247859330356166, -27.302486419677734], [0.9884707501240627, 0.15140200022338035, -0.0017350727744456838, -1.285780668258667], [0.0015901960691607465, 0.001077973018948891, 0.9999981546236133, 0.005697712302207947], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397093772888184, -1.1511908769607544, -1.6009732484817505, -1.8011971712112427, -0.42274221777915955, -0.0004162121331319213, -0.0009643705561757088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.960074245929718, -1.274213194847107, 1.594205617904663, -1.3820841312408447, 1.863088607788086, 0.4336814284324646, -0.3948047161102295, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.151428250067126, -0.9884679007459066, 0.0008332326136769959, -27.302532196044922], [0.9884669818378413, 0.15142665038366288, -0.0017307137176240323, -1.2850996255874634], [0.001584581331572439, 0.0010857018764371335, 0.9999981551750179, 0.005935668479651213], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397087812423706, -1.1511915922164917, -1.6009734869003296, -1.8012045621871948, -0.4227413833141327, -0.0004192081978544593, -0.000962692778557539, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9633084535598755, -1.2698267698287964, 1.5969020128250122, -1.3855960369110107, 1.8581266403198242, 0.4311678409576416, -0.3948078155517578, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15071466866091776, -0.9885769515584936, 0.0008363598180685115, -27.301584243774414], [0.9885760679353011, 0.15071308747642265, -0.0017097277277818494, -1.3047813177108765], [0.0015641470547032865, 0.001084486348318278, 0.9999981886650353, 0.0060136872343719006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397077083587646, -1.1511919498443604, -1.6009739637374878, -1.8012032508850098, -0.42274174094200134, -0.0004228034522384405, -0.000962692778557539, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9601155519485474, -1.2698934078216553, 1.5963343381881714, -1.381950855255127, 1.8591488599777222, 0.43118593096733093, -0.3947966694831848, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15142700499583572, -0.9884680816462538, 0.0008448222097114723, -27.302534103393555], [0.9884671790556026, 0.151425389504508, -0.0017283932616723146, -1.2851340770721436], [0.0015805340395279256, 0.001096804441507042, 0.9999981494643713, 0.0062549482099711895], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739708423614502, -1.1511914730072021, -1.6009751558303833, -1.8012038469314575, -0.42274174094200134, -0.00043035350972786546, -0.0009630523272790015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9595040082931519, -1.2707520723342896, 1.5955607891082764, -1.3819916248321533, 1.859472632408142, 0.43123340606689453, -0.39468199014663696, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121389915268746, -0.9885007199080031, 0.0008267069616772446, -27.302248001098633], [0.9884998161599245, 0.1512123254215324, -0.0017164184828616605, -1.2910196781158447], [0.0015716726238547678, 0.0010767460110073382, 0.9999981852299489, 0.005765529349446297], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397081851959229, -1.1511914730072021, -1.6009753942489624, -1.8012042045593262, -0.4227428138256073, -0.00043490753159858286, -0.0009631721768528223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9595192670822144, -1.2707687616348267, 1.595536708831787, -1.3820369243621826, 1.8594871759414673, 0.4312487244606018, -0.3946550190448761, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121940253623245, -0.9884998836955904, 0.0008198965722687807, -27.3022518157959], [0.9884989747260736, 0.15121784092285384, -0.0017150953710661364, -1.290866494178772], [0.0015713885853871875, 0.001069822618374391, 0.999998193107107, 0.005581700708717108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739708662033081, -1.1511919498443604, -1.6009774208068848, -1.8012058734893799, -0.4227425754070282, -0.00043730437755584717, -0.0009648499544709921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.959534227848053, -1.2707761526107788, 1.5955204963684082, -1.3822354078292847, 1.859491229057312, 0.4312596321105957, -0.39462950825691223, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512533423018798, -0.9884946825817493, 0.000830030190375792, -27.302303314208984], [0.9884937919869152, 0.1512517698577046, -0.001710356173768117, -1.2899194955825806], [0.0015651344477609842, 0.00107917677815727, 0.9999981928641881, 0.005866083782166243], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739708423614502, -1.1511918306350708, -1.6009775400161743, -1.8012059926986694, -0.42274293303489685, -0.00043814326636493206, -0.0009689246071502566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9595527052879333, -1.2707778215408325, 1.5955123901367188, -1.3822393417358398, 1.8594913482666016, 0.431264191865921, -0.3946109116077423, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15128274681712628, -0.988490187786141, 0.0008241152740704614, -27.302337646484375], [0.9884892947292871, 0.15128118625214548, -0.0017078910211047252, -1.289109230041504], [0.0015635603799001826, 0.001073003570978573, 0.999998201969521, 0.005709114018827677], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397059202194214, -1.1511930227279663, -1.6009752750396729, -1.8012088537216187, -0.4227435290813446, -0.00044137900113128126, -0.0009858222911134362, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9592825174331665, -1.2703803777694702, 1.6074774265289307, -1.3738542795181274, 1.8800922632217407, 0.4422834515571594, -0.4077070355415344, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15140519983793066, -0.9884714368683029, 0.0008270172603590568, -27.302494049072266], [0.988470467108625, 0.1514035802102004, -0.0017582814308830267, -1.2857353687286377], [0.0016127975982898086, 0.0010836950890681795, 0.9999981122426487, 0.005729163531213999], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397164106369019, -1.151191234588623, -1.6009857654571533, -1.8012077808380127, -0.42274582386016846, -0.0004403004131745547, -0.000982107245363295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.946373462677002, -1.2672078609466553, 1.6475038528442383, -1.3348830938339233, 2.005905866622925, 0.4880296289920807, -0.4505520761013031, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15122988634245327, -0.9884982604247939, 0.00084297924340679, -27.302274703979492], [0.9884973305089697, 0.1512282567123453, -0.0017441182258357182, -1.2905683517456055], [0.0015965755507886849, 0.0010970455328430198, 0.9999981237170446, 0.0061750346794724464], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397119998931885, -1.1511921882629395, -1.6009788513183594, -1.8012113571166992, -0.42274630069732666, -0.0004385027859825641, -0.001006195554509759, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9114723801612854, -1.2548413276672363, 1.6519851684570312, -1.285010814666748, 2.098796844482422, 0.523220956325531, -0.47645971179008484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15036550198724075, -0.9886301401561715, 0.0008135028664954446, -27.30112648010254], [0.9886291926792515, 0.15036393082242883, -0.0017342692983667808, -1.3144407272338867], [0.0015922294107713272, 0.0010650269557756292, 0.9999981652598603, 0.005340592470020056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397122383117676, -1.151192545890808, -1.6009801626205444, -1.8012089729309082, -0.42274725437164307, -0.00043358924449421465, -0.0010065550450235605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8698597550392151, -1.2470030784606934, 1.6405750513076782, -1.2365230321884155, 2.125986099243164, 0.5480784177780151, -0.47552672028541565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15109558591888295, -0.9885188075431793, 0.0008312937148202381, -27.302085876464844], [0.98851785213596, 0.15109396659927132, -0.0017519320211413435, -1.2942852973937988], [0.0016062142876541196, 0.0010864578726926292, 0.999998119840709, 0.005839010234922171], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397117614746094, -1.1511927843093872, -1.6009782552719116, -1.8012093305587769, -0.42274701595306396, -0.0004252002981957048, -0.0010085923131555319, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8341892957687378, -1.244019627571106, 1.6137851476669312, -1.1931198835372925, 2.12705397605896, 0.5558345913887024, -0.4646330773830414, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509234339758987, -0.9885451153729449, 0.0008197250842113547, -27.301864624023438], [0.9885441398346944, 0.15092182851019387, -0.0017564958366293384, -1.2990378141403198], [0.0016126609708879962, 0.0010754308117011046, 0.9999981213848165, 0.005508347414433956], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739711880683899, -1.1511931419372559, -1.6009767055511475, -1.801207184791565, -0.42274749279022217, -0.0004189684987068176, -0.001008472521789372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8016963601112366, -1.2435815334320068, 1.5843268632888794, -1.1392974853515625, 2.1161608695983887, 0.5579786896705627, -0.45145508646965027, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15120588933284573, -0.9885019471319617, 0.0008243466403143451, -27.302228927612305], [0.9885009682227153, 0.1512042702380917, -0.001761954744178281, -1.2912354469299316], [0.0016170509632066755, 0.0010812853861595759, 0.9999981079822582, 0.005642589181661606], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397117614746094, -1.1511930227279663, -1.6009752750396729, -1.8012059926986694, -0.4227473735809326, -0.00041549306479282677, -0.0010075138416141272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7858896255493164, -1.2435890436172485, 1.566773772239685, -1.1111443042755127, 2.1080126762390137, 0.5585818290710449, -0.439833402633667, 0.5526000022888183, 0.5526000022888183, 0.5526000022888183, 0.5526000022888183, -0.5526000022888183, -0.5526000022888183, -0.5526000022888183, 0.5526000022888183, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512839527341635, -0.9884899985580785, 0.0008296961956981868, -27.302331924438477], [0.9884890100644248, 0.1512823145078207, -0.0017715244876200741, -1.2890770435333252], [0.0016256158773896125, 0.0010881487979924483, 0.9999980866507758, 0.005779312923550606], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739710807800293, -1.1511954069137573, -1.6009712219238281, -1.8012044429779053, -0.42274796962738037, -0.00041249702917411923, -0.0010037986794486642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7767499089241028, -1.2435657978057861, 1.5525107383728027, -1.093297004699707, 2.1028385162353516, 0.5533090233802795, -0.42452630400657654, 0.36419999049260066, 0.36419999049260066, 0.36419999049260066, 0.36419999049260066, -0.36419999049260066, -0.36419999049260066, -0.36419999049260066, 0.36419999049260066, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511099681302479, -0.9885166146276955, 0.000824703992767358, -27.302104949951172], [0.9885156209461473, 0.15110833854168948, -0.0017712054151916429, -1.2938822507858276], [0.0016262463306997118, 0.0010828795733489234, 0.9999980913455293, 0.005634163971990347], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397112846374512, -1.151198148727417, -1.6009693145751953, -1.8012022972106934, -0.4227473735809326, -0.000417170871514827, -0.0010125471744686365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7719904780387878, -1.243693470954895, 1.5446327924728394, -1.0835041999816895, 2.1022658348083496, 0.5445835590362549, -0.41783085465431213, 0.26099998453161216, 0.26099998453161216, 0.26099998453161216, 0.26099998453161216, -0.26099998453161216, -0.26099998453161216, -0.26099998453161216, 0.26099998453161216, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15128188094504824, -0.9884903214973623, 0.0008226808430941627, -27.302326202392578], [0.9884892569952043, 0.15128020910397544, -0.0018130467524283948, -1.2891409397125244], [0.0016677238372285726, 0.0010874922982830161, 0.9999980180268878, 0.005534013267606497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397115230560303, -1.1511969566345215, -1.6009684801101685, -1.8012020587921143, -0.42274677753448486, -0.0004236423410475254, -0.0010018812026828527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7687051296234131, -1.2440159320831299, 1.5433744192123413, -1.0780750513076782, 2.1071808338165283, 0.5416237115859985, -0.4141724109649658, 0.21480000516870518, 0.21480000516870518, 0.21480000516870518, 0.21480000516870518, -0.21480000516870518, -0.21480000516870518, -0.21480000516870518, 0.21480000516870518, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510433659177206, -0.9885267988442541, 0.0008182780559580885, -27.30201530456543], [0.9885257665112818, 0.15104172603806898, -0.0017905135363276918, -1.2957245111465454], [0.0016463764844023333, 0.0010793341337335062, 0.9999980622392722, 0.005431118421256542], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397106885910034, -1.151197075843811, -1.6009660959243774, -1.8012020587921143, -0.42274531722068787, -0.00043035350972786546, -0.0009997240267693996, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7613661289215088, -1.2440282106399536, 1.5385868549346924, -1.0654281377792358, 2.105454683303833, 0.5420807600021362, -0.4103828966617584, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, -0.16199998383993633, -0.16199998383993633, -0.16199998383993633, 0.16199998383993633, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511001974029469, -0.9885181087455048, 0.000824030946450194, -27.30208969116211], [0.9885170834102709, 0.15109854844205084, -0.0017901018844320357, -1.2941529750823975], [0.001645038249380567, 0.0010850534159338185, 0.9999980582522361, 0.005591454450041056], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739711880683899, -1.151196002960205, -1.600966453552246, -1.8012008666992188, -0.4227440059185028, -0.00043898215517401695, -0.0009863016894087195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7563872337341309, -1.244138479232788, 1.5358803272247314, -1.0576766729354858, 2.1065258979797363, 0.5434139966964722, -0.40752261877059937, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, -0.12299999666737986, -0.12299999666737986, -0.12299999666737986, 0.12299999666737986, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15118576278476326, -0.9885050346748202, 0.0008133595277952118, -27.302200317382812], [0.9885039931071078, 0.1511841281337526, -0.0017930453814443126, -1.2917885780334473], [0.001649467335889137, 0.0010750920747586335, 0.9999980617153909, 0.005300614517182112], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397104501724243, -1.1511961221694946, -1.6009660959243774, -1.8012030124664307, -0.42274209856987, -0.000445693323854357, -0.0009678460191935301, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.754469096660614, -1.244331955909729, 1.5347293615341187, -1.0555412769317627, 2.10764217376709, 0.5424244999885559, -0.40576547384262085, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15108618730287748, -0.9885202346964507, 0.0008423787472428037, -27.30206871032715], [0.9885191886339113, 0.15108448096270544, -0.0018147492343128942, -1.2945407629013062], [0.0016666459832169935, 0.0011068910984700583, 0.9999979985396285, 0.006059799809008837], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397109270095825, -1.151194453239441, -1.6009665727615356, -1.8012018203735352, -0.42274174094200134, -0.00044880920904688537, -0.0009685650584287941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.753925621509552, -1.2443069219589233, 1.5346606969833374, -1.0547398328781128, 2.1103198528289795, 0.5407750606536865, -0.40635547041893005, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106585808113882, -0.9885233631739642, 0.0008166893192861101, -27.302045822143555], [0.9885222864063733, 0.1510641929703772, -0.0018162819507958527, -1.2951014041900635], [0.0016720646295474016, 0.0010816937845986305, 0.9999980170672494, 0.005355531349778175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739711046218872, -1.1511939764022827, -1.6009674072265625, -1.801202654838562, -0.42274174094200134, -0.0004510862345341593, -0.0009683253592811525, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7552512884140015, -1.243747591972351, 1.5351989269256592, -1.0553803443908691, 2.1096532344818115, 0.5396105647087097, -0.4043373167514801, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510922695115431, -0.9885193220718883, 0.0008221826960766675, -27.30207633972168], [0.988518250159443, 0.15109059444334683, -0.0018169679329071622, -1.294373631477356], [0.0016718838369724908, 0.0010872724086497209, 0.9999980113195951, 0.005505814217031002], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397111654281616, -1.1511939764022827, -1.6009687185287476, -1.8012043237686157, -0.4227418601512909, -0.0004483298398554325, -0.0009677261696197093, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7587271332740784, -1.2435247898101807, 1.5355424880981445, -1.0595558881759644, 2.1057069301605225, 0.5369412302970886, -0.40319234132766724, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15108232481727868, -0.9885208447310051, 0.0008189384019822127, -27.30206298828125], [0.988519761271999, 0.15108064999985504, -0.0018217492613954167, -1.2946470975875854], [0.001677111372681367, 0.0010847709072697093, 0.9999980052827717, 0.005410614423453808], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397112846374512, -1.1511939764022827, -1.6009703874588013, -1.801206111907959, -0.4227413833141327, -0.0004424575890880078, -0.0009659285424277186, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7725446820259094, -1.2432684898376465, 1.5409331321716309, -1.0813558101654053, 2.1004300117492676, 0.5338112711906433, -0.4032222032546997, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15119799555011026, -0.9885031533190687, 0.0008258449530770722, -27.302213668823242], [0.9885020556028118, 0.15119629475683094, -0.0018348081155400153, -1.2914537191390991], [0.0016888489109978414, 0.001093768743014619, 0.9999979757275975, 0.005588088650256395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397123575210571, -1.1511942148208618, -1.6009724140167236, -1.801207184791565, -0.42274126410484314, -0.00043263050611130893, -0.0009655689937062562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7895374894142151, -1.2419267892837524, 1.5499557256698608, -1.1016255617141724, 2.1009702682495117, 0.5302219986915588, -0.41027405858039856, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739711880683899, -1.1511938571929932, -1.6009728908538818, -1.8012081384658813, -0.42274197936058044, -0.00042388204019516706, -0.0009660483920015395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8114736676216125, -1.2385412454605103, 1.563016653060913, -1.1291707754135132, 2.0993621349334717, 0.5252431631088257, -0.4177764356136322, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397130727767944, -1.1511939764022827, -1.6009775400161743, -1.8012083768844604, -0.42274340987205505, -0.00041992723708972335, -0.0009667674312368035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8359364867210388, -1.2329096794128418, 1.5872349739074707, -1.158133625984192, 2.1011431217193604, 0.5250568389892578, -0.43204593658447266, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397139072418213, -1.1511940956115723, -1.600978136062622, -1.8012083768844604, -0.4227440059185028, -0.00041812960989773273, -0.0009715611231513321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8656337261199951, -1.2234055995941162, 1.6128566265106201, -1.1978594064712524, 2.106029987335205, 0.5247111916542053, -0.4503578245639801, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.73971426486969, -1.1511939764022827, -1.6009783744812012, -1.8012086153030396, -0.42274388670921326, -0.0004165716527495533, -0.0009762349654920399, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8996965885162354, -1.2159589529037476, 1.6349445581436157, -1.2438148260116577, 2.114865303039551, 0.5180791020393372, -0.46638983488082886, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397139072418213, -1.1511940956115723, -1.6009782552719116, -1.80120849609375, -0.42274412512779236, -0.0004174105415586382, -0.0009819873375818133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.921054482460022, -1.2108244895935059, 1.64255690574646, -1.2695376873016357, 2.113938093185425, 0.5144718885421753, -0.48080626130104065, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397137880325317, -1.1511942148208618, -1.600978136062622, -1.801209568977356, -0.42274412512779236, -0.0004224439326208085, -0.000988938263617456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9326336979866028, -1.2086559534072876, 1.6433014869689941, -1.2826372385025024, 2.1044318675994873, 0.5142409205436707, -0.48251473903656006, 0.046799990895030265, 0.046799990895030265, 0.046799990895030265, 0.046799990895030265, -0.046799990895030265, -0.046799990895030265, -0.046799990895030265, 0.046799990895030265, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397143840789795, -1.1511926651000977, -1.6009770631790161, -1.8012075424194336, -0.4227449595928192, -0.00043251068564131856, -0.0010067947441712022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9354874491691589, -1.2069282531738281, 1.6424450874328613, -1.2879992723464966, 2.098526954650879, 0.520706057548523, -0.48308050632476807, 0.4565999983431218, 0.4565999983431218, 0.4565999983431218, 0.4565999983431218, -0.4565999983431218, -0.4565999983431218, -0.4565999983431218, 0.4565999983431218, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.73971426486969, -1.1511932611465454, -1.6009762287139893, -1.801207184791565, -0.42274606227874756, -0.000442337739514187, -0.0010073939338326454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9235683083534241, -1.2040821313858032, 1.6239750385284424, -1.2770946025848389, 2.0766379833221436, 0.531091570854187, -0.47567474842071533, 0.5831999998007501, 0.5831999998007501, 0.5831999998007501, 0.5831999998007501, -0.5831999998007501, -0.5831999998007501, -0.5831999998007501, 0.5831999998007501, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397143840789795, -1.1511931419372559, -1.6009740829467773, -1.8012065887451172, -0.42274630069732666, -0.0004455734742805362, -0.0010097908088937402, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8894966840744019, -1.2049925327301025, 1.5938669443130493, -1.2367613315582275, 2.0509133338928223, 0.5440181493759155, -0.4540264308452606, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397143840789795, -1.1511926651000977, -1.6009737253189087, -1.8012056350708008, -0.422745943069458, -0.00044761080062016845, -0.0010090717114508152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8473379611968994, -1.2095245122909546, 1.5645201206207275, -1.1874816417694092, 2.0209102630615234, 0.5556678771972656, -0.4256843328475952, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397143840789795, -1.1511926651000977, -1.6009719371795654, -1.801203727722168, -0.4227454364299774, -0.00044916875776834786, -0.0010075138416141272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.810824453830719, -1.2153161764144897, 1.5438023805618286, -1.145938515663147, 2.002589702606201, 0.5636764764785767, -0.40304136276245117, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739716649055481, -1.1511917114257812, -1.6009714603424072, -1.801201581954956, -0.4227449595928192, -0.00044521395466290414, -0.0010057161562144756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7898318767547607, -1.22066068649292, 1.5313987731933594, -1.1243239641189575, 1.9928829669952393, 0.5653393864631653, -0.3896758258342743, 0.5652000009031086, 0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.5652000009031086, -0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397222518920898, -1.15119206905365, -1.6009663343429565, -1.8011971712112427, -0.4227447211742401, -0.0004367051587905735, -0.0010012820130214095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7770712375640869, -1.2245844602584839, 1.5174615383148193, -1.1086984872817993, 1.977494716644287, 0.5661848783493042, -0.37797287106513977, 0.4661999977551974, 0.4661999977551974, 0.4661999977551974, 0.4661999977551974, -0.4661999977551974, -0.4661999977551974, -0.4661999977551974, 0.4661999977551974, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397265434265137, -1.1511893272399902, -1.6009665727615356, -1.8011983633041382, -0.422744482755661, -0.0004290352517273277, -0.0009985256474465132, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7699244022369385, -1.2299067974090576, 1.5126975774765015, -1.0987714529037476, 1.972001075744629, 0.5685150623321533, -0.3737269639968872, 0.27839999513311703, 0.27839999513311703, 0.27839999513311703, 0.27839999513311703, -0.27839999513311703, -0.27839999513311703, -0.27839999513311703, 0.27839999513311703, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739727258682251, -1.1511915922164917, -1.6009657382965088, -1.8012021780014038, -0.4227428138256073, -0.00041812960989773273, -0.000987380277365446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7654810547828674, -1.2336997985839844, 1.5114001035690308, -1.0937795639038086, 1.9685747623443604, 0.5680181980133057, -0.36868882179260254, 0.19499999717041686, 0.19499999717041686, 0.19499999717041686, 0.19499999717041686, -0.19499999717041686, -0.19499999717041686, -0.19499999717041686, 0.19499999717041686, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397282123565674, -1.1511870622634888, -1.6009657382965088, -1.801196575164795, -0.42274054884910583, -0.0004132160684093833, -0.0009734785999171436, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7653437852859497, -1.2365105152130127, 1.5128504037857056, -1.09416663646698, 1.9655872583389282, 0.562135636806488, -0.3637305796146393, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, -0.10259999914483708, -0.10259999914483708, -0.10259999914483708, 0.10259999914483708, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397327423095703, -1.1511882543563843, -1.6009663343429565, -1.801208257675171, -0.42273980379104614, -0.00041129859164357185, -0.0009665277320891619, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7653035521507263, -1.238085150718689, 1.5188629627227783, -1.1029000282287598, 1.9652175903320312, 0.5625048875808716, -0.3629743754863739, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739732265472412, -1.1511858701705933, -1.6009680032730103, -1.8012058734893799, -0.42273932695388794, -0.000414174806792289, -0.0009602959617041051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7704847455024719, -1.2385867834091187, 1.523590087890625, -1.1124447584152222, 1.9641534090042114, 0.562519371509552, -0.3697068691253662, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739732265472412, -1.1511858701705933, -1.6009689569473267, -1.8012069463729858, -0.4227399528026581, -0.00041932801832444966, -0.0009600562625564635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7804818153381348, -1.239949107170105, 1.5314587354660034, -1.125314474105835, 1.965132236480713, 0.5629506707191467, -0.3740079998970032, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397321462631226, -1.1511859893798828, -1.6009715795516968, -1.8012067079544067, -0.4227399528026581, -0.0004256796673871577, -0.0009607753017917275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7978881001472473, -1.2402111291885376, 1.5410034656524658, -1.150465965270996, 1.9705029726028442, 0.5622085332870483, -0.3839883506298065, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397316694259644, -1.1511857509613037, -1.6009728908538818, -1.8012081384658813, -0.42274031043052673, -0.00043394879321567714, -0.0009608951513655484, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8214135766029358, -1.2396808862686157, 1.5506631135940552, -1.185219168663025, 1.9761388301849365, 0.5552451014518738, -0.397127240896225, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397308349609375, -1.1511855125427246, -1.6009753942489624, -1.8012081384658813, -0.42274031043052673, -0.00044281710870563984, -0.000959696713835001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8556421995162964, -1.2390305995941162, 1.5673967599868774, -1.2348605394363403, 1.9880459308624268, 0.5451992750167847, -0.4171811640262604, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397310733795166, -1.1511855125427246, -1.6009769439697266, -1.801209807395935, -0.42274102568626404, -0.00044785047066397965, -0.0009631721768528223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8983868956565857, -1.237801432609558, 1.5866011381149292, -1.296040415763855, 2.002439498901367, 0.5324159860610962, -0.44090479612350464, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397303581237793, -1.151185393333435, -1.6009793281555176, -1.801208257675171, -0.4227425754070282, -0.00044856953900307417, -0.0009672467713244259, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9476580023765564, -1.2351462841033936, 1.6090102195739746, -1.3657724857330322, 2.0143775939941406, 0.5199299454689026, -0.4643307030200958, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397304773330688, -1.1511856317520142, -1.6009800434112549, -1.8012094497680664, -0.42274436354637146, -0.0004489290586207062, -0.0009786317823454738, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9961767792701721, -1.22934091091156, 1.6330565214157104, -1.4331743717193604, 2.02522349357605, 0.5127257704734802, -0.4855386018753052, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397311925888062, -1.1511857509613037, -1.6009807586669922, -1.8012069463729858, -0.4227449595928192, -0.00044605284347198904, -0.0009817477548494935, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0512536764144897, -1.224029779434204, 1.660687804222107, -1.5061508417129517, 2.0373544692993164, 0.5029080510139465, -0.5089246034622192, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397297620773315, -1.1511865854263306, -1.6009788513183594, -1.8012080192565918, -0.422744482755661, -0.0004418583703227341, -0.0010026003001257777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1065994501113892, -1.2187373638153076, 1.6864013671875, -1.5783473253250122, 2.0388853549957275, 0.488054096698761, -0.5250128507614136, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397302389144897, -1.1511863470077515, -1.6009786128997803, -1.8012059926986694, -0.4227451980113983, -0.00042975429096259177, -0.0010049970587715507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1538407802581787, -1.2157084941864014, 1.7172704935073853, -1.633195161819458, 2.060049057006836, 0.4785105586051941, -0.5440207719802856, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397302389144897, -1.1511868238449097, -1.600976824760437, -1.8012056350708008, -0.42274484038352966, -0.0004212454950902611, -0.0010067947441712022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1995735168457031, -1.2123701572418213, 1.748793601989746, -1.6896824836730957, 2.0704641342163086, 0.46878477931022644, -0.5624881982803345, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7397305965423584, -1.1511867046356201, -1.6009767055511475, -1.8012038469314575, -0.4227447211742401, -0.00041489387513138354, -0.0010063153458759189, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2455183267593384, -1.2104315757751465, 1.7833495140075684, -1.7419910430908203, 2.0836217403411865, 0.4582696855068207, -0.5799365639686584, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739729404449463, -1.1511873006820679, -1.600973129272461, -1.8012045621871948, -0.4227449595928192, -0.0004126168496441096, -0.0010082328226417303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2792657613754272, -1.2081047296524048, 1.8133330345153809, -1.7787435054779053, 2.094374418258667, 0.4546043276786804, -0.5933308005332947, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397300004959106, -1.1511871814727783, -1.6009730100631714, -1.8012027740478516, -0.422744482755661, -0.00041309621883556247, -0.0010067947441712022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3087471723556519, -1.2061725854873657, 1.8391300439834595, -1.8126673698425293, 2.0992684364318848, 0.449898362159729, -0.6046429872512817, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7397311925888062, -1.1511873006820679, -1.6009715795516968, -1.8012008666992188, -0.42274364829063416, -0.0004178899107500911, -0.0010060756467282772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3391021490097046, -1.20499587059021, 1.8645302057266235, -1.8459692001342773, 2.103241205215454, 0.44098135828971863, -0.6136605143547058, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511602920062275, -0.9885089279799802, 0.0008157355345711294, -27.30217170715332], [0.9885078324388891, 0.15115861684317466, -0.0018269540299272245, -1.2924954891204834], [0.0016826549144764657, 0.0010825238697680388, 0.9999979984052519, 0.005320461932569742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7397303581237793, -1.1511876583099365, -1.6009694337844849, -1.801203727722168, -0.4227428138256073, -0.00042555981781333685, -0.0010049970587715507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3524160385131836, -1.2043455839157104, 1.8745757341384888, -1.858933448791504, 2.1043756008148193, 0.43352705240249634, -0.6159783601760864, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15055116732934137, -0.9886018732793131, 0.0008259324462182297, -27.301362991333008], [0.9886007950686639, 0.150549480416588, -0.001822617870201962, -1.3093079328536987], [0.0016774997401166555, 0.0010909147209585718, 0.9999979979478426, 0.005573393777012825], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739730954170227, -1.1511878967285156, -1.6009687185287476, -1.8012038469314575, -0.42274293303489685, -0.0004307130293454975, -0.001001641503535211, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3528015613555908, -1.2043488025665283, 1.8763542175292969, -1.8594942092895508, 2.104565382003784, 0.4341396987438202, -0.6167556643486023, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15094751682021712, -0.9885414417062706, 0.0008155949352554999, -27.30189323425293], [0.9885403906441529, 0.1509458712328814, -0.0018000063477504966, -1.2983622550964355], [0.0016562701820104473, 0.0010779550243584302, 0.9999980473891185, 0.005340654402971268], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397311925888062, -1.1511880159378052, -1.600968837738037, -1.8012044429779053, -0.4227418601512909, -0.00043778374674730003, -0.0009981660405173898, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3529373407363892, -1.2044293880462646, 1.877124547958374, -1.8594884872436523, 2.1045610904693604, 0.4340408146381378, -0.6158831119537354, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1508418702029558, -0.9885575760835517, 0.000805581459433301, -27.301753997802734], [0.9885565485491278, 0.15084026361535363, -0.0017790989536225134, -1.3012784719467163], [0.0016372276295012944, 0.0010647254405530947, 0.9999980929208943, 0.0050892005674541], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397310733795166, -1.1511880159378052, -1.600968599319458, -1.8012056350708008, -0.42274150252342224, -0.0004420980694703758, -0.0009931327076628804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3553091287612915, -1.2049838304519653, 1.8780685663223267, -1.859245777130127, 2.1038265228271484, 0.4340452551841736, -0.6100642681121826, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509118172967976, -0.9885468988930706, 0.0008075203224004042, -27.301855087280273], [0.988545864611787, 0.15091020165207214, -0.0017845437134986195, -1.2993512153625488], [0.0016422420992265937, 0.0010675796101485488, 0.9999980816554918, 0.005138415843248367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397291660308838, -1.1511906385421753, -1.6009680032730103, -1.8012139797210693, -0.4227418601512909, -0.0004472512810025364, -0.0009795905789360404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3604648113250732, -1.206993579864502, 1.877150535583496, -1.8607885837554932, 2.1048216819763184, 0.4394611716270447, -0.6029847264289856, 0.08939999381264492, 0.08939999381264492, 0.08939999381264492, 0.08939999381264492, -0.08939999381264492, -0.08939999381264492, -0.08939999381264492, 0.08939999381264492, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509462553406462, -0.9885416400121666, 0.0008086783614436787, -27.301891326904297], [0.988540596131849, 0.1509446306793215, -0.0017911639712523634, -1.2984085083007812], [0.0016485745130660418, 0.001069780883662086, 0.9999980688836033, 0.005163111723959446], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7397300004959106, -1.1511915922164917, -1.6009700298309326, -1.8012135028839111, -0.4227396845817566, -0.0004513259045779705, -0.0009678460191935301, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3656959533691406, -1.2092463970184326, 1.8776021003723145, -1.8630268573760986, 2.1073436737060547, 0.43950778245925903, -0.5924223065376282, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, -0.2304000078976809, -0.2304000078976809, -0.2304000078976809, 0.2304000078976809, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15109008948868075, -0.9885196674832833, 0.00080737664149286, -27.302080154418945], [0.9885185613686414, 0.15108842755525997, -0.0018278097686515117, -1.2944340705871582], [0.0016848406375220867, 0.001074270737645009, 0.9999980036252114, 0.005087397992610931], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739729404449463, -1.1511913537979126, -1.6009715795516968, -1.8012158870697021, -0.4227392077445984, -0.0004473711014725268, -0.0009537046425975859, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3716046810150146, -1.2109776735305786, 1.882773995399475, -1.862760305404663, 2.099153757095337, 0.4280533790588379, -0.5641255378723145, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, -0.3588000061747792, -0.3588000061747792, -0.3588000061747792, 0.3588000061747792, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113478128536884, -0.9885128387587796, 0.0008034269617323913, -27.302133560180664], [0.9885117918092424, 0.15113316652166386, -0.0017898131791303788, -1.293194055557251], [0.0016478288457545509, 0.0010647000488994821, 0.9999980755350987, 0.005031244829297066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739729642868042, -1.1511918306350708, -1.6009726524353027, -1.8012146949768066, -0.42273980379104614, -0.0004392218543216586, -0.000952146656345576, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3832157850265503, -1.2123420238494873, 1.8926677703857422, -1.870295763015747, 2.0711781978607178, 0.40778109431266785, -0.5262174606323242, 0.5669999989506962, 0.5669999989506962, 0.5669999989506962, 0.5669999989506962, -0.5669999989506962, -0.5669999989506962, -0.5669999989506962, 0.5669999989506962, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112468220619746, -0.9885143763542779, 0.0008112761483411658, -27.302125930786133], [0.9885133165041055, 0.15112304071060756, -0.0018026814566668992, -1.2934730052947998], [0.001659374017509194, 0.0010743869382551928, 0.9999980460833796, 0.005228145979344845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739729881286621, -1.1511915922164917, -1.6009747982025146, -1.8012146949768066, -0.42274054884910583, -0.00042975429096259177, -0.0009531053947284818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4029515981674194, -1.214830756187439, 1.906620740890503, -1.8853535652160645, 1.9969278573989868, 0.3889698386192322, -0.4575563967227936, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112468220619746, -0.9885143763542779, 0.0008112761483411658, -27.302125930786133], [0.9885133165041055, 0.15112304071060756, -0.0018026814566668992, -1.2934730052947998], [0.001659374017509194, 0.0010743869382551928, 0.9999980460833796, 0.005228145979344845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7397295236587524, -1.1511913537979126, -1.6009764671325684, -1.8012129068374634, -0.4227416217327118, -0.0004186089790891856, -0.0009557419107295573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4428635835647583, -1.215341329574585, 1.922762155532837, -1.9030555486679077, 1.8528743982315063, 0.3946552574634552, -0.3420049846172333, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112468220619746, -0.9885143763542779, 0.0008112761483411658, -27.302125930786133], [0.9885133165041055, 0.15112304071060756, -0.0018026814566668992, -1.2934730052947998], [0.001659374017509194, 0.0010743869382551928, 0.9999980460833796, 0.005228145979344845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397302389144897, -1.151190996170044, -1.6009806394577026, -1.801214337348938, -0.42274174094200134, -0.0004153732443228364, -0.0009571800474077463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5070033073425293, -1.2153629064559937, 1.9426320791244507, -1.921715259552002, 1.6883957386016846, 0.4339025318622589, -0.23247238993644714, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112468220619746, -0.9885143763542779, 0.0008112761483411658, -27.302125930786133], [0.9885133165041055, 0.15112304071060756, -0.0018026814566668992, -1.2934730052947998], [0.001659374017509194, 0.0010743869382551928, 0.9999980460833796, 0.005228145979344845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7397276163101196, -1.151191234588623, -1.6009790897369385, -1.8012152910232544, -0.4227418601512909, -0.0004115382907912135, -0.0009720404632389545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5654206275939941, -1.2172261476516724, 1.9449458122253418, -1.915008544921875, 1.5126467943191528, 0.4567742943763733, -0.1548546403646469, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112468220619746, -0.9885143763542779, 0.0008112761483411658, -27.302125930786133], [0.9885133165041055, 0.15112304071060756, -0.0018026814566668992, -1.2934730052947998], [0.001659374017509194, 0.0010743869382551928, 0.9999980460833796, 0.005228145979344845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739729642868042, -1.1511894464492798, -1.6009846925735474, -1.8012083768844604, -0.42274293303489685, -0.00041213748045265675, -0.0009712015744298697, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.609296202659607, -1.22548246383667, 1.9183566570281982, -1.8828362226486206, 1.310933232307434, 0.4147494435310364, -0.09618718922138214, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112468220619746, -0.9885143763542779, 0.0008112761483411658, -27.302125930786133], [0.9885133165041055, 0.15112304071060756, -0.0018026814566668992, -1.2934730052947998], [0.001659374017509194, 0.0010743869382551928, 0.9999980460833796, 0.005228145979344845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397263050079346, -1.151192545890808, -1.6009758710861206, -1.8012158870697021, -0.4227430522441864, -0.00041824945947155356, -0.0010014018043875694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.616017460823059, -1.2335472106933594, 1.8824822902679443, -1.8621762990951538, 1.157456636428833, 0.39609217643737793, -0.15390285849571228, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15077394837408842, -0.9885679373950261, 0.0008060063469759387, -27.30166244506836], [0.9885668467648672, 0.15077230025589627, -0.00181740279341259, -1.3031593561172485], [0.0016751026999454288, 0.0010708081478513869, 0.9999980236984747, 0.00504734180867672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397288084030151, -1.151190996170044, -1.6009799242019653, -1.8012038469314575, -0.4227440059185028, -0.0004224439326208085, -0.000998645438812673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6121232509613037, -1.2353297472000122, 1.8874667882919312, -1.8624216318130493, 1.2017909288406372, 0.4277096688747406, -0.2003563493490219, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15159840665812663, -0.9884418316241664, 0.0008176760852477177, -27.3027400970459], [0.9884407753450167, 0.15159675135705575, -0.0018051629647567718, -1.2803939580917358], [0.0016603415490783848, 0.0010818842128987186, 0.9999980363943173, 0.00542388204485178], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397284507751465, -1.1511911153793335, -1.6009769439697266, -1.8012056350708008, -0.42274460196495056, -0.00043095272849313915, -0.0010034391889348626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6100215911865234, -1.233610987663269, 1.890560507774353, -1.866041898727417, 1.2264400720596313, 0.4269961416721344, -0.19223332405090332, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15085242059495874, -0.988555962087037, 0.0008105694383394948, -27.3017635345459], [0.9885548813121385, 0.15085076785120455, -0.001814517193571057, -1.300998330116272], [0.001671476767843874, 0.0010750166857743115, 0.9999980252503201, 0.005179561674594879], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.739728331565857, -1.151191234588623, -1.600976586341858, -1.801205039024353, -0.42274460196495056, -0.00043358924449421465, -0.0010043978691101074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6099306344985962, -1.2335937023162842, 1.8906480073928833, -1.866142749786377, 1.226656198501587, 0.4269994795322418, -0.19213084876537323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15125411910562914, -0.9884945807791459, 0.0008094589802412484, -27.30228614807129], [0.9884935165740096, 0.15125247879427928, -0.0018042587769335826, -1.2899106740951538], [0.001661067346078278, 0.001073046525844772, 0.999998044711301, 0.00518356217071414], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397282123565674, -1.1511911153793335, -1.6009761095046997, -1.8012055158615112, -0.422744482755661, -0.00043418846325948834, -0.0010043978691101074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6120914220809937, -1.2321197986602783, 1.8855249881744385, -1.864959955215454, 1.2124592065811157, 0.4196239113807678, -0.18885940313339233, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15108774184351148, -0.9885200240468035, 0.0008101377261575468, -27.302078247070312], [0.9885189657755298, 0.15108610412864, -0.0018009556648337839, -1.2944927215576172], [0.0016578801842559404, 0.0010729388317570138, 0.999998050115878, 0.0051973555237054825], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397284507751465, -1.151191234588623, -1.6009764671325684, -1.8012052774429321, -0.42274460196495056, -0.00043358924449421465, -0.0010043978691101074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6205763816833496, -1.2261875867843628, 1.864896297454834, -1.8602664470672607, 1.1552460193634033, 0.38926151394844055, -0.17512044310569763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15125405075917508, -0.9884945874822851, 0.0008140314292916009, -27.302297592163086], [0.988493507892022, 0.15125238971506338, -0.001816441798606051, -1.2899006605148315], [0.0016724186874151452, 0.0010794089630822578, 0.9999980189440499, 0.005292156245559454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397286891937256, -1.1511911153793335, -1.6009761095046997, -1.8012053966522217, -0.42274460196495056, -0.0004343083128333092, -0.0010045177768915892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.635546326637268, -1.2157288789749146, 1.8286770582199097, -1.8519624471664429, 1.0545231103897095, 0.33588749170303345, -0.15121108293533325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113979293868474, -0.9885120775456019, 0.0007972057008748479, -27.30213737487793], [0.9885109987862324, 0.15113817229241466, -0.0018050359424953025, -1.2930537462234497], [0.0016638116169891972, 0.001060859362205498, 0.9999980531522633, 0.0048416233621537685], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397282123565674, -1.1511917114257812, -1.6009738445281982, -1.8012053966522217, -0.4227442443370819, -0.0004340686136856675, -0.001005476457066834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6570327281951904, -1.2008343935012817, 1.7764548063278198, -1.8402482271194458, 0.9100455045700073, 0.2594491243362427, -0.11660255491733551, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15110270055252462, -0.9885177378584786, 0.0008098301613435601, -27.30208396911621], [0.9885166609997803, 0.15110105153252762, -0.0018119469114206532, -1.2940753698349], [0.0016687754730554327, 0.001074320678641716, 0.9999980305098105, 0.005175630562007427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397277355194092, -1.1511906385421753, -1.6009750366210938, -1.801206350326538, -0.422744482755661, -0.0004345479828771204, -0.0010055963648483157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6833245754241943, -1.1825370788574219, 1.7130355834960938, -1.8257043361663818, 0.7336234450340271, 0.16605162620544434, -0.07464470714330673, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15111991452342466, -0.9885151032883166, 0.0008136370944589612, -27.302114486694336], [0.9885140542990669, 0.15111827452776405, -0.0017976531846907954, -1.2935994863510132], [0.0016540518897347715, 0.0010759528985849756, 0.9999980532169581, 0.005298756528645754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397280931472778, -1.1511905193328857, -1.600975751876831, -1.8012056350708008, -0.4227442443370819, -0.0004343083128333092, -0.001004757359623909, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7046948671340942, -1.167579174041748, 1.6612811088562012, -1.813927412033081, 0.5899530649185181, 0.08993764966726303, -0.040491700172424316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15126580568916592, -0.988492791366181, 0.0008108306257320159, -27.30231285095215], [0.9884917673522894, 0.15126418825628174, -0.0017807941811377067, -1.2895835638046265], [0.0016376525745467774, 0.0010708726648295766, 0.9999980856610581, 0.005251252092421055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397284507751465, -1.1511914730072021, -1.600974440574646, -1.8012057542800903, -0.42274436354637146, -0.00043358924449421465, -0.0010049970587715507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7195979356765747, -1.157309889793396, 1.6251568794250488, -1.8057498931884766, 0.4899725317955017, 0.03711298853158951, -0.016527924686670303, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15108930813973154, -0.9885197892191351, 0.0008045421143993249, -27.302078247070312], [0.9885187842291485, 0.1510877181578485, -0.0017648365308256934, -1.2944515943527222], [0.0016230194032315595, 0.0010619529232093468, 0.9999981190302338, 0.005092056933790445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397282123565674, -1.1511908769607544, -1.600976586341858, -1.8012055158615112, -0.422744482755661, -0.0004334694240242243, -0.0010042780777439475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7280049324035645, -1.1514123678207397, 1.604921817779541, -1.8010306358337402, 0.4336491823196411, 0.007332188542932272, -0.003263783873990178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15122678287257785, -0.9884987600725648, 0.0008133123706192082, -27.302255630493164], [0.988497751978764, 0.15122517016626014, -0.0017726367692050247, -1.2906627655029297], [0.00162925594677299, 0.0010720276058221229, 0.9999980981391275, 0.005327319260686636], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397282123565674, -1.1511908769607544, -1.6009759902954102, -1.8012055158615112, -0.422744482755661, -0.00043334957445040345, -0.0010045177768915892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300399541854858, -1.1499817371368408, 1.599896788597107, -1.7999776601791382, 0.41982850432395935, -0.00012223910016473383, 8.556736429454759e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15118815687475984, -0.9885046766218404, 0.0008034410768180179, -27.30220603942871], [0.9885036824964005, 0.15118657635510024, -0.0017575042187657312, -1.2917275428771973], [0.001615831633725368, 0.0010599182866382897, 0.9999981328289353, 0.005075646564364433], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397284507751465, -1.1511911153793335, -1.6009758710861206, -1.8012055158615112, -0.42274412512779236, -0.00043251068564131856, -0.0010028398828580976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300238609313965, -1.1499760150909424, 1.5999637842178345, -1.7999767065048218, 0.4198577404022217, 0.00011277155863353983, 6.471481356129516e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15116268075006456, -0.9885085657318611, 0.00081204876261965, -27.302165985107422], [0.9885075657925351, 0.15116107649282928, -0.0017667270434099773, -1.292432188987732], [0.001623674650598632, 0.0010697795416774781, 0.9999981096243938, 0.005297461524605751], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397297620773315, -1.1511913537979126, -1.6009762287139893, -1.801206111907959, -0.42274388670921326, -0.0004343083128333092, -0.0009984057396650314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300256490707397, -1.1500649452209473, 1.5999635457992554, -1.7999821901321411, 0.4198864996433258, 0.0006687197601422668, -7.729825301794335e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15118599945097622, -0.9885050028667793, 0.0008080082659471655, -27.302202224731445], [0.9885039645761329, 0.151184379480386, -0.0017875733265754735, -1.2917841672897339], [0.001644866948008822, 0.0010689754342692787, 0.999998075850271, 0.005161516834050417], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397321462631226, -1.1511911153793335, -1.6009769439697266, -1.801206111907959, -0.4227435290813446, -0.0004355067212600261, -0.0009945707861334085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300351858139038, -1.150315523147583, 1.599961519241333, -1.8000067472457886, 0.41991549730300903, 0.0008101335843093693, -0.00011828429705929011, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7397404909133911, -1.1511913537979126, -1.6009777784347534, -1.8012056350708008, -0.42274412512779236, -0.0004368250083643943, -0.0009894176619127393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300610542297363, -1.1503958702087402, 1.5999559164047241, -1.8000596761703491, 0.41993778944015503, 0.0008587895426899195, -0.00012895025429315865, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397611141204834, -1.151191234588623, -1.6009788513183594, -1.8012052774429321, -0.42274460196495056, -0.0004388623056001961, -0.0009870207868516445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301061153411865, -1.1504225730895996, 1.5999478101730347, -1.80010986328125, 0.4199514389038086, 0.0008738896576687694, -0.00013206615403760225, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7397871017456055, -1.151191234588623, -1.6009794473648071, -1.801205039024353, -0.42274436354637146, -0.00043898215517401695, -0.000985223101451993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301446199417114, -1.1504346132278442, 1.5999360084533691, -1.8001501560211182, 0.41995924711227417, 0.0008795222383923829, -0.00013374394620768726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7398024797439575, -1.1511914730072021, -1.6009795665740967, -1.8012036085128784, -0.42274531722068787, -0.0004386226355563849, -0.0009866611799225211, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301667928695679, -1.1504383087158203, 1.59992253780365, -1.8001694679260254, 0.4199638068675995, 0.0008798817871138453, -0.00013614079216495156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7398102283477783, -1.151191234588623, -1.600979208946228, -1.8012018203735352, -0.4227440059185028, -0.0004376638971734792, -0.0009885786566883326, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301820516586304, -1.1504404544830322, 1.599901795387268, -1.8001776933670044, 0.41996583342552185, 0.0008815595647320151, -0.00013853763812221587, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7398141622543335, -1.1511919498443604, -1.600979208946228, -1.8012003898620605, -0.42274460196495056, -0.0004364654596429318, -0.0009902565507218242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301970720291138, -1.1504417657852173, 1.5998806953430176, -1.80018150806427, 0.41996678709983826, 0.0008829977014102042, -0.0001411741686752066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7398169040679932, -1.1511919498443604, -1.6009786128997803, -1.8011997938156128, -0.42274460196495056, -0.0004316717677284032, -0.000993492198176682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302104234695435, -1.150442361831665, 1.5998660326004028, -1.8001830577850342, 0.41996678709983826, 0.0008847953286021948, -0.0001444099034415558, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7398186922073364, -1.15119206905365, -1.6009780168533325, -1.8011993169784546, -0.42274507880210876, -0.0004274772945791483, -0.0009981660405173898, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302238941192627, -1.1504433155059814, 1.5998554229736328, -1.8001834154129028, 0.41996678709983826, 0.0008852746686898172, -0.00015243934467434883, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113795068462044, -0.9885123516965804, 0.0008064776187510466, -27.302141189575195], [0.9885113196265662, 0.1511363384360156, -0.0017827434753900939, -1.293110728263855], [0.0016403758710009661, 0.0010666524506277246, 0.9999980857079435, 0.005123639013618231], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000013/gt/hand_left.mp4 b/agibot-challenge-2026/000013/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69c963bf9a95757509ebabe78f9eb83bfa180e55 --- /dev/null +++ b/agibot-challenge-2026/000013/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f8d60db61f95652c5ae09d823bcf5b1f73dd9fe1d8be468804236e17e807d03 +size 3104592 diff --git a/agibot-challenge-2026/000013/gt/hand_right.mp4 b/agibot-challenge-2026/000013/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0553d87b89255bd48df7540b743ab6a2fdf4b2ab --- /dev/null +++ b/agibot-challenge-2026/000013/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:350f4c1dd174920ab7418a0c0487e8d62bb81f6b896a0e1eb95d211ee6bd45c0 +size 3517331 diff --git a/agibot-challenge-2026/000013/gt/head.mp4 b/agibot-challenge-2026/000013/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..705c2f5adcf97a19a4636c2c18032ccece11732d --- /dev/null +++ b/agibot-challenge-2026/000013/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902517f08d4a8adac6ebecfcffbedb4dbc6d6d12460725cda7fdba945b56b0ea +size 2418191 diff --git a/agibot-challenge-2026/000013/meta.json b/agibot-challenge-2026/000013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29a5cc78331fabfec1c0cf67bd799557bfc42e3a --- /dev/null +++ b/agibot-challenge-2026/000013/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Router_connecting_network_cable_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1288, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000013/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000013/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..2fec8aa93921fe3788b0c5ef0712a3076c7fa4aa --- /dev/null +++ b/agibot-challenge-2026/000013/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000013/ref_images/hand_left.png b/agibot-challenge-2026/000013/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..1cd2606005a109b416111c642d5d5b5d60c5e27e --- /dev/null +++ b/agibot-challenge-2026/000013/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42819d75e421ee9f0f6c171e65fdb2e1a49904552dd534bde25e1c416c5e4735 +size 387341 diff --git a/agibot-challenge-2026/000013/ref_images/hand_right.png b/agibot-challenge-2026/000013/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..f948fc50ea0d934ac0ff21edc21975c56a0157b9 --- /dev/null +++ b/agibot-challenge-2026/000013/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09783c9185910f03fb4cd0b00534a8cb440a1a3c3e3a47103258fd848e72758c +size 437411 diff --git a/agibot-challenge-2026/000013/ref_images/head.png b/agibot-challenge-2026/000013/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..3bc3dd90fc9a37d3b32674280c3819e773320cdf --- /dev/null +++ b/agibot-challenge-2026/000013/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8800a417e561d6901815bfc9f89d09d6e1f885a9b8a0dca656aa6912b8ff003c +size 306266 diff --git a/agibot-challenge-2026/000013/temporal.json b/agibot-challenge-2026/000013/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..097be28a362ef7e4d0f03a2d67a30c99c71b4f8d --- /dev/null +++ b/agibot-challenge-2026/000013/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7295945882797241, -1.1503492593765259, -1.5997390747070312, -1.8001682758331299, -0.4197721779346466, 4.506068580667488e-05, 6.315686187008396e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293453216552734, -1.1501535177230835, 1.600069284439087, -1.8003625869750977, 0.4198780953884125, -0.0001689775672275573, -4.038683619000949e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729594349861145, -1.1503490209579468, -1.5997389554977417, -1.8001683950424194, -0.41977301239967346, 4.6259108785307035e-05, 6.076001955079846e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293452024459839, -1.1501535177230835, 1.6000690460205078, -1.8003615140914917, 0.4198779761791229, -0.00016801882884465158, -3.9188416849356145e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729594349861145, -1.1503491401672363, -1.5997389554977417, -1.8001682758331299, -0.41977301239967346, 4.733768946607597e-05, 5.752428114647046e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293450832366943, -1.150153636932373, 1.6000691652297974, -1.800361156463623, 0.4198778569698334, -0.00016753945965319872, -3.7390782381407917e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7295945882797241, -1.1503490209579468, -1.5997390747070312, -1.800168514251709, -0.41977420449256897, 4.769721635966562e-05, 5.6086173572111875e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293452024459839, -1.1501535177230835, 1.6000689268112183, -1.8003606796264648, 0.4198779761791229, -0.00016765930922701955, -3.6671728594228625e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7278753519058228, -1.1552152633666992, -1.6085526943206787, -1.8058197498321533, -0.4121566712856293, 0.013716664165258408, -0.015487453900277615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729345679283142, -1.1501541137695312, 1.6000688076019287, -1.8003602027893066, 0.4198779761791229, -0.0001681386784184724, -3.6671728594228625e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7114251852035522, -1.1792069673538208, -1.6414577960968018, -1.8500971794128418, -0.44902804493904114, 0.12767598032951355, -0.04556989669799805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293466329574585, -1.1501542329788208, 1.6000690460205078, -1.8003584146499634, 0.41987869143486023, -0.000168258513440378, -3.583283250918612e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.6582045555114746, -1.1965162754058838, -1.6649709939956665, -1.894327163696289, -0.506771981716156, 0.32125261425971985, -0.09072285890579224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293555736541748, -1.1501538753509521, 1.6000679731369019, -1.8003573417663574, 0.4198785722255707, -0.00016753945965319872, -3.427488263696432e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.5774036645889282, -1.2106763124465942, -1.6636879444122314, -1.9161289930343628, -0.585257887840271, 0.5406829118728638, -0.10072226077318192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729360580444336, -1.1501550674438477, 1.600064992904663, -1.8003590106964111, 0.41987907886505127, -0.00016789899382274598, -3.355582884978503e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.494257926940918, -1.2265594005584717, -1.6394469738006592, -1.9283311367034912, -0.6809117794036865, 0.7412644624710083, -0.07070416957139969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729361653327942, -1.1501556634902954, 1.6000556945800781, -1.8003584146499634, 0.4198788106441498, -0.00016765930922701955, -2.8642298275372013e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.429283857345581, -1.2414052486419678, -1.5881656408309937, -1.9249471426010132, -0.7236002087593079, 0.870634913444519, -0.041975826025009155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293641567230225, -1.150154709815979, 1.6000580787658691, -1.8003554344177246, 0.41987907886505127, -0.00016849819803610444, -4.230431295582093e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.3688923120498657, -1.260955810546875, -1.5394171476364136, -1.8911174535751343, -0.7985150218009949, 0.9920795559883118, 0.025288991630077362, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293739318847656, -1.150154709815979, 1.6000592708587646, -1.8003567457199097, 0.4198794364929199, -0.00016933710139710456, -4.5540054998127744e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.49493470788002014, 0.0, 0.0, 1.3496203422546387, -1.2751024961471558, -1.4933512210845947, -1.8868805170059204, -0.8116305470466614, 1.0124080181121826, 0.07266658544540405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293953895568848, -1.150153398513794, 1.6000604629516602, -1.8003549575805664, 0.4198800325393677, -0.00017161409778054804, -5.1052797061856836e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368502219, 0.0010612667686920325, -3.47631683074355e-06, 0.0002592952223494649], [-0.0010612701916853913, 0.9999987083571392, -0.00120705825601012, 0.00038645596941933036], [2.195301525604834e-06, 0.00120706126556696, 0.9999992714988756, 2.3684756911279692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49493470788002014, 0.0, 0.0, 1.337253212928772, -1.281598448753357, -1.4522364139556885, -1.8714884519577026, -0.836240291595459, 1.010085105895996, 0.10258065164089203, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293517589569092, -1.1501537561416626, 1.6000611782073975, -1.8003568649291992, 0.4198797941207886, -0.00017425062833353877, -5.15321662533097e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994495143758, 0.0010492505199631323, -6.655200922509983e-06, 8.442076068604365e-05], [-0.0010492578576810601, 0.9999987055082108, -0.0012198523889352148, 0.0003840783901978284], [5.375261554038491e-06, 0.0012198587004458735, 0.9999992559576519, 3.544826654433564e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49493470788002014, 0.0, 0.0, 1.3264086246490479, -1.281282663345337, -1.408584475517273, -1.8572521209716797, -0.8689490556716919, 1.0101988315582275, 0.14254696667194366, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293663024902344, -1.1501538753509521, 1.600060224533081, -1.800358533859253, 0.419879674911499, -0.0001768871588865295, -5.440838140202686e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994528193945, 0.0010461170515724358, 1.6096957586639187e-07, 0.0002846132265403867], [-0.001046116106441777, 0.9999987338679973, -0.0011991261376828486, 0.00038368612877093256], [-1.4153956716738847e-06, 0.0011991253131514164, 0.9999992810479815, -5.271188570077356e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.49493470788002014, 0.0, 0.0, 1.3253915309906006, -1.2803709506988525, -1.3803099393844604, -1.8640069961547852, -0.8849269151687622, 1.0101972818374634, 0.16549447178840637, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729361653327942, -1.150153636932373, 1.6000583171844482, -1.8003592491149902, 0.4198799133300781, -0.0001807221124181524, -5.23710623383522e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994272222951, 0.0010702723912343146, -8.490599574231943e-06, 0.00015039471327327192], [-0.001070282018055608, 0.9999986720039062, -0.0012290186433898183, 0.0003868950007017702], [7.1752035764165e-06, 0.0012290270267713873, 0.9999992447202567, -3.3000677746031215e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.3282766342163086, -1.2801170349121094, -1.3654183149337769, -1.8777309656143188, -0.8893600106239319, 1.0101712942123413, 0.17391638457775116, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293546199798584, -1.150152564048767, 1.6000603437423706, -1.8003596067428589, 0.419879674911499, -0.00018263958918396384, -5.440838140202686e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994285443176, 0.0010690701222922123, 3.3458157072471673e-07, 0.00016885918739717454], [-0.001069068905563281, 0.9999986747076816, -0.0012278739983219993, 0.0003845477185677737], [-1.6472645328518587e-06, 0.0012278729389556722, 0.999999246162382, 1.519235439673139e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.3305692672729492, -1.2809512615203857, -1.3577927350997925, -1.8864425420761108, -0.8979283571243286, 1.010113000869751, 0.1763443946838379, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293593883514404, -1.1501520872116089, 1.6000605821609497, -1.800359845161438, 0.419879674911499, -0.0001839578471845016, -5.464806599775329e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994258221517, 0.0010716063211650506, 3.9063061205035225e-06, 0.00026079636882059276], [-0.0010716008702173125, 0.9999987077212027, -0.0011984270939661337, 0.00038481864612549543], [-5.190543121816518e-06, 0.0011984222198548058, 0.9999992818783627, 3.3083944117606734e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.3247281312942505, -1.2879319190979004, -1.3498839139938354, -1.888615369796753, -0.8964254260063171, 1.0079021453857422, 0.17634199559688568, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293586730957031, -1.1501517295837402, 1.6000620126724243, -1.800360918045044, 0.419879674911499, -0.00018659437773749232, -5.5846488976385444e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994112910121, 0.0010850117988477842, 1.2923833300473181e-05, 0.00021085196931380779], [-0.0010849954616245756, 0.9999986873785048, -0.0012033395678877942, 0.00038479044451378286], [-1.4229453965550442e-05, 0.0012033248371704974, 0.9999992759031673, 4.960975275025703e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.297545075416565, -1.3008040189743042, -1.335615873336792, -1.855541706085205, -0.877703070640564, 0.9812485575675964, 0.165503591299057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293637990951538, -1.1501511335372925, 1.6000611782073975, -1.800361156463623, 0.4198794364929199, -0.00018959044246003032, -5.297027382766828e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994601675778, 0.0010390659252189059, 2.560496608048676e-06, 0.00030000266269780695], [-0.0010390621436197507, 0.9999987524681341, -0.0011897109048768163, 0.00038455420872196555], [-3.796681475866416e-06, 0.0011897076021172024, 0.9999992922904529, 4.801478326044162e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2621780633926392, -1.313572645187378, -1.3334625959396362, -1.821348786354065, -0.874720573425293, 0.9602494239807129, 0.148628830909729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293654680252075, -1.1501516103744507, 1.600061297416687, -1.8003616333007812, 0.41987869143486023, -0.0001910285500343889, -5.225122004048899e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994448786392, 0.0010536798331184534, 1.1057747271896864e-06, 0.00024724812828935683], [-0.0010536777659385407, 0.9999987341814379, -0.0011922242605491202, 0.00038604671135544777], [-2.3619959873746795e-06, 0.0011922224335897224, 0.9999992892997923, -2.0336386796770967e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2240562438964844, -1.3243800401687622, -1.3230656385421753, -1.7932072877883911, -0.8740907907485962, 0.9530937671661377, 0.1425515115261078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293627262115479, -1.1501514911651611, 1.600061058998108, -1.8003605604171753, 0.4198785722255707, -0.00019054918084293604, -4.949484718963504e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999423909169, 0.001073335234256471, 1.1524113065594602e-05, 0.00018179297330789268], [-0.0010733206401006038, 0.9999987046930772, -0.001199414428542194, 0.0003857780830003321], [-1.2811471904961095e-05, 0.0011994013685021267, 0.999999280635853, -1.9116991722967214e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.1864690780639648, -1.337706446647644, -1.3026677370071411, -1.7565875053405762, -0.8708614110946655, 0.9463232755661011, 0.1362764537334442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293622493743896, -1.1501511335372925, 1.6000609397888184, -1.8003603219985962, 0.4198778569698334, -0.00018971027748193592, -4.386226282804273e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994316674904, 0.0010661024987324223, 9.495178428493141e-06, 0.00023227394558489323], [-0.0010660904246598216, 0.9999987214609812, -0.001191858888151165, 0.00038558494998142123], [-1.0765810027331434e-05, 0.0011918480880602092, 0.9999992896908639, 7.366298859778908e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.1434776782989502, -1.3524092435836792, -1.278075098991394, -1.701286792755127, -0.8716954588890076, 0.9457529783248901, 0.12660183012485504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729363203048706, -1.150151252746582, 1.6000615358352661, -1.8003586530685425, 0.41987845301628113, -0.0001879126502899453, -4.230431295582093e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994386482977, 0.0010595439924864743, 8.343711683868675e-06, 0.0002627485664561391], [-0.001059533369496596, 0.9999987375913664, -0.0011841472512043004, 0.0003859777352772653], [-9.598357256927897e-06, 0.0011841377460402704, 0.9999992988625892, -5.717978979191685e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.1045970916748047, -1.3674918413162231, -1.252211093902588, -1.6477622985839844, -0.8663662075996399, 0.9376717805862427, 0.11638551950454712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293602228164673, -1.1501517295837402, 1.600061058998108, -1.800357699394226, 0.41987738013267517, -0.00018611500854603946, -3.9188416849356145e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994199235046, 0.0010770999197989733, 2.9012153823570904e-06, 0.00016265371232293546], [-0.0010770957187733934, 0.9999987158761485, -0.0011866384733960644, 0.00038559548556804657], [-4.179339861362497e-06, 0.0011866346601683098, 0.9999992959401104, -5.283672521727567e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.0653252601623535, -1.383349061012268, -1.2279021739959717, -1.5839823484420776, -0.8550774455070496, 0.9231755137443542, 0.1001986637711525, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293566465377808, -1.1501517295837402, 1.6000605821609497, -1.8003560304641724, 0.41987714171409607, -0.00018371816258877516, -3.7151097785681486e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994341114572, 0.0010638409570715443, 4.379901517616523e-06, 0.00024323700927197933], [-0.0010638350774477136, 0.9999987440500607, -0.001174799229244032, 0.00038522970862686634], [-5.629695553085361e-06, 0.0011747939049457376, 0.9999993099135556, 5.850211550750828e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.0339936017990112, -1.3980185985565186, -1.2099891901016235, -1.5240634679794312, -0.8363704085350037, 0.9090853333473206, 0.07869932800531387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293574810028076, -1.1501517295837402, 1.6000607013702393, -1.8003562688827515, 0.4198776185512543, -0.0001800030586309731, -3.0439930924330838e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994195645833, 0.0010774233125605596, 5.4315936146668705e-06, 0.0001963082904694602], [-0.0010774161005945952, 0.9999987141012403, -0.0011878427556036, 0.0003851652145385742], [-6.711396106730872e-06, 0.001187836214051183, 0.999999294499794, 7.167661806306569e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.0055055618286133, -1.4119610786437988, -1.1892833709716797, -1.4579250812530518, -0.802384614944458, 0.8899800777435303, 0.059874504804611206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72935152053833, -1.1501519680023193, 1.600061058998108, -1.800356149673462, 0.41987690329551697, -0.00017389110871590674, -3.09193019347731e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999414019286, 0.0010824401817908014, 1.6862306709618825e-05, 0.00018647537217475474], [-0.0010824193163729912, 0.9999987039671696, -0.001191818947878365, 0.0003859416174236685], [-1.8152357574118916e-05, 0.001191799997408946, 0.9999992896413767, 3.856049488604185e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9846147298812866, -1.427294373512268, -1.1791166067123413, -1.3892958164215088, -0.7793977856636047, 0.8783131837844849, 0.04524512216448784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293548583984375, -1.150151252746582, 1.6000617742538452, -1.8003394603729248, 0.4198776185512543, -0.00016694025543984026, -3.834952076431364e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9677956104278564, -1.438522219657898, -1.1793426275253296, -1.3414323329925537, -0.7521001100540161, 0.8658919930458069, 0.027673492208123207, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729349136352539, -1.1501500606536865, 1.600063443183899, -1.800345540046692, 0.4198776185512543, -0.0001640640402911231, -3.6432043998502195e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9729374051094055, -1.4460318088531494, -1.1808818578720093, -1.3155548572540283, -0.7241579294204712, 0.8610062599182129, 0.02119002677500248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293500900268555, -1.1501511335372925, 1.6000633239746094, -1.8003451824188232, 0.4198778569698334, -0.00016466324450448155, -3.379551344551146e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9897233247756958, -1.4532086849212646, -1.1860259771347046, -1.3166992664337158, -0.7035126090049744, 0.8606496453285217, 0.022770147770643234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293421030044556, -1.1501491069793701, 1.600063681602478, -1.800345540046692, 0.4198779761791229, -0.00016466324450448155, -3.751062467927113e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.997318685054779, -1.459602952003479, -1.188717007637024, -1.3323172330856323, -0.6701651811599731, 0.8510923385620117, 0.01822153478860855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293503284454346, -1.1501491069793701, 1.6000632047653198, -1.8003486394882202, 0.419878214597702, -0.00016526246326975524, -3.9667786040809005e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9995323419570923, -1.4654130935668945, -1.200187087059021, -1.337753176689148, -0.6610189080238342, 0.855604887008667, 0.0065740663558244705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293509244918823, -1.1501480340957642, 1.6000635623931885, -1.8003493547439575, 0.41987869143486023, -0.00016610135207884014, -4.242415525368415e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.996756911277771, -1.4709416627883911, -1.2083570957183838, -1.3293005228042603, -0.6576070189476013, 0.8583925366401672, 0.006557288579642773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72934889793396, -1.1501474380493164, 1.6000635623931885, -1.8003515005111694, 0.4198785722255707, -0.00016753945965319872, -4.589958189171739e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9820289611816406, -1.4774682521820068, -1.2111825942993164, -1.3094747066497803, -0.6562262177467346, 0.8531095385551453, 0.00591073976829648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293492555618286, -1.1501470804214478, 1.6000635623931885, -1.8003523349761963, 0.41987907886505127, -0.00016933710139710456, -4.6978162572486326e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9591365456581116, -1.4857910871505737, -1.2095710039138794, -1.2785919904708862, -0.6544088125228882, 0.8456813097000122, -0.0003590473788790405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729349970817566, -1.1501470804214478, 1.600063443183899, -1.8003530502319336, 0.4198794364929199, -0.00017245300114154816, -4.937500489177182e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9454414248466492, -1.4937134981155396, -1.2065109014511108, -1.2588080167770386, -0.6524083614349365, 0.8436972498893738, -0.004773077089339495, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293498516082764, -1.1501469612121582, 1.600063681602478, -1.800356149673462, 0.4198799133300781, -0.00017544905131217092, -5.596633127424866e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9374843239784241, -1.5019727945327759, -1.1958860158920288, -1.2409727573394775, -0.6524811387062073, 0.8458342552185059, -0.008260486647486687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293506860733032, -1.1501470804214478, 1.600063443183899, -1.8003578186035156, 0.419879674911499, -0.00017880463565234095, -5.896238508285023e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9372568130493164, -1.5104714632034302, -1.183841347694397, -1.2356793880462646, -0.6480197310447693, 0.8475428223609924, -0.01661924459040165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293508052825928, -1.150146722793579, 1.6000640392303467, -1.8003578186035156, 0.4198800325393677, -0.00018036257824860513, -6.052033495507203e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9318371415138245, -1.520721197128296, -1.1753509044647217, -1.2178380489349365, -0.639650821685791, 0.8474088311195374, -0.016876425594091415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293517589569092, -1.1501468420028687, 1.6000628471374512, -1.8003584146499634, 0.4198800325393677, -0.000183838012162596, -6.052033495507203e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9239072203636169, -1.5261614322662354, -1.1724750995635986, -1.2091169357299805, -0.6186324954032898, 0.8519882559776306, -0.024992981925606728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729353904724121, -1.1501466035842896, 1.600063443183899, -1.800358533859253, 0.4198800325393677, -0.00018671422731131315, -5.596633127424866e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9284210205078125, -1.5275896787643433, -1.174147367477417, -1.21516752243042, -0.5979917049407959, 0.8575459718704224, -0.03578105941414833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293546199798584, -1.1501468420028687, 1.600064754486084, -1.8003579378128052, 0.4198801517486572, -0.00018839201948139817, -5.6086173572111875e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9405319094657898, -1.5282247066497803, -1.1762880086898804, -1.226994514465332, -0.5714972615242004, 0.8608282208442688, -0.05262656509876251, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293521165847778, -1.1501471996307373, 1.600063681602478, -1.8003580570220947, 0.4198801517486572, -0.00018815233488567173, -5.644570046570152e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 0.946488082408905, -1.5297551155090332, -1.1800838708877563, -1.2308019399642944, -0.5520643591880798, 0.8627831935882568, -0.06722454726696014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293533086776733, -1.150147557258606, 1.6000629663467407, -1.8003575801849365, 0.41988039016723633, -0.00018827216990757734, -5.644570046570152e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 0.9490731358528137, -1.5331660509109497, -1.1843252182006836, -1.2301703691482544, -0.5349997878074646, 0.8619097471237183, -0.07722754031419754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293545007705688, -1.1501474380493164, 1.6000632047653198, -1.8003556728363037, 0.4198797941207886, -0.0001880324853118509, -5.320995842339471e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 0.9562673568725586, -1.5351990461349487, -1.1860605478286743, -1.2338241338729858, -0.5102692246437073, 0.8551048636436462, -0.09089818596839905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293548583984375, -1.1501471996307373, 1.6000640392303467, -1.8003556728363037, 0.4198795557022095, -0.00018767296569421887, -4.913532029604539e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 0.9636662602424622, -1.5352470874786377, -1.1895982027053833, -1.2342697381973267, -0.48981767892837524, 0.8435636162757874, -0.10927863419055939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293556928634644, -1.1501473188400269, 1.6000635623931885, -1.8003547191619873, 0.41987845301628113, -0.0001863546931417659, -4.338289363658987e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4159153699874878, -0.49531814455986023, 0.0, 0.0, 0.9684751629829407, -1.5364781618118286, -1.1922818422317505, -1.23366379737854, -0.4740019738674164, 0.833741307258606, -0.12138150632381439, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293552160263062, -1.1501474380493164, 1.6000635623931885, -1.800354242324829, 0.41987869143486023, -0.00018539595475886017, -4.170510146650486e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4159153699874878, -0.49531814455986023, 0.0, 0.0, 0.9720351099967957, -1.5377768278121948, -1.195941686630249, -1.2327123880386353, -0.4610934257507324, 0.8281377553939819, -0.13232921063899994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293561697006226, -1.1501474380493164, 1.6000635623931885, -1.8003543615341187, 0.4198788106441498, -0.00018467690097168088, -4.0147155232261866e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4159153699874878, -0.49531814455986023, 0.0, 0.0, 0.9732449054718018, -1.5387914180755615, -1.19906747341156, -1.2301199436187744, -0.4529275894165039, 0.8236544728279114, -0.1418149620294571, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729356050491333, -1.1501470804214478, 1.6000635623931885, -1.8003543615341187, 0.419878214597702, -0.00018335864297114313, -3.810983616858721e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 0.9856041073799133, -1.5367017984390259, -1.209398865699768, -1.2354668378829956, -0.4427352547645569, 0.8077295422554016, -0.16682375967502594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729371428489685, -1.1501461267471313, 1.6000652313232422, -1.80035400390625, 0.4198779761791229, -0.00018096179701387882, -3.8709047657903284e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 0.990738034248352, -1.5350630283355713, -1.2111749649047852, -1.238426923751831, -0.44081634283065796, 0.8015966415405273, -0.170915424823761, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293649911880493, -1.1501466035842896, 1.6000633239746094, -1.8003548383712769, 0.4198776185512543, -0.00017808558186516166, -3.247724816901609e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 0.9900463223457336, -1.5350700616836548, -1.2097952365875244, -1.2382450103759766, -0.4408136010169983, 0.8017501831054688, -0.1694193035364151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293646335601807, -1.150146484375, 1.6000635623931885, -1.8003562688827515, 0.4198778569698334, -0.00017556890088599175, -3.2956617360468954e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 0.9899312853813171, -1.5350910425186157, -1.209768533706665, -1.2381889820098877, -0.44089171290397644, 0.8019787073135376, -0.16924996674060822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293643951416016, -1.150146722793579, 1.6000630855560303, -1.800356388092041, 0.4198780953884125, -0.00017496968212071806, -3.499393642414361e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 0.9898574948310852, -1.535071849822998, -1.2097761631011963, -1.2381588220596313, -0.4409642219543457, 0.8020303249359131, -0.16903209686279297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7228169441223145, -1.1510266065597534, 1.5953245162963867, -1.7985754013061523, 0.40987080335617065, 0.006413597613573074, 0.008905237540602684, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9896364212036133, -1.5351146459579468, -1.209773063659668, -1.237996220588684, -0.44111761450767517, 0.8020400404930115, -0.16885772347450256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.680732011795044, -1.1633392572402954, 1.585328459739685, -1.7750321626663208, 0.34588533639907837, 0.04336192086338997, 0.1554318070411682, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 0.9896610975265503, -1.5352269411087036, -1.209762454032898, -1.2381103038787842, -0.44126635789871216, 0.802228569984436, -0.16909070312976837, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6434941291809082, -1.177475929260254, 1.588181495666504, -1.7567481994628906, 0.3072269856929779, 0.09463415294885635, 0.36257949471473694, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994546517323, 0.0010443213684860392, 9.440193954293138e-06, 0.00025313475634902716], [-0.001044309455287436, 0.9999987533289982, -0.001184380939939671, 0.00038591839256696403], [-1.0677056509483663e-05, 0.0011843704355557708, 0.9999992985760899, 2.498788660432183e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 0.9897384643554688, -1.5351310968399048, -1.2097604274749756, -1.238187313079834, -0.44119492173194885, 0.8023698925971985, -0.16906769573688507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5982335805892944, -1.1842495203018188, 1.578861951828003, -1.7180366516113281, 0.23452182114124298, 0.13635243475437164, 0.5075246095657349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994431715046, 0.001054951508527208, 2.709235166767512e-05, 0.00014233212277758867], [-0.001054918811782623, 0.9999987476339729, -0.0011797782784700678, 0.0003850469656754285], [-2.8336926612733928e-05, 0.001179749041304474, 0.9999993036943666, -3.0337313217110307e-10], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9897544384002686, -1.5350961685180664, -1.2097669839859009, -1.2382078170776367, -0.44110146164894104, 0.80234694480896, -0.1689465343952179, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5387333631515503, -1.1908588409423828, 1.560115933418274, -1.668734073638916, 0.16912569105625153, 0.1933104544878006, 0.6163040995597839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994284454132, 0.001069002208552007, 1.8523631749381454e-05, 0.0002442404511384666], [-0.0010689793430287639, 0.9999987166367111, -0.00119331810298066, 0.00038360070902854204], [-1.9799267664423904e-05, 0.0011932976195545269, 0.9999992878241365, 1.6720068174436165e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9896360635757446, -1.5350925922393799, -1.2097764015197754, -1.2383952140808105, -0.4411153495311737, 0.8023244142532349, -0.16904276609420776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4803696870803833, -1.1992357969284058, 1.5369848012924194, -1.6214232444763184, 0.10344699025154114, 0.2152656763792038, 0.6905575394630432, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993516034346, 0.001138626156762281, 1.797736107305889e-05, 0.00015280238585546613], [-0.0011386039570369867, 0.9999986436990332, -0.0011900340848139922, 0.0003817782271653414], [-1.9332340626754563e-05, 0.001190012844105524, 0.9999992917475949, 1.2523864825197961e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9897353649139404, -1.5350723266601562, -1.2097746133804321, -1.2384260892868042, -0.4411424398422241, 0.8023405075073242, -0.16917771100997925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4401413202285767, -1.2078787088394165, 1.5196422338485718, -1.5961499214172363, 0.04225350171327591, 0.2346532791852951, 0.735506534576416, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993843429067, 0.0011094510510712954, 2.0788765061995315e-05, 0.00012932765821460634], [-0.0011094254685776444, 0.9999986733808417, -0.0011926490206026579, 0.00038741141906939447], [-2.2111923192688076e-05, 0.0011926252227544086, 0.9999992885778174, 9.504458375886315e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9897958040237427, -1.5350751876831055, -1.2097711563110352, -1.238425850868225, -0.44118532538414, 0.8023438453674316, -0.16925621032714844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.410465955734253, -1.2143776416778564, 1.5108976364135742, -1.5746780633926392, -0.009186267852783203, 0.2568044364452362, 0.7818331122398376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994052365948, 0.0010905239409949182, 1.6852022446150354e-05, 0.00017673235561233014], [-0.0010905029571983997, 0.9999986869621316, -0.0011986981743341962, 0.0003826374595519155], [-1.8159209375945066e-05, 0.001198679084212076, 0.9999992814190899, -9.745396027938114e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9897628426551819, -1.5350815057754517, -1.2097692489624023, -1.2384341955184937, -0.44120463728904724, 0.8023439645767212, -0.16931132972240448, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3905866146087646, -1.218982219696045, 1.5109657049179077, -1.560263991355896, -0.04805362597107887, 0.26419955492019653, 0.8188891410827637, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994033020487, 0.0010921957096430876, 2.245168989147645e-05, 0.00013537418271880597], [-0.001092167873737102, 0.9999986781307537, -0.001204535628704679, 0.0003837260010186583], [-2.3767248859061547e-05, 0.0012045103889463265, 0.9999992742946571, 1.764921933045116e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.989740252494812, -1.5350805521011353, -1.2097690105438232, -1.2384395599365234, -0.44119948148727417, 0.8023433685302734, -0.16929347813129425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3769569396972656, -1.2232441902160645, 1.525772213935852, -1.556130290031433, -0.07336994260549545, 0.2688885033130646, 0.8526366353034973, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993785291034, 0.0011148719727164956, -1.3753553103074519e-06, 0.00017316355661023408], [-0.0011148728206450064, 0.999998651104518, -0.0012061706920251192, 0.00038667480112053454], [3.062755624602252e-08, 0.0012061714757713917, 0.9999992725749205, 3.5759217098529916e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897326231002808, -1.5350786447525024, -1.2097671031951904, -1.2384387254714966, -0.44119793176651, 0.8023440837860107, -0.16928376257419586, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3721660375595093, -1.223438024520874, 1.560648798942566, -1.5613434314727783, -0.09790296852588654, 0.275759756565094, 0.9054898023605347, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897188544273376, -1.5350689888000488, -1.2097688913345337, -1.2384384870529175, -0.44119158387184143, 0.8023480772972107, -0.16922792792320251, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3799524307250977, -1.2189271450042725, 1.6060943603515625, -1.5895144939422607, -0.12300009280443192, 0.2744951844215393, 0.9619174003601074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897273778915405, -1.5350669622421265, -1.2097678184509277, -1.238399863243103, -0.44118714332580566, 0.8023523688316345, -0.1691531389951706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.390318512916565, -1.2104589939117432, 1.6652241945266724, -1.6176992654800415, -0.14439049363136292, 0.26971685886383057, 1.0342413187026978, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897480607032776, -1.5350663661956787, -1.2097642421722412, -1.2383757829666138, -0.44119158387184143, 0.8023604154586792, -0.16916464269161224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4062608480453491, -1.1985602378845215, 1.7456732988357544, -1.644789457321167, -0.15897972881793976, 0.26173678040504456, 1.1239285469055176, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897651672363281, -1.5350388288497925, -1.2097660303115845, -1.2383273839950562, -0.4411892890930176, 0.8023648262023926, -0.16914726793766022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4258112907409668, -1.1818934679031372, 1.830164909362793, -1.6675612926483154, -0.1780758798122406, 0.25583383440971375, 1.229691982269287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.989764392375946, -1.5349589586257935, -1.209769368171692, -1.2383040189743042, -0.4411890506744385, 0.8023648262023926, -0.16909010708332062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4513206481933594, -1.1677768230438232, 1.905632495880127, -1.6938759088516235, -0.19074979424476624, 0.2561643719673157, 1.3353840112686157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897653460502625, -1.534963846206665, -1.209767460823059, -1.238163709640503, -0.44119587540626526, 0.802358865737915, -0.16907548904418945, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4732778072357178, -1.156225562095642, 1.954818606376648, -1.7066373825073242, -0.226284459233284, 0.24824722111225128, 1.4303374290466309, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897594451904297, -1.5350372791290283, -1.2097647190093994, -1.2381694316864014, -0.44123125076293945, 0.8023480772972107, -0.16909094154834747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.488592505455017, -1.148558497428894, 1.9933546781539917, -1.7065856456756592, -0.2621200382709503, 0.22709302604198456, 1.4961683750152588, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897582530975342, -1.5350383520126343, -1.2097657918930054, -1.2381715774536133, -0.44123411178588867, 0.8023383617401123, -0.16907404363155365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4932516813278198, -1.1391457319259644, 2.0251119136810303, -1.7023687362670898, -0.2875796854496002, 0.21349908411502838, 1.539480209350586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897598028182983, -1.5350308418273926, -1.20976984500885, -1.2381771802902222, -0.44123172760009766, 0.802333652973175, -0.16905510425567627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5084538459777832, -1.1138832569122314, 2.0254127979278564, -1.694540023803711, -0.3013525605201721, 0.19854696094989777, 1.5369139909744263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897624254226685, -1.53500235080719, -1.2097853422164917, -1.238179087638855, -0.4412214159965515, 0.8023344874382019, -0.1689358651638031, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5239700078964233, -1.0832860469818115, 2.0040528774261475, -1.679211139678955, -0.2990071177482605, 0.187937930226326, 1.5356223583221436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897628426551819, -1.534999966621399, -1.209804654121399, -1.2381781339645386, -0.44122153520584106, 0.8023321032524109, -0.16891033947467804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5278677940368652, -1.0667626857757568, 1.9800164699554443, -1.6600956916809082, -0.2956799566745758, 0.183481365442276, 1.5360913276672363, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897632002830505, -1.5350170135498047, -1.2098020315170288, -1.2381864786148071, -0.44124680757522583, 0.8023340106010437, -0.169064462184906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5241692066192627, -1.0637168884277344, 1.9662553071975708, -1.6420998573303223, -0.2948577105998993, 0.1790086030960083, 1.5361360311508179, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897661805152893, -1.5350290536880493, -1.209798812866211, -1.2382028102874756, -0.4412754476070404, 0.8023369312286377, -0.1690990924835205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5215522050857544, -1.0636675357818604, 1.9529199600219727, -1.6349149942398071, -0.29444533586502075, 0.17850156128406525, 1.5360102653503418, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897775053977966, -1.5350295305252075, -1.2097903490066528, -1.2382079362869263, -0.4412761926651001, 0.8023451566696167, -0.1691068857908249, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5187994241714478, -1.0612478256225586, 1.9377498626708984, -1.6257308721542358, -0.3012194037437439, 0.1729939579963684, 1.535972237586975, 0.5639999997484815, 0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897817373275757, -1.5350152254104614, -1.2097930908203125, -1.2382107973098755, -0.4412550926208496, 0.8023496270179749, -0.16905714571475983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5076172351837158, -1.061775803565979, 1.9314734935760498, -1.6146092414855957, -0.30677399039268494, 0.166191965341568, 1.5360578298568726, 0.531600000504609, 0.531600000504609, 0.531600000504609, 0.531600000504609, -0.531600000504609, -0.531600000504609, -0.531600000504609, 0.531600000504609, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9897838234901428, -1.5350021123886108, -1.2097949981689453, -1.238217830657959, -0.4412458539009094, 0.8023564219474792, -0.169040247797966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4914685487747192, -1.0649572610855103, 1.9211593866348267, -1.6042747497558594, -0.31172168254852295, 0.16021817922592163, 1.536013126373291, 0.508800000672812, 0.508800000672812, 0.508800000672812, 0.508800000672812, -0.508800000672812, -0.508800000672812, -0.508800000672812, 0.508800000672812, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897986650466919, -1.535005807876587, -1.2097911834716797, -1.238380789756775, -0.44125378131866455, 0.8023738265037537, -0.1690981388092041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.477696418762207, -1.0748182535171509, 1.9164379835128784, -1.5919792652130127, -0.3233473300933838, 0.1540769785642624, 1.5357332229614258, 0.4313999962020706, 0.4313999962020706, 0.4313999962020706, 0.4313999962020706, -0.4313999962020706, -0.4313999962020706, -0.4313999962020706, 0.4313999962020706, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898855090141296, -1.5350072383880615, -1.2097854614257812, -1.2383818626403809, -0.441256046295166, 0.802445113658905, -0.16918489336967468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4768383502960205, -1.0781294107437134, 1.9112024307250977, -1.5934672355651855, -0.32813766598701477, 0.15385647118091583, 1.5355955362319946, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, -0.3588000061747792, -0.3588000061747792, -0.3588000061747792, 0.3588000061747792, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9899014234542847, -1.5350021123886108, -1.209782361984253, -1.2383460998535156, -0.44122081995010376, 0.8024506568908691, -0.16912402212619781, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4765626192092896, -1.0780000686645508, 1.910838007926941, -1.5969586372375488, -0.3283243775367737, 0.15420785546302795, 1.5362547636032104, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9898966550827026, -1.5350040197372437, -1.2097629308700562, -1.2381442785263062, -0.4411572813987732, 0.8024440407752991, -0.1690511554479599, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.469096302986145, -1.0726200342178345, 1.9051119089126587, -1.592915654182434, -0.32592201232910156, 0.1603495329618454, 1.536548376083374, 0.21720000256548874, 0.21720000256548874, 0.21720000256548874, 0.21720000256548874, -0.21720000256548874, -0.21720000256548874, -0.21720000256548874, 0.21720000256548874, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9898529052734375, -1.5350383520126343, -1.209708571434021, -1.2381627559661865, -0.44116878509521484, 0.802431583404541, -0.16907332837581635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4606486558914185, -1.0662779808044434, 1.8971667289733887, -1.586211085319519, -0.32611533999443054, 0.1643117517232895, 1.5365656614303589, 0.19559998669467132, 0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -0.19559998669467132, -0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9898799061775208, -1.5350311994552612, -1.209627628326416, -1.2380719184875488, -0.44114866852760315, 0.8024196028709412, -0.16896162927150726, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.451687216758728, -1.0627124309539795, 1.8905192613601685, -1.5809428691864014, -0.3285512328147888, 0.16772402822971344, 1.5369499921798706, 0.0923999807336828, 0.0923999807336828, 0.0923999807336828, 0.0923999807336828, -0.0923999807336828, -0.0923999807336828, -0.0923999807336828, 0.0923999807336828, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9898784160614014, -1.53507399559021, -1.2094171047210693, -1.23804771900177, -0.44116711616516113, 0.8023824691772461, -0.16898883879184723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.447271466255188, -1.0550131797790527, 1.8850640058517456, -1.5775610208511353, -0.3255378007888794, 0.17650486528873444, 1.5362131595611572, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898397922515869, -1.5350732803344727, -1.2094496488571167, -1.2384392023086548, -0.44118544459342957, 0.8023791909217834, -0.16909022629261017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4495594501495361, -1.0465790033340454, 1.8861089944839478, -1.5672200918197632, -0.2880505621433258, 0.2062402367591858, 1.535667896270752, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898216128349304, -1.5349130630493164, -1.2097718715667725, -1.2384275197982788, -0.44118353724479675, 0.8023879528045654, -0.16908147931098938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4415388107299805, -1.0516151189804077, 1.9024701118469238, -1.5651788711547852, -0.21151989698410034, 0.2483099102973938, 1.5336294174194336, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898478984832764, -1.5349037647247314, -1.2097827196121216, -1.2383836507797241, -0.44122058153152466, 0.8023990988731384, -0.16910843551158905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4109125137329102, -1.0689305067062378, 1.9104634523391724, -1.5714683532714844, -0.16656047105789185, 0.2803533375263214, 1.5055515766143799, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.989851713180542, -1.5349217653274536, -1.2097629308700562, -1.2383904457092285, -0.4413725435733795, 0.8024442791938782, -0.16939689218997955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3870617151260376, -1.0828737020492554, 1.8983466625213623, -1.5827049016952515, -0.1306375116109848, 0.31058281660079956, 1.461411714553833, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.989851713180542, -1.5349645614624023, -1.2096500396728516, -1.2384519577026367, -0.4414643347263336, 0.8024817705154419, -0.16951626539230347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3794761896133423, -1.089290738105774, 1.8889191150665283, -1.58342707157135, -0.12422511726617813, 0.3287767767906189, 1.4375110864639282, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898498058319092, -1.5349406003952026, -1.2096585035324097, -1.2384620904922485, -0.4414116144180298, 0.8025012016296387, -0.16933350265026093, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3822777271270752, -1.0893687009811401, 1.889331579208374, -1.5831400156021118, -0.1287621110677719, 0.32825329899787903, 1.441086769104004, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898481369018555, -1.5349292755126953, -1.2096728086471558, -1.2384612560272217, -0.4413613975048065, 0.8025015592575073, -0.16922025382518768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3832529783248901, -1.0885696411132812, 1.88997483253479, -1.5825971364974976, -0.12951064109802246, 0.3280124366283417, 1.442366600036621, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898449778556824, -1.534929633140564, -1.2096798419952393, -1.2384623289108276, -0.4413646161556244, 0.8025007247924805, -0.16923582553863525, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3831965923309326, -1.08826744556427, 1.8901863098144531, -1.5825899839401245, -0.1295551061630249, 0.32799720764160156, 1.4424532651901245, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898450374603271, -1.534923791885376, -1.2097524404525757, -1.2384636402130127, -0.4413667917251587, 0.8025007247924805, -0.16925008594989777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3823808431625366, -1.0884352922439575, 1.889041543006897, -1.581932783126831, -0.13022442162036896, 0.3280008137226105, 1.4421188831329346, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898739457130432, -1.5348632335662842, -1.2098994255065918, -1.2384157180786133, -0.441316694021225, 0.8025014400482178, -0.16916152834892273, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3662227392196655, -1.093252182006836, 1.8539798259735107, -1.5633686780929565, -0.1319369673728943, 0.32866472005844116, 1.409408450126648, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898646473884583, -1.5348803997039795, -1.2098872661590576, -1.2384364604949951, -0.44135454297065735, 0.8024994134902954, -0.16937005519866943, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3437445163726807, -1.1120630502700806, 1.798003911972046, -1.5463618040084839, -0.13460417091846466, 0.32243606448173523, 1.3436529636383057, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898583292961121, -1.5349018573760986, -1.2098153829574585, -1.2384692430496216, -0.44136786460876465, 0.8025001287460327, -0.169387549161911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.317294955253601, -1.1299540996551514, 1.7328633069992065, -1.516284704208374, -0.1365480124950409, 0.3081364631652832, 1.2821906805038452, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9898363351821899, -1.5349040031433105, -1.2097742557525635, -1.2385472059249878, -0.44136592745780945, 0.8024989366531372, -0.16935375332832336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2837684154510498, -1.1454650163650513, 1.6679574251174927, -1.4758248329162598, -0.1382579207420349, 0.2921477258205414, 1.223742961883545, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9898332953453064, -1.5348981618881226, -1.209765076637268, -1.2386386394500732, -0.441367506980896, 0.8025118708610535, -0.16934213042259216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2492564916610718, -1.162064552307129, 1.61659574508667, -1.4420417547225952, -0.14071853458881378, 0.2810397744178772, 1.182417869567871, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9898399710655212, -1.5348979234695435, -1.2097581624984741, -1.238626480102539, -0.44136616587638855, 0.8025351166725159, -0.16927489638328552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2091370820999146, -1.1767951250076294, 1.569955825805664, -1.3946106433868408, -0.146633580327034, 0.27424365282058716, 1.1464929580688477, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.989839494228363, -1.5349007844924927, -1.209743618965149, -1.238631010055542, -0.4413861930370331, 0.8025829195976257, -0.16931696236133575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1744251251220703, -1.1904703378677368, 1.5392767190933228, -1.3452316522598267, -0.14585460722446442, 0.270362913608551, 1.1209458112716675, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9898369908332825, -1.5348995923995972, -1.209741234779358, -1.2386544942855835, -0.4413857161998749, 0.8026068210601807, -0.16932570934295654, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1431365013122559, -1.2014232873916626, 1.5156580209732056, -1.2970634698867798, -0.14518757164478302, 0.2640813887119293, 1.1107076406478882, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9898167848587036, -1.5348860025405884, -1.2097418308258057, -1.2387850284576416, -0.44138187170028687, 0.8026297092437744, -0.1693372130393982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1249157190322876, -1.211252212524414, 1.5014227628707886, -1.274465560913086, -0.14532729983329773, 0.2631760835647583, 1.10237717628479, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9898315668106079, -1.5348727703094482, -1.2097420692443848, -1.2387815713882446, -0.4413701295852661, 0.8026735186576843, -0.16931791603565216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1125532388687134, -1.218929648399353, 1.4961692094802856, -1.2617300748825073, -0.1467372477054596, 0.25831565260887146, 1.0940816402435303, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898464679718018, -1.5348336696624756, -1.2097439765930176, -1.2387585639953613, -0.44134557247161865, 0.8026878237724304, -0.16928449273109436, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.102481484413147, -1.2239965200424194, 1.4925806522369385, -1.2562960386276245, -0.14813880622386932, 0.25787273049354553, 1.0877652168273926, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9898561239242554, -1.5348304510116577, -1.2097439765930176, -1.2387213706970215, -0.4413442611694336, 0.8026874661445618, -0.16928724944591522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0858458280563354, -1.2294435501098633, 1.4882862567901611, -1.2330636978149414, -0.14803406596183777, 0.2579193413257599, 1.0931233167648315, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9898515939712524, -1.534833312034607, -1.209743618965149, -1.2387360334396362, -0.4413515627384186, 0.802685022354126, -0.16933169960975647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.07589852809906, -1.2337119579315186, 1.4811702966690063, -1.2259823083877563, -0.15742717683315277, 0.253683865070343, 1.0921952724456787, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9898484945297241, -1.5348374843597412, -1.2097437381744385, -1.2387378215789795, -0.4413466453552246, 0.802678108215332, -0.16932247579097748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0683504343032837, -1.238961100578308, 1.4769526720046997, -1.21781587600708, -0.1579875648021698, 0.25033560395240784, 1.0912827253341675, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9898324012756348, -1.5348042249679565, -1.2097827196121216, -1.2387207746505737, -0.44130709767341614, 0.8026424050331116, -0.1690988540649414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0600848197937012, -1.2417892217636108, 1.4691040515899658, -1.2054238319396973, -0.16522711515426636, 0.25052759051322937, 1.0879403352737427, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.989788830280304, -1.5347779989242554, -1.2101452350616455, -1.2385567426681519, -0.4412958323955536, 0.8025519251823425, -0.16877935826778412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0559574365615845, -1.2423834800720215, 1.4645975828170776, -1.2016732692718506, -0.17471764981746674, 0.23994095623493195, 1.0878639221191406, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9897873401641846, -1.5347610712051392, -1.210506796836853, -1.2385138273239136, -0.4413176476955414, 0.802528440952301, -0.16871464252471924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0548295974731445, -1.242366909980774, 1.464166522026062, -1.1992429494857788, -0.18113677203655243, 0.22231540083885193, 1.0901806354522705, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897890686988831, -1.5347250699996948, -1.2105178833007812, -1.2384892702102661, -0.4413347840309143, 0.8025275468826294, -0.16869306564331055, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0480568408966064, -1.2423583269119263, 1.4624971151351929, -1.1912789344787598, -0.19361449778079987, 0.19544725120067596, 1.0976130962371826, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9897384643554688, -1.534538745880127, -1.2106846570968628, -1.2385331392288208, -0.4414554536342621, 0.8025287985801697, -0.168752983212471, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.049048662185669, -1.241917371749878, 1.4668335914611816, -1.2000303268432617, -0.198002889752388, 0.18864800035953522, 1.106041669845581, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9897596836090088, -1.5345522165298462, -1.2106437683105469, -1.2386064529418945, -0.4416656792163849, 0.8025762438774109, -0.16905882954597473, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0485074520111084, -1.2435369491577148, 1.4704458713531494, -1.2027735710144043, -0.203040212392807, 0.18248127400875092, 1.1156202554702759, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898057579994202, -1.5344579219818115, -1.2104535102844238, -1.238735318183899, -0.4416483938694, 0.8027136921882629, -0.16925020515918732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0483344793319702, -1.2447007894515991, 1.4747999906539917, -1.2042721509933472, -0.20763221383094788, 0.17923426628112793, 1.1211305856704712, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9898064732551575, -1.5342274904251099, -1.2104471921920776, -1.238741159439087, -0.4415696859359741, 0.8027288913726807, -0.16923990845680237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0417356491088867, -1.2461973428726196, 1.4751440286636353, -1.1905533075332642, -0.20423144102096558, 0.17732243239879608, 1.124938726425171, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.989797055721283, -1.5342416763305664, -1.2102233171463013, -1.2387311458587646, -0.4415549337863922, 0.8027191758155823, -0.16932152211666107, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0228930711746216, -1.2504127025604248, 1.4692522287368774, -1.1543561220169067, -0.1871103048324585, 0.16997429728507996, 1.1286530494689941, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9896113276481628, -1.5341932773590088, -1.210479497909546, -1.2387362718582153, -0.4415450990200043, 0.802669107913971, -0.16915026307106018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0018792152404785, -1.2545275688171387, 1.4651966094970703, -1.119809627532959, -0.17248943448066711, 0.1627447009086609, 1.1342819929122925, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9896180629730225, -1.5341287851333618, -1.2107110023498535, -1.238704800605774, -0.4415440261363983, 0.8026506304740906, -0.16881422698497772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9913919568061829, -1.2540010213851929, 1.4608873128890991, -1.1026644706726074, -0.16946257650852203, 0.1579175740480423, 1.1405681371688843, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9896479845046997, -1.533614993095398, -1.2113916873931885, -1.2385830879211426, -0.44149789214134216, 0.8026330471038818, -0.1683012992143631, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9777095913887024, -1.2536002397537231, 1.4514838457107544, -1.0841585397720337, -0.17053696513175964, 0.1550569385290146, 1.1452267169952393, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9894189834594727, -1.5318611860275269, -1.213951587677002, -1.2385737895965576, -0.4410518407821655, 0.802453875541687, -0.16656023263931274, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9572193622589111, -1.2544779777526855, 1.4375238418579102, -1.057725429534912, -0.16973905265331268, 0.14122845232486725, 1.1472513675689697, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9885777831077576, -1.5286023616790771, -1.2170517444610596, -1.2385213375091553, -0.44096481800079346, 0.8023965954780579, -0.16500480473041534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9383126497268677, -1.2589410543441772, 1.424716591835022, -1.0266941785812378, -0.1621364951133728, 0.1269061118364334, 1.1452261209487915, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9878581166267395, -1.5248782634735107, -1.2202560901641846, -1.2385177612304688, -0.4410688579082489, 0.8023561835289001, -0.16479399800300598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9175048470497131, -1.2635294198989868, 1.4156875610351562, -0.9895712733268738, -0.14423277974128723, 0.11797378957271576, 1.1483629941940308, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9873260259628296, -1.5227348804473877, -1.2227272987365723, -1.2384827136993408, -0.4411889314651489, 0.8023215532302856, -0.16315683722496033, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9126016497612, -1.266126275062561, 1.4046670198440552, -0.9844444990158081, -0.14441542327404022, 0.11312460899353027, 1.136796474456787, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9865018725395203, -1.5204492807388306, -1.2253609895706177, -1.2381926774978638, -0.4411492645740509, 0.801790177822113, -0.1600484848022461, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9030239582061768, -1.2713744640350342, 1.3964409828186035, -0.9732660055160522, -0.14224663376808167, 0.1122678592801094, 1.129876732826233, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9857574701309204, -1.5176359415054321, -1.2280994653701782, -1.2381173372268677, -0.44102737307548523, 0.8015235662460327, -0.15823887288570404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8976987600326538, -1.2754918336868286, 1.3867615461349487, -0.9686890840530396, -0.13863243162631989, 0.11440165340900421, 1.118483543395996, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9845362901687622, -1.514966607093811, -1.2310185432434082, -1.237709641456604, -0.4403320550918579, 0.8008307218551636, -0.155703604221344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8872988224029541, -1.2807456254959106, 1.3762081861495972, -0.9557846188545227, -0.13139420747756958, 0.11357785761356354, 1.1082127094268799, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9836483597755432, -1.512075424194336, -1.2329505681991577, -1.2376437187194824, -0.4399639070034027, 0.7999657988548279, -0.15356430411338806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8764320015907288, -1.2859681844711304, 1.3656915426254272, -0.9424306750297546, -0.12672382593154907, 0.11357533931732178, 1.1004302501678467, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9827283620834351, -1.5099074840545654, -1.2359851598739624, -1.237432599067688, -0.4392659366130829, 0.7992333769798279, -0.15091338753700256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.867260217666626, -1.291345477104187, 1.358771800994873, -0.9302868247032166, -0.11771325021982193, 0.11365047842264175, 1.0933235883712769, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9819138646125793, -1.5078024864196777, -1.2368255853652954, -1.2374120950698853, -0.4388147294521332, 0.7988892793655396, -0.14998941123485565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8636812567710876, -1.293877124786377, 1.3527265787124634, -0.9303131103515625, -0.11867786198854446, 0.11854807287454605, 1.087558627128601, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.981421947479248, -1.5067188739776611, -1.2378731966018677, -1.2373236417770386, -0.4379781186580658, 0.7985818982124329, -0.14869678020477295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8578577041625977, -1.297417163848877, 1.3491305112838745, -0.9233666658401489, -0.12131942808628082, 0.1187194436788559, 1.085350513458252, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9808710813522339, -1.505650281906128, -1.2384952306747437, -1.2373182773590088, -0.43747609853744507, 0.7982521057128906, -0.1479155421257019, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8511777520179749, -1.3008111715316772, 1.3472261428833008, -0.9187655448913574, -0.1302783489227295, 0.11896836012601852, 1.0877952575683594, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9808363318443298, -1.5055012702941895, -1.2385039329528809, -1.2373203039169312, -0.4374702274799347, 0.798222005367279, -0.14794214069843292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8519596457481384, -1.3022269010543823, 1.3491650819778442, -0.9298574328422546, -0.14394672214984894, 0.1261294186115265, 1.0903551578521729, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9808642864227295, -1.5056267976760864, -1.238455057144165, -1.2373379468917847, -0.4378770887851715, 0.7982247471809387, -0.1496220827102661, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8670891523361206, -1.3035883903503418, 1.3598514795303345, -0.9609126448631287, -0.16117559373378754, 0.14122402667999268, 1.0909537076950073, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9815576672554016, -1.5063400268554688, -1.2368831634521484, -1.2373512983322144, -0.4386196434497833, 0.7983400225639343, -0.15154999494552612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8900341391563416, -1.304537057876587, 1.374809741973877, -1.004320502281189, -0.18370822072029114, 0.16010074317455292, 1.0919033288955688, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994005161741, 0.0010949114172373474, 1.1673938914883714e-05, 0.00016775657422840595], [-0.0010948966857915656, 0.9999986866433148, -0.0011949530923682098, 0.0003856263938359916], [-1.2982291366735025e-05, 0.0011949395942561303, 0.9999992859751582, 3.384537308193103e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9830650091171265, -1.5086051225662231, -1.2337132692337036, -1.2374681234359741, -0.4399482011795044, 0.7989633679389954, -0.15548992156982422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9172685742378235, -1.3021612167358398, 1.3958879709243774, -1.0486962795257568, -0.19605568051338196, 0.184274360537529, 1.1042296886444092, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993872293128, 0.0011069404703136216, 1.495975077379642e-05, 7.67355304560624e-05], [-0.0011069221737572842, 0.9999987003074571, -0.0011722229727833976, 0.00038459539064206183], [-1.625731237952518e-05, 0.0011722056951996756, 0.9999993128345178, 6.14376347130019e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9848107695579529, -1.511596918106079, -1.229594111442566, -1.2383826971054077, -0.44113391637802124, 0.800238847732544, -0.16087479889392853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9410950541496277, -1.2962212562561035, 1.413883924484253, -1.0888828039169312, -0.2054482102394104, 0.20613107085227966, 1.1155343055725098, 0.05700000930618454, 0.05700000930618454, 0.05700000930618454, 0.05700000930618454, -0.05700000930618454, -0.05700000930618454, -0.05700000930618454, 0.05700000930618454, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994013244177, 0.0010942242861272046, 4.9008012306029775e-06, 0.00014153021038509905], [-0.0010942176761342686, 0.999998692661641, -0.0011905304221478841, 0.00038486128323711455], [-6.203502124885026e-06, 0.0011905243468630564, 0.999999291306397, 3.4383324987175e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9858739972114563, -1.516758918762207, -1.223400592803955, -1.2385326623916626, -0.44142645597457886, 0.8010035157203674, -0.1631273478269577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.96015864610672, -1.2946444749832153, 1.4254827499389648, -1.1324968338012695, -0.20350268483161926, 0.21522624790668488, 1.1305556297302246, 0.11639999400128377, 0.11639999400128377, 0.11639999400128377, 0.11639999400128377, -0.11639999400128377, -0.11639999400128377, -0.11639999400128377, 0.11639999400128377, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993528497636, 0.0011373972574391128, 2.5050603982119305e-05, 0.00012938125291839242], [-0.001137367456140031, 0.9999986813759397, -0.001159155576892576, 0.0003818618133664131], [-2.636899132389304e-05, 0.0011591263350030447, 0.999999327865182, 1.99409782908333e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9871290326118469, -1.5259298086166382, -1.2155300378799438, -1.2382200956344604, -0.4406479597091675, 0.8010016083717346, -0.16325294971466064, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9652433395385742, -1.3110164403915405, 1.4377176761627197, -1.1707514524459839, -0.17597144842147827, 0.21336965262889862, 1.145291805267334, 0.19860001291547505, 0.19860001291547505, 0.19860001291547505, 0.19860001291547505, -0.19860001291547505, -0.19860001291547505, -0.19860001291547505, 0.19860001291547505, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993303005624, 0.0011573004549002778, 7.354158027295755e-06, 0.00018998171435669065], [-0.0011572910504341954, 0.9999986448094045, -0.0011709213377417895, 0.0003917395952157676], [-8.709255857830972e-06, 0.0011709120426751595, 0.9999993144443335, -6.056481538507796e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9876461625099182, -1.5283606052398682, -1.2142627239227295, -1.2382304668426514, -0.4398649036884308, 0.80100017786026, -0.163404181599617, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9873331785202026, -1.312032699584961, 1.4641677141189575, -1.2330800294876099, -0.15567424893379211, 0.21912112832069397, 1.1645597219467163, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, -0.2304000078976809, -0.2304000078976809, -0.2304000078976809, 0.2304000078976809, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993769229714, 0.0011160453732123542, 2.442118010387883e-05, 8.588726632297039e-05], [-0.001116015644822282, 0.9999986748625221, -0.00118523511598388, 0.00038419864722527564], [-2.574392390982044e-05, 0.001185207123072045, 0.999999297310416, -1.6943758396337216e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9876507520675659, -1.5281879901885986, -1.2142889499664307, -1.2382229566574097, -0.43982547521591187, 0.8010004162788391, -0.16353458166122437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.021113395690918, -1.2953332662582397, 1.504625916481018, -1.2940386533737183, -0.1447811871767044, 0.22863133251667023, 1.1877179145812988, 0.2466000001509111, 0.2466000001509111, 0.2466000001509111, 0.2466000001509111, -0.2466000001509111, -0.2466000001509111, -0.2466000001509111, 0.2466000001509111, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993956421793, 0.0010992606258872254, 1.8475727618960802e-05, 7.133057806640863e-05], [-0.0010992379896916462, 0.9999986954697923, -0.0011835263223910191, 0.00038346482324413955], [-1.977670740272157e-05, 0.001183505297895944, 0.9999992994618004, 2.2418579703753494e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9876977801322937, -1.5280296802520752, -1.2143748998641968, -1.2380708456039429, -0.43978846073150635, 0.8009982705116272, -0.16356417536735535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0448864698410034, -1.2742284536361694, 1.5486054420471191, -1.3207428455352783, -0.13479149341583252, 0.2394571602344513, 1.2295135259628296, 0.2717999924670209, 0.2717999924670209, 0.2717999924670209, 0.2717999924670209, -0.2717999924670209, -0.2717999924670209, -0.2717999924670209, 0.2717999924670209, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999404842113, 0.0010909235132031707, 1.4188305576821407e-05, 0.0001856984745245427], [-0.0010909063383774916, 0.9999987334710937, -0.001158869953657016, 0.00038519006920978427], [-1.545252608811137e-05, 0.0011588537858339386, 0.9999993284093357, 4.3396357796154916e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9877361059188843, -1.5280367136001587, -1.214375376701355, -1.2381032705307007, -0.43982380628585815, 0.8009985089302063, -0.16410034894943237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0720598697662354, -1.2578644752502441, 1.5768531560897827, -1.3465129137039185, -0.13753923773765564, 0.24512246251106262, 1.2664204835891724, 0.5178000007356917, 0.5178000007356917, 0.5178000007356917, 0.5178000007356917, -0.5178000007356917, -0.5178000007356917, -0.5178000007356917, 0.5178000007356917, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999396011231, 0.0010987849253269828, 2.54727497576633e-05, 0.0001287211780436337], [-0.0010987533639741254, 0.9999986672362011, -0.001207587208697591, 0.00038303181645460427], [-2.6799594429439165e-05, 0.0012075584910589937, 0.9999992705418701, 1.0874985036934959e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9878838062286377, -1.5280400514602661, -1.2143763303756714, -1.2381060123443604, -0.4398258328437805, 0.8010018467903137, -0.16411270201206207, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0972946882247925, -1.2486705780029297, 1.5810465812683105, -1.3577200174331665, -0.16508880257606506, 0.24383056163787842, 1.2754995822906494, 0.5886000000841015, 0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994224759579, 0.0010746057334906419, 1.6439836362133476e-05, 0.00011833479220513254], [-0.0010745854460539606, 0.9999987170441802, -0.0011879293383232309, 0.0003826384199783206], [-1.7716370948493627e-05, 0.0011879109862565874, 0.9999992942765604, 1.5181345958126258e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9879267811775208, -1.5280705690383911, -1.2143776416778564, -1.2380865812301636, -0.4398362636566162, 0.800997793674469, -0.16408632695674896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0934364795684814, -1.2457427978515625, 1.5652602910995483, -1.3070491552352905, -0.17584945261478424, 0.23228268325328827, 1.2580405473709106, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994224357337, 0.0010746040799965047, 1.88220706845838e-05, 0.00028398577705956995], [-0.0010745808029013122, 0.9999987075757507, -0.0011958774712522088, 0.00038501934614032507], [-2.0107141168266752e-05, 0.0011958565547202861, 0.999999284761146, -4.85983264297829e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9879136085510254, -1.5281938314437866, -1.214363694190979, -1.238326072692871, -0.4400549829006195, 0.8010006546974182, -0.16460835933685303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0779896974563599, -1.2457340955734253, 1.5429255962371826, -1.256088137626648, -0.172543004155159, 0.21494977176189423, 1.238709568977356, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994009774167, 0.0010943903514099085, 1.8829936804670098e-05, 0.0001843972277129069], [-0.001094366982068917, 0.9999986820334518, -0.0011992882338637122, 0.0003870451473630965], [-2.0142401459143162e-05, 0.0011992669086018626, 0.999999280676324, 3.83007233040189e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9879297614097595, -1.5281951427459717, -1.2143043279647827, -1.2383161783218384, -0.4400492310523987, 0.801054835319519, -0.1647174209356308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0597069263458252, -1.2476067543029785, 1.518263578414917, -1.2254518270492554, -0.17257367074489594, 0.20036150515079498, 1.2116707563400269, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994179567856, 0.001078802183211113, 1.649058767763165e-05, 0.00016269416664727032], [-0.0010787814714876295, 0.9999986882024797, -0.0012082317064487085, 0.00038408723776228726], [-1.7794009048061382e-05, 0.001208213213465202, 0.9999992699518355, 5.108461209601955e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879505634307861, -1.528192400932312, -1.2142351865768433, -1.238254189491272, -0.44001832604408264, 0.8010661005973816, -0.16469380259513855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0310862064361572, -1.252519130706787, 1.495403528213501, -1.175908088684082, -0.16859479248523712, 0.1891031563282013, 1.1950347423553467, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994164983536, 0.0010800219849684445, 2.3568291356076406e-05, 0.0002274492144351825], [-0.0010799921566541804, 0.9999986592381861, -0.001230909733411977, 0.0003835324023384601], [-2.4897669330207916e-05, 0.0012308835616043107, 0.9999992421525947, 6.366317961692403e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879248142242432, -1.5281925201416016, -1.2142128944396973, -1.2383666038513184, -0.44001638889312744, 0.8010662198066711, -0.16471658647060394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9993146061897278, -1.2576355934143066, 1.4768987894058228, -1.1257061958312988, -0.16715668141841888, 0.18583901226520538, 1.1829346418380737, 0.4602000042632386, 0.4602000042632386, 0.4602000042632386, 0.4602000042632386, -0.4602000042632386, -0.4602000042632386, -0.4602000042632386, 0.4602000042632386, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993742579844, 0.0011186970926909214, -6.742539799502464e-07, 0.0001584307901794091], [-0.0011186970724618847, 0.9999986119946844, -0.001234716795277751, 0.0003862349549308419], [-7.070210450917332e-07, 0.001234716776949528, 0.9999992377366999, 1.5109432638382714e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879089593887329, -1.5281922817230225, -1.2141969203948975, -1.238442301750183, -0.4400142431259155, 0.8010728359222412, -0.16478560864925385, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9778946042060852, -1.2613780498504639, 1.4601924419403076, -1.0935485363006592, -0.1668972223997116, 0.1768510937690735, 1.175473690032959, 0.3527999930329375, 0.3527999930329375, 0.3527999930329375, 0.3527999930329375, -0.3527999930329375, -0.3527999930329375, -0.3527999930329375, 0.3527999930329375, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993972445089, 0.0010977556414030478, 2.1051615778100167e-05, 0.0001568947482155636], [-0.0010977290623095635, 0.9999986489607134, -0.0012235471603340834, 0.0003850214707199484], [-2.2394743134319624e-05, 0.001223523313863866, 0.9999992512443077, -1.4010387516805167e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9879145622253418, -1.5281906127929688, -1.214189887046814, -1.2384272813796997, -0.43998295068740845, 0.8011014461517334, -0.16479818522930145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9597938656806946, -1.26621413230896, 1.4443708658218384, -1.0618280172348022, -0.16854338347911835, 0.170353963971138, 1.164931058883667, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879176616668701, -1.5281871557235718, -1.2141855955123901, -1.2384144067764282, -0.4399515688419342, 0.8011182546615601, -0.16482983529567719, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.942250669002533, -1.2718509435653687, 1.4307469129562378, -1.0282200574874878, -0.16994145512580872, 0.16337314248085022, 1.1548700332641602, 0.22560001310411393, 0.22560001310411393, 0.22560001310411393, 0.22560001310411393, -0.22560001310411393, -0.22560001310411393, -0.22560001310411393, 0.22560001310411393, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879143238067627, -1.5281869173049927, -1.2141858339309692, -1.2384275197982788, -0.4399520456790924, 0.8011265993118286, -0.1649942547082901, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9334921836853027, -1.2760754823684692, 1.4254508018493652, -1.0110886096954346, -0.17004752159118652, 0.15738318860530853, 1.1491665840148926, 0.19680000504294595, 0.19680000504294595, 0.19680000504294595, 0.19680000504294595, -0.19680000504294595, -0.19680000504294595, -0.19680000504294595, 0.19680000504294595, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879121780395508, -1.528184413909912, -1.2141878604888916, -1.2384264469146729, -0.4398520886898041, 0.8011286854743958, -0.16497555375099182, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.929151177406311, -1.2787840366363525, 1.4251799583435059, -1.0014125108718872, -0.1672513633966446, 0.15660230815410614, 1.1451904773712158, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879088401794434, -1.5281808376312256, -1.2141921520233154, -1.238425850868225, -0.4398021101951599, 0.8011286854743958, -0.16496849060058594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9235248565673828, -1.2804248332977295, 1.4221094846725464, -0.9927864670753479, -0.16687577962875366, 0.1564323604106903, 1.1435177326202393, 0.15180000472854782, 0.15180000472854782, 0.15180000472854782, 0.15180000472854782, -0.15180000472854782, -0.15180000472854782, -0.15180000472854782, 0.15180000472854782, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879023432731628, -1.5281143188476562, -1.2142143249511719, -1.2386301755905151, -0.4398775100708008, 0.801256537437439, -0.16525454819202423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9225708246231079, -1.2808043956756592, 1.4223508834838867, -0.9966132044792175, -0.16739924252033234, 0.1598549336194992, 1.1436818838119507, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879034161567688, -1.5280482769012451, -1.2142279148101807, -1.2386456727981567, -0.43992316722869873, 0.8013995289802551, -0.16551999747753143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.926770031452179, -1.28046452999115, 1.4223517179489136, -1.0058906078338623, -0.1704593002796173, 0.1659594625234604, 1.1410952806472778, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9879055619239807, -1.5280267000198364, -1.214261770248413, -1.2386821508407593, -0.4399786591529846, 0.8015362620353699, -0.1657545268535614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9302514791488647, -1.2805107831954956, 1.4225980043411255, -1.0144964456558228, -0.1748611032962799, 0.17017324268817902, 1.1403182744979858, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.988262951374054, -1.528016448020935, -1.2141278982162476, -1.2390632629394531, -0.44055426120758057, 0.8024391531944275, -0.1682872772216797, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9381821751594543, -1.2793575525283813, 1.426990032196045, -1.033319354057312, -0.18661104142665863, 0.17904815077781677, 1.1471620798110962, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9886407256126404, -1.5282419919967651, -1.2124110460281372, -1.2396225929260254, -0.44122105836868286, 0.8026413321495056, -0.16970333456993103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9588294625282288, -1.2758609056472778, 1.4351893663406372, -1.06728994846344, -0.19438424706459045, 0.19312961399555206, 1.158677577972412, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9887539744377136, -1.5292922258377075, -1.2115451097488403, -1.2396034002304077, -0.44122740626335144, 0.8027282953262329, -0.1698477417230606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.980668842792511, -1.2756164073944092, 1.44552481174469, -1.0929616689682007, -0.1858806014060974, 0.20807981491088867, 1.1483579874038696, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9890087842941284, -1.5296353101730347, -1.2110588550567627, -1.2395787239074707, -0.44119206070899963, 0.8028092980384827, -0.16984187066555023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9879201054573059, -1.2773374319076538, 1.4507908821105957, -1.1011885404586792, -0.18420568108558655, 0.22558625042438507, 1.1515618562698364, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9889348149299622, -1.5297191143035889, -1.2110850811004639, -1.239696741104126, -0.4412379562854767, 0.8028488755226135, -0.17008276283740997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9986265301704407, -1.2739171981811523, 1.450129747390747, -1.1288853883743286, -0.19689925014972687, 0.23162463307380676, 1.1546835899353027, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9889902472496033, -1.5304359197616577, -1.2110284566879272, -1.239677906036377, -0.4417237937450409, 0.8030173778533936, -0.17058177292346954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0129843950271606, -1.2752171754837036, 1.4600387811660767, -1.136791706085205, -0.180528923869133, 0.24884608387947083, 1.14873206615448, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.989249587059021, -1.530630350112915, -1.2101696729660034, -1.2395707368850708, -0.44137588143348694, 0.8031532764434814, -0.1704787164926529, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0149725675582886, -1.275248408317566, 1.4609037637710571, -1.1453485488891602, -0.18523381650447845, 0.2597511112689972, 1.1521116495132446, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 0.9890929460525513, -1.5310890674591064, -1.209821105003357, -1.239505648612976, -0.4414234757423401, 0.8031674027442932, -0.1705498993396759, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0281331539154053, -1.2719507217407227, 1.4662342071533203, -1.177147388458252, -0.19172422587871552, 0.26744234561920166, 1.161773681640625, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, -0.17400001012361968, -0.17400001012361968, -0.17400001012361968, 0.17400001012361968, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9891615509986877, -1.5311744213104248, -1.2098113298416138, -1.2392081022262573, -0.4412562847137451, 0.8031505346298218, -0.17002031207084656, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0418860912322998, -1.2685598134994507, 1.4874392747879028, -1.2016077041625977, -0.19036102294921875, 0.2796700894832611, 1.1749006509780884, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, -0.23999999748481501, -0.23999999748481501, -0.23999999748481501, 0.23999999748481501, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9891176223754883, -1.5313853025436401, -1.2098151445388794, -1.239207148551941, -0.4411323666572571, 0.8030710816383362, -0.16988562047481537, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0686826705932617, -1.2594761848449707, 1.5111124515533447, -1.2393962144851685, -0.1923181712627411, 0.29719752073287964, 1.1955311298370361, 0.2802000030056461, 0.2802000030056461, 0.2802000030056461, 0.2802000030056461, -0.2802000030056461, -0.2802000030056461, -0.2802000030056461, 0.2802000030056461, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9891139268875122, -1.5314027070999146, -1.2098158597946167, -1.2392030954360962, -0.4410766363143921, 0.8030681610107422, -0.16982784867286682, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.1093939542770386, -1.248740553855896, 1.5371686220169067, -1.2853379249572754, -0.19639064371585846, 0.31814509630203247, 1.2297025918960571, 0.2844000082749587, 0.2844000082749587, 0.2844000082749587, 0.2844000082749587, -0.2844000082749587, -0.2844000082749587, -0.2844000082749587, 0.2844000082749587, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 0.9890901446342468, -1.5314654111862183, -1.2098692655563354, -1.2391119003295898, -0.44105997681617737, 0.8030637502670288, -0.1696643829345703, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.1567145586013794, -1.2380115985870361, 1.5764104127883911, -1.3320194482803345, -0.1962386816740036, 0.3250562846660614, 1.2639459371566772, 0.3048000057975014, 0.3048000057975014, 0.3048000057975014, 0.3048000057975014, -0.3048000057975014, -0.3048000057975014, -0.3048000057975014, 0.3048000057975014, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 0.9942047595977783, -1.5315178632736206, -1.2146799564361572, -1.2423189878463745, -0.45126575231552124, 0.7870467305183411, -0.16811087727546692, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.1872631311416626, -1.2270954847335815, 1.6259249448776245, -1.3548872470855713, -0.1792398989200592, 0.33335548639297485, 1.2893556356430054, 0.4332000040745997, 0.4332000040745997, 0.4332000040745997, 0.4332000040745997, -0.4332000040745997, -0.4332000040745997, -0.4332000040745997, 0.4332000040745997, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.0198999643325806, -1.5277798175811768, -1.2203571796417236, -1.2557681798934937, -0.4627973437309265, 0.7412819266319275, -0.17074908316135406, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.199198603630066, -1.2154988050460815, 1.6680610179901123, -1.365225076675415, -0.16136351227760315, 0.3411097526550293, 1.2968508005142212, 0.5477999976703098, 0.5477999976703098, 0.5477999976703098, 0.5477999976703098, -0.5477999976703098, -0.5477999976703098, -0.5477999976703098, 0.5477999976703098, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.750834584236145, 1.4163947105407715, -0.4948388636112213, 0.0, 0.0, 1.0527467727661133, -1.521027684211731, -1.2199597358703613, -1.2780958414077759, -0.4554067850112915, 0.6747076511383057, -0.17366184294223785, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.2109886407852173, -1.2069194316864014, 1.6980929374694824, -1.3816221952438354, -0.1384986937046051, 0.341634064912796, 1.2960577011108398, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.750834584236145, 1.4163947105407715, -0.4948388636112213, 0.0, 0.0, 1.0805847644805908, -1.5125453472137451, -1.221174716949463, -1.3112711906433105, -0.43337929248809814, 0.582574725151062, -0.1888049989938736, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.22447669506073, -1.202286958694458, 1.7222386598587036, -1.394349455833435, -0.1055244579911232, 0.3461305499076843, 1.2833725214004517, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4163947105407715, -0.49493470788002014, 0.0, 0.0, 1.0822845697402954, -1.5099693536758423, -1.230204463005066, -1.348331093788147, -0.3996315896511078, 0.48881006240844727, -0.18982689082622528, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.2423990964889526, -1.201127052307129, 1.756198763847351, -1.4098254442214966, -0.04503611847758293, 0.34693384170532227, 1.2452964782714844, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993871893923, 0.0011069902720015263, 1.3906027118513581e-05, 0.0001480180217185989], [-0.0011069725651289665, 0.9999986496637516, -0.001214612042328507, 0.00038535063504241407], [-1.5250572055814656e-05, 0.0012145959044108528, 0.9999992622618324, 3.800978163326363e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4163947105407715, -0.49493470788002014, 0.0, 0.0, 1.0717289447784424, -1.5053389072418213, -1.2409617900848389, -1.383587121963501, -0.34580302238464355, 0.42563915252685547, -0.18266379833221436, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.2675851583480835, -1.200876235961914, 1.8029468059539795, -1.4437408447265625, 0.0393122136592865, 0.3371138572692871, 1.165582299232483, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994075258253, 0.0010885441082615621, 4.441046072478259e-06, 0.0002640515158418566], [-0.0010885379266420145, 0.9999986731580427, -0.0012119271167773777, 0.0003841663128696382], [-5.7602763025224325e-06, 0.0012119215644947755, 0.9999992656062007, 3.668942483159299e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.0678526163101196, -1.4960556030273438, -1.2625151872634888, -1.4199938774108887, -0.26364898681640625, 0.37070420384407043, -0.16947096586227417, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.298811674118042, -1.201704978942871, 1.8668932914733887, -1.5007495880126953, 0.12541694939136505, 0.3325093984603882, 1.0347930192947388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994364873904, 0.0010615866095697833, 7.666288647731313e-06, 0.0001058118068613112], [-0.0010615766782979825, 0.9999987208941367, -0.0011963548999660025, 0.0003827440377790481], [-8.93631318383366e-06, 0.0011963460874516933, 0.9999992843378346, 4.1133287709271826e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4163947105407715, -0.4951264262199402, 0.0, 0.0, 1.0714163780212402, -1.482725739479065, -1.3012968301773071, -1.4593079090118408, -0.19454675912857056, 0.3289165198802948, -0.15804113447666168, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.3345497846603394, -1.203245759010315, 1.9399274587631226, -1.5626864433288574, 0.20873859524726868, 0.3156100809574127, 0.8900122046470642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994074398444, 0.001088570952192726, 1.1543057343155121e-05, 0.00014562843716703355], [-0.0010885566353884216, 0.9999987169946289, -0.0011751823465582167, 0.00038546326686628163], [-1.2822311899343511e-05, 0.001175169084920319, 0.9999993094063666, 7.772896424285136e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.0817381143569946, -1.4676032066345215, -1.339802861213684, -1.5013281106948853, -0.13038884103298187, 0.29221734404563904, -0.1502666026353836, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.363259196281433, -1.2008880376815796, 1.9937652349472046, -1.6048213243484497, 0.2363024353981018, 0.31432825326919556, 0.7913997173309326, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994432432622, 0.0010550391874252715, 2.0136502779236344e-05, 0.00016328036144841462], [-0.0010550143503111101, 0.9999987282908606, -0.0011959771662613929, 0.0003843567974399775], [-2.1398279949133324e-05, 0.00119595525609365, 0.9999992846163136, 1.2136897566961125e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4162029027938843, -0.49531814455986023, 0.0, 0.0, 1.0921529531478882, -1.4572668075561523, -1.3645939826965332, -1.5272985696792603, -0.0812072679400444, 0.26799747347831726, -0.14786820113658905, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.3692725896835327, -1.195149302482605, 2.000572443008423, -1.605963945388794, 0.22505834698677063, 0.3389098048210144, 0.795924961566925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993233118621, 0.0011633211117432888, 7.73361816293873e-06, 0.0003116735315416008], [-0.0011633109366471102, 0.9999985958173101, -0.0012062632684286202, 0.00038256755215115845], [-9.136878830009452e-06, 0.0012062534555619866, 0.9999992724342945, 8.971552460934618e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.0928393602371216, -1.4562385082244873, -1.362712025642395, -1.524448037147522, -0.08396819233894348, 0.26994118094444275, -0.1468803435564041, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.3691524267196655, -1.196236252784729, 1.9917640686035156, -1.6038482189178467, 0.22357457876205444, 0.33654916286468506, 0.8058692812919617, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999403832528, 0.0010919032805287161, 9.045134530654068e-06, 0.0003444300382398069], [-0.0010918918684208712, 0.9999987101137322, -0.0011779401595767348, 0.00038482953095808625], [-1.0331319587967603e-05, 0.001177929581018285, 0.9999993061873423, -1.2301617857701785e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.0927131175994873, -1.4563100337982178, -1.3631271123886108, -1.524786114692688, -0.08338707685470581, 0.26974332332611084, -0.14688453078269958, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.3690725564956665, -1.1961066722869873, 1.9920589923858643, -1.6038026809692383, 0.22353096306324005, 0.33661627769470215, 0.8058631420135498, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993612331866, 0.001130227977850168, 1.0859875033669477e-05, 0.00014038676454219967], [-0.0011302147489530515, 0.9999987007417936, -0.0011494039089812193, 0.0004007323004771024], [-1.2158949379668641e-05, 0.0011493909007892125, 0.9999993393761404, 5.056539862380305e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.1051608324050903, -1.4503262042999268, -1.3677308559417725, -1.5301460027694702, -0.08986574411392212, 0.26442328095436096, -0.14405709505081177, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.3766471147537231, -1.1951627731323242, 1.983838438987732, -1.6078954935073853, 0.2275545448064804, 0.32971131801605225, 0.7890766263008118, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994409307694, 0.0010573594920848279, 1.136015767208447e-05, 0.0001467013353249058], [-0.001057346089382465, 0.9999988123595434, -0.0011212933380787013, 0.00038534903433173895], [-1.2545754334730621e-05, 0.001121280699579808, 0.9999993712859008, 3.817238223291497e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.1517010927200317, -1.4279216527938843, -1.3850961923599243, -1.5502910614013672, -0.11444790661334991, 0.2447281777858734, -0.13328184187412262, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.40358304977417, -1.1916637420654297, 1.9545879364013672, -1.622558832168579, 0.24229705333709717, 0.3044593632221222, 0.7288084030151367, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994295263043, 0.0010680904136963214, 1.1398866925027054e-05, 7.57659727241844e-05], [-0.0010680770177082576, 0.9999988060081946, -0.0011167782543413476, 0.0003858322452288121], [-1.259167346255986e-05, 0.0011167654423809388, 0.9999993763380037, 9.124807434091053e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.2326481342315674, -1.3890432119369507, -1.4151357412338257, -1.5852713584899902, -0.15729403495788574, 0.2104855328798294, -0.11464396864175797, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.4500094652175903, -1.1857699155807495, 1.904091715812683, -1.6478749513626099, 0.2675224244594574, 0.26119473576545715, 0.6250432133674622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994585670017, 0.001040585657929599, 6.869651337559567e-06, 2.2576492483494803e-05], [-0.0010405769152990805, 0.9999987751704195, -0.0011691267443120475, 0.0003818957193288952], [-8.086219445840443e-06, 0.0011691189629076508, 0.9999993165474983, 1.7134370011717692e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.3483619689941406, -1.333409309387207, -1.4581841230392456, -1.6352447271347046, -0.21843287348747253, 0.16140353679656982, -0.08798925578594208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5161851644515991, -1.1773351430892944, 1.8321932554244995, -1.683851957321167, 0.3036597669124603, 0.19941474497318268, 0.4774053692817688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999995058764882, 0.0009940905762539248, 5.541255541730679e-06, 6.095870958233718e-06], [-0.000994083483529236, 0.9999988337805062, -0.0011594117712130268, 0.0003881109005305916], [-6.6938093951711875e-06, 0.001159405689849799, 0.9999993278665937, 1.6911479860937106e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.4876765012741089, -1.2664366960525513, -1.5100326538085938, -1.6952741146087646, -0.29207953810691833, 0.10251773148775101, -0.05576319620013237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5950628519058228, -1.1672539710998535, 1.7466381788253784, -1.72648024559021, 0.3465418517589569, 0.12618322670459747, 0.30135664343833923, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992899163793, 0.0011916689522057143, 9.583602843280201e-06, -2.9000336780882208e-06], [-0.0011916566113347495, 0.9999985718700686, -0.001198420770870083, 0.0003847251646220684], [-1.1011709980974445e-05, 0.0011984084995274344, 0.9999992818476474, -6.188439556353842e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7516014575958252, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.5997538566589355, -1.2125657796859741, -1.5516231060028076, -1.7438828945159912, -0.35129645466804504, 0.05504234507679939, -0.030005503445863724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.657960057258606, -1.159271240234375, 1.678256869316101, -1.7606964111328125, 0.3808373212814331, 0.06748808175325394, 0.16108104586601257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999995054110078, 0.0009945739820697496, -5.778407615643404e-07, 0.0003334461653139442], [-0.0009945739588046038, 0.9999987842797854, -0.0012009419601491213, 0.00038805612712167203], [-6.165855684685165e-07, 0.0012009419408818215, 0.9999992788687773, 1.7052434486686252e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7516014575958252, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.6772507429122925, -1.1752854585647583, -1.580457329750061, -1.7773518562316895, -0.39222750067710876, 0.022253746166825294, -0.012101070955395699, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7012012004852295, -1.1536890268325806, 1.6312568187713623, -1.7843300104141235, 0.40438011288642883, 0.026763051748275757, 0.06424707174301147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994620055276, 0.0010372851505729198, 5.3077119433450506e-06, 0.0006319597596302629], [-0.0010372780395607247, 0.9999987429545499, -0.0011992262458219711, 0.00038643620791845024], [-6.551644848278343e-06, 0.0011992200950718403, 0.9999992809138613, 1.2602006904671725e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.720337152481079, -1.1546014547348022, -1.596469759941101, -1.7958972454071045, -0.41494131088256836, 0.003951558377593756, -0.002199944108724594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7250101566314697, -1.1506508588790894, 1.605423927307129, -1.7972674369812012, 0.41729575395584106, 0.004734008572995663, 0.011155636049807072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993839796395, 0.0011099670954589332, 3.659026548079347e-06, 0.0005353729939088225], [-0.0011099617724038648, 0.9999986317412086, -0.0012265808471266506, 0.00039142140303738415], [-5.020485921814831e-06, 0.0012265760301482826, 0.9999992477427355, 1.1255255003561615e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.7301545143127441, -1.1499080657958984, -1.6000908613204956, -1.8001036643981934, -0.4200970530509949, -0.00013757889973931015, 5.752428114647046e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730094075202942, -1.1499756574630737, 1.5999161005020142, -1.800057291984558, 0.4200410842895508, -9.647301340010017e-05, -0.00026137594250030816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994295773695, 0.001068061282104955, 9.488587240699676e-06, 0.0005032358458265662], [-0.001068048986064978, 0.9999986938736292, -0.0012130632296328556, 0.0003849712375085801], [-1.0784200715721704e-05, 0.0012130524033981556, 0.9999992641935131, 5.0670985274337e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 1.7298072576522827, -1.150111436843872, -1.5998448133468628, -1.8000125885009766, -0.42003461718559265, -3.3196301956195384e-05, -1.078580226021586e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729873538017273, -1.1499658823013306, 1.6000075340270996, -1.800048589706421, 0.42004337906837463, -8.400941442232579e-05, -1.3302489605848677e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994119528859, 0.0010844748170557618, 2.8728909193202016e-06, 0.00043703187839128077], [-0.0010844704713214872, 0.9999986579266105, -0.001228034516881593, 0.0003831883950624615], [-4.2046595717230745e-06, 0.0012280306791740698, 0.9999992459612016, 1.4550111870903493e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 1.729615569114685, -1.150229811668396, -1.5997982025146484, -1.7999099493026733, -0.4198736846446991, 7.741809531580657e-05, -0.00031578433117829263, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729409098625183, -1.1499717235565186, 1.6000338792800903, -1.8000417947769165, 0.42002037167549133, -8.233162225224078e-05, 2.9241507945698686e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994280622722, 0.0010694283227058261, 1.4078039535500026e-05, 0.00024778558872640133], [-0.0010694103725877348, 0.9999986856320914, -0.0012186449625082758, 0.00038522499380633235], [-1.5381274470005775e-05, 0.0012186292103177397, 0.9999992573528563, 4.6275178533505823e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 1.7295743227005005, -1.150262475013733, -1.599770426750183, -1.7998608350753784, -0.4197991192340851, 0.00010594054765533656, -0.0005186772323213518, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292981147766113, -1.1499868631362915, 1.6000572443008423, -1.8000363111495972, 0.41997769474983215, -8.197209535865113e-05, 2.7683559892466292e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994399436289, 0.0010583483130082126, 3.3580799945236037e-06, 0.00027263551601208746], [-0.0010583434205241613, 0.9999986936503729, -0.0012217228622059012, 0.0003835306270048022], [-4.651083937876235e-06, 0.0012217186239703605, 0.9999992536907072, 4.067707095600781e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 1.729575514793396, -1.1502740383148193, -1.5997496843338013, -1.7998466491699219, -0.4197758734226227, 0.00010821755131473765, -0.0005905826110392809, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292994260787964, -1.150022029876709, 1.6000783443450928, -1.8000301122665405, 0.4199376702308655, -8.185225306078792e-05, 2.384860817983281e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994161981687, 0.0010805475067745247, -4.517451224876154e-06, 0.0002911787014454603], [-0.0010805523013172405, 0.9999986381454271, -0.0012474429908089215, 0.00038408354157581925], [3.1695236592026097e-06, 0.001247447143891736, 0.9999992219324859, 6.234829470486147e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 1.7295763492584229, -1.1502797603607178, -1.5997411012649536, -1.7998400926589966, -0.41976436972618103, 0.00010761833982542157, -0.0006230598664842546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293013334274292, -1.1500762701034546, 1.6000897884368896, -1.8000237941741943, 0.41990673542022705, -8.00546258687973e-05, 1.9294602680020034e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994085518157, 0.0010873898129093098, 2.1895518081728495e-05, 0.0002668113447725773], [-0.0010873607921489253, 0.999998583897335, -0.0012844648038842705, 0.0003843035956379026], [-2.3292201018211296e-05, 0.0012844402358620085, 0.9999991748350365, 4.5353110067480884e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.729577660560608, -1.1502822637557983, -1.5997389554977417, -1.79983651638031, -0.41976067423820496, 0.00010534133616602048, -0.0006326472503133118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293041944503784, -1.1501240730285645, 1.6000938415527344, -1.8000199794769287, 0.41989487409591675, -7.861651829443872e-05, 1.1984225238848012e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994376960875, 0.0010603768027566385, 1.4441092388189285e-05, 0.0002845846174750477], [-0.0010603576299700933, 0.9999986331725931, -0.0012685797736821602, 0.00038419049815274775], [-1.5786245214167254e-05, 0.0012685637476322913, 0.9999991952480826, 3.0339293743963935e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7295804023742676, -1.150284767150879, -1.5997387170791626, -1.7998340129852295, -0.4197615087032318, 0.00010210559412371367, -0.0006345647270791233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293075323104858, -1.1501421928405762, 1.6000962257385254, -1.8000164031982422, 0.41988876461982727, -7.84966759965755e-05, 3.4754252737911884e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999428365358, 0.0010691269566148122, 1.5378810660616872e-05, 0.00027266095275990665], [-0.0010691065423062468, 0.9999986204483481, -0.0012712641746577308, 0.0003828040789812803], [-1.6737932242858483e-05, 0.0012712470063719994, 0.9999991918251186, 1.304168904425751e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7295819520950317, -1.1502877473831177, -1.599738359451294, -1.7998321056365967, -0.41976186633110046, 0.00010042780195362866, -0.0006340853287838399, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293087244033813, -1.1501522064208984, 1.600097417831421, -1.8000118732452393, 0.41988614201545715, -7.885620289016515e-05, -3.4754252737911884e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994370894824, 0.0010610084524197048, 9.043357409837218e-06, 0.0002725567319430411], [-0.0010609960620361681, 0.9999986246059802, -0.0012747837087936052, 0.00038388147368095815], [-1.0395901261694472e-05, 0.0012747733962378484, 0.9999991874220266, 9.158734428638127e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7295844554901123, -1.150289535522461, -1.5997388362884521, -1.7998312711715698, -0.41976258158683777, 0.00010066748654935509, -0.000636242504697293, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293096780776978, -1.1501590013504028, 1.60009765625, -1.8000091314315796, 0.4198843240737915, -7.825699140084907e-05, -6.8310082497191615e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994164114848, 0.001080332372062673, 7.658693309260409e-06, 0.00027854269137606025], [-0.0010803217667331166, 0.9999986089334979, -0.0012708406467432673, 0.00038453112938441336], [-9.031612945918512e-06, 0.0012708316312421742, 0.9999991924523715, 7.847896767998463e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729587435722351, -1.150290846824646, -1.5997389554977417, -1.799831509590149, -0.4197629392147064, 9.982859046431258e-05, -0.0006460695876739919, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293102741241455, -1.1501634120941162, 1.600097417831421, -1.8000074625015259, 0.419883131980896, -7.7657779911533e-05, -1.1145329153805505e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994368539991, 0.0010612683620138685, -1.0717176434879443e-06, 0.0002728163090068847], [-0.0010612688652115473, 0.9999986211974783, -0.001277228068120346, 0.0003842329606413841], [-2.837655739712621e-07, 0.0012772284862350343, 0.999999184343324, 6.578757734132523e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729589819908142, -1.1502916812896729, -1.5997391939163208, -1.7998316287994385, -0.4197632968425751, 9.970874816644937e-05, -0.0006650046561844647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293106317520142, -1.1501649618148804, 1.6000971794128418, -1.8000059127807617, 0.41988158226013184, -7.645935693290085e-05, -1.3422331903711893e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994256711112, 0.0010716682555723777, 1.3586670593079892e-05, 0.0002728618565015495], [-0.001071650274264195, 0.9999986310097573, -0.0012607713119239812, 0.0003845482424367219], [-1.493778058558569e-05, 0.0012607560276673272, 0.9999992051352348, 6.916553161318006e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729593276977539, -1.1502926349639893, -1.5997401475906372, -1.7998316287994385, -0.4197652041912079, 9.982859046431258e-05, -0.0006851381622254848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293107509613037, -1.1501655578613281, 1.6000970602035522, -1.8000043630599976, 0.4198805093765259, -7.705856842221692e-05, -1.4860438568575773e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999994091008172, 0.0010870769557120102, 7.855498816702113e-06, 0.0002796014887280762], [-0.0010870662347369634, 0.9999986207755099, -0.0012556807233940301, 0.0003835258539766073], [-9.2205095603392e-06, 0.0012556714419657963, 0.9999992116017953, 4.190034985640523e-07], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000014/gt/hand_left.mp4 b/agibot-challenge-2026/000014/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..39f2c4ffa0113098e5203081a625bfd7eb80aef6 --- /dev/null +++ b/agibot-challenge-2026/000014/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82e8c2588b608a8d8e90334b3f455a3c4c6a9842078072b80754f1c8717f0720 +size 4659953 diff --git a/agibot-challenge-2026/000014/gt/hand_right.mp4 b/agibot-challenge-2026/000014/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec89822ebabc52154456cd43f9ac3b707fdc8ced --- /dev/null +++ b/agibot-challenge-2026/000014/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0a1bdad463dc25911476011ee1ae2dcef24c4fe271eb22d26922dbefa89d452 +size 4975410 diff --git a/agibot-challenge-2026/000014/gt/head.mp4 b/agibot-challenge-2026/000014/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dea4af886ab02ce8e026249359fc03ccac2c6171 --- /dev/null +++ b/agibot-challenge-2026/000014/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:890d52bef83182837abee5cb62904188d57c0c9da8ddcc0906c075199fe2e2bd +size 4258177 diff --git a/agibot-challenge-2026/000014/meta.json b/agibot-challenge-2026/000014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c3a601d4f550c64521797ef6e2ed8713dd1cd16 --- /dev/null +++ b/agibot-challenge-2026/000014/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Tear tape", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 874, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000014/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000014/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..17aa6c5d96ee74b720946fb3e5c9c10e3c07dc0a --- /dev/null +++ b/agibot-challenge-2026/000014/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000014/ref_images/hand_left.png b/agibot-challenge-2026/000014/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..e0dcf1c9fa84cf4257486a3065c55cea3b35d92f --- /dev/null +++ b/agibot-challenge-2026/000014/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:731b66e3e205a3c86aa20da79490d755b159253f52bf5786dad55966b9b8d387 +size 428399 diff --git a/agibot-challenge-2026/000014/ref_images/hand_right.png b/agibot-challenge-2026/000014/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..1b4a3dc26af367111b9c0254c4abbf3d2c4caa15 --- /dev/null +++ b/agibot-challenge-2026/000014/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8688d804938982604cf64d3e8224bc74df102892475dcab27d4aef197c10f7a9 +size 428007 diff --git a/agibot-challenge-2026/000014/ref_images/head.png b/agibot-challenge-2026/000014/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..9547037684ed66494b2b7c471e215aa61009c58c --- /dev/null +++ b/agibot-challenge-2026/000014/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c26f6e5fa0ddf83802577885139386e75926626d80f4f17bd721d27ad642649 +size 391397 diff --git a/agibot-challenge-2026/000014/temporal.json b/agibot-challenge-2026/000014/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..1a182fe5b2bfe89f329650b838265f5f901a74b6 --- /dev/null +++ b/agibot-challenge-2026/000014/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300854921340942, -1.150064468383789, -1.5996187925338745, -1.7995193004608154, -0.41976186633110046, 0.0005803960375487804, -0.0005594236426986754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318494319915771, -1.1470608711242676, 1.6005560159683228, -1.7994056940078735, 0.4202662706375122, 0.00039859532262198627, 0.0005070525803603232, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300854921340942, -1.1500648260116577, -1.5996181964874268, -1.7995195388793945, -0.41976186633110046, 0.0005805158289149404, -0.0005570267676375806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731849193572998, -1.147060751914978, 1.6005555391311646, -1.7994060516357422, 0.42026615142822266, 0.0003997937310487032, 0.0005077716195955873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300862073898315, -1.1500651836395264, -1.5996187925338745, -1.7995189428329468, -0.41976234316825867, 0.0005808753776364028, -0.0005548695917241275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731848955154419, -1.1470608711242676, 1.6005553007125854, -1.7994061708450317, 0.42026638984680176, 0.000399554061004892, 0.0005080113187432289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300862073898315, -1.1500649452209473, -1.5996190309524536, -1.7995191812515259, -0.4197622239589691, 0.0005827928544022143, -0.0005530719645321369, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318488359451294, -1.1470608711242676, 1.6005553007125854, -1.799406886100769, 0.42026615142822266, 0.00039919454138725996, 0.0005078914691694081, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730086326599121, -1.1500649452209473, -1.5996190309524536, -1.7995185852050781, -0.41976282000541687, 0.0005841111415065825, -0.0005510346381925046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731849193572998, -1.1470608711242676, 1.600555181503296, -1.799406886100769, 0.42026615142822266, 0.0003987151721958071, 0.0005081311101093888, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300859689712524, -1.1500654220581055, -1.599618911743164, -1.7995191812515259, -0.41976258158683777, 0.0005839912919327617, -0.0005488775204867125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318490743637085, -1.1470608711242676, 1.600555181503296, -1.7994076013565063, 0.42026638984680176, 0.00039907469181343913, 0.0005086105084046721, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.7348791360855103, -1.158058762550354, -1.605933427810669, -1.804849624633789, -0.405131995677948, -0.015661105513572693, -0.0042090993374586105, 0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -1.7318508625030518, -1.1470603942871094, 1.6005550622940063, -1.7994102239608765, 0.42026638984680176, 0.0003983556234743446, 0.0005056144436821342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.7442320585250854, -1.1850311756134033, -1.6324485540390015, -1.8322789669036865, -0.4032985270023346, -0.020995043218135834, -0.03879976645112038, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -1.7318435907363892, -1.1470595598220825, 1.6005533933639526, -1.7994157075881958, 0.42026662826538086, 0.00039691751589998603, 0.0005247892113402486, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.7449920177459717, -1.2041982412338257, -1.6568145751953125, -1.8588287830352783, -0.4203820526599884, 0.008907395415008068, -0.09578224271535873, 0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -1.731844186782837, -1.1470640897750854, 1.600553274154663, -1.7994261980056763, 0.4202665090560913, 0.00039404130075126886, 0.0005148422787897289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.7382826805114746, -1.2173371315002441, -1.6803011894226074, -1.8844718933105469, -0.42569008469581604, 0.04343442618846893, -0.157320037484169, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318402528762817, -1.1470657587051392, 1.6005504131317139, -1.799428105354309, 0.4202667474746704, 0.0003894873079843819, 0.0005168796051293612, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.7217655181884766, -1.2297379970550537, -1.6954753398895264, -1.8947923183441162, -0.42016392946243286, 0.04623957350850105, -0.20057086646556854, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318474054336548, -1.147064447402954, 1.6005520820617676, -1.7994287014007568, 0.42026686668395996, 0.000385292834835127, 0.0005112470244057477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.7083946466445923, -1.2409892082214355, -1.7071119546890259, -1.9045929908752441, -0.4203758239746094, 0.060637421905994415, -0.24190469086170197, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318416833877563, -1.1470637321472168, 1.600550651550293, -1.799428105354309, 0.42026710510253906, 0.0003816975513473153, 0.0005095692467875779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.7031086683273315, -1.2503619194030762, -1.709581732749939, -1.915122151374817, -0.40606868267059326, 0.06814613938331604, -0.2762739062309265, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318432331085205, -1.147064447402954, 1.6005501747131348, -1.7994279861450195, 0.4202677011489868, 0.0003772634081542492, 0.0005088502075523138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.6936161518096924, -1.2583280801773071, -1.7116014957427979, -1.9296479225158691, -0.39899834990501404, 0.09065167605876923, -0.3188776969909668, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318466901779175, -1.147063136100769, 1.6005511283874512, -1.7994275093078613, 0.4202684462070465, 0.0003740276733879, 0.0005075319204479456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.6746498346328735, -1.2628322839736938, -1.7118183374404907, -1.9488736391067505, -0.39042627811431885, 0.12930810451507568, -0.3714176118373871, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731845498085022, -1.1470654010772705, 1.6005502939224243, -1.7994269132614136, 0.42026856541633606, 0.0003704323899000883, 0.0005072922213003039, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.6477558612823486, -1.266094446182251, -1.7079075574874878, -1.9649735689163208, -0.3812377154827118, 0.15808869898319244, -0.41492167115211487, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318447828292847, -1.1470645666122437, 1.6005504131317139, -1.7994271516799927, 0.42026928067207336, 0.00036935380194336176, 0.0005059739924035966, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.6161274909973145, -1.2681622505187988, -1.6975398063659668, -1.9744573831558228, -0.372946560382843, 0.1948350965976715, -0.46993669867515564, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318451404571533, -1.1470638513565063, 1.600550889968872, -1.799424409866333, 0.42026975750923157, 0.00037055223947390914, 0.0005062136333435774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.583505392074585, -1.2682689428329468, -1.675768494606018, -1.9821940660476685, -0.3551402688026428, 0.22470709681510925, -0.527691662311554, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318423986434937, -1.1470645666122437, 1.6005539894104004, -1.7994228601455688, 0.42027023434638977, 0.00037055223947390914, 0.000496746099088341, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5421814918518066, -1.2684072256088257, -1.6479730606079102, -1.9858958721160889, -0.3463824391365051, 0.26855915784835815, -0.5794122219085693, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731846570968628, -1.1470654010772705, 1.600551962852478, -1.7994235754013062, 0.4202709496021271, 0.00037151097785681486, 0.0005036969669163227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.4907917976379395, -1.268398642539978, -1.6118862628936768, -1.9768606424331665, -0.3270004689693451, 0.3027639389038086, -0.6413297057151794, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318427562713623, -1.1470651626586914, 1.600551962852478, -1.7994234561920166, 0.42027226090431213, 0.0003727093862835318, 0.0005060938419774175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.442786455154419, -1.2683929204940796, -1.5670030117034912, -1.962180495262146, -0.30988749861717224, 0.3203814625740051, -0.6898318529129028, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318406105041504, -1.1470656394958496, 1.6005526781082153, -1.799423336982727, 0.4202721416950226, 0.0003775030781980604, 0.0005045358557254076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.396461844444275, -1.268959403038025, -1.5210368633270264, -1.9393161535263062, -0.3088352680206299, 0.34512433409690857, -0.7315421104431152, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318434715270996, -1.1470657587051392, 1.600553274154663, -1.799423336982727, 0.4202726185321808, 0.0003816975513473153, 0.0005046557052992284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.3504902124404907, -1.2712656259536743, -1.4797333478927612, -1.9083071947097778, -0.31089285016059875, 0.36534520983695984, -0.7779354453086853, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318421602249146, -1.1470651626586914, 1.6005535125732422, -1.799424409866333, 0.420273095369339, 0.00038661109283566475, 0.0005060938419774175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.3037201166152954, -1.2754451036453247, -1.440847396850586, -1.8667590618133545, -0.3076203167438507, 0.368642657995224, -0.829358696937561, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318438291549683, -1.1470661163330078, 1.600553035736084, -1.7994261980056763, 0.42027369141578674, 0.0003951198887079954, 0.0005076517700217664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2603492736816406, -1.280308485031128, -1.4032962322235107, -1.8240928649902344, -0.305825799703598, 0.37984132766723633, -0.8602155447006226, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318403720855713, -1.1470645666122437, 1.6005531549453735, -1.7994277477264404, 0.4202733337879181, 0.0004001532797701657, 0.0005069327307865024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.2183558940887451, -1.287367820739746, -1.3626519441604614, -1.7689741849899292, -0.27987873554229736, 0.3781951665878296, -0.8772120475769043, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318429946899414, -1.147065281867981, 1.6005524396896362, -1.799428939819336, 0.4202728569507599, 0.0004051866417285055, 0.0005102882860228419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1897215843200684, -1.2957813739776611, -1.3277710676193237, -1.7267767190933228, -0.2645334303379059, 0.3730233907699585, -0.892059326171875, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318363189697266, -1.147063970565796, 1.6005525588989258, -1.7994298934936523, 0.42027273774147034, 0.00041513354517519474, 0.0005066930316388607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.167765736579895, -1.3079723119735718, -1.2952569723129272, -1.6864235401153564, -0.2565787732601166, 0.3640387952327728, -0.8845393657684326, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731842041015625, -1.1470634937286377, 1.6005511283874512, -1.7994366884231567, 0.42027321457862854, 0.000420166936237365, 0.0005158010171726346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1476229429244995, -1.320757269859314, -1.2681005001068115, -1.6460469961166382, -0.24983657896518707, 0.35849323868751526, -0.8747195601463318, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318353652954102, -1.1470634937286377, 1.6005511283874512, -1.7994439601898193, 0.42027273774147034, 0.0004195677174720913, 0.0005075319204479456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.136106252670288, -1.332489252090454, -1.2491282224655151, -1.6204655170440674, -0.24643880128860474, 0.3554893732070923, -0.8623713850975037, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318382263183594, -1.1470632553100586, 1.6005491018295288, -1.7994471788406372, 0.4202728569507599, 0.00041848912951536477, 0.0005135240498930216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1305434703826904, -1.3434370756149292, -1.236260175704956, -1.600691318511963, -0.2414957880973816, 0.35001859068870544, -0.8589197993278503, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318354845046997, -1.1470633745193481, 1.6005477905273438, -1.7994475364685059, 0.4202721416950226, 0.0004178899107500911, 0.0005141232395544648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.126915454864502, -1.3519768714904785, -1.22914719581604, -1.5823488235473633, -0.23286667466163635, 0.34705621004104614, -0.8619458675384521, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318357229232788, -1.1470625400543213, 1.6005491018295288, -1.7994472980499268, 0.4202719032764435, 0.0004165716527495533, 0.0005116065731272101, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1153302192687988, -1.3598055839538574, -1.222893238067627, -1.5546358823776245, -0.22456856071949005, 0.34196409583091736, -0.8725442290306091, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731837272644043, -1.1470626592636108, 1.6005481481552124, -1.7994464635849, 0.42027226090431213, 0.00041585261351428926, 0.0005098089459352195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.0930992364883423, -1.3693091869354248, -1.2065116167068481, -1.5196208953857422, -0.21773934364318848, 0.3318847715854645, -0.8835281133651733, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318350076675415, -1.1470632553100586, 1.6005473136901855, -1.7994455099105835, 0.4202721416950226, 0.0004146541759837419, 0.000511007325258106, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.056786298751831, -1.38455069065094, -1.186683177947998, -1.4739353656768799, -0.22444331645965576, 0.32138168811798096, -0.8851544857025146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318357229232788, -1.14706289768219, 1.6005470752716064, -1.799444556236267, 0.42027226090431213, 0.0004060255305375904, 0.0005126851610839367, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.0142172574996948, -1.403179407119751, -1.163650393486023, -1.4226981401443481, -0.2302626222372055, 0.3033933639526367, -0.8826743364334106, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318315505981445, -1.1470638513565063, 1.600547194480896, -1.7994369268417358, 0.42027273774147034, 0.0003989548422396183, 0.000506453332491219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.971693217754364, -1.4249768257141113, -1.1347274780273438, -1.3563235998153687, -0.2392880618572235, 0.2779446244239807, -0.8773201704025269, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318377494812012, -1.147063136100769, 1.6005487442016602, -1.7994366884231567, 0.4202719032764435, 0.0003903261967934668, 0.0005082509596832097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.946171760559082, -1.4474875926971436, -1.1114097833633423, -1.3019708395004272, -0.2551083266735077, 0.2588058114051819, -0.870392918586731, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731827974319458, -1.1470638513565063, 1.6005473136901855, -1.799433946609497, 0.4202721416950226, 0.0003888880892191082, 0.0005084906588308513, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.9367049932479858, -1.468086838722229, -1.0937037467956543, -1.256635069847107, -0.26320844888687134, 0.23979954421520233, -0.8683921694755554, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318304777145386, -1.1470654010772705, 1.6005477905273438, -1.7994349002838135, 0.4202721416950226, 0.0003837348776869476, 0.0005063334829173982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9394751191139221, -1.4832570552825928, -1.0815393924713135, -1.2269881963729858, -0.25433677434921265, 0.22370077669620514, -0.8719311952590942, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318283319473267, -1.1470637321472168, 1.6005511283874512, -1.799431562423706, 0.42027273774147034, 0.00038193725049495697, 0.0005028580781072378, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.9455065131187439, -1.4969706535339355, -1.0776021480560303, -1.1985641717910767, -0.24916425347328186, 0.2171482890844345, -0.8780060410499573, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318326234817505, -1.1470643281936646, 1.6005511283874512, -1.7994320392608643, 0.4202723801136017, 0.00037882133619859815, 0.0005039366660639644, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9435955286026001, -1.508314847946167, -1.0713287591934204, -1.1614536046981812, -0.2383948713541031, 0.21478211879730225, -0.8906978964805603, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318319082260132, -1.1470643281936646, 1.6005502939224243, -1.7994318008422852, 0.42027297616004944, 0.0003772634081542492, 0.0005048954044468701, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.924024760723114, -1.5215367078781128, -1.070736050605774, -1.1196508407592773, -0.22859585285186768, 0.20056715607643127, -0.9049802422523499, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318280935287476, -1.1470645666122437, 1.600551724433899, -1.7994296550750732, 0.42027249932289124, 0.00037654433981515467, 0.0005083708092570305, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.8997021317481995, -1.5306752920150757, -1.0781522989273071, -1.0901504755020142, -0.20645152032375336, 0.19436651468276978, -0.9289453029632568, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7318347692489624, -1.1470645666122437, 1.6005535125732422, -1.799430012702942, 0.420273095369339, 0.00037654433981515467, 0.0005093295476399362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.8868796229362488, -1.5370920896530151, -1.0902334451675415, -1.0686830282211304, -0.18889427185058594, 0.19385658204555511, -0.9599471092224121, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318356037139893, -1.147064447402954, 1.6005531549453735, -1.7994306087493896, 0.420273095369339, 0.00037714355858042836, 0.0005016596405766904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.8815650343894958, -1.5422253608703613, -1.0974845886230469, -1.0613049268722534, -0.17272743582725525, 0.19210819900035858, -0.9859296083450317, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318364381790161, -1.1470632553100586, 1.6005542278289795, -1.7994320392608643, 0.4202740788459778, 0.00037714355858042836, 0.0005030977772548795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.8876373171806335, -1.5476248264312744, -1.1045279502868652, -1.0627754926681519, -0.16271965205669403, 0.18786470592021942, -0.988734245300293, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731836199760437, -1.1470634937286377, 1.600553274154663, -1.7994320392608643, 0.42027467489242554, 0.0003784618165809661, 0.0005045358557254076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.891072154045105, -1.55462646484375, -1.1091563701629639, -1.0551762580871582, -0.15950991213321686, 0.1768549233675003, -0.9848649501800537, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318358421325684, -1.1470636129379272, 1.6005520820617676, -1.7994328737258911, 0.420274555683136, 0.0003806189924944192, 0.0005062136333435774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.8912084102630615, -1.5621447563171387, -1.112894058227539, -1.0443780422210693, -0.15502949059009552, 0.16187475621700287, -0.9821362495422363, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318381071090698, -1.1470630168914795, 1.6005523204803467, -1.7994333505630493, 0.42027491331100464, 0.00038481346564367414, 0.0005069327307865024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.894210696220398, -1.5649949312210083, -1.1189829111099243, -1.042643666267395, -0.14674851298332214, 0.15194690227508545, -0.9841986894607544, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318369150161743, -1.1470634937286377, 1.6005504131317139, -1.7994353771209717, 0.42027443647384644, 0.0003892476379405707, 0.0005092096980661154, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.8995653390884399, -1.5672224760055542, -1.1263794898986816, -1.0435644388198853, -0.14405182003974915, 0.14716435968875885, -0.988323450088501, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318391799926758, -1.1470627784729004, 1.6005511283874512, -1.7994368076324463, 0.4202747941017151, 0.000393561931559816, 0.0005069327307865024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9006167054176331, -1.5672125816345215, -1.1267263889312744, -1.0439214706420898, -0.14420558512210846, 0.14674527943134308, -0.9881541132926941, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318371534347534, -1.1470633745193481, 1.6005501747131348, -1.799437165260315, 0.420274555683136, 0.00040003343019634485, 0.0005086105084046721, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9006155729293823, -1.56717848777771, -1.1267006397247314, -1.0439211130142212, -0.14447355270385742, 0.14677907526493073, -0.9882705807685852, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731838345527649, -1.1470632553100586, 1.600549340248108, -1.7994366884231567, 0.42027491331100464, 0.0004037485341541469, 0.0005078914691694081, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9006114602088928, -1.5670431852340698, -1.1266510486602783, -1.0439189672470093, -0.14448194205760956, 0.14686931669712067, -0.9882919192314148, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731838345527649, -1.147063136100769, 1.600548505783081, -1.7994364500045776, 0.4202743172645569, 0.00040566601091995835, 0.0005088502075523138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.900542140007019, -1.567035436630249, -1.1266382932662964, -1.0439196825027466, -0.14454737305641174, 0.14687566459178925, -0.988228440284729, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318373918533325, -1.1470634937286377, 1.600547432899475, -1.799436330795288, 0.42027443647384644, 0.00040626522968523204, 0.0005101684364490211, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9005152583122253, -1.5670348405838013, -1.1265747547149658, -1.043918490409851, -0.14454317092895508, 0.1468866914510727, -0.9881668090820312, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318377494812012, -1.1470637321472168, 1.6005468368530273, -1.7994364500045776, 0.42027443647384644, 0.0004066247493028641, 0.0005095692467875779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.900506317615509, -1.5670326948165894, -1.1264828443527222, -1.0439176559448242, -0.14454257488250732, 0.1468978375196457, -0.9881898164749146, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7318376302719116, -1.147064447402954, 1.6005473136901855, -1.7994366884231567, 0.42027539014816284, 0.00040686444845050573, 0.0005106478347443044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.9003747701644897, -1.5670602321624756, -1.1262742280960083, -1.0440946817398071, -0.14501367509365082, 0.146891251206398, -0.9889291524887085, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7501229047775269, -1.1565099954605103, 1.6363215446472168, -1.8500036001205444, 0.4648858308792114, 0.048581771552562714, 0.025275688618421555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9002792239189148, -1.5669527053833008, -1.1262084245681763, -1.0440324544906616, -0.14447654783725739, 0.146896630525589, -0.9885311126708984, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8019577264785767, -1.1821690797805786, 1.7455087900161743, -1.9943019151687622, 0.5972506403923035, 0.20914041996002197, 0.0701199397444725, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9004186391830444, -1.566709280014038, -1.126211166381836, -1.0439918041229248, -0.1441490203142166, 0.14695404469966888, -0.9885289669036865, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8437347412109375, -1.2018314599990845, 1.8478721380233765, -2.080770969390869, 0.7482354640960693, 0.3811437785625458, 0.09319400787353516, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9004318714141846, -1.566726803779602, -1.1262532472610474, -1.0441210269927979, -0.14457444846630096, 0.1469445675611496, -0.989075243473053, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.877755045890808, -1.226381540298462, 1.9716365337371826, -2.145556688308716, 0.9421688318252563, 0.5814741253852844, 0.10837430506944656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005773067474365, -1.5666478872299194, -1.126396894454956, -1.0440293550491333, -0.1442486047744751, 0.1469464898109436, -0.9886980652809143, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8909399509429932, -1.248148798942566, 2.0952131748199463, -2.155751943588257, 1.1491435766220093, 0.7950590252876282, 0.11666103452444077, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005801677703857, -1.5666279792785645, -1.1265310049057007, -1.0440738201141357, -0.1444682776927948, 0.14694085717201233, -0.9890325665473938, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8894532918930054, -1.2688052654266357, 2.1837270259857178, -2.1332080364227295, 1.3588645458221436, 0.9844629764556885, 0.08406633883714676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005791544914246, -1.5665562152862549, -1.1266146898269653, -1.0440762042999268, -0.1444682776927948, 0.14693893492221832, -0.9890522360801697, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9325674772262573, -1.2543154954910278, 2.178813934326172, -2.122659683227539, 1.5708482265472412, 1.0188738107681274, -0.001193868461996317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9005804657936096, -1.5665240287780762, -1.1266134977340698, -1.044070839881897, -0.1443290114402771, 0.14694026112556458, -0.9888426065444946, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9811495542526245, -1.1801689863204956, 2.1233718395233154, -2.0937578678131104, 1.8312914371490479, 1.0095202922821045, -0.14455491304397583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005809426307678, -1.566434621810913, -1.1266131401062012, -1.0440759658813477, -0.14440296590328217, 0.14693869650363922, -0.9891653656959534, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9747000932693481, -1.1128853559494019, 2.0745725631713867, -2.0637106895446777, 2.092991352081299, 1.007768154144287, -0.32694941759109497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005780816078186, -1.5664609670639038, -1.1266096830368042, -1.0441375970840454, -0.14467668533325195, 0.14692971110343933, -0.9893309473991394, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.940187931060791, -1.0817089080810547, 2.0215117931365967, -2.0390193462371826, 2.259540319442749, 1.0059598684310913, -0.45116472244262695, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5616096258163452, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005730152130127, -1.5666347742080688, -1.126595377922058, -1.044217824935913, -0.14488928020000458, 0.14691005647182465, -0.9897242784500122, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9222251176834106, -1.0742450952529907, 1.9791972637176514, -2.0371906757354736, 2.3296058177948, 1.0050222873687744, -0.4921528100967407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005731344223022, -1.5666334629058838, -1.1265853643417358, -1.0442044734954834, -0.14466492831707, 0.1469118595123291, -0.9894418120384216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.905792236328125, -1.0726783275604248, 1.9475634098052979, -2.0277929306030273, 2.3684427738189697, 1.0048881769180298, -0.5198930501937866, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005744457244873, -1.5666307210922241, -1.1265451908111572, -1.0442026853561401, -0.1446618139743805, 0.1469128131866455, -0.9896312952041626, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8827860355377197, -1.0687562227249146, 1.9176586866378784, -2.0033390522003174, 2.4154133796691895, 1.0044324398040771, -0.5592898726463318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5616096258163452, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005684852600098, -1.566628336906433, -1.1265485286712646, -1.0442030429840088, -0.14471718668937683, 0.14691197872161865, -0.9896347522735596, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.860630989074707, -1.065008521080017, 1.8907759189605713, -1.9853169918060303, 2.46476411819458, 1.0039089918136597, -0.5929518938064575, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005452990531921, -1.5666252374649048, -1.126563549041748, -1.0442025661468506, -0.14473959803581238, 0.14691162109375, -0.9895423650741577, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8388687372207642, -1.064108967781067, 1.8664926290512085, -1.9682202339172363, 2.5121350288391113, 1.0036985874176025, -0.6227121949195862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005388617515564, -1.5666221380233765, -1.1265710592269897, -1.0442026853561401, -0.14474570751190186, 0.1469111442565918, -0.9896205067634583, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8192617893218994, -1.065885066986084, 1.8462368249893188, -1.960078477859497, 2.529020309448242, 1.0033879280090332, -0.6434922218322754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005404114723206, -1.566622018814087, -1.126570701599121, -1.0442010164260864, -0.1447436660528183, 0.1469123363494873, -0.989673376083374, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8058432340621948, -1.072571039199829, 1.8250688314437866, -1.9522511959075928, 2.535731315612793, 1.0031702518463135, -0.6528801918029785, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005395770072937, -1.5666226148605347, -1.1265692710876465, -1.0441983938217163, -0.14473959803581238, 0.1469128131866455, -0.9896794557571411, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7949295043945312, -1.079626202583313, 1.8062330484390259, -1.9403449296951294, 2.53924298286438, 1.0030936002731323, -0.6645902395248413, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005321264266968, -1.5666229724884033, -1.1265716552734375, -1.0441961288452148, -0.14473551511764526, 0.14691126346588135, -0.9896537065505981, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.788581371307373, -1.085520625114441, 1.7922717332839966, -1.9358214139938354, 2.533010959625244, 1.0028802156448364, -0.6640465259552002, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005281925201416, -1.5666217803955078, -1.1265748739242554, -1.044190526008606, -0.14471131563186646, 0.14691150188446045, -0.9896395802497864, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7828878164291382, -1.091630458831787, 1.7841664552688599, -1.9311496019363403, 2.5244088172912598, 1.0024315118789673, -0.6575348973274231, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005306959152222, -1.5666218996047974, -1.126574158668518, -1.0441845655441284, -0.14470292627811432, 0.14691150188446045, -0.9897515177726746, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7807903289794922, -1.0979689359664917, 1.7782530784606934, -1.930413007736206, 2.518453359603882, 1.0017106533050537, -0.6552878022193909, 0.5753999996643799, 0.5753999996643799, 0.5753999996643799, 0.5753999996643799, -0.5753999996643799, -0.5753999996643799, -0.5753999996643799, 0.5753999996643799, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005312323570251, -1.5666154623031616, -1.1265777349472046, -1.044172763824463, -0.14468027651309967, 0.14691102504730225, -0.989798367023468, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.783557415008545, -1.1012043952941895, 1.7758225202560425, -1.9343936443328857, 2.513303518295288, 1.0010424852371216, -0.658604085445404, 0.5033999967051076, 0.5033999967051076, 0.5033999967051076, 0.5033999967051076, -0.5033999967051076, -0.5033999967051076, -0.5033999967051076, 0.5033999967051076, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005265831947327, -1.566613793373108, -1.126592993736267, -1.044175624847412, -0.14465487003326416, 0.14691102504730225, -0.9896776676177979, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.79000985622406, -1.1012061834335327, 1.775937795639038, -1.9350030422210693, 2.5091309547424316, 1.001012921333313, -0.6628810167312622, 0.40500000518756907, 0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005213379859924, -1.5666096210479736, -1.1265952587127686, -1.0441670417785645, -0.14465487003326416, 0.14691077172756195, -0.9896253943443298, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7994292974472046, -1.0998120307922363, 1.7759850025177002, -1.934821367263794, 2.496638298034668, 1.0009700059890747, -0.6629330515861511, 0.3029999979249724, 0.3029999979249724, 0.3029999979249724, 0.3029999979249724, -0.3029999979249724, -0.3029999979249724, -0.3029999979249724, 0.3029999979249724, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900521457195282, -1.5666087865829468, -1.1265877485275269, -1.0441724061965942, -0.14465270936489105, 0.14691077172756195, -0.989721417427063, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8122812509536743, -1.0963037014007568, 1.7762274742126465, -1.937064528465271, 2.4813146591186523, 1.0009493827819824, -0.6517788767814636, 0.2142000156444508, 0.2142000156444508, 0.2142000156444508, 0.2142000156444508, -0.2142000156444508, -0.2142000156444508, -0.2142000156444508, 0.2142000156444508, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005217552185059, -1.5666111707687378, -1.126586675643921, -1.0441675186157227, -0.14470268785953522, 0.14691269397735596, -0.9898555278778076, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8255324363708496, -1.0909056663513184, 1.7803689241409302, -1.946035623550415, 2.4737350940704346, 1.0003069639205933, -0.6464734077453613, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005193114280701, -1.5666033029556274, -1.1265902519226074, -1.0441619157791138, -0.14464300870895386, 0.14691521227359772, -0.9895550608634949, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8370908498764038, -1.0859800577163696, 1.7834644317626953, -1.959251880645752, 2.467778205871582, 1.0005013942718506, -0.6394290924072266, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -0.026999982896741947, -0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900518000125885, -1.566584825515747, -1.126605749130249, -1.0441644191741943, -0.14467944204807281, 0.1469130516052246, -0.9895868301391602, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8422284126281738, -1.0840709209442139, 1.7887054681777954, -1.970874547958374, 2.469106912612915, 1.0004801750183105, -0.637050211429596, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005024433135986, -1.5665785074234009, -1.1266895532608032, -1.044175386428833, -0.14480383694171906, 0.146907776594162, -0.9897300601005554, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.854653000831604, -1.0813959836959839, 1.7974276542663574, -1.9992892742156982, 2.479910373687744, 1.0002001523971558, -0.6407925486564636, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005033373832703, -1.566580891609192, -1.1266798973083496, -1.0441787242889404, -0.14480885863304138, 0.14690694212913513, -0.9898995161056519, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8691277503967285, -1.0811833143234253, 1.8129165172576904, -2.031787157058716, 2.4910292625427246, 0.9993209838867188, -0.6391147375106812, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005141258239746, -1.5665602684020996, -1.1266710758209229, -1.0441787242889404, -0.1448044329881668, 0.14690741896629333, -0.9900993704795837, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8842048645019531, -1.0812772512435913, 1.8300793170928955, -2.068272829055786, 2.4977352619171143, 0.9982130527496338, -0.6342733502388, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005123972892761, -1.5665544271469116, -1.1266709566116333, -1.0441913604736328, -0.14481377601623535, 0.14690670371055603, -0.9901020526885986, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9137355089187622, -1.0812675952911377, 1.8467849493026733, -2.1141929626464844, 2.496387481689453, 0.9977611303329468, -0.6291502118110657, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005112648010254, -1.5665476322174072, -1.1266732215881348, -1.044194221496582, -0.1448112577199936, 0.14690586924552917, -0.989943265914917, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9598991870880127, -1.0755743980407715, 1.8601288795471191, -2.1698076725006104, 2.4702162742614746, 0.9976981282234192, -0.6076481342315674, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005140662193298, -1.5665336847305298, -1.1266716718673706, -1.0441933870315552, -0.1447901725769043, 0.14690622687339783, -0.9899103045463562, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.020556688308716, -1.0615265369415283, 1.8723236322402954, -2.225226879119873, 2.398127555847168, 0.9976918697357178, -0.5475314259529114, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005347490310669, -1.5664986371994019, -1.1266545057296753, -1.0441926717758179, -0.1447422355413437, 0.14690682291984558, -0.9899433851242065, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.095365047454834, -1.0442925691604614, 1.8771206140518188, -2.274195671081543, 2.274151563644409, 0.9975886940956116, -0.4407265782356262, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005512595176697, -1.5664907693862915, -1.1266430616378784, -1.0441855192184448, -0.1446092128753662, 0.1469101756811142, -0.9897253513336182, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.182246685028076, -1.0161389112472534, 1.876947283744812, -2.304568290710449, 2.121826648712158, 0.9975504875183105, -0.2936111092567444, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005643129348755, -1.5664877891540527, -1.126639723777771, -1.0441817045211792, -0.14454376697540283, 0.14691317081451416, -0.9896005988121033, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2576382160186768, -0.9919645190238953, 1.8758834600448608, -2.3063390254974365, 1.9410407543182373, 0.9975454211235046, -0.11735863983631134, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9006072282791138, -1.5664680004119873, -1.1266365051269531, -1.0441757440567017, -0.14454568922519684, 0.14691796898841858, -0.9896951913833618, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.307431221008301, -0.9752025604248047, 1.8608317375183105, -2.2799975872039795, 1.7675222158432007, 0.9948052167892456, 0.06745800375938416, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006717205047607, -1.5664604902267456, -1.1266365051269531, -1.0441865921020508, -0.14488232135772705, 0.14691556990146637, -0.9908237457275391, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.3095781803131104, -0.9720749855041504, 1.8419432640075684, -2.2429440021514893, 1.641587495803833, 0.9835765957832336, 0.19981107115745544, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006725549697876, -1.5664619207382202, -1.1266323328018188, -1.0441968441009521, -0.14498551189899445, 0.14691317081451416, -0.9910359382629395, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.289255380630493, -0.9747916460037231, 1.8185912370681763, -2.219975233078003, 1.590075135231018, 0.980681836605072, 0.25151917338371277, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006732106208801, -1.5664573907852173, -1.1266335248947144, -1.0441964864730835, -0.1449635773897171, 0.1469128131866455, -0.9909538626670837, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2662296295166016, -0.9862739443778992, 1.7903900146484375, -2.1978182792663574, 1.578922152519226, 0.98068767786026, 0.2419099658727646, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006679058074951, -1.5664504766464233, -1.1266452074050903, -1.044196367263794, -0.14479196071624756, 0.14691174030303955, -0.9898988008499146, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2552196979522705, -0.997416079044342, 1.7785882949829102, -2.1845874786376953, 1.5866131782531738, 0.9818574786186218, 0.21865086257457733, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006556272506714, -1.5664515495300293, -1.1266509294509888, -1.0441949367523193, -0.14471670985221863, 0.14691197872161865, -0.9896025061607361, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.244056463241577, -1.0051419734954834, 1.7746697664260864, -2.1620006561279297, 1.5991312265396118, 0.9865944981575012, 0.19571761786937714, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006510376930237, -1.5664843320846558, -1.1266354322433472, -1.0441926717758179, -0.14467164874076843, 0.1469125747680664, -0.9897276163101196, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2345848083496094, -1.0098494291305542, 1.775105357170105, -2.143728256225586, 1.607168197631836, 0.9913113713264465, 0.17890997231006622, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006492495536804, -1.5666099786758423, -1.1265251636505127, -1.0441871881484985, -0.14459842443466187, 0.14691376686096191, -0.9897993206977844, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2258312702178955, -1.0134000778198242, 1.7758901119232178, -2.127789258956909, 1.6074273586273193, 0.9935917258262634, 0.17112179100513458, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005451798439026, -1.566611647605896, -1.1265250444412231, -1.0441806316375732, -0.14455372095108032, 0.14691568911075592, -0.9896804094314575, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2211945056915283, -1.0162804126739502, 1.776944637298584, -2.1213579177856445, 1.5979105234146118, 0.9941920042037964, 0.17205379903316498, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005380272865295, -1.5666108131408691, -1.1265250444412231, -1.044167160987854, -0.14446143805980682, 0.1469213217496872, -0.9895359873771667, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2200686931610107, -1.0183311700820923, 1.778282880783081, -2.117658853530884, 1.592815637588501, 0.9943517446517944, 0.1766475886106491, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005403518676758, -1.5666108131408691, -1.1264997720718384, -1.0441583395004272, -0.14443723857402802, 0.14692755043506622, -0.9895622730255127, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.217600107192993, -1.0191311836242676, 1.7799783945083618, -2.1121199131011963, 1.5898842811584473, 0.9947618246078491, 0.17843133211135864, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005438089370728, -1.5666111707687378, -1.126469612121582, -1.0441572666168213, -0.14444886147975922, 0.14693030714988708, -0.9897558093070984, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.217191457748413, -1.0191348791122437, 1.7832880020141602, -2.108516216278076, 1.5891698598861694, 0.9954800605773926, 0.1800352931022644, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005447030067444, -1.5666128396987915, -1.1264694929122925, -1.0441577434539795, -0.1444694697856903, 0.14692959189414978, -0.9897302985191345, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2174386978149414, -1.0178111791610718, 1.7846426963806152, -2.1076889038085938, 1.5843415260314941, 0.9955724477767944, 0.18289951980113983, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005444645881653, -1.566624641418457, -1.1264694929122925, -1.0441579818725586, -0.1444927155971527, 0.14692935347557068, -0.9896203875541687, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2174980640411377, -1.0134254693984985, 1.784621000289917, -2.108952760696411, 1.5739734172821045, 0.9955443143844604, 0.1921590119600296, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9005589485168457, -1.5666276216506958, -1.1264474391937256, -1.044157862663269, -0.14450877904891968, 0.14692947268486023, -0.9897695779800415, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.212801218032837, -1.0089950561523438, 1.774949312210083, -2.1074869632720947, 1.5681244134902954, 0.9945196509361267, 0.19645656645298004, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005694389343262, -1.5666271448135376, -1.1264381408691406, -1.0441598892211914, -0.14465714991092682, 0.14692875742912292, -0.9901708364486694, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.198847532272339, -1.0083953142166138, 1.757302165031433, -2.1052610874176025, 1.5657525062561035, 0.9935048222541809, 0.19411328434944153, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005708694458008, -1.5666074752807617, -1.1264545917510986, -1.0441608428955078, -0.14470352232456207, 0.1469261199235916, -0.9901615977287292, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.1874868869781494, -1.0083774328231812, 1.7425016164779663, -2.1052842140197754, 1.5665510892868042, 0.9923619031906128, 0.1856943666934967, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005699753761292, -1.5665847063064575, -1.126522421836853, -1.044163703918457, -0.14470508694648743, 0.14692144095897675, -0.9900925755500793, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.1836154460906982, -1.0082247257232666, 1.7358646392822266, -2.109619140625, 1.5677365064620972, 0.9913508892059326, 0.1828121542930603, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005741477012634, -1.5665653944015503, -1.126617193222046, -1.0441666841506958, -0.14469848573207855, 0.1469201296567917, -0.9901359677314758, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.1912412643432617, -1.0047694444656372, 1.7384566068649292, -2.1149237155914307, 1.5644625425338745, 0.9902876615524292, 0.19220036268234253, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9007007479667664, -1.5665509700775146, -1.1266168355941772, -1.044168472290039, -0.14469848573207855, 0.14691989123821259, -0.9903669953346252, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.200965642929077, -1.0012561082839966, 1.7461527585983276, -2.113011121749878, 1.552943468093872, 0.9881854057312012, 0.20897994935512543, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9007018804550171, -1.5665513277053833, -1.1266131401062012, -1.0441858768463135, -0.14476560056209564, 0.14691737294197083, -0.9906876683235168, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.208332061767578, -1.0001932382583618, 1.75284743309021, -2.109572410583496, 1.5376499891281128, 0.9855892658233643, 0.22885830700397491, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006869792938232, -1.5665736198425293, -1.1265919208526611, -1.044266700744629, -0.1449149250984192, 0.14690729975700378, -0.9903838038444519, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.224517822265625, -0.9967279434204102, 1.7654390335083008, -2.1053049564361572, 1.5223456621170044, 0.9894089698791504, 0.24623195827007294, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006649255752563, -1.5665814876556396, -1.1265933513641357, -1.044244647026062, -0.1448335498571396, 0.14690394699573517, -0.9893547892570496, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.260862112045288, -0.9926676154136658, 1.7786407470703125, -2.094515323638916, 1.5018336772918701, 1.0009765625, 0.2596657872200012, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005305171012878, -1.5665724277496338, -1.1266064643859863, -1.0442036390304565, -0.1445142924785614, 0.14690610766410828, -0.989022970199585, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2832140922546387, -0.9913015961647034, 1.8046013116836548, -2.0960681438446045, 1.4876378774642944, 1.0031561851501465, 0.28617921471595764, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34930887818336487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005300998687744, -1.5665743350982666, -1.126604676246643, -1.0442070960998535, -0.1445942223072052, 0.14690658450126648, -0.9896020293235779, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.305262804031372, -0.9858232140541077, 1.834892988204956, -2.1125450134277344, 1.481534719467163, 1.0032066106796265, 0.3160552978515625, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005355834960938, -1.5665780305862427, -1.1265876293182373, -1.0442060232162476, -0.14459949731826782, 0.1469111442565918, -0.9899305105209351, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.3416690826416016, -0.9775885939598083, 1.8763463497161865, -2.13002872467041, 1.4961440563201904, 1.003252387046814, 0.35187265276908875, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9005445837974548, -1.5665069818496704, -1.1265965700149536, -1.0441755056381226, -0.14445233345031738, 0.14693103730678558, -0.9893629550933838, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.352466583251953, -0.9665474891662598, 1.9203604459762573, -2.131009817123413, 1.5369988679885864, 1.0039246082305908, 0.3742699921131134, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005418419837952, -1.566515564918518, -1.126599907875061, -1.0441884994506836, -0.14468985795974731, 0.14692947268486023, -0.989550769329071, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.347827911376953, -0.9564552903175354, 1.9838171005249023, -2.1345462799072266, 1.6178418397903442, 1.0040498971939087, 0.36585476994514465, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9005357623100281, -1.5665136575698853, -1.1266803741455078, -1.044187307357788, -0.14460046589374542, 0.14692851901054382, -0.9893114566802979, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.3356590270996094, -0.9415216445922852, 2.039598226547241, -2.1360785961151123, 1.7402863502502441, 1.004048466682434, 0.30873653292655945, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005464911460876, -1.5665080547332764, -1.1266796588897705, -1.044187068939209, -0.14454077184200287, 0.14692899584770203, -0.9898064732551575, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2834041118621826, -0.925817608833313, 2.0558876991271973, -2.1159915924072266, 1.8739255666732788, 1.004047155380249, 0.20643749833106995, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005455374717712, -1.566528558731079, -1.1266751289367676, -1.0441985130310059, -0.1446881890296936, 0.1469230055809021, -0.9900922179222107, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.221841335296631, -0.919584333896637, 2.0594513416290283, -2.0890355110168457, 1.9749165773391724, 1.004027247428894, 0.11190641671419144, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005367755889893, -1.5665336847305298, -1.1266765594482422, -1.0442050695419312, -0.14471647143363953, 0.1469113826751709, -0.9896476864814758, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.1672654151916504, -0.9194767475128174, 2.045297384262085, -2.047434091567993, 2.0376765727996826, 1.003730058670044, 0.043259937316179276, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005302786827087, -1.5666282176971436, -1.1266710758209229, -1.0442218780517578, -0.14480923116207123, 0.1468961536884308, -0.9896529912948608, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.132570505142212, -0.9212703108787537, 2.00917387008667, -2.0061380863189697, 2.057154655456543, 1.0034242868423462, -0.003882050048559904, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005315899848938, -1.5666710138320923, -1.1266322135925293, -1.0442225933074951, -0.14481185376644135, 0.14689064025878906, -0.9900169372558594, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.129713296890259, -0.9223042726516724, 1.9553006887435913, -1.957154631614685, 2.02146577835083, 1.003153681755066, -0.011131667532026768, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.900531530380249, -1.566685438156128, -1.1266149282455444, -1.044224500656128, -0.14484074711799622, 0.14688248932361603, -0.9902082085609436, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.1613030433654785, -0.9234944581985474, 1.9250775575637817, -1.9328449964523315, 1.9690622091293335, 1.0031230449676514, 0.023282352834939957, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005322456359863, -1.566649079322815, -1.1266268491744995, -1.0442113876342773, -0.14468231797218323, 0.1468852460384369, -0.9896525144577026, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.196475028991699, -0.9237235188484192, 1.9101388454437256, -1.9194669723510742, 1.9295799732208252, 1.003158688545227, 0.06353329122066498, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005318880081177, -1.5666290521621704, -1.1266531944274902, -1.044202446937561, -0.1446511596441269, 0.1468886137008667, -0.9895859956741333, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2197630405426025, -0.9237141013145447, 1.9051845073699951, -1.9178118705749512, 1.9047516584396362, 1.0032191276550293, 0.08985699713230133, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005322456359863, -1.5666232109069824, -1.1266614198684692, -1.0441968441009521, -0.14457061886787415, 0.14689591526985168, -0.9895670413970947, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.226234197616577, -0.922294020652771, 1.9021135568618774, -1.9034417867660522, 1.8999145030975342, 1.0032621622085571, 0.09899485111236572, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005341529846191, -1.5666226148605347, -1.1266614198684692, -1.044197678565979, -0.14459878206253052, 0.14690011739730835, -0.9898930191993713, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.227116346359253, -0.9194939732551575, 1.902206540107727, -1.8884682655334473, 1.903157353401184, 1.0032570362091064, 0.1000262126326561, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005327820777893, -1.5666240453720093, -1.1266616582870483, -1.0441988706588745, -0.14464983344078064, 0.1469014286994934, -0.9898828268051147, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.235795259475708, -0.9143282771110535, 1.9066976308822632, -1.881911039352417, 1.9077963829040527, 1.003226637840271, 0.10442346334457397, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900531530380249, -1.5666241645812988, -1.1266690492630005, -1.0441983938217163, -0.14465929567813873, 0.1469026356935501, -0.9896469712257385, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2477054595947266, -0.9077191352844238, 1.909938931465149, -1.8699837923049927, 1.9139193296432495, 1.003145694732666, 0.10765393078327179, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005322456359863, -1.566623568534851, -1.1266735792160034, -1.0441981554031372, -0.14465594291687012, 0.14690741896629333, -0.989622175693512, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.255415678024292, -0.9042946696281433, 1.909967303276062, -1.8633097410202026, 1.9127789735794067, 1.0031158924102783, 0.11356706917285919, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005355834960938, -1.5666230916976929, -1.126671552658081, -1.0441980361938477, -0.1446511596441269, 0.14691592752933502, -0.9898678660392761, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.2582004070281982, -0.9020791053771973, 1.9098628759384155, -1.8619428873062134, 1.9087008237838745, 1.0026990175247192, 0.11759592592716217, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005401730537415, -1.5666230916976929, -1.1266685724258423, -1.0441980361938477, -0.14464743435382843, 0.14692072570323944, -0.9899063110351562, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2551088333129883, -0.8998937606811523, 1.9040920734405518, -1.861016869544983, 1.902773380279541, 1.0018744468688965, 0.11931302398443222, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005411863327026, -1.566622018814087, -1.126668095588684, -1.0441985130310059, -0.1446414440870285, 0.1469234824180603, -0.9898701310157776, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.245223045349121, -0.8997856378555298, 1.8958407640457153, -1.859781265258789, 1.9016931056976318, 1.001694917678833, 0.11354286223649979, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005396962165833, -1.5666208267211914, -1.1266686916351318, -1.0441988706588745, -0.14463761448860168, 0.14692288637161255, -0.9897280931472778, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.234520196914673, -0.9006346464157104, 1.8902095556259155, -1.8600929975509644, 1.9007529020309448, 1.0017026662826538, 0.10210175812244415, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005396962165833, -1.5666165351867676, -1.1266697645187378, -1.0441988706588745, -0.1446181982755661, 0.1469225287437439, -0.9896774291992188, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2262353897094727, -0.901806652545929, 1.8846675157546997, -1.8617113828659058, 1.8980238437652588, 1.0017950534820557, 0.09407760202884674, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005407094955444, -1.5664265155792236, -1.126671314239502, -1.044197678565979, -0.14455072581768036, 0.14692312479019165, -0.9895779490470886, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.222428560256958, -0.9028676152229309, 1.8799118995666504, -1.8618931770324707, 1.8871498107910156, 1.0021406412124634, 0.09331696480512619, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005405902862549, -1.5664267539978027, -1.1266722679138184, -1.0441972017288208, -0.1445465236902237, 0.14692312479019165, -0.9895779490470886, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.220003843307495, -0.9056297540664673, 1.8779767751693726, -1.8605159521102905, 1.8727407455444336, 1.0021761655807495, 0.0969143882393837, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005410075187683, -1.5664294958114624, -1.126674771308899, -1.044194221496582, -0.1444934457540512, 0.14692312479019165, -0.9895235300064087, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2169439792633057, -0.908115804195404, 1.8770711421966553, -1.8546007871627808, 1.8594670295715332, 1.0033345222473145, 0.10765249282121658, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005434513092041, -1.5664360523223877, -1.1266745328903198, -1.0441910028457642, -0.14447318017482758, 0.1469232439994812, -0.9895238876342773, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2168262004852295, -0.9088378548622131, 1.8771313428878784, -1.8507554531097412, 1.849286437034607, 1.003603458404541, 0.11935725063085556, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005451798439026, -1.5664498805999756, -1.1266709566116333, -1.0441914796829224, -0.14449188113212585, 0.1469222903251648, -0.9895524382591248, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.217099666595459, -0.9088800549507141, 1.877543330192566, -1.8480666875839233, 1.8453656435012817, 1.003609299659729, 0.1249895915389061, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005451202392578, -1.5664600133895874, -1.1266659498214722, -1.0441938638687134, -0.14462623000144958, 0.14692048728466034, -0.9896079301834106, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.219182014465332, -0.9079670906066895, 1.8789865970611572, -1.8478084802627563, 1.8508445024490356, 1.003590703010559, 0.12524233758449554, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005435109138489, -1.5664794445037842, -1.126661777496338, -1.0442019701004028, -0.144765242934227, 0.14691437780857086, -0.9898480772972107, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2256762981414795, -0.903488278388977, 1.884475588798523, -1.8519783020019531, 1.874712347984314, 1.0030704736709595, 0.1153319850564003, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, -0.20100001031225856, -0.20100001031225856, -0.20100001031225856, 0.20100001031225856, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005419015884399, -1.5664838552474976, -1.1266610622406006, -1.0442028045654297, -0.14476032555103302, 0.14691053330898285, -0.9897825121879578, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2315099239349365, -0.89815354347229, 1.8930490016937256, -1.863640308380127, 1.91311514377594, 1.0029356479644775, 0.09427306801080704, 0.5021999980067159, 0.5021999980067159, 0.5021999980067159, 0.5021999980067159, -0.5021999980067159, -0.5021999980067159, -0.5021999980067159, 0.5021999980067159, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005423188209534, -1.5665004253387451, -1.126656174659729, -1.044204831123352, -0.1447477489709854, 0.146909698843956, -0.9897445440292358, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2346532344818115, -0.8945661187171936, 1.9017658233642578, -1.871389627456665, 1.9442617893218994, 1.002926230430603, 0.07114830613136292, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, -0.5843999997272596, -0.5843999997272596, -0.5843999997272596, 0.5843999997272596, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005423188209534, -1.5667500495910645, -1.1266448497772217, -1.0442049503326416, -0.1447361260652542, 0.14690886437892914, -0.9897288680076599, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2435760498046875, -0.8929327726364136, 1.9096146821975708, -1.8733075857162476, 1.9469408988952637, 1.0029069185256958, 0.05674794316291809, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005438685417175, -1.5667668581008911, -1.1266086101531982, -1.0442031621932983, -0.14467991888523102, 0.14690934121608734, -0.9897170662879944, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2733399868011475, -0.8934271335601807, 1.933435082435608, -1.8652836084365845, 1.9161287546157837, 1.0029040575027466, 0.07258916646242142, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005448222160339, -1.5667273998260498, -1.1266095638275146, -1.0442012548446655, -0.144591823220253, 0.14691029489040375, -0.989681601524353, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.324056625366211, -0.8948907256126404, 1.9787384271621704, -1.8654365539550781, 1.8832001686096191, 1.0029047727584839, 0.11521118134260178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9005454182624817, -1.5661771297454834, -1.1266647577285767, -1.0441901683807373, -0.14447270333766937, 0.14691485464572906, -0.9892615675926208, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3581154346466064, -0.8962699770927429, 2.0272340774536133, -1.8796340227127075, 1.8847837448120117, 1.002951741218567, 0.14147904515266418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005395770072937, -1.5661897659301758, -1.1266955137252808, -1.0441994667053223, -0.14479687809944153, 0.14691162109375, -0.9897838234901428, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.351592779159546, -0.9071810841560364, 2.071763038635254, -1.922331690788269, 1.9477287530899048, 1.00298273563385, 0.11332079023122787, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005288481712341, -1.5663632154464722, -1.1266989707946777, -1.0442055463790894, -0.14482995867729187, 0.14690610766410828, -0.9897155165672302, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.345677137374878, -0.911044716835022, 2.114262819290161, -1.99777352809906, 2.070810079574585, 1.0029716491699219, 0.03348764032125473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9005321860313416, -1.5663659572601318, -1.1266980171203613, -1.044197916984558, -0.1445382684469223, 0.14690838754177094, -0.9895816445350647, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.330338716506958, -0.8970475792884827, 2.127204179763794, -2.0513839721679688, 2.2103686332702637, 1.0029739141464233, -0.06514013558626175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005386233329773, -1.566333293914795, -1.1267296075820923, -1.0441807508468628, -0.14431990683078766, 0.14691269397735596, -0.9893865585327148, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2367701530456543, -0.8863703012466431, 2.071596384048462, -2.0545332431793213, 2.31215238571167, 1.0029622316360474, -0.17197638750076294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005329012870789, -1.5665632486343384, -1.1267222166061401, -1.0442047119140625, -0.1448715478181839, 0.14690551161766052, -0.9900802373886108, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.115084171295166, -0.8923647403717041, 1.9957389831542969, -2.039477825164795, 2.3735430240631104, 1.0029696226119995, -0.2688601016998291, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005300998687744, -1.566608190536499, -1.1267207860946655, -1.0442026853561401, -0.14483067393302917, 0.14690130949020386, -0.989934504032135, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0087857246398926, -0.9142934083938599, 1.9310616254806519, -2.0089306831359863, 2.406139373779297, 1.0029523372650146, -0.34274259209632874, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005290865898132, -1.5666347742080688, -1.126688003540039, -1.0442147254943848, -0.144845649600029, 0.14688944816589355, -0.9900844097137451, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.932466983795166, -0.9400113821029663, 1.8778960704803467, -1.9868886470794678, 2.422067165374756, 1.0027389526367188, -0.4008638262748718, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.9005287289619446, -1.566646695137024, -1.1266555786132812, -1.044226884841919, -0.14484913647174835, 0.14687998592853546, -0.9901032447814941, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8861110210418701, -0.9639862775802612, 1.8401641845703125, -1.9684908390045166, 2.4277939796447754, 1.0027203559875488, -0.44039294123649597, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900526762008667, -1.5666420459747314, -1.1266543865203857, -1.0442336797714233, -0.14484745264053345, 0.14687542617321014, -0.990088939666748, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8555291891098022, -0.9849183559417725, 1.8126721382141113, -1.9524072408676147, 2.411980390548706, 1.0027074813842773, -0.45768341422080994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.900522768497467, -1.5666276216506958, -1.126658320426941, -1.0442328453063965, -0.14483511447906494, 0.1468750685453415, -0.9899512529373169, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8280799388885498, -1.0084640979766846, 1.7850472927093506, -1.9375762939453125, 2.363893985748291, 1.0027049779891968, -0.4525214433670044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.9005192518234253, -1.566627025604248, -1.126657485961914, -1.0442332029342651, -0.14483390748500824, 0.14687518775463104, -0.9899855256080627, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8105324506759644, -1.027195692062378, 1.764968991279602, -1.9360663890838623, 2.3519670963287354, 1.0027027130126953, -0.4550480842590332, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916394008616224, 0.12898071144737264, 0.003908290333657011, 0.5362913012504578], [-0.12897979917276975, 0.9916471023339984, -0.0004856314820150375, 0.9998881816864014], [-0.003938281878502492, -2.251919047902501e-05, 0.9999922446842933, 0.17913848161697388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005164504051208, -1.5666276216506958, -1.1266553401947021, -1.0442332029342651, -0.14483511447906494, 0.14687614142894745, -0.9900839328765869, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8024873733520508, -1.0378649234771729, 1.7573543787002563, -1.9366194009780884, 2.3565056324005127, 1.0027040243148804, -0.4688563048839569, 0.5718000011129694, 0.5718000011129694, 0.5718000011129694, 0.5718000011129694, -0.5718000011129694, -0.5718000011129694, -0.5718000011129694, 0.5718000011129694, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916712054826716, 0.12873569905793367, 0.003916631794044279, 0.5360506176948547], [-0.12873478487925613, 0.991678939616299, -0.00048567847842598635, 1.0000064373016357], [-0.003946565422822877, -2.2573389279857863e-05, 0.9999922120255764, 0.17913499474525452], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005157947540283, -1.5666223764419556, -1.1266566514968872, -1.0442314147949219, -0.14477722346782684, 0.14688117802143097, -0.9900367259979248, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7943450212478638, -1.0467138290405273, 1.7476660013198853, -1.9347827434539795, 2.3552134037017822, 1.0027011632919312, -0.47780001163482666, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, -0.48479999723015244, -0.48479999723015244, -0.48479999723015244, 0.48479999723015244, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 0.9005135893821716, -1.566622257232666, -1.1266555786132812, -1.0442378520965576, -0.14478453993797302, 0.14688260853290558, -0.9900397062301636, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7912060022354126, -1.0523930788040161, 1.7369427680969238, -1.9309338331222534, 2.3467538356781006, 1.0026570558547974, -0.48474547266960144, 0.393600007727906, 0.393600007727906, 0.393600007727906, 0.393600007727906, -0.393600007727906, -0.393600007727906, -0.393600007727906, 0.393600007727906, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 0.9005078673362732, -1.566623330116272, -1.126653790473938, -1.0442380905151367, -0.14479483664035797, 0.14688429236412048, -0.9899343848228455, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.798352599143982, -1.0540074110031128, 1.735632061958313, -1.93119478225708, 2.3320791721343994, 1.0026464462280273, -0.48515090346336365, 0.21900001043801778, 0.21900001043801778, 0.21900001043801778, 0.21900001043801778, -0.21900001043801778, -0.21900001043801778, -0.21900001043801778, 0.21900001043801778, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005072712898254, -1.5666217803955078, -1.1266498565673828, -1.0442346334457397, -0.14479544758796692, 0.14688992500305176, -0.9899339079856873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8117303848266602, -1.051782250404358, 1.7358757257461548, -1.9328423738479614, 2.313908815383911, 1.0026254653930664, -0.48631638288497925, 0.12480000453990896, 0.12480000453990896, 0.12480000453990896, 0.12480000453990896, -0.12480000453990896, -0.12480000453990896, -0.12480000453990896, 0.12480000453990896, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 0.9005091190338135, -1.5666252374649048, -1.1264399290084839, -1.0442326068878174, -0.14478693902492523, 0.146896630525589, -0.9899612069129944, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8254972696304321, -1.0456883907318115, 1.738887906074524, -1.9342727661132812, 2.3012592792510986, 1.0026198625564575, -0.4725416898727417, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 0.9005089402198792, -1.566940426826477, -1.1262201070785522, -1.0442410707473755, -0.14485524594783783, 0.1468961536884308, -0.9901003241539001, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.830012559890747, -1.0409196615219116, 1.7457120418548584, -1.9390147924423218, 2.313166856765747, 1.0024300813674927, -0.4658002257347107, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 0.900508463382721, -1.5669441223144531, -1.1262331008911133, -1.0442487001419067, -0.14493626356124878, 0.14689387381076813, -0.9903143644332886, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8375874757766724, -1.035148024559021, 1.7550585269927979, -1.9591530561447144, 2.336494207382202, 1.0015640258789062, -0.46949446201324463, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 0.9005041718482971, -1.5668315887451172, -1.1265312433242798, -1.0442484617233276, -0.14493733644485474, 0.1468902826309204, -0.9900766015052795, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8564876317977905, -1.0301545858383179, 1.7697631120681763, -1.9909292459487915, 2.3651645183563232, 1.0015478134155273, -0.48154306411743164, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005027413368225, -1.5666311979293823, -1.1267081499099731, -1.0442495346069336, -0.1449146866798401, 0.14688681066036224, -0.9900668859481812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8794993162155151, -1.0279276371002197, 1.801323652267456, -2.0332677364349365, 2.4075989723205566, 0.999714195728302, -0.49153730273246765, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 0.9005102515220642, -1.5666344165802002, -1.126692295074463, -1.0442487001419067, -0.144914448261261, 0.14688609540462494, -0.9903745651245117, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9133579730987549, -1.0181562900543213, 1.8284382820129395, -2.078186273574829, 2.442439079284668, 0.9979801177978516, -0.5026584267616272, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005124568939209, -1.5666438341140747, -1.1266674995422363, -1.0442469120025635, -0.14492450654506683, 0.14688417315483093, -0.9905556440353394, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9732921123504639, -1.0066214799880981, 1.850804090499878, -2.1290488243103027, 2.448493480682373, 0.9973757266998291, -0.4979385435581207, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005275368690491, -1.5666325092315674, -1.1266640424728394, -1.044237494468689, -0.1448226422071457, 0.1468864530324936, -0.9902827739715576, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0456643104553223, -0.9889902472496033, 1.8605246543884277, -2.173159122467041, 2.4106409549713135, 0.997031569480896, -0.45810118317604065, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.90054851770401, -1.5665940046310425, -1.1266638040542603, -1.044215202331543, -0.14463269710540771, 0.146891251206398, -0.9898448586463928, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.112795829772949, -0.9645562171936035, 1.8649872541427612, -2.20123028755188, 2.341762065887451, 0.9966874718666077, -0.38302409648895264, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005770087242126, -1.5665730237960815, -1.1266636848449707, -1.0442075729370117, -0.14462202787399292, 0.1468971222639084, -0.9898799657821655, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.170900821685791, -0.9371640682220459, 1.8653831481933594, -2.2166740894317627, 2.266842842102051, 0.9961570501327515, -0.29867061972618103, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006952047348022, -1.5665602684020996, -1.1266658306121826, -1.04420006275177, -0.14462286233901978, 0.14690178632736206, -0.9899106621742249, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.211029529571533, -0.9110837578773499, 1.8540589809417725, -2.2144057750701904, 2.1855878829956055, 0.9957515001296997, -0.20951709151268005, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006922841072083, -1.5665242671966553, -1.126673936843872, -1.044190526008606, -0.14466553926467896, 0.14690490067005157, -0.9900637865066528, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.229607343673706, -0.8913355469703674, 1.8308771848678589, -2.2023797035217285, 2.112114191055298, 0.995197594165802, -0.1356409341096878, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006847739219666, -1.5665192604064941, -1.1266828775405884, -1.0442057847976685, -0.14482912421226501, 0.14690430462360382, -0.9903604984283447, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.229240655899048, -0.8820971846580505, 1.809586524963379, -2.186519145965576, 2.0512900352478027, 0.98898845911026, -0.0845596119761467, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006792902946472, -1.566513180732727, -1.126691222190857, -1.0442113876342773, -0.1448497325181961, 0.14690466225147247, -0.9905091524124146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2164089679718018, -0.8780004382133484, 1.7872122526168823, -2.161916732788086, 2.0183193683624268, 0.9858832359313965, -0.055117007344961166, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900679886341095, -1.5665117502212524, -1.1266859769821167, -1.0442113876342773, -0.14484338462352753, 0.14690539240837097, -0.9905819892883301, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.204737901687622, -0.877689003944397, 1.7729268074035645, -2.140089988708496, 2.0003888607025146, 0.9859730005264282, -0.04653162881731987, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006791114807129, -1.5665173530578613, -1.1266744136810303, -1.0442109107971191, -0.14479580521583557, 0.14690706133842468, -0.9903279542922974, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2025465965270996, -0.8780308961868286, 1.772006630897522, -2.1234371662139893, 1.9892412424087524, 0.9869248867034912, -0.04033602401614189, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006763696670532, -1.5665574073791504, -1.1265819072723389, -1.044210433959961, -0.1447240114212036, 0.1469089835882187, -0.990038275718689, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.202415943145752, -0.8786833882331848, 1.7756309509277344, -2.10683012008667, 1.976402759552002, 0.9872370958328247, -0.033073343336582184, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006730914115906, -1.5667067766189575, -1.1263208389282227, -1.0442116260528564, -0.1447189897298813, 0.1469101756811142, -0.9901310205459595, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2002270221710205, -0.8790666460990906, 1.7763925790786743, -2.089611053466797, 1.9640718698501587, 0.9872362613677979, -0.022504696622490883, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.900674045085907, -1.5667399168014526, -1.1261886358261108, -1.0442146062850952, -0.1447247415781021, 0.14691126346588135, -0.9904662370681763, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1984713077545166, -0.8809113502502441, 1.7756311893463135, -2.0818514823913574, 1.9429062604904175, 0.9870408773422241, -0.0074190739542245865, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006741642951965, -1.5667731761932373, -1.1261688470840454, -1.0442184209823608, -0.14473660290241241, 0.14691126346588135, -0.9905522465705872, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.199960708618164, -0.8825271129608154, 1.7752392292022705, -2.0806541442871094, 1.9253839254379272, 0.9867866039276123, 0.008150591515004635, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006739258766174, -1.566796898841858, -1.1261675357818604, -1.0442193746566772, -0.14474739134311676, 0.1469108909368515, -0.990388810634613, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2030200958251953, -0.8835721015930176, 1.7766104936599731, -2.08286190032959, 1.9128212928771973, 0.9861661791801453, 0.018885940313339233, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006743431091309, -1.5668017864227295, -1.1261565685272217, -1.0442203283309937, -0.14476391673088074, 0.14691029489040375, -0.9903931021690369, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.205859661102295, -0.8835570216178894, 1.7776556015014648, -2.086383104324341, 1.9008467197418213, 0.9858750700950623, 0.02863270975649357, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006780385971069, -1.56680166721344, -1.1261200904846191, -1.04422128200531, -0.14477494359016418, 0.14691005647182465, -0.9905940890312195, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2000861167907715, -0.8835166692733765, 1.7687137126922607, -2.088090658187866, 1.8977068662643433, 0.9849330186843872, 0.026177262887358665, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.900679349899292, -1.5667105913162231, -1.1262471675872803, -1.0442208051681519, -0.1447666734457016, 0.14691053330898285, -0.9905466437339783, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1698715686798096, -0.886031985282898, 1.741294503211975, -2.0903215408325195, 1.908869743347168, 0.9844644069671631, -0.003694616723805666, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006772637367249, -1.5664336681365967, -1.1267263889312744, -1.0442205667495728, -0.14476704597473145, 0.1469094604253769, -0.990381121635437, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1320102214813232, -0.8978428244590759, 1.709479808807373, -2.0905938148498535, 1.9246832132339478, 0.9847652316093445, -0.0469537153840065, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006194472312927, -1.5663912296295166, -1.1267768144607544, -1.0442368984222412, -0.1447795033454895, 0.14690466225147247, -0.9899153113365173, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1016757488250732, -0.9062355756759644, 1.666892170906067, -2.0912868976593018, 1.9336103200912476, 0.9928779602050781, -0.08771002292633057, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.900495171546936, -1.5665349960327148, -1.1267343759536743, -1.0442301034927368, -0.14471562206745148, 0.14690130949020386, -0.9897357821464539, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.085753917694092, -0.9175137281417847, 1.6326043605804443, -2.0911078453063965, 1.9458813667297363, 1.0009673833847046, -0.120414137840271, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.90050208568573, -1.5665512084960938, -1.1264909505844116, -1.0442278385162354, -0.14470675587654114, 0.1469002366065979, -0.9899457693099976, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0776703357696533, -0.9243546724319458, 1.6270793676376343, -2.1006205081939697, 1.9567487239837646, 1.0017927885055542, -0.13522592186927795, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005032777786255, -1.5667155981063843, -1.12647545337677, -1.0442323684692383, -0.14479903876781464, 0.14689724147319794, -0.990068256855011, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1096479892730713, -0.9200108647346497, 1.6601823568344116, -2.134415626525879, 1.9747358560562134, 1.0017892122268677, -0.12685877084732056, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005131125450134, -1.5666980743408203, -1.1264756917953491, -1.0442171096801758, -0.1446063369512558, 0.146900475025177, -0.9897420406341553, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1816227436065674, -0.8941317796707153, 1.7362322807312012, -2.158622980117798, 2.0234577655792236, 1.0018830299377441, -0.09769252687692642, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005241990089417, -1.5666204690933228, -1.1265019178390503, -1.044195294380188, -0.14448769390583038, 0.14690622687339783, -0.9894776344299316, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2466166019439697, -0.8628304600715637, 1.8328378200531006, -2.1581478118896484, 2.0986924171447754, 1.002371907234192, -0.06588771194219589, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005270600318909, -1.5665829181671143, -1.126544713973999, -1.0441946983337402, -0.1445394605398178, 0.14690934121608734, -0.9896557331085205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.295114517211914, -0.8339546918869019, 1.9437936544418335, -2.1363556385040283, 2.195352792739868, 1.0025025606155396, -0.046090610325336456, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005324840545654, -1.566541314125061, -1.1266950368881226, -1.0441944599151611, -0.14458739757537842, 0.14691221714019775, -0.989906907081604, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3308463096618652, -0.8079134225845337, 2.0504395961761475, -2.094101905822754, 2.277034282684326, 1.0024813413619995, -0.03217332810163498, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005559086799622, -1.5665061473846436, -1.1267015933990479, -1.0441901683807373, -0.1445830762386322, 0.14692024886608124, -0.9898858070373535, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3309130668640137, -0.7951579689979553, 2.1130869388580322, -2.029167413711548, 2.3163464069366455, 1.0021315813064575, -0.03094518557190895, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005573987960815, -1.5665068626403809, -1.1267106533050537, -1.0441927909851074, -0.14469237625598907, 0.14692072570323944, -0.989919126033783, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.318462371826172, -0.7907531261444092, 2.1309030055999756, -1.9715096950531006, 2.336970567703247, 1.0018689632415771, -0.03240486606955528, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005574584007263, -1.5665065050125122, -1.1267330646514893, -1.044193148612976, -0.1446889042854309, 0.1469203680753708, -0.9898872971534729, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3073201179504395, -0.7842658162117004, 2.119201421737671, -1.9221564531326294, 2.3528661727905273, 1.0018223524093628, -0.04378892108798027, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005662202835083, -1.5665132999420166, -1.1267390251159668, -1.0441946983337402, -0.14466901123523712, 0.1469203680753708, -0.9898860454559326, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2890522480010986, -0.7746970653533936, 2.061448812484741, -1.8690425157546997, 2.334599018096924, 1.0017564296722412, -0.05895591527223587, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005848169326782, -1.5665583610534668, -1.126732587814331, -1.0442087650299072, -0.1447467803955078, 0.14691473543643951, -0.9901162981987, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2774767875671387, -0.7708591222763062, 2.000964641571045, -1.816946268081665, 2.285172939300537, 1.0017257928848267, -0.042042698711156845, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900583028793335, -1.5665559768676758, -1.1267364025115967, -1.04421067237854, -0.14475038647651672, 0.1469087451696396, -0.9898825883865356, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2816526889801025, -0.7657909989356995, 1.967854380607605, -1.7870287895202637, 2.2455239295959473, 1.0017118453979492, -0.006192968226969242, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005838632583618, -1.5665488243103027, -1.1267369985580444, -1.0442099571228027, -0.14472737908363342, 0.14690646529197693, -0.9898869395256042, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.287313461303711, -0.7548345923423767, 1.9404582977294922, -1.7647520303726196, 2.2110440731048584, 1.001619577407837, 0.03155842050909996, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006786346435547, -1.5665422677993774, -1.1267327070236206, -1.044187307357788, -0.14460021257400513, 0.14690789580345154, -0.9898589849472046, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.288433074951172, -0.7449531555175781, 1.9253038167953491, -1.7438474893569946, 2.1852009296417236, 1.0017374753952026, 0.08131308853626251, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900682806968689, -1.5665501356124878, -1.1266945600509644, -1.0441906452178955, -0.14457708597183228, 0.14690610766410828, -0.9898808002471924, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2875165939331055, -0.7352944612503052, 1.9207192659378052, -1.7254084348678589, 2.1714093685150146, 1.0032050609588623, 0.11495532095432281, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006797671318054, -1.5665571689605713, -1.1266775131225586, -1.0441943407058716, -0.14460968971252441, 0.14690513908863068, -0.9898619651794434, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2916319370269775, -0.7253568768501282, 1.9203463792800903, -1.715372085571289, 2.165422201156616, 1.0033891201019287, 0.13541826605796814, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006748795509338, -1.5665605068206787, -1.126647710800171, -1.0441993474960327, -0.1446198672056198, 0.14690430462360382, -0.9898495078086853, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2939186096191406, -0.7174134254455566, 1.918062448501587, -1.7092021703720093, 2.156705617904663, 1.0033812522888184, 0.1530059576034546, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006706476211548, -1.566563606262207, -1.1264859437942505, -1.0442023277282715, -0.1446286290884018, 0.14690394699573517, -0.9898478388786316, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.295656681060791, -0.7108715176582336, 1.9171290397644043, -1.7062538862228394, 2.1521522998809814, 1.003333330154419, 0.1617690622806549, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006702303886414, -1.566565752029419, -1.1264817714691162, -1.0442034006118774, -0.14463557302951813, 0.14690563082695007, -0.9898683428764343, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2956295013427734, -0.7058034539222717, 1.9165380001068115, -1.7063210010528564, 2.141810178756714, 1.003139853477478, 0.1678963601589203, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9006747007369995, -1.5663739442825317, -1.1265082359313965, -1.0441290140151978, -0.1441693902015686, 0.14693091809749603, -0.9895000457763672, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2889716625213623, -0.7056187987327576, 1.9146952629089355, -1.7082035541534424, 2.1150357723236084, 1.003119707107544, 0.1799745410680771, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9006754755973816, -1.566138505935669, -1.1267712116241455, -1.0440744161605835, -0.14405913650989532, 0.1469716578722, -0.9891480803489685, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2835042476654053, -0.7088208198547363, 1.914298415184021, -1.710100769996643, 2.0920021533966064, 1.0035722255706787, 0.19083164632320404, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 0.9006749391555786, -1.566138505935669, -1.1268715858459473, -1.0440759658813477, -0.14405973255634308, 0.14698603749275208, -0.9891449809074402, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.282072067260742, -0.7169972062110901, 1.9193246364593506, -1.717698335647583, 2.068331480026245, 1.0038042068481445, 0.19703719019889832, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916694451019016, 0.1287495297895305, 0.003907714199043025, 0.5360625982284546], [-0.12874861151591777, 0.9916771441149063, -0.0004866958255697233, 0.9999984502792358], [-0.003937852715616885, -2.047139805168672e-05, 0.999992246418397, 0.1791408360004425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006754159927368, -1.5661494731903076, -1.1268764734268188, -1.0440963506698608, -0.14428646862506866, 0.14698711037635803, -0.9897148013114929, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.2853784561157227, -0.7252836227416992, 1.9275041818618774, -1.7306355237960815, 2.051138401031494, 1.0029422044754028, 0.19549398124217987, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9917093068395995, 0.12844239111932917, 0.003899088517910405, 0.5357474088668823], [-0.12844148794704682, 0.9917169715462537, -0.000482204391961668, 1.0001791715621948], [-0.003928727741884677, -2.259814757034173e-05, 0.9999922822640452, 0.17914220690727234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 0.9006747007369995, -1.5662046670913696, -1.1268492937088013, -1.0442231893539429, -0.14459086954593658, 0.1469794511795044, -0.9902119040489197, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.292494535446167, -0.7338523268699646, 1.9387785196304321, -1.7489603757858276, 2.0452425479888916, 1.0010946989059448, 0.18118195235729218, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916899804163868, 0.12859135638677452, 0.0039045876038337844, 0.5358942151069641], [-0.1285904007988292, 0.9916976671119161, -0.0004958499568935136, 1.0000911951065063], [-0.003935932436277331, -1.0363050889931623e-05, 0.9999922541342329, 0.17915219068527222], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9006714224815369, -1.5664047002792358, -1.1266897916793823, -1.0442253351211548, -0.1446540355682373, 0.14695751667022705, -0.9902009963989258, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3038980960845947, -0.7395826578140259, 1.948312759399414, -1.7655582427978516, 2.0444045066833496, 1.0000296831130981, 0.16631539165973663, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916758882508725, 0.1286998766045308, 0.003908250736792684, 0.5360040068626404], [-0.12869896347966317, 0.9916835893013497, -0.0004852933673072748, 1.0000349283218384], [-0.003938205315041658, -2.173408775714981e-05, 0.9999922450031931, 0.17913953959941864], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9006078243255615, -1.5665591955184937, -1.1266894340515137, -1.0442334413528442, -0.14482299983501434, 0.146898552775383, -0.9898858070373535, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.324547529220581, -0.7430830001831055, 1.9510799646377563, -1.7703670263290405, 2.0283210277557373, 1.0008716583251953, 0.1605902910232544, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916635528422679, 0.1287949304489995, 0.003906898371825438, 0.5361043810844421], [-0.12879398691214597, 0.9916712487976269, -0.0004931971503374078, 0.9999771118164062], [-0.003937880079988899, -1.409937941269389e-05, 0.9999922464207825, 0.17914752662181854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9004824161529541, -1.5665391683578491, -1.126689076423645, -1.044215440750122, -0.14462071657180786, 0.14689819514751434, -0.9897010326385498, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.347311019897461, -0.748640239238739, 1.9660645723342896, -1.776668667793274, 2.018062114715576, 1.0012531280517578, 0.16572493314743042, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916793955658612, 0.12867280030747624, 0.00390984285625022, 0.5359776616096497], [-0.1286719427622257, 0.991687102454426, -0.00047113834410964785, 1.0000511407852173], [-0.003937963423235733, -3.586888789416911e-05, 0.9999922455486843, 0.17912448942661285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900503933429718, -1.5665189027786255, -1.1266859769821167, -1.0441995859146118, -0.1445157378911972, 0.14690598845481873, -0.9899249076843262, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.348601818084717, -0.7512019276618958, 1.968839168548584, -1.7746665477752686, 2.0106754302978516, 1.0012977123260498, 0.17154362797737122, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916684493747794, 0.12875719240288003, 0.003907930289604682, 0.536066472530365], [-0.1287562727325222, 0.9916761492533883, -0.0004870667305186969, 0.9999991059303284], [-0.003938114605880286, -2.016182879250503e-05, 0.9999922453933588, 0.17914125323295593], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005097150802612, -1.5665194988250732, -1.1266764402389526, -1.0442014932632446, -0.14457456767559052, 0.14690563082695007, -0.9901924133300781, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.346851348876953, -0.7537036538124084, 1.9695879220962524, -1.772740125656128, 2.012176752090454, 1.0013025999069214, 0.17207501828670502, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916733129906139, 0.12871979456398738, 0.0039057380384377735, 0.536024272441864], [-0.128718852441356, 0.9916810042987276, -0.0004926857491476559, 1.0000221729278564], [-0.003936664628900604, -1.4158809123744482e-05, 0.9999922512055419, 0.17914803326129913], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005091190338135, -1.5665194988250732, -1.1266802549362183, -1.0442017316818237, -0.14460992813110352, 0.14690575003623962, -0.9899184107780457, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3470139503479004, -0.7577903270721436, 1.9796488285064697, -1.7795138359069824, 2.02707576751709, 1.001311182975769, 0.16708682477474213, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916709626818108, 0.12873789626878632, 0.003905872248033655, 0.5360469222068787], [-0.12873691316424685, 0.9916786546301937, -0.000503129993325869, 1.0000059604644775], [-0.003938142032977926, -3.8905315901927905e-06, 0.9999922454810296, 0.17915822565555573], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005097150802612, -1.5665202140808105, -1.1266826391220093, -1.044201374053955, -0.14462286233901978, 0.14690501987934113, -0.9898448586463928, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.347003936767578, -0.7590186595916748, 1.9858125448226929, -1.7889158725738525, 2.045945405960083, 1.0013164281845093, 0.1555667370557785, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916539754699364, 0.12886898093398944, 0.003895983535099554, 0.5361813902854919], [-0.12886790886944188, 0.9916616284653172, -0.0005260162852115416, 0.999927282333374], [-0.0039312845595207814, 1.955888923389781e-05, 0.9999922722797221, 0.17918606102466583], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005168080329895, -1.5665225982666016, -1.1266764402389526, -1.0442007780075073, -0.14464348554611206, 0.14690682291984558, -0.9898768663406372, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.346830129623413, -0.7586573362350464, 1.989022970199585, -1.7851604223251343, 2.0598762035369873, 1.0013291835784912, 0.14696626365184784, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900540292263031, -1.5665249824523926, -1.1266433000564575, -1.0442003011703491, -0.14465534687042236, 0.14690741896629333, -0.9900597333908081, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3462765216827393, -0.7574307918548584, 1.9886527061462402, -1.7672642469406128, 2.057142972946167, 1.0013511180877686, 0.1465446650981903, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34930887818336487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9005417227745056, -1.5665233135223389, -1.1266454458236694, -1.044199824333191, -0.14466026425361633, 0.14690741896629333, -0.9899715185165405, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3464181423187256, -0.7571581602096558, 1.9884734153747559, -1.7504017353057861, 2.0513060092926025, 1.0013514757156372, 0.1538286656141281, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005405306816101, -1.5665230751037598, -1.126656174659729, -1.044199824333191, -0.14466169476509094, 0.146907776594162, -0.989856481552124, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3465702533721924, -0.7563672065734863, 1.9881235361099243, -1.7413122653961182, 2.0444023609161377, 1.0013350248336792, 0.16310866177082062, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005407094955444, -1.566523551940918, -1.1266591548919678, -1.0441999435424805, -0.1446637362241745, 0.14690862596035004, -0.9898741841316223, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3464438915252686, -0.7546421885490417, 1.9843008518218994, -1.740968942642212, 2.041313648223877, 1.0012937784194946, 0.16798827052116394, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005478024482727, -1.5665234327316284, -1.1266580820083618, -1.0442003011703491, -0.14466708898544312, 0.1469104140996933, -0.9899781346321106, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3445775508880615, -0.7544666528701782, 1.9779391288757324, -1.7453848123550415, 2.0395495891571045, 1.001227617263794, 0.16595599055290222, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005541801452637, -1.5665228366851807, -1.1266592741012573, -1.0441995859146118, -0.14465990662574768, 0.14691580832004547, -0.989956796169281, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.331756114959717, -0.7565295696258545, 1.9672300815582275, -1.7506155967712402, 2.031623601913452, 1.0011820793151855, 0.15659762918949127, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005542993545532, -1.5665243864059448, -1.126659870147705, -1.0442003011703491, -0.1446661353111267, 0.14691701531410217, -0.9899458885192871, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.322409152984619, -0.7603484392166138, 1.9638824462890625, -1.750827670097351, 2.025270700454712, 1.0011569261550903, 0.1498744785785675, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005544185638428, -1.5665245056152344, -1.1266626119613647, -1.0442007780075073, -0.14466314017772675, 0.14691737294197083, -0.9898593425750732, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3209068775177, -0.7629666924476624, 1.9638577699661255, -1.7486870288848877, 2.0176479816436768, 1.0010796785354614, 0.15000569820404053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005601406097412, -1.5665251016616821, -1.1266608238220215, -1.0442018508911133, -0.14466242492198944, 0.14691844582557678, -0.9898915886878967, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.323134183883667, -0.764002799987793, 1.9667314291000366, -1.7436391115188599, 2.0090606212615967, 1.0009958744049072, 0.15917710959911346, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005810618400574, -1.5665251016616821, -1.1266586780548096, -1.0442031621932983, -0.14466121792793274, 0.14691965281963348, -0.989997386932373, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3279099464416504, -0.7641902565956116, 1.9727638959884644, -1.7410149574279785, 2.0004186630249023, 1.0009959936141968, 0.16993127763271332, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005820155143738, -1.5665249824523926, -1.1266589164733887, -1.0442050695419312, -0.14466121792793274, 0.14691928029060364, -0.9899022579193115, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3281772136688232, -0.7651382088661194, 1.9728025197982788, -1.7406423091888428, 1.998172402381897, 1.0010029077529907, 0.1721985787153244, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.900580644607544, -1.5665254592895508, -1.1266591548919678, -1.0442081689834595, -0.14466530084609985, 0.14691820740699768, -0.9898844957351685, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3286917209625244, -0.7679023742675781, 1.9745116233825684, -1.7448452711105347, 1.99886155128479, 1.0010102987289429, 0.16762107610702515, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005789756774902, -1.5665260553359985, -1.1266590356826782, -1.0442111492156982, -0.14467236399650574, 0.14691556990146637, -0.9898829460144043, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.331928253173828, -0.7711176872253418, 1.9781301021575928, -1.7520588636398315, 2.003207206726074, 1.0010446310043335, 0.1630154252052307, 0.046200001370775866, 0.046200001370775866, 0.046200001370775866, 0.046200001370775866, -0.046200001370775866, -0.046200001370775866, -0.046200001370775866, 0.046200001370775866, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005803465843201, -1.5665262937545776, -1.12665593624115, -1.0442179441452026, -0.14468219876289368, 0.1469125747680664, -0.9899530410766602, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.333333730697632, -0.7721707820892334, 1.982794165611267, -1.7582906484603882, 2.0196456909179688, 1.0006717443466187, 0.15745700895786285, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, -0.15659999952211487, -0.15659999952211487, -0.15659999952211487, 0.15659999952211487, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005768299102783, -1.5665297508239746, -1.1266541481018066, -1.0442214012145996, -0.14470221102237701, 0.14690838754177094, -0.9899760484695435, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.337415933609009, -0.7723373770713806, 1.9862799644470215, -1.7624711990356445, 2.0339090824127197, 1.0008667707443237, 0.1410810500383377, 0.5310000011554131, 0.5310000011554131, 0.5310000011554131, 0.5310000011554131, -0.5310000011554131, -0.5310000011554131, -0.5310000011554131, 0.5310000011554131, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005719423294067, -1.5665290355682373, -1.1266560554504395, -1.0442206859588623, -0.14469872415065765, 0.14690682291984558, -0.989824116230011, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.344787836074829, -0.7762683033943176, 1.9888614416122437, -1.7631478309631348, 2.038551092147827, 1.001089096069336, 0.12881508469581604, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005690217018127, -1.5665290355682373, -1.1266549825668335, -1.044219732284546, -0.14469489455223083, 0.14690622687339783, -0.9897717237472534, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3450021743774414, -0.7861325740814209, 1.988947868347168, -1.7462856769561768, 2.0206549167633057, 1.0012942552566528, 0.1247023344039917, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005687832832336, -1.5665286779403687, -1.1266541481018066, -1.04421865940094, -0.1446848213672638, 0.14690646529197693, -0.989802896976471, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.345000743865967, -0.8031342625617981, 1.9980751276016235, -1.7258597612380981, 1.9795966148376465, 1.0013394355773926, 0.14150865375995636, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005688428878784, -1.5665278434753418, -1.1266515254974365, -1.044217824935913, -0.14468243718147278, 0.14690670371055603, -0.9899005889892578, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.345090866088867, -0.8273289203643799, 2.0355618000030518, -1.7108358144760132, 1.9146349430084229, 1.0015288591384888, 0.18464849889278412, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005651473999023, -1.5665223598480225, -1.1266592741012573, -1.0442173480987549, -0.14468051493167877, 0.14690634608268738, -0.9898824691772461, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3457911014556885, -0.8670722246170044, 2.1090939044952393, -1.7269563674926758, 1.8494526147842407, 1.0017073154449463, 0.24797937273979187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34930887818336487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9005476236343384, -1.566500186920166, -1.1266969442367554, -1.0442126989364624, -0.14465798437595367, 0.14690694212913513, -0.9897440671920776, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3470067977905273, -0.9203611016273499, 2.2118821144104004, -1.8063263893127441, 1.8382980823516846, 1.0046446323394775, 0.2789212167263031, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 0.9004359841346741, -1.566488265991211, -1.1267716884613037, -1.0442757606506348, -0.1445370614528656, 0.14690957963466644, -0.9897106289863586, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3466334342956543, -0.974704921245575, 2.325066566467285, -1.9177666902542114, 1.9172331094741821, 1.0044639110565186, 0.2136061042547226, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 0.9126681089401245, -1.5588971376419067, -1.139057993888855, -1.1055482625961304, -0.08845364302396774, 0.17465797066688538, -0.9502004384994507, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3460826873779297, -0.9959656000137329, 2.424539804458618, -2.018141746520996, 2.0467052459716797, 1.0043723583221436, 0.09553524851799011, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916589608436482, 0.1288303703621779, 0.0039039788472460405, 0.5361391305923462], [-0.1288293089479367, 0.9916666453097772, -0.0005231979067439615, 0.9999529123306274], [-0.003938849386907353, 1.588699547921883e-05, 0.9999922425764665, 0.17917905747890472], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 0.9798341989517212, -1.5340527296066284, -1.188081979751587, -1.2630374431610107, 0.013211648911237717, 0.23144330084323883, -0.8205637335777283, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.3063223361968994, -0.9872835278511047, 2.459010601043701, -2.046398639678955, 2.0986979007720947, 1.0043854713439941, -0.0061469487845897675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9918054979784124, 0.12769714589054917, 0.003910640766043292, 0.5350029468536377], [-0.12769609438235158, 0.9918132075709583, -0.0005184277198830115, 1.0005615949630737], [-0.0039448269020067525, 1.4805910528247243e-05, 0.9999922190304774, 0.17917568981647491], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.0536197423934937, -1.5120137929916382, -1.2330353260040283, -1.4180539846420288, 0.10983458161354065, 0.28299933671951294, -0.6647011041641235, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.139451026916504, -1.0264126062393188, 2.3973612785339355, -2.05268931388855, 1.931132435798645, 1.0021750926971436, -0.023586152121424675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9917333399358239, 0.12825686607546438, 0.0038934257712127654, 0.535569429397583], [-0.12825588206637717, 0.9917409824663327, -0.0005024062985768126, 1.0002751350402832], [-0.003925706956854323, -1.1016800544808882e-06, 0.9999922943821493, 0.17916624248027802], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561322033405304, 1.031522274017334, -0.3807670772075653, 0.0, 0.0, 1.129356026649475, -1.5035250186920166, -1.2721494436264038, -1.5508848428726196, 0.15095749497413635, 0.34427177906036377, -0.5050948262214661, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0116493701934814, -1.098829746246338, 2.3184478282928467, -2.0737340450286865, 1.6059985160827637, 0.9350844621658325, 0.09502998739480972, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9915507588656312, 0.1296603798534786, 0.003908770809682267, 0.5369767546653748], [-0.12965926491313262, 0.9915584628078459, -0.0005383830678654022, 0.9995008707046509], [-0.003945581728602837, 2.7025789605033243e-05, 0.9999922157969179, 0.1791883111000061], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.204642415046692, -1.4994187355041504, -1.2957597970962524, -1.6476256847381592, 0.17849640548229218, 0.40399864315986633, -0.36165010929107666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.983437418937683, -1.1518971920013428, 2.234583854675293, -2.0726661682128906, 1.31060791015625, 0.796940267086029, 0.19335539638996124, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916047773020864, 0.12924685260241164, 0.0039008619624442843, 0.5365462303161621], [-0.1292457092044467, 0.9916124493916827, -0.0005448519681232074, 0.9997273087501526], [-0.003938563687332377, 3.610814366865534e-05, 0.9999922431760573, 0.17920024693012238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.28699791431427, -1.4963659048080444, -1.3095744848251343, -1.7215590476989746, 0.17998184263706207, 0.4456259608268738, -0.22633886337280273, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9840662479400635, -1.195177435874939, 2.1518704891204834, -2.050773859024048, 1.0622937679290771, 0.6340347528457642, 0.23592768609523773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309354915025, 0.12904596556392986, 0.003902120951555721, 0.5363700985908508], [-0.12904484163633512, 0.9916386124910751, -0.0005395033164846529, 0.999829113483429], [-0.003939114532573774, 3.1439598187111256e-05, 0.9999922411640257, 0.1791953146457672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.3748071193695068, -1.4897973537445068, -1.316420555114746, -1.7909239530563354, 0.16623198986053467, 0.46693822741508484, -0.10143675655126572, 0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -1.9771716594696045, -1.2336573600769043, 2.0863678455352783, -2.017071008682251, 0.8920333385467529, 0.4934401512145996, 0.2604711353778839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916679545753135, 0.12876099122786752, 0.003908325271901353, 0.5360710024833679], [-0.1287599040813317, 0.9916756559770333, -0.0005295691522003722, 0.9999891519546509], [-0.003943978876745413, 2.1921170840063087e-05, 0.9999922222447943, 0.17918330430984497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.4512590169906616, -1.484618067741394, -1.3111258745193481, -1.843336820602417, 0.14082027971744537, 0.46961623430252075, -0.0010259695118293166, 0.524399998489317, -0.524399998489317, 0.524399998489317, 0.524399998489317, -0.524399998489317, -0.524399998489317, 0.524399998489317, 0.524399998489317, -1.9637945890426636, -1.2658300399780273, 2.0401856899261475, -1.9707263708114624, 0.7836177945137024, 0.36253514885902405, 0.2729165256023407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9915862724841659, 0.12938868760390293, 0.003902786324813999, 0.5367022156715393], [-0.1293875221216319, 0.9915939520942916, -0.000550717030695848, 0.9996476173400879], [-0.0039412358698447236, 4.111159572337006e-05, 0.9999922324546601, 0.17920471727848053], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.5156208276748657, -1.4826922416687012, -1.2934695482254028, -1.8767850399017334, 0.12128695100545883, 0.45109280943870544, 0.10662784427404404, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -1.960400938987732, -1.2921503782272339, 2.0215365886688232, -1.9437252283096313, 0.7404565811157227, 0.2784768342971802, 0.2791527509689331, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916313621644389, 0.12904279341532046, 0.003898594550646768, 0.536354124546051], [-0.12904177951619955, 0.9916390257800407, -0.0005115557684595366, 0.9998562932014465], [-0.003932011087464476, 4.1931650729892475e-06, 0.9999922696057332, 0.17916904389858246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5620889067649841, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.5531656742095947, -1.4787287712097168, -1.2868096828460693, -1.8833369016647339, 0.09269726276397705, 0.4104812741279602, 0.15887869894504547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9610105752944946, -1.2962443828582764, 2.02024245262146, -1.9420961141586304, 0.7386467456817627, 0.28491008281707764, 0.27302390336990356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916000632005683, 0.12928317710131426, 0.003895481898207802, 0.5365998148918152], [-0.12928215309800323, 0.9916077148117503, -0.0005146029179057799, 0.9997143745422363], [-0.003929319403344844, 6.663998763966881e-06, 0.999992280172511, 0.17917262017726898], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5518550872802734, -1.4774296283721924, -1.286885142326355, -1.8826974630355835, 0.09291142225265503, 0.4114871025085449, 0.15106558799743652, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.961441159248352, -1.2941941022872925, 2.021214246749878, -1.944063425064087, 0.7431564331054688, 0.2917419373989105, 0.27302077412605286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916351153478579, 0.12901380155526943, 0.0039034622193908036, 0.5363200902938843], [-0.12901284021914936, 0.9916427980455632, -0.0004981394931442557, 0.9998636245727539], [-0.003935107067017196, -9.624133868324408e-06, 0.9999922573898996, 0.17915336787700653], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.5445326566696167, -1.47744619846344, -1.287244439125061, -1.8824621438980103, 0.09437397122383118, 0.4123062193393707, 0.14793327450752258, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.961411714553833, -1.2929229736328125, 2.0218288898468018, -1.9445666074752808, 0.7436228394508362, 0.29176780581474304, 0.2731432616710663, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916379414735024, 0.12899224098258483, 0.0038980503441436347, 0.5362980365753174], [-0.12899131058909552, 0.9916456027670643, -0.0004902093973154097, 0.9998672008514404], [-0.003928717691845114, -1.6704384988543118e-05, 0.9999922824193501, 0.1791483610868454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5428991317749023, -1.4774850606918335, -1.287443995475769, -1.8825680017471313, 0.09460370987653732, 0.41234350204467773, 0.14762599766254425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9613662958145142, -1.2928816080093384, 2.021862745285034, -1.9445661306381226, 0.7437122464179993, 0.29178664088249207, 0.27320942282676697, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916412819420002, 0.12896637368888852, 0.0039041524002645252, 0.5362774729728699], [-0.12896546905896908, 0.9916489670674816, -0.00048363663713573264, 0.9998956918716431], [-0.00393392155827083, -2.3906790734418486e-05, 0.9999922618148797, 0.17913876473903656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.5428693294525146, -1.47760808467865, -1.2874120473861694, -1.882594347000122, 0.09482098370790482, 0.4124903082847595, 0.14759184420108795, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9614156484603882, -1.292896032333374, 2.022054433822632, -1.944583535194397, 0.7438406944274902, 0.29190072417259216, 0.2733181118965149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.991633977561891, 0.12902274850226017, 0.0038967824811876523, 0.5363275408744812], [-0.12902181579492905, 0.9916416339142766, -0.0004908531379895594, 0.9998591542243958], [-0.003927542967627824, -1.602330185737736e-05, 0.9999922870450008, 0.17914962768554688], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.545819640159607, -1.472235918045044, -1.2924381494522095, -1.8813767433166504, 0.08654959499835968, 0.40573132038116455, 0.14514850080013275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9573243856430054, -1.2903549671173096, 2.014468193054199, -1.9420599937438965, 0.7381609082221985, 0.2868538200855255, 0.26853424310684204, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916764168903679, 0.12869614123491305, 0.0038971033761815072, 0.5359899997711182], [-0.12869524196528576, 0.9916840740187476, -0.00048169811679087625, 1.0000470876693726], [-0.003926688041835004, -2.384999947939693e-05, 0.9999922902463797, 0.17914167046546936], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5636205673217773, -1.4412285089492798, -1.3220689296722412, -1.873445987701416, 0.03761344775557518, 0.36669716238975525, 0.1313527375459671, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9347281455993652, -1.276445984840393, 1.9733257293701172, -1.9280213117599487, 0.7065027952194214, 0.25836753845214844, 0.24182967841625214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9917549566503625, 0.12808963846877233, 0.0038923612854911143, 0.5353908538818359], [-0.12808881592734372, 0.9917625939699517, -0.0004609081512093734, 1.0003830194473267], [-0.0039193358836226025, -4.146000469753948e-05, 0.999992318514147, 0.17912644147872925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.597202181816101, -1.3823809623718262, -1.3782387971878052, -1.858578085899353, -0.05478420481085777, 0.2926587164402008, 0.10484051704406738, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8927127122879028, -1.2504609823226929, 1.8965152502059937, -1.901557445526123, 0.6475942134857178, 0.20511479675769806, 0.19200466573238373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9917327164830897, 0.12826164711681168, 0.0038947318205522718, 0.5355615615844727], [-0.12826079289104192, 0.9917403635619427, -0.00046934953590562617, 1.000292181968689], [-0.003922762296239544, -3.407210117824141e-05, 0.9999923053579258, 0.1791331022977829], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.6460126638412476, -1.2969822883605957, -1.4597505331039429, -1.8370347023010254, -0.18899337947368622, 0.1851285845041275, 0.06635485589504242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8320155143737793, -1.212985873222351, 1.7859646081924438, -1.8636997938156128, 0.5625689029693604, 0.12873323261737823, 0.12027907371520996, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9917422514552391, 0.12818773337226236, 0.003900216836922206, 0.5354918241500854], [-0.1281868704396735, 0.991749920072762, -0.00047146850643139975, 1.0003193616867065], [-0.003928476215479886, -3.238135230266476e-05, 0.99999228298326, 0.17913199961185455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5616096258163452, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.6898210048675537, -1.2202723026275635, -1.5328928232192993, -1.8177335262298584, -0.30950304865837097, 0.08846155554056168, 0.03162936493754387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.778408169746399, -1.1798828840255737, 1.688112497329712, -1.8302112817764282, 0.4876764714717865, 0.0611058846116066, 0.05708014592528343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9914767161468406, 0.13022556605830954, 0.0039017026373159795, 0.5375458002090454], [-0.1302243377519935, 0.9914843916465964, -0.0005683117395900242, 0.9991892576217651], [-0.003942485983730848, 5.537121526673579e-05, 0.9999922268389373, 0.17921878397464752], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.71761155128479, -1.1717216968536377, -1.5792349576950073, -1.8054814338684082, -0.3859092891216278, 0.027285562828183174, 0.00970638357102871, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.744673728942871, -1.1590321063995361, 1.6266237497329712, -1.809127926826477, 0.4404262602329254, 0.018390990793704987, 0.0172529686242342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9915749170856111, 0.12947572367044916, 0.003901382662206854, 0.5367896556854248], [-0.12947468130225598, 0.9915825920604847, -0.0005196386143437718, 0.999598503112793], [-0.003935823718450177, 1.0130339105027913e-05, 0.9999922545645209, 0.17917433381080627], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7294281721115112, -1.1509647369384766, -1.5990612506866455, -1.8002710342407227, -0.41846001148223877, 0.001307838479988277, 0.000514003389980644, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730628490447998, -1.1503835916519165, 1.6010500192642212, -1.8003321886062622, 0.42079824209213257, 0.0006986802909523249, 0.0006715959752909839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9915390645036541, 0.12975029849671388, 0.003891478283629726, 0.5370694398880005], [-0.12974917441083056, 0.991546700386147, -0.000541011138809539, 0.9994480013847351], [-0.003928778808507986, 3.151758392263411e-05, 0.9999922818220727, 0.1791994571685791], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300423383712769, -1.1499602794647217, -1.6000372171401978, -1.79996919631958, -0.42010077834129333, -0.0001689775672275573, -9.179916378343478e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300007343292236, -1.149941325187683, 1.5999635457992554, -1.79994535446167, 0.41990721225738525, -0.00012954947305843234, -0.00010186590952798724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916221674493801, 0.12911338137247108, 0.0039002273728928494, 0.5364140272140503], [-0.1291123855439606, 0.9916298375654357, -0.0005070987038342291, 0.9998124837875366], [-0.003933055064591636, -7.173444711805341e-07, 0.999992265508761, 0.1791638880968094], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300125360488892, -1.1499910354614258, -1.6000038385391235, -1.7999755144119263, -0.4200202524662018, -1.617870293557644e-05, -4.314320904086344e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299952507019043, -1.1499944925308228, 1.599985122680664, -1.799953818321228, 0.41996055841445923, -2.8522455977508798e-05, 1.7976337858272018e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34921303391456604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309878867228, 0.1290455478428536, 0.0039026202403155048, 0.5363612771034241], [-0.12904455353862843, 0.9916386673483024, -0.000506578423214159, 0.9998449683189392], [-0.00393536082442202, -1.2730242883743415e-06, 0.9999922564367991, 0.17916251718997955], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299948930740356, -1.150046467781067, -1.5999120473861694, -1.7999887466430664, -0.41988852620124817, 0.00037115145823918283, 2.4208135073422454e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7304123640060425, -1.149903655052185, 1.6001712083816528, -1.7999740839004517, 0.4201205372810364, 0.00018671422731131315, 0.00027168236556462944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916370024740251, 0.1289995197011481, 0.003896054568846192, 0.5363102555274963], [-0.12899848409873, 0.9916446560210548, -0.0005169962414266144, 0.999872088432312], [-0.003930193959594073, 1.008746979153551e-05, 0.9999922767070168, 0.17917659878730774], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299948930740356, -1.1500459909439087, -1.5997862815856934, -1.800002932548523, -0.41986167430877686, 0.0004688228655140847, 3.787015157286078e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7310233116149902, -1.1487150192260742, 1.6002601385116577, -1.799980878829956, 0.4201884865760803, 0.0002722815843299031, 0.00034322819556109607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916273992707562, 0.12907335952138274, 0.0038947243009181385, 0.5363828539848328], [-0.12907235947728676, 0.9916350477169359, -0.000508092901240934, 0.9998341202735901], [-0.003927726375697402, 1.1375872124502295e-06, 0.9999922864523624, 0.17916803061962128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299950122833252, -1.1500444412231445, -1.59976327419281, -1.8000110387802124, -0.4198513925075531, 0.00048572063678875566, 4.0266993892146274e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7310619354248047, -1.1480560302734375, 1.6002874374389648, -1.7999869585037231, 0.4202107787132263, 0.0002797118213493377, 0.0003663577663246542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916367850390208, 0.1290010455515526, 0.003900872220573705, 0.5363161563873291], [-0.12900003870301588, 0.9916444575762771, -0.0005096791849852668, 0.9998679757118225], [-0.003934027465004141, 2.2039609705710303e-06, 0.9999922616815828, 0.17916670441627502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.729995608329773, -1.150043249130249, -1.5997508764266968, -1.8000147342681885, -0.41984453797340393, 0.0004911135183647275, 3.9188416849356145e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7310627698898315, -1.1479555368423462, 1.6003077030181885, -1.7999917268753052, 0.42022398114204407, 0.00028007134096696973, 0.00037318875547498465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916284504702115, 0.1290649888329857, 0.00390446866915548, 0.536377489566803], [-0.12906400183605346, 0.991636137222744, -0.0005047613479027276, 0.9998390078544617], [-0.003936959246718957, -3.3906382066589955e-06, 0.9999922501401665, 0.17915946245193481], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000015/gt/hand_left.mp4 b/agibot-challenge-2026/000015/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2f37b2d81c7b284053aa47d42999eb940d7f116c --- /dev/null +++ b/agibot-challenge-2026/000015/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd1c097749b2d557966653023002e3dce9eb648c44dfe3d55dcc7343c560f633 +size 13239694 diff --git a/agibot-challenge-2026/000015/gt/hand_right.mp4 b/agibot-challenge-2026/000015/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01598450e67e12579ff6393cac90fcf801c384e6 --- /dev/null +++ b/agibot-challenge-2026/000015/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a74f265d5b8466f6a28d43560532aebe7ed988424cd62f69e361e149cb3c7853 +size 16205325 diff --git a/agibot-challenge-2026/000015/gt/head.mp4 b/agibot-challenge-2026/000015/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..673eac67532d93c46db4e8b86e6b3463c26f51ed --- /dev/null +++ b/agibot-challenge-2026/000015/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:948b792180a46e35d6b89bfd3bb7a8200c63ab6e0242fd082ab3bc486425e4b6 +size 8542552 diff --git a/agibot-challenge-2026/000015/meta.json b/agibot-challenge-2026/000015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfed4c8b7d462b3bb6fae379b3a211a95cf35bbf --- /dev/null +++ b/agibot-challenge-2026/000015/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Insert the dishes into the storage compartment of the dish rack_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 534, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000015/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000015/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..cd1eec713550632ab9662b1f2e5ac2d389492e64 --- /dev/null +++ b/agibot-challenge-2026/000015/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000015/ref_images/hand_left.png b/agibot-challenge-2026/000015/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..74c348b0b8761513b1a05a28dbb63053854b1ef7 --- /dev/null +++ b/agibot-challenge-2026/000015/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ec5df8595ee94dcca3f0b1e4d31baea31e5cc60bc8a9926c98f4d6691301a20 +size 361822 diff --git a/agibot-challenge-2026/000015/ref_images/hand_right.png b/agibot-challenge-2026/000015/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..b89d3d0cbaa190ec2cba62ec88c3f9a7df1f55b7 --- /dev/null +++ b/agibot-challenge-2026/000015/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b9c0a734bfded3f1a9ccc879544b4596f9db605d30890810620962d8aae5033 +size 373887 diff --git a/agibot-challenge-2026/000015/ref_images/head.png b/agibot-challenge-2026/000015/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..0b4c2c33eb3d99773b256561038c2e3e2e9f9bfd --- /dev/null +++ b/agibot-challenge-2026/000015/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9a324483a35a18bcb0824e97b4584bc57b2e157f78d4f7a59154892b80090ba +size 230749 diff --git a/agibot-challenge-2026/000015/temporal.json b/agibot-challenge-2026/000015/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0312053744732b91c36013e6d98befd3c68478 --- /dev/null +++ b/agibot-challenge-2026/000015/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729649305343628, -1.1481521129608154, -1.5995949506759644, -1.8002079725265503, -0.4183844029903412, -0.001475138240493834, 0.0016165521228685975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291306257247925, -1.1500442028045654, 1.6001274585723877, -1.7992668151855469, 0.4207293391227722, 0.0009913351386785507, 0.00038721031160093844, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.1481521129608154, -1.5995957851409912, -1.8002076148986816, -0.41838499903678894, -0.0014757374301552773, 0.001612477470189333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291306257247925, -1.1500442028045654, 1.600127935409546, -1.7992665767669678, 0.4207276701927185, 0.0009938518051058054, 0.0003869706124532968, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296481132507324, -1.1481521129608154, -1.5995973348617554, -1.800207495689392, -0.41838595271110535, -0.001475138240493834, 0.001609361614100635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729130506515503, -1.1500439643859863, 1.600127935409546, -1.7992668151855469, 0.42072588205337524, 0.00099648826289922, 0.00038637142279185355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296478748321533, -1.1481518745422363, -1.5995985269546509, -1.8002078533172607, -0.4183889329433441, -0.0014741795603185892, 0.0016061258502304554, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291311025619507, -1.1500440835952759, 1.6001282930374146, -1.7992662191390991, 0.4207243025302887, 0.0010006828233599663, 0.0003862515732180327, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296473979949951, -1.1481521129608154, -1.5996001958847046, -1.8002073764801025, -0.41838955879211426, -0.0014735802542418242, 0.001602650387212634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729130744934082, -1.1500442028045654, 1.6001282930374146, -1.7992663383483887, 0.42072442173957825, 0.0010043978691101074, 0.00038565235445275903, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729646921157837, -1.1481517553329468, -1.5996017456054688, -1.800207495689392, -0.4183918237686157, -0.0014738199533894658, 0.0016010924009606242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291306257247925, -1.150044322013855, 1.600128412246704, -1.7992660999298096, 0.4207243025302887, 0.0010065550450235605, 0.00038565235445275903, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1481521129608154, -1.599602460861206, -1.800207257270813, -0.41839542984962463, -0.0014757374301552773, 0.0016000138130038977, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729130744934082, -1.1500444412231445, 1.6001286506652832, -1.7992663383483887, 0.4207245409488678, 0.0010088320123031735, 0.0003870904620271176, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296468019485474, -1.1481521129608154, -1.5996047258377075, -1.8002076148986816, -0.41839686036109924, -0.0014776549069210887, 0.0015985757345333695, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291312217712402, -1.1500442028045654, 1.6001287698745728, -1.79926598072052, 0.4207245409488678, 0.0010089519200846553, 0.00038840872002765536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729646921157837, -1.1481521129608154, -1.599604845046997, -1.800207257270813, -0.4183976948261261, -0.0014787334948778152, 0.0015984559431672096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729130744934082, -1.1500442028045654, 1.6001287698745728, -1.799265742301941, 0.420725017786026, 0.0010073939338326454, 0.00039020637632347643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296465635299683, -1.148152232170105, -1.5996047258377075, -1.8002071380615234, -0.4183988869190216, -0.0014807708794251084, 0.0015998940216377378, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291313409805298, -1.1500444412231445, 1.6001280546188354, -1.7992660999298096, 0.42072588205337524, 0.0010079931234940886, 0.0003917643043678254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1481521129608154, -1.599604606628418, -1.8002067804336548, -0.4183991253376007, -0.001483407337218523, 0.0016013321001082659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291311025619507, -1.1500447988510132, 1.6001272201538086, -1.7992662191390991, 0.42072683572769165, 0.0010079931234940886, 0.00039344211108982563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296468019485474, -1.148152470588684, -1.5996044874191284, -1.8002064228057861, -0.41839924454689026, -0.0014867628924548626, 0.001603369484655559, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291312217712402, -1.150044322013855, 1.6001272201538086, -1.7992660999298096, 0.4207295775413513, 0.0010078733321279287, 0.0003957191074732691, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296468019485474, -1.1481523513793945, -1.5996036529541016, -1.8002065420150757, -0.41839948296546936, -0.0014896391658112407, 0.0016066052485257387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291309833526611, -1.1500449180603027, 1.600127100944519, -1.79926598072052, 0.42073115706443787, 0.0010079931234940886, 0.00039931436185725033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729647159576416, -1.1481523513793945, -1.5996028184890747, -1.8002066612243652, -0.4183996021747589, -0.0014904780546203256, 0.0016092417063191533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291313409805298, -1.1500449180603027, 1.60012686252594, -1.7992655038833618, 0.4207321107387543, 0.0010059558553621173, 0.0004013516881968826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296499013900757, -1.148152232170105, -1.5996017456054688, -1.8002066612243652, -0.4183991253376007, -0.0014915566425770521, 0.001614754437468946, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73332679271698, -1.1506370306015015, 1.6125620603561401, -1.8116772174835205, 0.4204145073890686, 0.014763846062123775, 0.013281038030982018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296489477157593, -1.1481518745422363, -1.599599838256836, -1.8002058267593384, -0.41839709877967834, -0.001493114628829062, 0.001627457793802023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7534410953521729, -1.1649534702301025, 1.7044161558151245, -1.8763426542282104, 0.40870365500450134, 0.0919603481888771, 0.09455829113721848, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648232460022, -1.148152470588684, -1.5995968580245972, -1.8002082109451294, -0.41839566826820374, -0.0014933542115613818, 0.0016296148533001542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.763795018196106, -1.1791115999221802, 1.762888789176941, -1.9054466485977173, 0.3685110807418823, 0.15021362900733948, 0.16935759782791138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296496629714966, -1.1481528282165527, -1.5995938777923584, -1.8002105951309204, -0.41839420795440674, -0.001495511387474835, 0.0016306934412568808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.774245023727417, -1.1862590312957764, 1.804154872894287, -1.951127529144287, 0.2532840669155121, 0.2220238298177719, 0.29020926356315613, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.1481515169143677, -1.5995924472808838, -1.8002145290374756, -0.4183918237686157, -0.0014950321055948734, 0.001634168904274702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7653049230575562, -1.1909151077270508, 1.8408421277999878, -1.9931585788726807, 0.15959200263023376, 0.3033014237880707, 0.4112227261066437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729653239250183, -1.1481515169143677, -1.5995920896530151, -1.8002166748046875, -0.4183896780014038, -0.0014903582632541656, 0.0016388427466154099, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7277004718780518, -1.1994725465774536, 1.870962142944336, -2.027310371398926, 0.09754464030265808, 0.36569324135780334, 0.4716562032699585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296546697616577, -1.1481504440307617, -1.5995900630950928, -1.8002212047576904, -0.41838762164115906, -0.0014885605778545141, 0.0016366855707019567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6572424173355103, -1.203851342201233, 1.897405743598938, -2.041750431060791, 0.047547291964292526, 0.4451574981212616, 0.534463107585907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296549081802368, -1.1481518745422363, -1.5995852947235107, -1.8002352714538574, -0.41838380694389343, -0.0014867628924548626, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5835235118865967, -1.200808048248291, 1.9079327583312988, -2.040170669555664, -0.03465694189071655, 0.5180335640907288, 0.6439422369003296, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296615839004517, -1.1481478214263916, -1.5995879173278809, -1.800241231918335, -0.4183846414089203, -0.0014861637027934194, 0.001632730825804174, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5240103006362915, -1.186536192893982, 1.8999801874160767, -2.0184483528137207, -0.1539282649755478, 0.5492032170295715, 0.7933726906776428, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296618223190308, -1.1481465101242065, -1.599587082862854, -1.800243854522705, -0.4183829426765442, -0.0014832875458523631, 0.0016254204092547297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4754917621612549, -1.17377769947052, 1.885724663734436, -1.9975790977478027, -0.2465016096830368, 0.5831467509269714, 0.9274903535842896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296613454818726, -1.1481446027755737, -1.5995872020721436, -1.8002455234527588, -0.4183804392814636, -0.0014823287492617965, 0.0016190687892958522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.455095648765564, -1.1655421257019043, 1.867055892944336, -1.9848276376724243, -0.33159512281417847, 0.5762913227081299, 1.0420594215393066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296605110168457, -1.1481435298919678, -1.5995869636535645, -1.8002456426620483, -0.418379008769989, -0.0014816097682341933, 0.0016128369607031345, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4557864665985107, -1.1625221967697144, 1.8571884632110596, -1.9758325815200806, -0.38138681650161743, 0.5515710711479187, 1.116763949394226, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729660153388977, -1.1481404304504395, -1.5995903015136719, -1.8002439737319946, -0.4183782935142517, -0.0014807708794251084, 0.0016078036278486252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4536433219909668, -1.1587553024291992, 1.8570257425308228, -1.9622929096221924, -0.41807639598846436, 0.529205858707428, 1.2078359127044678, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296594381332397, -1.1481359004974365, -1.5995936393737793, -1.8002442121505737, -0.4183794856071472, -0.00148113036993891, 0.0016045678639784455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4411028623580933, -1.1523343324661255, 1.8542943000793457, -1.945316195487976, -0.4763035476207733, 0.48874160647392273, 1.3042539358139038, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729659080505371, -1.148134469985962, -1.5995947122573853, -1.800243616104126, -0.4183812737464905, -0.0014805311802774668, 0.0016052869614213705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4191585779190063, -1.148402214050293, 1.845291256904602, -1.9260798692703247, -0.5277542471885681, 0.4565385580062866, 1.3653233051300049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729657530784607, -1.148133397102356, -1.5995969772338867, -1.8002429008483887, -0.41838234663009644, -0.0014801715733483434, 0.0016036091838032007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3915356397628784, -1.1454716920852661, 1.8429490327835083, -1.8983784914016724, -0.5612359642982483, 0.4179441034793854, 1.4063359498977661, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.72965669631958, -1.1481313705444336, -1.5996001958847046, -1.8002433776855469, -0.418383926153183, -0.0014796922914683819, 0.0016030098777264357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3616504669189453, -1.1360294818878174, 1.8429359197616577, -1.8599916696548462, -0.5875710844993591, 0.3673260807991028, 1.4544404745101929, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296521663665771, -1.1481283903121948, -1.5996028184890747, -1.8002427816390991, -0.4183875024318695, -0.0014822089578956366, 0.0016048075631260872, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3315098285675049, -1.1262966394424438, 1.8375085592269897, -1.8288936614990234, -0.6083415746688843, 0.3478102385997772, 1.4745466709136963, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296524047851562, -1.1481267213821411, -1.5996052026748657, -1.8002419471740723, -0.4183899164199829, -0.0014826883561909199, 0.0016070845304057002, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3187437057495117, -1.1227002143859863, 1.831660509109497, -1.8186739683151245, -0.6219859719276428, 0.3375464677810669, 1.4848798513412476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296501398086548, -1.1481256484985352, -1.5996068716049194, -1.8002418279647827, -0.41839301586151123, -0.001484965323470533, 0.0016096011968329549, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3198394775390625, -1.1227160692214966, 1.8317161798477173, -1.8195078372955322, -0.6208993196487427, 0.33834174275398254, 1.483954906463623, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296481132507324, -1.1481256484985352, -1.5996081829071045, -1.800240159034729, -0.41839492321014404, -0.001487122499383986, 0.0016148743452504277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3216196298599243, -1.1227898597717285, 1.8321099281311035, -1.820190668106079, -0.6192262172698975, 0.338468074798584, 1.4839297533035278, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296441793441772, -1.148125171661377, -1.5996090173721313, -1.80023992061615, -0.41839444637298584, -0.0014890399761497974, 0.0016194282798096538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3223258256912231, -1.1231893301010132, 1.8320854902267456, -1.8207660913467407, -0.6171541213989258, 0.33851468563079834, 1.486181616783142, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.1481252908706665, -1.5996079444885254, -1.8002402782440186, -0.4183948040008545, -0.0014939535176381469, 0.001622903742827475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3221818208694458, -1.123173713684082, 1.8320910930633545, -1.820799708366394, -0.6174854040145874, 0.33851563930511475, 1.4854577779769897, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296416759490967, -1.1481252908706665, -1.5996077060699463, -1.8002405166625977, -0.41839566826820374, -0.0014969495823606849, 0.001628176774829626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.321701169013977, -1.123025894165039, 1.8321338891983032, -1.8207905292510986, -0.61871737241745, 0.3385109603404999, 1.4841052293777466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296401262283325, -1.1481257677078247, -1.5996071100234985, -1.80023992061615, -0.41839709877967834, -0.0014986273599788547, 0.0016306934412568808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3216506242752075, -1.1229867935180664, 1.832327961921692, -1.8207560777664185, -0.618879497051239, 0.33850905299186707, 1.483849287033081, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.148125410079956, -1.5996062755584717, -1.8002398014068604, -0.4183981716632843, -0.0015000654384493828, 0.0016315323300659657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3216500282287598, -1.1229734420776367, 1.832391619682312, -1.8206497430801392, -0.6189268827438354, 0.33850690722465515, 1.4838038682937622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1481257677078247, -1.5996050834655762, -1.8002402782440186, -0.4183979332447052, -0.0014997059479355812, 0.0016324911266565323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3216534852981567, -1.1229677200317383, 1.8323936462402344, -1.8205840587615967, -0.6189388632774353, 0.33850833773612976, 1.4838675260543823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.148126244544983, -1.5996023416519165, -1.8002405166625977, -0.4183962643146515, -0.0015003051375970244, 0.0016362061724066734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217028379440308, -1.123020052909851, 1.8320846557617188, -1.820585012435913, -0.6179922223091125, 0.3385133743286133, 1.4853549003601074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1481266021728516, -1.5996007919311523, -1.800240397453308, -0.4183953106403351, -0.0015004249289631844, 0.0016370451776310802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217122554779053, -1.123029112815857, 1.8320558071136475, -1.8205904960632324, -0.6179683804512024, 0.3385145664215088, 1.4852982759475708, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729635238647461, -1.1481270790100098, -1.5995999574661255, -1.80023992061615, -0.41839420795440674, -0.0014989868504926562, 0.0016352474922314286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217132091522217, -1.123035192489624, 1.8320454359054565, -1.820600152015686, -0.6179688572883606, 0.3385143280029297, 1.4850603342056274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296351194381714, -1.148127555847168, -1.5995986461639404, -1.8002406358718872, -0.4183921813964844, -0.0014971891650930047, 0.001631891936995089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217180967330933, -1.123043417930603, 1.8320320844650269, -1.8206106424331665, -0.6179683804512024, 0.3385138511657715, 1.4849636554718018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729635238647461, -1.1481285095214844, -1.5995970964431763, -1.8002405166625977, -0.41839027404785156, -0.0014952716883271933, 0.0016275775851681828, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217235803604126, -1.1230530738830566, 1.8320142030715942, -1.8206247091293335, -0.6179686188697815, 0.33851179480552673, 1.4849295616149902, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729635238647461, -1.1481289863586426, -1.5995959043502808, -1.800240159034729, -0.41838738322257996, -0.0014917963417246938, 0.0016213457565754652, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217225074768066, -1.123061180114746, 1.831998348236084, -1.8206522464752197, -0.6179674863815308, 0.33851155638694763, 1.4848926067352295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1481300592422485, -1.5995936393737793, -1.8002402782440186, -0.41838428378105164, -0.001488680369220674, 0.0016178704099729657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3217397928237915, -1.1234570741653442, 1.8317312002182007, -1.8330309391021729, -0.6141656637191772, 0.33882951736450195, 1.4831582307815552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296353578567505, -1.1481318473815918, -1.5995914936065674, -1.8002400398254395, -0.418383926153183, -0.0014866431010887027, 0.0016136758495122194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3232347965240479, -1.123357892036438, 1.8431931734085083, -1.8511276245117188, -0.5796328783035278, 0.32351452112197876, 1.4986250400543213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296347618103027, -1.14813232421875, -1.5995912551879883, -1.800239086151123, -0.41838306188583374, -0.0014837668277323246, 0.001610919483937323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3374499082565308, -1.116495966911316, 1.8709700107574463, -1.8649100065231323, -0.536658763885498, 0.2969706654548645, 1.524778962135315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1481342315673828, -1.599591851234436, -1.8002381324768066, -0.4183827042579651, -0.001481849467381835, 0.0016084028175100684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3683967590332031, -1.0917693376541138, 1.8906147480010986, -1.8923484086990356, -0.5140554308891296, 0.2857729494571686, 1.5368258953094482, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296346426010132, -1.1481397151947021, -1.5995912551879883, -1.8002359867095947, -0.4183810353279114, -0.00148113036993891, 0.0016069647390395403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.412672996520996, -1.037521243095398, 1.8948283195495605, -1.9228886365890503, -0.4944458603858948, 0.28607985377311707, 1.5357515811920166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296384572982788, -1.1481413841247559, -1.5995930433273315, -1.8002346754074097, -0.4183777868747711, -0.0014798120828345418, 0.0016021709889173508, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4406981468200684, -0.9646912217140198, 1.8867403268814087, -1.9266672134399414, -0.4712109863758087, 0.2661958932876587, 1.5355125665664673, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.14814293384552, -1.5995932817459106, -1.800233244895935, -0.41837888956069946, -0.0014798120828345418, 0.0016006131190806627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.46419358253479, -0.8803365230560303, 1.869654893875122, -1.930627465248108, -0.45365551114082336, 0.23842483758926392, 1.5354303121566772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729642629623413, -1.1481661796569824, -1.5995972156524658, -1.8002313375473022, -0.4183810353279114, -0.0014799319906160235, 0.0016058861510828137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4658478498458862, -0.8021166324615479, 1.839673638343811, -1.9229680299758911, -0.4464688301086426, 0.22846822440624237, 1.5353248119354248, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1481674909591675, -1.5995994806289673, -1.8002310991287231, -0.4183822274208069, -0.0014808906707912683, 0.001609481405466795, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4333956241607666, -0.7406628727912903, 1.783878207206726, -1.8827219009399414, -0.4167860448360443, 0.22893010079860687, 1.535330891609192, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296499013900757, -1.1481647491455078, -1.5996016263961792, -1.8002324104309082, -0.4183851182460785, -0.001480411272495985, 0.0016125972615554929, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3833054304122925, -0.6761956810951233, 1.7110838890075684, -1.842835545539856, -0.3592778444290161, 0.24050217866897583, 1.5353449583053589, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296504974365234, -1.1481643915176392, -1.5996018648147583, -1.8002322912216187, -0.4183867871761322, -0.001481849467381835, 0.0016152338357642293, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3414545059204102, -0.6151949763298035, 1.642181158065796, -1.8253164291381836, -0.32383471727371216, 0.2520105242729187, 1.5353777408599854, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296509742736816, -1.1481575965881348, -1.5996028184890747, -1.8002328872680664, -0.41838979721069336, -0.001485684304498136, 0.0016209862660616636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3355380296707153, -0.5804533362388611, 1.600360631942749, -1.8363113403320312, -0.3268461227416992, 0.26026788353919983, 1.5354020595550537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296507358551025, -1.1481539011001587, -1.5996063947677612, -1.80023193359375, -0.41839349269866943, -0.001487122499383986, 0.001625899807550013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3434710502624512, -0.5687962174415588, 1.582803726196289, -1.8560631275177002, -0.34119662642478943, 0.2647218108177185, 1.5354079008102417, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729651927947998, -1.148145079612732, -1.5996065139770508, -1.80023193359375, -0.41839614510536194, -0.0014890399761497974, 0.001634888001717627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3449153900146484, -0.5677298307418823, 1.5695399045944214, -1.865639567375183, -0.36169037222862244, 0.27238404750823975, 1.5355526208877563, 0.4397999969157544, 0.4397999969157544, 0.4397999969157544, 0.4397999969157544, -0.4397999969157544, -0.4397999969157544, -0.4397999969157544, 0.4397999969157544, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296600341796875, -1.1480231285095215, -1.5996097326278687, -1.80023193359375, -0.41839829087257385, -0.0015160044422373176, 0.001643995987251401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3382924795150757, -0.5699370503425598, 1.5506360530853271, -1.8674652576446533, -0.38945937156677246, 0.2790428400039673, 1.5355135202407837, 0.3186000006539481, 0.3186000006539481, 0.3186000006539481, 0.3186000006539481, -0.3186000006539481, -0.3186000006539481, -0.3186000006539481, 0.3186000006539481, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296603918075562, -1.148018717765808, -1.5996087789535522, -1.8002327680587769, -0.41839829087257385, -0.0015160044422373176, 0.0016426777001470327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3251725435256958, -0.5798232555389404, 1.5406842231750488, -1.8684790134429932, -0.4125616252422333, 0.28395015001296997, 1.5355292558670044, 0.2405999870090694, 0.2405999870090694, 0.2405999870090694, 0.2405999870090694, -0.2405999870090694, -0.2405999870090694, -0.2405999870090694, 0.2405999870090694, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296593189239502, -1.1480293273925781, -1.5996068716049194, -1.8002333641052246, -0.41839709877967834, -0.001517202821560204, 0.001642438000999391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3148260116577148, -0.593765377998352, 1.5396875143051147, -1.872887134552002, -0.422130286693573, 0.2845984995365143, 1.5354692935943604, 0.2082000025026091, 0.2082000025026091, 0.2082000025026091, 0.2082000025026091, -0.2082000025026091, -0.2082000025026091, -0.2082000025026091, 0.2082000025026091, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296589612960815, -1.148033618927002, -1.5996068716049194, -1.8002339601516724, -0.41839757561683655, -0.0015163639327511191, 0.0016430371906608343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3132070302963257, -0.6077720522880554, 1.5419917106628418, -1.8804863691329956, -0.4315381646156311, 0.28460004925727844, 1.5354695320129395, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -0.2021999893607674, -0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296587228775024, -1.1480408906936646, -1.5996043682098389, -1.8002344369888306, -0.41839900612831116, -0.001515764743089676, 0.0016392022371292114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.311145305633545, -0.6212261915206909, 1.5395094156265259, -1.8856182098388672, -0.44895219802856445, 0.2846084535121918, 1.5354750156402588, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -0.2021999893607674, -0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296580076217651, -1.1480437517166138, -1.5996029376983643, -1.800234317779541, -0.4183986485004425, -0.0015161243500187993, 0.0016363260801881552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3038872480392456, -0.6336124539375305, 1.5300227403640747, -1.8866643905639648, -0.4750801920890808, 0.2846628427505493, 1.5355042219161987, 0.193800018121908, 0.193800018121908, 0.193800018121908, 0.193800018121908, -0.193800018121908, -0.193800018121908, -0.193800018121908, 0.193800018121908, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729657530784607, -1.148047685623169, -1.5996017456054688, -1.8002344369888306, -0.4183967411518097, -0.0015158846508711576, 0.001631891936995089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3019483089447021, -0.6462189555168152, 1.5298588275909424, -1.8874019384384155, -0.49282702803611755, 0.28474241495132446, 1.5354996919631958, 0.16500001006074005, 0.16500001006074005, 0.16500001006074005, 0.16500001006074005, -0.16500001006074005, -0.16500001006074005, -0.16500001006074005, 0.16500001006074005, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296568155288696, -1.1480519771575928, -1.5995997190475464, -1.8002345561981201, -0.4183953106403351, -0.001515644951723516, 0.0016272180946543813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.302527904510498, -0.6539127230644226, 1.530650019645691, -1.8886139392852783, -0.501892626285553, 0.2847820818424225, 1.535988450050354, 0.13259998625451389, 0.13259998625451389, 0.13259998625451389, 0.13259998625451389, -0.13259998625451389, -0.13259998625451389, -0.13259998625451389, 0.13259998625451389, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296537160873413, -1.1480579376220703, -1.599597454071045, -1.800233006477356, -0.418392539024353, -0.0015100123127922416, 0.001619907678104937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3056050539016724, -0.6571633815765381, 1.5312907695770264, -1.892500877380371, -0.5130336284637451, 0.28484585881233215, 1.5368127822875977, 0.08880000428839045, 0.08880000428839045, 0.08880000428839045, 0.08880000428839045, -0.08880000428839045, -0.08880000428839045, -0.08880000428839045, 0.08880000428839045, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.1480655670166016, -1.5995928049087524, -1.800233006477356, -0.41839122772216797, -0.0015077353455126286, 0.0016121179796755314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3092283010482788, -0.6615005731582642, 1.535412311553955, -1.897724986076355, -0.5221759080886841, 0.2848680317401886, 1.5364564657211304, 0.04140000657720881, 0.04140000657720881, 0.04140000657720881, 0.04140000657720881, -0.04140000657720881, -0.04140000657720881, -0.04140000657720881, 0.04140000657720881, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296472787857056, -1.1480672359466553, -1.5995912551879883, -1.8002331256866455, -0.41838905215263367, -0.0015062972670421004, 0.0016078036278486252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3106279373168945, -0.6639412641525269, 1.5439233779907227, -1.9051542282104492, -0.5230964422225952, 0.28484320640563965, 1.5364394187927246, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, -0.03539999343536713, -0.03539999343536713, -0.03539999343536713, 0.03539999343536713, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480686664581299, -1.599590539932251, -1.8002336025238037, -0.4183858335018158, -0.001502941595390439, 0.0016075639287009835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.317870855331421, -0.6641120910644531, 1.5649458169937134, -1.9190937280654907, -0.5157829523086548, 0.28483590483665466, 1.536179780960083, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729646921157837, -1.1480708122253418, -1.5995891094207764, -1.8002334833145142, -0.418382465839386, -0.0014999456470832229, 0.0016076837200671434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3301081657409668, -0.6641101837158203, 1.5923588275909424, -1.9364597797393799, -0.5056168437004089, 0.2848592698574066, 1.5351377725601196, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296457290649414, -1.1480733156204224, -1.5995882749557495, -1.8002326488494873, -0.4183797240257263, -0.0014961106935516, 0.0016076837200671434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3452578783035278, -0.6668646335601807, 1.6108185052871704, -1.953043818473816, -0.5030168890953064, 0.2849201560020447, 1.5364396572113037, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296442985534668, -1.1480755805969238, -1.599586844444275, -1.8002325296401978, -0.41837841272354126, -0.0014938336098566651, 0.001606365549378097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3511854410171509, -0.6765964031219482, 1.6221034526824951, -1.9641172885894775, -0.5141183137893677, 0.284967839717865, 1.537037968635559, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.148078203201294, -1.5995863676071167, -1.800232172012329, -0.4183773100376129, -0.0014941932167857885, 0.001607204438187182, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3507274389266968, -0.6770423650741577, 1.6219464540481567, -1.963972806930542, -0.5146971940994263, 0.2849998474121094, 1.5368930101394653, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296422719955444, -1.148079752922058, -1.599587082862854, -1.800232172012329, -0.4183756411075592, -0.0014944327995181084, 0.0016099608037620783, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.349811315536499, -0.6769664287567139, 1.621309757232666, -1.9637166261672974, -0.5144193768501282, 0.2850198745727539, 1.536752700805664, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296417951583862, -1.1480813026428223, -1.5995877981185913, -1.80023193359375, -0.41837576031684875, -0.0014947924064472318, 0.001611638581380248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3498178720474243, -0.676845908164978, 1.6210651397705078, -1.9636051654815674, -0.514287531375885, 0.2850310206413269, 1.5367441177368164, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296415567398071, -1.1480836868286133, -1.5995888710021973, -1.8002326488494873, -0.41837671399116516, -0.0014947924064472318, 0.0016166719142347574, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3498339653015137, -0.6767878532409668, 1.6210061311721802, -1.9635671377182007, -0.5142391324043274, 0.2850426435470581, 1.536745548248291, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296411991119385, -1.148085355758667, -1.5995897054672241, -1.8002336025238037, -0.4183770716190338, -0.0014950321055948734, 0.0016197878867387772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3498116731643677, -0.6770911812782288, 1.6215981245040894, -1.9638171195983887, -0.5143622159957886, 0.2847237288951874, 1.5367430448532104, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296409606933594, -1.148087501525879, -1.5995912551879883, -1.8002333641052246, -0.4183792471885681, -0.0014958709944039583, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3489055633544922, -0.6971992254257202, 1.6562832593917847, -1.9711718559265137, -0.5038459300994873, 0.28180208802223206, 1.536931037902832, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296404838562012, -1.148091435432434, -1.5995944738388062, -1.8002339601516724, -0.41838258504867554, -0.0014974288642406464, 0.0016298545524477959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3416398763656616, -0.7032919526100159, 1.6964359283447266, -1.9809967279434204, -0.43671727180480957, 0.28503352403640747, 1.5368669033050537, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296403646469116, -1.1480939388275146, -1.599597692489624, -1.8002337217330933, -0.4183855950832367, -0.0014987471513450146, 0.0016316522378474474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3379759788513184, -0.6992936134338379, 1.746128797531128, -1.9783169031143188, -0.28198352456092834, 0.28567132353782654, 1.53661048412323, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296398878097534, -1.1480947732925415, -1.5995994806289673, -1.8002333641052246, -0.41838881373405457, -0.0015012638177722692, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3293675184249878, -0.7008222937583923, 1.7782294750213623, -1.9676622152328491, -0.11679694056510925, 0.29106828570365906, 1.5324946641921997, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296408414840698, -1.1480966806411743, -1.599600911140442, -1.8002333641052246, -0.41839170455932617, -0.0015041400911286473, 0.0016345283947885036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3285120725631714, -0.7027268409729004, 1.788986086845398, -1.9706273078918457, 0.017902275547385216, 0.3179848790168762, 1.506157636642456, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296395301818848, -1.1480982303619385, -1.599602222442627, -1.8002339601516724, -0.418392539024353, -0.0015079750446602702, 0.0016376443672925234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.332401990890503, -0.7023612856864929, 1.7897746562957764, -1.9796046018600464, 0.13119885325431824, 0.3458930253982544, 1.4779001474380493, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296401262283325, -1.1480991840362549, -1.5996025800704956, -1.800234317779541, -0.4183945655822754, -0.0015124091878533363, 0.0016393221449106932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3279577493667603, -0.7038447856903076, 1.772570013999939, -1.978758454322815, 0.2324589639902115, 0.3792994022369385, 1.4442626237869263, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296414375305176, -1.1480997800827026, -1.5996031761169434, -1.8002339601516724, -0.4183955490589142, -0.001515764743089676, 0.0016377641586586833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.306243896484375, -0.7208623290061951, 1.7449657917022705, -1.9645203351974487, 0.33059969544410706, 0.413266658782959, 1.41059148311615, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296403646469116, -1.148101568222046, -1.5996013879776, -1.800233006477356, -0.4183962643146515, -0.0015160044422373176, 0.0016316522378474474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2756792306900024, -0.7582958936691284, 1.7349451780319214, -1.9362819194793701, 0.41302648186683655, 0.43994903564453125, 1.3836108446121216, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296441793441772, -1.14810311794281, -1.5996019840240479, -1.8002346754074097, -0.418397456407547, -0.0015174425207078457, 0.0016238624230027199, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.240112066268921, -0.8070083856582642, 1.7291367053985596, -1.8838242292404175, 0.48524245619773865, 0.45395487546920776, 1.36799955368042, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645013809204, -1.1481034755706787, -1.5996030569076538, -1.800233244895935, -0.4183972179889679, -0.0015174425207078457, 0.0016211060574278235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.223894715309143, -0.8507524132728577, 1.729498028755188, -1.8383644819259644, 0.5378780364990234, 0.4509613513946533, 1.3485218286514282, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296477556228638, -1.1481045484542847, -1.5996016263961792, -1.8002307415008545, -0.41839733719825745, -0.0015169632388278842, 0.0016189489979296923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2183586359024048, -0.8891014456748962, 1.7376374006271362, -1.7866265773773193, 0.6086431741714478, 0.45146146416664124, 1.3418060541152954, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296494245529175, -1.1481040716171265, -1.599600911140442, -1.8002303838729858, -0.4183957874774933, -0.001517802127636969, 0.001614634646102786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2082140445709229, -0.9177632331848145, 1.7390618324279785, -1.7538797855377197, 0.6399277448654175, 0.4676961302757263, 1.3427343368530273, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296494245529175, -1.148105502128601, -1.5995985269546509, -1.800230860710144, -0.41839492321014404, -0.0015163639327511191, 0.0016125972615554929, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2024942636489868, -0.9216066002845764, 1.7323464155197144, -1.7498406171798706, 0.6378330588340759, 0.48495256900787354, 1.3418774604797363, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296503782272339, -1.1481050252914429, -1.5995969772338867, -1.8002299070358276, -0.41839325428009033, -0.0015142068732529879, 0.001611638581380248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2028464078903198, -0.9199541807174683, 1.7321268320083618, -1.751046061515808, 0.6355479955673218, 0.48393547534942627, 1.3410392999649048, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296509742736816, -1.1481046676635742, -1.5995969772338867, -1.8002302646636963, -0.4183906316757202, -0.0015102520119398832, 0.0016112790908664465, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2034016847610474, -0.9198631048202515, 1.7324203252792358, -1.75151789188385, 0.63490891456604, 0.4837350845336914, 1.3410385847091675, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296497821807861, -1.1481044292449951, -1.5995960235595703, -1.8002300262451172, -0.41838786005973816, -0.0015080948360264301, 0.0016105599934235215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1964114904403687, -0.9320353865623474, 1.7431696653366089, -1.7563358545303345, 0.623780369758606, 0.47874748706817627, 1.321380376815796, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296550273895264, -1.148103952407837, -1.5995920896530151, -1.800230622291565, -0.41838595271110535, -0.0015052186790853739, 0.0016092417063191533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.155165672302246, -0.9597038626670837, 1.743523120880127, -1.7190219163894653, 0.6589645743370056, 0.49998894333839417, 1.2924202680587769, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296541929244995, -1.1481044292449951, -1.5995876789093018, -1.8002322912216187, -0.41838258504867554, -0.0015028218040242791, 0.0016118782805278897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1186437606811523, -0.9840547442436218, 1.7428820133209229, -1.6745820045471191, 0.7388346791267395, 0.5079097747802734, 1.2633216381072998, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729653000831604, -1.1481035947799683, -1.5995869636535645, -1.8002318143844604, -0.4183812737464905, -0.0014992265496402979, 0.0016149941366165876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0936987400054932, -1.0012321472167969, 1.742763638496399, -1.6327921152114868, 0.7977057099342346, 0.5215297341346741, 1.236281394958496, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411580687391, -0.04995316790148965, -0.004558530039382467, -8.123238563537598], [0.04992807351395055, -0.9987378801084204, 0.005462079432303214, -4.4696173667907715], [-0.004825624798916513, 0.0052276049147601126, 0.999974692425841, 0.02089572325348854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296537160873413, -1.1481033563613892, -1.599587082862854, -1.8002314567565918, -0.4183802008628845, -0.001497548772022128, 0.0016171513125300407, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0637375116348267, -1.0099728107452393, 1.732112169265747, -1.5838465690612793, 0.8082194924354553, 0.5654774308204651, 1.2178473472595215, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987408279718017, -0.0499590950116216, -0.004565891788048961, -8.123223304748535], [0.04993395587739022, -0.9987375789589823, 0.005463371265587574, -4.469569206237793], [-0.00483307279432597, 0.005228498902224908, 0.999974651782031, 0.02084162086248398], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6396812796592712, 0.0, 0.0, 1.7296525239944458, -1.1481034755706787, -1.599586009979248, -1.8002349138259888, -0.4183773100376129, -0.0014973090728744864, 0.0016196679789572954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0362645387649536, -1.0155749320983887, 1.7133116722106934, -1.5433270931243896, 0.7816405296325684, 0.5957033634185791, 1.2068922519683838, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987430292719395, -0.049916206218222, -0.00455344237805524, -8.123099327087402], [0.04989112707025057, -0.9987397133919225, 0.005464460950629603, -4.469919681549072], [-0.004820468895288572, 0.005230415910879412, 0.999974702594535, 0.02094980515539646], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6396812796592712, 0.0, 0.0, 1.7296526432037354, -1.1481027603149414, -1.599587082862854, -1.8002322912216187, -0.41837599873542786, -0.0014970693737268448, 0.0016250609187409282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0159682035446167, -1.0174561738967896, 1.6896377801895142, -1.5094696283340454, 0.7404592633247375, 0.6123665571212769, 1.2093164920806885, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987408238965199, -0.049959924019889364, -0.004557704951811883, -8.123332023620605], [0.04993484828761417, -0.998737557683762, 0.005459102340800144, -4.4695634841918945], [-0.004824687450378963, 0.005224640064277721, 0.9999747124438721, 0.02088875323534012], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6396812796592712, 0.0, 0.0, 1.7296525239944458, -1.1481024026870728, -1.59958815574646, -1.8002322912216187, -0.4183758795261383, -0.0014973090728744864, 0.0016298545524477959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.999182939529419, -1.0195300579071045, 1.6682896614074707, -1.4767967462539673, 0.7094513773918152, 0.6171900033950806, 1.2050832509994507, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987406838779327, -0.0499620863180016, -0.004564679374479646, -8.123305320739746], [0.049937047751108646, -0.9987375308758919, 0.0054438664412657925, -4.469547748565674], [-0.004830903532750106, 0.005209064280598035, 0.9999747636917533, 0.020764121785759926], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6396812796592712, 0.0, 0.0, 1.7296488285064697, -1.1481012105941772, -1.5995872020721436, -1.8002325296401978, -0.41837623715400696, -0.0014934741193428636, 0.0016369252698495984, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9703595042228699, -1.0288082361221313, 1.6487337350845337, -1.435431718826294, 0.6923641562461853, 0.6119351387023926, 1.2007489204406738, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987439836514438, -0.049896615289195, -0.0045588269024181135, -8.1229829788208], [0.04987149660391196, -0.9987406808491908, 0.005466831201037087, -4.470076084136963], [-0.00482586225768379, 0.005232609251292021, 0.9999746651060182, 0.020916905254125595], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296453714370728, -1.148101568222046, -1.5995912551879883, -1.800230622291565, -0.4183787703514099, -0.0014935939107090235, 0.0016419586027041078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9351533055305481, -1.040158748626709, 1.630454659461975, -1.4017643928527832, 0.6900174021720886, 0.5906497240066528, 1.2032629251480103, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410542216586, -0.049955467365174776, -0.00455608302565924, -8.123146057128906], [0.04993039467700273, -0.9987377741742667, 0.005460231206625255, -4.469604969024658], [-0.004823100621848946, 0.005225870047946548, 0.9999747136716175, 0.020907800644636154], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296453714370728, -1.148101806640625, -1.5995925664901733, -1.8002302646636963, -0.4183797240257263, -0.001495511387474835, 0.0016405205242335796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9117391705513, -1.0490399599075317, 1.6211081743240356, -1.3787102699279785, 0.6843662261962891, 0.5731044411659241, 1.2073949575424194, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987434978166996, -0.04990547143483584, -0.0045683136637938385, -8.12282943725586], [0.04988042259124687, -0.9987403700905473, 0.005442112964179153, -4.470007419586182], [-0.004834150492346156, 0.005207405521278491, 0.9999747566397635, 0.020730528980493546], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296446561813354, -1.148101806640625, -1.599595069885254, -1.8002310991287231, -0.41838139295578003, -0.0014987471513450146, 0.0016407602233812213, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9034391641616821, -1.054622769355774, 1.6200947761535645, -1.3629653453826904, 0.6778424978256226, 0.5653024911880493, 1.2159174680709839, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987424059776093, -0.049928205425945164, -0.004558596823658244, -8.122930526733398], [0.04990309779061748, -0.9987391136465473, 0.005464769291442193, -4.469820499420166], [-0.004825695074920923, 0.005230408727168516, 0.9999746774251789, 0.020908305421471596], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296441793441772, -1.1481019258499146, -1.5995978116989136, -1.8002310991287231, -0.41838499903678894, -0.001500664628110826, 0.0016412396216765046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9033486247062683, -1.0583418607711792, 1.6220896244049072, -1.3609974384307861, 0.6654437184333801, 0.5559369325637817, 1.2177793979644775, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414222497157, -0.04994781934143351, -0.004559257137983782, -8.122993469238281], [0.049922695003496775, -0.9987381193076148, 0.005467500843722005, -4.469661712646484], [-0.004826593643821104, 0.0052330091652683566, 0.999974659483366, 0.02091452293097973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296429872512817, -1.148101806640625, -1.5995991230010986, -1.800230860710144, -0.418388694524765, -0.001503780484199524, 0.0016377641586586833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9029530882835388, -1.0622104406356812, 1.6241321563720703, -1.360941767692566, 0.6601929664611816, 0.5499567985534668, 1.218004584312439, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987423375862732, -0.049930053498678434, -0.004553336175406429, -8.122857093811035], [0.04990498596763782, -0.9987390335914785, 0.0054621567470681, -4.469803333282471], [-0.004820320350041813, 0.005228053019889832, 0.9999747156670233, 0.0209391750395298], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296433448791504, -1.1481019258499146, -1.599600911140442, -1.800230860710144, -0.41839170455932617, -0.0015060575678944588, 0.0016354871913790703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027413725852966, -1.0625721216201782, 1.624132513999939, -1.3607094287872314, 0.6598724126815796, 0.5499296188354492, 1.2183390855789185, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987433476105805, -0.049909674257479726, -0.004555218888600829, -8.122665405273438], [0.04988456650674922, -0.9987400191554028, 0.005468469794986575, -4.469969749450684], [-0.004822408946212893, 0.00523436270975103, 0.9999746725887503, 0.020953737199306488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296431064605713, -1.1481019258499146, -1.599602222442627, -1.8002310991287231, -0.41839444637298584, -0.0015098925214260817, 0.0016314125386998057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027401208877563, -1.0625704526901245, 1.62412691116333, -1.3605833053588867, 0.6599555611610413, 0.5499733090400696, 1.2186118364334106, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987418574611371, -0.04993979707659235, -0.004551793385770349, -8.122812271118164], [0.04991481757426071, -0.9987386329338932, 0.005445555239485818, -4.469727039337158], [-0.0048180018271311124, 0.005211502018304839, 0.999974813235367, 0.020877482369542122], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296431064605713, -1.1481019258499146, -1.5996041297912598, -1.8002313375473022, -0.41839396953582764, -0.0015143266646191478, 0.0016273378860205412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027408361434937, -1.0625674724578857, 1.6241190433502197, -1.3604705333709717, 0.6600632071495056, 0.5499913096427917, 1.2186129093170166, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428517163137, -0.04991964141423092, -0.004554727943566395, -8.122709274291992], [0.049894572031038927, -0.998739560013328, 0.005461038932605979, -4.46989107131958], [-0.004821600087602756, 0.00522691739542265, 0.9999747154339137, 0.020924080163240433], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296431064605713, -1.148102045059204, -1.599604845046997, -1.800230860710144, -0.4183943271636963, -0.001518641016446054, 0.001623023534193635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027407765388489, -1.0625661611557007, 1.6241086721420288, -1.3604381084442139, 0.6601532101631165, 0.5499966144561768, 1.2186137437820435, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428668905307, -0.04992000369928864, -0.004547424100173328, -8.122711181640625], [0.04989500316186814, -0.9987395732869069, 0.005454668657608655, -4.4698872566223145], [-0.0048139894849279245, 0.005220917673181487, 0.999974783444007, 0.02095530368387699], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296428680419922, -1.1481022834777832, -1.5996050834655762, -1.8002307415008545, -0.4183948040008545, -0.001518760807812214, 0.0016190687892958522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027406573295593, -1.0625642538070679, 1.6240975856781006, -1.3604215383529663, 0.6602011322975159, 0.5499947667121887, 1.2186163663864136, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987425218483148, -0.0499263367569369, -0.004553674351750076, -8.1227388381958], [0.04990135967349265, -0.9987393192134741, 0.0054430285451626936, -4.469836711883545], [-0.004819684098110141, 0.005208949514025512, 0.9999748184280216, 0.02085128054022789], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296429872512817, -1.1481022834777832, -1.599604606628418, -1.8002305030822754, -0.41839492321014404, -0.0015181616181507707, 0.0016165521228685975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027401804924011, -1.0625635385513306, 1.6240921020507812, -1.3604134321212769, 0.6602475047111511, 0.5499927401542664, 1.2186299562454224, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987430329038527, -0.04991588606730707, -0.004556154533127186, -8.122693061828613], [0.04989095906809934, -0.9987399099044887, 0.005429969358942182, -4.469921112060547], [-0.0048214550997963, 0.00519583314680472, 0.9999748781287614, 0.020773496478796005], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729642629623413, -1.1481019258499146, -1.5996040105819702, -1.8002303838729858, -0.41839590668678284, -0.0015176822198554873, 0.0016149941366165876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027379751205444, -1.0625633001327515, 1.6240886449813843, -1.360410213470459, 0.6602797508239746, 0.5499879717826843, 1.2186870574951172, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428666477014, -0.04991898656779299, -0.0045586292212451, -8.12270736694336], [0.04989412445146896, -0.9987398392801436, 0.005413850745510185, -4.4698967933654785], [-0.004823138558409255, 0.00517959599948073, 0.9999749542462194, 0.020681003108620644], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296429872512817, -1.1481022834777832, -1.5996036529541016, -1.800230860710144, -0.418395072221756, -0.0015176822198554873, 0.0016152338357642293, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027343988418579, -1.0625628232955933, 1.624087929725647, -1.360408902168274, 0.6603045463562012, 0.5499815940856934, 1.2187511920928955, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987434410182905, -0.04990840348857641, -0.004548657402599997, -8.122659683227539], [0.04988349910603733, -0.9987402640454328, 0.005433368328893859, -4.469981670379639], [-0.004814098034185419, 0.005199638033642985, 0.9999748937970575, 0.020849570631980896], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296431064605713, -1.1481024026870728, -1.5996026992797852, -1.800230860710144, -0.41839349269866943, -0.0015167235396802425, 0.0016142750391736627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027290940284729, -1.0625624656677246, 1.6240893602371216, -1.3604069948196411, 0.6603159308433533, 0.5499753952026367, 1.2187771797180176, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998743315629461, -0.049910802046688275, -0.004549870825425577, -8.12267017364502], [0.049885898805633364, -0.99874015261128, 0.00543181943291603, -4.469962120056152], [-0.0048152451470167765, 0.0051980189547552085, 0.999974896691472, 0.020833201706409454], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296428680419922, -1.1481025218963623, -1.5996017456054688, -1.800230622291565, -0.4183923006057739, -0.0015151655534282327, 0.0016140354564413428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027221202850342, -1.062562346458435, 1.6240898370742798, -1.3604053258895874, 0.6603201031684875, 0.54997318983078, 1.2187877893447876, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987422337482774, -0.049931410491377407, -0.004561225037482758, -8.12274169921875], [0.0499065276868337, -0.9987392114791516, 0.0054153437790465005, -4.4697957038879395], [-0.0048258700504979915, 0.005180897638780728, 0.9999749343248121, 0.020666537806391716], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296432256698608, -1.1481021642684937, -1.599600076675415, -1.8002310991287231, -0.4183918237686157, -0.0015124091878533363, 0.0016153536271303892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027146100997925, -1.0625624656677246, 1.624090313911438, -1.3604034185409546, 0.6603206992149353, 0.5499729514122009, 1.2187942266464233, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987424244606795, -0.04992759435518882, -0.004561239339011521, -8.122718811035156], [0.04990272094416048, -0.9987394123154505, 0.005413384353403744, -4.469827175140381], [-0.004825766754959949, 0.005178958359761744, 0.9999749448688875, 0.02065783552825451], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729642629623413, -1.148101806640625, -1.599599003791809, -1.8002313375473022, -0.41838955879211426, -0.0015097726136446, 0.001616911613382399, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027010798454285, -1.0625628232955933, 1.624093770980835, -1.3604031801223755, 0.6603235006332397, 0.5499728322029114, 1.2188116312026978, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987431883564044, -0.049913335851572656, -0.0045500127309358205, -8.122653007507324], [0.04988846235352865, -0.9987400589768869, 0.0054254878900306044, -4.469942569732666], [-0.004815084182454165, 0.005191675934842859, 0.9999749304184098, 0.02080509625375271], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296432256698608, -1.1481019258499146, -1.5995975732803345, -1.800231695175171, -0.4183879792690277, -0.001507495646364987, 0.0016194282798096538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9026741981506348, -1.0625641345977783, 1.6241024732589722, -1.3604035377502441, 0.660354733467102, 0.5499700903892517, 1.21898353099823, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296435832977295, -1.1481019258499146, -1.5995968580245972, -1.8002313375473022, -0.41838380694389343, -0.0015047392807900906, 0.0016226640436798334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025206565856934, -1.0625659227371216, 1.6241183280944824, -1.3604036569595337, 0.6603715419769287, 0.5499698519706726, 1.2190064191818237, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729643702507019, -1.148102045059204, -1.5995954275131226, -1.80023193359375, -0.4183805584907532, -0.0015021027065813541, 0.0016264989972114563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025151133537292, -1.062567949295044, 1.6241369247436523, -1.360402226448059, 0.6603662371635437, 0.5499704480171204, 1.2190027236938477, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729644775390625, -1.1481016874313354, -1.5995937585830688, -1.8002320528030396, -0.4183802008628845, -0.0014992265496402979, 0.0016296148533001542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025164842605591, -1.0625699758529663, 1.6241658926010132, -1.3603980541229248, 0.6603440046310425, 0.5499703288078308, 1.2189934253692627, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296452522277832, -1.1481016874313354, -1.5995923280715942, -1.800231695175171, -0.4183802008628845, -0.0014980281703174114, 0.0016314125386998057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025173187255859, -1.0625715255737305, 1.6242001056671143, -1.3603931665420532, 0.660318911075592, 0.5499715209007263, 1.2189817428588867, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296463251113892, -1.1481012105941772, -1.5995917320251465, -1.8002314567565918, -0.4183787703514099, -0.0014977884711697698, 0.0016308133490383625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025182723999023, -1.062573790550232, 1.62422776222229, -1.3603894710540771, 0.6602970957756042, 0.5499710440635681, 1.2189698219299316, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296475172042847, -1.1481010913848877, -1.599591851234436, -1.800231695175171, -0.41837766766548157, -0.0014981479616835713, 0.0016308133490383625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025185704231262, -1.0625766515731812, 1.6242443323135376, -1.3603883981704712, 0.6602861881256104, 0.5499697327613831, 1.21896231174469, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296488285064697, -1.1481003761291504, -1.599591851234436, -1.80023193359375, -0.4183763563632965, -0.0014982677530497313, 0.0016321316361427307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025188684463501, -1.0625808238983154, 1.6242538690567017, -1.3603885173797607, 0.6602848768234253, 0.5499675869941711, 1.2189582586288452, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296499013900757, -1.1481002569198608, -1.5995923280715942, -1.8002310991287231, -0.41837623715400696, -0.0014974288642406464, 0.001634288695640862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025189280509949, -1.0625834465026855, 1.6242597103118896, -1.3603885173797607, 0.6602857112884521, 0.5499637722969055, 1.2189582586288452, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296507358551025, -1.1480998992919922, -1.599593162536621, -1.8002309799194336, -0.4183780252933502, -0.001497668563388288, 0.0016333300154656172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025184512138367, -1.0625853538513184, 1.6242624521255493, -1.3603885173797607, 0.6602864265441895, 0.5499598979949951, 1.2189586162567139, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296513319015503, -1.1480997800827026, -1.599594235420227, -1.8002312183380127, -0.41837936639785767, -0.0014994662487879395, 0.001631172839552164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025185704231262, -1.0625863075256348, 1.6242624521255493, -1.360388159751892, 0.6602888703346252, 0.549958348274231, 1.2189596891403198, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296522855758667, -1.1480995416641235, -1.599595546722412, -1.800230860710144, -0.4183817505836487, -0.0015016234247013927, 0.0016285362653434277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025180339813232, -1.0625871419906616, 1.6242619752883911, -1.360388159751892, 0.6602911353111267, 0.5499550104141235, 1.2189607620239258, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296526432037354, -1.1480991840362549, -1.599597454071045, -1.8002309799194336, -0.41838428378105164, -0.0015033012023195624, 0.0016264989972114563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025182723999023, -1.0625879764556885, 1.624260663986206, -1.3603880405426025, 0.6602943539619446, 0.5499469637870789, 1.218963384628296, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729652762413025, -1.1480988264083862, -1.5995982885360718, -1.8002310991287231, -0.4183853566646576, -0.0015046194894239306, 0.0016232632333412766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025170803070068, -1.0625885725021362, 1.6242603063583374, -1.360388159751892, 0.6602981686592102, 0.5499393939971924, 1.2189650535583496, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296531200408936, -1.148098349571228, -1.5995995998382568, -1.8002307415008545, -0.41838929057121277, -0.0015071361558511853, 0.0016203870764002204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025170803070068, -1.0625884532928467, 1.6242592334747314, -1.360387921333313, 0.6603012084960938, 0.5499309301376343, 1.218967080116272, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729652762413025, -1.1480985879898071, -1.5996012687683105, -1.800230860710144, -0.4183918237686157, -0.0015098925214260817, 0.001618469599634409, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025167226791382, -1.0625886917114258, 1.6242583990097046, -1.3603874444961548, 0.6603025197982788, 0.5499230027198792, 1.2189687490463257, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729653000831604, -1.1480979919433594, -1.5996029376983643, -1.800230622291565, -0.4183924198150635, -0.0015116900904104114, 0.0016175108030438423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025164246559143, -1.0625885725021362, 1.6242581605911255, -1.3603870868682861, 0.6603034734725952, 0.5499199032783508, 1.2189701795578003, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729653000831604, -1.1480982303619385, -1.5996044874191284, -1.8002310991287231, -0.4183926582336426, -0.0015146861551329494, 0.001616192515939474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025164246559143, -1.0625888109207153, 1.624258041381836, -1.360386848449707, 0.6603026390075684, 0.5499159097671509, 1.218972086906433, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729653000831604, -1.148098349571228, -1.599604845046997, -1.8002313375473022, -0.4183924198150635, -0.001514806062914431, 0.0016153536271303892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025160670280457, -1.0625890493392944, 1.6242574453353882, -1.3603862524032593, 0.6603026390075684, 0.549912691116333, 1.2189744710922241, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729652762413025, -1.1480985879898071, -1.5996044874191284, -1.8002315759658813, -0.4183931350708008, -0.0015145663637667894, 0.0016142750391736627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025160074234009, -1.0625890493392944, 1.6242570877075195, -1.3603861331939697, 0.6603015661239624, 0.5499073266983032, 1.2189749479293823, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296525239944458, -1.148098349571228, -1.5996040105819702, -1.800231695175171, -0.4183943271636963, -0.0015151655534282327, 0.0016159529332071543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025153517723083, -1.0625896453857422, 1.624257206916809, -1.3603856563568115, 0.6603004932403564, 0.5499027371406555, 1.21897554397583, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296525239944458, -1.1480985879898071, -1.5996037721633911, -1.8002318143844604, -0.4183943271636963, -0.0015154052525758743, 0.0016190687892958522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025151133537292, -1.0625907182693481, 1.6242579221725464, -1.3603856563568115, 0.6602984070777893, 0.5499005913734436, 1.2189750671386719, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729651927947998, -1.1480984687805176, -1.5996031761169434, -1.8002318143844604, -0.4183931350708008, -0.0015138472663238645, 0.0016201473772525787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025148749351501, -1.0625923871994019, 1.6242587566375732, -1.3603845834732056, 0.6602951884269714, 0.5498999953269958, 1.2189744710922241, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296518087387085, -1.1480982303619385, -1.5996018648147583, -1.800232172012329, -0.41839170455932617, -0.0015124091878533363, 0.0016220648540183902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025142788887024, -1.0625947713851929, 1.6242594718933105, -1.3603854179382324, 0.6602934002876282, 0.5498997569084167, 1.2189754247665405, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296514511108398, -1.1480987071990967, -1.599600911140442, -1.8002325296401978, -0.4183891713619232, -0.0015101322205737233, 0.0016242220299318433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025138020515442, -1.062597632408142, 1.6242611408233643, -1.3603852987289429, 0.6602907776832581, 0.5498983263969421, 1.2189744710922241, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296510934829712, -1.1480988264083862, -1.5995995998382568, -1.8002318143844604, -0.4183884561061859, -0.0015085742343217134, 0.001627457793802023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025126695632935, -1.062599778175354, 1.6242660284042358, -1.3603836297988892, 0.6602891087532043, 0.5498929023742676, 1.2189737558364868, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296503782272339, -1.1480991840362549, -1.5995985269546509, -1.80023193359375, -0.41838714480400085, -0.0015058178687468171, 0.0016298545524477959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025111198425293, -1.062602162361145, 1.6242785453796387, -1.3603830337524414, 0.6602882742881775, 0.5498870611190796, 1.218973159790039, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296499013900757, -1.1480991840362549, -1.599597692489624, -1.8002315759658813, -0.41838428378105164, -0.0015046194894239306, 0.0016317720292136073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025089144706726, -1.0626057386398315, 1.6242949962615967, -1.3603816032409668, 0.6602886319160461, 0.5498875379562378, 1.2189726829528809, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296487092971802, -1.1480991840362549, -1.599596619606018, -1.8002312183380127, -0.4183819890022278, -0.0015033012023195624, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025068879127502, -1.062609314918518, 1.6243133544921875, -1.3603812456130981, 0.6602891087532043, 0.5498896837234497, 1.2189735174179077, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648470878601, -1.148099422454834, -1.599595546722412, -1.8002315759658813, -0.4183802008628845, -0.0015018630074337125, 0.001634288695640862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025049209594727, -1.062612533569336, 1.6243268251419067, -1.360379934310913, 0.660289466381073, 0.5498931407928467, 1.218973159790039, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648232460022, -1.148099660873413, -1.5995941162109375, -1.8002307415008545, -0.4183773100376129, -0.0015001852298155427, 0.0016351277008652687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9025027751922607, -1.0626142024993896, 1.6243335008621216, -1.3603792190551758, 0.6602895855903625, 0.5498951077461243, 1.218971848487854, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296478748321533, -1.148099422454834, -1.5995925664901733, -1.800230860710144, -0.418377548456192, -0.0015003051375970244, 0.0016351277008652687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9024247527122498, -1.0626497268676758, 1.6248769760131836, -1.3603776693344116, 0.6602881550788879, 0.5499309301376343, 1.2189767360687256, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296479940414429, -1.1480990648269653, -1.5995934009552002, -1.8002309799194336, -0.41837742924690247, -0.0015003051375970244, 0.0016340491129085422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9036256670951843, -1.06400465965271, 1.6334021091461182, -1.3627427816390991, 0.6602707505226135, 0.5527145862579346, 1.2184028625488281, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729648232460022, -1.1480995416641235, -1.5995922088623047, -1.8002302646636963, -0.4183765947818756, -0.0014982677530497313, 0.0016316522378474474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9179253578186035, -1.0647664070129395, 1.652449369430542, -1.3802367448806763, 0.6641995310783386, 0.5576184391975403, 1.2070517539978027, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6397771239280701, 0.0, 0.0, 1.7296459674835205, -1.1481000185012817, -1.5995925664901733, -1.800230622291565, -0.4183773100376129, -0.0014974288642406464, 0.0016284164739772677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9393444061279297, -1.0653674602508545, 1.6680907011032104, -1.3968130350112915, 0.6758502721786499, 0.5593658685684204, 1.1934282779693604, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6397771239280701, 0.0, 0.0, 1.7296462059020996, -1.1480998992919922, -1.5995928049087524, -1.8002318143844604, -0.41837766766548157, -0.0014987471513450146, 0.00162374263163656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9584670662879944, -1.0679138898849487, 1.6824896335601807, -1.4100054502487183, 0.6935858130455017, 0.5608816146850586, 1.1842907667160034, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987428358874784, -0.04992004108314232, -0.004553818364269248, -8.122682571411133], [0.04989512731430701, -0.9987397029217873, 0.005429740140102716, -4.4698872566223145], [-0.004819132051154763, 0.005195700718606817, 0.9999748900149025, 0.020791586488485336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6834567785263062, -0.6396812796592712, 0.0, 0.0, 1.7296463251113892, -1.1481014490127563, -1.599595069885254, -1.8002314567565918, -0.4183802008628845, -0.0015009043272584677, 0.0016190687892958522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9753398895263672, -1.0684325695037842, 1.6950631141662598, -1.4215415716171265, 0.7149285078048706, 0.5705832242965698, 1.182410478591919, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987415220275506, -0.04994627199474169, -0.004554348682242177, -8.122993469238281], [0.049921330327953144, -0.9987383652452928, 0.005434939323277969, -4.4696736335754395], [-0.004820057715374964, 0.005200740426863134, 0.9999748593552904, 0.020810239017009735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6834567785263062, -0.6396812796592712, 0.0, 0.0, 1.7296454906463623, -1.1481000185012817, -1.599595546722412, -1.8002314567565918, -0.4183822274208069, -0.0015023424057289958, 0.0016159529332071543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9885233640670776, -1.0683915615081787, 1.7121078968048096, -1.4450082778930664, 0.7483782768249512, 0.5870735049247742, 1.1823866367340088, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987409876134943, -0.04995691676826324, -0.004554791743969623, -8.12311840057373], [0.04993189380645119, -0.9987377479230015, 0.005451316775958334, -4.469590187072754], [-0.0048213734270844905, 0.005217024122944245, 0.9999747681904665, 0.020878514274954796], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6834567785263062, -0.6397771239280701, 0.0, 0.0, 1.7296462059020996, -1.148099660873413, -1.5995968580245972, -1.800230622291565, -0.4183846414089203, -0.0015041400911286473, 0.0016145147383213043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9899475574493408, -1.0683567523956299, 1.7339506149291992, -1.4808083772659302, 0.807675302028656, 0.6244509816169739, 1.171290636062622, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404062902023, -0.049969319127438294, -0.004546206024992729, -8.123149871826172], [0.049944326642240806, -0.9987371100702565, 0.005454283157788396, -4.469488143920898], [-0.004813011482908166, 0.005220355778336231, 0.9999747910852618, 0.020960476249456406], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6398729681968689, 0.0, 0.0, 1.729644536972046, -1.1480984687805176, -1.5996006727218628, -1.8002309799194336, -0.41838738322257996, -0.0015071361558511853, 0.0016122377710416913, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9664775133132935, -1.0683889389038086, 1.744685173034668, -1.4852591753005981, 0.878479540348053, 0.6680907011032104, 1.1360142230987549, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987413981369753, -0.04994843763464936, -0.004557765379873998, -8.122992515563965], [0.0499234469695057, -0.9987382242006335, 0.005441411880051562, -4.469653606414795], [-0.004823804523753677, 0.005207023950680254, 0.9999748085884432, 0.02081012725830078], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6398729681968689, 0.0, 0.0, 1.7296440601348877, -1.1480991840362549, -1.5996047258377075, -1.8002334833145142, -0.4183906316757202, -0.0015086940256878734, 0.001610919483937323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9111970663070679, -1.0687328577041626, 1.7356505393981934, -1.4514708518981934, 0.9423882961273193, 0.7165419459342957, 1.0770336389541626, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987437499766425, -0.04990076059660176, -0.004564643959266607, -8.122767448425293], [0.049875827641689546, -0.9987407085281406, 0.005422079468700234, -4.470040321350098], [-0.004829461631559987, 0.005187602585882971, 0.9999748822244288, 0.020670602098107338], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6398729681968689, 0.0, 0.0, 1.72964608669281, -1.1480991840362549, -1.5996060371398926, -1.800233244895935, -0.41839146614074707, -0.0015142068732529879, 0.0016100805951282382, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8235785365104675, -1.0699200630187988, 1.703372836112976, -1.3720684051513672, 1.0021346807479858, 0.7631763219833374, 0.9899312257766724, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987407114148414, -0.04996298200124941, -0.004548823157639344, -8.123078346252441], [0.04993818977003359, -0.9987376585733805, 0.005409856731353881, -4.469537734985352], [-0.004813373564223062, 0.005175884166448226, 0.9999750205170261, 0.02074134722352028], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6834567785263062, -0.6397771239280701, 0.0, 0.0, 1.729648232460022, -1.1480891704559326, -1.5996057987213135, -1.8002341985702515, -0.4183920621871948, -0.0015191202983260155, 0.0016075639287009835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7314592599868774, -1.0725743770599365, 1.6628261804580688, -1.2728540897369385, 1.0526244640350342, 0.806003212928772, 0.9053254723548889, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987408907675703, -0.04995881173625111, -0.004555242990531868, -8.123126029968262], [0.04993387966602337, -0.998737754017692, 0.005431975809574639, -4.4695725440979], [-0.00482086821019504, 0.005197675403343751, 0.9999748713843271, 0.02078583464026451], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6397771239280701, 0.0, 0.0, 1.729648470878601, -1.1480975151062012, -1.5996108055114746, -1.800234079360962, -0.41839325428009033, -0.0015194799052551389, 0.0016140354564413428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.673017144203186, -1.0769069194793701, 1.620865821838379, -1.2022874355316162, 1.0902149677276611, 0.8067189455032349, 0.8503079414367676, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998739061165224, -0.04999638593370302, -0.0045441276803489085, -8.123421669006348], [0.04997150291977308, -0.9987358625301443, 0.005433764082866612, -4.469265460968018], [-0.004810051844440063, 0.005199835549069136, 0.9999749122410604, 0.02088293619453907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6833609342575073, -0.6397771239280701, 0.0, 0.0, 1.729649305343628, -1.148094654083252, -1.5996109247207642, -1.8002331256866455, -0.41839444637298584, -0.0015188807155936956, 0.0016153536271303892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6572256684303284, -1.083335041999817, 1.5840152502059937, -1.168800950050354, 1.1087579727172852, 0.7769564986228943, 0.8271847367286682, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987403965711916, -0.049969981469775916, -0.004541058106749083, -8.12331485748291], [0.049945218239518495, -0.9987372945225328, 0.005412181151606361, -4.469481945037842], [-0.004805770679661036, 0.005178559811490549, 0.9999750432318065, 0.02081404998898506], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6833609342575073, -0.6397771239280701, 0.0, 0.0, 1.7296494245529175, -1.1480954885482788, -1.5996098518371582, -1.8002339601516724, -0.418395072221756, -0.0015193599974736571, 0.0016187092987820506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.656996488571167, -1.0912714004516602, 1.556938886642456, -1.1524083614349365, 1.1210031509399414, 0.7376306056976318, 0.806873083114624, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987390597716099, -0.04999532598105767, -0.004556080175717432, -8.123373031616211], [0.04997049246386756, -0.9987360387969197, 0.005410609129802942, -4.469277381896973], [-0.0048208266343377874, 0.005176117105005616, 0.9999749834082236, 0.020683646202087402], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6833609342575073, -0.6397771239280701, 0.0, 0.0, 1.7296490669250488, -1.1480950117111206, -1.599609375, -1.8002344369888306, -0.41839468479156494, -0.0015182814095169306, 0.001623023534193635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6573579907417297, -1.0957070589065552, 1.5543659925460815, -1.1498374938964844, 1.129655122756958, 0.7271780967712402, 0.7956349849700928, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414851184953, -0.049948347747840856, -0.004539654233816006, -8.123212814331055], [0.049923530562169284, -0.9987383096403954, 0.005424938050619404, -4.469660758972168], [-0.004804893288096096, 0.005191475118467866, 0.999974980480304, 0.020884154364466667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296490669250488, -1.148094654083252, -1.5996088981628418, -1.800233244895935, -0.41839492321014404, -0.0015170830301940441, 0.001628176774829626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.657363772392273, -1.0957057476043701, 1.5561915636062622, -1.1500933170318604, 1.1294423341751099, 0.7289487719535828, 0.7974357008934021, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987398318348166, -0.049981270107666176, -0.0045410290669414734, -8.123333930969238], [0.049956511393907166, -0.9987367346685974, 0.005411265365736108, -4.469390392303467], [-0.004805754458221429, 0.0051775922910661226, 0.9999750483197842, 0.02080933377146721], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296503782272339, -1.1480939388275146, -1.599608302116394, -1.8002322912216187, -0.4183940887451172, -0.0015152853447943926, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6600050926208496, -1.0959452390670776, 1.5560153722763062, -1.1562086343765259, 1.1238099336624146, 0.7124075293540955, 0.7994133830070496, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987402508113807, -0.04997225599301722, -0.0045480809347483555, -8.123270988464355], [0.04994749701343458, -0.9987372262699601, 0.005403739879010392, -4.469464302062988], [-0.004812374810175442, 0.005169767263177096, 0.999975056966488, 0.020719172433018684], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.1480951309204102, -1.5996034145355225, -1.8002337217330933, -0.41839349269866943, -0.0015138472663238645, 0.0016369252698495984, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.66141277551651, -1.0998477935791016, 1.5405720472335815, -1.1598254442214966, 1.1236181259155273, 0.6729810833930969, 0.7887625098228455, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404233166721, -0.04996919195915565, -0.004543862694205678, -8.12328815460205], [0.04994448775679414, -0.9987374138264, 0.00539688484830202, -4.46948766708374], [-0.004807803650959499, 0.0051631461632851835, 0.9999751131631979, 0.020722074434161186], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.1480942964553833, -1.599600911140442, -1.8002334833145142, -0.4183918237686157, -0.0015104917110875249, 0.0016374046681448817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6530130505561829, -1.1125887632369995, 1.5078227519989014, -1.140881896018982, 1.1349577903747559, 0.6467474102973938, 0.7715514898300171, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987408513948683, -0.04996079947543426, -0.004542055793288085, -8.12317180633545], [0.04993611544402982, -0.9987378446292923, 0.005394634333848064, -4.469555377960205], [-0.004805843257371209, 0.005161029065104545, 0.9999751335156163, 0.02072683721780777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729649543762207, -1.148094654083252, -1.599599003791809, -1.8002331256866455, -0.41839003562927246, -0.0015083345351740718, 0.0016384832561016083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6430217027664185, -1.1308857202529907, 1.4789127111434937, -1.123224139213562, 1.1422759294509888, 0.6193448901176453, 0.756340503692627, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987419165059794, -0.049939765033092276, -0.004539171995240122, -8.12315845489502], [0.049915257675649354, -0.9987390686254523, 0.005360956289427694, -4.4697265625], [-0.004801173308303553, 0.005127637819031298, 0.9999753277282697, 0.020603148266673088], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296496629714966, -1.1480937004089355, -1.599597692489624, -1.800233006477356, -0.4183865487575531, -0.0015060575678944588, 0.001639441936276853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6268931031227112, -1.1479980945587158, 1.4652512073516846, -1.0954363346099854, 1.1613991260528564, 0.5959988832473755, 0.7428513169288635, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987421168119162, -0.049934855441660125, -0.004549100798327389, -8.123117446899414], [0.04991038157194115, -0.998739406312454, 0.005343415573429747, -4.469771385192871], [-0.004810188914800936, 0.005109646824159242, 0.9999753764928095, 0.020443173125386238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729649543762207, -1.1480945348739624, -1.5995967388153076, -1.8002324104309082, -0.41838353872299194, -0.001503540901467204, 0.001640999922528863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6102253198623657, -1.160338044166565, 1.4629939794540405, -1.069722294807434, 1.1953535079956055, 0.5898784399032593, 0.7218441367149353, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412778951383, -0.04995115377055021, -0.004554345768308545, -8.123183250427246], [0.049926643125639644, -0.9987385824990322, 0.005345477904654322, -4.4696364402771], [-0.004815613625643408, 0.005111366237609576, 0.9999753415962783, 0.02040853351354599], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.1480944156646729, -1.5995949506759644, -1.8002328872680664, -0.4183822274208069, -0.001500664628110826, 0.0016399213345721364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6047852635383606, -1.168265461921692, 1.4608855247497559, -1.0606240034103394, 1.2138676643371582, 0.5885522365570068, 0.7127259373664856, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987405622384906, -0.04996637800693188, -0.004544272044181872, -8.123312950134277], [0.04994205156084394, -0.9987379595976686, 0.005317851500314692, -4.469511985778809], [-0.004804250767512384, 0.005084203728588065, 0.9999755347242296, 0.02036566473543644], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296489477157593, -1.1480942964553833, -1.5995936393737793, -1.8002324104309082, -0.4183806777000427, -0.0015010241186246276, 0.0016370451776310802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6029838919639587, -1.1760485172271729, 1.4556926488876343, -1.0519912242889404, 1.214866280555725, 0.589794397354126, 0.7108731865882874, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987402083535588, -0.049973295762815936, -0.004545979376567295, -8.123278617858887], [0.04994903173495577, -0.9987376892134565, 0.005303053205969572, -4.469457149505615], [-0.0048052519840727165, 0.005069305195693445, 0.9999756055515567, 0.02028549835085869], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648232460022, -1.1480942964553833, -1.5995925664901733, -1.8002327680587769, -0.41837888956069946, -0.0014994662487879395, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5987646579742432, -1.1841174364089966, 1.4488633871078491, -1.0373387336730957, 1.214430332183838, 0.6009913682937622, 0.7073069214820862, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296475172042847, -1.148094892501831, -1.599588394165039, -1.8002325296401978, -0.4183780252933502, -0.0014987471513450146, 0.0016280569834634662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5929204225540161, -1.191552758216858, 1.4438565969467163, -1.0206551551818848, 1.2067495584487915, 0.6052323579788208, 0.7084923982620239, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296470403671265, -1.1480950117111206, -1.5995886325836182, -1.8002325296401978, -0.41837528347969055, -0.0014991066418588161, 0.0016238624230027199, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5816823244094849, -1.1961413621902466, 1.440083384513855, -0.9958757758140564, 1.2002615928649902, 0.6187132000923157, 0.718224048614502, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964608669281, -1.1480956077575684, -1.5995886325836182, -1.8002325296401978, -0.418375164270401, -0.0014981479616835713, 0.0016208664746955037, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5677327513694763, -1.1990221738815308, 1.4349836111068726, -0.9698949456214905, 1.1889560222625732, 0.624258279800415, 0.731374979019165, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645013809204, -1.1480964422225952, -1.5995886325836182, -1.800233006477356, -0.4183758795261383, -0.0014987471513450146, 0.0016185893910005689, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5554032325744629, -1.2026610374450684, 1.4347665309906006, -0.9511942863464355, 1.1795227527618408, 0.6312576532363892, 0.7452836036682129, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.1480969190597534, -1.599589228630066, -1.8002336025238037, -0.4183777868747711, -0.0015003051375970244, 0.0016166719142347574, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5388822555541992, -1.2050831317901611, 1.434977650642395, -0.9253851771354675, 1.1655058860778809, 0.6501348614692688, 0.7621874809265137, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296425104141235, -1.1480973958969116, -1.5995897054672241, -1.8002327680587769, -0.41837912797927856, -0.0015024623135104775, 0.0016145147383213043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.516399621963501, -1.2063161134719849, 1.4293241500854492, -0.8892517685890198, 1.142701268196106, 0.6562960743904114, 0.7887521982192993, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296408414840698, -1.1480971574783325, -1.5995917320251465, -1.8002331256866455, -0.4183811545372009, -0.0015039003919810057, 0.0016127171693369746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48623260855674744, -1.211310625076294, 1.416054606437683, -0.8404949307441711, 1.12811279296875, 0.6560382843017578, 0.8113991618156433, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296388149261475, -1.1480975151062012, -1.5995932817459106, -1.8002333641052246, -0.4183829426765442, -0.0015071361558511853, 0.0016113988822326064, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.46020787954330444, -1.2183046340942383, 1.4069864749908447, -0.7971339821815491, 1.119668960571289, 0.6543285846710205, 0.825771689414978, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296347618103027, -1.1480978727340698, -1.599595546722412, -1.800234317779541, -0.418386310338974, -0.001510371919721365, 0.0016128369607031345, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.43610790371894836, -1.2245862483978271, 1.4009380340576172, -0.755337655544281, 1.1131947040557861, 0.6469511389732361, 0.8383552432060242, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729634165763855, -1.1480979919433594, -1.5995988845825195, -1.800233244895935, -0.4183889329433441, -0.0015121694887056947, 0.0016164322150871158, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.41521090269088745, -1.230117917060852, 1.395943284034729, -0.7149798274040222, 1.1106839179992676, 0.6398442387580872, 0.8468033075332642, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296314239501953, -1.148098349571228, -1.599600076675415, -1.8002336025238037, -0.4183919429779053, -0.0015145663637667894, 0.001620027469471097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3957712948322296, -1.2350044250488281, 1.3870149850845337, -0.6749839186668396, 1.0992660522460938, 0.6309995055198669, 0.8600233197212219, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296299934387207, -1.1480979919433594, -1.5996013879776, -1.8002336025238037, -0.41839301586151123, -0.0015161243500187993, 0.0016231434419751167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3752250373363495, -1.2407557964324951, 1.3774772882461548, -0.6351431608200073, 1.0831210613250732, 0.6299420595169067, 0.8770396113395691, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296288013458252, -1.1480979919433594, -1.5996025800704956, -1.8002333641052246, -0.4183924198150635, -0.0015170830301940441, 0.001626738696359098, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3565588593482971, -1.2457772493362427, 1.3672130107879639, -0.6008670926094055, 1.0628629922866821, 0.6291195750236511, 0.8956234455108643, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296284437179565, -1.1480978727340698, -1.5996047258377075, -1.8002327680587769, -0.4183931350708008, -0.0015176822198554873, 0.0016310530481860042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3399943709373474, -1.2512507438659668, 1.357502818107605, -0.569739043712616, 1.0451054573059082, 0.6205964684486389, 0.9068388938903809, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296282052993774, -1.1480978727340698, -1.5996044874191284, -1.800233006477356, -0.41839373111724854, -0.0015195996966212988, 0.0016322514275088906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3233034312725067, -1.258662462234497, 1.349232792854309, -0.5363420248031616, 1.0321848392486572, 0.6142569780349731, 0.9135069847106934, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296282052993774, -1.1480976343154907, -1.5996047258377075, -1.800233006477356, -0.41839420795440674, -0.0015197196044027805, 0.0016352474922314286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31016096472740173, -1.2655965089797974, 1.3427457809448242, -0.5095512866973877, 1.0191906690597534, 0.6070587635040283, 0.9234864115715027, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296291589736938, -1.1480975151062012, -1.5996044874191284, -1.8002324104309082, -0.4183943271636963, -0.0015181616181507707, 0.001638003857806325, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3013305962085724, -1.2693051099777222, 1.3409230709075928, -0.49328315258026123, 1.006293535232544, 0.5999457836151123, 0.932473361492157, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296291589736938, -1.148097038269043, -1.599603533744812, -1.8002322912216187, -0.4183928966522217, -0.0015155250439420342, 0.0016399213345721364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2968427240848541, -1.2709088325500488, 1.3409546613693237, -0.48349863290786743, 0.9949322938919067, 0.5967638492584229, 0.9378061294555664, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296282052993774, -1.148095965385437, -1.5996029376983643, -1.80023193359375, -0.4183913469314575, -0.0015140869654715061, 0.0016412396216765046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.29582780599594116, -1.2732383012771606, 1.343064546585083, -0.4791337549686432, 0.9861937165260315, 0.5948464870452881, 0.9389842748641968, 0.04140000657720881, 0.04140000657720881, 0.04140000657720881, 0.04140000657720881, -0.04140000657720881, -0.04140000657720881, -0.04140000657720881, 0.04140000657720881, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296290397644043, -1.1480921506881714, -1.5996012687683105, -1.8002302646636963, -0.41839098930358887, -0.0015101322205737233, 0.001643157098442316, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2959597706794739, -1.27797532081604, 1.3450748920440674, -0.47854316234588623, 0.9779126048088074, 0.587211549282074, 0.9453904628753662, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, -0.12240000714312546, -0.12240000714312546, -0.12240000714312546, 0.12240000714312546, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296305894851685, -1.1480921506881714, -1.5996007919311523, -1.8002305030822754, -0.41838833689689636, -0.0015090536326169968, 0.0016415991121903062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2994232773780823, -1.2804744243621826, 1.347999095916748, -0.48438823223114014, 0.9697319865226746, 0.5802655220031738, 0.9500181674957275, 0.14520000206245173, 0.14520000206245173, 0.14520000206245173, 0.14520000206245173, -0.14520000206245173, -0.14520000206245173, -0.14520000206245173, 0.14520000206245173, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963285446167, -1.1480916738510132, -1.5995986461639404, -1.8002294301986694, -0.41838642954826355, -0.0014999456470832229, 0.0016370451776310802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30289778113365173, -1.280810832977295, 1.3510054349899292, -0.4893690049648285, 0.9593411684036255, 0.5775376558303833, 0.9525395035743713, 0.193800018121908, 0.193800018121908, 0.193800018121908, 0.193800018121908, -0.193800018121908, -0.193800018121908, -0.193800018121908, 0.193800018121908, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296427488327026, -1.148086428642273, -1.5995986461639404, -1.8002290725708008, -0.41838282346725464, -0.0014935939107090235, 0.0016329705249518156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30288150906562805, -1.2816581726074219, 1.3564294576644897, -0.4859713315963745, 0.9526441097259521, 0.5776600241661072, 0.9469034671783447, 0.36839999576191323, 0.36839999576191323, 0.36839999576191323, 0.36839999576191323, -0.36839999576191323, -0.36839999576191323, -0.36839999576191323, 0.36839999576191323, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296422719955444, -1.1480865478515625, -1.5995949506759644, -1.800230622291565, -0.4183777868747711, -0.0014947924064472318, 0.0016238624230027199, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30238041281700134, -1.2820225954055786, 1.3578921556472778, -0.48098745942115784, 0.95574551820755, 0.5788540244102478, 0.9429314136505127, 0.579000000672026, 0.579000000672026, 0.579000000672026, 0.579000000672026, -0.579000000672026, -0.579000000672026, -0.579000000672026, 0.579000000672026, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.1480854749679565, -1.5995945930480957, -1.800230622291565, -0.41837719082832336, -0.0014956312952563167, 0.0016224243445321918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30237138271331787, -1.282057762145996, 1.3578691482543945, -0.481001615524292, 0.9560332894325256, 0.5788260698318481, 0.9430138468742371, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296459674835205, -1.1480841636657715, -1.5995917320251465, -1.8002296686172485, -0.4183770716190338, -0.0014967098832130432, 0.0016171513125300407, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30470025539398193, -1.279637098312378, 1.373529076576233, -0.4875696897506714, 0.9608650803565979, 0.5623724460601807, 0.9467852711677551, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296452522277832, -1.1480841636657715, -1.5995895862579346, -1.8002305030822754, -0.41837742924690247, -0.0014971891650930047, 0.0016133163589984179, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32811659574508667, -1.2703049182891846, 1.40432870388031, -0.5492501854896545, 0.9643487930297852, 0.5503957867622375, 0.9509609341621399, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296463251113892, -1.1480848789215088, -1.599587321281433, -1.8002303838729858, -0.4183763563632965, -0.001497668563388288, 0.0016105599934235215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36928749084472656, -1.2560474872589111, 1.4331897497177124, -0.6352232694625854, 0.9747912287712097, 0.5466472506523132, 0.9359901547431946, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296472787857056, -1.1480858325958252, -1.5995885133743286, -1.800230860710144, -0.4183749258518219, -0.0014974288642406464, 0.0016115186735987663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.42548996210098267, -1.2402338981628418, 1.4576199054718018, -0.7379379868507385, 0.9784976840019226, 0.5434527397155762, 0.9151342511177063, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729647159576416, -1.148088812828064, -1.5995895862579346, -1.800230622291565, -0.41837456822395325, -0.0015019829152151942, 0.0016119980718940496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4990752637386322, -1.2269082069396973, 1.4774550199508667, -0.8592233657836914, 0.9726564884185791, 0.5290630459785461, 0.9032378196716309, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296476364135742, -1.1480876207351685, -1.5995912551879883, -1.8002291917800903, -0.41837647557258606, -0.001503780484199524, 0.0016135560581460595, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5774877667427063, -1.2169910669326782, 1.492214560508728, -0.9737403392791748, 0.9517190456390381, 0.5085288882255554, 0.8993435502052307, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296478748321533, -1.1480873823165894, -1.5995919704437256, -1.8002320528030396, -0.41837865114212036, -0.0015061773592606187, 0.0016160727245733142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6528173089027405, -1.2079650163650513, 1.5110372304916382, -1.0676207542419434, 0.9323604702949524, 0.4848151206970215, 0.9096940159797668, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296472787857056, -1.1480880975723267, -1.599594235420227, -1.8002315759658813, -0.4183803200721741, -0.00150965282227844, 0.001619907678104937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7354546189308167, -1.195255160331726, 1.5368138551712036, -1.1615134477615356, 0.8919345736503601, 0.4495767056941986, 0.943859338760376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296500205993652, -1.1480902433395386, -1.5995968580245972, -1.8002337217330933, -0.4183829426765442, -0.0015131282852962613, 0.0016231434419751167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8264800906181335, -1.1776814460754395, 1.5614168643951416, -1.2576053142547607, 0.8070670962333679, 0.40569430589675903, 1.0085322856903076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296472787857056, -1.148089051246643, -1.5996001958847046, -1.8002324104309082, -0.4183844029903412, -0.0015203187940642238, 0.001626019598916173, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9218084812164307, -1.1597938537597656, 1.589409351348877, -1.3527257442474365, 0.6948073506355286, 0.36904606223106384, 1.0839201211929321, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1481530666351318, -1.599605679512024, -1.8002312183380127, -0.4183882176876068, -0.0015263109235092998, 0.0016389626543968916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9978342652320862, -1.1412286758422852, 1.6184927225112915, -1.4253777265548706, 0.5729231238365173, 0.3501043915748596, 1.1803374290466309, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296466827392578, -1.1482536792755127, -1.5996087789535522, -1.8002320528030396, -0.418392539024353, -0.0015295465709641576, 0.001640999922528863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.046425700187683, -1.1193759441375732, 1.6435487270355225, -1.4715044498443604, 0.4232253134250641, 0.3469602167606354, 1.2987698316574097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.72964608669281, -1.1482487916946411, -1.5996109247207642, -1.800232172012329, -0.41839349269866943, -0.0015281084924936295, 0.0016423182096332312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0668827295303345, -1.10006844997406, 1.6531338691711426, -1.4936656951904297, 0.2668468654155731, 0.31225138902664185, 1.411393642425537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296457290649414, -1.1482282876968384, -1.5996116399765015, -1.8002314567565918, -0.41839301586151123, -0.0015257116174325347, 0.0016407602233812213, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.066874623298645, -1.0897154808044434, 1.6540677547454834, -1.5010913610458374, 0.13612724840641022, 0.29326537251472473, 1.4577759504318237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296456098556519, -1.1482185125350952, -1.5996143817901611, -1.8002315759658813, -0.4183940887451172, -0.0015252323355525732, 0.0016421983018517494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0465497970581055, -1.0841726064682007, 1.6483736038208008, -1.5031743049621582, 0.028972582891583443, 0.3061685562133789, 1.4831079244613647, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.72964608669281, -1.1482073068618774, -1.599614143371582, -1.8002313375473022, -0.41839349269866943, -0.0015254720347002149, 0.0016414793208241463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9967424869537354, -1.0809414386749268, 1.637697458267212, -1.4785985946655273, -0.03154020383954048, 0.31357383728027344, 1.5081958770751953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729644775390625, -1.1481901407241821, -1.5996149778366089, -1.8002313375473022, -0.4183943271636963, -0.0015241537475958467, 0.0016436364967375994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9411634206771851, -1.067159652709961, 1.6097023487091064, -1.452812671661377, -0.07243457436561584, 0.3029575049877167, 1.5205923318862915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296416759490967, -1.1481660604476929, -1.5996133089065552, -1.800230860710144, -0.4183945655822754, -0.0015191202983260155, 0.001640999922528863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8980124592781067, -1.0417611598968506, 1.5665889978408813, -1.4336867332458496, -0.11297684907913208, 0.2895326316356659, 1.5328859090805054, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296398878097534, -1.147976279258728, -1.5996121168136597, -1.8002341985702515, -0.41839396953582764, -0.0015161243500187993, 0.0016351277008652687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8641619086265564, -1.0184807777404785, 1.5211923122406006, -1.4010742902755737, -0.11914201080799103, 0.2914501130580902, 1.531004548072815, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296403646469116, -1.1479742527008057, -1.599611759185791, -1.800233006477356, -0.41839170455932617, -0.0015134877758100629, 0.0016322514275088906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8407387733459473, -0.9978330731391907, 1.4721686840057373, -1.3830747604370117, -0.08936456590890884, 0.31097301840782166, 1.5099635124206543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296392917633057, -1.1479787826538086, -1.5996099710464478, -1.8002331256866455, -0.41838929057121277, -0.0015114503912627697, 0.001629015663638711, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8369227647781372, -0.9833449721336365, 1.422645926475525, -1.3910627365112305, -0.06158057972788811, 0.3289051353931427, 1.4915417432785034, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296385765075684, -1.147989273071289, -1.5996047258377075, -1.8002345561981201, -0.4183882176876068, -0.0015086940256878734, 0.001622903742827475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8503249287605286, -0.9731853008270264, 1.3865119218826294, -1.4290283918380737, -0.06163594871759415, 0.3347044289112091, 1.4856473207473755, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296369075775146, -1.1480021476745605, -1.5996023416519165, -1.8002344369888306, -0.418386310338974, -0.0015052186790853739, 0.0016185893910005689, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8707650899887085, -0.9686332941055298, 1.36423659324646, -1.472089171409607, -0.09199725836515427, 0.3327150344848633, 1.4881433248519897, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729636549949646, -1.1480079889297485, -1.5995997190475464, -1.8002349138259888, -0.418383926153183, -0.0015025821048766375, 0.0016167918220162392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8955326676368713, -0.9681987166404724, 1.3540105819702148, -1.5119611024856567, -0.12721626460552216, 0.32496556639671326, 1.4972606897354126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296375036239624, -1.1480120420455933, -1.5995981693267822, -1.800234317779541, -0.4183809161186218, -0.001501503516919911, 0.0016160727245733142, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.914261519908905, -0.9710339903831482, 1.3538832664489746, -1.5324550867080688, -0.1806672215461731, 0.31135326623916626, 1.5104892253875732, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729636549949646, -1.1480166912078857, -1.599597454071045, -1.8002345561981201, -0.41837936639785767, -0.0015016234247013927, 0.0016157132340595126, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9332685470581055, -0.9858422875404358, 1.364192247390747, -1.5410391092300415, -0.2280135452747345, 0.2963719069957733, 1.525970220565796, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.1480222940444946, -1.5995948314666748, -1.8002331256866455, -0.41837623715400696, -0.001502941595390439, 0.0016136758495122194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9541215896606445, -1.006903886795044, 1.373716115951538, -1.555381417274475, -0.2713957130908966, 0.2796289920806885, 1.5360002517700195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.1480250358581543, -1.599591851234436, -1.8002336025238037, -0.41837576031684875, -0.0015019829152151942, 0.0016130766598507762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.972453773021698, -1.0235430002212524, 1.3760484457015991, -1.5631213188171387, -0.2958187162876129, 0.2502749562263489, 1.5357730388641357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1480305194854736, -1.5995893478393555, -1.8002341985702515, -0.41837528347969055, -0.001501503516919911, 0.0016140354564413428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9847137331962585, -1.0342024564743042, 1.3763083219528198, -1.5635497570037842, -0.3050481379032135, 0.21168239414691925, 1.53517746925354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1480333805084229, -1.5995888710021973, -1.8002338409423828, -0.41837361454963684, -0.0015024623135104775, 0.0016187092987820506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9876924753189087, -1.0402235984802246, 1.3796831369400024, -1.5616710186004639, -0.3007148802280426, 0.1925950050354004, 1.5350998640060425, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.148036003112793, -1.599589228630066, -1.800233244895935, -0.4183742105960846, -0.0015034209936857224, 0.0016220648540183902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.987540602684021, -1.0402897596359253, 1.3798201084136963, -1.560861587524414, -0.2996167540550232, 0.19384627044200897, 1.535064458847046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296384572982788, -1.148038387298584, -1.599589467048645, -1.8002338409423828, -0.41837528347969055, -0.0015068964567035437, 0.0016253006178885698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9871386289596558, -1.0402708053588867, 1.3798191547393799, -1.5608174800872803, -0.29959794878959656, 0.19414204359054565, 1.5350451469421387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296385765075684, -1.1480406522750854, -1.5995898246765137, -1.8002334833145142, -0.4183758795261383, -0.0015082147438079119, 0.001628176774829626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870057106018066, -1.0402151346206665, 1.379818320274353, -1.5608059167861938, -0.29957133531570435, 0.19417619705200195, 1.5350309610366821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296396493911743, -1.1480430364608765, -1.5995901823043823, -1.800233244895935, -0.41837888956069946, -0.0015102520119398832, 0.001631891936995089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870054125785828, -1.040187954902649, 1.3798174858093262, -1.5607959032058716, -0.29952821135520935, 0.19419848918914795, 1.535025954246521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296407222747803, -1.1480448246002197, -1.5995911359786987, -1.8002334833145142, -0.4183809161186218, -0.001512648887000978, 0.0016329705249518156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870068430900574, -1.040174961090088, 1.3798166513442993, -1.560789942741394, -0.2994996905326843, 0.19421935081481934, 1.535025954246521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296420335769653, -1.1480462551116943, -1.599593162536621, -1.8002331256866455, -0.41838330030441284, -0.0015144464559853077, 0.0016344086034223437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870087504386902, -1.040170431137085, 1.3798168897628784, -1.5607826709747314, -0.29946959018707275, 0.19423480331897736, 1.535025954246521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296428680419922, -1.148047924041748, -1.599595308303833, -1.800233244895935, -0.4183860719203949, -0.001517802127636969, 0.0016362061724066734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870112538337708, -1.040169596672058, 1.3798162937164307, -1.5607761144638062, -0.2994405925273895, 0.19424067437648773, 1.5350267887115479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729643702507019, -1.1480501890182495, -1.599597692489624, -1.800234317779541, -0.4183879792690277, -0.0015188807155936956, 0.0016374046681448817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870137572288513, -1.0401690006256104, 1.3798165321350098, -1.5607682466506958, -0.2994198799133301, 0.1942434310913086, 1.535027027130127, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729644775390625, -1.1480515003204346, -1.5995988845825195, -1.8002334833145142, -0.4183891713619232, -0.001518760807812214, 0.0016390824457630515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.987016499042511, -1.0401686429977417, 1.3798165321350098, -1.5607609748840332, -0.29939937591552734, 0.1942431926727295, 1.5350284576416016, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964608669281, -1.1480531692504883, -1.5996003150939941, -1.8002337217330933, -0.4183908700942993, -0.001518760807812214, 0.0016376443672925234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9870193600654602, -1.0401688814163208, 1.3798166513442993, -1.5607550144195557, -0.2993866801261902, 0.19424547255039215, 1.535030722618103, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729646921157837, -1.148055076599121, -1.5996021032333374, -1.8002341985702515, -0.41839098930358887, -0.0015191202983260155, 0.0016344086034223437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9869070053100586, -1.0403525829315186, 1.3821405172348022, -1.562929391860962, -0.3024527132511139, 0.19335612654685974, 1.5340003967285156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296489477157593, -1.1480575799942017, -1.5996044874191284, -1.8002350330352783, -0.4183924198150635, -0.0015203187940642238, 0.0016308133490383625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9954912066459656, -1.0512421131134033, 1.4162930250167847, -1.5912998914718628, -0.36048081517219543, 0.1812659502029419, 1.5343327522277832, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296503782272339, -1.1480586528778076, -1.5996052026748657, -1.8002344369888306, -0.4183928966522217, -0.0015194799052551389, 0.001628895872272551, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0100127458572388, -1.0572724342346191, 1.452491283416748, -1.6273843050003052, -0.40109845995903015, 0.18926362693309784, 1.5347645282745361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296507358551025, -1.1480604410171509, -1.5996054410934448, -1.8002339601516724, -0.4183924198150635, -0.0015181616181507707, 0.0016264989972114563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.017492651939392, -1.0534048080444336, 1.4688973426818848, -1.6562529802322388, -0.44227397441864014, 0.2062986046075821, 1.5347870588302612, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296509742736816, -1.1480631828308105, -1.5996050834655762, -1.800235390663147, -0.4183918237686157, -0.0015161243500187993, 0.0016205068677663803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.016588568687439, -1.0282187461853027, 1.447148084640503, -1.6756926774978638, -0.49706417322158813, 0.2115083932876587, 1.5348753929138184, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296520471572876, -1.1480655670166016, -1.5996030569076538, -1.8002350330352783, -0.41839122772216797, -0.0015139671741053462, 0.001615473534911871, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.012901782989502, -0.9854493737220764, 1.3988308906555176, -1.6870508193969727, -0.5467792749404907, 0.21623580157756805, 1.5349328517913818, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296526432037354, -1.1480674743652344, -1.5996034145355225, -1.8002346754074097, -0.41838929057121277, -0.0015113305998966098, 0.001614634646102786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.007800817489624, -0.9440819025039673, 1.361440896987915, -1.6955851316452026, -0.5559718012809753, 0.2279238998889923, 1.534948706626892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729651927947998, -1.1480695009231567, -1.599602222442627, -1.8002350330352783, -0.41838762164115906, -0.0015097726136446, 0.0016113988822326064, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9943933486938477, -0.9215684533119202, 1.3264915943145752, -1.6903928518295288, -0.5613916516304016, 0.24535435438156128, 1.5349539518356323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296512126922607, -1.1480739116668701, -1.59959876537323, -1.8002344369888306, -0.4183853566646576, -0.0015061773592606187, 0.0016081631183624268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9827841520309448, -0.9091471433639526, 1.2809890508651733, -1.6850855350494385, -0.5629838705062866, 0.2552914321422577, 1.5349504947662354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729650616645813, -1.1480748653411865, -1.599597692489624, -1.8002345561981201, -0.4183827042579651, -0.0015042598824948072, 0.0016092417063191533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.976283609867096, -0.8934268355369568, 1.2404242753982544, -1.6928449869155884, -0.5634094476699829, 0.2734526991844177, 1.534939169883728, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296513319015503, -1.1480810642242432, -1.5995960235595703, -1.8002352714538574, -0.4183794856071472, -0.0015031812945380807, 0.0016103202942758799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.960182249546051, -0.8798894286155701, 1.2140146493911743, -1.691394567489624, -0.5558472871780396, 0.2861288785934448, 1.534928798675537, 0.48780000380107336, 0.48780000380107336, 0.48780000380107336, 0.48780000380107336, -0.48780000380107336, -0.48780000380107336, -0.48780000380107336, 0.48780000380107336, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296513319015503, -1.1483818292617798, -1.599594235420227, -1.8002350330352783, -0.41837576031684875, -0.0015003051375970244, 0.0016165521228685975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9361257553100586, -0.8755946755409241, 1.206272840499878, -1.68035089969635, -0.5389556288719177, 0.28636834025382996, 1.5351355075836182, 0.34740000871511606, 0.34740000871511606, 0.34740000871511606, 0.34740000871511606, -0.34740000871511606, -0.34740000871511606, -0.34740000871511606, 0.34740000871511606, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648470878601, -1.148392677307129, -1.5995944738388062, -1.8002327680587769, -0.41837409138679504, -0.0015010241186246276, 0.0016205068677663803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9250698089599609, -0.8692900538444519, 1.2062795162200928, -1.6832669973373413, -0.521604061126709, 0.2860861122608185, 1.5348182916641235, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, -0.2508000054202237, -0.2508000054202237, -0.2508000054202237, 0.2508000054202237, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296473979949951, -1.1483653783798218, -1.5995934009552002, -1.800233244895935, -0.41837409138679504, -0.0015009043272584677, 0.0016235029324889183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9233799576759338, -0.8617091774940491, 1.2002066373825073, -1.6882438659667969, -0.5177000761032104, 0.2860804796218872, 1.5348727703094482, 0.22080001831054688, 0.22080001831054688, 0.22080001831054688, 0.22080001831054688, -0.22080001831054688, -0.22080001831054688, -0.22080001831054688, 0.22080001831054688, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296478748321533, -1.1482677459716797, -1.5995920896530151, -1.8002339601516724, -0.41837024688720703, -0.0015000654384493828, 0.001625180710107088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9176228046417236, -0.8596615791320801, 1.176050066947937, -1.690818428993225, -0.5286568999290466, 0.28609174489974976, 1.5349324941635132, 0.19680000504294595, 0.19680000504294595, 0.19680000504294595, 0.19680000504294595, -0.19680000504294595, -0.19680000504294595, -0.19680000504294595, 0.19680000504294595, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729647159576416, -1.1482001543045044, -1.5995910167694092, -1.8002333641052246, -0.41836977005004883, -0.0015027020126581192, 0.0016312927473336458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9090911149978638, -0.8609737753868103, 1.1491317749023438, -1.6945382356643677, -0.5564906001091003, 0.28610923886299133, 1.534997582435608, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, -0.1865999866317917, -0.1865999866317917, -0.1865999866317917, 0.1865999866317917, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296470403671265, -1.148185133934021, -1.5995898246765137, -1.8002331256866455, -0.41836977005004883, -0.0015046194894239306, 0.0016354871913790703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9023545384407043, -0.8672131896018982, 1.1349369287490845, -1.6960248947143555, -0.6001714468002319, 0.2861209809780121, 1.535064697265625, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, 0.1698000048543071, -0.1698000048543071, -0.1698000048543071, -0.1698000048543071, 0.1698000048543071, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296452522277832, -1.1481667757034302, -1.5995897054672241, -1.8002349138259888, -0.41837096214294434, -0.0015083345351740718, 0.0016362061724066734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9012401700019836, -0.8720704317092896, 1.1326515674591064, -1.6982561349868774, -0.6169808506965637, 0.286151647567749, 1.5359861850738525, 0.14759999945923521, 0.14759999945923521, 0.14759999945923521, 0.14759999945923521, -0.14759999945923521, -0.14759999945923521, -0.14759999945923521, 0.14759999945923521, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296421527862549, -1.1478886604309082, -1.59959077835083, -1.800234317779541, -0.41837289929389954, -0.0015110909007489681, 0.001640880131162703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9012468457221985, -0.8725789785385132, 1.1300350427627563, -1.6984971761703491, -0.6174836158752441, 0.2861357033252716, 1.5364311933517456, 0.11399999660450022, 0.11399999660450022, 0.11399999660450022, 0.11399999660450022, -0.11399999660450022, -0.11399999660450022, -0.11399999660450022, 0.11399999660450022, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296431064605713, -1.1478562355041504, -1.5995912551879883, -1.8002351522445679, -0.4183749258518219, -0.0015146861551329494, 0.0016418388113379478, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9007080793380737, -0.8725711703300476, 1.1243417263031006, -1.6984797716140747, -0.6168457865715027, 0.2861284017562866, 1.5363256931304932, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640007019043, -1.1478713750839233, -1.5995922088623047, -1.8002394437789917, -0.4183768332004547, -0.0015176822198554873, 0.001642438000999391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8965241312980652, -0.8725438714027405, 1.125522494316101, -1.7040801048278809, -0.6040651202201843, 0.2859879434108734, 1.534972071647644, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296408414840698, -1.1478825807571411, -1.5995936393737793, -1.800239086151123, -0.4183803200721741, -0.0015194799052551389, 0.001643995987251401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8961986303329468, -0.871142566204071, 1.1344811916351318, -1.7141090631484985, -0.5930116772651672, 0.2859262228012085, 1.5346006155014038, 0.047399980419284726, 0.047399980419284726, 0.047399980419284726, 0.047399980419284726, -0.047399980419284726, -0.047399980419284726, -0.047399980419284726, 0.047399980419284726, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.147894263267517, -1.5995959043502808, -1.800238847732544, -0.41838476061820984, -0.0015213973820209503, 0.0016419586027041078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.897618293762207, -0.8656303286552429, 1.1390365362167358, -1.7209672927856445, -0.5860686302185059, 0.28592658042907715, 1.5339986085891724, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, 0.04259998562571767, -0.04259998562571767, -0.04259998562571767, -0.04259998562571767, 0.04259998562571767, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641318321228, -1.1479092836380005, -1.5995984077453613, -1.8002387285232544, -0.41838809847831726, -0.0015229552518576384, 0.0016393221449106932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9012746810913086, -0.855222225189209, 1.1402941942214966, -1.7302911281585693, -0.5730059146881104, 0.28593066334724426, 1.5296988487243652, 0.03900000918042532, 0.03900000918042532, 0.03900000918042532, 0.03900000918042532, -0.03900000918042532, -0.03900000918042532, -0.03900000918042532, 0.03900000918042532, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480507850646973, -1.5995999574661255, -1.8002393245697021, -0.418390154838562, -0.0015245132381096482, 0.0016346483025699854, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9017871022224426, -0.849941611289978, 1.1402921676635742, -1.7313368320465088, -0.5654937624931335, 0.2859325706958771, 1.5290813446044922, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, -0.03839998035640508, -0.03839998035640508, -0.03839998035640508, 0.03839998035640508, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296408414840698, -1.1480602025985718, -1.5996015071868896, -1.8002387285232544, -0.4183896780014038, -0.0015237941406667233, 0.001630453742109239, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9024163484573364, -0.8499327898025513, 1.140246868133545, -1.7313114404678345, -0.5655887722969055, 0.2859332859516144, 1.5290857553482056, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641079902649, -1.1480603218078613, -1.5996023416519165, -1.800238847732544, -0.41839003562927246, -0.0015234346501529217, 0.0016266187885776162, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027537107467651, -0.8500818014144897, 1.139920949935913, -1.731250286102295, -0.5660796761512756, 0.2859322130680084, 1.5290998220443726, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641079902649, -1.1480594873428345, -1.5996034145355225, -1.8002386093139648, -0.41839098930358887, -0.00152307515963912, 0.0016233831411227584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9028950929641724, -0.8501853346824646, 1.1397134065628052, -1.7312064170837402, -0.5661945939064026, 0.2859324514865875, 1.5291986465454102, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296416759490967, -1.1480584144592285, -1.5996040105819702, -1.8002384901046753, -0.41839170455932617, -0.0015219965716823936, 0.0016223045531660318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9031018018722534, -0.8502119779586792, 1.1396187543869019, -1.7311639785766602, -0.5662173628807068, 0.28593185544013977, 1.5293161869049072, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296416759490967, -1.1480562686920166, -1.5996044874191284, -1.8002384901046753, -0.4183921813964844, -0.0015199591871351004, 0.0016217053635045886, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9032469391822815, -0.8502143621444702, 1.13956880569458, -1.7311339378356934, -0.5662316083908081, 0.28593090176582336, 1.5293995141983032, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, -0.03660001178364176, -0.03660001178364176, -0.03660001178364176, 0.03660001178364176, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296444177627563, -1.1480517387390137, -1.599604606628418, -1.8002381324768066, -0.41839098930358887, -0.0015173227293416858, 0.0016183496918529272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9120689034461975, -0.8540967106819153, 1.151676058769226, -1.7362339496612549, -0.5687137842178345, 0.2819101810455322, 1.5294791460037231, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296464443206787, -1.148044228553772, -1.5996087789535522, -1.8002368211746216, -0.41838905215263367, -0.0015145663637667894, 0.0016187092987820506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9403601288795471, -0.8608599901199341, 1.2096636295318604, -1.7580293416976929, -0.5492634177207947, 0.28108590841293335, 1.5316957235336304, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296463251113892, -1.1480456590652466, -1.5996050834655762, -1.8002363443374634, -0.4183872640132904, -0.0015116900904104114, 0.0016159529332071543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9632678031921387, -0.838592529296875, 1.2245094776153564, -1.798870325088501, -0.5007058382034302, 0.28544577956199646, 1.535238265991211, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296463251113892, -1.1480462551116943, -1.5996038913726807, -1.8002363443374634, -0.4183867871761322, -0.001508933724835515, 0.001616911613382399, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9921286106109619, -0.7941977977752686, 1.2622629404067993, -1.8462103605270386, -0.4059188663959503, 0.28544938564300537, 1.5367714166641235, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648470878601, -1.1480448246002197, -1.5996019840240479, -1.8002352714538574, -0.41838428378105164, -0.0015056979609653354, 0.0016209862660616636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.004317283630371, -0.7383546233177185, 1.3080570697784424, -1.884406328201294, -0.30095958709716797, 0.2854374051094055, 1.5367975234985352, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296487092971802, -1.1480424404144287, -1.5995993614196777, -1.8002334833145142, -0.4183815121650696, -0.0015053384704515338, 0.0016256601084023714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.009782314300537, -0.7013317346572876, 1.3685288429260254, -1.908479928970337, -0.18859946727752686, 0.28545308113098145, 1.536747932434082, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648470878601, -1.1480419635772705, -1.5995956659317017, -1.8002333641052246, -0.4183770716190338, -0.0015049789799377322, 0.0016269783955067396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0062894821166992, -0.6943585872650146, 1.4170191287994385, -1.8964885473251343, -0.06295313686132431, 0.29258814454078674, 1.5304096937179565, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296501398086548, -1.1480437517166138, -1.599595069885254, -1.800233006477356, -0.4183746874332428, -0.001504499581642449, 0.001630453742109239, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.988904595375061, -0.6965739130973816, 1.434834361076355, -1.8660842180252075, 0.0670204609632492, 0.33126866817474365, 1.4931800365447998, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296500205993652, -1.148039698600769, -1.5995932817459106, -1.800233244895935, -0.41837361454963684, -0.0015031812945380807, 0.001635007793083787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9499324560165405, -0.7063377499580383, 1.437429428100586, -1.8201866149902344, 0.1869404911994934, 0.38220664858818054, 1.441514492034912, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729650855064392, -1.1480401754379272, -1.599591851234436, -1.8002328872680664, -0.41837266087532043, -0.0015041400911286473, 0.00163716496899724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.89959317445755, -0.7265805006027222, 1.4329743385314941, -1.761844277381897, 0.2898491322994232, 0.4161006808280945, 1.4065886735916138, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729649305343628, -1.1480399370193481, -1.5995906591415405, -1.800233006477356, -0.41837215423583984, -0.001503780484199524, 0.001637884066440165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8566418290138245, -0.753622829914093, 1.43580961227417, -1.6993223428726196, 0.4006633162498474, 0.43700751662254333, 1.385572075843811, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296490669250488, -1.1480401754379272, -1.5995891094207764, -1.8002327680587769, -0.41837120056152344, -0.001504379790276289, 0.0016412396216765046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8210881352424622, -0.7839545011520386, 1.4460238218307495, -1.6358529329299927, 0.5054599642753601, 0.4511522650718689, 1.371663212776184, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296502590179443, -1.1480402946472168, -1.599586844444275, -1.8002320528030396, -0.4183696508407593, -0.001506776548922062, 0.0016436364967375994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7769747972488403, -0.8097203373908997, 1.4490904808044434, -1.5729783773422241, 0.5849857330322266, 0.4613431692123413, 1.3617643117904663, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296490669250488, -1.148040771484375, -1.599586009979248, -1.8002328872680664, -0.4183708429336548, -0.0015080948360264301, 0.0016463928623124957, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7419827580451965, -0.836474597454071, 1.4644626379013062, -1.5168769359588623, 0.6571675539016724, 0.47449991106987, 1.3479028940200806, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296512126922607, -1.1480414867401123, -1.5995869636535645, -1.8002349138259888, -0.4183725416660309, -0.0015121694887056947, 0.0016453142743557692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7156498432159424, -0.8628643155097961, 1.4832326173782349, -1.4539611339569092, 0.7280831336975098, 0.502646803855896, 1.319534182548523, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729650855064392, -1.148041844367981, -1.5995874404907227, -1.8002337217330933, -0.4183749258518219, -0.0015150457620620728, 0.0016412396216765046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6985228657722473, -0.88287752866745, 1.4966034889221191, -1.3927890062332153, 0.7800403833389282, 0.5420514345169067, 1.2795823812484741, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296487092971802, -1.1480412483215332, -1.5995885133743286, -1.8002341985702515, -0.418377548456192, -0.0015169632388278842, 0.001637884066440165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6790284514427185, -0.8914809823036194, 1.4951308965682983, -1.3307865858078003, 0.7990393042564392, 0.5701799392700195, 1.250961422920227, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.729649305343628, -1.148041844367981, -1.5995900630950928, -1.8002328872680664, -0.4183794856071472, -0.001518760807812214, 0.0016338094137609005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6545900106430054, -0.8926347494125366, 1.4837397336959839, -1.2773902416229248, 0.8000108599662781, 0.5783090591430664, 1.2430716753005981, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296479940414429, -1.1480422019958496, -1.5995910167694092, -1.8002344369888306, -0.418382465839386, -0.001520798192359507, 0.0016292553627863526, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6207420825958252, -0.8972123265266418, 1.4640833139419556, -1.2188055515289307, 0.8092267513275146, 0.581475555896759, 1.239862322807312, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296468019485474, -1.1480430364608765, -1.5995937585830688, -1.8002341985702515, -0.41838619112968445, -0.0015221163630485535, 0.001625180710107088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5736615061759949, -0.9055433869361877, 1.4332835674285889, -1.1534337997436523, 0.8010565042495728, 0.5752564668655396, 1.2470463514328003, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.729646921157837, -1.1480427980422974, -1.5995956659317017, -1.800233006477356, -0.4183882176876068, -0.00152307515963912, 0.0016220648540183902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5153583288192749, -0.9244563579559326, 1.3994053602218628, -1.0711749792099, 0.7930011749267578, 0.5671342611312866, 1.2560008764266968, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296462059020996, -1.1480413675308228, -1.5995986461639404, -1.8002313375473022, -0.418388694524765, -0.0015233148587867618, 0.0016190687892958522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45826882123947144, -0.9458271861076355, 1.3617957830429077, -0.9837636947631836, 0.7804154753684998, 0.5574691295623779, 1.26572585105896, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296453714370728, -1.1480416059494019, -1.5996028184890747, -1.8002300262451172, -0.4183889329433441, -0.0015229552518576384, 0.0016175108030438423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4025265872478485, -0.9714637994766235, 1.3258274793624878, -0.8791361451148987, 0.76775723695755, 0.5397847294807434, 1.2825045585632324, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296456098556519, -1.1480414867401123, -1.5996041297912598, -1.8002314567565918, -0.41838857531547546, -0.0015215171733871102, 0.0016098408959805965, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3542416989803314, -0.9991570115089417, 1.304341197013855, -0.7786498665809631, 0.7577598094940186, 0.5169029831886292, 1.2970129251480103, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296444177627563, -1.148038625717163, -1.5996097326278687, -1.800230622291565, -0.41838929057121277, -0.0015192402061074972, 0.0016141552478075027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3381880819797516, -1.0129565000534058, 1.3022969961166382, -0.7370753884315491, 0.7561221122741699, 0.5052745938301086, 1.3170437812805176, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296408414840698, -1.1480416059494019, -1.5996078252792358, -1.8002312183380127, -0.4183899164199829, -0.0015180418267846107, 0.0016134361503645778, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3411461412906647, -1.0128966569900513, 1.3038667440414429, -0.744779646396637, 0.7580185532569885, 0.5049638152122498, 1.3191388845443726, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.729641079902649, -1.1480404138565063, -1.599608063697815, -1.8002320528030396, -0.41838905215263367, -0.0015167235396802425, 0.0016172711038962007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34224599599838257, -1.012396216392517, 1.3039013147354126, -0.7457826137542725, 0.7582250237464905, 0.5052212476730347, 1.3180943727493286, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296408414840698, -1.1480404138565063, -1.5996067523956299, -1.8002314567565918, -0.41838786005973816, -0.0015140869654715061, 0.0016209862660616636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3426777124404907, -1.0121675729751587, 1.3039021492004395, -0.7455331087112427, 0.7582229971885681, 0.5052711963653564, 1.3177270889282227, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729641079902649, -1.1480389833450317, -1.5996074676513672, -1.8002302646636963, -0.4183870255947113, -0.0015109711093828082, 0.0016262592980638146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3477836549282074, -1.01451575756073, 1.3174123764038086, -0.7475835084915161, 0.7572633028030396, 0.5057593584060669, 1.3054790496826172, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296395301818848, -1.1480387449264526, -1.5996034145355225, -1.8002315759658813, -0.41838452219963074, -0.0015086940256878734, 0.0016286561731249094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3882029950618744, -1.0231879949569702, 1.355704426765442, -0.7828651666641235, 0.7943316698074341, 0.49588900804519653, 1.2448689937591553, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638934135437, -1.148037075996399, -1.599602222442627, -1.8002309799194336, -0.4183834195137024, -0.0015068964567035437, 0.001634888001717627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4452718198299408, -1.0367628335952759, 1.3830777406692505, -0.8298827409744263, 0.8421090841293335, 0.4767575263977051, 1.1798269748687744, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296391725540161, -1.1480352878570557, -1.5996010303497314, -1.8002315759658813, -0.4183812737464905, -0.0015068964567035437, 0.0016400411259382963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4872762858867645, -1.053741216659546, 1.3988114595413208, -0.8583043217658997, 0.8745844960212708, 0.46402740478515625, 1.1304415464401245, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1480356454849243, -1.5995981693267822, -1.800232172012329, -0.41837865114212036, -0.0015068964567035437, 0.001639441936276853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.496442586183548, -1.0703104734420776, 1.4026790857315063, -0.8584610819816589, 0.8881685137748718, 0.4580894410610199, 1.0953055620193481, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.729637622833252, -1.1480320692062378, -1.5995973348617554, -1.8002307415008545, -0.4183765947818756, -0.0015053384704515338, 0.0016411197138950229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47443392872810364, -1.0874017477035522, 1.3899468183517456, -0.8181161880493164, 0.8864116668701172, 0.4468982219696045, 1.089676856994629, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296380996704102, -1.1480311155319214, -1.5995962619781494, -1.800229549407959, -0.4183742105960846, -0.001503540901467204, 0.0016427976079285145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4401397705078125, -1.1044632196426392, 1.370042324066162, -0.762526273727417, 0.8710695505142212, 0.4187118113040924, 1.1024423837661743, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1480305194854736, -1.5995949506759644, -1.8002305030822754, -0.41837409138679504, -0.0015033012023195624, 0.001643276889808476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.41049644351005554, -1.1211739778518677, 1.361652135848999, -0.7100059986114502, 0.8546104431152344, 0.380547434091568, 1.1147311925888062, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296385765075684, -1.1480320692062378, -1.5995920896530151, -1.800231695175171, -0.4183730185031891, -0.0015046194894239306, 0.001641719019971788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.40220212936401367, -1.1281737089157104, 1.3632864952087402, -0.691362738609314, 0.8613253235816956, 0.37089917063713074, 1.1189758777618408, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1480300426483154, -1.59959077835083, -1.800233006477356, -0.41837313771247864, -0.0015068964567035437, 0.001640280825085938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.40409472584724426, -1.1290687322616577, 1.3629405498504639, -0.6925656199455261, 0.8508490324020386, 0.374151349067688, 1.1224199533462524, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296395301818848, -1.1480302810668945, -1.5995897054672241, -1.8002325296401978, -0.4183725416660309, -0.001508813933469355, 0.0016377641586586833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3981277346611023, -1.1339492797851562, 1.3583606481552124, -0.6721748113632202, 0.8183199167251587, 0.36850976943969727, 1.1418001651763916, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296404838562012, -1.1480302810668945, -1.5995869636535645, -1.8002325296401978, -0.41837361454963684, -0.0015110909007489681, 0.0016326109180226922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.38638240098953247, -1.142552375793457, 1.3583910465240479, -0.6488857269287109, 0.8055793642997742, 0.366608589887619, 1.1484202146530151, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296409606933594, -1.148030161857605, -1.5995862483978271, -1.8002328872680664, -0.41837385296821594, -0.0015131282852962613, 0.001628895872272551, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3724152445793152, -1.1523990631103516, 1.3588964939117432, -0.6331263780593872, 0.7968650460243225, 0.36575841903686523, 1.1554205417633057, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641079902649, -1.1480302810668945, -1.5995875597000122, -1.8002331256866455, -0.41837576031684875, -0.001515644951723516, 0.0016263792058452964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36319172382354736, -1.1632928848266602, 1.3570882081985474, -0.6182882189750671, 0.7932237386703491, 0.35293182730674744, 1.1594878435134888, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296416759490967, -1.1480302810668945, -1.5995886325836182, -1.8002324104309082, -0.4183780252933502, -0.0015181616181507707, 0.001623023534193635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35349732637405396, -1.1732951402664185, 1.3513286113739014, -0.5936565399169922, 0.7877811193466187, 0.33562275767326355, 1.1622066497802734, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.1480305194854736, -1.599589228630066, -1.8002326488494873, -0.4183803200721741, -0.001520079094916582, 0.0016203870764002204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.338759183883667, -1.181474208831787, 1.3444843292236328, -0.5560118556022644, 0.7681075930595398, 0.311870276927948, 1.1760337352752686, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296432256698608, -1.1480308771133423, -1.5995903015136719, -1.8002327680587769, -0.41838353872299194, -0.0015206782845780253, 0.0016193084884434938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3148009777069092, -1.190730333328247, 1.335159182548523, -0.5054792761802673, 0.7451649904251099, 0.2786972224712372, 1.1995466947555542, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480317115783691, -1.5995922088623047, -1.800233006477356, -0.41838571429252625, -0.0015218766639009118, 0.0016170315211638808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2881850004196167, -1.19974684715271, 1.3304859399795532, -0.4570823013782501, 0.730745792388916, 0.2541719973087311, 1.227269172668457, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296442985534668, -1.1480329036712646, -1.5995949506759644, -1.800233006477356, -0.4183865487575531, -0.00152319495100528, 0.0016158330254256725, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26799726486206055, -1.2056519985198975, 1.3296602964401245, -0.42081382870674133, 0.7223605513572693, 0.2337891012430191, 1.2513844966888428, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, 0.02940001959329128, -0.02940001959329128, -0.02940001959329128, -0.02940001959329128, 0.02940001959329128, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296442985534668, -1.1480326652526855, -1.599597454071045, -1.8002322912216187, -0.41838690638542175, -0.0015234346501529217, 0.0016166719142347574, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.25698933005332947, -1.210411548614502, 1.328076720237732, -0.4000309109687805, 0.714333176612854, 0.2184249609708786, 1.264445424079895, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296444177627563, -1.1480333805084229, -1.5995985269546509, -1.800231695175171, -0.41838690638542175, -0.00152319495100528, 0.0016187092987820506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24993924796581268, -1.2153493165969849, 1.3279237747192383, -0.385873943567276, 0.7055932879447937, 0.2150505632162094, 1.2655645608901978, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296439409255981, -1.1480339765548706, -1.599600076675415, -1.800231695175171, -0.41838762164115906, -0.0015219965716823936, 0.00162218464538455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2457425743341446, -1.2191303968429565, 1.3279975652694702, -0.37261149287223816, 0.6971778273582458, 0.21193861961364746, 1.265315055847168, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296442985534668, -1.1480345726013184, -1.5996010303497314, -1.8002322912216187, -0.418388694524765, -0.0015198393957689404, 0.0016253006178885698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2403174191713333, -1.2240225076675415, 1.329915165901184, -0.35340604186058044, 0.6889780163764954, 0.21134816110134125, 1.266890287399292, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480357646942139, -1.5996018648147583, -1.8002333641052246, -0.4183884561061859, -0.0015184013172984123, 0.001628895872272551, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22712193429470062, -1.2324466705322266, 1.3285648822784424, -0.3201456367969513, 0.6802849769592285, 0.2118193805217743, 1.2663557529449463, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296446561813354, -1.1480352878570557, -1.5996042490005493, -1.8002324104309082, -0.41838929057121277, -0.0015154052525758743, 0.0016338094137609005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20816998183727264, -1.244256615638733, 1.3260637521743774, -0.27701932191848755, 0.6792537569999695, 0.2116277515888214, 1.2648561000823975, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296439409255981, -1.1480364799499512, -1.5996029376983643, -1.8002325296401978, -0.41838786005973816, -0.0015137274749577045, 0.0016366855707019567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1900562196969986, -1.2536214590072632, 1.3251298666000366, -0.24043986201286316, 0.6790952086448669, 0.20949335396289825, 1.2658812999725342, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296439409255981, -1.148036241531372, -1.5996030569076538, -1.8002327680587769, -0.418386310338974, -0.0015115702990442514, 0.001637884066440165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17364832758903503, -1.259212851524353, 1.3229371309280396, -0.20921316742897034, 0.6677793264389038, 0.2074156552553177, 1.2664579153060913, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480361223220825, -1.5996021032333374, -1.8002338409423828, -0.41838523745536804, -0.0015086940256878734, 0.0016376443672925234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1687856763601303, -1.261671781539917, 1.322635293006897, -0.2007569819688797, 0.6571648120880127, 0.21026381850242615, 1.261030912399292, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480361223220825, -1.5996023416519165, -1.8002336025238037, -0.41838306188583374, -0.0015076154377311468, 0.0016393221449106932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17029443383216858, -1.2626899480819702, 1.3245882987976074, -0.20242159068584442, 0.6490282416343689, 0.21265311539173126, 1.2559438943862915, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1480363607406616, -1.5995999574661255, -1.8002331256866455, -0.4183806777000427, -0.0015071361558511853, 0.001641719019971788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1722831130027771, -1.263771891593933, 1.3273659944534302, -0.20289172232151031, 0.6434990763664246, 0.21341530978679657, 1.2553335428237915, 0.05339999356112641, 0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.148037314414978, -1.5995994806289673, -1.8002327680587769, -0.41837888956069946, -0.001503780484199524, 0.0016519055934622884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17261038720607758, -1.2657068967819214, 1.3317979574203491, -0.20305542647838593, 0.6400068402290344, 0.21403993666172028, 1.2532209157943726, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, -0.12059999927059636, -0.12059999927059636, -0.12059999927059636, 0.12059999927059636, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1480364799499512, -1.5995984077453613, -1.8002341985702515, -0.41837623715400696, -0.0015021027065813541, 0.0016501079080626369, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17255964875221252, -1.2687768936157227, 1.3357642889022827, -0.20402435958385468, 0.637392520904541, 0.21402771770954132, 1.2532484531402588, 0.1523999942528023, 0.1523999942528023, 0.1523999942528023, 0.1523999942528023, -0.1523999942528023, -0.1523999942528023, -0.1523999942528023, 0.1523999942528023, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641079902649, -1.148037075996399, -1.5995975732803345, -1.8002334833145142, -0.41837385296821594, -0.001501503516919911, 0.0016448348760604858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1724596917629242, -1.2698848247528076, 1.3403445482254028, -0.20420926809310913, 0.633577823638916, 0.21411532163619995, 1.2461835145950317, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.1480404138565063, -1.5995949506759644, -1.8002450466156006, -0.418371319770813, -0.0015080948360264301, 0.0016354871913790703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17247676849365234, -1.2701799869537354, 1.3478213548660278, -0.20425660908222198, 0.6409075856208801, 0.21386028826236725, 1.2354156970977783, 0.5027999973559117, 0.5027999973559117, 0.5027999973559117, 0.5027999973559117, -0.5027999973559117, -0.5027999973559117, -0.5027999973559117, 0.5027999973559117, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296165227890015, -1.1480265855789185, -1.5995925664901733, -1.8002334833145142, -0.41837048530578613, -0.0014994662487879395, 0.0016329705249518156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17249509692192078, -1.2701977491378784, 1.3478457927703857, -0.20426392555236816, 0.6416029334068298, 0.21384747326374054, 1.2354393005371094, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296165227890015, -1.14802885055542, -1.5995920896530151, -1.8002328872680664, -0.4183698892593384, -0.0015056979609653354, 0.0016309331404045224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1726338118314743, -1.2701573371887207, 1.347640872001648, -0.2042364776134491, 0.6416031718254089, 0.21386964619159698, 1.236204981803894, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296152114868164, -1.148027777671814, -1.5995880365371704, -1.800232172012329, -0.4183690547943115, -0.0015132480766624212, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1715778410434723, -1.2646063566207886, 1.3595010042190552, -0.21113604307174683, 0.647963285446167, 0.21556228399276733, 1.2389318943023682, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296165227890015, -1.1480261087417603, -1.599586009979248, -1.80023193359375, -0.41837024688720703, -0.0015182814095169306, 0.0016220648540183902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17319057881832123, -1.256812334060669, 1.3778979778289795, -0.22843658924102783, 0.6653878688812256, 0.21174494922161102, 1.252532720565796, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729617953300476, -1.148026704788208, -1.5995861291885376, -1.8002320528030396, -0.4183720350265503, -0.00152307515963912, 0.0016211060574278235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18489088118076324, -1.2463057041168213, 1.3889144659042358, -0.2670263946056366, 0.6730440258979797, 0.21026766300201416, 1.2556411027908325, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296181917190552, -1.1480268239974976, -1.5995862483978271, -1.80023193359375, -0.41837313771247864, -0.001534340321086347, 0.001619188580662012, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21998272836208344, -1.2327930927276611, 1.4056990146636963, -0.3416408896446228, 0.6872910857200623, 0.21454842388629913, 1.252909541130066, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296192646026611, -1.1480169296264648, -1.599587321281433, -1.8002310991287231, -0.41837432980537415, -0.0015466840704903007, 0.001614634646102786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2951952815055847, -1.2142001390457153, 1.4323607683181763, -0.48153477907180786, 0.7064098715782166, 0.23998962342739105, 1.2334513664245605, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.1480236053466797, -1.5995893478393555, -1.8002262115478516, -0.4183782935142517, -0.0015933027025312185, 0.001614634646102786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.41925451159477234, -1.19246506690979, 1.4693762063980103, -0.6986342668533325, 0.72076016664505, 0.27491524815559387, 1.1793849468231201, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.148025631904602, -1.5995930433273315, -1.8002293109893799, -0.41838186979293823, -0.00159510038793087, 0.0016148743452504277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5445547699928284, -1.1763614416122437, 1.4997056722640991, -0.8975458145141602, 0.7266318202018738, 0.30941280722618103, 1.1415197849273682, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296488285064697, -1.148024320602417, -1.5995941162109375, -1.8002324104309082, -0.41838619112968445, -0.0015893479576334357, 0.0016202671686187387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6490042805671692, -1.1652023792266846, 1.5144280195236206, -1.0521447658538818, 0.707069993019104, 0.3215266764163971, 1.1486749649047852, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296456098556519, -1.1480313539505005, -1.5995980501174927, -1.800233244895935, -0.41838762164115906, -0.0015870708739385009, 0.001626019598916173, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7430166006088257, -1.1559118032455444, 1.5233763456344604, -1.1825381517410278, 0.6583494544029236, 0.32446029782295227, 1.1742726564407349, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296452522277832, -1.1480205059051514, -1.5996006727218628, -1.8002322912216187, -0.4183879792690277, -0.001583235920406878, 0.0016275775851681828, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8306317925453186, -1.145373821258545, 1.5287394523620605, -1.2816295623779297, 0.5792167782783508, 0.33494338393211365, 1.2148817777633667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296475172042847, -1.1480234861373901, -1.599604606628418, -1.8002322912216187, -0.4183889329433441, -0.0015827566385269165, 0.0016333300154656172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9049177169799805, -1.1351039409637451, 1.5287067890167236, -1.3462672233581543, 0.47042661905288696, 0.3400142788887024, 1.272389531135559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296479940414429, -1.148023009300232, -1.5996063947677612, -1.8002322912216187, -0.4183899164199829, -0.001577123999595642, 0.00163716496899724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9614479541778564, -1.1292239427566528, 1.5272037982940674, -1.3938641548156738, 0.3684702217578888, 0.33997783064842224, 1.3146262168884277, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296475172042847, -1.1480252742767334, -1.5996071100234985, -1.8002336025238037, -0.41839027404785156, -0.0015743676340207458, 0.001640880131162703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9917318224906921, -1.1246603727340698, 1.5117945671081543, -1.440628170967102, 0.2601584792137146, 0.37268614768981934, 1.3743362426757812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729646921157837, -1.148024082183838, -1.5996090173721313, -1.8002324104309082, -0.4183903932571411, -0.0015710120787844062, 0.0016419586027041078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.008785367012024, -1.1220406293869019, 1.4894682168960571, -1.4957189559936523, 0.16123443841934204, 0.39599451422691345, 1.4364752769470215, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296490669250488, -1.1480252742767334, -1.5996108055114746, -1.8002324104309082, -0.4183908700942993, -0.0015669374261051416, 0.0016423182096332312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.019140362739563, -1.103187084197998, 1.437863826751709, -1.551067590713501, 0.14020536839962006, 0.40322843194007874, 1.4231326580047607, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296483516693115, -1.1480261087417603, -1.599610686302185, -1.8002327680587769, -0.41838905215263367, -0.0015632222639396787, 0.001642438000999391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0202548503875732, -1.0683618783950806, 1.377037763595581, -1.6157222986221313, 0.14108896255493164, 0.42855000495910645, 1.3919705152511597, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1480273008346558, -1.599610686302185, -1.8002314567565918, -0.4183882176876068, -0.0015560317551717162, 0.0016448348760604858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0119718313217163, -1.029160499572754, 1.3226776123046875, -1.6760199069976807, 0.16616259515285492, 0.46021318435668945, 1.3597534894943237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729649305343628, -1.1480293273925781, -1.5996088981628418, -1.8002324104309082, -0.41838642954826355, -0.0015513579128310084, 0.0016435165889561176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9865414500236511, -0.9863036274909973, 1.2670061588287354, -1.728279709815979, 0.18154805898666382, 0.49206772446632385, 1.3282183408737183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296497821807861, -1.1480300426483154, -1.599609375, -1.8002326488494873, -0.4183846414089203, -0.0015514777041971684, 0.001641719019971788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9482882022857666, -0.9420012831687927, 1.203731894493103, -1.7706660032272339, 0.1494450867176056, 0.5029997229576111, 1.3167779445648193, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296499013900757, -1.148030161857605, -1.599608063697815, -1.800232172012329, -0.41838234663009644, -0.001552316709421575, 0.0016384832561016083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9270809292793274, -0.9021083116531372, 1.1496027708053589, -1.8113429546356201, 0.12894031405448914, 0.5200164914131165, 1.3006021976470947, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296496629714966, -1.1480313539505005, -1.5996062755584717, -1.8002314567565918, -0.41837936639785767, -0.0015536348801106215, 0.0016340491129085422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9247370362281799, -0.8616273403167725, 1.0950124263763428, -1.8700050115585327, 0.12663574516773224, 0.5445911288261414, 1.2752652168273926, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296503782272339, -1.1480321884155273, -1.5996031761169434, -1.8002325296401978, -0.418375164270401, -0.0015549531672149897, 0.0016296148533001542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.91044682264328, -0.8229743242263794, 1.0328997373580933, -1.9042713642120361, 0.1365402340888977, 0.5714482069015503, 1.2482545375823975, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729650855064392, -1.148033618927002, -1.5996012687683105, -1.8002314567565918, -0.41837480664253235, -0.0015548333758488297, 0.0016262592980638146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8771522641181946, -0.7954031229019165, 0.9656293988227844, -1.9398311376571655, 0.16575129330158234, 0.604870080947876, 1.215109944343567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729650616645813, -1.148032784461975, -1.5995994806289673, -1.8002310991287231, -0.41837409138679504, -0.0015571103431284428, 0.0016233831411227584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8380453586578369, -0.7787976264953613, 0.8998433351516724, -1.9757423400878906, 0.20668701827526093, 0.6350535750389099, 1.1846965551376343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729650855064392, -1.1480333805084229, -1.5995984077453613, -1.800230860710144, -0.41837289929389954, -0.0015613047871738672, 0.0016226640436798334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8043054938316345, -0.7659759521484375, 0.8419467806816101, -2.005411148071289, 0.22059327363967896, 0.651265561580658, 1.168892502784729, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296507358551025, -1.1480334997177124, -1.599596619606018, -1.8002310991287231, -0.4183717966079712, -0.0015676564071327448, 0.001620027469471097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.769527792930603, -0.7597514390945435, 0.7813471555709839, -2.0181970596313477, 0.2121697962284088, 0.6614394783973694, 1.1588685512542725, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296501398086548, -1.1480344533920288, -1.599595308303833, -1.80023193359375, -0.41837024688720703, -0.0015706524718552828, 0.0016189489979296923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7257562279701233, -0.7588462233543396, 0.7197173237800598, -2.0219790935516357, 0.18292780220508575, 0.6623142957687378, 1.1583154201507568, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296504974365234, -1.1480337381362915, -1.5995944738388062, -1.8002320528030396, -0.4183710813522339, -0.0015732890460640192, 0.001618469599634409, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6935029029846191, -0.7654410004615784, 0.6886109113693237, -2.023994207382202, 0.14783044159412384, 0.6649796962738037, 1.1555002927780151, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729649305343628, -1.1480334997177124, -1.5995897054672241, -1.80023193359375, -0.4183722734451294, -0.001575685921125114, 0.001619188580662012, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6903592348098755, -0.7733597159385681, 0.6933781504631042, -2.0214483737945557, 0.1616087108850479, 0.6650494337081909, 1.1553720235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296490669250488, -1.1480332612991333, -1.5995898246765137, -1.8002328872680664, -0.4183734953403473, -0.0015791612677276134, 0.0016208664746955037, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6928189992904663, -0.7737740874290466, 0.6961666345596313, -2.021423101425171, 0.1634957492351532, 0.6649990081787109, 1.1555047035217285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296490669250488, -1.148033618927002, -1.5995899438858032, -1.8002324104309082, -0.4183768332004547, -0.0015811986522749066, 0.0016239823307842016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6933919191360474, -0.7736130356788635, 0.6961567997932434, -2.0214171409606934, 0.16344085335731506, 0.664985716342926, 1.1556565761566162, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296487092971802, -1.1480330228805542, -1.599590539932251, -1.8002331256866455, -0.4183785319328308, -0.001581078744493425, 0.0016279370756819844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6933912634849548, -0.7736021280288696, 0.6961091160774231, -2.0214080810546875, 0.16330687701702118, 0.6649841666221619, 1.1556917428970337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729648470878601, -1.1480330228805542, -1.5995914936065674, -1.800233244895935, -0.4183810353279114, -0.0015811986522749066, 0.0016314125386998057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6933888792991638, -0.7735984921455383, 0.6960086822509766, -2.0213980674743652, 0.16324922442436218, 0.6649866700172424, 1.1557049751281738, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296472787857056, -1.1480326652526855, -1.5995922088623047, -1.8002331256866455, -0.418383926153183, -0.0015820375410839915, 0.0016340491129085422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6933861970901489, -0.7735985517501831, 0.6959205865859985, -2.021388053894043, 0.1632334142923355, 0.6649889349937439, 1.1557081937789917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296463251113892, -1.148032546043396, -1.5995944738388062, -1.8002328872680664, -0.41838619112968445, -0.001581078744493425, 0.0016374046681448817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6933839917182922, -0.7735986709594727, 0.695883572101593, -2.021379232406616, 0.16322945058345795, 0.6649921536445618, 1.155707836151123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296454906463623, -1.1480326652526855, -1.599596619606018, -1.8002334833145142, -0.4183870255947113, -0.0015811986522749066, 0.0016381236491724849, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6933823823928833, -0.7735999822616577, 0.6958678364753723, -2.021371841430664, 0.1632293313741684, 0.6649936437606812, 1.1557066440582275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296444177627563, -1.1480317115783691, -1.5995993614196777, -1.8002325296401978, -0.4183872640132904, -0.00158023985568434, 0.0016382435569539666, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6934048533439636, -0.7736319303512573, 0.6958622336387634, -2.021253824234009, 0.16317780315876007, 0.6649508476257324, 1.1557289361953735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641079902649, -1.1480295658111572, -1.5996053218841553, -1.8002309799194336, -0.4183867871761322, -0.0015765248099341989, 0.0016438760794699192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7421888709068298, -0.7922009825706482, 0.7578089237213135, -2.0108695030212402, 0.12887068092823029, 0.6425462961196899, 1.1791309118270874, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.1480213403701782, -1.599603533744812, -1.8002346754074097, -0.41838762164115906, -0.0015737684443593025, 0.0016414793208241463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8194668889045715, -0.8313536643981934, 0.8736585974693298, -1.9857044219970703, 0.10554590821266174, 0.6338250637054443, 1.1882232427597046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.1480258703231812, -1.599608302116394, -1.800233006477356, -0.4183884561061859, -0.0015729295555502176, 0.0016541825607419014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8209134936332703, -0.8519915342330933, 0.8914679288864136, -1.9476794004440308, 0.10469885915517807, 0.6368123292922974, 1.185417890548706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1480255126953125, -1.5996097326278687, -1.800232172012329, -0.41838955879211426, -0.0015702929813414812, 0.0016511864960193634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7682399749755859, -0.8588841557502747, 0.8497022986412048, -1.885163426399231, 0.11411750316619873, 0.6425034403800964, 1.1790053844451904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.1480252742767334, -1.5996111631393433, -1.8002315759658813, -0.418388694524765, -0.0015663382364436984, 0.0016479507321491838, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6980425715446472, -0.8726011514663696, 0.7925360798835754, -1.8342381715774536, 0.11875768005847931, 0.6604085564613342, 1.1598654985427856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296351194381714, -1.1480252742767334, -1.599610686302185, -1.8002310991287231, -0.41838762164115906, -0.0015631024725735188, 0.0016405205242335796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6489389538764954, -0.9045807719230652, 0.7519349455833435, -1.8006525039672852, 0.10674061626195908, 0.6893871426582336, 1.1302634477615356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296347618103027, -1.148025631904602, -1.5996090173721313, -1.80023193359375, -0.4183851182460785, -0.0015608255052939057, 0.0016353672835975885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6182466149330139, -0.9443983435630798, 0.7182034254074097, -1.7696549892425537, 0.0831642895936966, 0.7200344204902649, 1.099669098854065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1480250358581543, -1.5996105670928955, -1.8002303838729858, -0.41838428378105164, -0.0015617841854691505, 0.0016329705249518156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5915457606315613, -0.9861552119255066, 0.6858731508255005, -1.7152278423309326, 0.06934192031621933, 0.737767219543457, 1.082438588142395, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296373844146729, -1.1480249166488647, -1.5996094942092896, -1.8002312183380127, -0.4183822274208069, -0.001559866708703339, 0.0016285362653434277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5633407235145569, -1.0248332023620605, 0.6461244821548462, -1.659295678138733, 0.0531771220266819, 0.7395004034042358, 1.0808378458023071, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296373844146729, -1.148024559020996, -1.5996075868606567, -1.8002290725708008, -0.4183792471885681, -0.0015597469173371792, 0.0016261395066976547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5549702048301697, -1.0516635179519653, 0.6191779375076294, -1.643871784210205, 0.01283091027289629, 0.7404770851135254, 1.0800602436065674, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296377420425415, -1.1480203866958618, -1.599604606628418, -1.8002253770828247, -0.4183761179447174, -0.0015378157841041684, 0.001623023534193635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5573822855949402, -1.0659990310668945, 0.6060395240783691, -1.646265983581543, -0.025600701570510864, 0.7396197319030762, 1.0815520286560059, 0.5009999993083241, 0.5009999993083241, 0.5009999993083241, 0.5009999993083241, -0.5009999993083241, -0.5009999993083241, -0.5009999993083241, 0.5009999993083241, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296403646469116, -1.148019552230835, -1.5996018648147583, -1.8002289533615112, -0.4183725416660309, -0.0015375760849565268, 0.0016103202942758799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5633730292320251, -1.0682635307312012, 0.607810914516449, -1.6589163541793823, -0.03993035852909088, 0.7411484718322754, 1.0797312259674072, 0.3510000048102913, 0.3510000048102913, 0.3510000048102913, 0.3510000048102913, -0.3510000048102913, -0.3510000048102913, -0.3510000048102913, 0.3510000048102913, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296415567398071, -1.1480259895324707, -1.599600911140442, -1.800228238105774, -0.41837072372436523, -0.0015458451816812158, 0.0016068448312580585, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5659674406051636, -1.0701453685760498, 0.6091595888137817, -1.667488932609558, -0.05609564110636711, 0.7473345994949341, 1.0730913877487183, 0.29879999265565976, 0.29879999265565976, 0.29879999265565976, 0.29879999265565976, -0.29879999265565976, -0.29879999265565976, -0.29879999265565976, 0.29879999265565976, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296421527862549, -1.1480263471603394, -1.5996004343032837, -1.8002281188964844, -0.4183701276779175, -0.0015627429820597172, 0.0016084028175100684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5660155415534973, -1.072058081626892, 0.6149693131446838, -1.6731228828430176, -0.06056911125779152, 0.7481852173805237, 1.0721633434295654, 0.2442000027541276, 0.2442000027541276, 0.2442000027541276, 0.2442000027541276, -0.2442000027541276, -0.2442000027541276, -0.2442000027541276, 0.2442000027541276, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1480263471603394, -1.599599003791809, -1.800228238105774, -0.41837072372436523, -0.0015713715692982078, 0.0016155933262780309, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5739486217498779, -1.0717623233795166, 0.6389228701591492, -1.6880613565444946, -0.05876201018691063, 0.7447072863578796, 1.0765596628189087, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, -0.22320001570733042, -0.22320001570733042, -0.22320001570733042, 0.22320001570733042, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642629623413, -1.1480263471603394, -1.5995984077453613, -1.8002290725708008, -0.4183701276779175, -0.0015740081435069442, 0.0016224243445321918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5866827368736267, -1.071596622467041, 0.6569453477859497, -1.6920825242996216, -0.055637601763010025, 0.7381373047828674, 1.0841238498687744, 0.19739999456720037, 0.19739999456720037, 0.19739999456720037, 0.19739999456720037, -0.19739999456720037, -0.19739999456720037, -0.19739999456720037, 0.19739999456720037, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296438217163086, -1.148026704788208, -1.5995959043502808, -1.8002291917800903, -0.41837024688720703, -0.001577123999595642, 0.0016264989972114563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5904639959335327, -1.072188377380371, 0.6572700142860413, -1.678432822227478, -0.05027969554066658, 0.7367411255836487, 1.086302399635315, 0.17880000491718667, 0.17880000491718667, 0.17880000491718667, 0.17880000491718667, -0.17880000491718667, -0.17880000491718667, -0.17880000491718667, 0.17880000491718667, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296435832977295, -1.1480276584625244, -1.599594235420227, -1.8002287149429321, -0.4183710813522339, -0.0015797605738043785, 0.0016310530481860042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5904655456542969, -1.074387550354004, 0.6546858549118042, -1.6657317876815796, -0.04914035648107529, 0.7352417707443237, 1.0875482559204102, 0.14040000726888469, 0.14040000726888469, 0.14040000726888469, 0.14040000726888469, -0.14040000726888469, -0.14040000726888469, -0.14040000726888469, 0.14040000726888469, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296448945999146, -1.1480276584625244, -1.5995937585830688, -1.8002301454544067, -0.41837313771247864, -0.0015817978419363499, 0.0016344086034223437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5904733538627625, -1.08078134059906, 0.6524695158004761, -1.6567400693893433, -0.05536244437098503, 0.731291651725769, 1.0915746688842773, 0.11520001495277492, 0.11520001495277492, 0.11520001495277492, 0.11520001495277492, -0.11520001495277492, -0.11520001495277492, -0.11520001495277492, 0.11520001495277492, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296456098556519, -1.1480283737182617, -1.5995943546295166, -1.8002300262451172, -0.41837623715400696, -0.0015833558281883597, 0.0016413594130426645, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5934776663780212, -1.0849837064743042, 0.6556156277656555, -1.656062364578247, -0.059673890471458435, 0.7300793528556824, 1.0926848649978638, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296465635299683, -1.1480287313461304, -1.5995941162109375, -1.8002291917800903, -0.41837865114212036, -0.0015838351100683212, 0.0016489095287397504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6023122668266296, -1.085715651512146, 0.6659561991691589, -1.6576261520385742, -0.06464961916208267, 0.7280248999595642, 1.0945229530334473, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480292081832886, -1.5995944738388062, -1.8002291917800903, -0.4183806777000427, -0.0015837153187021613, 0.0016481904312968254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6048122644424438, -1.0857120752334595, 0.6683091521263123, -1.659218668937683, -0.06663576513528824, 0.7281365990638733, 1.0942301750183105, 0.012599998516040855, 0.012599998516040855, 0.012599998516040855, 0.012599998516040855, -0.012599998516040855, -0.012599998516040855, -0.012599998516040855, 0.012599998516040855, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296465635299683, -1.148029088973999, -1.599595069885254, -1.8002289533615112, -0.41838306188583374, -0.0015833558281883597, 0.0016483103390783072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6083359718322754, -1.0846834182739258, 0.6727157831192017, -1.6658384799957275, -0.0665358155965805, 0.7292828559875488, 1.0924394130706787, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480292081832886, -1.5995960235595703, -1.8002291917800903, -0.41838499903678894, -0.0015827566385269165, 0.0016490293201059103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6334676146507263, -1.075756311416626, 0.7028908729553223, -1.7061767578125, -0.063457190990448, 0.7301079630851746, 1.0915275812149048, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964608669281, -1.1480306386947632, -1.5995980501174927, -1.800228476524353, -0.41838595271110535, -0.0015811986522749066, 0.0016489095287397504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6753062009811401, -1.0538667440414429, 0.7453775405883789, -1.768831491470337, -0.06262584775686264, 0.7273717522621155, 1.0949299335479736, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296470403671265, -1.1480295658111572, -1.5995992422103882, -1.800228476524353, -0.41838762164115906, -0.0015790414763614535, 0.0016472317511215806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7131202220916748, -1.0296266078948975, 0.7791606187820435, -1.8144817352294922, -0.06016068905591965, 0.717470645904541, 1.1056549549102783, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.148030161857605, -1.5996005535125732, -1.8002279996871948, -0.41838833689689636, -0.0015758057124912739, 0.0016450745752081275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7478065490722656, -1.013708472251892, 0.8100603818893433, -1.848243236541748, -0.05954542011022568, 0.7033831477165222, 1.120772123336792, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296463251113892, -1.1480299234390259, -1.5996016263961792, -1.8002285957336426, -0.41838905215263367, -0.0015737684443593025, 0.0016405205242335796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7732717990875244, -1.0109552145004272, 0.8291937708854675, -1.8656693696975708, -0.06686670333147049, 0.6914788484573364, 1.1317230463027954, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296477556228638, -1.1480300426483154, -1.5996041297912598, -1.8002283573150635, -0.41838905215263367, -0.0015722104581072927, 0.0016375244595110416, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7750389575958252, -1.0128692388534546, 0.8300033211708069, -1.8597608804702759, -0.06811773777008057, 0.6806300282478333, 1.143247127532959, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480299234390259, -1.5996047258377075, -1.800228238105774, -0.4183891713619232, -0.0015675366157665849, 0.0016339292051270604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7725710272789001, -1.0129917860031128, 0.8291247487068176, -1.8588801622390747, -0.06814805418252945, 0.6807160973548889, 1.1435023546218872, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296462059020996, -1.1480299234390259, -1.599605679512024, -1.8002279996871948, -0.41838905215263367, -0.0015653794398531318, 0.001630453742109239, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7722713947296143, -1.0129648447036743, 0.8288463950157166, -1.8588855266571045, -0.06815596669912338, 0.6809408068656921, 1.1427472829818726, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964608669281, -1.1480295658111572, -1.5996065139770508, -1.800228238105774, -0.4183872640132904, -0.0015634619630873203, 0.0016268584877252579, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7722759246826172, -1.0129340887069702, 0.8287124037742615, -1.858900547027588, -0.06816363334655762, 0.6809782981872559, 1.142481803894043, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645848274231, -1.1480292081832886, -1.5996062755584717, -1.800228476524353, -0.4183860719203949, -0.0015622635837644339, 0.0016261395066976547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7722811698913574, -1.0129187107086182, 0.8286832571029663, -1.858913779258728, -0.0681723803281784, 0.6809834241867065, 1.142408847808838, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296454906463623, -1.1480299234390259, -1.5996044874191284, -1.800229549407959, -0.4183846414089203, -0.0015620238846167922, 0.001622903742827475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7886190414428711, -1.0175436735153198, 0.8459109663963318, -1.8648810386657715, -0.07814685255289078, 0.6691002249717712, 1.1535600423812866, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.148028016090393, -1.5996077060699463, -1.8002291917800903, -0.4183807969093323, -0.0015550730749964714, 0.0016224243445321918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8916681408882141, -1.052527666091919, 0.9725788235664368, -1.8935322761535645, -0.09171240031719208, 0.6450691223144531, 1.177718997001648, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296414375305176, -1.148024320602417, -1.5996063947677612, -1.800231695175171, -0.418379008769989, -0.001555552356876433, 0.0016069647390395403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9893395304679871, -1.0933481454849243, 1.0790196657180786, -1.9165183305740356, -0.059553809463977814, 0.6326430439949036, 1.1733784675598145, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296383380889893, -1.14802086353302, -1.5996030569076538, -1.8002327680587769, -0.41837719082832336, -0.0015550730749964714, 0.0016085226088762283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0644391775131226, -1.1314493417739868, 1.1675655841827393, -1.9275411367416382, 0.005742840468883514, 0.6142941117286682, 1.1631519794464111, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.1480225324630737, -1.5996010303497314, -1.8002334833145142, -0.4183754026889801, -0.0015572301344946027, 0.0016130766598507762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1215134859085083, -1.1591273546218872, 1.248146653175354, -1.924264669418335, 0.08772967755794525, 0.5932055711746216, 1.1564961671829224, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.1480205059051514, -1.5996006727218628, -1.800233006477356, -0.41837409138679504, -0.001559866708703339, 0.0016243418212980032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1651465892791748, -1.1810098886489868, 1.3247061967849731, -1.8995434045791626, 0.1933688223361969, 0.5767028331756592, 1.1611497402191162, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.1480207443237305, -1.599597692489624, -1.8002333641052246, -0.41837191581726074, -0.0015641810605302453, 0.0016317720292136073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2007372379302979, -1.1943840980529785, 1.390182375907898, -1.8660236597061157, 0.29063302278518677, 0.5691946148872375, 1.185500979423523, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636311531067, -1.1480201482772827, -1.599596381187439, -1.8002331256866455, -0.4183710813522339, -0.001568135805428028, 0.001635726890526712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2346019744873047, -1.2055681943893433, 1.4575556516647339, -1.8243688344955444, 0.4118097126483917, 0.5662639737129211, 1.2068206071853638, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1480203866958618, -1.599597692489624, -1.8002320528030396, -0.41837096214294434, -0.0015734088374301791, 0.0016441157786175609, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.259434461593628, -1.2135186195373535, 1.513911247253418, -1.7774677276611328, 0.5313625335693359, 0.5658566355705261, 1.225225806236267, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1480212211608887, -1.5995910167694092, -1.8002324104309082, -0.4183703660964966, -0.001577243790961802, 0.0016466324450448155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2829443216323853, -1.2200748920440674, 1.5548441410064697, -1.7390819787979126, 0.6432960629463196, 0.5629593133926392, 1.2364935874938965, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1480214595794678, -1.5995895862579346, -1.800233006477356, -0.41837191581726074, -0.0015800001565366983, 0.0016459134640172124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.300608515739441, -1.2244253158569336, 1.586860179901123, -1.6888985633850098, 0.7440917491912842, 0.5757188200950623, 1.2426543235778809, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296369075775146, -1.1480224132537842, -1.5995893478393555, -1.8002309799194336, -0.4183734953403473, -0.0015825169393792748, 0.0016471118433400989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3013818264007568, -1.2257883548736572, 1.6209120750427246, -1.6202718019485474, 0.8310813307762146, 0.5873539447784424, 1.2352173328399658, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296364307403564, -1.1480225324630737, -1.5995882749557495, -1.8002309799194336, -0.41837456822395325, -0.0015835955273360014, 0.0016468721441924572, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.279660940170288, -1.215283989906311, 1.6308557987213135, -1.5405563116073608, 0.9087924361228943, 0.6057378649711609, 1.2144633531570435, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1480231285095215, -1.59958815574646, -1.8002309799194336, -0.4183768332004547, -0.0015828764298930764, 0.0016481904312968254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2513656616210938, -1.18229341506958, 1.620836853981018, -1.4737910032272339, 0.957274854183197, 0.6310662627220154, 1.188951015472412, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296395301818848, -1.148025631904602, -1.5995891094207764, -1.8002314567565918, -0.4183802008628845, -0.0015829962212592363, 0.001649269019253552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1991162300109863, -1.1398643255233765, 1.5777935981750488, -1.3837871551513672, 0.9895972609519958, 0.653084397315979, 1.1671273708343506, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1480274200439453, -1.5995880365371704, -1.8002294301986694, -0.41838186979293823, -0.0015844344161450863, 0.0016435165889561176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1347576379776, -1.1098145246505737, 1.5104153156280518, -1.2875516414642334, 1.0207417011260986, 0.6539553999900818, 1.166106104850769, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1480305194854736, -1.5995893478393555, -1.800230622291565, -0.4183865487575531, -0.0015844344161450863, 0.001639441936276853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0803316831588745, -1.1026561260223389, 1.4595812559127808, -1.2165756225585938, 1.0284028053283691, 0.6558670401573181, 1.1650030612945557, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.1480305194854736, -1.5995941162109375, -1.8002268075942993, -0.4183872640132904, -0.0015820375410839915, 0.0016370451776310802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0389865636825562, -1.1164759397506714, 1.442584753036499, -1.1540690660476685, 1.0173391103744507, 0.6527440547943115, 1.1551775932312012, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296432256698608, -1.1480317115783691, -1.5995960235595703, -1.8002283573150635, -0.41838762164115906, -0.0015784422867000103, 0.0016344086034223437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0252697467803955, -1.143501877784729, 1.4497485160827637, -1.1224294900894165, 1.0401415824890137, 0.6369109749794006, 1.1046851873397827, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480331420898438, -1.5995959043502808, -1.8002289533615112, -0.41838833689689636, -0.0015762851107865572, 0.001631891936995089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0280423164367676, -1.1644046306610107, 1.46275794506073, -1.1130540370941162, 1.069525957107544, 0.6442919373512268, 1.0783714056015015, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480334997177124, -1.599597454071045, -1.8002285957336426, -0.4183889329433441, -0.0015732890460640192, 0.0016269783955067396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0318340063095093, -1.1672680377960205, 1.4663859605789185, -1.1176328659057617, 1.0741978883743286, 0.6519647240638733, 1.0778224468231201, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729644775390625, -1.1480329036712646, -1.5995981693267822, -1.8002296686172485, -0.4183894395828247, -0.0015712517779320478, 0.0016250609187409282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0319223403930664, -1.1662875413894653, 1.4663323163986206, -1.1176958084106445, 1.0725834369659424, 0.6517564654350281, 1.079650640487671, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729644775390625, -1.1480332612991333, -1.59959876537323, -1.8002296686172485, -0.41838929057121277, -0.001567416824400425, 0.0016225442523136735, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0319210290908813, -1.1660107374191284, 1.466059684753418, -1.1176961660385132, 1.0722012519836426, 0.6516242623329163, 1.079819679260254, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729644536972046, -1.148033618927002, -1.5995995998382568, -1.8002305030822754, -0.41838881373405457, -0.0015641810605302453, 0.001620626775547862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.033988356590271, -1.1687883138656616, 1.4664931297302246, -1.1149024963378906, 1.0870091915130615, 0.6617010831832886, 1.0692187547683716, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296459674835205, -1.1480344533920288, -1.599600911140442, -1.8002300262451172, -0.41838738322257996, -0.0015622635837644339, 0.0016187092987820506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0382174253463745, -1.1867663860321045, 1.488110899925232, -1.1026935577392578, 1.1683118343353271, 0.7106980681419373, 1.0128644704818726, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296451330184937, -1.1480356454849243, -1.5996012687683105, -1.8002309799194336, -0.4183860719203949, -0.001560585806146264, 0.0016185893910005689, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0408625602722168, -1.2026034593582153, 1.5100940465927124, -1.0989445447921753, 1.24570894241333, 0.7618950605392456, 0.9206744432449341, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296475172042847, -1.148034930229187, -1.599601149559021, -1.800233006477356, -0.41838547587394714, -0.0015602261992171407, 0.0016185893910005689, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0556907653808594, -1.2181754112243652, 1.533970832824707, -1.1131107807159424, 1.3571338653564453, 0.8011698722839355, 0.8068253397941589, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296478748321533, -1.1480357646942139, -1.5996031761169434, -1.8002327680587769, -0.41838380694389343, -0.0015608255052939057, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0678256750106812, -1.229595422744751, 1.5526455640792847, -1.1314889192581177, 1.4607406854629517, 0.8596122860908508, 0.6858305931091309, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296475172042847, -1.1480364799499512, -1.5996017456054688, -1.8002328872680664, -0.4183799624443054, -0.0015586683293804526, 0.0016284164739772677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0654332637786865, -1.2386528253555298, 1.5560868978500366, -1.1347534656524658, 1.5384578704833984, 0.8919048309326172, 0.5839682817459106, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729647159576416, -1.148036003112793, -1.5996001958847046, -1.8002338409423828, -0.4183758795261383, -0.001559866708703339, 0.0016296148533001542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0395653247833252, -1.2481099367141724, 1.5446816682815552, -1.1031781435012817, 1.575517177581787, 0.8920876979827881, 0.537604808807373, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296476364135742, -1.1480361223220825, -1.5996004343032837, -1.8002333641052246, -0.418375164270401, -0.001561424694955349, 0.0016335697146132588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0025278329849243, -1.256692886352539, 1.5144978761672974, -1.0586133003234863, 1.5481077432632446, 0.8579566478729248, 0.5622991323471069, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296477556228638, -1.1480364799499512, -1.5995984077453613, -1.8002325296401978, -0.41837337613105774, -0.001564420759677887, 0.0016390824457630515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9605855345726013, -1.2670143842697144, 1.482593059539795, -1.0035494565963745, 1.5007297992706299, 0.815656304359436, 0.619409441947937, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296465635299683, -1.1480364799499512, -1.5995960235595703, -1.8002325296401978, -0.4183730185031891, -0.0015675366157665849, 0.0016442356863990426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9205464720726013, -1.2777540683746338, 1.4547289609909058, -0.9464999437332153, 1.4587481021881104, 0.7754333019256592, 0.6685018539428711, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729646921157837, -1.1480351686477661, -1.5995949506759644, -1.8002307415008545, -0.4183725416660309, -0.001570412889122963, 0.0016455539735034108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8839181065559387, -1.2872674465179443, 1.4344831705093384, -0.8844467997550964, 1.4212855100631714, 0.7436484694480896, 0.7071923613548279, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296468019485474, -1.1480332612991333, -1.599593997001648, -1.8002309799194336, -0.4183708429336548, -0.0015728096477687359, 0.0016472317511215806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8482518792152405, -1.2941089868545532, 1.421826720237732, -0.8244389295578003, 1.3866112232208252, 0.7297077178955078, 0.7401534914970398, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296465635299683, -1.1480337381362915, -1.599593162536621, -1.8002303838729858, -0.4183690547943115, -0.0015755660133436322, 0.001648549921810627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8183108568191528, -1.300342321395874, 1.4057981967926025, -0.7740375995635986, 1.345579981803894, 0.712445855140686, 0.7840027213096619, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296459674835205, -1.1480342149734497, -1.599590539932251, -1.8002313375473022, -0.4183706045150757, -0.0015795208746567369, 0.0016475912416353822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7953668832778931, -1.3096281290054321, 1.3856123685836792, -0.7327890992164612, 1.3046650886535645, 0.6813638210296631, 0.8344149589538574, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296453714370728, -1.1480324268341064, -1.5995886325836182, -1.8002309799194336, -0.4183715581893921, -0.0015800001565366983, 0.001646272954531014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7739242911338806, -1.3221571445465088, 1.367479681968689, -0.6897231936454773, 1.2716064453125, 0.6539139747619629, 0.8739985227584839, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296446561813354, -1.1480320692062378, -1.5995879173278809, -1.8002309799194336, -0.4183737337589264, -0.0015797605738043785, 0.0016457935562357306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7607303261756897, -1.3315800428390503, 1.3582407236099243, -0.6611512303352356, 1.2412676811218262, 0.640570342540741, 0.9105530381202698, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296444177627563, -1.14803147315979, -1.5995877981185913, -1.800230860710144, -0.41837576031684875, -0.00158023985568434, 0.0016421983018517494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7487713694572449, -1.3375908136367798, 1.357465386390686, -0.6353591680526733, 1.220950722694397, 0.6360769867897034, 0.9318748712539673, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480313539505005, -1.5995880365371704, -1.8002314567565918, -0.41837790608406067, -0.0015807192539796233, 0.001637884066440165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7282445430755615, -1.3427222967147827, 1.3571009635925293, -0.5930197238922119, 1.2040317058563232, 0.6321493983268738, 0.9531606435775757, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729642629623413, -1.1480313539505005, -1.5995887517929077, -1.8002312183380127, -0.4183810353279114, -0.0015804795548319817, 0.0016347680939361453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7038164734840393, -1.3482409715652466, 1.3508533239364624, -0.5473657846450806, 1.1791950464248657, 0.6272493004798889, 0.9754746556282043, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296416759490967, -1.1480309963226318, -1.599589467048645, -1.8002324104309082, -0.41838404536247253, -0.0015815581427887082, 0.001629734761081636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6794444918632507, -1.3564143180847168, 1.3449549674987793, -0.503315269947052, 1.1553459167480469, 0.6181367039680481, 0.9986936450004578, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296419143676758, -1.1480306386947632, -1.5995913743972778, -1.8002334833145142, -0.41838595271110535, -0.0015791612677276134, 0.0016263792058452964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6505669355392456, -1.3652844429016113, 1.337730050086975, -0.4559248685836792, 1.12995183467865, 0.6020632386207581, 1.019669532775879, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296409606933594, -1.1480306386947632, -1.5995930433273315, -1.8002336025238037, -0.4183867871761322, -0.0015783223789185286, 0.0016254204092547297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6282892823219299, -1.3725498914718628, 1.331961989402771, -0.41964346170425415, 1.1018034219741821, 0.5760942697525024, 1.0365896224975586, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480311155319214, -1.5995960235595703, -1.8002334833145142, -0.41838690638542175, -0.001574847032316029, 0.00162374263163656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6139845848083496, -1.377662181854248, 1.331005334854126, -0.3968815803527832, 1.078949213027954, 0.5487864017486572, 1.048421859741211, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296403646469116, -1.1480302810668945, -1.5995979309082031, -1.8002338409423828, -0.41838666796684265, -0.0015734088374301791, 0.0016218251548707485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6057246923446655, -1.3821762800216675, 1.3310322761535645, -0.3825991451740265, 1.0612413883209229, 0.5284055471420288, 1.057625651359558, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296397686004639, -1.1480305194854736, -1.5995994806289673, -1.8002334833145142, -0.41838738322257996, -0.0015699334908276796, 0.001620626775547862, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5949932932853699, -1.3888654708862305, 1.3310707807540894, -0.3682911694049835, 1.0424481630325317, 0.5119343400001526, 1.0590745210647583, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640007019043, -1.1480302810668945, -1.5996010303497314, -1.8002339601516724, -0.4183879792690277, -0.0015666977269575, 0.0016209862660616636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.576744794845581, -1.397560715675354, 1.3300820589065552, -0.34573543071746826, 1.0259754657745361, 0.492445707321167, 1.0592315196990967, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296391725540161, -1.1480292081832886, -1.5996047258377075, -1.8002324104309082, -0.41838714480400085, -0.0015623833751305938, 0.0016243418212980032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5589113831520081, -1.405303716659546, 1.3289523124694824, -0.3185631036758423, 1.0142666101455688, 0.47904613614082336, 1.0670214891433716, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296333312988281, -1.1480292081832886, -1.5996090173721313, -1.8002339601516724, -0.41838642954826355, -0.0015470435610041022, 0.0016280569834634662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5563602447509766, -1.4108525514602661, 1.329145908355713, -0.2964223623275757, 1.0054608583450317, 0.4713492691516876, 1.0744386911392212, 0.16680001793326915, 0.16680001793326915, 0.16680001793326915, 0.16680001793326915, -0.16680001793326915, -0.16680001793326915, -0.16680001793326915, 0.16680001793326915, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296332120895386, -1.1480295658111572, -1.5996094942092896, -1.8002333641052246, -0.4183848798274994, -0.001555552356876433, 0.0016306934412568808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5563814640045166, -1.4135085344314575, 1.3325355052947998, -0.2820933163166046, 0.9981794953346252, 0.47056251764297485, 1.080723524093628, 0.2039999972332965, 0.2039999972332965, 0.2039999972332965, 0.2039999972332965, -0.2039999972332965, -0.2039999972332965, -0.2039999972332965, 0.2039999972332965, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296345233917236, -1.1480311155319214, -1.5996108055114746, -1.800233006477356, -0.41838282346725464, -0.0015595072181895375, 0.0016365657793357968, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5528656244277954, -1.4160845279693604, 1.3370400667190552, -0.2686871588230133, 0.9923163652420044, 0.4687362313270569, 1.0872340202331543, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296364307403564, -1.148027777671814, -1.5996108055114746, -1.800230860710144, -0.4183817505836487, -0.0015571103431284428, 0.0016377641586586833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.545722246170044, -1.4186339378356934, 1.3432594537734985, -0.2587699890136719, 0.9979516863822937, 0.474394828081131, 1.092653512954712, 0.5561999983839936, 0.5561999983839936, 0.5561999983839936, 0.5561999983839936, -0.5561999983839936, -0.5561999983839936, -0.5561999983839936, 0.5561999983839936, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296366691589355, -1.1480296850204468, -1.5996103286743164, -1.800230622291565, -0.4183802008628845, -0.0015583087224513292, 0.0016406404320150614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.542640745639801, -1.4192434549331665, 1.3433074951171875, -0.25919169187545776, 0.99918532371521, 0.474651038646698, 1.0927025079727173, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729636788368225, -1.1480298042297363, -1.5996100902557373, -1.8002309799194336, -0.41837790608406067, -0.001558428630232811, 0.001640880131162703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5425859689712524, -1.419443130493164, 1.343303918838501, -0.2595694363117218, 0.9991827011108398, 0.47456416487693787, 1.092690348625183, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6399688124656677, 0.0, 0.0, 1.7296401262283325, -1.1480292081832886, -1.5996099710464478, -1.800229549407959, -0.41837480664253235, -0.001563701662234962, 0.0016443554777652025, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5426154136657715, -1.4181047677993774, 1.3453885316848755, -0.2595865726470947, 0.9989519119262695, 0.4750085473060608, 1.0960400104522705, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296404838562012, -1.1480299234390259, -1.5996054410934448, -1.800229787826538, -0.41837313771247864, -0.0015675366157665849, 0.0016472317511215806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.549407958984375, -1.4143199920654297, 1.3589805364608765, -0.2773956060409546, 0.9945048093795776, 0.47890952229499817, 1.126030683517456, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729640245437622, -1.1480302810668945, -1.5996021032333374, -1.8002309799194336, -0.4183720350265503, -0.0015712517779320478, 0.0016483103390783072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5746926069259644, -1.406620979309082, 1.3708136081695557, -0.32915082573890686, 0.9876567721366882, 0.4770156443119049, 1.1548758745193481, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6399688124656677, 0.0, 0.0, 1.729641079902649, -1.1480296850204468, -1.599600911140442, -1.8002302646636963, -0.4183725416660309, -0.0015738882357254624, 0.0016493889270350337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6313347220420837, -1.3919868469238281, 1.3881311416625977, -0.4356939196586609, 0.9812968373298645, 0.4691319465637207, 1.1564712524414062, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296432256698608, -1.1480271816253662, -1.5995980501174927, -1.8002289533615112, -0.4183703660964966, -0.00159366219304502, 0.0016472317511215806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7267667055130005, -1.3735589981079102, 1.41873300075531, -0.6057742834091187, 0.9797191619873047, 0.44860023260116577, 1.1138718128204346, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729643702507019, -1.1480321884155273, -1.5995970964431763, -1.8002314567565918, -0.41837024688720703, -0.0016009726095944643, 0.001643157098442316, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8173871636390686, -1.3576233386993408, 1.442458152770996, -0.7560600638389587, 0.9561530947685242, 0.40098652243614197, 1.072823405265808, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296457290649414, -1.1480273008346558, -1.5995954275131226, -1.8002324104309082, -0.41837000846862793, -0.0015984559431672096, 0.001638003857806325, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8613061904907227, -1.3460924625396729, 1.4476885795593262, -0.81638503074646, 0.8996260166168213, 0.32049617171287537, 1.0962427854537964, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296441793441772, -1.148031234741211, -1.5995945930480957, -1.8002322912216187, -0.4183710813522339, -0.0015967781655490398, 0.001636445871554315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8723879456520081, -1.3378708362579346, 1.4491292238235474, -0.8285383582115173, 0.8345277309417725, 0.20883794128894806, 1.1365426778793335, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296454906463623, -1.1480296850204468, -1.599592685699463, -1.8002327680587769, -0.4183730185031891, -0.0015941415913403034, 0.0016305736498907208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8673560619354248, -1.331060528755188, 1.4498642683029175, -0.8211351037025452, 0.7666494250297546, 0.07784569263458252, 1.1674162149429321, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296463251113892, -1.1480287313461304, -1.5995908975601196, -1.8002327680587769, -0.41837576031684875, -0.0015907860361039639, 0.0016279370756819844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8638456463813782, -1.3305542469024658, 1.4526128768920898, -0.8117121458053589, 0.7615525722503662, -0.01884111948311329, 1.1834588050842285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296464443206787, -1.1480287313461304, -1.5995906591415405, -1.8002327680587769, -0.41837742924690247, -0.0015894677489995956, 0.001625899807550013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8637632727622986, -1.3304747343063354, 1.4526208639144897, -0.8117658495903015, 0.7670735716819763, 0.03047912009060383, 1.1819496154785156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.72964608669281, -1.1480283737182617, -1.5995911359786987, -1.8002327680587769, -0.4183810353279114, -0.0015887486515566707, 0.0016241021221503615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8638428449630737, -1.3303873538970947, 1.4526234865188599, -0.811994731426239, 0.7676380276679993, 0.04096795246005058, 1.181007742881775, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296487092971802, -1.1480276584625244, -1.5995923280715942, -1.800233006477356, -0.4183829426765442, -0.0015834756195545197, 0.0016224243445321918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.892484724521637, -1.3234410285949707, 1.4712766408920288, -0.8736584782600403, 0.7330837845802307, -0.00387330143712461, 1.1513653993606567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296425104141235, -1.148024320602417, -1.5995941162109375, -1.8002327680587769, -0.41838690638542175, -0.0015743676340207458, 0.0016197878867387772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9480705261230469, -1.30150306224823, 1.5102969408035278, -1.011473298072815, 0.6248813271522522, -0.04726410657167435, 1.0828596353530884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414700361461, -0.04994794424559958, -0.004547405378515185, -8.123163223266602], [0.049923687548973535, -0.9987389724179832, 0.0053000372624884785, -4.469662666320801], [-0.00480639694059264, 0.00506634376150858, 0.9999756150573571, 0.020262055099010468], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480225324630737, -1.599595069885254, -1.8002341985702515, -0.41838690638542175, -0.001574966823682189, 0.0016185893910005689, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9804040193557739, -1.2751919031143188, 1.5300230979919434, -1.1126980781555176, 0.457040935754776, -0.04986707866191864, 1.0093899965286255, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998741182509439, -0.04995418066236961, -0.004542047335572831, -8.123125076293945], [0.04992998743449603, -0.9987386976239689, 0.005292468532682758, -4.4696173667907715], [-0.004800699369707968, 0.005059021914333536, 0.9999756794956726, 0.02027023211121559], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296452522277832, -1.1480261087417603, -1.5995972156524658, -1.8002346754074097, -0.41838786005973816, -0.0015729295555502176, 0.0016209862660616636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9957067370414734, -1.2566792964935303, 1.5344370603561401, -1.1995601654052734, 0.27918559312820435, -0.027490973472595215, 0.9625126719474792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411848024825, -0.04995257195779977, -0.004559203234597194, -8.123210906982422], [0.049928352172938555, -0.9987388455414072, 0.005279967415817422, -4.469623565673828], [-0.004817201327383709, 0.005045687407867025, 0.9999756675089417, 0.020076239481568336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729644536972046, -1.1480255126953125, -1.5995985269546509, -1.8002346754074097, -0.41838809847831726, -0.0015714913606643677, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9910333156585693, -1.245893955230713, 1.5380890369415283, -1.2580822706222534, 0.14664113521575928, 0.018515387549996376, 0.9585184454917908, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987423507867195, -0.049930015800316994, -0.004550853458154579, -8.123137474060059], [0.04990584567301016, -0.9987399786304691, 0.005278413859521061, -4.469810962677002], [-0.004808670572954198, 0.005044661276120119, 0.9999757137450539, 0.020139329135417938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645013809204, -1.1480249166488647, -1.5996007919311523, -1.8002331256866455, -0.4183870255947113, -0.0015692143933847547, 0.0016269783955067396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9810194969177246, -1.2374427318572998, 1.5423123836517334, -1.315680980682373, 0.06773160398006439, 0.06809460371732712, 0.9802854061126709, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987403195189566, -0.049970610200790744, -0.00455107496451595, -8.123318672180176], [0.049946442728686584, -0.9987379534683845, 0.005277609357719137, -4.469479560852051], [-0.00480905665614849, 0.005043651251155493, 0.9999757169832348, 0.020129982382059097], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296441793441772, -1.1480246782302856, -1.5996023416519165, -1.8002327680587769, -0.4183872640132904, -0.0015664580278098583, 0.0016315323300659657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9712840914726257, -1.227624535560608, 1.5375354290008545, -1.393359661102295, -0.01773461513221264, 0.14031286537647247, 1.011858582496643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412535209812, -0.049949806763151874, -0.0045744201449845, -8.123258590698242], [0.049925465306731254, -0.998738940693052, 0.005289258665153186, -4.469649791717529], [-0.0048328489781315044, 0.005054220775184969, 0.9999755489126273, 0.019993523135781288], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729643702507019, -1.148024082183838, -1.5996050834655762, -1.8002307415008545, -0.41838929057121277, -0.0015650199493393302, 0.001636445871554315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9655410647392273, -1.217639684677124, 1.521280288696289, -1.4702926874160767, -0.12594306468963623, 0.20512163639068604, 1.0676385164260864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998740565787662, -0.04996578047314035, -0.004550058444672991, -8.123315811157227], [0.04994167358175699, -0.9987382528294817, 0.005266077759279112, -4.469522953033447], [-0.004807441106579361, 0.00503220794716247, 0.9999757824033456, 0.020087268203496933], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296427488327026, -1.1480239629745483, -1.5996068716049194, -1.8002309799194336, -0.4183870255947113, -0.0015652596484869719, 0.0016429173992946744, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9530931115150452, -1.2125424146652222, 1.5046254396438599, -1.5195460319519043, -0.2175247073173523, 0.2502189874649048, 1.1156824827194214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987409348446454, -0.04995625057055478, -0.00457363034969537, -8.123250007629395], [0.04993208642301946, -0.9987387990480909, 0.0052533819032602475, -4.469597339630127], [-0.00483030134544674, 0.0050183966472701486, 0.9999757416477676, 0.019839344546198845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296428680419922, -1.148024082183838, -1.5996071100234985, -1.8002310991287231, -0.4183858335018158, -0.0015653794398531318, 0.0016460332553833723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9252005219459534, -1.2113462686538696, 1.487036108970642, -1.5402203798294067, -0.2986361086368561, 0.27806025743484497, 1.1476603746414185, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296421527862549, -1.148024559020996, -1.599606990814209, -1.800231695175171, -0.41838428378105164, -0.0015662183286622167, 0.0016465126536786556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8919764161109924, -1.211244821548462, 1.465282678604126, -1.556624412536621, -0.3693438768386841, 0.291774183511734, 1.176734209060669, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480250358581543, -1.5996074676513672, -1.8002313375473022, -0.4183831810951233, -0.001565858838148415, 0.0016478309407830238, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8686951994895935, -1.2118910551071167, 1.4431809186935425, -1.5749759674072266, -0.425332248210907, 0.29886212944984436, 1.2037897109985352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296406030654907, -1.1480250358581543, -1.5996065139770508, -1.8002318143844604, -0.4183811545372009, -0.0015653794398531318, 0.0016493889270350337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8676722645759583, -1.2129583358764648, 1.4420475959777832, -1.5764089822769165, -0.42657992243766785, 0.297511488199234, 1.2085962295532227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296404838562012, -1.148024559020996, -1.5996067523956299, -1.8002309799194336, -0.41838008165359497, -0.0015656191390007734, 0.0016508270055055618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.869547426700592, -1.212945818901062, 1.4429460763931274, -1.5759153366088867, -0.42219969630241394, 0.297447144985199, 1.2070435285568237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480246782302856, -1.5996053218841553, -1.8002313375473022, -0.41837742924690247, -0.0015682557132095098, 0.0016495087184011936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8702052235603333, -1.2128868103027344, 1.4434665441513062, -1.5755078792572021, -0.4218108057975769, 0.2974470257759094, 1.2067068815231323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296398878097534, -1.1480250358581543, -1.599604606628418, -1.8002318143844604, -0.4183758795261383, -0.0015707723796367645, 0.0016483103390783072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8700998425483704, -1.2128419876098633, 1.4434537887573242, -1.575528621673584, -0.42164841294288635, 0.2974436581134796, 1.2066401243209839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296396493911743, -1.1480259895324707, -1.5996006727218628, -1.8002326488494873, -0.41837504506111145, -0.0015729295555502176, 0.0016419586027041078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8652108311653137, -1.212564468383789, 1.4309747219085693, -1.5999788045883179, -0.46705663204193115, 0.3092360198497772, 1.2296849489212036, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7296394109725952, -1.148025631904602, -1.5996010303497314, -1.8002328872680664, -0.41837385296821594, -0.0015760454116389155, 0.001640280825085938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8526424765586853, -1.2179007530212402, 1.4077578783035278, -1.618741750717163, -0.5443081259727478, 0.3420811891555786, 1.2662907838821411, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640007019043, -1.1480257511138916, -1.5996001958847046, -1.8002334833145142, -0.4183737337589264, -0.0015789216849952936, 0.0016359665896743536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8327861428260803, -1.228798747062683, 1.374516248703003, -1.6113978624343872, -0.5882134437561035, 0.3824990689754486, 1.2924113273620605, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480262279510498, -1.5995991230010986, -1.8002320528030396, -0.41837337613105774, -0.0015813184436410666, 0.001631891936995089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.816351592540741, -1.2440217733383179, 1.3353523015975952, -1.5986732244491577, -0.6355387568473816, 0.3925577998161316, 1.304492473602295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3495005965232849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296394109725952, -1.148026704788208, -1.5995975732803345, -1.800233244895935, -0.41837313771247864, -0.0015855130041018128, 0.0016272180946543813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8088980317115784, -1.2605723142623901, 1.3112552165985107, -1.585461139678955, -0.6641637086868286, 0.3794073760509491, 1.3124059438705444, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296390533447266, -1.148027777671814, -1.5995951890945435, -1.8002341985702515, -0.41837456822395325, -0.001586112193763256, 0.0016250609187409282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.796666145324707, -1.2754045724868774, 1.302506685256958, -1.5615105628967285, -0.6851436495780945, 0.36169037222862244, 1.3193140029907227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296411991119385, -1.1480274200439453, -1.5995944738388062, -1.8002334833145142, -0.41837504506111145, -0.0015865915920585394, 0.0016248212195932865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7729702591896057, -1.290465235710144, 1.2978729009628296, -1.5179228782653809, -0.6985927224159241, 0.34046489000320435, 1.3145462274551392, 0.5142000046405163, 0.5142000046405163, 0.5142000046405163, 0.5142000046405163, -0.5142000046405163, -0.5142000046405163, -0.5142000046405163, 0.5142000046405163, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296404838562012, -1.1480294466018677, -1.5995924472808838, -1.8002341985702515, -0.41837841272354126, -0.0015909058274701238, 0.0016201473772525787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7524622678756714, -1.3059011697769165, 1.2842680215835571, -1.4808167219161987, -0.715594470500946, 0.32282936573028564, 1.2942055463790894, 0.42960000797942444, 0.42960000797942444, 0.42960000797942444, 0.42960000797942444, -0.42960000797942444, -0.42960000797942444, -0.42960000797942444, 0.42960000797942444, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296409606933594, -1.148030400276184, -1.5995910167694092, -1.800236463546753, -0.4183804392814636, -0.0015887486515566707, 0.001606485340744257, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7382098436355591, -1.3240214586257935, 1.2681230306625366, -1.448371171951294, -0.7313367128372192, 0.31077948212623596, 1.2800403833389282, 0.2999999913540515, 0.2999999913540515, 0.2999999913540515, 0.2999999913540515, -0.2999999913540515, -0.2999999913540515, -0.2999999913540515, 0.2999999913540515, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641318321228, -1.1480294466018677, -1.5995913743972778, -1.8002351522445679, -0.4183817505836487, -0.0015880296705290675, 0.001607923419214785, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7239280939102173, -1.3410247564315796, 1.255927324295044, -1.4176522493362427, -0.7434762716293335, 0.30163145065307617, 1.2827366590499878, 0.2729999911654126, 0.2729999911654126, 0.2729999911654126, 0.2729999911654126, -0.2729999911654126, -0.2729999911654126, -0.2729999911654126, 0.2729999911654126, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296406030654907, -1.1480295658111572, -1.5995911359786987, -1.8002344369888306, -0.41838452219963074, -0.0015859922859817743, 0.0016127171693369746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7165459990501404, -1.3554396629333496, 1.2537604570388794, -1.4022982120513916, -0.7506943941116333, 0.29223665595054626, 1.286534070968628, 0.24539998180263645, 0.24539998180263645, 0.24539998180263645, 0.24539998180263645, -0.24539998180263645, -0.24539998180263645, -0.24539998180263645, 0.24539998180263645, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296409606933594, -1.1480293273925781, -1.5995923280715942, -1.800235629081726, -0.41838595271110535, -0.001583235920406878, 0.0016219449462369084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7135351300239563, -1.3687927722930908, 1.2537997961044312, -1.3864115476608276, -0.7526912689208984, 0.2784004807472229, 1.2781779766082764, 0.2280000105008974, 0.2280000105008974, 0.2280000105008974, 0.2280000105008974, -0.2280000105008974, -0.2280000105008974, -0.2280000105008974, 0.2280000105008974, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296421527862549, -1.1480295658111572, -1.599593162536621, -1.8002352714538574, -0.41838642954826355, -0.001580839161761105, 0.0016306934412568808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7114315032958984, -1.3832646608352661, 1.256162405014038, -1.3592143058776855, -0.7431290745735168, 0.261257529258728, 1.2499672174453735, 0.20639999463008, 0.20639999463008, 0.20639999463008, 0.20639999463008, -0.20639999463008, -0.20639999463008, -0.20639999463008, 0.20639999463008, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729642391204834, -1.1480293273925781, -1.5995951890945435, -1.800235390663147, -0.41838738322257996, -0.0015788017772138119, 0.0016356069827452302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7099060416221619, -1.395965814590454, 1.262066125869751, -1.3293006420135498, -0.7266530394554138, 0.24091455340385437, 1.2186932563781738, 0.18780000498006633, 0.18780000498006633, 0.18780000498006633, 0.18780000498006633, -0.18780000498006633, -0.18780000498006633, -0.18780000498006633, 0.18780000498006633, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296433448791504, -1.148029088973999, -1.5995968580245972, -1.8002358675003052, -0.41838738322257996, -0.0015755660133436322, 0.0016383633483201265, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7060849666595459, -1.4054654836654663, 1.26798677444458, -1.3021979331970215, -0.7165355086326599, 0.22730430960655212, 1.1931407451629639, 0.1578000178703895, 0.1578000178703895, 0.1578000178703895, 0.1578000178703895, -0.1578000178703895, -0.1578000178703895, -0.1578000178703895, 0.1578000178703895, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480293273925781, -1.5995993614196777, -1.800235390663147, -0.41838714480400085, -0.0015735287452116609, 0.0016425579087808728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7048046588897705, -1.41254723072052, 1.2721257209777832, -1.2895879745483398, -0.7095598578453064, 0.21621662378311157, 1.1830004453659058, 0.15180000472854782, 0.15180000472854782, 0.15180000472854782, 0.15180000472854782, -0.15180000472854782, -0.15180000472854782, -0.15180000472854782, 0.15180000472854782, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.1480293273925781, -1.599600911140442, -1.8002355098724365, -0.41838809847831726, -0.0015713715692982078, 0.001643276889808476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.704802393913269, -1.4201306104660034, 1.2734674215316772, -1.2806103229522705, -0.7083600759506226, 0.21300461888313293, 1.1791820526123047, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729644536972046, -1.1480287313461304, -1.5996019840240479, -1.8002352714538574, -0.41838762164115906, -0.0015690946020185947, 0.0016435165889561176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7052726149559021, -1.4274600744247437, 1.2722963094711304, -1.2653590440750122, -0.7080141305923462, 0.20885854959487915, 1.175315499305725, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296440601348877, -1.1480284929275513, -1.599603533744812, -1.8002362251281738, -0.4183870255947113, -0.0015686152037233114, 0.0016451943665742874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7077988386154175, -1.4319560527801514, 1.2755306959152222, -1.2588733434677124, -0.7028569579124451, 0.20388977229595184, 1.1603232622146606, 0.13739998104808096, 0.13739998104808096, 0.13739998104808096, 0.13739998104808096, -0.13739998104808096, -0.13739998104808096, -0.13739998104808096, 0.13739998104808096, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645848274231, -1.1480271816253662, -1.599605679512024, -1.8002362251281738, -0.4183867871761322, -0.001568135805428028, 0.0016496285097673535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7111660242080688, -1.4370646476745605, 1.289635181427002, -1.2518231868743896, -0.6837472319602966, 0.1949738711118698, 1.1412321329116821, 0.10920000181093323, 0.10920000181093323, 0.10920000181093323, 0.10920000181093323, -0.10920000181093323, -0.10920000181093323, -0.10920000181093323, 0.10920000181093323, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296453714370728, -1.1480276584625244, -1.5996074676513672, -1.800235390663147, -0.41838452219963074, -0.0015671771252527833, 0.0016527444822713733, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7131991982460022, -1.439057469367981, 1.3010387420654297, -1.2467596530914307, -0.6657295823097229, 0.18902502954006195, 1.1238253116607666, 0.05099999616434285, 0.05099999616434285, 0.05099999616434285, 0.05099999616434285, -0.05099999616434285, -0.05099999616434285, -0.05099999616434285, 0.05099999616434285, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645848274231, -1.1480259895324707, -1.5996077060699463, -1.8002362251281738, -0.41838428378105164, -0.0015669374261051416, 0.0016502278158441186, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7100464701652527, -1.4399170875549316, 1.3016709089279175, -1.2294328212738037, -0.6649377942085266, 0.18779172003269196, 1.1227442026138306, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, -0.03299999603858363, -0.03299999603858363, -0.03299999603858363, 0.03299999603858363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296454906463623, -1.1480261087417603, -1.5996074676513672, -1.8002359867095947, -0.41838186979293823, -0.0015669374261051416, 0.0016467523528262973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7046213150024414, -1.4422576427459717, 1.2980479001998901, -1.2105343341827393, -0.6652954816818237, 0.18481376767158508, 1.1179022789001465, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, -0.03839998035640508, -0.03839998035640508, -0.03839998035640508, 0.03839998035640508, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296451330184937, -1.148025631904602, -1.599607229232788, -1.8002357482910156, -0.41837888956069946, -0.0015676564071327448, 0.0016421983018517494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6999806761741638, -1.4447433948516846, 1.2964495420455933, -1.2037684917449951, -0.6679563522338867, 0.183447927236557, 1.1163252592086792, 0.02820000124501658, 0.02820000124501658, 0.02820000124501658, 0.02820000124501658, -0.02820000124501658, -0.02820000124501658, -0.02820000124501658, 0.02820000124501658, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296452522277832, -1.1480247974395752, -1.5996065139770508, -1.800236463546753, -0.41837766766548157, -0.0015702929813414812, 0.0016389626543968916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6992226243019104, -1.4453579187393188, 1.2983644008636475, -1.203903317451477, -0.670011043548584, 0.18375040590763092, 1.117655634880066, 0.013199988040295318, 0.013199988040295318, 0.013199988040295318, 0.013199988040295318, -0.013199988040295318, -0.013199988040295318, -0.013199988040295318, 0.013199988040295318, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296451330184937, -1.1480244398117065, -1.5996061563491821, -1.8002357482910156, -0.41837647557258606, -0.0015720906667411327, 0.0016356069827452302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.704201340675354, -1.4453725814819336, 1.308372974395752, -1.2177258729934692, -0.6721585988998413, 0.1837545931339264, 1.1225398778915405, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296444177627563, -1.148024320602417, -1.5996050834655762, -1.8002355098724365, -0.4183754026889801, -0.0015744874253869057, 0.0016309331404045224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7202672362327576, -1.444031834602356, 1.3212995529174805, -1.24819016456604, -0.673388659954071, 0.1852348893880844, 1.1321868896484375, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296442985534668, -1.1480236053466797, -1.5996042490005493, -1.8002352714538574, -0.41837599873542786, -0.001577123999595642, 0.0016278172843158245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7463207840919495, -1.4403868913650513, 1.3390095233917236, -1.29324471950531, -0.6734147071838379, 0.18798132240772247, 1.145248293876648, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.1480228900909424, -1.5996028184890747, -1.800235390663147, -0.4183744490146637, -0.0015798803651705384, 0.0016257798997685313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.777357816696167, -1.433019757270813, 1.3577288389205933, -1.3449023962020874, -0.6753826141357422, 0.19357830286026, 1.161300778388977, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480228900909424, -1.5996019840240479, -1.8002352714538574, -0.4183722734451294, -0.0015827566385269165, 0.0016236228402704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8036708235740662, -1.424199104309082, 1.3739062547683716, -1.3839255571365356, -0.6795023083686829, 0.19544556736946106, 1.1690161228179932, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296432256698608, -1.1480228900909424, -1.5996017456054688, -1.8002351522445679, -0.4183725416660309, -0.0015843145083636045, 0.001622903742827475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8163878917694092, -1.4157501459121704, 1.3819774389266968, -1.4067881107330322, -0.6803463697433472, 0.19667215645313263, 1.1772311925888062, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296432256698608, -1.1480231285095215, -1.5996010303497314, -1.8002349138259888, -0.41837456822395325, -0.0015847939066588879, 0.0016235029324889183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8135054111480713, -1.4127670526504517, 1.381382703781128, -1.4095250368118286, -0.6800629496574402, 0.20306861400604248, 1.184812307357788, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1480225324630737, -1.5996004343032837, -1.8002346754074097, -0.41837552189826965, -0.0015858724946156144, 0.0016254204092547297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8114938735961914, -1.41277015209198, 1.3807265758514404, -1.4088481664657593, -0.6798219084739685, 0.20318055152893066, 1.1847225427627563, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296419143676758, -1.148023247718811, -1.59959876537323, -1.8002346754074097, -0.4183780252933502, -0.001585393096320331, 0.001626738696359098, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.810537576675415, -1.4127795696258545, 1.3807011842727661, -1.4086934328079224, -0.6797195672988892, 0.2031668871641159, 1.184124231338501, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296429872512817, -1.1480231285095215, -1.5995970964431763, -1.8002344369888306, -0.4183785319328308, -0.0015870708739385009, 0.0016302141593769193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8184025883674622, -1.4094083309173584, 1.3950072526931763, -1.4194341897964478, -0.6734821796417236, 0.20437094569206238, 1.1964296102523804, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.148024082183838, -1.5995949506759644, -1.8002350330352783, -0.4183803200721741, -0.0015863518929108977, 0.0016339292051270604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8599939346313477, -1.3951735496520996, 1.4346500635147095, -1.480647325515747, -0.6723318099975586, 0.212371364235878, 1.2177098989486694, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296375036239624, -1.1480237245559692, -1.5995957851409912, -1.8002331256866455, -0.4183836579322815, -0.0015843145083636045, 0.0016374046681448817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9061472415924072, -1.3758906126022339, 1.466386318206787, -1.5321948528289795, -0.6761926412582397, 0.21379533410072327, 1.2301660776138306, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637622833252, -1.1480231285095215, -1.5995969772338867, -1.8002324104309082, -0.41838595271110535, -0.0015817978419363499, 0.0016419586027041078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9654645919799805, -1.3590097427368164, 1.505797266960144, -1.6015187501907349, -0.6690061688423157, 0.21431149542331696, 1.251814603805542, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296348810195923, -1.1480252742767334, -1.599597692489624, -1.8002334833145142, -0.4183877408504486, -0.0015790414763614535, 0.0016442356863990426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0339579582214355, -1.3432974815368652, 1.5547471046447754, -1.685247540473938, -0.6165138483047485, 0.20418435335159302, 1.2680354118347168, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296357154846191, -1.1480247974395752, -1.5996005535125732, -1.8002324104309082, -0.4183879792690277, -0.0015770042082294822, 0.0016475912416353822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0961147546768188, -1.3290785551071167, 1.6121891736984253, -1.746921420097351, -0.5219599604606628, 0.19224409759044647, 1.263799786567688, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.148026466369629, -1.5995993614196777, -1.8002328872680664, -0.4183872640132904, -0.001574247726239264, 0.0016455539735034108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1392216682434082, -1.3137212991714478, 1.6668814420700073, -1.775884747505188, -0.42058685421943665, 0.19187115132808685, 1.2646325826644897, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296358346939087, -1.1480275392532349, -1.5996006727218628, -1.8002333641052246, -0.41838881373405457, -0.0015714913606643677, 0.0016478309407830238, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1662037372589111, -1.2962596416473389, 1.72792649269104, -1.7761740684509277, -0.3144974708557129, 0.19940048456192017, 1.2847446203231812, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.148028016090393, -1.5996034145355225, -1.800232172012329, -0.418390154838562, -0.0015694540925323963, 0.0016508270055055618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1705896854400635, -1.2745914459228516, 1.763181447982788, -1.7512335777282715, -0.2421087920665741, 0.20832382142543793, 1.3395456075668335, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.148029088973999, -1.599603533744812, -1.8002337217330933, -0.4183906316757202, -0.001568974694237113, 0.0016479507321491838, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.169699788093567, -1.2690855264663696, 1.7636513710021973, -1.746685266494751, -0.2325676679611206, 0.20897240936756134, 1.3521523475646973, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296382188796997, -1.1480293273925781, -1.599603533744812, -1.8002345561981201, -0.418390154838562, -0.0015692143933847547, 0.001645434065721929, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1689950227737427, -1.2701431512832642, 1.7618979215621948, -1.7473745346069336, -0.2389417141675949, 0.2089388519525528, 1.348716139793396, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296388149261475, -1.1480287313461304, -1.5996044874191284, -1.8002338409423828, -0.4183882176876068, -0.0015684954123571515, 0.0016421983018517494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1689966917037964, -1.270317792892456, 1.7616651058197021, -1.7476352453231812, -0.2399183064699173, 0.2089191973209381, 1.3480418920516968, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296391725540161, -1.1480289697647095, -1.5996053218841553, -1.8002338409423828, -0.41838714480400085, -0.0015678961062803864, 0.0016393221449106932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1689987182617188, -1.2703230381011963, 1.7616078853607178, -1.747694730758667, -0.2400442659854889, 0.20891596376895905, 1.3478983640670776, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296398878097534, -1.1480289697647095, -1.5996054410934448, -1.8002327680587769, -0.41838547587394714, -0.0015675366157665849, 0.001635726890526712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1690058708190918, -1.270323634147644, 1.761559247970581, -1.7477260828018188, -0.2401505708694458, 0.2089175134897232, 1.347797155380249, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640007019043, -1.1480293273925781, -1.5996044874191284, -1.8002334833145142, -0.41838404536247253, -0.0015672969166189432, 0.0016315323300659657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1690144538879395, -1.2703253030776978, 1.7614940404891968, -1.7477433681488037, -0.24020269513130188, 0.20892015099525452, 1.3477420806884766, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729641318321228, -1.1480289697647095, -1.5996041297912598, -1.8002331256866455, -0.41838163137435913, -0.001568854902870953, 0.0016275775851681828, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1690226793289185, -1.2703278064727783, 1.7614667415618896, -1.7477539777755737, -0.24026358127593994, 0.20892350375652313, 1.3476827144622803, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296422719955444, -1.1480287313461304, -1.5996042490005493, -1.8002327680587769, -0.4183785319328308, -0.001570412889122963, 0.0016268584877252579, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1705325841903687, -1.2701950073242188, 1.761457920074463, -1.7504223585128784, -0.23672619462013245, 0.21264617145061493, 1.3434890508651733, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296435832977295, -1.1480287313461304, -1.5996034145355225, -1.8002327680587769, -0.4183746874332428, -0.0015729295555502176, 0.0016256601084023714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1905349493026733, -1.2646151781082153, 1.7686456441879272, -1.7778699398040771, -0.14762167632579803, 0.27134969830513, 1.3171931505203247, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296441793441772, -1.1480287313461304, -1.5996017456054688, -1.8002322912216187, -0.4183734953403473, -0.0015750867314636707, 0.0016243418212980032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2125420570373535, -1.2543306350708008, 1.7876979112625122, -1.7907094955444336, -0.024447578936815262, 0.3156864047050476, 1.2999218702316284, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296457290649414, -1.1480293273925781, -1.5996003150939941, -1.8002341985702515, -0.4183730185031891, -0.0015776033978909254, 0.0016215854557231069, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.222597360610962, -1.2471610307693481, 1.7977956533432007, -1.7870341539382935, 0.11395907402038574, 0.3849286437034607, 1.2804151773452759, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296468019485474, -1.14802885055542, -1.59959876537323, -1.8002325296401978, -0.41837215423583984, -0.00158012006431818, 0.0016236228402704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2240766286849976, -1.2454763650894165, 1.7978601455688477, -1.7622575759887695, 0.2717762291431427, 0.4678533673286438, 1.2505578994750977, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296473979949951, -1.1480284929275513, -1.5995973348617554, -1.8002331256866455, -0.418371319770813, -0.0015828764298930764, 0.0016243418212980032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2317359447479248, -1.243652105331421, 1.792205572128296, -1.7331751585006714, 0.4147275388240814, 0.5303667783737183, 1.20770263671875, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729647159576416, -1.148028016090393, -1.599596381187439, -1.8002338409423828, -0.4183701276779175, -0.001584674115292728, 0.0016273378860205412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2487869262695312, -1.2427173852920532, 1.790225863456726, -1.6990578174591064, 0.5576699376106262, 0.5993400812149048, 1.1699323654174805, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296478748321533, -1.148028016090393, -1.5995938777923584, -1.800234317779541, -0.4183706045150757, -0.001585393096320331, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2694748640060425, -1.2402726411819458, 1.7814613580703735, -1.6651681661605835, 0.6743296980857849, 0.6570220589637756, 1.1317880153656006, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296477556228638, -1.1480282545089722, -1.5995910167694092, -1.8002347946166992, -0.41837289929389954, -0.0015876700635999441, 0.0016358466818928719, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2889907360076904, -1.2399893999099731, 1.7710431814193726, -1.6419440507888794, 0.7868437170982361, 0.7068443298339844, 1.079908013343811, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296463251113892, -1.148027777671814, -1.5995879173278809, -1.8002346754074097, -0.4183749258518219, -0.0015877899713814259, 0.0016384832561016083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3046257495880127, -1.2408156394958496, 1.7693175077438354, -1.6302365064620972, 0.9073944687843323, 0.7609419822692871, 1.01320481300354, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729648232460022, -1.1480283737182617, -1.5995850563049316, -1.8002336025238037, -0.418377548456192, -0.0015877899713814259, 0.0016415991121903062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.308945655822754, -1.2411012649536133, 1.7622469663619995, -1.6048099994659424, 1.003309726715088, 0.821272075176239, 0.9480360746383667, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296513319015503, -1.1480258703231812, -1.5995852947235107, -1.8002326488494873, -0.4183811545372009, -0.0015857525868341327, 0.0016455539735034108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3088711500167847, -1.2412983179092407, 1.7553939819335938, -1.5706076622009277, 1.0985233783721924, 0.9030336141586304, 0.8946467041969299, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1480275392532349, -1.5995806455612183, -1.8002347946166992, -0.41838258504867554, -0.0015838351100683212, 0.001645434065721929, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.308522343635559, -1.241623878479004, 1.755476713180542, -1.5659995079040527, 1.1429258584976196, 0.9252415895462036, 0.8899018168449402, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729648232460022, -1.1480278968811035, -1.59958016872406, -1.800236701965332, -0.4183846414089203, -0.0015821573324501514, 0.001646992051973939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.308079481124878, -1.2418200969696045, 1.7563145160675049, -1.567826271057129, 1.1024346351623535, 0.910280168056488, 0.8953179717063904, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296483516693115, -1.148028016090393, -1.5995806455612183, -1.8002358675003052, -0.418386310338974, -0.001579400966875255, 0.0016478309407830238, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3080140352249146, -1.241816759109497, 1.7563254833221436, -1.5688786506652832, 1.1012113094329834, 0.9101642370223999, 0.8956840634346008, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296478748321533, -1.1480278968811035, -1.5995821952819824, -1.8002351522445679, -0.41838690638542175, -0.0015767645090818405, 0.0016480706399306655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3080047369003296, -1.2418127059936523, 1.7563183307647705, -1.5688928365707397, 1.102300763130188, 0.9101995825767517, 0.8958610892295837, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296476364135742, -1.148027777671814, -1.599583625793457, -1.8002351522445679, -0.4183875024318695, -0.0015735287452116609, 0.0016448348760604858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.30800461769104, -1.2418105602264404, 1.7563164234161377, -1.5688961744308472, 1.1024079322814941, 0.9102028608322144, 0.8959618806838989, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480278968811035, -1.5995867252349854, -1.8002355098724365, -0.4183877408504486, -0.0015708921710029244, 0.0016411197138950229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3080021142959595, -1.2418084144592285, 1.7563098669052124, -1.568900465965271, 1.1024267673492432, 0.9102015495300293, 0.896015465259552, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480282545089722, -1.5995912551879883, -1.8002350330352783, -0.4183882176876068, -0.0015695738838985562, 0.001637884066440165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.307998776435852, -1.2418100833892822, 1.7562962770462036, -1.568841576576233, 1.1024959087371826, 0.9102962017059326, 0.8960632681846619, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729645013809204, -1.148027777671814, -1.5995965003967285, -1.800234317779541, -0.418388694524765, -0.001568854902870953, 0.0016346483025699854, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2990525960922241, -1.2417066097259521, 1.7445721626281738, -1.5331734418869019, 1.139917016029358, 0.9164344072341919, 0.8943377733230591, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296442985534668, -1.148029088973999, -1.5995975732803345, -1.8002341985702515, -0.41838738322257996, -0.0015683755045756698, 0.0016306934412568808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2919830083847046, -1.2405414581298828, 1.7211363315582275, -1.4845916032791138, 1.172595500946045, 0.9145514369010925, 0.8862023949623108, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480293273925781, -1.5995993614196777, -1.800234079360962, -0.4183872640132904, -0.0015676564071327448, 0.0016279370756819844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2753833532333374, -1.2396299839019775, 1.6936041116714478, -1.4347776174545288, 1.1809756755828857, 0.915424108505249, 0.8723267912864685, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729643702507019, -1.1480305194854736, -1.5995999574661255, -1.8002339601516724, -0.41838547587394714, -0.0015671771252527833, 0.0016255403170362115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2347168922424316, -1.238990068435669, 1.6598880290985107, -1.3731075525283813, 1.1634011268615723, 0.8820978999137878, 0.8748301863670349, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480309963226318, -1.5996015071868896, -1.8002336025238037, -0.41838330030441284, -0.001564420759677887, 0.00162374263163656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1784390211105347, -1.2388032674789429, 1.6263688802719116, -1.305715799331665, 1.1403594017028809, 0.8420813679695129, 0.8772144913673401, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296429872512817, -1.1480309963226318, -1.5996026992797852, -1.8002331256866455, -0.41838163137435913, -0.0015666977269575, 0.001621465664356947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1267465353012085, -1.238594651222229, 1.6024744510650635, -1.2492032051086426, 1.1147246360778809, 0.8066580295562744, 0.8835397362709045, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296431064605713, -1.1480315923690796, -1.5996026992797852, -1.8002324104309082, -0.4183799624443054, -0.0015698135830461979, 0.0016196679789572954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0777493715286255, -1.2383484840393066, 1.5837029218673706, -1.1899371147155762, 1.0929361581802368, 0.7802823185920715, 0.883674681186676, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296422719955444, -1.1480326652526855, -1.5996025800704956, -1.8002328872680664, -0.4183770716190338, -0.0015723302494734526, 0.0016203870764002204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0214786529541016, -1.2388927936553955, 1.5537420511245728, -1.1114743947982788, 1.0775871276855469, 0.7628930807113647, 0.8847301602363586, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.729642629623413, -1.1480319499969482, -1.599602222442627, -1.8002334833145142, -0.41837456822395325, -0.0015747271245345473, 0.0016250609187409282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9703380465507507, -1.2434097528457642, 1.5140246152877808, -1.0337004661560059, 1.0580111742019653, 0.7159218788146973, 0.9112218618392944, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.729642629623413, -1.1480329036712646, -1.599601149559021, -1.8002320528030396, -0.4183737337589264, -0.0015767645090818405, 0.0016293752705678344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9364352226257324, -1.2515960931777954, 1.4827446937561035, -0.9794828295707703, 1.0481514930725098, 0.6797487139701843, 0.9340639114379883, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6396812796592712, 0.0, 0.0, 1.7296428680419922, -1.148032546043396, -1.5996010303497314, -1.800232172012329, -0.41837191581726074, -0.0015805994626134634, 0.0016323712188750505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9133778214454651, -1.2613739967346191, 1.457429051399231, -0.9388609528541565, 1.0335237979888916, 0.6365855932235718, 0.9514549374580383, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6396812796592712, 0.0, 0.0, 1.729642391204834, -1.148032784461975, -1.599599003791809, -1.8002322912216187, -0.41837191581726074, -0.0015834756195545197, 0.0016353672835975885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8974313139915466, -1.271214246749878, 1.4423822164535522, -0.912686824798584, 1.0234800577163696, 0.5878111124038696, 0.963662326335907, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729642391204834, -1.1480329036712646, -1.5995981693267822, -1.8002328872680664, -0.4183717966079712, -0.0015847939066588879, 0.0016370451776310802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8776575922966003, -1.2803925275802612, 1.431118130683899, -0.8858365416526794, 1.0136919021606445, 0.5438515543937683, 0.9673115015029907, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296433448791504, -1.1480324268341064, -1.5995975732803345, -1.8002326488494873, -0.41837191581726074, -0.0015856327954679728, 0.0016420785104855895, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8617510795593262, -1.28721022605896, 1.4239587783813477, -0.857018768787384, 1.0011487007141113, 0.4972037971019745, 0.9836623072624207, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296427488327026, -1.1480329036712646, -1.5995961427688599, -1.8002320528030396, -0.41837313771247864, -0.0015859922859817743, 0.001645434065721929, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8598357439041138, -1.2890390157699585, 1.4250093698501587, -0.8511157035827637, 1.0056686401367188, 0.49259501695632935, 0.9905468821525574, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296435832977295, -1.148032546043396, -1.5995959043502808, -1.8002328872680664, -0.41837409138679504, -0.0015865915920585394, 0.0016460332553833723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.85993891954422, -1.2890892028808594, 1.4254093170166016, -0.8514246344566345, 1.0063077211380005, 0.49405625462532043, 0.9897668361663818, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296439409255981, -1.1480320692062378, -1.5995945930480957, -1.8002327680587769, -0.41837599873542786, -0.0015873105730861425, 0.0016465126536786556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8599967360496521, -1.2904589176177979, 1.4247846603393555, -0.8525347709655762, 1.0026309490203857, 0.4885537028312683, 0.9865216016769409, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296442985534668, -1.1480307579040527, -1.599588394165039, -1.8002346754074097, -0.4183777868747711, -0.0015875502722337842, 0.0016495087184011936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8367478847503662, -1.2991136312484741, 1.4010287523269653, -0.8120142817497253, 0.9810410141944885, 0.4407377243041992, 0.9855353236198425, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296470403671265, -1.148031234741211, -1.5995845794677734, -1.8002331256866455, -0.4183812737464905, -0.0015859922859817743, 0.0016510667046532035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7965283989906311, -1.314806342124939, 1.3810374736785889, -0.748645544052124, 0.9710391759872437, 0.4014579951763153, 1.0023201704025269, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729645848274231, -1.148031234741211, -1.5995842218399048, -1.8002344369888306, -0.4183834195137024, -0.001583116129040718, 0.0016472317511215806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7540804743766785, -1.3315311670303345, 1.3675711154937744, -0.6814896464347839, 0.9710303544998169, 0.3666638433933258, 1.036358118057251, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296466827392578, -1.1480305194854736, -1.5995854139328003, -1.8002322912216187, -0.4183855950832367, -0.0015804795548319817, 0.0016450745752081275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.716724693775177, -1.3472900390625, 1.352500557899475, -0.6105594635009766, 0.9681361317634583, 0.32051533460617065, 1.069254755973816, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.729646921157837, -1.1480292081832886, -1.599587082862854, -1.800232172012329, -0.418386310338974, -0.001578681985847652, 0.0016418388113379478, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6852253079414368, -1.3599289655685425, 1.338873267173767, -0.5432257652282715, 0.9537650346755981, 0.3078584372997284, 1.0921194553375244, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480293273925781, -1.5995880365371704, -1.8002315759658813, -0.4183870255947113, -0.0015747271245345473, 0.0016376443672925234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6602488160133362, -1.3720874786376953, 1.3229563236236572, -0.48930296301841736, 0.9290414452552795, 0.297493040561676, 1.1127960681915283, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6397771239280701, 0.0, 0.0, 1.7296470403671265, -1.1480292081832886, -1.5995904207229614, -1.8002318143844604, -0.4183867871761322, -0.0015723302494734526, 0.0016340491129085422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6416113376617432, -1.3862191438674927, 1.3119703531265259, -0.4462890625, 0.9109708070755005, 0.28379949927330017, 1.130422830581665, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296462059020996, -1.148029088973999, -1.5995932817459106, -1.800232172012329, -0.4183882176876068, -0.0015701731899753213, 0.0016299744602292776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6274011135101318, -1.3970273733139038, 1.3101991415023804, -0.4122527837753296, 0.899926483631134, 0.27369225025177, 1.1526440382003784, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296468019485474, -1.1480284929275513, -1.5995957851409912, -1.8002315759658813, -0.41838857531547546, -0.0015687349950894713, 0.0016264989972114563, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6142849326133728, -1.4032853841781616, 1.310288667678833, -0.38235047459602356, 0.8897610902786255, 0.2723120152950287, 1.1701109409332275, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480282545089722, -1.5995986461639404, -1.8002310991287231, -0.41838833689689636, -0.001569693791680038, 0.0016262592980638146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5999308228492737, -1.40778648853302, 1.3132115602493286, -0.347715824842453, 0.882020115852356, 0.26432764530181885, 1.191945195198059, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296463251113892, -1.148027777671814, -1.599600076675415, -1.800230860710144, -0.4183870255947113, -0.0015686152037233114, 0.001624461729079485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5815454125404358, -1.4094444513320923, 1.3192033767700195, -0.31044402718544006, 0.8710781931877136, 0.25698384642601013, 1.2107163667678833, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296473979949951, -1.1480268239974976, -1.5996042490005493, -1.800229549407959, -0.4183870255947113, -0.0015677763149142265, 0.0016241021221503615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5696166157722473, -1.4084889888763428, 1.3287254571914673, -0.2893642783164978, 0.8572092056274414, 0.2466484159231186, 1.240052342414856, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729645848274231, -1.148027777671814, -1.5996037721633911, -1.800230622291565, -0.41838523745536804, -0.0015676564071327448, 0.0016215854557231069, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5692670345306396, -1.408226728439331, 1.3319965600967407, -0.28982973098754883, 0.8548994660377502, 0.24257856607437134, 1.2521916627883911, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296459674835205, -1.1480276584625244, -1.5996049642562866, -1.8002309799194336, -0.418383926153183, -0.0015671771252527833, 0.0016226640436798334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5693732500076294, -1.4081388711929321, 1.331857681274414, -0.2906516194343567, 0.8551053404808044, 0.24277079105377197, 1.250173568725586, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296453714370728, -1.1480274200439453, -1.5996062755584717, -1.8002307415008545, -0.4183822274208069, -0.0015701731899753213, 0.0016254204092547297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5698233246803284, -1.4080493450164795, 1.331520915031433, -0.29068922996520996, 0.855406641960144, 0.24282759428024292, 1.2497280836105347, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296456098556519, -1.1480274200439453, -1.5996065139770508, -1.8002309799194336, -0.4183792471885681, -0.0015722104581072927, 0.0016287759644910693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5702117085456848, -1.407981038093567, 1.3314405679702759, -0.2906947433948517, 0.8554784059524536, 0.24283263087272644, 1.2496585845947266, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296451330184937, -1.1480275392532349, -1.5996063947677612, -1.800230860710144, -0.4183768332004547, -0.0015732890460640192, 0.0016329705249518156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5702260136604309, -1.407814860343933, 1.3314263820648193, -0.29070109128952026, 0.8554789423942566, 0.24288679659366608, 1.2496232986450195, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296441793441772, -1.1480274200439453, -1.599605917930603, -1.80023193359375, -0.41837480664253235, -0.0015758057124912739, 0.001636445871554315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5701943635940552, -1.4072136878967285, 1.3363677263259888, -0.2904537618160248, 0.8477388024330139, 0.24343867599964142, 1.2550122737884521, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296438217163086, -1.1480274200439453, -1.5996053218841553, -1.8002313375473022, -0.41837409138679504, -0.0015783223789185286, 0.001640280825085938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.568587064743042, -1.4076124429702759, 1.3400254249572754, -0.2820945084095001, 0.8373190760612488, 0.24014805257320404, 1.2611206769943237, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480274200439453, -1.599604845046997, -1.80023193359375, -0.41837432980537415, -0.0015804795548319817, 0.0016430371906608343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5648247599601746, -1.408748984336853, 1.3423235416412354, -0.26445889472961426, 0.830558180809021, 0.22994276881217957, 1.2643864154815674, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296428680419922, -1.1480274200439453, -1.5996040105819702, -1.800232172012329, -0.41837409138679504, -0.0015838351100683212, 0.0016433967975899577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5546227097511292, -1.4100570678710938, 1.3430147171020508, -0.2409319430589676, 0.8206875324249268, 0.22181817889213562, 1.2663822174072266, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1480282545089722, -1.5996026992797852, -1.8002324104309082, -0.4183725416660309, -0.0015841947169974446, 0.0016444753855466843, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.541146993637085, -1.4138052463531494, 1.3433551788330078, -0.21897971630096436, 0.8120036125183105, 0.21875308454036713, 1.2799184322357178, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296415567398071, -1.1480281352996826, -1.5996016263961792, -1.8002327680587769, -0.41837215423583984, -0.0015841947169974446, 0.0016466324450448155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5301063060760498, -1.420111894607544, 1.3436342477798462, -0.20414228737354279, 0.80805903673172, 0.22281514108181, 1.2910171747207642, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296407222747803, -1.1480284929275513, -1.5996006727218628, -1.8002322912216187, -0.41837432980537415, -0.0015847939066588879, 0.0016496285097673535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5299697518348694, -1.4243091344833374, 1.3464263677597046, -0.20434361696243286, 0.8027020692825317, 0.2233441323041916, 1.292372703552246, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480281352996826, -1.599600076675415, -1.8002318143844604, -0.41837504506111145, -0.0015856327954679728, 0.0016493889270350337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5331979990005493, -1.4246076345443726, 1.3482747077941895, -0.20576302707195282, 0.7919837236404419, 0.2188483625650406, 1.2900354862213135, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729640245437622, -1.1480283737182617, -1.599599838256836, -1.80023193359375, -0.4183770716190338, -0.0015865915920585394, 0.0016474714502692223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5360671281814575, -1.4232929944992065, 1.3486533164978027, -0.20727136731147766, 0.7707722783088684, 0.20882607996463776, 1.289676547050476, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296396493911743, -1.148028016090393, -1.5995980501174927, -1.800232172012329, -0.41837766766548157, -0.0015847939066588879, 0.0016437562881037593, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5361217260360718, -1.4212099313735962, 1.3519349098205566, -0.2084084302186966, 0.7539388537406921, 0.19262376427650452, 1.2806521654129028, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.1480281352996826, -1.5995980501174927, -1.8002320528030396, -0.4183802008628845, -0.0015828764298930764, 0.0016389626543968916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5341829657554626, -1.4187533855438232, 1.35581374168396, -0.20847338438034058, 0.7418208718299866, 0.18513159453868866, 1.2696881294250488, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.1480282545089722, -1.5995972156524658, -1.8002324104309082, -0.4183831810951233, -0.0015807192539796233, 0.0016365657793357968, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5310841202735901, -1.417528510093689, 1.3597854375839233, -0.2087576538324356, 0.7363616824150085, 0.18510198593139648, 1.2620548009872437, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296380996704102, -1.1480286121368408, -1.5995970964431763, -1.8002318143844604, -0.41838547587394714, -0.001577962888404727, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5306252241134644, -1.4174500703811646, 1.3627781867980957, -0.20907726883888245, 0.7324334979057312, 0.18552131950855255, 1.261518955230713, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296382188796997, -1.1480282545089722, -1.5995972156524658, -1.80023193359375, -0.41838642954826355, -0.0015770042082294822, 0.0016284164739772677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5306418538093567, -1.4174776077270508, 1.3645504713058472, -0.20960457623004913, 0.7285920977592468, 0.18253843486309052, 1.2625336647033691, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, 0.024599985499958454, -0.024599985499958454, -0.024599985499958454, -0.024599985499958454, 0.024599985499958454, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729589819908142, -1.1480252742767334, -1.5995975732803345, -1.8002212047576904, -0.4183875024318695, -0.0015662183286622167, 0.0016232632333412766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5317603945732117, -1.4175666570663452, 1.367621660232544, -0.20940959453582764, 0.7258669137954712, 0.1804129183292389, 1.2597131729125977, 0.1463999811109606, 0.1463999811109606, 0.1463999811109606, 0.1463999811109606, -0.1463999811109606, -0.1463999811109606, -0.1463999811109606, 0.1463999811109606, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729590654373169, -1.148026943206787, -1.5995980501174927, -1.8002225160598755, -0.41838738322257996, -0.001562982564792037, 0.00162218464538455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5338189005851746, -1.4179390668869019, 1.371075987815857, -0.20878413319587708, 0.7256309390068054, 0.17902934551239014, 1.2561167478561401, 0.4284000092810327, 0.4284000092810327, 0.4284000092810327, 0.4284000092810327, -0.4284000092810327, -0.4284000092810327, -0.4284000092810327, 0.4284000092810327, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295942306518555, -1.1480236053466797, -1.5995988845825195, -1.8002264499664307, -0.41838881373405457, -0.0015631024725735188, 0.001617750502191484, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5354848504066467, -1.4185909032821655, 1.3749736547470093, -0.20713725686073303, 0.7295956611633301, 0.18304812908172607, 1.2555173635482788, 0.5519999980271517, 0.5519999980271517, 0.5519999980271517, 0.5519999980271517, -0.5519999980271517, -0.5519999980271517, -0.5519999980271517, 0.5519999980271517, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729594349861145, -1.148026704788208, -1.5995992422103882, -1.8002270460128784, -0.4183896780014038, -0.0015646604588255286, 0.0016179902013391256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5356310606002808, -1.4186792373657227, 1.377523422241211, -0.20610493421554565, 0.7344550490379333, 0.18836720287799835, 1.256308913230896, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295970916748047, -1.1480263471603394, -1.5996006727218628, -1.8002268075942993, -0.41838979721069336, -0.0015662183286622167, 0.0016205068677663803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5356370806694031, -1.4186937808990479, 1.3774926662445068, -0.2061014622449875, 0.734352171421051, 0.18822315335273743, 1.2564548254013062, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729606032371521, -1.1480261087417603, -1.5996018648147583, -1.8002264499664307, -0.41838955879211426, -0.0015675366157665849, 0.001625180710107088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5391870141029358, -1.416644811630249, 1.3797143697738647, -0.2155676782131195, 0.7344396710395813, 0.1788119524717331, 1.2660952806472778, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729608416557312, -1.148025393486023, -1.5996031761169434, -1.8002277612686157, -0.41838786005973816, -0.0015670572174713016, 0.0016275775851681828, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.566395103931427, -1.409715175628662, 1.3974113464355469, -0.27315405011177063, 0.745582640171051, 0.1564629226922989, 1.2798577547073364, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729627251625061, -1.148028016090393, -1.599604845046997, -1.8002303838729858, -0.41838619112968445, -0.0015735287452116609, 0.0016345283947885036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6350071430206299, -1.393976092338562, 1.4210506677627563, -0.40106597542762756, 0.7628137469291687, 0.16138041019439697, 1.2542695999145508, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729764461517334, -1.1480144262313843, -1.5996074676513672, -1.800233006477356, -0.4183844029903412, -0.0015670572174713016, 0.001646153163164854, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7679527997970581, -1.3710641860961914, 1.4530800580978394, -0.6339156627655029, 0.7728716731071472, 0.2041814774274826, 1.1782811880111694, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297450304031372, -1.1480202674865723, -1.5996129512786865, -1.8002375364303589, -0.418383926153183, -0.0015765248099341989, 0.0016546619590371847, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9152656197547913, -1.352225422859192, 1.4787178039550781, -0.8676499724388123, 0.7580593824386597, 0.21436627209186554, 1.0934325456619263, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7297402620315552, -1.1480112075805664, -1.5996137857437134, -1.8002357482910156, -0.4183810353279114, -0.001581078744493425, 0.0016547817504033446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.022013545036316, -1.3374961614608765, 1.4923063516616821, -1.0312153100967407, 0.7067548036575317, 0.17759494483470917, 1.0732879638671875, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729732871055603, -1.1480109691619873, -1.5996164083480835, -1.8002448081970215, -0.4183792471885681, -0.0015865915920585394, 0.0016570588340982795, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1082128286361694, -1.322727918624878, 1.5080196857452393, -1.1961219310760498, 0.6220100522041321, 0.13192474842071533, 1.0604618787765503, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6400647163391113, 0.0, 0.0, 1.7297215461730957, -1.1480170488357544, -1.5996135473251343, -1.8002501726150513, -0.4183749258518219, -0.0015875502722337842, 0.0016539428615942597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.186166763305664, -1.3080813884735107, 1.5260308980941772, -1.3769460916519165, 0.534193217754364, 0.10733611136674881, 1.0465558767318726, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6400647163391113, 0.0, 0.0, 1.7297117710113525, -1.1480146646499634, -1.5996148586273193, -1.8002442121505737, -0.4183742105960846, -0.0015876700635999441, 0.0016546619590371847, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.259082317352295, -1.2928353548049927, 1.5242164134979248, -1.547518253326416, 0.39561042189598083, 0.09163593500852585, 1.0593303442001343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6400647163391113, 0.0, 0.0, 1.729689359664917, -1.1480152606964111, -1.5996099710464478, -1.800242304801941, -0.41837337613105774, -0.0015885090688243508, 0.0016539428615942597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3075065612792969, -1.2825372219085693, 1.4921079874038696, -1.663953423500061, 0.251264363527298, 0.10354418307542801, 1.0709155797958374, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987414840626647, -0.04994727743949918, -0.004551646810534825, -8.123187065124512], [0.04992307981453634, -0.9987390915278376, 0.00528329026094985, -4.469668865203857], [-0.004809793564966196, 0.005049408928944966, 0.9999756843820408, 0.020152730867266655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6400647163391113, 0.0, 0.0, 1.7296854257583618, -1.1480158567428589, -1.5996079444885254, -1.8002417087554932, -0.4183730185031891, -0.0015907860361039639, 0.00165226508397609, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3177186250686646, -1.281522512435913, 1.446193814277649, -1.7218003273010254, 0.12849198281764984, 0.13852182030677795, 1.088813066482544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987421885190357, -0.04993282807659817, -0.004555606708201715, -8.123085975646973], [0.04990850630658354, -0.998739705182826, 0.005304930684542431, -4.46978759765625], [-0.004814755492507813, 0.0050708945556950935, 0.9999755517801184, 0.02021726220846176], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296838760375977, -1.1480158567428589, -1.5996065139770508, -1.8002405166625977, -0.4183725416660309, -0.0015906661283224821, 0.0016501079080626369, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3057782649993896, -1.2833600044250488, 1.388913869857788, -1.7430623769760132, 0.033250592648983, 0.16456498205661774, 1.0860118865966797, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987408375448481, -0.049959146642217164, -0.0045632320778727095, -8.12326431274414], [0.049934722055367045, -0.9987383241307313, 0.005318218291069639, -4.469573497772217], [-0.004823168405553055, 0.005083658064786514, 0.9999754464321672, 0.020213793963193893], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296785116195679, -1.1480166912078857, -1.599603295326233, -1.8002395629882812, -0.4183708429336548, -0.0015901868464425206, 0.0016457935562357306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2797225713729858, -1.2906665802001953, 1.3368759155273438, -1.7656476497650146, -0.01047541107982397, 0.19329355657100677, 1.0633785724639893, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987409772000968, -0.049957316532156244, -0.004552690007147003, -8.123260498046875], [0.04993298770228007, -0.9987384574491898, 0.005309458648198375, -4.469587802886963], [-0.004812192901284779, 0.005075444504565986, 0.9999755410321604, 0.02026073820888996], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296737432479858, -1.1480170488357544, -1.599602222442627, -1.8002389669418335, -0.4183710813522339, -0.001589947147294879, 0.0016423182096332312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2374614477157593, -1.300506591796875, 1.296213150024414, -1.7945364713668823, -0.0551249161362648, 0.26439765095710754, 1.0674747228622437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987422641190138, -0.049931430064809344, -0.0045543555098189695, -8.123129844665527], [0.0499070441732703, -0.9987397003847782, 0.005319569269317551, -4.469797134399414], [-0.004814229358268199, 0.005085584234566824, 0.9999754797137174, 0.020294148474931717], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729673147201538, -1.1480183601379395, -1.5996021032333374, -1.8002374172210693, -0.4183732569217682, -0.0015910257352516055, 0.0016396816354244947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1893012523651123, -1.309842824935913, 1.266729712486267, -1.8215535879135132, -0.10761091113090515, 0.3477787375450134, 1.082457184791565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987389504722581, -0.04999775943850792, -0.004553335118540045, -8.123453140258789], [0.04997345308673866, -0.9987364620602215, 0.005304086916668594, -4.469257831573486], [-0.004812774268565777, 0.005069852321432666, 0.9999755666021439, 0.020227940753102303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296630144119263, -1.1480181217193604, -1.5996015071868896, -1.8002357482910156, -0.41837432980537415, -0.001589947147294879, 0.0016352474922314286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1501833200454712, -1.3177242279052734, 1.2451508045196533, -1.8525900840759277, -0.15408681333065033, 0.44023990631103516, 1.1231046915054321, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987416890655982, -0.049943665378344035, -0.004546296401670049, -8.123292922973633], [0.04991933461767772, -0.998739101859411, 0.005316620015174735, -4.469696521759033], [-0.004806095475972309, 0.00508298196272947, 0.9999755320709814, 0.020344531163573265], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7295442819595337, -1.148018479347229, -1.5996010303497314, -1.8002352714538574, -0.4183770716190338, -0.0015881494618952274, 0.0016315323300659657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1135557889938354, -1.3250045776367188, 1.2169733047485352, -1.8671568632125854, -0.2061963826417923, 0.5312159657478333, 1.1722791194915771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987391615965411, -0.04999421120095605, -0.004545980623829135, -8.123440742492676], [0.049969913641056636, -0.998736607636769, 0.005310018540775196, -4.4692864418029785], [-0.004805707455034102, 0.00507616120628925, 0.9999755685831851, 0.02031540498137474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7295396327972412, -1.1480200290679932, -1.5995988845825195, -1.8002355098724365, -0.4183797240257263, -0.0015847939066588879, 0.0016285362653434277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0952938795089722, -1.3347718715667725, 1.1850944757461548, -1.874267339706421, -0.24822074174880981, 0.5791969895362854, 1.2070759534835815, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998741172024393, -0.04995230481951587, -0.004564925690513821, -8.123323440551758], [0.049927846224070226, -0.9987386398206886, 0.005323485751508213, -4.469626426696777], [-0.004825088057987978, 0.005088867490816187, 0.9999754106741293, 0.020224755629897118], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7295395135879517, -1.148020625114441, -1.5995978116989136, -1.8002352714538574, -0.4183807969093323, -0.001582397031597793, 0.0016269783955067396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0834499597549438, -1.344372272491455, 1.1407129764556885, -1.8746036291122437, -0.2897959351539612, 0.6054443717002869, 1.2293689250946045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987430594373854, -0.04991558975535073, -0.0045535837563897156, -8.123124122619629], [0.04989125549538703, -0.9987405419176363, 0.005309666200461727, -4.469925403594971], [-0.004812883828324109, 0.005075808255030741, 0.9999755358606596, 0.020256424322724342], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7295422554016113, -1.148021936416626, -1.599597454071045, -1.8002346754074097, -0.4183841645717621, -0.0015795208746567369, 0.001625899807550013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0691401958465576, -1.349216341972351, 1.0891075134277344, -1.8660792112350464, -0.319265753030777, 0.613676905632019, 1.2089476585388184, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7295475006103516, -1.148022174835205, -1.5995978116989136, -1.8002344369888306, -0.4183858335018158, -0.0015761652030050755, 0.0016249410109594464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0498477220535278, -1.3505550622940063, 1.0338810682296753, -1.8608170747756958, -0.34227341413497925, 0.625452995300293, 1.1939786672592163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.7295522689819336, -1.148023247718811, -1.5995978116989136, -1.8002341985702515, -0.41838714480400085, -0.0015740081435069442, 0.0016254204092547297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0385169982910156, -1.3510830402374268, 0.9890681505203247, -1.8683037757873535, -0.350532591342926, 0.6375629305839539, 1.1819347143173218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6398729681968689, 0.0, 0.0, 1.729554295539856, -1.1480234861373901, -1.5995979309082031, -1.800235390663147, -0.41838738322257996, -0.0015729295555502176, 0.0016256601084023714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0392731428146362, -1.3492659330368042, 0.9577145576477051, -1.8811171054840088, -0.36286652088165283, 0.6395361423492432, 1.1803086996078491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295608520507812, -1.1480246782302856, -1.5995981693267822, -1.8002355098724365, -0.4183879792690277, -0.0015722104581072927, 0.0016280569834634662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.042838215827942, -1.3484854698181152, 0.9543004631996155, -1.8826677799224854, -0.3618634343147278, 0.6374374628067017, 1.1837304830551147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295652627944946, -1.1480246782302856, -1.5995997190475464, -1.8002346754074097, -0.4183879792690277, -0.001571970758959651, 0.0016315323300659657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0430949926376343, -1.3484550714492798, 0.9561294913291931, -1.8826626539230347, -0.3609418570995331, 0.6374651193618774, 1.1838282346725464, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295690774917603, -1.1480250358581543, -1.5996005535125732, -1.8002351522445679, -0.4183879792690277, -0.0015713715692982078, 0.0016354871913790703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.043094515800476, -1.348376750946045, 0.9564836621284485, -1.8826522827148438, -0.36090564727783203, 0.637502133846283, 1.1838289499282837, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295737266540527, -1.1480246782302856, -1.5996016263961792, -1.8002352714538574, -0.4183891713619232, -0.0015717310598120093, 0.0016386030474677682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0430974960327148, -1.3483271598815918, 0.9564887881278992, -1.8826398849487305, -0.360885888338089, 0.6375172734260559, 1.1838291883468628, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295770645141602, -1.1480251550674438, -1.5996026992797852, -1.8002347946166992, -0.41838786005973816, -0.0015716112684458494, 0.001640999922528863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0431076288223267, -1.3483047485351562, 0.9564884305000305, -1.8826289176940918, -0.3608674108982086, 0.6375201344490051, 1.183831810951233, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295818328857422, -1.1480250358581543, -1.5996036529541016, -1.8002349138259888, -0.41838595271110535, -0.0015713715692982078, 0.0016426777001470327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0431323051452637, -1.348291277885437, 0.9564886689186096, -1.8826221227645874, -0.36085015535354614, 0.6375179886817932, 1.183838129043579, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295857667922974, -1.1480252742767334, -1.5996049642562866, -1.800234317779541, -0.41838523745536804, -0.0015730493469163775, 0.0016435165889561176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0431571006774902, -1.3482801914215088, 0.9564889073371887, -1.8826178312301636, -0.3608369827270508, 0.6375169157981873, 1.1838576793670654, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295902967453003, -1.1480249166488647, -1.5996052026748657, -1.8002338409423828, -0.41838258504867554, -0.0015744874253869057, 0.001643995987251401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.043225884437561, -1.3482682704925537, 0.9564893841743469, -1.8826152086257935, -0.360822468996048, 0.6375148892402649, 1.1839017868041992, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295942306518555, -1.1480247974395752, -1.5996068716049194, -1.8002345561981201, -0.4183822274208069, -0.0015770042082294822, 0.001645434065721929, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0433307886123657, -1.348254919052124, 0.9564911723136902, -1.8826136589050293, -0.3608042597770691, 0.6375119686126709, 1.1839710474014282, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729597568511963, -1.148025393486023, -1.5996067523956299, -1.8002338409423828, -0.4183799624443054, -0.0015797605738043785, 0.0016478309407830238, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0433062314987183, -1.3482475280761719, 0.9571872353553772, -1.8826227188110352, -0.36084872484207153, 0.6373873353004456, 1.1840771436691284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296055555343628, -1.1480242013931274, -1.5996075868606567, -1.8002326488494873, -0.41837817430496216, -0.0015817978419363499, 0.0016481904312968254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0444256067276, -1.351826548576355, 0.9955915212631226, -1.8826196193695068, -0.3892730176448822, 0.6153175830841064, 1.2057732343673706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296192646026611, -1.1480244398117065, -1.5996071100234985, -1.8002305030822754, -0.4183761179447174, -0.001583955017849803, 0.0016466324450448155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0347301959991455, -1.3540576696395874, 1.0297186374664307, -1.8758440017700195, -0.40807461738586426, 0.586603581905365, 1.2350484132766724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7299439907073975, -1.1480234861373901, -1.599609136581421, -1.8002300262451172, -0.41837528347969055, -0.0015911455266177654, 0.0016436364967375994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9907627105712891, -1.3539780378341675, 1.0264021158218384, -1.8375087976455688, -0.409443199634552, 0.5753855109214783, 1.2480835914611816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.730088710784912, -1.1480247974395752, -1.599604845046997, -1.8002278804779053, -0.4183739721775055, -0.0015894677489995956, 0.0016375244595110416, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9213497042655945, -1.3541780710220337, 0.9890573620796204, -1.7660722732543945, -0.38516077399253845, 0.5829739570617676, 1.239516258239746, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7300537824630737, -1.1480237245559692, -1.5996049642562866, -1.800225019454956, -0.4183725416660309, -0.001591385225765407, 0.001634888001717627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8879755139350891, -1.3615490198135376, 0.9361762404441833, -1.7216142416000366, -0.3498047888278961, 0.6190590262413025, 1.2010324001312256, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412666487159, -0.04995140704130116, -0.0045540342020564135, -8.123258590698242], [0.049927062577558336, -0.9987387439151665, 0.00531129222812879, -4.469634532928467], [-0.004813596918711089, 0.005077237176876415, 0.9999755251741684, 0.02025824598968029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7298251390457153, -1.1480242013931274, -1.5996028184890747, -1.8002256155014038, -0.41837167739868164, -0.0015911455266177654, 0.0016323712188750505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8922095894813538, -1.3809441328048706, 0.8959852457046509, -1.7082138061523438, -0.3477669954299927, 0.6436757445335388, 1.1756516695022583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987402354577981, -0.049972718146508235, -0.004546374242351872, -8.123551368713379], [0.0499484800890292, -0.9987377476903143, 0.005297232793998206, -4.469461917877197], [-0.00480535269233468, 0.005063475044631151, 0.9999756346061511, 0.020257096737623215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297414541244507, -1.1480227708816528, -1.5996004343032837, -1.8002257347106934, -0.4183725416660309, -0.0015909058274701238, 0.001628895872272551, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9067222476005554, -1.4034225940704346, 0.8791006803512573, -1.6990818977355957, -0.36584949493408203, 0.652921199798584, 1.166135549545288, 0.47639999651646875, 0.47639999651646875, 0.47639999651646875, 0.47639999651646875, -0.47639999651646875, -0.47639999651646875, -0.47639999651646875, 0.47639999651646875, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987400423451691, -0.0499754581558801, -0.004558661917615739, -8.123382568359375], [0.049951206035853214, -0.9987376643303165, 0.005287235911857853, -4.4694390296936035], [-0.004817139393144423, 0.00505286355780319, 0.9999756315720565, 0.020112231373786926], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297292947769165, -1.148024320602417, -1.599599003791809, -1.8002266883850098, -0.4183732569217682, -0.0015909058274701238, 0.0016286561731249094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9088190793991089, -1.4180312156677246, 0.8703490495681763, -1.6873935461044312, -0.4043292999267578, 0.6586198210716248, 1.1608775854110718, 0.364799999666738, 0.364799999666738, 0.364799999666738, 0.364799999666738, -0.364799999666738, -0.364799999666738, -0.364799999666738, 0.364799999666738, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987405928048194, -0.04996433044264555, -0.004560040273580764, -8.12334156036377], [0.04994008122761815, -0.9987382314805222, 0.0052851931031619465, -4.469532489776611], [-0.004818357692975584, 0.00505080811127607, 0.9999756360864827, 0.020091546699404716], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297248840332031, -1.1480237245559692, -1.5995981693267822, -1.8002275228500366, -0.4183739721775055, -0.001588389161042869, 0.0016223045531660318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.908469021320343, -1.428209662437439, 0.8700569868087769, -1.685329794883728, -0.4438713490962982, 0.6666358113288879, 1.1532951593399048, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987406910528684, -0.049963925803107274, -0.004542923461935933, -8.123391151428223], [0.04993976061140315, -0.9987382448222433, 0.005285701416221143, -4.4695353507995605], [-0.004801285798113133, 0.005052172574970821, 0.9999757113085085, 0.020234568044543266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729721188545227, -1.1480227708816528, -1.5995970964431763, -1.8002290725708008, -0.4183768332004547, -0.0015867113834246993, 0.0016196679789572954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9085960984230042, -1.4393482208251953, 0.874210000038147, -1.6795485019683838, -0.47186723351478577, 0.6675963401794434, 1.1521726846694946, 0.244799992278382, 0.244799992278382, 0.244799992278382, 0.244799992278382, -0.244799992278382, -0.244799992278382, -0.244799992278382, 0.244799992278382, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987396662898935, -0.04998359993093231, -0.004551781749666006, -8.123445510864258], [0.049959448418674515, -0.9987373244507649, 0.005273543650108058, -4.469376087188721], [-0.004809625022170557, 0.005039492719738607, 0.999975735215747, 0.02010553516447544], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297197580337524, -1.1480227708816528, -1.5995973348617554, -1.8002288341522217, -0.418379008769989, -0.0015844344161450863, 0.0016201473772525787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9217143058776855, -1.4503750801086426, 0.8948907256126404, -1.684859037399292, -0.48599615693092346, 0.659194827079773, 1.1615861654281616, 0.18899998402857518, 0.18899998402857518, 0.18899998402857518, 0.18899998402857518, -0.18899998402857518, -0.18899998402857518, -0.18899998402857518, 0.18899998402857518, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987381375215143, -0.05001302297509314, -0.004564010621072628, -8.123624801635742], [0.04998888944180113, -0.9987359384098278, 0.005257020165070852, -4.469134330749512], [-0.004821160900845608, 0.005022236706227902, 0.9999757664793856, 0.019930223003029823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729709267616272, -1.148023247718811, -1.5995959043502808, -1.8002289533615112, -0.4183815121650696, -0.001581078744493425, 0.0016225442523136735, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9488924741744995, -1.4573545455932617, 0.9205496311187744, -1.7039402723312378, -0.507231593132019, 0.6485401391983032, 1.1733551025390625, 0.16080000479142745, 0.16080000479142745, 0.16080000479142745, 0.16080000479142745, -0.16080000479142745, -0.16080000479142745, -0.16080000479142745, 0.16080000479142745, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987413314768403, -0.04995103148064553, -0.00454392494306978, -8.123381614685059], [0.04992695545903802, -0.9987389886624791, 0.005266084317598323, -4.469638824462891], [-0.004801241345727811, 0.0050325917247856, 0.999975810258464, 0.020138021558523178], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297052145004272, -1.148024559020996, -1.599593162536621, -1.8002300262451172, -0.4183844029903412, -0.0015783223789185286, 0.0016261395066976547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9627456665039062, -1.4651024341583252, 0.9295130372047424, -1.705163836479187, -0.5289868116378784, 0.6412099599838257, 1.1818995475769043, 0.09780000435127009, 0.09780000435127009, 0.09780000435127009, 0.09780000435127009, -0.09780000435127009, -0.09780000435127009, -0.09780000435127009, 0.09780000435127009, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987411034481886, -0.049955670757816185, -0.004543043278625485, -8.123241424560547], [0.04993163797851926, -0.9987387971758614, 0.005257998145269426, -4.469601154327393], [-0.004799980403802586, 0.005024537277225842, 0.9999758568151897, 0.020109592005610466], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729701280593872, -1.148024082183838, -1.5995930433273315, -1.8002305030822754, -0.418386310338974, -0.0015759256202727556, 0.0016292553627863526, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9762944579124451, -1.473624587059021, 0.9383078813552856, -1.7152904272079468, -0.5528168082237244, 0.6373652815818787, 1.1854629516601562, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, -0.03839998035640508, -0.03839998035640508, -0.03839998035640508, 0.03839998035640508, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987392692916248, -0.04999126815742075, -0.004554677029669991, -8.123525619506836], [0.04996718875034281, -0.9987370322134157, 0.005255524134297452, -4.469313621520996], [-0.004811654935608684, 0.005021313926794364, 0.9999758168992035, 0.020001552999019623], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296972274780273, -1.1480237245559692, -1.5995928049087524, -1.8002310991287231, -0.41838619112968445, -0.0015736485365778208, 0.0016328506171703339, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9863361716270447, -1.4811813831329346, 0.9431397914886475, -1.722695231437683, -0.5752914547920227, 0.6343662738800049, 1.1880091428756714, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987398689549027, -0.049979166476189135, -0.004555993666470928, -8.123433113098145], [0.0499550715552354, -0.9987376286030714, 0.00525737940659151, -4.4694108963012695], [-0.004813001750972313, 0.005023159429971655, 0.9999758011489509, 0.020000172778964043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296969890594482, -1.1480237245559692, -1.5995937585830688, -1.8002300262451172, -0.418386310338974, -0.0015729295555502176, 0.0016360863810405135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0067991018295288, -1.4866042137145996, 0.9527202248573303, -1.7472337484359741, -0.5961357355117798, 0.6365671753883362, 1.1850186586380005, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399466270865, -0.04997697660600169, -0.004562983743951753, -8.123441696166992], [0.04995287385278056, -0.9987377682973893, 0.005251720689357, -4.469430446624756], [-0.004819689323244889, 0.005017169089634866, 0.9999757990117328, 0.019916921854019165], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729690432548523, -1.1480236053466797, -1.599594235420227, -1.8002313375473022, -0.4183870255947113, -0.001572689856402576, 0.001639441936276853, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0391520261764526, -1.4878898859024048, 0.9682999849319458, -1.7823466062545776, -0.6137751936912537, 0.638232946395874, 1.1827521324157715, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987409869146546, -0.04995589425291267, -0.004566145654017833, -8.123398780822754], [0.04993175963147136, -0.998738806618187, 0.005255048523522381, -4.469601154327393], [-0.004822907509673601, 0.005020436661428434, 0.999975767095824, 0.019907431676983833], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296887636184692, -1.1480238437652588, -1.5995962619781494, -1.800230622291565, -0.4183882176876068, -0.0015723302494734526, 0.0016442356863990426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.049742341041565, -1.4879716634750366, 0.9691104292869568, -1.7870992422103882, -0.6227473020553589, 0.6392367482185364, 1.1822714805603027, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998740796009663, -0.0499588211667726, -0.004575868618221308, -8.123222351074219], [0.04993468763126309, -0.9987387145123323, 0.005244721672481075, -4.469577312469482], [-0.004832117253644651, 0.005009622927930299, 0.9999757768671034, 0.019783126190304756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296876907348633, -1.1480246782302856, -1.599596619606018, -1.8002305030822754, -0.4183889329433441, -0.0015720906667411327, 0.0016453142743557692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0484931468963623, -1.4880261421203613, 0.9675464034080505, -1.7867615222930908, -0.6226027607917786, 0.639255702495575, 1.1822329759597778, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404557155488, -0.04996739959281136, -0.004556434464509444, -8.123366355895996], [0.04994333778232659, -0.9987382540129772, 0.005250045930220287, -4.469505310058594], [-0.004813016544484649, 0.005015869719331744, 0.9999758376694415, 0.0199640691280365], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729685664176941, -1.148024559020996, -1.59959876537323, -1.800229549407959, -0.4183875024318695, -0.0015710120787844062, 0.001646153163164854, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0468615293502808, -1.488118052482605, 0.9674444198608398, -1.7865477800369263, -0.6218887567520142, 0.6392694711685181, 1.1821954250335693, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987412422414417, -0.04995153827960041, -0.004557945756947446, -8.123311996459961], [0.04992746881057839, -0.9987390473140698, 0.005250069366455492, -4.469635486602783], [-0.004814447443931958, 0.005015894106287196, 0.9999758306589835, 0.019953006878495216], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296842336654663, -1.1480249166488647, -1.599599838256836, -1.800229787826538, -0.4183872640132904, -0.0015714913606643677, 0.001646272954531014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.046837329864502, -1.488156795501709, 0.9674555659294128, -1.7865060567855835, -0.621699869632721, 0.6393280625343323, 1.1821482181549072, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729682445526123, -1.1480251550674438, -1.599601149559021, -1.8002303838729858, -0.41838619112968445, -0.001571970758959651, 0.001647711033001542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0468461513519287, -1.488171935081482, 0.9675056338310242, -1.7864673137664795, -0.6216246485710144, 0.6393916010856628, 1.182116150856018, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296808958053589, -1.1480257511138916, -1.5996023416519165, -1.8002299070358276, -0.41838452219963074, -0.0015738882357254624, 0.0016473515424877405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.046871304512024, -1.4881857633590698, 0.9675901532173157, -1.7864412069320679, -0.6215935945510864, 0.6394197344779968, 1.182102918624878, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296795845031738, -1.1480263471603394, -1.5996036529541016, -1.8002301454544067, -0.4183829426765442, -0.0015755660133436322, 0.0016460332553833723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0469045639038086, -1.4881975650787354, 0.96763676404953, -1.786429524421692, -0.6215816140174866, 0.6394351124763489, 1.1820977926254272, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296781539916992, -1.1480268239974976, -1.5996052026748657, -1.800230622291565, -0.41838163137435913, -0.0015776033978909254, 0.0016448348760604858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.052054762840271, -1.4907392263412476, 0.9756135940551758, -1.7944945096969604, -0.6174236536026001, 0.6389096975326538, 1.1827389001846313, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296732664108276, -1.1480270624160767, -1.5996068716049194, -1.8002301454544067, -0.41837865114212036, -0.0015814383514225483, 0.001641719019971788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0719255208969116, -1.4996387958526611, 1.0121991634368896, -1.8354181051254272, -0.5985977649688721, 0.6416259407997131, 1.179922342300415, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296701669692993, -1.148028016090393, -1.5996063947677612, -1.8002310991287231, -0.4183770716190338, -0.0015828764298930764, 0.0016375244595110416, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0959230661392212, -1.5018006563186646, 1.0577424764633179, -1.886637568473816, -0.5611842274665833, 0.6593351364135742, 1.1612852811813354, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296643257141113, -1.148027777671814, -1.5996067523956299, -1.800229549407959, -0.4183754026889801, -0.0015849136980250478, 0.0016339292051270604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1424429416656494, -1.4981197118759155, 1.1298494338989258, -1.9606631994247437, -0.4842097759246826, 0.6904394626617432, 1.1293582916259766, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296584844589233, -1.1480274200439453, -1.599607229232788, -1.800229787826538, -0.41837480664253235, -0.0015873105730861425, 0.0016305736498907208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1978983879089355, -1.4858081340789795, 1.2163742780685425, -2.0242910385131836, -0.3431786000728607, 0.7389810085296631, 1.0802373886108398, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7294044494628906, -1.1480281352996826, -1.5996066331863403, -1.8002303838729858, -0.41837385296821594, -0.0015880296705290675, 0.0016278172843158245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.242107629776001, -1.4736276865005493, 1.3120644092559814, -2.0594778060913086, -0.13758957386016846, 0.8047736883163452, 1.0149201154708862, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7293404340744019, -1.1480299234390259, -1.5996029376983643, -1.8002337217330933, -0.4183715581893921, -0.001589947147294879, 0.0016253006178885698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.278716802597046, -1.4732369184494019, 1.4004895687103271, -2.062278985977173, 0.07682619243860245, 0.8500378131866455, 0.9348543882369995, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7293497323989868, -1.1480294466018677, -1.5996034145355225, -1.8002351522445679, -0.4183696508407593, -0.001592343905940652, 0.0016254204092547297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3361917734146118, -1.4754003286361694, 1.453945279121399, -2.042843818664551, 0.3258284330368042, 0.8176509737968445, 0.8305441737174988, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7294024229049683, -1.1480286121368408, -1.5996015071868896, -1.800235390663147, -0.41837096214294434, -0.0015919844154268503, 0.0016225442523136735, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3880279064178467, -1.472546100616455, 1.4752328395843506, -2.0049326419830322, 0.5208413600921631, 0.7929024696350098, 0.7629624009132385, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295655012130737, -1.1480289697647095, -1.5995999574661255, -1.8002346754074097, -0.41837239265441895, -0.0015900669386610389, 0.0016243418212980032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4298943281173706, -1.469344139099121, 1.5013277530670166, -1.9816064834594727, 0.7103273272514343, 0.7757202982902527, 0.6978297829627991, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295728921890259, -1.1480302810668945, -1.599594235420227, -1.800236701965332, -0.41837456822395325, -0.0015881494618952274, 0.0016248212195932865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4661616086959839, -1.455713152885437, 1.5260400772094727, -1.9675655364990234, 0.87413489818573, 0.7690815329551697, 0.651411771774292, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295805215835571, -1.1480287313461304, -1.5995951890945435, -1.8002349138259888, -0.4183768332004547, -0.0015858724946156144, 0.0016285362653434277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4947047233581543, -1.4400864839553833, 1.5291537046432495, -1.9480328559875488, 0.9757571220397949, 0.7700251340866089, 0.6196573972702026, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729583501815796, -1.148029088973999, -1.599593997001648, -1.8002345561981201, -0.4183780252933502, -0.001583235920406878, 0.001632730825804174, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5220764875411987, -1.4318020343780518, 1.531334638595581, -1.9382833242416382, 1.091362476348877, 0.7499871850013733, 0.5845171213150024, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7295854091644287, -1.14802885055542, -1.5995922088623047, -1.8002349138259888, -0.4183809161186218, -0.0015819176333025098, 0.0016356069827452302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5278416872024536, -1.4289129972457886, 1.5313823223114014, -1.9409918785095215, 1.1102592945098877, 0.7441832423210144, 0.5768104791641235, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295924425125122, -1.1480286121368408, -1.5995917320251465, -1.8002351522445679, -0.4183836579322815, -0.0015796406660228968, 0.0016386030474677682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5265181064605713, -1.4289129972457886, 1.5313810110092163, -1.9414310455322266, 1.0985610485076904, 0.7448444962501526, 0.5790404677391052, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7295945882797241, -1.1480283737182617, -1.599591851234436, -1.8002346754074097, -0.4183860719203949, -0.0015766446013003588, 0.0016421983018517494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5255802869796753, -1.4289138317108154, 1.5313801765441895, -1.9414868354797363, 1.0973321199417114, 0.7448551654815674, 0.5793814063072205, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7295960187911987, -1.1480282545089722, -1.599591851234436, -1.8002344369888306, -0.4183867871761322, -0.0015732890460640192, 0.0016433967975899577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.517691969871521, -1.4285746812820435, 1.5350645780563354, -1.9432419538497925, 1.126345157623291, 0.7320735454559326, 0.5552546381950378, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296087741851807, -1.1480292081832886, -1.5995923280715942, -1.8002357482910156, -0.4183865487575531, -0.0015744874253869057, 0.001644714968279004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4960236549377441, -1.4251652956008911, 1.5583914518356323, -1.9508289098739624, 1.3062094449996948, 0.7185707688331604, 0.4397622048854828, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296130657196045, -1.1480273008346558, -1.5995924472808838, -1.8002350330352783, -0.41838642954826355, -0.0015729295555502176, 0.0016449546674266458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4874296188354492, -1.4178465604782104, 1.5846329927444458, -1.9578818082809448, 1.5075632333755493, 0.7185758948326111, 0.3036004304885864, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296243906021118, -1.1480239629745483, -1.5995936393737793, -1.8002341985702515, -0.4183877408504486, -0.0015717310598120093, 0.0016475912416353822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.488148808479309, -1.4088493585586548, 1.608001708984375, -1.9574081897735596, 1.6916604042053223, 0.7215558290481567, 0.1733056753873825, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7299531698226929, -1.1480246782302856, -1.599596381187439, -1.8002336025238037, -0.4183889329433441, -0.0015708921710029244, 0.001652984181419015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.490412950515747, -1.3964650630950928, 1.6409037113189697, -1.9484862089157104, 1.8527601957321167, 0.733737051486969, 0.04271728917956352, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7299467325210571, -1.1480262279510498, -1.5995975732803345, -1.8002344369888306, -0.41838881373405457, -0.0015690946020185947, 0.001649149227887392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4863256216049194, -1.3782728910446167, 1.6745680570602417, -1.930676817893982, 1.9469894170761108, 0.7513028979301453, -0.06265748292207718, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7299267053604126, -1.148026704788208, -1.59959876537323, -1.800234079360962, -0.41838786005973816, -0.0015701731899753213, 0.001646272954531014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4814679622650146, -1.3622100353240967, 1.6964771747589111, -1.9229494333267212, 1.9312686920166016, 0.7519498467445374, -0.09844477474689484, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7298729419708252, -1.1480265855789185, -1.5996003150939941, -1.800234079360962, -0.41838666796684265, -0.0015716112684458494, 0.0016438760794699192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.479741096496582, -1.3500187397003174, 1.7171897888183594, -1.912219524383545, 1.9107112884521484, 0.7483731508255005, -0.11437816172838211, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7297283411026, -1.1480265855789185, -1.5996016263961792, -1.8002344369888306, -0.41838523745536804, -0.001574247726239264, 0.0016399213345721364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.478796124458313, -1.3373504877090454, 1.755536675453186, -1.8816572427749634, 1.9348375797271729, 0.7653844952583313, -0.13257189095020294, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7297178506851196, -1.148026466369629, -1.5996044874191284, -1.8002345561981201, -0.41838380694389343, -0.0015765248099341989, 0.0016360863810405135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.470559000968933, -1.3217438459396362, 1.8009870052337646, -1.8442145586013794, 1.9872722625732422, 0.8006213903427124, -0.15936443209648132, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296992540359497, -1.1480274200439453, -1.599604845046997, -1.8002357482910156, -0.41838234663009644, -0.00158012006431818, 0.0016315323300659657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4503095149993896, -1.3070471286773682, 1.8281376361846924, -1.8073973655700684, 2.027501106262207, 0.8223333954811096, -0.18667228519916534, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296831607818604, -1.1480283737182617, -1.599604845046997, -1.800236463546753, -0.4183805584907532, -0.0015817978419363499, 0.0016266187885776162, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.416624665260315, -1.2966101169586182, 1.8338221311569214, -1.756547451019287, 2.0264601707458496, 0.8249271512031555, -0.18287555873394012, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296783924102783, -1.1480284929275513, -1.599609136581421, -1.8002361059188843, -0.4183773100376129, -0.001586951082572341, 0.0016257798997685313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3686399459838867, -1.2886011600494385, 1.814628005027771, -1.6932586431503296, 2.008544445037842, 0.8117665648460388, -0.15169823169708252, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729621410369873, -1.1480293273925781, -1.5996075868606567, -1.8002369403839111, -0.41837409138679504, -0.0015886288601905107, 0.0016231434419751167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.322275996208191, -1.2846133708953857, 1.7779256105422974, -1.6358898878097534, 1.9494320154190063, 0.7872257828712463, -0.0756864920258522, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729508876800537, -1.14802885055542, -1.5996074676513672, -1.800236701965332, -0.4183739721775055, -0.0015879097627475858, 0.0016219449462369084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2837461233139038, -1.280914545059204, 1.7442768812179565, -1.5743014812469482, 1.8483388423919678, 0.7751132845878601, 0.026498079299926758, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7295167446136475, -1.1480287313461304, -1.599605917930603, -1.8002368211746216, -0.41837337613105774, -0.0015876700635999441, 0.0016203870764002204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2516453266143799, -1.2753520011901855, 1.7133605480194092, -1.5111398696899414, 1.7270252704620361, 0.7532696723937988, 0.13832372426986694, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7295202016830444, -1.1480300426483154, -1.5996052026748657, -1.8002361059188843, -0.418371319770813, -0.0015887486515566707, 0.0016248212195932865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2264220714569092, -1.2698160409927368, 1.690351128578186, -1.459241509437561, 1.63089120388031, 0.7369423508644104, 0.24184249341487885, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729533076286316, -1.1480281352996826, -1.599603533744812, -1.8002355098724365, -0.41837072372436523, -0.0015895875403657556, 0.0016276973765343428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2111806869506836, -1.2633297443389893, 1.6711241006851196, -1.4237587451934814, 1.5095239877700806, 0.7047876119613647, 0.36600470542907715, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7295351028442383, -1.148031234741211, -1.5996006727218628, -1.8002361059188843, -0.41837048530578613, -0.0015912654343992472, 0.0016306934412568808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2107034921646118, -1.262489914894104, 1.671044111251831, -1.4230272769927979, 1.4936466217041016, 0.7052462100982666, 0.3702308237552643, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729542851448059, -1.1480324268341064, -1.5995997190475464, -1.800235629081726, -0.4183708429336548, -0.001589228049851954, 0.0016339292051270604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2109637260437012, -1.2624883651733398, 1.6725800037384033, -1.424407720565796, 1.5150007009506226, 0.7068682909011841, 0.3458344042301178, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7295488119125366, -1.1480324268341064, -1.5995979309082031, -1.8002358675003052, -0.41837266087532043, -0.0015868311747908592, 0.0016365657793357968, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2115442752838135, -1.2624741792678833, 1.6726155281066895, -1.4245792627334595, 1.515357255935669, 0.7068723440170288, 0.34593531489372253, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7295541763305664, -1.1480337381362915, -1.5995866060256958, -1.8002349138259888, -0.4183746874332428, -0.001583955017849803, 0.0016407602233812213, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2028883695602417, -1.2626460790634155, 1.6619257926940918, -1.407698154449463, 1.5238786935806274, 0.7089896202087402, 0.34607815742492676, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296351194381714, -1.148033857345581, -1.5995851755142212, -1.8002355098724365, -0.41837647557258606, -0.0015825169393792748, 0.001643276889808476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1623797416687012, -1.2647483348846436, 1.615895390510559, -1.3292773962020874, 1.5331019163131714, 0.7079450488090515, 0.36655107140541077, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7298334836959839, -1.1480331420898438, -1.5995864868164062, -1.8002337217330933, -0.4183780252933502, -0.0015804795548319817, 0.0016468721441924572, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1326345205307007, -1.2720303535461426, 1.5832899808883667, -1.2804924249649048, 1.5246669054031372, 0.6803365349769592, 0.4006817638874054, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987410139950237, -0.04995595444880821, -0.00455955911250125, -8.123305320739746], [0.04993188100132635, -0.9987388312372238, 0.005249213138510354, -4.46959924697876], [-0.004816038191416041, 0.005014937089607907, 0.9999758277989154, 0.01993574947118759], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7298187017440796, -1.1480330228805542, -1.5995861291885376, -1.800233006477356, -0.4183805584907532, -0.0015777231892570853, 0.001648549921810627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1147804260253906, -1.2768343687057495, 1.5693347454071045, -1.2544575929641724, 1.5136858224868774, 0.6512577533721924, 0.434899240732193, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987387225547046, -0.05000192449094994, -0.004557588945728408, -8.123624801635742], [0.04997783397339137, -0.9987365034352831, 0.00525478992852577, -4.46922492980957], [-0.004814580056974039, 0.005020383756860577, 0.9999758074902656, 0.019973039627075195], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72980535030365, -1.148032784461975, -1.5995843410491943, -1.8002334833145142, -0.418383926153183, -0.001575685921125114, 0.0016471118433400989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1033765077590942, -1.2788234949111938, 1.5640161037445068, -1.2316783666610718, 1.4982632398605347, 0.6199408173561096, 0.4644334018230438, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404526094954, -0.04996776976773995, -0.004553054559149027, -8.123373985290527], [0.0499437036698273, -0.9987382124928761, 0.005254461939680779, -4.469503402709961], [-0.00480986331624236, 0.005020447288161453, 0.9999758298698553, 0.020011233165860176], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7297722101211548, -1.1480333805084229, -1.5995850563049316, -1.800234317779541, -0.41838523745536804, -0.0015747271245345473, 0.0016479507321491838, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.082177996635437, -1.281016230583191, 1.5511618852615356, -1.1933561563491821, 1.4696049690246582, 0.5857012867927551, 0.4968074858188629, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987405396152578, -0.049966469256094465, -0.0045482391212182715, -8.12337589263916], [0.04994246312246885, -0.9987383136816474, 0.005247014541669292, -4.469515323638916], [-0.004804675460929032, 0.005013255870132279, 0.9999758908890233, 0.020017188042402267], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296335697174072, -1.148032546043396, -1.599586009979248, -1.8002326488494873, -0.41838666796684265, -0.0015728096477687359, 0.0016472317511215806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0497593879699707, -1.2869969606399536, 1.5250568389892578, -1.1381491422653198, 1.435539960861206, 0.5481610894203186, 0.5388404726982117, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404822445938, -0.0499681011030805, -0.004542906337212774, -8.123382568359375], [0.0499441282830836, -0.9987382376162808, 0.005245643255902645, -4.46950101852417], [-0.004799289101445356, 0.00501214477819952, 0.9999759223245543, 0.020054269582033157], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296282052993774, -1.1480329036712646, -1.5995854139328003, -1.800233244895935, -0.41838714480400085, -0.0015729295555502176, 0.0016426777001470327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0168315172195435, -1.2975373268127441, 1.4970611333847046, -1.0926545858383179, 1.4288814067840576, 0.5283010601997375, 0.5540550351142883, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399067897877, -0.04997758268923715, -0.004565064519434799, -8.123444557189941], [0.0499535040315925, -0.998737774416701, 0.005244557954754708, -4.469425201416016], [-0.004821412707061207, 0.005009908354009291, 0.9999758271067319, 0.019868476316332817], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296257019042969, -1.1480331420898438, -1.5995866060256958, -1.8002331256866455, -0.41838690638542175, -0.0015729295555502176, 0.001642438000999391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0002573728561401, -1.3085365295410156, 1.476689100265503, -1.0724378824234009, 1.4270663261413574, 0.5008777976036072, 0.5538986325263977, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998740129094676, -0.049974265945435345, -0.004552722170783769, -8.123481750488281], [0.04995031201582144, -0.9987380026453767, 0.005231481763804132, -4.469450950622559], [-0.004808416108400949, 0.004997480879186187, 0.999975951870539, 0.019910523667931557], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296262979507446, -1.1480326652526855, -1.5995888710021973, -1.8002333641052246, -0.4183870255947113, -0.0015708921710029244, 0.0016399213345721364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9831399917602539, -1.315400242805481, 1.4718526601791382, -1.0411969423294067, 1.4212465286254883, 0.4959733784198761, 0.5537678003311157, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404768194839, -0.04996665322870502, -0.004559992051837311, -8.123360633850098], [0.04994258895245688, -0.9987383082359274, 0.005246853415497675, -4.469513893127441], [-0.00481640645257529, 0.0050125070733247025, 0.9999758382089656, 0.01992102898657322], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296260595321655, -1.1480320692062378, -1.5995912551879883, -1.8002333641052246, -0.4183882176876068, -0.0015702929813414812, 0.001636445871554315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9656693935394287, -1.3182216882705688, 1.467421054840088, -1.0101425647735596, 1.4242520332336426, 0.5144416689872742, 0.5513685345649719, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987403321757902, -0.04996934645120445, -0.004562159645561232, -8.123414993286133], [0.04994527369785702, -0.9987381765895909, 0.005246356616275146, -4.469490051269531], [-0.004818560017083661, 0.005011889637500421, 0.9999758309287397, 0.019900741055607796], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296264171600342, -1.1480311155319214, -1.5995954275131226, -1.8002334833145142, -0.4183877408504486, -0.0015720906667411327, 0.0016326109180226922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.950292706489563, -1.3217966556549072, 1.4655816555023193, -0.9822040796279907, 1.4345906972885132, 0.5481472015380859, 0.5518718957901001, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987398371292209, -0.04997961621787032, -0.00455803617922832, -8.123456954956055], [0.049955561395355445, -0.9987376591041295, 0.005246920323161719, -4.46940803527832], [-0.004814521447831792, 0.005012609092790844, 0.9999758467749664, 0.019936108961701393], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729627251625061, -1.14803147315979, -1.5995969772338867, -1.8002336025238037, -0.4183865487575531, -0.001574247726239264, 0.0016284164739772677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9341861605644226, -1.3256251811981201, 1.4643537998199463, -0.9529199004173279, 1.4426714181900024, 0.5726338028907776, 0.5589404106140137, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987405155593281, -0.049966095010385965, -0.004557623251350699, -8.123377799987793], [0.049942031255364415, -0.9987383237309999, 0.005249211853337157, -4.469518661499023], [-0.004814155624444914, 0.005014983589812954, 0.9999758366306746, 0.01995112933218479], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296278476715088, -1.1480306386947632, -1.5995991230010986, -1.8002344369888306, -0.4183853566646576, -0.0015764049021527171, 0.0016270981868728995, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9167129993438721, -1.329199194908142, 1.4567382335662842, -0.9215944409370422, 1.4443410634994507, 0.5902982354164124, 0.572433590888977, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987400690067592, -0.049974523617635054, -0.004563063616053781, -8.123421669006348], [0.04995040121880718, -0.9987378709565569, 0.005255714532192499, -4.4694504737854], [-0.004819956270953483, 0.005021165836152937, 0.9999757776642352, 0.01993563026189804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729628562927246, -1.1480305194854736, -1.5996003150939941, -1.800234317779541, -0.4183829426765442, -0.001577843097038567, 0.001625899807550013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9023789167404175, -1.3335453271865845, 1.4486911296844482, -0.8943390846252441, 1.4424068927764893, 0.5984116792678833, 0.5929480791091919, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399950048714, -0.04997705342513858, -0.004551539147402668, -8.12343978881836], [0.04995292135990733, -0.9987376709144391, 0.005269757490827245, -4.469428062438965], [-0.00480916055880943, 0.005035754892968941, 0.9999757562798098, 0.020091328769922256], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296303510665894, -1.1480305194854736, -1.599601149559021, -1.8002347946166992, -0.41838210821151733, -0.00158023985568434, 0.0016255403170362115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8879424929618835, -1.3377635478973389, 1.4446989297866821, -0.8687538504600525, 1.4443490505218506, 0.6128727793693542, 0.6099234819412231, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987407725310087, -0.04996021412561425, -0.004565773613178914, -8.123348236083984], [0.0499360273566905, -0.9987385342634778, 0.005266246203143753, -4.4695658683776855], [-0.004823116834152436, 0.005031618205214126, 0.9999757098861157, 0.01996123045682907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296321392059326, -1.1480298042297363, -1.5996021032333374, -1.8002346754074097, -0.4183802008628845, -0.0015829962212592363, 0.0016242220299318433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8749645948410034, -1.341271996498108, 1.4404284954071045, -0.8497511744499207, 1.4416999816894531, 0.6160470247268677, 0.621969997882843, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1480289697647095, -1.5996034145355225, -1.8002344369888306, -0.41837742924690247, -0.001585393096320331, 0.0016262592980638146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8604171872138977, -1.3449801206588745, 1.434012770652771, -0.8231511116027832, 1.4305096864700317, 0.6090298295021057, 0.6273878216743469, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296394109725952, -1.1480293273925781, -1.5996036529541016, -1.8002344369888306, -0.41837552189826965, -0.0015876700635999441, 0.0016272180946543813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8547757267951965, -1.3472976684570312, 1.4338059425354004, -0.8086721301078796, 1.4165579080581665, 0.5910137891769409, 0.6307204365730286, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729641079902649, -1.1480281352996826, -1.5996043682098389, -1.8002336025238037, -0.41837361454963684, -0.0015875502722337842, 0.001631172839552164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.856407642364502, -1.3474140167236328, 1.4393491744995117, -0.8096036314964294, 1.4002641439437866, 0.5830637216567993, 0.6347066164016724, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72964346408844, -1.1480286121368408, -1.5996031761169434, -1.8002338409423828, -0.4183725416660309, -0.0015882693696767092, 0.0016332102240994573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8590923547744751, -1.3474328517913818, 1.440893292427063, -0.809564471244812, 1.3786951303482056, 0.5688432455062866, 0.6449033617973328, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296466827392578, -1.1480281352996826, -1.599603295326233, -1.8002331256866455, -0.41837215423583984, -0.0015887486515566707, 0.0016384832561016083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8566352725028992, -1.347745418548584, 1.4369932413101196, -0.7970809936523438, 1.3552833795547485, 0.5543635487556458, 0.6654452085494995, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296490669250488, -1.1480281352996826, -1.5996029376983643, -1.800233006477356, -0.41837167739868164, -0.0015906661283224821, 0.0016430371906608343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8579863905906677, -1.3482283353805542, 1.4314604997634888, -0.7969292402267456, 1.3261408805847168, 0.5394513010978699, 0.693153440952301, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729650616645813, -1.1480281352996826, -1.5996012687683105, -1.8002328872680664, -0.418371319770813, -0.0015911455266177654, 0.0016451943665742874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8675636649131775, -1.349118709564209, 1.4299982786178589, -0.8100073933601379, 1.3088786602020264, 0.5233677625656128, 0.7000083923339844, 0.057599998830439, 0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72965407371521, -1.1480274200439453, -1.599600076675415, -1.8002325296401978, -0.41837313771247864, -0.0015873105730861425, 0.0016525047831237316, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8755155801773071, -1.3510454893112183, 1.4302066564559937, -0.8159187436103821, 1.3025721311569214, 0.5057437419891357, 0.6980879306793213, 0.1439999837141771, 0.1439999837141771, 0.1439999837141771, 0.1439999837141771, -0.1439999837141771, -0.1439999837141771, -0.1439999837141771, 0.1439999837141771, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.7296552658081055, -1.1480271816253662, -1.5995997190475464, -1.8002336025238037, -0.4183742105960846, -0.0015863518929108977, 0.001651426195167005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8787888884544373, -1.352892279624939, 1.4335079193115234, -0.8182494640350342, 1.3001776933670044, 0.5014035701751709, 0.6976382732391357, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, -0.1661999891092489, -0.1661999891092489, -0.1661999891092489, 0.1661999891092489, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296547889709473, -1.1480271816253662, -1.5995991230010986, -1.8002327680587769, -0.41837576031684875, -0.00158012006431818, 0.0016533436719328165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8812611699104309, -1.3536022901535034, 1.4370472431182861, -0.8275827765464783, 1.2981878519058228, 0.5016558170318604, 0.6960359811782837, 0.23520000269124797, 0.23520000269124797, 0.23520000269124797, 0.23520000269124797, -0.23520000269124797, -0.23520000269124797, -0.23520000269124797, 0.23520000269124797, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72965669631958, -1.1480244398117065, -1.5995982885360718, -1.8002320528030396, -0.4183787703514099, -0.0015764049021527171, 0.0016533436719328165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8818271160125732, -1.3543298244476318, 1.4427549839019775, -0.835756242275238, 1.302140235900879, 0.5035130381584167, 0.687369704246521, 0.4757999971672729, 0.4757999971672729, 0.4757999971672729, 0.4757999971672729, -0.4757999971672729, -0.4757999971672729, -0.4757999971672729, 0.4757999971672729, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296562194824219, -1.1480281352996826, -1.5995969772338867, -1.8002331256866455, -0.4183807969093323, -0.0015768843004480004, 0.0016527444822713733, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8818535208702087, -1.3543626070022583, 1.4429192543029785, -0.8356178402900696, 1.3043969869613647, 0.5036920309066772, 0.6862234473228455, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6832650899887085, -0.6398729681968689, 0.0, 0.0, 1.729656457901001, -1.1480282545089722, -1.5995959043502808, -1.8002328872680664, -0.4183834195137024, -0.0015750867314636707, 0.0016495087184011936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.884119987487793, -1.353890061378479, 1.446718692779541, -0.8400006890296936, 1.29840886592865, 0.5021193623542786, 0.6914195418357849, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296555042266846, -1.1480278968811035, -1.5995945930480957, -1.8002331256866455, -0.41838547587394714, -0.0015725699486210942, 0.0016460332553833723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9145611524581909, -1.3512791395187378, 1.4629197120666504, -0.8955597877502441, 1.282881736755371, 0.48146623373031616, 0.7094957232475281, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296557426452637, -1.1480283737182617, -1.599593162536621, -1.8002324104309082, -0.41838571429252625, -0.0015722104581072927, 0.0016425579087808728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9639712572097778, -1.3472862243652344, 1.4828084707260132, -0.973475456237793, 1.2762192487716675, 0.44821348786354065, 0.7173073887825012, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296541929244995, -1.1480287313461304, -1.5995925664901733, -1.8002328872680664, -0.4183860719203949, -0.0015723302494734526, 0.0016372847603634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0270484685897827, -1.340764045715332, 1.5019558668136597, -1.064268708229065, 1.2645344734191895, 0.41043418645858765, 0.7219997048377991, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72965407371521, -1.14802885055542, -1.5995938777923584, -1.8002327680587769, -0.41838714480400085, -0.0015713715692982078, 0.0016339292051270604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0876318216323853, -1.3354220390319824, 1.5166443586349487, -1.1418782472610474, 1.255228877067566, 0.3727871775627136, 0.7341324090957642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729654312133789, -1.1480286121368408, -1.5995945930480957, -1.8002328872680664, -0.4183879792690277, -0.0015716112684458494, 0.0016299744602292776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1383452415466309, -1.3312159776687622, 1.5298949480056763, -1.1994267702102661, 1.238250732421875, 0.3566897213459015, 0.7596998810768127, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296500205993652, -1.1480286121368408, -1.599597454071045, -1.8002310991287231, -0.418388694524765, -0.001570412889122963, 0.0016275775851681828, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.154570460319519, -1.3279037475585938, 1.532227635383606, -1.2151321172714233, 1.2113010883331299, 0.3458521366119385, 0.7650224566459656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729650616645813, -1.1480293273925781, -1.5995967388153076, -1.8002326488494873, -0.41838881373405457, -0.0015710120787844062, 0.0016249410109594464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1518274545669556, -1.327889084815979, 1.5319207906723022, -1.2116910219192505, 1.2149442434310913, 0.3466961979866028, 0.7634182572364807, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296501398086548, -1.148029088973999, -1.5995972156524658, -1.8002326488494873, -0.4183882176876068, -0.0015713715692982078, 0.0016248212195932865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1512097120285034, -1.3278898000717163, 1.5318571329116821, -1.2113070487976074, 1.2156040668487549, 0.34677648544311523, 0.7632215023040771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729650855064392, -1.1480294466018677, -1.5995967388153076, -1.800233006477356, -0.4183884561061859, -0.0015717310598120093, 0.0016248212195932865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1549389362335205, -1.3267831802368164, 1.5322266817092896, -1.2152204513549805, 1.2105776071548462, 0.3447050154209137, 0.7584834098815918, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296499013900757, -1.1480295658111572, -1.5995967388153076, -1.8002328872680664, -0.4183882176876068, -0.0015714913606643677, 0.0016248212195932865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1863452196121216, -1.3170859813690186, 1.5360088348388672, -1.2471482753753662, 1.167228102684021, 0.325761079788208, 0.717053234577179, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729650616645813, -1.1480292081832886, -1.5995973348617554, -1.8002327680587769, -0.4183882176876068, -0.0015710120787844062, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.249464511871338, -1.2977018356323242, 1.5434523820877075, -1.3112728595733643, 1.0805792808532715, 0.28792867064476013, 0.6338372826576233, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296496629714966, -1.148029088973999, -1.5995970964431763, -1.800232172012329, -0.4183884561061859, -0.0015699334908276796, 0.001625180710107088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3443299531936646, -1.2686246633529663, 1.554545521736145, -1.4076589345932007, 0.9501757621765137, 0.23118217289447784, 0.5087662935256958, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296512126922607, -1.148026466369629, -1.5995982885360718, -1.8002338409423828, -0.4183879792690277, -0.0015714913606643677, 0.0016249410109594464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4691156148910522, -1.230208396911621, 1.5692589282989502, -1.5344493389129639, 0.7785010933876038, 0.1563943773508072, 0.34408292174339294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296496629714966, -1.148030400276184, -1.5995969772338867, -1.8002338409423828, -0.4183882176876068, -0.001570412889122963, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5820927619934082, -1.1954965591430664, 1.582566738128662, -1.649625301361084, 0.6232814192771912, 0.08856426179409027, 0.19500647485256195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987401655854262, -0.049972864274149445, -0.004560096778851019, -8.1234130859375], [0.049948744293971496, -0.9987379401843091, 0.00525830579738016, -4.469461917877197], [-0.004817114265875222, 0.005023910094811675, 0.9999757775753915, 0.019970929250121117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296494245529175, -1.148030400276184, -1.5995978116989136, -1.8002351522445679, -0.41838809847831726, -0.001571131870150566, 0.0016241021221503615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6631330251693726, -1.1705714464187622, 1.5920909643173218, -1.7320549488067627, 0.5119509696960449, 0.04004696384072304, 0.08817609399557114, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987419527272252, -0.049937478914216384, -0.004556321136758688, -8.123092651367188], [0.04991332713693926, -0.9987396551628873, 0.005268868876522281, -4.469748020172119], [-0.004813692629360849, 0.005034819242961577, 0.9999757391849368, 0.020056437700986862], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296500205993652, -1.148030161857605, -1.5995975732803345, -1.8002336025238037, -0.4183884561061859, -0.0015701731899753213, 0.0016245815204456449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7124435901641846, -1.1553902626037598, 1.5979222059249878, -1.7821742296218872, 0.4441400468349457, 0.010521790012717247, 0.02312428131699562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987404272886249, -0.049967497229323365, -0.0045615918244476935, -8.123303413391113], [0.04994331410520576, -0.9987381508822999, 0.005269852786657769, -4.469499111175537], [-0.00481915713834497, 0.0050353940105866005, 0.9999757099708143, 0.02000991255044937], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9506039619445801, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296500205993652, -1.1480293273925781, -1.599597692489624, -1.8002338409423828, -0.41838809847831726, -0.0015707723796367645, 0.0016241021221503615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729872226715088, -1.150046467781067, 1.5999557971954346, -1.7998584508895874, 0.4200855493545532, 6.219813076313585e-05, 7.993478357093409e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987402230586582, -0.04997111290721724, -0.004566696788229634, -8.123272895812988], [0.04994698432847513, -0.9987380549902778, 0.005253215275206263, -4.469478607177734], [-0.004823442881650064, 0.005018504662820051, 0.9999757742114139, 0.019894596189260483], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296497821807861, -1.148030400276184, -1.599596619606018, -1.800234317779541, -0.4183882176876068, -0.001570412889122963, 0.00162374263163656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300152778625488, -1.14996337890625, 1.6000241041183472, -1.8000811338424683, 0.41988542675971985, -6.123939238023013e-05, -0.00011876366625074297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987400460323259, -0.04997586214811411, -0.004553422218527471, -8.123351097106934], [0.04995176388112302, -0.9987377762315357, 0.005260761660781086, -4.469439506530762], [-0.004810585880328671, 0.005026681871742654, 0.9999757950734849, 0.02003544755280018], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.729648232460022, -1.148029088973999, -1.5995956659317017, -1.800236463546753, -0.41838571429252625, -0.0015768843004480004, 0.001625180710107088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297203540802002, -1.150017499923706, 1.6000112295150757, -1.7997692823410034, 0.4201851487159729, 0.0002586195769254118, 0.00015387745224870741, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987406593150565, -0.04996292493666624, -0.004560873019337764, -8.123355865478516], [0.04993882589748874, -0.9987384632811629, 0.005253154362952901, -4.469544410705566], [-0.004817582267670854, 0.005018774208286085, 0.9999758011104771, 0.019942443817853928], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296490669250488, -1.1480212211608887, -1.599594235420227, -1.800235390663147, -0.41837960481643677, -0.0015901868464425206, 0.0016386030474677682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729193925857544, -1.1500521898269653, 1.6000111103057861, -1.799503207206726, 0.4204902648925781, 0.0007500926149077713, 0.0003576092713046819, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987409413307309, -0.049955575029947255, -0.004579588762491812, -8.123281478881836], [0.04993140819467639, -0.9987388625369897, 0.005247755140712016, -4.469605445861816], [-0.004835967897208883, 0.005012482593244167, 0.9999757439221961, 0.019767209887504578], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296490669250488, -1.1479527950286865, -1.599591612815857, -1.8002355098724365, -0.418371319770813, -0.0016359665896743536, 0.0016587366117164493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291488647460938, -1.1500605344772339, 1.6000114679336548, -1.7994040250778198, 0.42058447003364563, 0.0008309861295856535, 0.0004304733593016863, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998740435544065, -0.049968070870308134, -0.004553493466643269, -8.123359680175781], [0.04994411530271439, -0.9987383149448057, 0.005231023593794159, -4.469501972198486], [-0.004809132549646441, 0.004997014579679072, 0.9999759507555221, 0.019903119653463364], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1478168964385986, -1.599586844444275, -1.8002363443374634, -0.41835707426071167, -0.0016648485325276852, 0.0016849819803610444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291419506072998, -1.1500617265701294, 1.6000115871429443, -1.7993768453598022, 0.4206078350543976, 0.0008509997860528529, 0.000445693323854357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987398474834319, -0.04998010771471982, -0.0045503715888630895, -8.123394966125488], [0.04995617885538175, -0.9987377237373933, 0.00522870710783853, -4.4694037437438965], [-0.004805959107278918, 0.004994798962466495, 0.9999759770816415, 0.019917920231819153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296490669250488, -1.1477608680725098, -1.599581241607666, -1.8002374172210693, -0.41829919815063477, -0.0016671254998072982, 0.0017172195948660374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291417121887207, -1.150061845779419, 1.600012183189392, -1.7993688583374023, 0.4206187427043915, 0.0008608268690295517, 0.0004497679474297911, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987406970458601, -0.049962568249878256, -0.004556516018420107, -8.123323440551758], [0.049938627105874274, -0.9987386214862364, 0.005224889908213282, -4.469546794891357], [-0.004811817445654057, 0.004990764034570988, 0.9999759690548673, 0.019851423799991608], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1477442979812622, -1.5995758771896362, -1.8002378940582275, -0.41823601722717285, -0.001664968323893845, 0.001739989616908133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291412353515625, -1.1500617265701294, 1.6000137329101562, -1.7993675470352173, 0.4206247329711914, 0.0008776047616265714, 0.00045144575415179133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987408105135722, -0.04996038037787191, -0.00455563466390713, -8.12331485748291], [0.04993642522053377, -0.9987387115487667, 0.0052287178259715714, -4.469564437866211], [-0.004811117425991605, 0.004994641769731341, 0.9999759530622251, 0.01987581141293049], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1477409601211548, -1.5995700359344482, -1.8002382516860962, -0.41822823882102966, -0.001662811147980392, 0.0017501761903986335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291412353515625, -1.1500608921051025, 1.6000152826309204, -1.7993661165237427, 0.4206274747848511, 0.000896659679710865, 0.00045168542419560254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987402016332887, -0.04997134024175423, -0.004568894389231289, -8.123357772827148], [0.04994736969866913, -0.9987382194095922, 0.005218175039346062, -4.469476222991943], [-0.004823888647303527, 0.0049833969337811715, 0.9999759476374013, 0.019721217453479767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296489477157593, -1.1477397680282593, -1.5995651483535767, -1.8002387285232544, -0.41822871565818787, -0.0016600547824054956, 0.0017517341766506433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291401624679565, -1.1500600576400757, 1.6000169515609741, -1.7993648052215576, 0.4206295311450958, 0.0009022923186421394, 0.00045324338134378195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.998740578965255, -0.049964506594555834, -0.004561141185033954, -8.123332977294922], [0.04994063378706292, -0.9987386202754676, 0.005205906952870328, -4.469531536102295], [-0.0048154984262997556, 0.004971564242576088, 0.9999760469750704, 0.019728420302271843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296487092971802, -1.1477397680282593, -1.5995607376098633, -1.8002384901046753, -0.4182303845882416, -0.0016590961022302508, 0.001750535680912435, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291390895843506, -1.1500591039657593, 1.6000168323516846, -1.7993632555007935, 0.42063072323799133, 0.0009018129203468561, 0.0004522846429608762, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6830734014511108, -0.6399688124656677, 0.0, 0.0, 1.7296487092971802, -1.1477398872375488, -1.599556565284729, -1.8002387285232544, -0.41823244094848633, -0.0016587366117164493, 0.001749097602441907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291375398635864, -1.1500575542449951, 1.6000175476074219, -1.7993640899658203, 0.42063108086586, 0.0009025319595821202, 0.000452044972917065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296489477157593, -1.1477400064468384, -1.5995553731918335, -1.8002386093139648, -0.4182319641113281, -0.0016583770047873259, 0.0017486182041466236, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729135274887085, -1.1500567197799683, 1.6000171899795532, -1.7993624210357666, 0.4206337034702301, 0.0009034906979650259, 0.00045144575415179133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296489477157593, -1.147740125656128, -1.5995551347732544, -1.8002389669418335, -0.4182322025299072, -0.001657538115978241, 0.0017469404265284538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291322946548462, -1.1500552892684937, 1.6000170707702637, -1.7993615865707397, 0.42064064741134644, 0.0009049288346432149, 0.0004510862345341593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296490669250488, -1.147740125656128, -1.5995553731918335, -1.8002381324768066, -0.41823291778564453, -0.0016577778151258826, 0.001746820635162294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291302680969238, -1.1500539779663086, 1.6000171899795532, -1.7993608713150024, 0.42064714431762695, 0.0009088836377486587, 0.00044916875776834786, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296488285064697, -1.1477406024932861, -1.5995562076568604, -1.800238013267517, -0.4182344675064087, -0.0016576580237597227, 0.0017469404265284538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291278839111328, -1.150053858757019, 1.6000169515609741, -1.7993603944778442, 0.42065563797950745, 0.0009063669131137431, 0.0004462925426196307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296490669250488, -1.1477404832839966, -1.5995571613311768, -1.8002381324768066, -0.4182344675064087, -0.0016599349910393357, 0.0017481389222666621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291232347488403, -1.1500533819198608, 1.6000171899795532, -1.799359679222107, 0.4206680953502655, 0.0009055280243046582, 0.00044137900113128126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6396812796592712, 0.0, 0.0, 1.7296488285064697, -1.147740364074707, -1.5995583534240723, -1.8002375364303589, -0.4182337522506714, -0.001661972259171307, 0.00175125477835536, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121208190918, -1.1500529050827026, 1.6000176668167114, -1.7993581295013428, 0.42067983746528625, 0.0009044494363479316, 0.00043574642040766776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6396812796592712, 0.0, 0.0, 1.7296488285064697, -1.1477404832839966, -1.5995599031448364, -1.800238013267517, -0.4182314872741699, -0.0016650882316753268, 0.001755808829329908, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291178703308105, -1.150052547454834, 1.60001802444458, -1.7993546724319458, 0.42069074511528015, 0.0009030113578774035, 0.00042771699372678995, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296488285064697, -1.147740364074707, -1.599562168121338, -1.8002381324768066, -0.4182296693325043, -0.001668683486059308, 0.001765516004525125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291169166564941, -1.1500520706176758, 1.6000186204910278, -1.7993526458740234, 0.4206986725330353, 0.0009031312074512243, 0.00042064630542881787, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296485900878906, -1.1477402448654175, -1.5995635986328125, -1.8002382516860962, -0.4182271659374237, -0.0016753945965319872, 0.0017872074386104941, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291151285171509, -1.150051236152649, 1.600020170211792, -1.7993518114089966, 0.42070165276527405, 0.0009031312074512243, 0.0004120176599826664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296489477157593, -1.1477402448654175, -1.599564790725708, -1.800238013267517, -0.4182187616825104, -0.0016833042027428746, 0.0018134529236704111, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500507593154907, 1.600021481513977, -1.7993508577346802, 0.4207015335559845, 0.0009022923186421394, 0.00040638507925905287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.729648470878601, -1.1477400064468384, -1.59956693649292, -1.8002384901046753, -0.4182012677192688, -0.0016908543184399605, 0.0018303507240489125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729113221168518, -1.1500500440597534, 1.6000232696533203, -1.7993502616882324, 0.4207005798816681, 0.0009016930707730353, 0.00040302949491888285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296487092971802, -1.1477395296096802, -1.5995686054229736, -1.800239086151123, -0.41817405819892883, -0.001693490776233375, 0.0018351443577557802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291128635406494, -1.1500493288040161, 1.6000257730484009, -1.7993501424789429, 0.42069903016090393, 0.0009018129203468561, 0.0004027897957712412, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296483516693115, -1.1477386951446533, -1.599570631980896, -1.800239086151123, -0.41815224289894104, -0.0016933709848672152, 0.001834664959460497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291126251220703, -1.1500492095947266, 1.6000291109085083, -1.7993502616882324, 0.42069903016090393, 0.0009030113578774035, 0.00040231042657978833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296473979949951, -1.147736668586731, -1.5995709896087646, -1.8002393245697021, -0.4181486666202545, -0.0016932511935010552, 0.001833706279285252, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291128635406494, -1.150048851966858, 1.6000337600708008, -1.799350619316101, 0.42069748044013977, 0.0009033708483912051, 0.00040159138734452426, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296463251113892, -1.147733211517334, -1.599570393562317, -1.8002395629882812, -0.4181491434574127, -0.0016932511935010552, 0.0018339459784328938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729112982749939, -1.1500483751296997, 1.6000380516052246, -1.799350380897522, 0.4206951856613159, 0.0009039700962603092, 0.0004009921685792506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.7296448945999146, -1.1477274894714355, -1.5995700359344482, -1.80023992061615, -0.41814985871315, -0.0016924121882766485, 0.0018323879921808839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729113221168518, -1.1500484943389893, 1.6000416278839111, -1.7993507385253906, 0.42069315910339355, 0.0009038502466864884, 0.00040147153777070343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6397771239280701, 0.0, 0.0, 1.72964346408844, -1.1477190256118774, -1.5995696783065796, -1.8002396821975708, -0.4181511700153351, -0.001691213808953762, 0.0018274744506925344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291133403778076, -1.150047779083252, 1.6000458002090454, -1.7993507385253906, 0.42069196701049805, 0.0009033708483912051, 0.000402909645345062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296420335769653, -1.1477112770080566, -1.599569320678711, -1.8002400398254395, -0.4181514084339142, -0.0016883376520127058, 0.0018217220203951001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291134595870972, -1.1500470638275146, 1.6000498533248901, -1.7993502616882324, 0.4206906259059906, 0.0009039700962603092, 0.0004045874229632318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296408414840698, -1.1477051973342896, -1.5995687246322632, -1.8002405166625977, -0.41815537214279175, -0.001685940776951611, 0.0018146513029932976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729112982749939, -1.1500468254089355, 1.6000525951385498, -1.799349069595337, 0.4206899106502533, 0.0009045692859217525, 0.00040638507925905287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296392917633057, -1.1476991176605225, -1.5995670557022095, -1.8002402782440186, -0.41815921664237976, -0.001683064503595233, 0.0018069813959300518, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291134595870972, -1.1500462293624878, 1.600054383277893, -1.799349308013916, 0.42069050669670105, 0.000907205801922828, 0.00040866207564249635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729637861251831, -1.1476941108703613, -1.599566102027893, -1.800240397453308, -0.4181642532348633, -0.0016798288561403751, 0.001800749683752656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291134595870972, -1.15004563331604, 1.6000560522079468, -1.7993465662002563, 0.42069050669670105, 0.0009110407554544508, 0.00041213748045265675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729636549949646, -1.147688865661621, -1.5995652675628662, -1.800240159034729, -0.4181695282459259, -0.0016764731844887137, 0.0017966750310733914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291131019592285, -1.15004563331604, 1.60005784034729, -1.7993441820144653, 0.42069074511528015, 0.0009175122831948102, 0.0004178899107500911, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.72963547706604, -1.147682785987854, -1.5995640754699707, -1.800240159034729, -0.4181750416755676, -0.0016735970275476575, 0.0017964353319257498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.150045394897461, 1.6000584363937378, -1.7993428707122803, 0.42069172859191895, 0.0009225456160493195, 0.00042352252057753503, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296351194381714, -1.1476777791976929, -1.5995632410049438, -1.8002406358718872, -0.41817837953567505, -0.0016721589490771294, 0.0017952368361875415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500451564788818, 1.6000585556030273, -1.7993427515029907, 0.42069315910339355, 0.0009245829423889518, 0.00042675825534388423, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296351194381714, -1.1476727724075317, -1.599562406539917, -1.8002408742904663, -0.41818270087242126, -0.0016733573284000158, 0.00179475755430758, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729114294052124, -1.1500452756881714, 1.6000584363937378, -1.7993412017822266, 0.4206960201263428, 0.0009255416807718575, 0.00042855588253587484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296347618103027, -1.1476694345474243, -1.5995607376098633, -1.8002402782440186, -0.4181863069534302, -0.0016735970275476575, 0.0017942781560122967, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729114294052124, -1.1500455141067505, 1.600058674812317, -1.7993416786193848, 0.420697957277298, 0.0009293766343034804, 0.00042915510130114853, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296346426010132, -1.1476662158966064, -1.5995601415634155, -1.8002405166625977, -0.41818737983703613, -0.001673956518061459, 0.0017949972534552217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500451564788818, 1.6000581979751587, -1.7993407249450684, 0.4206991493701935, 0.0009358481038361788, 0.00042975429096259177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296345233917236, -1.1476627588272095, -1.5995601415634155, -1.800240397453308, -0.4181879758834839, -0.0016743160085752606, 0.0017965551232919097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291138172149658, -1.1500451564788818, 1.600058674812317, -1.7993412017822266, 0.42069974541664124, 0.000937166390940547, 0.0004308328789193183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729634404182434, -1.1476606130599976, -1.599560260772705, -1.8002405166625977, -0.41818785667419434, -0.0016738367266952991, 0.001800030586309731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291138172149658, -1.1500451564788818, 1.6000585556030273, -1.799340844154358, 0.4207001030445099, 0.0009364473517052829, 0.00043023366015404463, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296345233917236, -1.1476584672927856, -1.599560260772705, -1.800240397453308, -0.41818809509277344, -0.0016758739948272705, 0.0018017083639279008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291135787963867, -1.1500451564788818, 1.6000584363937378, -1.7993396520614624, 0.42069998383522034, 0.0009362076525576413, 0.00042855588253587484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729634165763855, -1.1476563215255737, -1.5995612144470215, -1.8002408742904663, -0.4181884527206421, -0.0016780311707407236, 0.0018045846372842789, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500451564788818, 1.6000592708587646, -1.7993396520614624, 0.4206998646259308, 0.0009354886133223772, 0.00042591936653479934, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296342849731445, -1.1476548910140991, -1.5995616912841797, -1.8002415895462036, -0.4181886911392212, -0.00168066774494946, 0.0018088988726958632, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291136980056763, -1.1500450372695923, 1.6000603437423706, -1.7993395328521729, 0.42069903016090393, 0.0009363275021314621, 0.0004225637821946293, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296348810195923, -1.1476536989212036, -1.5995627641677856, -1.8002415895462036, -0.41818690299987793, -0.0016847422812134027, 0.001812134636566043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291138172149658, -1.1500449180603027, 1.6000616550445557, -1.799338459968567, 0.42069771885871887, 0.0009368068422190845, 0.00041848912951536477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729635238647461, -1.1476532220840454, -1.599564552307129, -1.8002411127090454, -0.4181850850582123, -0.0016880979528650641, 0.001814291812479496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291139364242554, -1.1500450372695923, 1.6000640392303467, -1.799338936805725, 0.4206963777542114, 0.0009352489141747355, 0.000414174806792289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296350002288818, -1.1476529836654663, -1.5995657444000244, -1.8002419471740723, -0.4181823432445526, -0.0016926518874242902, 0.0018163290806114674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291135787963867, -1.1500446796417236, 1.6000678539276123, -1.7993382215499878, 0.420695424079895, 0.0009334512869827449, 0.00040926129440777004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.729635238647461, -1.1476526260375977, -1.599567174911499, -1.8002418279647827, -0.41818127036094666, -0.0016985242255032063, 0.0018189656548202038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291135787963867, -1.150044322013855, 1.600071668624878, -1.7993378639221191, 0.4206947088241577, 0.0009318933007307351, 0.0004057858604937792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1476517915725708, -1.5995680093765259, -1.8002420663833618, -0.4181792140007019, -0.0017018797807395458, 0.0018214823212474585, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291134595870972, -1.1500442028045654, 1.6000760793685913, -1.799337387084961, 0.42069506645202637, 0.0009300956735387444, 0.00040422790334559977, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.14765202999115, -1.5995692014694214, -1.8002421855926514, -0.4181753993034363, -0.0017016400815919042, 0.0018219617195427418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291134595870972, -1.1500436067581177, 1.6000810861587524, -1.7993366718292236, 0.42069458961486816, 0.0009300956735387444, 0.0004013516881968826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.14765202999115, -1.5995713472366333, -1.800242304801941, -0.4181726276874542, -0.0017014003824442625, 0.0018205236410722136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291136980056763, -1.1500434875488281, 1.6000860929489136, -1.7993371486663818, 0.42069458961486816, 0.0009298560325987637, 0.0004013516881968826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.1476516723632812, -1.599571943283081, -1.8002419471740723, -0.4181726276874542, -0.0017015202902257442, 0.001817407668568194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291136980056763, -1.15004301071167, 1.6000890731811523, -1.7993366718292236, 0.4206947088241577, 0.0009292567847296596, 0.0004011120181530714, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296364307403564, -1.1476519107818604, -1.599571704864502, -1.8002424240112305, -0.4181709587574005, -0.0017019995721057057, 0.0018146513029932976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291136980056763, -1.1500434875488281, 1.600089430809021, -1.7993361949920654, 0.42069554328918457, 0.0009279385558329523, 0.0004003929498139769, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1476517915725708, -1.599571704864502, -1.800241470336914, -0.418169766664505, -0.0017009209841489792, 0.0018122545443475246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729114055633545, -1.15004301071167, 1.600089430809021, -1.7993360757827759, 0.420696496963501, 0.0009279385558329523, 0.00040147153777070343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.14765202999115, -1.5995712280273438, -1.8002406358718872, -0.41816914081573486, -0.0016974456375464797, 0.00180829968303442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291139364242554, -1.1500427722930908, 1.6000897884368896, -1.7993364334106445, 0.4206986725330353, 0.0009284178959205747, 0.0004020707565359771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.14765202999115, -1.599570393562317, -1.8002409934997559, -0.4181692600250244, -0.001695048762485385, 0.0018035060493275523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291139364242554, -1.1500424146652222, 1.6000893115997314, -1.7993359565734863, 0.42070046067237854, 0.0009300956735387444, 0.0004036286845803261, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.14765202999115, -1.5995699167251587, -1.8002411127090454, -0.4181700050830841, -0.0016925320960581303, 0.0018013488734140992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500420570373535, 1.6000889539718628, -1.7993358373641968, 0.42070212960243225, 0.0009294964838773012, 0.0004060255305375904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.1476516723632812, -1.5995688438415527, -1.8002402782440186, -0.41817036271095276, -0.0016900154296308756, 0.0017995511880144477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291144132614136, -1.1500416994094849, 1.6000887155532837, -1.7993364334106445, 0.4207022488117218, 0.0009303353726863861, 0.0004097406635992229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1476519107818604, -1.599567174911499, -1.8002405166625977, -0.4181716740131378, -0.0016863002674654126, 0.0017985925078392029, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500415802001953, 1.6000882387161255, -1.7993358373641968, 0.4207034707069397, 0.0009285377454943955, 0.00041357558802701533, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1476515531539917, -1.5995657444000244, -1.8002405166625977, -0.41817429661750793, -0.0016839033924043179, 0.0017983528086915612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500412225723267, 1.6000885963439941, -1.7993360757827759, 0.4207037091255188, 0.0009286575950682163, 0.0004187288286630064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1476510763168335, -1.5995646715164185, -1.8002402782440186, -0.4181765913963318, -0.0016816264251247048, 0.0017989519983530045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291145324707031, -1.1500415802001953, 1.6000889539718628, -1.7993359565734863, 0.4207039475440979, 0.0009290170855820179, 0.00042076612589880824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1476496458053589, -1.5995631217956543, -1.8002405166625977, -0.41817885637283325, -0.001681506633758545, 0.001800150377675891, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291147708892822, -1.1500412225723267, 1.6000880002975464, -1.7993358373641968, 0.42070454359054565, 0.0009322528494521976, 0.00042136534466408193, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1476482152938843, -1.5995625257492065, -1.80023992061615, -0.41818079352378845, -0.0016824653139337897, 0.0018014686647802591, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291146516799927, -1.1500416994094849, 1.6000887155532837, -1.7993361949920654, 0.42070260643959045, 0.0009338107774965465, 0.00042352252057753503, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.147646188735962, -1.5995606184005737, -1.8002407550811768, -0.41818150877952576, -0.001682944712229073, 0.0018042250303551555, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291147708892822, -1.1500416994094849, 1.6000888347625732, -1.799335241317749, 0.42070165276527405, 0.000935608462896198, 0.00042460107943043113, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.147643804550171, -1.5995593070983887, -1.8002411127090454, -0.4181816279888153, -0.0016819859156385064, 0.001806142507120967, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291145324707031, -1.1500415802001953, 1.600089192390442, -1.79933500289917, 0.42069950699806213, 0.000935608462896198, 0.0004252002981957048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.1476404666900635, -1.5995583534240723, -1.8002408742904663, -0.4181816279888153, -0.0016821058234199882, 0.0018108163494616747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291145324707031, -1.1500413417816162, 1.6000895500183105, -1.7993357181549072, 0.4206989109516144, 0.0009358481038361788, 0.00042448125896044075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.147636890411377, -1.5995582342147827, -1.8002413511276245, -0.4181823432445526, -0.0016824653139337897, 0.0018168084789067507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291145324707031, -1.1500416994094849, 1.6000899076461792, -1.7993360757827759, 0.42069950699806213, 0.0009364473517052829, 0.00042292330181226134, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296366691589355, -1.147631049156189, -1.5995588302612305, -1.8002411127090454, -0.41818317770957947, -0.0016841430915519595, 0.0018189656548202038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291146516799927, -1.1500420570373535, 1.600091576576233, -1.7993353605270386, 0.42069879174232483, 0.0009398029069416225, 0.00042088597547262907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.14762282371521, -1.5995596647262573, -1.8002417087554932, -0.4181842505931854, -0.0016868994571268559, 0.0018213625298812985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291146516799927, -1.1500415802001953, 1.6000927686691284, -1.7993351221084595, 0.42069771885871887, 0.0009451958467252553, 0.0004189684987068176, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1476151943206787, -1.5995596647262573, -1.8002415895462036, -0.41818317770957947, -0.0016896558227017522, 0.0018218419281765819, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291141748428345, -1.1500418186187744, 1.6000943183898926, -1.799335241317749, 0.42069724202156067, 0.0009465140756219625, 0.0004150136956013739, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.1476086378097534, -1.599561095237732, -1.800241470336914, -0.41818270087242126, -0.0016924121882766485, 0.0018236394971609116, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291150093078613, -1.1500420570373535, 1.6000958681106567, -1.7993347644805908, 0.4206975996494293, 0.0009456751868128777, 0.00041105892159976065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.14760422706604, -1.5995622873306274, -1.8002411127090454, -0.4181811511516571, -0.0016960075590759516, 0.0018239989876747131, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291145324707031, -1.1500415802001953, 1.600097894668579, -1.7993347644805908, 0.4206983149051666, 0.0009448362980037928, 0.0004060255305375904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1476010084152222, -1.5995641946792603, -1.8002413511276245, -0.41818028688430786, -0.0016990035073831677, 0.0018239989876747131, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291151285171509, -1.1500416994094849, 1.600098729133606, -1.7993347644805908, 0.4206993877887726, 0.0009450759971514344, 0.00040087231900542974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296357154846191, -1.147598385810852, -1.5995653867721558, -1.800241231918335, -0.4181784987449646, -0.0017041567480191588, 0.0018226808169856668, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291147708892822, -1.1500412225723267, 1.6000999212265015, -1.7993344068527222, 0.4207015335559845, 0.0009456751868128777, 0.00040087231900542974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6399688124656677, 0.0, 0.0, 1.7296355962753296, -1.147597074508667, -1.5995668172836304, -1.8002409934997559, -0.41817453503608704, -0.0017072727205231786, 0.0018196847522631288, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291145324707031, -1.1500413417816162, 1.600099802017212, -1.7993351221084595, 0.4207029938697815, 0.0009447164484299719, 0.00040003343019634485, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1475962400436401, -1.5995683670043945, -1.8002408742904663, -0.41817155480384827, -0.0017064338317140937, 0.0018159695900976658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291148900985718, -1.1500409841537476, 1.600099802017212, -1.79933500289917, 0.42070454359054565, 0.0009433981613256037, 0.0004001532797701657, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.147595763206482, -1.5995702743530273, -1.8002402782440186, -0.41816988587379456, -0.001706194132566452, 0.0018122545443475246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291151285171509, -1.150041103363037, 1.6000992059707642, -1.7993346452713013, 0.4207044243812561, 0.0009420799324288964, 0.000399554061004892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296351194381714, -1.1475954055786133, -1.5995714664459229, -1.8002405166625977, -0.418168306350708, -0.0017057147342711687, 0.0018069813959300518, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291154861450195, -1.1500407457351685, 1.600098729133606, -1.7993354797363281, 0.42070549726486206, 0.000940162455663085, 0.00039847547304816544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1475956439971924, -1.5995718240737915, -1.800240397453308, -0.4181675910949707, -0.001706194132566452, 0.0018045846372842789, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291160821914673, -1.1500401496887207, 1.6000986099243164, -1.7993358373641968, 0.4207074046134949, 0.0009388441685587168, 0.00039907469181343913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475954055786133, -1.599571704864502, -1.8002405166625977, -0.41816604137420654, -0.0017043964471668005, 0.0018044647295027971, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291160821914673, -1.1500394344329834, 1.6000990867614746, -1.7993348836898804, 0.4207075238227844, 0.0009387243189848959, 0.0004007524694316089, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.147595763206482, -1.5995713472366333, -1.8002408742904663, -0.4181625545024872, -0.0017014003824442625, 0.0018036258406937122, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291160821914673, -1.1500391960144043, 1.600098729133606, -1.7993355989456177, 0.4207068085670471, 0.0009376457310281694, 0.0004020707565359771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.147595763206482, -1.599570631980896, -1.800240397453308, -0.4181618392467499, -0.0016990035073831677, 0.001803146442398429, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291163206100464, -1.1500394344329834, 1.6000982522964478, -1.7993357181549072, 0.42070621252059937, 0.0009376457310281694, 0.0004045874229632318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.147595763206482, -1.5995700359344482, -1.8002402782440186, -0.4181623160839081, -0.00169432966504246, 0.0018019480630755424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291165590286255, -1.150038719177246, 1.6000988483428955, -1.7993355989456177, 0.420704185962677, 0.0009363275021314621, 0.0004073438176419586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.147596001625061, -1.5995694398880005, -1.8002406358718872, -0.4181644916534424, -0.001691932906396687, 0.0018029067432507873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116439819336, -1.1500390768051147, 1.6000988483428955, -1.7993358373641968, 0.4207029938697815, 0.0009351290646009147, 0.00041022003279067576, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1475961208343506, -1.5995678901672363, -1.8002408742904663, -0.4181661605834961, -0.0016894162399694324, 0.0018047044286504388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291170358657837, -1.150038719177246, 1.6000992059707642, -1.7993361949920654, 0.42070311307907104, 0.0009364473517052829, 0.0004144145059399307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.1475961208343506, -1.599566102027893, -1.800241470336914, -0.41816771030426025, -0.0016868994571268559, 0.0018072210950776935, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116678237915, -1.1500388383865356, 1.6000995635986328, -1.7993360757827759, 0.42070189118385315, 0.0009366869926452637, 0.00041753039113245904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.147596836090088, -1.5995652675628662, -1.8002415895462036, -0.41816988587379456, -0.0016851018881425261, 0.0018097377615049481, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116678237915, -1.150038719177246, 1.6000994443893433, -1.7993366718292236, 0.42070141434669495, 0.0009380052797496319, 0.00041932801832444966, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.147596836090088, -1.599563717842102, -1.8002417087554932, -0.41817358136177063, -0.0016855812864378095, 0.0018124941270798445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116678237915, -1.1500391960144043, 1.600100040435791, -1.7993360757827759, 0.4207005798816681, 0.0009365672012791038, 0.00042088597547262907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296366691589355, -1.147597312927246, -1.599563479423523, -1.800241231918335, -0.41817706823349, -0.0016855812864378095, 0.0018160894978791475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291169166564941, -1.1500391960144043, 1.6001017093658447, -1.799336314201355, 0.4207001030445099, 0.0009369266917929053, 0.0004216050438117236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.1475975513458252, -1.5995614528656006, -1.8002413511276245, -0.4181784987449646, -0.0016858208691701293, 0.0018193251453340054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116439819336, -1.1500394344329834, 1.600103497505188, -1.7993361949920654, 0.4207005798816681, 0.0009366869926452637, 0.0004216050438117236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1475977897644043, -1.5995591878890991, -1.8002415895462036, -0.41817885637283325, -0.0016853415872901678, 0.0018200442427769303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116678237915, -1.1500391960144043, 1.6001050472259521, -1.799336314201355, 0.42070165276527405, 0.0009374060900881886, 0.00042052645585499704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637622833252, -1.147598147392273, -1.5995579957962036, -1.8002413511276245, -0.41817861795425415, -0.0016854613786563277, 0.0018217220203951001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291167974472046, -1.1500393152236938, 1.6001067161560059, -1.7993369102478027, 0.42070236802101135, 0.0009404021548107266, 0.0004200470866635442, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.1475985050201416, -1.5995579957962036, -1.800241231918335, -0.41817909479141235, -0.0016871391562744975, 0.0018237592885270715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291162014007568, -1.1500393152236938, 1.6001088619232178, -1.7993372678756714, 0.42070358991622925, 0.0009414806845597923, 0.00041812960989773273, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.1475986242294312, -1.5995581150054932, -1.8002415895462036, -0.4181813895702362, -0.0016886971425265074, 0.001825676765292883, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729116678237915, -1.150039792060852, 1.600110411643982, -1.7993372678756714, 0.42070454359054565, 0.0009425592725165188, 0.00041549306479282677, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.1475986242294312, -1.5995588302612305, -1.800241470336914, -0.41818150877952576, -0.0016922923969104886, 0.001826395862735808, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291169166564941, -1.150039792060852, 1.6001110076904297, -1.7993377447128296, 0.42070525884628296, 0.0009419600828550756, 0.0004122573300264776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296380996704102, -1.147598147392273, -1.5995590686798096, -1.8002407550811768, -0.41818079352378845, -0.0016940900823101401, 0.0018245982937514782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291170358657837, -1.150039792060852, 1.6001105308532715, -1.7993379831314087, 0.4207058548927307, 0.0009427989716641605, 0.0004067445988766849, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1475988626480103, -1.5995596647262573, -1.8002407550811768, -0.41817885637283325, -0.001697325729764998, 0.001822560909204185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291170358657837, -1.1500399112701416, 1.6001107692718506, -1.7993377447128296, 0.4207077622413635, 0.0009433981613256037, 0.00040266994619742036, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1475985050201416, -1.5995612144470215, -1.8002407550811768, -0.41817718744277954, -0.0016999623039737344, 0.0018196847522631288, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291167974472046, -1.1500396728515625, 1.6001105308532715, -1.7993378639221191, 0.42070823907852173, 0.0009450759971514344, 0.00040147153777070343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296383380889893, -1.147598385810852, -1.5995627641677856, -1.8002408742904663, -0.4181753993034363, -0.0017028384609147906, 0.0018168084789067507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291171550750732, -1.150039792060852, 1.6001101732254028, -1.7993377447128296, 0.42070716619491577, 0.0009469934739172459, 0.0003997937310487032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296380996704102, -1.147598147392273, -1.599565029144287, -1.800240159034729, -0.41817381978034973, -0.0017064338317140937, 0.0018133330158889294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291173934936523, -1.1500393152236938, 1.6001098155975342, -1.7993372678756714, 0.4207063317298889, 0.0009474728140048683, 0.000399554061004892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.1475977897644043, -1.5995662212371826, -1.8002407550811768, -0.41817131638526917, -0.0017072727205231786, 0.0018084195908159018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291176319122314, -1.150039553642273, 1.600110411643982, -1.7993372678756714, 0.42070549726486206, 0.0009473529644310474, 0.0003987151721958071, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1475974321365356, -1.5995674133300781, -1.8002408742904663, -0.41816842555999756, -0.0017072727205231786, 0.0018063822062686086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291182279586792, -1.1500389575958252, 1.600109577178955, -1.7993377447128296, 0.42070454359054565, 0.0009469934739172459, 0.00039763658423908055, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296375036239624, -1.1475974321365356, -1.5995689630508423, -1.8002408742904663, -0.4181640148162842, -0.0017075124196708202, 0.0018043449381366372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291183471679688, -1.1500388383865356, 1.600109338760376, -1.7993369102478027, 0.4207032322883606, 0.0009472331148572266, 0.00039703736547380686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296375036239624, -1.1475961208343506, -1.5995702743530273, -1.800240159034729, -0.41816219687461853, -0.001707033021375537, 0.001803146442398429, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291185855865479, -1.1500388383865356, 1.6001094579696655, -1.7993370294570923, 0.42070260643959045, 0.0009479522123001516, 0.0003979961038567126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.147595763206482, -1.5995718240737915, -1.8002405166625977, -0.41816195845603943, -0.0017069131135940552, 0.0018035060493275523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291189432144165, -1.150038480758667, 1.600109338760376, -1.79933762550354, 0.4207015335559845, 0.0009475926635786891, 0.00039931436185725033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296369075775146, -1.1475954055786133, -1.599571704864502, -1.8002409934997559, -0.418162077665329, -0.001704755937680602, 0.0018045846372842789, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291191816329956, -1.1500383615493774, 1.6001096963882446, -1.79933762550354, 0.42070141434669495, 0.0009460347355343401, 0.00040087231900542974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296366691589355, -1.1475945711135864, -1.5995709896087646, -1.800241231918335, -0.4181613624095917, -0.0017021194798871875, 0.0018062624149024487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291193008422852, -1.1500377655029297, 1.6001099348068237, -1.7993369102478027, 0.42069998383522034, 0.0009442371083423495, 0.000402909645345062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1475932598114014, -1.5995709896087646, -1.800241231918335, -0.41816088557243347, -0.001698763924650848, 0.0018084195908159018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291193008422852, -1.1500375270843506, 1.600110411643982, -1.7993369102478027, 0.4206998646259308, 0.0009418402332812548, 0.00040482712211087346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.1475913524627686, -1.5995702743530273, -1.8002413511276245, -0.4181614816188812, -0.0016954082529991865, 0.0018092584796249866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291195392608643, -1.1500372886657715, 1.6001108884811401, -1.7993372678756714, 0.42070117592811584, 0.0009416005341336131, 0.0004091414448339492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.147589087486267, -1.5995700359344482, -1.8002411127090454, -0.41816315054893494, -0.0016926518874242902, 0.0018118949374184012, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291195392608643, -1.1500372886657715, 1.6001120805740356, -1.7993372678756714, 0.4207012951374054, 0.0009417203837074339, 0.000414174806792289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.1475870609283447, -1.5995683670043945, -1.8002417087554932, -0.41816484928131104, -0.0016903749201446772, 0.0018156100995838642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291196584701538, -1.1500372886657715, 1.600112795829773, -1.7993366718292236, 0.42070272564888, 0.0009418402332812548, 0.000416811351897195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.147584319114685, -1.5995672941207886, -1.8002407550811768, -0.41816699504852295, -0.0016884574433788657, 0.001820283941924572, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291191816329956, -1.150037407875061, 1.6001135110855103, -1.799337387084961, 0.42070358991622925, 0.0009399227565154433, 0.0004188486491329968, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1475820541381836, -1.5995662212371826, -1.8002415895462036, -0.418169766664505, -0.0016880979528650641, 0.0018223212100565434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291197776794434, -1.1500377655029297, 1.600114345550537, -1.799337387084961, 0.4207051396369934, 0.000937885430175811, 0.0004187288286630064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475799083709717, -1.599565029144287, -1.8002417087554932, -0.41817203164100647, -0.001689056633040309, 0.0018228006083518267, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291194200515747, -1.1500380039215088, 1.6001161336898804, -1.7993370294570923, 0.420706570148468, 0.0009380052797496319, 0.0004202867567073554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475785970687866, -1.5995640754699707, -1.8002418279647827, -0.4181727468967438, -0.001688217744231224, 0.0018238791963085532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291197776794434, -1.1500378847122192, 1.6001161336898804, -1.7993371486663818, 0.4207083582878113, 0.0009389640181325376, 0.0004202867567073554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1475775241851807, -1.5995631217956543, -1.8002411127090454, -0.41817623376846313, -0.0016886971425265074, 0.0018259164644405246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291194200515747, -1.1500381231307983, 1.6001163721084595, -1.7993375062942505, 0.4207102954387665, 0.0009399227565154433, 0.0004194478678982705, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.147577166557312, -1.5995618104934692, -1.800240397453308, -0.41817694902420044, -0.0016886971425265074, 0.0018260363722220063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291197776794434, -1.1500381231307983, 1.6001157760620117, -1.7993372678756714, 0.42071041464805603, 0.000940162455663085, 0.00041753039113245904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475766897201538, -1.599560260772705, -1.8002406358718872, -0.41817766427993774, -0.0016886971425265074, 0.0018257966730743647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291191816329956, -1.150038480758667, 1.6001161336898804, -1.7993370294570923, 0.4207098186016083, 0.0009396830573678017, 0.00041609228355810046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1475768089294434, -1.5995593070983887, -1.8002405166625977, -0.41817814111709595, -0.0016902551287785172, 0.0018237592885270715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291196584701538, -1.150038480758667, 1.6001160144805908, -1.7993366718292236, 0.42070862650871277, 0.0009390838677063584, 0.00041285654879175127, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1475765705108643, -1.5995597839355469, -1.8002405166625977, -0.41817814111709595, -0.0016924121882766485, 0.0018210029229521751, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291200160980225, -1.150038719177246, 1.600115418434143, -1.7993370294570923, 0.42070847749710083, 0.0009390838677063584, 0.0004090215952601284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.1475768089294434, -1.5995596647262573, -1.8002405166625977, -0.4181780219078064, -0.0016940900823101401, 0.0018177672754973173, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729119896888733, -1.1500388383865356, 1.6001156568527222, -1.7993359565734863, 0.4207083582878113, 0.0009393235668540001, 0.0004057858604937792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.147576928138733, -1.599560260772705, -1.800240397453308, -0.4181782603263855, -0.001697925035841763, 0.001814291812479496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291196584701538, -1.150038719177246, 1.600115180015564, -1.799336552619934, 0.4207060933113098, 0.0009423196315765381, 0.0004012318386230618, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1475772857666016, -1.5995606184005737, -1.800240159034729, -0.4181773066520691, -0.0017015202902257442, 0.001809018780477345, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729120135307312, -1.150038480758667, 1.6001155376434326, -1.7993360757827759, 0.42070454359054565, 0.0009429188212379813, 0.00039859532262198627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636311531067, -1.1475776433944702, -1.5995619297027588, -1.8002405166625977, -0.4181761145591736, -0.0017037972575053573, 0.001807580585591495, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291203737258911, -1.150038480758667, 1.600115418434143, -1.799335241317749, 0.4207039475440979, 0.0009436378604732454, 0.00039703736547380686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296366691589355, -1.147578239440918, -1.599562406539917, -1.8002408742904663, -0.4181739389896393, -0.0017076322110369802, 0.00180817989166826, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291202545166016, -1.1500381231307983, 1.6001152992248535, -1.7993357181549072, 0.42070236802101135, 0.0009447164484299719, 0.00039583895704708993, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.1475778818130493, -1.5995644330978394, -1.8002405166625977, -0.4181726276874542, -0.00170919019728899, 0.0018068616045638919, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291207313537598, -1.150038242340088, 1.6001155376434326, -1.79933500289917, 0.42070165276527405, 0.0009451958467252553, 0.0003951198887079954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.1475789546966553, -1.5995657444000244, -1.8002406358718872, -0.41816988587379456, -0.0017097893869504333, 0.0018055433174595237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121208190918, -1.1500380039215088, 1.6001158952713013, -1.799335241317749, 0.42070236802101135, 0.0009459148859605193, 0.00039464051951654255, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.147579312324524, -1.5995662212371826, -1.8002409934997559, -0.4181673526763916, -0.0017105083679780364, 0.0018066219054162502, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291208505630493, -1.1500378847122192, 1.6001160144805908, -1.799335241317749, 0.4207029938697815, 0.0009472331148572266, 0.0003948802186641842, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.1475791931152344, -1.5995678901672363, -1.8002411127090454, -0.4181647300720215, -0.00170919019728899, 0.0018079401925206184, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121446609497, -1.1500377655029297, 1.6001163721084595, -1.7993351221084595, 0.4207029938697815, 0.0009499894804321229, 0.00039547940832562745, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296385765075684, -1.147579312324524, -1.5995687246322632, -1.8002411127090454, -0.4181635081768036, -0.0017089504981413484, 0.0018094980623573065, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121208190918, -1.1500376462936401, 1.6001166105270386, -1.7993351221084595, 0.4207037091255188, 0.0009497498394921422, 0.00039703736547380686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296382188796997, -1.1475785970687866, -1.5995697975158691, -1.8002408742904663, -0.4181618392467499, -0.0017071528127416968, 0.0018122545443475246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121208190918, -1.1500372886657715, 1.6001176834106445, -1.7993351221084595, 0.42070502042770386, 0.0009487911011092365, 0.0003979961038567126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296383380889893, -1.1475787162780762, -1.5995702743530273, -1.8002418279647827, -0.4181616008281708, -0.001704755937680602, 0.0018158497987315059, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291215658187866, -1.1500370502471924, 1.6001185178756714, -1.7993348836898804, 0.4207074046134949, 0.0009475926635786891, 0.00040087231900542974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296385765075684, -1.1475787162780762, -1.5995701551437378, -1.8002413511276245, -0.41816040873527527, -0.001703198067843914, 0.0018183664651587605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121208190918, -1.1500365734100342, 1.6001192331314087, -1.7993344068527222, 0.4207089841365814, 0.0009483117028139532, 0.0004037485341541469, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638934135437, -1.147578477859497, -1.59956955909729, -1.800241231918335, -0.4181600511074066, -0.0016991234151646495, 0.001822560909204185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121446609497, -1.1500364542007446, 1.6001211404800415, -1.7993342876434326, 0.4207094609737396, 0.000949150591623038, 0.0004083025560248643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.147578477859497, -1.59956955909729, -1.8002415895462036, -0.4181605279445648, -0.0016969662392511964, 0.0018242386868223548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121446609497, -1.1500365734100342, 1.6001231670379639, -1.79933500289917, 0.4207099378108978, 0.0009493902907706797, 0.0004126168496441096, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.1475780010223389, -1.5995687246322632, -1.8002408742904663, -0.4181616008281708, -0.0016936106840148568, 0.0018243585946038365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729121446609497, -1.1500365734100342, 1.6001245975494385, -1.799333930015564, 0.4207112491130829, 0.0009483117028139532, 0.0004147740255575627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.1475777626037598, -1.5995675325393677, -1.800240159034729, -0.41816338896751404, -0.0016903749201446772, 0.001826276071369648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291216850280762, -1.1500369310379028, 1.6001256704330444, -1.7993334531784058, 0.4207095801830292, 0.0009457950363866985, 0.00041525339474901557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296384572982788, -1.1475775241851807, -1.5995665788650513, -1.8002402782440186, -0.4181652069091797, -0.0016901352209970355, 0.0018281935481354594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291219234466553, -1.1500366926193237, 1.6001259088516235, -1.7993329763412476, 0.4207094609737396, 0.0009437577100470662, 0.00041669150232337415, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296384572982788, -1.147576928138733, -1.599565029144287, -1.8002409934997559, -0.4181678295135498, -0.0016907344106584787, 0.0018298713257536292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291216850280762, -1.1500368118286133, 1.6001251935958862, -1.799333095550537, 0.4207087457180023, 0.0009441172587685287, 0.0004187288286630064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.1475765705108643, -1.5995638370513916, -1.8002405166625977, -0.4181704819202423, -0.0016906146192923188, 0.0018297514179721475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291219234466553, -1.150037169456482, 1.6001245975494385, -1.799332618713379, 0.4207074046134949, 0.0009435180108994246, 0.0004192081978544593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296383380889893, -1.1475762128829956, -1.5995632410049438, -1.8002405166625977, -0.41817358136177063, -0.0016906146192923188, 0.0018269950523972511, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291216850280762, -1.1500372886657715, 1.6001238822937012, -1.7993323802947998, 0.4207070469856262, 0.0009426791220903397, 0.00041824945947155356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1475757360458374, -1.599562644958496, -1.8002402782440186, -0.4181748926639557, -0.0016886971425265074, 0.0018245982937514782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291221618652344, -1.1500372886657715, 1.6001245975494385, -1.799332618713379, 0.420706570148468, 0.0009419600828550756, 0.0004163319827057421, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637622833252, -1.1475744247436523, -1.5995612144470215, -1.8002405166625977, -0.4181744158267975, -0.0016902551287785172, 0.0018213625298812985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291219234466553, -1.1500375270843506, 1.600124478340149, -1.7993322610855103, 0.4207053780555725, 0.0009402823052369058, 0.00041453432640992105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1475729942321777, -1.5995596647262573, -1.800240397453308, -0.41817528009414673, -0.0016914535081014037, 0.0018187259556725621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291220426559448, -1.1500376462936401, 1.6001238822937012, -1.7993321418762207, 0.42070549726486206, 0.0009394434164278209, 0.0004122573300264776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296369075775146, -1.147571325302124, -1.5995585918426514, -1.800240397453308, -0.4181758761405945, -0.0016933709848672152, 0.001814172021113336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291221618652344, -1.1500377655029297, 1.6001237630844116, -1.7993321418762207, 0.42070502042770386, 0.0009416005341336131, 0.0004090215952601284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636549949646, -1.1475697755813599, -1.599558711051941, -1.8002407550811768, -0.4181758761405945, -0.0016951686702668667, 0.0018108163494616747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291226387023926, -1.1500376462936401, 1.6001235246658325, -1.7993322610855103, 0.42070525884628296, 0.0009414806845597923, 0.0004053064913023263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.147568702697754, -1.59955894947052, -1.8002407550811768, -0.41817742586135864, -0.0016978051280602813, 0.0018097377615049481, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291226387023926, -1.1500376462936401, 1.6001235246658325, -1.7993323802947998, 0.42070525884628296, 0.0009417203837074339, 0.00040147153777070343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1475679874420166, -1.59955894947052, -1.8002411127090454, -0.41817694902420044, -0.0017009209841489792, 0.001809138571843505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.1500376462936401, 1.6001238822937012, -1.7993320226669312, 0.42070645093917847, 0.0009414806845597923, 0.00039691751589998603, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1475671529769897, -1.5995593070983887, -1.8002418279647827, -0.41817575693130493, -0.0017041567480191588, 0.0018080599838867784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.1500376462936401, 1.6001240015029907, -1.7993319034576416, 0.420706570148468, 0.0009404021548107266, 0.00039547940832562745, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.147566556930542, -1.5995606184005737, -1.8002418279647827, -0.41817477345466614, -0.00170775200240314, 0.0018087790813297033, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.1500375270843506, 1.6001243591308594, -1.7993316650390625, 0.4207083582878113, 0.0009396830573678017, 0.00039547940832562745, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.1475660800933838, -1.5995618104934692, -1.8002415895462036, -0.41817358136177063, -0.00170930998865515, 0.0018096179701387882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.1500368118286133, 1.6001256704330444, -1.799331545829773, 0.4207100570201874, 0.0009407616453245282, 0.0003950000391341746, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475660800933838, -1.5995628833770752, -1.800241231918335, -0.4181716740131378, -0.0017095496878027916, 0.001811175956390798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729122519493103, -1.1500372886657715, 1.6001263856887817, -1.7993323802947998, 0.4207105338573456, 0.0009430386708118021, 0.00039368178113363683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475658416748047, -1.599564552307129, -1.8002415895462036, -0.4181695282459259, -0.0017103885766118765, 0.0018127338262274861, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291229963302612, -1.1500368118286133, 1.6001259088516235, -1.799331784248352, 0.42071208357810974, 0.0009451958467252553, 0.00039344211108982563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475660800933838, -1.599565863609314, -1.8002419471740723, -0.4181654453277588, -0.001710748067125678, 0.0018154901918023825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729122519493103, -1.1500369310379028, 1.60012686252594, -1.7993316650390625, 0.4207122027873993, 0.0009457950363866985, 0.0003939214802812785, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475661993026733, -1.5995668172836304, -1.800241231918335, -0.4181647300720215, -0.0017106282757595181, 0.0018181267660111189, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.1500369310379028, 1.6001278162002563, -1.7993323802947998, 0.4207119643688202, 0.0009456751868128777, 0.00039583895704708993, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296357154846191, -1.1475660800933838, -1.599568486213684, -1.800241470336914, -0.4181630313396454, -0.0017097893869504333, 0.0018223212100565434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.150036334991455, 1.6001287698745728, -1.799332857131958, 0.4207119643688202, 0.000946154585108161, 0.00039787625428289175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.1475664377212524, -1.5995694398880005, -1.800241231918335, -0.4181625545024872, -0.001707033021375537, 0.0018281935481354594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291227579116821, -1.150036096572876, 1.6001296043395996, -1.7993319034576416, 0.4207112491130829, 0.0009479522123001516, 0.00040027310024015605, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1475666761398315, -1.5995702743530273, -1.8002411127090454, -0.418162077665329, -0.0017043964471668005, 0.0018296316266059875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291231155395508, -1.1500359773635864, 1.6001297235488892, -1.7993324995040894, 0.42071017622947693, 0.0009496299899183214, 0.000402909645345062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296364307403564, -1.147566795349121, -1.5995705127716064, -1.8002406358718872, -0.4181600511074066, -0.0017019995721057057, 0.0018299911171197891, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291228771209717, -1.1500359773635864, 1.60012948513031, -1.7993324995040894, 0.4207089841365814, 0.0009501093300059438, 0.00040566601091995835, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296366691589355, -1.1475669145584106, -1.5995701551437378, -1.8002406358718872, -0.41815850138664246, -0.001699482905678451, 0.0018302308162674308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291227579116821, -1.1500359773635864, 1.6001297235488892, -1.7993320226669312, 0.4207074046134949, 0.0009501093300059438, 0.00040866207564249635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1475673913955688, -1.5995700359344482, -1.8002398014068604, -0.41815921664237976, -0.001696486840955913, 0.0018313094042241573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291226387023926, -1.1500358581542969, 1.6001293659210205, -1.7993324995040894, 0.4207060933113098, 0.0009490307420492172, 0.00041213748045265675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1475677490234375, -1.5995694398880005, -1.8002406358718872, -0.4181605279445648, -0.0016940900823101401, 0.0018311896128579974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291229963302612, -1.150036096572876, 1.6001287698745728, -1.7993322610855103, 0.42070597410202026, 0.0009486712515354156, 0.00041369543760083616, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.1475679874420166, -1.599568247795105, -1.8002406358718872, -0.41816195845603943, -0.0016914535081014037, 0.0018303507240489125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291231155395508, -1.1500364542007446, 1.6001282930374146, -1.7993327379226685, 0.4207060933113098, 0.0009501093300059438, 0.0004150136956013739, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1475673913955688, -1.5995675325393677, -1.8002405166625977, -0.4181635081768036, -0.0016925320960581303, 0.0018281935481354594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291229963302612, -1.150036334991455, 1.6001282930374146, -1.7993327379226685, 0.4207049012184143, 0.0009509482188150287, 0.000416811351897195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.147567629814148, -1.5995662212371826, -1.8002405166625977, -0.41816508769989014, -0.001692052697762847, 0.0018251974834129214, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291232347488403, -1.1500364542007446, 1.6001282930374146, -1.799332857131958, 0.42070549726486206, 0.0009504688787274063, 0.000416811351897195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.147567629814148, -1.5995646715164185, -1.8002407550811768, -0.4181690216064453, -0.0016921726055443287, 0.0018218419281765819, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291234731674194, -1.1500365734100342, 1.600128173828125, -1.799333095550537, 0.4207051396369934, 0.000949150591623038, 0.0004165716527495533, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296383380889893, -1.1475670337677002, -1.5995631217956543, -1.8002405166625977, -0.4181719124317169, -0.001691932906396687, 0.0018175275763496757, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291234731674194, -1.1500366926193237, 1.6001278162002563, -1.799333095550537, 0.42070668935775757, 0.0009463942260481417, 0.00041525339474901557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638695716858, -1.1475672721862793, -1.599562644958496, -1.8002408742904663, -0.41817358136177063, -0.0016913337167352438, 0.0018124941270798445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291234731674194, -1.1500365734100342, 1.600128173828125, -1.799333930015564, 0.4207083582878113, 0.0009447164484299719, 0.00041357558802701533, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296388149261475, -1.1475673913955688, -1.599561095237732, -1.8002409934997559, -0.4181744158267975, -0.0016916932072490454, 0.0018109362572431564, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291240692138672, -1.1500369310379028, 1.6001285314559937, -1.799334168434143, 0.4207089841365814, 0.0009450759971514344, 0.0004109390720259398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296388149261475, -1.1475670337677002, -1.5995594263076782, -1.800241231918335, -0.4181737005710602, -0.0016940900823101401, 0.001811175956390798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291240692138672, -1.150037169456482, 1.6001282930374146, -1.799333095550537, 0.4207102954387665, 0.0009439974091947079, 0.00040746363811194897, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296390533447266, -1.1475670337677002, -1.5995577573776245, -1.8002417087554932, -0.41817477345466614, -0.0016958876512944698, 0.0018100973684340715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291241884231567, -1.1500370502471924, 1.6001290082931519, -1.7993338108062744, 0.4207110106945038, 0.0009441172587685287, 0.000402909645345062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296388149261475, -1.1475666761398315, -1.5995569229125977, -1.8002421855926514, -0.4181751608848572, -0.0016981646185740829, 0.0018100973684340715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291240692138672, -1.1500369310379028, 1.600129246711731, -1.7993342876434326, 0.42071160674095154, 0.0009426791220903397, 0.0003977564338129014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729638934135437, -1.147566318511963, -1.5995571613311768, -1.8002417087554932, -0.4181756377220154, -0.0017008011927828193, 0.0018109362572431564, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291241884231567, -1.1500370502471924, 1.6001302003860474, -1.799333930015564, 0.42071112990379333, 0.0009411211940459907, 0.0003953595878556371, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296390533447266, -1.1475660800933838, -1.5995577573776245, -1.8002420663833618, -0.4181748926639557, -0.0017037972575053573, 0.001812134636566043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291237115859985, -1.1500368118286133, 1.6001311540603638, -1.7993338108062744, 0.42071184515953064, 0.0009395632077939808, 0.0003948802186641842, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296385765075684, -1.1475656032562256, -1.5995579957962036, -1.800242304801941, -0.41817405819892883, -0.0017088305903598666, 0.0018136926228180528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291240692138672, -1.1500368118286133, 1.600131869316101, -1.7993346452713013, 0.42071160674095154, 0.000940881494898349, 0.0003942809998989105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296384572982788, -1.147565484046936, -1.59955894947052, -1.8002413511276245, -0.4181719124317169, -0.0017126655438914895, 0.0018175275763496757, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729123830795288, -1.1500364542007446, 1.6001319885253906, -1.7993342876434326, 0.4207100570201874, 0.0009419600828550756, 0.00039368178113363683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296383380889893, -1.1475645303726196, -1.599560022354126, -1.8002417087554932, -0.4181707203388214, -0.001712306053377688, 0.0018206434324383736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291239500045776, -1.1500366926193237, 1.6001321077346802, -1.79933500289917, 0.4207092225551605, 0.0009421997820027173, 0.00039284289232455194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.1475633382797241, -1.599561095237732, -1.8002409934997559, -0.41816914081573486, -0.0017126655438914895, 0.0018250775756314397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291237115859985, -1.1500365734100342, 1.600132703781128, -1.799335241317749, 0.4207083582878113, 0.0009413608931936324, 0.0003917643043678254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.147562026977539, -1.5995632410049438, -1.8002413511276245, -0.41816723346710205, -0.0017120663542300463, 0.001828433247283101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729123592376709, -1.1500364542007446, 1.600132942199707, -1.7993347644805908, 0.4207070469856262, 0.000940881494898349, 0.00039296274189837277, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296375036239624, -1.1475605964660645, -1.5995653867721558, -1.8002402782440186, -0.41816556453704834, -0.0017124258447438478, 0.0018301110249012709, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291237115859985, -1.150036334991455, 1.6001328229904175, -1.79933500289917, 0.42070692777633667, 0.0009399227565154433, 0.0003942809998989105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296371459960938, -1.1475598812103271, -1.5995665788650513, -1.8002407550811768, -0.41816195845603943, -0.0017124258447438478, 0.0018301110249012709, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291233539581299, -1.150036334991455, 1.6001325845718384, -1.7993351221084595, 0.4207068085670471, 0.0009417203837074339, 0.0003966778458561748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1475590467453003, -1.5995675325393677, -1.8002407550811768, -0.41815969347953796, -0.0017094298964366317, 0.0018314291955903172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729123830795288, -1.1500358581542969, 1.6001322269439697, -1.7993355989456177, 0.4207058548927307, 0.0009443568997085094, 0.00039883499266579747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1475582122802734, -1.5995686054229736, -1.800240159034729, -0.41815921664237976, -0.0017065536230802536, 0.0018331070896238089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291239500045776, -1.1500358581542969, 1.600131869316101, -1.7993353605270386, 0.42070478200912476, 0.0009455553372390568, 0.00040087231900542974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1475580930709839, -1.5995705127716064, -1.800240397453308, -0.4181578755378723, -0.0017042766558006406, 0.0018339459784328938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291239500045776, -1.1500356197357178, 1.6001317501068115, -1.799335241317749, 0.4207051396369934, 0.0009463942260481417, 0.0004045874229632318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296357154846191, -1.1475574970245361, -1.5995702743530273, -1.800240159034729, -0.41815727949142456, -0.0017016400815919042, 0.0018328673904761672, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291237115859985, -1.1500357389450073, 1.6001317501068115, -1.799335241317749, 0.4207056164741516, 0.000946873624343425, 0.00040962081402540207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296358346939087, -1.147557258605957, -1.5995702743530273, -1.8002405166625977, -0.41815704107284546, -0.0016991234151646495, 0.001830830005928874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291243076324463, -1.1500356197357178, 1.600131630897522, -1.7993346452713013, 0.4207068085670471, 0.000946873624343425, 0.00041345576755702496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.72963547706604, -1.1475569009780884, -1.599570393562317, -1.800240397453308, -0.41815775632858276, -0.0016966067487373948, 0.0018271149601787329, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291241884231567, -1.1500357389450073, 1.6001315116882324, -1.7993351221084595, 0.4207078814506531, 0.000948431552387774, 0.00041525339474901557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296353578567505, -1.147557258605957, -1.5995697975158691, -1.800240397453308, -0.41815850138664246, -0.0016940900823101401, 0.00182328000664711, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291244268417358, -1.1500357389450073, 1.6001312732696533, -1.7993346452713013, 0.4207093417644501, 0.0009493902907706797, 0.00041669150232337415, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729635238647461, -1.1475571393966675, -1.5995688438415527, -1.8002413511276245, -0.41816040873527527, -0.001692771795205772, 0.0018199244514107704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729124665260315, -1.1500359773635864, 1.6001313924789429, -1.7993346452713013, 0.4207107722759247, 0.0009508284274488688, 0.000417170871514827, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296353578567505, -1.147557258605957, -1.599568247795105, -1.800241470336914, -0.41816267371177673, -0.0016926518874242902, 0.0018154901918023825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291251420974731, -1.150036096572876, 1.6001315116882324, -1.7993348836898804, 0.4207107722759247, 0.0009503490291535854, 0.00041729072108864784, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296351194381714, -1.1475573778152466, -1.5995665788650513, -1.8002420663833618, -0.4181649684906006, -0.0016931312857195735, 0.0018139323219656944, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291252613067627, -1.1500357389450073, 1.600131869316101, -1.799335241317749, 0.420711487531662, 0.0009501093300059438, 0.000416811351897195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296351194381714, -1.147557258605957, -1.5995653867721558, -1.8002420663833618, -0.4181671142578125, -0.001693490776233375, 0.0018127338262274861, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291252613067627, -1.1500359773635864, 1.6001325845718384, -1.7993347644805908, 0.42071279883384705, 0.0009489109506830573, 0.00041597243398427963, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729635238647461, -1.1475574970245361, -1.5995646715164185, -1.8002415895462036, -0.418168306350708, -0.0016930114943534136, 0.0018109362572431564, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.150036334991455, 1.600132703781128, -1.7993345260620117, 0.4207133948802948, 0.0009499894804321229, 0.00041309621883556247, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475577354431152, -1.5995635986328125, -1.800242304801941, -0.4181707203388214, -0.0016922923969104886, 0.0018097377615049481, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.150036334991455, 1.600134015083313, -1.7993351221084595, 0.4207119643688202, 0.0009504688787274063, 0.00041010018321685493, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475580930709839, -1.599562406539917, -1.8002417087554932, -0.41817179322242737, -0.00169432966504246, 0.0018098576692864299, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.150036334991455, 1.600134253501892, -1.7993340492248535, 0.42071112990379333, 0.0009504688787274063, 0.0004066247493028641, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296355962753296, -1.1475580930709839, -1.5995607376098633, -1.8002415895462036, -0.4181716740131378, -0.0016966067487373948, 0.0018117751460522413, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291256189346313, -1.150036096572876, 1.6001354455947876, -1.7993351221084595, 0.4207094609737396, 0.0009485514019615948, 0.00040243027615360916, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296360731124878, -1.1475582122802734, -1.5995590686798096, -1.8002408742904663, -0.4181727468967438, -0.0016991234151646495, 0.0018136926228180528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.1500366926193237, 1.6001356840133667, -1.7993344068527222, 0.42070862650871277, 0.0009469934739172459, 0.00039931436185725033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296359539031982, -1.1475579738616943, -1.599557638168335, -1.8002409934997559, -0.4181731045246124, -0.0017011606832966208, 0.0018162092892453074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291256189346313, -1.1500366926193237, 1.6001369953155518, -1.7993347644805908, 0.42070823907852173, 0.0009453156380914152, 0.0003966778458561748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296361923217773, -1.1475580930709839, -1.5995572805404663, -1.8002406358718872, -0.41817358136177063, -0.001703317859210074, 0.001817407668568194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.1500362157821655, 1.6001369953155518, -1.7993346452713013, 0.4207075238227844, 0.0009449561475776136, 0.0003953595878556371, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296364307403564, -1.1475582122802734, -1.5995577573776245, -1.8002405166625977, -0.418173223733902, -0.0017076322110369802, 0.0018212426220998168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291250228881836, -1.150036096572876, 1.600137710571289, -1.7993348836898804, 0.42070692777633667, 0.0009447164484299719, 0.0003942809998989105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636549949646, -1.1475579738616943, -1.599557638168335, -1.8002406358718872, -0.4181725084781647, -0.0017103885766118765, 0.0018257966730743647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291252613067627, -1.1500358581542969, 1.6001369953155518, -1.7993348836898804, 0.42070645093917847, 0.000943877559620887, 0.00039284289232455194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636788368225, -1.1475582122802734, -1.5995583534240723, -1.8002406358718872, -0.4181711971759796, -0.0017129052430391312, 0.0018303507240489125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291252613067627, -1.1500359773635864, 1.6001365184783936, -1.7993347644805908, 0.4207051396369934, 0.0009425592725165188, 0.00039224367355927825, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.147558331489563, -1.5995595455169678, -1.8002407550811768, -0.4181695282459259, -0.0017136243404820561, 0.0018310697050765157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291252613067627, -1.150036334991455, 1.6001362800598145, -1.7993342876434326, 0.42070525884628296, 0.0009412410436198115, 0.0003917643043678254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637861251831, -1.1475582122802734, -1.5995603799819946, -1.800241231918335, -0.4181671142578125, -0.0017125457525253296, 0.0018310697050765157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291250228881836, -1.1500359773635864, 1.6001359224319458, -1.7993348836898804, 0.42070597410202026, 0.0009405219461768866, 0.0003927230427507311, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296380996704102, -1.1475580930709839, -1.5995619297027588, -1.8002398014068604, -0.4181649684906006, -0.001713025150820613, 0.0018332268809899688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291250228881836, -1.1500359773635864, 1.600136160850525, -1.7993347644805908, 0.4207070469856262, 0.0009414806845597923, 0.00039404130075126886, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.1475580930709839, -1.5995632410049438, -1.8002409934997559, -0.4181630313396454, -0.0017125457525253296, 0.0018344252603128552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291250228881836, -1.1500357389450073, 1.600135326385498, -1.7993345260620117, 0.42070847749710083, 0.000943158520385623, 0.0003950000391341746, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729637622833252, -1.1475577354431152, -1.5995653867721558, -1.8002405166625977, -0.41816064715385437, -0.001711467164568603, 0.0018335863715037704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291253805160522, -1.1500357389450073, 1.600135326385498, -1.7993346452713013, 0.4207099378108978, 0.0009429188212379813, 0.00039691751589998603, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296380996704102, -1.147557258605957, -1.5995663404464722, -1.8002411127090454, -0.41815993189811707, -0.0017090702895075083, 0.0018323879921808839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291253805160522, -1.1500353813171387, 1.600135326385498, -1.7993338108062744, 0.42071065306663513, 0.0009427989716641605, 0.000399554061004892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1475574970245361, -1.599568247795105, -1.8002411127090454, -0.41815897822380066, -0.001706194132566452, 0.001830710214562714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.1500353813171387, 1.6001347303390503, -1.7993340492248535, 0.4207112491130829, 0.0009418402332812548, 0.00040506679215468466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.147557258605957, -1.5995697975158691, -1.8002407550811768, -0.41815632581710815, -0.0017039170488715172, 0.0018275942420586944, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291253805160522, -1.1500355005264282, 1.6001348495483398, -1.7993346452713013, 0.4207131564617157, 0.0009413608931936324, 0.00040866207564249635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296379804611206, -1.1475567817687988, -1.5995705127716064, -1.8002409934997559, -0.41815632581710815, -0.0017015202902257442, 0.00182328000664711, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291254997253418, -1.1500352621078491, 1.6001360416412354, -1.799334168434143, 0.4207141101360321, 0.0009419600828550756, 0.00041105892159976065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.1475564241409302, -1.5995702743530273, -1.8002417087554932, -0.4181554913520813, -0.0016986440168693662, 0.0018189656548202038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291256189346313, -1.1500355005264282, 1.6001356840133667, -1.7993333339691162, 0.4207146167755127, 0.0009439974091947079, 0.00041189781040884554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296377420425415, -1.147555947303772, -1.5995707511901855, -1.8002415895462036, -0.41815751791000366, -0.0016962471418082714, 0.0018157298909500241, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729126214981079, -1.1500352621078491, 1.600136399269104, -1.7993335723876953, 0.4207136332988739, 0.0009451958467252553, 0.00041273669921793044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296372652053833, -1.1475551128387451, -1.5995697975158691, -1.800241470336914, -0.41815751791000366, -0.0016945693641901016, 0.0018146513029932976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729126214981079, -1.1500351428985596, 1.6001373529434204, -1.7993334531784058, 0.4207129180431366, 0.0009467537747696042, 0.00041513354517519474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296373844146729, -1.1475543975830078, -1.5995697975158691, -1.8002420663833618, -0.41815921664237976, -0.0016940900823101401, 0.0018140521133318543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291268110275269, -1.1500353813171387, 1.600137710571289, -1.7993333339691162, 0.42071160674095154, 0.0009469934739172459, 0.0004156129143666476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.7296370267868042, -1.1475542783737183, -1.599568486213684, -1.8002409934997559, -0.4181607663631439, -0.0016945693641901016, 0.0018130934331566095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729127049446106, -1.1500357389450073, 1.60013747215271, -1.7993329763412476, 0.42071089148521423, 0.0009481918532401323, 0.0004153732443228364, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6831692457199097, -0.6398729681968689, 0.0, 0.0, 1.729636549949646, -1.1475539207458496, -1.5995677709579468, -1.8002411127090454, -0.4181635081768036, -0.001693490776233375, 0.0018130934331566095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291269302368164, -1.1500355005264282, 1.6001383066177368, -1.7993327379226685, 0.4207093417644501, 0.0009495101403445005, 0.00041357558802701533, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34959644079208374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.9987399994348598, -0.049976336288842266, -0.00455843613542701, -8.123376846313477], [0.04995245635015635, -0.9987380067616842, 0.0052101779512406365, -4.4694342613220215], [-0.00481306902526272, 0.0049759080419977, 0.9999760370657467, 0.019769297912716866], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000016/gt/hand_left.mp4 b/agibot-challenge-2026/000016/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3442817741e3c1110fa693f98157478effc1488d --- /dev/null +++ b/agibot-challenge-2026/000016/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4067f567742c56795b721818eb0f6fb620bc156927e8d32b40b44f6f8d59a17 +size 1332865 diff --git a/agibot-challenge-2026/000016/gt/hand_right.mp4 b/agibot-challenge-2026/000016/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b3eae4a2cdcf2cf19fbe5882e25547a9f912b41b --- /dev/null +++ b/agibot-challenge-2026/000016/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e73067d326d34b999f5ca0f1fd52bbfdd85991bfa91aef844ddc130b173f007 +size 2552616 diff --git a/agibot-challenge-2026/000016/gt/head.mp4 b/agibot-challenge-2026/000016/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6536c2507fff5770b18b77ccba958a4b516f96bb --- /dev/null +++ b/agibot-challenge-2026/000016/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aa08d6689c0e0d84c7c1c69341ad65aa2c88c0e39e777c4904740b5d92ac0b1 +size 1712271 diff --git a/agibot-challenge-2026/000016/meta.json b/agibot-challenge-2026/000016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba4af7d6a9997b98c49a1bbea0a36737f1248482 --- /dev/null +++ b/agibot-challenge-2026/000016/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 772, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000016/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000016/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..bcfbf49ed1d0a91fb7af3d4a4fe01a9355129702 --- /dev/null +++ b/agibot-challenge-2026/000016/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000016/ref_images/hand_left.png b/agibot-challenge-2026/000016/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..4e7e5038266c25595bb4a51d96721ee21196c2a8 --- /dev/null +++ b/agibot-challenge-2026/000016/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05a83ce2298c5d3ad8d9bb994eede7e020422bd00ab02b41a920858f298ce4b1 +size 321480 diff --git a/agibot-challenge-2026/000016/ref_images/hand_right.png b/agibot-challenge-2026/000016/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..256ccb4923d745bc8be1e2ebe2624c38d9e2dace --- /dev/null +++ b/agibot-challenge-2026/000016/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea8dfc8b50d1fe02ad4dda5c18985dcd082ac191f054201fe76a64547475e80c +size 357096 diff --git a/agibot-challenge-2026/000016/ref_images/head.png b/agibot-challenge-2026/000016/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..018297268442a3f98a6d9031ea12e3501a2b78a8 --- /dev/null +++ b/agibot-challenge-2026/000016/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28eaf5f6548980e71b3151ffabf560ef500980059a7dd6d359dc4be285ff17f4 +size 261773 diff --git a/agibot-challenge-2026/000016/temporal.json b/agibot-challenge-2026/000016/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe3d65622277502d4a94d8672b63f2923da9301 --- /dev/null +++ b/agibot-challenge-2026/000016/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737889289855957, -1.1512092351913452, -1.6009624004364014, -1.801259160041809, -0.42280176281929016, -0.000393561931559816, -0.0010035589803010225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316335439682007, -1.1504642963409424, 1.5997031927108765, -1.8001517057418823, 0.420065313577652, 0.00079683109652251, 0.00030739535577595234, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7378897666931152, -1.1512092351913452, -1.6009643077850342, -1.8012595176696777, -0.42280176281929016, -0.00039643814670853317, -0.0010042780777439475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7316333055496216, -1.1504641771316528, 1.5997034311294556, -1.8001511096954346, 0.42006567120552063, 0.0007947937701828778, 0.000307635054923594, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7378965616226196, -1.1512089967727661, -1.600972056388855, -1.8012585639953613, -0.4228021502494812, -0.0004003929498139769, -0.001005476457066834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7263017892837524, -1.1533787250518799, 1.6001454591751099, -1.8056379556655884, 0.4126039147377014, 0.010657810606062412, 0.003945686388760805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7378993034362793, -1.1512095928192139, -1.6009711027145386, -1.8012605905532837, -0.4228011667728424, -0.0004060255305375904, -0.0010179401142522693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6863187551498413, -1.1785372495651245, 1.602929949760437, -1.8229150772094727, 0.3865125775337219, 0.059611331671476364, 0.019018005579710007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379165887832642, -1.1512094736099243, -1.6009749174118042, -1.8012590408325195, -0.42280057072639465, -0.00041273669921793044, -0.0010221345582976937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6191928386688232, -1.2047497034072876, 1.5980595350265503, -1.826647162437439, 0.3702507019042969, 0.11407040804624557, 0.021239401772618294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379240989685059, -1.1512095928192139, -1.6009764671325684, -1.8012583255767822, -0.42280009388923645, -0.0004147740255575627, -0.001028725877404213, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5446115732192993, -1.2233840227127075, 1.5742411613464355, -1.8183832168579102, 0.3450359106063843, 0.15495111048221588, 0.004811426624655724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.737934947013855, -1.151209831237793, -1.6009788513183594, -1.8012604713439941, -0.4227999746799469, -0.00041585261351428926, -0.0010363957844674587, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.470260739326477, -1.2444651126861572, 1.5399292707443237, -1.794983983039856, 0.31926825642585754, 0.16470207273960114, -0.035883527249097824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7379467487335205, -1.151209831237793, -1.6009798049926758, -1.8012604713439941, -0.42279985547065735, -0.0004174105415586382, -0.001042268006131053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3937040567398071, -1.2648255825042725, 1.507614016532898, -1.762121558189392, 0.2972569465637207, 0.1791006475687027, -0.06304913014173508, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379478216171265, -1.1512095928192139, -1.6009807586669922, -1.8012460470199585, -0.4227980673313141, -0.000417170871514827, -0.0010514958994463086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3180954456329346, -1.2820850610733032, 1.4750224351882935, -1.7200541496276855, 0.2760702967643738, 0.1948447972536087, -0.07752715051174164, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.73795485496521, -1.1512094736099243, -1.6009808778762817, -1.801247000694275, -0.42279794812202454, -0.0004156129143666476, -0.0010559300426393747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2434632778167725, -1.2997722625732422, 1.4449902772903442, -1.6653568744659424, 0.26586079597473145, 0.20850729942321777, -0.09454582631587982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379539012908936, -1.1512093544006348, -1.6009806394577026, -1.8012443780899048, -0.4227973520755768, -0.0004109390720259398, -0.0010592855978757143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1758923530578613, -1.318251609802246, 1.4174413681030273, -1.6084455251693726, 0.2594960927963257, 0.20243045687675476, -0.10872280597686768, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379543781280518, -1.151209831237793, -1.6009793281555176, -1.8012444972991943, -0.4227968752384186, -0.0004049469716846943, -0.0010588063159957528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1115367412567139, -1.3361064195632935, 1.3906357288360596, -1.5356525182724, 0.2518503963947296, 0.19142809510231018, -0.11246176064014435, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379518747329712, -1.1512099504470825, -1.6009753942489624, -1.8012443780899048, -0.4227961301803589, -0.00039583895704708993, -0.0010607237927615643, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0610193014144897, -1.3537369966506958, 1.3734197616577148, -1.4682550430297852, 0.2477583885192871, 0.17631611227989197, -0.11996185034513474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379529476165771, -1.1512099504470825, -1.600975513458252, -1.8012433052062988, -0.4227954149246216, -0.00038744998164474964, -0.0010559300426393747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0250606536865234, -1.369146466255188, 1.3636877536773682, -1.4166172742843628, 0.24382661283016205, 0.16490089893341064, -0.1259932667016983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379519939422607, -1.151210069656372, -1.6009724140167236, -1.8012460470199585, -0.4227956533432007, -0.00038421424687840044, -0.0010570086305961013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9957996010780334, -1.3822532892227173, 1.358553171157837, -1.368116021156311, 0.23959210515022278, 0.1562451720237732, -0.12610292434692383, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509833652062923, -0.9885355638817199, 0.0012092857534795453, -27.302165985107422], [0.9885342842796752, 0.1509804712350964, -0.0022059259504201185, -1.2974032163619995], [0.0019980577203616403, 0.0015284785501958281, 0.9999968357543276, 0.015566145069897175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379517555236816, -1.1512099504470825, -1.6009682416915894, -1.8012433052062988, -0.42279553413391113, -0.0003804991429205984, -0.0010560499504208565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9825121760368347, -1.3927627801895142, 1.35685133934021, -1.3495031595230103, 0.23057793080806732, 0.1559126079082489, -0.12403672933578491, 0.5574000019948561, 0.5574000019948561, 0.5574000019948561, 0.5574000019948561, -0.5574000019948561, -0.5574000019948561, -0.5574000019948561, 0.5574000019948561, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509377277270576, -0.9885425410867335, 0.001202834309735407, -27.302095413208008], [0.9885412525958378, 0.15093484753466435, -0.002205383399677289, -1.2986633777618408], [0.0019985656968381092, 0.0015219268943253525, 0.999996844731864, 0.015387834049761295], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379510402679443, -1.151209831237793, -1.6009646654129028, -1.8012515306472778, -0.4227954149246216, -0.00037882133619859815, -0.0010538927745074034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9764922261238098, -1.4010114669799805, 1.3583985567092896, -1.3452945947647095, 0.22359363734722137, 0.15644782781600952, -0.1174987331032753, 0.4284000092810327, 0.4284000092810327, 0.4284000092810327, 0.4284000092810327, -0.4284000092810327, -0.4284000092810327, -0.4284000092810327, 0.4284000092810327, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15107956289894786, -0.9885208648780184, 0.0012105267767745732, -27.302284240722656], [0.9885195408554488, 0.15107663079953826, -0.002229119376053242, -1.2947442531585693], [0.0020206487066047724, 0.0015334037545541267, 0.9999967828206899, 0.01557581964880228], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.737949252128601, -1.1512101888656616, -1.6009631156921387, -1.8012471199035645, -0.4227951765060425, -0.00038121818215586245, -0.0010554506443440914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9749143719673157, -1.4088329076766968, 1.3626021146774292, -1.3466089963912964, 0.2177237719297409, 0.1607748419046402, -0.1150544285774231, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509985723364271, -0.9885332451193926, 0.0012060041806696948, -27.302169799804688], [0.9885319613946691, 0.15099568554679066, -0.0022055039023534625, -1.2969790697097778], [0.0019981125016844356, 0.001525201618705376, 0.9999968406482357, 0.01547795906662941], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379485368728638, -1.1512097120285034, -1.6009619235992432, -1.8012487888336182, -0.42279505729675293, -0.0003830158384516835, -0.00105353316757828, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9731614589691162, -1.4148715734481812, 1.36812162399292, -1.345543622970581, 0.21453092992305756, 0.1612919718027115, -0.11258064955472946, 0.20280001818478766, 0.20280001818478766, 0.20280001818478766, 0.20280001818478766, -0.20280001818478766, -0.20280001818478766, -0.20280001818478766, 0.20280001818478766, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379487752914429, -1.1512095928192139, -1.6009609699249268, -1.8012491464614868, -0.4227966368198395, -0.0003893674584105611, -0.0010502975201234221, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9727046489715576, -1.4195122718811035, 1.3755520582199097, -1.3449201583862305, 0.2117723971605301, 0.1623193770647049, -0.11023125797510147, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, -0.14819998898348968, -0.14819998898348968, -0.14819998898348968, 0.14819998898348968, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379486560821533, -1.1512097120285034, -1.6009604930877686, -1.801249623298645, -0.42279577255249023, -0.00039643814670853317, -0.0010457434691488743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9726971387863159, -1.4226441383361816, 1.382096290588379, -1.3438870906829834, 0.20966318249702454, 0.16746504604816437, -0.10739795118570328, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, 0.12240000714312546, -0.12240000714312546, -0.12240000714312546, -0.12240000714312546, 0.12240000714312546, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379486560821533, -1.1512095928192139, -1.6009585857391357, -1.8012510538101196, -0.42279675602912903, -0.0004027897957712412, -0.00103999103885144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9728373289108276, -1.425487756729126, 1.3852486610412598, -1.3430439233779907, 0.20681416988372803, 0.1703529953956604, -0.10504412651062012, 0.09659998600299546, 0.09659998600299546, 0.09659998600299546, 0.09659998600299546, -0.09659998600299546, -0.09659998600299546, -0.09659998600299546, 0.09659998600299546, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737949013710022, -1.1512092351913452, -1.6009565591812134, -1.8012542724609375, -0.42279723286628723, -0.00041045970283448696, -0.0010316020343452692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9773699641227722, -1.4286565780639648, 1.3876209259033203, -1.3500194549560547, 0.20504984259605408, 0.17281299829483032, -0.10069265961647034, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, 0.028799990769271044, -0.028799990769271044, -0.028799990769271044, -0.028799990769271044, 0.028799990769271044, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379487752914429, -1.151209831237793, -1.6009562015533447, -1.8012549877166748, -0.4227975904941559, -0.00041597243398427963, -0.0010272877989336848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9801275134086609, -1.4321843385696411, 1.3902531862258911, -1.3532289266586304, 0.20299562811851501, 0.17529433965682983, -0.09831929951906204, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379486560821533, -1.1512095928192139, -1.6009557247161865, -1.8012558221817017, -0.422797828912735, -0.0004180097603239119, -0.0010212956694886088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9795593619346619, -1.4330614805221558, 1.3919975757598877, -1.3522288799285889, 0.20266450941562653, 0.1765548437833786, -0.0962812602519989, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737949252128601, -1.1512092351913452, -1.6009562015533447, -1.8012564182281494, -0.4227987825870514, -0.00041812960989773273, -0.0010131463641300797, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9757530093193054, -1.4345734119415283, 1.3934134244918823, -1.347220778465271, 0.20370270311832428, 0.1772124171257019, -0.0956229716539383, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379491329193115, -1.1512092351913452, -1.6009564399719238, -1.8012559413909912, -0.42279937863349915, -0.0004176502407062799, -0.0010035589803010225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9672025442123413, -1.437750220298767, 1.3952616453170776, -1.3391011953353882, 0.2160947471857071, 0.18209035694599152, -0.09432843327522278, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379493713378906, -1.1512088775634766, -1.6009570360183716, -1.8012559413909912, -0.4227992594242096, -0.00041573276394046843, -0.0009954096749424934, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9590833187103271, -1.4417052268981934, 1.4012473821640015, -1.336262822151184, 0.2594722509384155, 0.19652055203914642, -0.09801322221755981, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379488945007324, -1.1512089967727661, -1.600956678390503, -1.8012585639953613, -0.4227992594242096, -0.0004140549572184682, -0.0009939715964719653, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9564770460128784, -1.4467369318008423, 1.4104466438293457, -1.345110297203064, 0.31583884358406067, 0.21781843900680542, -0.10663802921772003, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379488945007324, -1.1512086391448975, -1.6009578704833984, -1.80125892162323, -0.42279914021492004, -0.00040806285687722266, -0.0009930129162967205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.952167272567749, -1.4510300159454346, 1.4228814840316772, -1.3516654968261719, 0.39643433690071106, 0.235392227768898, -0.11842367798089981, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099864708504473, -0.9885332334724282, 0.0012061919548576176, -27.30217170715332], [0.9885319574030613, 0.15099576554970318, -0.0022018126467096503, -1.29697847366333], [0.0019944350975287565, 0.0015248300249271246, 0.9999968485560526, 0.015487859956920147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379493713378906, -1.151208519935608, -1.6009589433670044, -1.8012614250183105, -0.4227992594242096, -0.00040243027615360916, -0.000993372406810522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9515491127967834, -1.458540439605713, 1.4473350048065186, -1.3701684474945068, 0.5189224481582642, 0.2662672996520996, -0.14186745882034302, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1507868925490834, -0.9885655605672815, 0.0012022876891643322, -27.301895141601562], [0.9885642482831993, 0.1507839965453035, -0.0022166195205708516, -1.3028309345245361], [0.0020099879761480872, 0.0015227757951294006, 0.9999968205460523, 0.015348799526691437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7379494905471802, -1.151208519935608, -1.600959300994873, -1.801261067390442, -0.4227992594242096, -0.00039320241194218397, -0.000995649374090135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9503901600837708, -1.4633713960647583, 1.4657765626907349, -1.3871057033538818, 0.6338439583778381, 0.2945995628833771, -0.17300714552402496, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15084296306002987, -0.988557004097817, 0.0012042194232164624, -27.30196189880371], [0.9885557173312008, 0.1508400801402916, -0.0022054376131258754, -1.301275372505188], [0.001998556245251889, 0.001523112740149862, 0.9999968429452741, 0.01541952509433031], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.737949013710022, -1.1512088775634766, -1.600960373878479, -1.8012595176696777, -0.4227994978427887, -0.00038661109283566475, -0.0009974470594897866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9464948773384094, -1.4676158428192139, 1.4782037734985352, -1.3969284296035767, 0.7588376402854919, 0.3031567931175232, -0.21753932535648346, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15130541029912714, -0.9884863282906847, 0.0012048222330782123, -27.302568435668945], [0.988485066210909, 0.15130254272144572, -0.002194184139868299, -1.288514494895935], [0.0019866283566200055, 0.0015229407163913024, 0.9999968669747656, 0.015479418449103832], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379506826400757, -1.1512082815170288, -1.6009671688079834, -1.8012573719024658, -0.4227987825870514, -0.00038397457683458924, -0.00099636847153306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9463380575180054, -1.468109130859375, 1.494890809059143, -1.3983523845672607, 0.8865313529968262, 0.3001905679702759, -0.23553772270679474, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15134736038449725, -0.9884799066026074, 0.0012044698192320738, -27.3026180267334], [0.9884786353794601, 0.15134448676917078, -0.002198572931839067, -1.2873516082763672], [0.0019909552997026676, 0.0015233408931169135, 0.9999968577598222, 0.015466748736798763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379491329193115, -1.1512086391448975, -1.6009678840637207, -1.8012571334838867, -0.4227985441684723, -0.00038337535806931555, -0.0009996042354032397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9463310837745667, -1.4659702777862549, 1.5124623775482178, -1.3997024297714233, 1.0093739032745361, 0.29916244745254517, -0.2546733021736145, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15119852206480533, -0.9885026915517138, 0.0011982155216118298, -27.302427291870117], [0.9885014356327355, 0.15119568036665787, -0.0021858614970930424, -1.2914563417434692], [0.00197956496221974, 0.0015149367911095515, 0.9999968931397134, 0.015303126536309719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379508018493652, -1.1512080430984497, -1.600974440574646, -1.8012539148330688, -0.42279890179634094, -0.00038217692053876817, -0.0010014018043875694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9467700123786926, -1.4650529623031616, 1.5334484577178955, -1.4013570547103882, 1.1567960977554321, 0.29658427834510803, -0.27164605259895325, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15173557383635772, -0.9884203996759592, 0.00119546516833095, -27.303123474121094], [0.988419136193298, 0.15173273312224544, -0.0021883569517357937, -1.2766321897506714], [0.001981625455525056, 0.0015136722468612666, 0.9999968909736086, 0.015258156694471836], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379482984542847, -1.1512089967727661, -1.60097336769104, -1.8012542724609375, -0.42279842495918274, -0.00038481346564367414, -0.0010132662719115615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9531074166297913, -1.4539482593536377, 1.5457578897476196, -1.400910496711731, 1.2760783433914185, 0.2904406785964966, -0.278732568025589, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15127202644509252, -0.9884914498908006, 0.0011947836532384538, -27.302522659301758], [0.9884902675616497, 0.15126925192174157, -0.0021457770002512744, -1.2894270420074463], [0.0019403481886870089, 0.0015056280481952466, 0.9999969840619957, 0.015265533700585365], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379484176635742, -1.1512089967727661, -1.600975751876831, -1.8012531995773315, -0.4227975904941559, -0.0003870904620271176, -0.0010240520350635052, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9621511101722717, -1.4512273073196411, 1.5525858402252197, -1.4068619012832642, 1.36702561378479, 0.27272656559944153, -0.28475189208984375, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15229914438550785, -0.9883337202520217, 0.0011950030295411291, -27.30385398864746], [0.9883325167831135, 0.15229634931647174, -0.0021582988745537284, -1.2610588073730469], [0.0019511249572822002, 0.0015097674236725668, 0.9999969568522333, 0.015318240970373154], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379484176635742, -1.1512091159820557, -1.6009804010391235, -1.80124831199646, -0.4227973520755768, -0.0003918841539416462, -0.0010251306230202317, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9608761668205261, -1.4437894821166992, 1.5642666816711426, -1.3947769403457642, 1.4702712297439575, 0.27828148007392883, -0.2991221845149994, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15218718286232324, -0.9883509623749749, 0.0011985595065508636, -27.303707122802734], [0.9883497799442993, 0.15218439340604983, -0.0021500901580635305, -1.2641531229019165], [0.0019426416254495545, 0.0015118121886053902, 0.9999969702791212, 0.015418889932334423], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379475831985474, -1.1512095928192139, -1.600982904434204, -1.801246166229248, -0.42279723286628723, -0.00040159138734452426, -0.0010344783077016473, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.950817346572876, -1.4336074590682983, 1.5710605382919312, -1.3758796453475952, 1.5746684074401855, 0.27258214354515076, -0.3034277558326721, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15220447147702243, -0.9883483029501798, 0.0011962098059489423, -27.303733825683594], [0.98834711674458, 0.1522016863521407, -0.0021502312062812354, -1.2636784315109253], [0.0019431122139821808, 0.0015095453170366666, 0.9999969727893478, 0.015355612151324749], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379474639892578, -1.151209831237793, -1.60098397731781, -1.8012455701828003, -0.4227965176105499, -0.00040686444845050573, -0.0010366354836151004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9642366766929626, -1.4265037775039673, 1.567359209060669, -1.3782024383544922, 1.6119195222854614, 0.2564009428024292, -0.2891487777233124, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15220731033970947, -0.9883478742012782, 0.0011892186367200414, -27.30373191833496], [0.9883466931351175, 0.1522045509238492, -0.002142159412186839, -1.263595461845398], [0.0019361942126828759, 0.0015014126294647574, 0.9999969984515388, 0.015175224281847477], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379480600357056, -1.1512101888656616, -1.6009851694107056, -1.8012468814849854, -0.42279601097106934, -0.0004116581112612039, -0.0010411894181743264, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9668638706207275, -1.417582631111145, 1.566490888595581, -1.377488374710083, 1.664659857749939, 0.25635430216789246, -0.2947728633880615, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15206812069265374, -0.9883692874475931, 0.001199291183021225, -27.30354881286621], [0.9883680912215922, 0.15206531863611472, -0.0021575734247795486, -1.267445683479309], [0.00195010871258162, 0.0015134392733442122, 0.9999969532841463, 0.015422098338603973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379482984542847, -1.1512103080749512, -1.600983738899231, -1.801246166229248, -0.42279505729675293, -0.00041345576755702496, -0.001048260135576129, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9582770466804504, -1.406052827835083, 1.5614025592803955, -1.3619414567947388, 1.7114449739456177, 0.25645092129707336, -0.2956523895263672, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1519420255543703, -0.9883886862284968, 0.0011940711624058187, -27.303386688232422], [0.9883874978139114, 0.1519392462625888, -0.002149327874332459, -1.2709195613861084], [0.0019429450815859135, 0.0015067782392285786, 0.9999969772873055, 0.015282328240573406], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379488945007324, -1.1512101888656616, -1.60098397731781, -1.8012466430664062, -0.4227946996688843, -0.000416811351897195, -0.0010523347882553935, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9487969279289246, -1.3996944427490234, 1.5582813024520874, -1.3413299322128296, 1.7653697729110718, 0.252799928188324, -0.2944165766239166, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15207010362080076, -0.9883689927586723, 0.0011906880223469486, -27.303550720214844], [0.9883678358153193, 0.15206735887024048, -0.002130608357121785, -1.2673903703689575], [0.0019247624530949379, 0.0015008395774211301, 0.9999970213805949, 0.015221493318676949], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379484176635742, -1.1512103080749512, -1.6009817123413086, -1.8012468814849854, -0.4227941036224365, -0.00041848912951536477, -0.0010573681211099029, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9403252005577087, -1.3952221870422363, 1.5559037923812866, -1.3249179124832153, 1.8092763423919678, 0.25029677152633667, -0.29475897550582886, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15200961896481424, -0.98837828917108, 0.0011971789426598932, -27.3034725189209], [0.988377112529289, 0.15200683891841837, -0.0021457749870968223, -1.2690619230270386], [0.0019388580239994289, 0.0015094427046998696, 0.9999969812015854, 0.015375647693872452], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737949013710022, -1.1512103080749512, -1.6009809970855713, -1.8012465238571167, -0.4227954149246216, -0.0004176502407062799, -0.0010561697417870164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.937006950378418, -1.3886840343475342, 1.5518003702163696, -1.3127696514129639, 1.8511847257614136, 0.2481682449579239, -0.29043805599212646, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.038247596472501755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1519844570981177, -0.9883821719532667, 0.0011861557795907484, -27.30344009399414], [0.9883809835236329, 0.15198170221940155, -0.0021432683801112474, -1.2697553634643555], [0.0019380942821335312, 0.0014981172972109156, 0.9999969997130578, 0.015076372772455215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379487752914429, -1.151210069656372, -1.6009775400161743, -1.8012486696243286, -0.4227949380874634, -0.00041585261351428926, -0.0010561697417870164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9304551482200623, -1.3820595741271973, 1.5445849895477295, -1.3008606433868408, 1.8736839294433594, 0.24250006675720215, -0.2861361801624298, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15178216421954338, -0.988413250871174, 0.001191690861456283, -27.303178787231445], [0.9884120775465545, 0.15177940457453176, -0.0021394642098021494, -1.2753355503082275], [0.0019338006453443243, 0.0015026141481992736, 0.9999970012783966, 0.015220124274492264], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379496097564697, -1.1512099504470825, -1.600973129272461, -1.801248550415039, -0.4227943420410156, -0.0004109390720259398, -0.001054252265021205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9304449558258057, -1.3793787956237793, 1.5351194143295288, -1.29517662525177, 1.8635390996932983, 0.2358730286359787, -0.2688632011413574, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15201830178333564, -0.9883769615315263, 0.001190729448010772, -27.30348777770996], [0.9883757810365532, 0.1520155387600408, -0.0021427636075715744, -1.2688270807266235], [0.0019368488051751211, 0.0015026274329270352, 0.9999969953592379, 0.015203988179564476], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379493713378906, -1.151209831237793, -1.600968599319458, -1.8012503385543823, -0.4227942228317261, -0.00040506679215468466, -0.0010548514546826482, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9306439161300659, -1.3735826015472412, 1.5324243307113647, -1.2945586442947388, 1.8739784955978394, 0.2395971268415451, -0.26907414197921753, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15171999745735265, -0.9884227968968906, 0.0011903554381204292, -27.303102493286133], [0.9884216282256211, 0.15171724577582146, -0.0021359283721582812, -1.2770562171936035], [0.0019306028470142084, 0.001500636107507159, 0.9999970104274912, 0.015184410847723484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379499673843384, -1.1512095928192139, -1.6009652614593506, -1.8012515306472778, -0.4227946996688843, -0.000399913580622524, -0.001054252265021205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9333134889602661, -1.3690518140792847, 1.529906153678894, -1.299877643585205, 1.8787732124328613, 0.23979319632053375, -0.2690647840499878, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1519771094039546, -0.9883832977808072, 0.001189489451151642, -27.303434371948242], [0.9883821214871101, 0.15197435362368084, -0.0021395712896887407, -1.2699544429779053], [0.0019339446366587348, 0.0015008359671863842, 0.999997003670282, 0.015171634033322334], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737950325012207, -1.1512082815170288, -1.6009641885757446, -1.8012492656707764, -0.4227963984012604, -0.00038816904998384416, -0.0010469418484717607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.939980149269104, -1.3651190996170044, 1.528220772743225, -1.3126596212387085, 1.8721411228179932, 0.23468852043151855, -0.26224732398986816, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15182294002741847, -0.9884069964442659, 0.0011850153821913135, -27.303234100341797], [0.9884058131393185, 0.15182019318031426, -0.002139508143139007, -1.2742116451263428], [0.001934795553382145, 0.0014961025089213725, 0.999997009117252, 0.015040172263979912], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379635572433472, -1.1512082815170288, -1.6009626388549805, -1.8012597560882568, -0.42279723286628723, -0.00038421424687840044, -0.0010508967097848654, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9403741359710693, -1.3554712533950806, 1.5319054126739502, -1.3298633098602295, 1.8664355278015137, 0.22865013778209686, -0.25446391105651855, 0.1902000023768498, 0.1902000023768498, 0.1902000023768498, 0.1902000023768498, -0.1902000023768498, -0.1902000023768498, -0.1902000023768498, 0.1902000023768498, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15146411608393973, -0.9884620421028657, 0.001188638188653465, -27.30276870727539], [0.9884609080276303, 0.15146139753390708, -0.002116213190672628, -1.2841240167617798], [0.001911763610761661, 0.0014954527436431251, 0.9999970543861557, 0.015147298574447632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379618883132935, -1.1512086391448975, -1.600960373878479, -1.801261305809021, -0.42279624938964844, -0.00038121818215586245, -0.0010470617562532425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9445520639419556, -1.3485521078109741, 1.5369956493377686, -1.3465815782546997, 1.8651041984558105, 0.22253255546092987, -0.2538825571537018, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, -0.29160000046530926, -0.29160000046530926, -0.29160000046530926, 0.29160000046530926, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15122847505729087, -0.9884981198642768, 0.0011896876211856151, -27.30246353149414], [0.9884969747184189, 0.15122574540003308, -0.0021224751442554634, -1.2906324863433838], [0.0019181512922481986, 0.00149698129381469, 0.9999970398669318, 0.015153800137341022], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379628419876099, -1.1511967182159424, -1.6009589433670044, -1.801265001296997, -0.42279723286628723, -0.0003804991429205984, -0.0010397513397037983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9652845859527588, -1.346184492111206, 1.5449546575546265, -1.3679172992706299, 1.86739981174469, 0.2218387871980667, -0.26255589723587036, 0.5658000002523045, 0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -0.5658000002523045, -0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15134872610352534, -0.988479715508467, 0.0011895945277235805, -27.302627563476562], [0.9884785535353036, 0.1513459832245142, -0.00213132882471936, -1.2873115539550781], [0.001926734956876761, 0.0014984625805867166, 0.9999970211467135, 0.015147236175835133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737963080406189, -1.151197075843811, -1.6009572744369507, -1.8012646436691284, -0.4227980673313141, -0.00038157773087732494, -0.0010349577059969306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.996540904045105, -1.342223048210144, 1.5572038888931274, -1.3839370012283325, 1.8685686588287354, 0.23393350839614868, -0.27608945965766907, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15142777651115724, -0.9884676128191103, 0.0011861317701760323, -27.30272674560547], [0.9884664370039684, 0.15142503333002744, -0.002135930167346372, -1.2851225137710571], [0.0019316877508324811, 0.0014958906007074778, 0.9999970154424183, 0.015051579102873802], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379636764526367, -1.1511967182159424, -1.6009570360183716, -1.8012624979019165, -0.42279866337776184, -0.00038601187407039106, -0.0010288456687703729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156278610229492, -1.337752342224121, 1.567987084388733, -1.386832356452942, 1.8673254251480103, 0.24381354451179504, -0.2782914340496063, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15100635007376917, -0.988532091883468, 0.0011770955327510618, -27.302165985107422], [0.9885309133557828, 0.15100363403884387, -0.002129752813124061, -1.2967621088027954], [0.0019275833004959292, 0.0014852015209666258, 0.999997039295148, 0.014787294901907444], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737962245941162, -1.1511975526809692, -1.6009536981582642, -1.8012635707855225, -0.4227987825870514, -0.00039140478475019336, -0.0010288456687703729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0148639678955078, -1.335799217224121, 1.568032145500183, -1.385985255241394, 1.8669853210449219, 0.2438458949327469, -0.27840301394462585, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15088134452518465, -0.9885511680229631, 0.001186623237578411, -27.30201530456543], [0.9885499833862089, 0.15087859482856303, -0.0021400863731492804, -1.3002183437347412], [0.0019365488371699973, 0.0014959354911746174, 0.9999970059733216, 0.015026457607746124], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737963080406189, -1.1511977910995483, -1.6009538173675537, -1.801263451576233, -0.42279914021492004, -0.00039703736547380686, -0.0010260893031954765, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0110745429992676, -1.3359570503234863, 1.5673553943634033, -1.3859812021255493, 1.8669883012771606, 0.24379520118236542, -0.27807068824768066, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511471638252796, -0.988510563889919, 0.0011831929718082797, -27.302356719970703], [0.9885093763551634, 0.15114442160147634, -0.0021393168724389024, -1.2928780317306519], [0.0019359043105469033, 0.0014929490244627228, 0.9999970116843904, 0.014949942007660866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379624843597412, -1.1511977910995483, -1.6009539365768433, -1.801263689994812, -0.4227990210056305, -0.00040506679215468466, -0.0010221345582976937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.010658860206604, -1.3361948728561401, 1.5672663450241089, -1.3861581087112427, 1.8669955730438232, 0.24377219378948212, -0.27788230776786804, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15102632020251527, -0.9885290337422662, 0.0011832390581718382, -27.302196502685547], [0.988527865973039, 0.1510235935126183, -0.002128942771625532, -1.2962061166763306], [0.0019258247263779723, 0.0014911911738309039, 0.9999970337696039, 0.014957312494516373], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379628419876099, -1.1511982679367065, -1.600954532623291, -1.8012632131576538, -0.42279937863349915, -0.00041129859164357185, -0.0010153035400435328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.010690689086914, -1.3363611698150635, 1.5671569108963013, -1.386311411857605, 1.8670049905776978, 0.24376356601715088, -0.2778525650501251, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15109041704202586, -0.9885192426857925, 0.0011801347269335043, -27.302284240722656], [0.9885180724096364, 0.15108769775527875, -0.002127934807773177, -1.2944399118423462], [0.001925200665731241, 0.0014880950629966724, 0.9999970395833581, 0.014877754263579845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379628419876099, -1.1511987447738647, -1.600955605506897, -1.8012621402740479, -0.4227990210056305, -0.00041285654879175127, -0.0010067947441712022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0116806030273438, -1.3363771438598633, 1.5655969381332397, -1.3870383501052856, 1.8648418188095093, 0.24164451658725739, -0.2755292057991028, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15107802716955065, -0.9885211337644543, 0.0011822891332229292, -27.302263259887695], [0.9885200293164308, 0.15107535258606908, -0.0020951088845135896, -1.294786810874939], [0.0018924446622190223, 0.0014852414056117384, 0.9999971063513972, 0.014978306367993355], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379605770111084, -1.151200294494629, -1.600954294204712, -1.8012597560882568, -0.42279914021492004, -0.0004139351367484778, -0.00099792645778507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0026402473449707, -1.3359729051589966, 1.5413295030593872, -1.3783241510391235, 1.801581859588623, 0.22578111290931702, -0.2573730945587158, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1505574712549368, -0.9886005462470312, 0.0011865114371119984, -27.301584243774414], [0.9885994649679158, 0.15055480368345964, -0.0020854143438839754, -1.3091537952423096], [0.0018830067630325159, 0.001486959282041179, 0.9999971216146694, 0.01507533062249422], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379623651504517, -1.151201605796814, -1.6009562015533447, -1.8012579679489136, -0.42279866337776184, -0.00041429465636610985, -0.0009973271517083049, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.976092517375946, -1.33649742603302, 1.521289348602295, -1.3522106409072876, 1.8070164918899536, 0.2352488934993744, -0.2615964412689209, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511970173610253, -0.9885029394014399, 0.0011835268661214045, -27.302427291870117], [0.9885018596821967, 0.15119435807966208, -0.0020831441902886207, -1.2914808988571167], [0.0018802515705040746, 0.0014848836964494383, 0.9999971298831011, 0.015034621581435204], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.737961769104004, -1.1512025594711304, -1.6009563207626343, -1.8012561798095703, -0.4227985441684723, -0.00041597243398427963, -0.000999364536255598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9404870271682739, -1.3411147594451904, 1.5003695487976074, -1.3082784414291382, 1.8081437349319458, 0.23536214232444763, -0.26658502221107483, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15089582530853818, -0.9885489635326189, 0.001181779607091706, -27.302017211914062], [0.988547928291726, 0.15089320758845948, -0.002057516416086405, -1.2998161315917969], [0.001855633204996868, 0.0014787164199791397, 0.9999971850076168, 0.015002477914094925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7379624843597412, -1.15120267868042, -1.6009588241577148, -1.8012505769729614, -0.4227990210056305, -0.0004146541759837419, -0.0009992446284741163, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9171134829521179, -1.3440085649490356, 1.4846642017364502, -1.2718896865844727, 1.789419412612915, 0.23567481338977814, -0.2466965913772583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512659491230801, -0.9884924076456152, 0.0011716069599388478, -27.30251121520996], [0.9884913126810806, 0.15126331391124648, -0.0020819746928471177, -1.2896020412445068], [0.0018807950254278569, 0.0014730551797399942, 0.9999971463551832, 0.014714851044118404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379621267318726, -1.1512024402618408, -1.6009620428085327, -1.8012518882751465, -0.42279890179634094, -0.0004117779608350247, -0.0009982859482988715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9096893072128296, -1.348393201828003, 1.483094334602356, -1.259543776512146, 1.804582953453064, 0.24030372500419617, -0.23887664079666138, 0.5663999996015003, 0.5663999996015003, 0.5663999996015003, 0.5663999996015003, -0.5663999996015003, -0.5663999996015003, -0.5663999996015003, 0.5663999996015003, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15104416519811914, -0.9885263093224345, 0.0011814977654501463, -27.30221176147461], [0.9885252531734011, 0.15104153124198294, -0.0020687383934394742, -1.2957167625427246], [0.001866547097367775, 0.0014804112413657768, 0.9999971621882183, 0.014988809823989868], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379648685455322, -1.1512080430984497, -1.6009654998779297, -1.801245093345642, -0.42279794812202454, -0.00040506679215468466, -0.0009854628005996346, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9073452353477478, -1.3495945930480957, 1.4830474853515625, -1.254965901374817, 1.8058319091796875, 0.24107299745082855, -0.23738916218280792, 0.2742000095136873, 0.2742000095136873, 0.2742000095136873, 0.2742000095136873, -0.2742000095136873, -0.2742000095136873, -0.2742000095136873, 0.2742000095136873, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15115956709377554, -0.9885086785216037, 0.0011737817067059757, -27.302366256713867], [0.9885076007171324, 0.151156939094776, -0.0020743885741377624, -1.2925328016281128], [0.001873125858210116, 0.0014738558175125234, 0.9999971595702403, 0.014777865260839462], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379802465438843, -1.151213526725769, -1.600968360900879, -1.8012440204620361, -0.422797828912735, -0.00038816904998384416, -0.0009930129162967205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9074655771255493, -1.350196123123169, 1.4839321374893188, -1.2561026811599731, 1.8052489757537842, 0.24620427191257477, -0.2392948865890503, 0.11280001755599135, 0.11280001755599135, 0.11280001755599135, 0.11280001755599135, -0.11280001755599135, -0.11280001755599135, -0.11280001755599135, 0.11280001755599135, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510576935614183, -0.9885242457663147, 0.0011784515446621663, -27.302230834960938], [0.9885232008795384, 0.15105507774878768, -0.002060293469225109, -1.2953444719314575], [0.0018586389580208926, 0.001476149872531679, 0.9999971832174216, 0.014917354099452496], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379801273345947, -1.1512128114700317, -1.6009693145751953, -1.8012343645095825, -0.4227968752384186, -0.00038505313568748534, -0.0009987653465941548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9066091179847717, -1.3504904508590698, 1.4900574684143066, -1.2589308023452759, 1.8142459392547607, 0.2538256347179413, -0.24066948890686035, 0.07260001203516027, 0.07260001203516027, 0.07260001203516027, 0.07260001203516027, -0.07260001203516027, -0.07260001203516027, -0.07260001203516027, 0.07260001203516027, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15103388311470434, -0.9885278872823346, 0.0011756770039708948, -27.30220603942871], [0.9885268245211589, 0.1510312616288757, -0.002067658797740668, -1.2960014343261719], [0.0018663744017735336, 0.0014744747925769526, 0.9999971712813384, 0.014830655418336391], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737972378730774, -1.1512119770050049, -1.6009762287139893, -1.8012431859970093, -0.42279747128486633, -0.00038253646926023066, -0.0010132662719115615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9076230525970459, -1.3507664203643799, 1.4912147521972656, -1.255732536315918, 1.8183882236480713, 0.2613587975502014, -0.2411767691373825, 0.2298000183734265, 0.2298000183734265, 0.2298000183734265, 0.2298000183734265, -0.2298000183734265, -0.2298000183734265, -0.2298000183734265, 0.2298000183734265, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379728555679321, -1.1512112617492676, -1.600978136062622, -1.8012369871139526, -0.4227973520755768, -0.0003828959888778627, -0.0010160226374864578, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9075403213500977, -1.3517173528671265, 1.4912278652191162, -1.2499138116836548, 1.8249913454055786, 0.265444815158844, -0.24504828453063965, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379732131958008, -1.1512110233306885, -1.6009794473648071, -1.8012359142303467, -0.4227958917617798, -0.00038253646926023066, -0.001020456780679524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9052181839942932, -1.3525115251541138, 1.491188883781433, -1.245134949684143, 1.8298689126968384, 0.26662132143974304, -0.2520546019077301, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379734516143799, -1.151211142539978, -1.6009808778762817, -1.8012357950210571, -0.4227951765060425, -0.00038265628973022103, -0.0010386727517470717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9000756144523621, -1.3530097007751465, 1.4907664060592651, -1.2390947341918945, 1.831333041191101, 0.26657363772392273, -0.25397735834121704, 0.5592000000424437, 0.5592000000424437, 0.5592000000424437, 0.5592000000424437, -0.5592000000424437, -0.5592000000424437, -0.5592000000424437, 0.5592000000424437, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379753589630127, -1.1512104272842407, -1.6009808778762817, -1.8012385368347168, -0.4227954149246216, -0.00038577220402657986, -0.001041429117321968, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8996472358703613, -1.353249192237854, 1.4904710054397583, -1.2402204275131226, 1.8311309814453125, 0.26651275157928467, -0.25418612360954285, 0.5735999991605569, 0.5735999991605569, 0.5735999991605569, 0.5735999991605569, -0.5735999991605569, -0.5735999991605569, -0.5735999991605569, 0.5735999991605569, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379738092422485, -1.1512110233306885, -1.600980520248413, -1.801239013671875, -0.422793984413147, -0.0003892476379405707, -0.0010455037700012326, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9017025828361511, -1.3533159494400024, 1.4900386333465576, -1.247127890586853, 1.8311973810195923, 0.2671169936656952, -0.2555137276649475, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379742860794067, -1.1512110233306885, -1.600980520248413, -1.8012405633926392, -0.4227944612503052, -0.00039607862709090114, -0.001046702149324119, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9032137989997864, -1.3535819053649902, 1.4896289110183716, -1.2508617639541626, 1.8295215368270874, 0.26733821630477905, -0.25886598229408264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379790544509888, -1.1512113809585571, -1.6009799242019653, -1.8012443780899048, -0.4227931499481201, -0.0004105795524083078, -0.001065517426468432, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9044649600982666, -1.3538875579833984, 1.4895912408828735, -1.2527230978012085, 1.829116702079773, 0.26647859811782837, -0.2612121105194092, 0.30360000709910967, 0.30360000709910967, 0.30360000709910967, 0.30360000709910967, -0.30360000709910967, -0.30360000709910967, -0.30360000709910967, 0.30360000709910967, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379813194274902, -1.1512125730514526, -1.6009788513183594, -1.8012510538101196, -0.42279255390167236, -0.00041525339474901557, -0.0010697118705138564, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.906584620475769, -1.3542635440826416, 1.4898021221160889, -1.2555631399154663, 1.8298206329345703, 0.2659052610397339, -0.25990548729896545, 0.15840000739464397, 0.15840000739464397, 0.15840000739464397, 0.15840000739464397, -0.15840000739464397, -0.15840000739464397, -0.15840000739464397, 0.15840000739464397, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379813194274902, -1.1512118577957153, -1.6009771823883057, -1.801249623298645, -0.42279183864593506, -0.00041753039113245904, -0.001069232588633895, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9066418409347534, -1.354385256767273, 1.4916131496429443, -1.2592676877975464, 1.833930253982544, 0.26591426134109497, -0.2591170370578766, 0.08519998854333233, 0.08519998854333233, 0.08519998854333233, 0.08519998854333233, -0.08519998854333233, -0.08519998854333233, -0.08519998854333233, 0.08519998854333233, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379817962646484, -1.1512117385864258, -1.600975513458252, -1.801250696182251, -0.42279183864593506, -0.00041848912951536477, -0.0010671952040866017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9074899554252625, -1.3544055223464966, 1.4916789531707764, -1.2628825902938843, 1.8362956047058105, 0.26465195417404175, -0.2607053220272064, 0.08519998854333233, 0.08519998854333233, 0.08519998854333233, 0.08519998854333233, -0.08519998854333233, -0.08519998854333233, -0.08519998854333233, 0.08519998854333233, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379815578460693, -1.1512117385864258, -1.6009726524353027, -1.8012508153915405, -0.42279183864593506, -0.0004174105415586382, -0.0010643190471455455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9095383286476135, -1.3546442985534668, 1.4949086904525757, -1.2635077238082886, 1.844283103942871, 0.26133808493614197, -0.26378393173217773, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, -0.0840000094948234, -0.0840000094948234, -0.0840000094948234, 0.0840000094948234, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379813194274902, -1.1512117385864258, -1.600968360900879, -1.8012514114379883, -0.42279183864593506, -0.00041729072108864784, -0.0010633602505549788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9102563261985779, -1.3546652793884277, 1.5040018558502197, -1.2632085084915161, 1.8598119020462036, 0.2635855972766876, -0.26594841480255127, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, -0.0840000094948234, -0.0840000094948234, -0.0840000094948234, 0.0840000094948234, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379813194274902, -1.1512118577957153, -1.6009656190872192, -1.8012518882751465, -0.4227921962738037, -0.0004170510219410062, -0.0010610832832753658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9102586507797241, -1.354004979133606, 1.5123931169509888, -1.262555480003357, 1.8803142309188843, 0.26540490984916687, -0.2709343135356903, 0.08339998067080323, 0.08339998067080323, 0.08339998067080323, 0.08339998067080323, -0.08339998067080323, -0.08339998067080323, -0.08339998067080323, 0.08339998067080323, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379809617996216, -1.1512120962142944, -1.6009626388549805, -1.801251769065857, -0.42279374599456787, -0.0004150136956013739, -0.0010608435841277242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9091598391532898, -1.3530516624450684, 1.5135071277618408, -1.2580569982528687, 1.8937320709228516, 0.2684171497821808, -0.27458101511001587, 0.08339998067080323, 0.08339998067080323, 0.08339998067080323, 0.08339998067080323, -0.08339998067080323, -0.08339998067080323, -0.08339998067080323, 0.08339998067080323, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379809617996216, -1.1512119770050049, -1.6009618043899536, -1.8012521266937256, -0.4227938652038574, -0.0004114184412173927, -0.0010591658065095544, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084005355834961, -1.352486252784729, 1.5132066011428833, -1.256848931312561, 1.9046975374221802, 0.2700151205062866, -0.27710452675819397, 0.08339998067080323, 0.08339998067080323, 0.08339998067080323, 0.08339998067080323, -0.08339998067080323, -0.08339998067080323, -0.08339998067080323, 0.08339998067080323, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379810810089111, -1.1512125730514526, -1.6009601354599, -1.8012526035308838, -0.4227949380874634, -0.0004060255305375904, -0.001056409440934658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9069591760635376, -1.3517013788223267, 1.5123027563095093, -1.2538158893585205, 1.915482997894287, 0.27044597268104553, -0.2790059447288513, 0.08279999114654876, 0.08279999114654876, 0.08279999114654876, 0.08279999114654876, -0.08279999114654876, -0.08279999114654876, -0.08279999114654876, 0.08279999114654876, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379809617996216, -1.1512126922607422, -1.6009589433670044, -1.8012535572052002, -0.42279505729675293, -0.0004009921685792506, -0.001050537102855742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027721285820007, -1.3510630130767822, 1.5132412910461426, -1.2467740774154663, 1.941698670387268, 0.2709723114967346, -0.2874893248081207, 0.08279999114654876, 0.08279999114654876, 0.08279999114654876, 0.08279999114654876, -0.08279999114654876, -0.08279999114654876, -0.08279999114654876, 0.08279999114654876, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737980604171753, -1.1512129306793213, -1.6009573936462402, -1.8012535572052002, -0.4227945804595947, -0.0003942809998989105, -0.0010446648811921477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8964478969573975, -1.3497370481491089, 1.516147255897522, -1.239553451538086, 1.9530529975891113, 0.2735788822174072, -0.29219889640808105, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, -0.10259999914483708, -0.10259999914483708, -0.10259999914483708, 0.10259999914483708, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379807233810425, -1.1512126922607422, -1.6009565591812134, -1.801253080368042, -0.42279601097106934, -0.0003909254155587405, -0.0010323211317881942, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8907648921012878, -1.348483920097351, 1.518417477607727, -1.2294708490371704, 1.9702852964401245, 0.2801646888256073, -0.29636916518211365, 0.095999996478741, 0.095999996478741, 0.095999996478741, 0.095999996478741, -0.095999996478741, -0.095999996478741, -0.095999996478741, 0.095999996478741, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737979531288147, -1.1512131690979004, -1.6009554862976074, -1.8012529611587524, -0.42279723286628723, -0.000388288899557665, -0.0010057161562144756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8880386352539062, -1.3471167087554932, 1.5182592868804932, -1.2241501808166504, 1.9794679880142212, 0.2819209694862366, -0.29751136898994446, 0.1560000099978604, 0.1560000099978604, 0.1560000099978604, 0.1560000099978604, -0.1560000099978604, -0.1560000099978604, -0.1560000099978604, 0.1560000099978604, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379791736602783, -1.1512130498886108, -1.6009551286697388, -1.8012515306472778, -0.4227966368198395, -0.000388288899557665, -0.0010049970587715507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8874730467796326, -1.3451483249664307, 1.518194317817688, -1.2239181995391846, 1.9882208108901978, 0.2816349267959595, -0.29864004254341125, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, -0.17400001012361968, -0.17400001012361968, -0.17400001012361968, 0.17400001012361968, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379714250564575, -1.1512126922607422, -1.6009551286697388, -1.8012505769729614, -0.4227968752384186, -0.00038744998164474964, -0.000997087568975985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8857530355453491, -1.3436412811279297, 1.521442174911499, -1.2231050729751587, 1.999946117401123, 0.2819913327693939, -0.30458158254623413, 0.13800000987210118, 0.13800000987210118, 0.13800000987210118, 0.13800000987210118, -0.13800000987210118, -0.13800000987210118, -0.13800000987210118, 0.13800000987210118, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379716634750366, -1.151213526725769, -1.6009551286697388, -1.8012499809265137, -0.42279723286628723, -0.0003893674584105611, -0.0009895374532788992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8835943341255188, -1.3413132429122925, 1.522197961807251, -1.2206387519836426, 2.0018186569213867, 0.281911164522171, -0.30288809537887573, 0.1253999940641634, 0.1253999940641634, 0.1253999940641634, 0.1253999940641634, -0.1253999940641634, -0.1253999940641634, -0.1253999940641634, 0.1253999940641634, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379719018936157, -1.15121328830719, -1.6009554862976074, -1.8012489080429077, -0.4227973520755768, -0.00039200400351546705, -0.0009888183558359742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8832003474235535, -1.3398550748825073, 1.5222193002700806, -1.2206461429595947, 2.0037834644317627, 0.28035908937454224, -0.3023364543914795, 0.12480000453990896, 0.12480000453990896, 0.12480000453990896, 0.12480000453990896, -0.12480000453990896, -0.12480000453990896, -0.12480000453990896, 0.12480000453990896, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379716634750366, -1.15121328830719, -1.6009559631347656, -1.80124831199646, -0.4227987825870514, -0.000396557996282354, -0.0009885786566883326, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8825546503067017, -1.3383610248565674, 1.519700050354004, -1.2206124067306519, 2.005204439163208, 0.28102144598960876, -0.30226096510887146, 0.1253999940641634, 0.1253999940641634, 0.1253999940641634, 0.1253999940641634, -0.1253999940641634, -0.1253999940641634, -0.1253999940641634, 0.1253999940641634, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379716634750366, -1.1512130498886108, -1.6009565591812134, -1.801247000694275, -0.4227985441684723, -0.0004012318386230618, -0.0009894176619127393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8789839744567871, -1.3380274772644043, 1.5152175426483154, -1.215549349784851, 2.007420063018799, 0.28158459067344666, -0.3026878535747528, 0.1283999809852013, 0.1283999809852013, 0.1283999809852013, 0.1283999809852013, -0.1283999809852013, -0.1283999809852013, -0.1283999809852013, 0.1283999809852013, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737971544265747, -1.1512123346328735, -1.6009575128555298, -1.8012449741363525, -0.4227983057498932, -0.0004061453801114112, -0.0009922938188537955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8746343851089478, -1.3379460573196411, 1.5093954801559448, -1.2101056575775146, 2.009280204772949, 0.2816525399684906, -0.30334433913230896, 0.10979999133518763, 0.10979999133518763, 0.10979999133518763, 0.10979999133518763, -0.10979999133518763, -0.10979999133518763, -0.10979999133518763, 0.10979999133518763, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379708290100098, -1.1512045860290527, -1.6009598970413208, -1.8012393712997437, -0.4227975904941559, -0.0004140549572184682, -0.0009960089810192585, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8699549436569214, -1.3377439975738525, 1.5080164670944214, -1.2094147205352783, 2.0065836906433105, 0.2788054347038269, -0.2999465763568878, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, -0.022800016927195133, -0.022800016927195133, -0.022800016927195133, 0.022800016927195133, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379704713821411, -1.1512049436569214, -1.600960612297058, -1.8012405633926392, -0.4227973520755768, -0.00041597243398427963, -0.0009967279620468616, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8695837259292603, -1.3377201557159424, 1.5067323446273804, -1.2069917917251587, 2.006051540374756, 0.2775658071041107, -0.29691803455352783, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379707098007202, -1.1512049436569214, -1.6009618043899536, -1.8012405633926392, -0.4227975904941559, -0.000416811351897195, -0.0009967279620468616, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8729709386825562, -1.3377254009246826, 1.5076895952224731, -1.2105258703231812, 2.006051778793335, 0.277519166469574, -0.2956858277320862, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379714250564575, -1.151205062866211, -1.60096275806427, -1.8012396097183228, -0.42279675602912903, -0.00041753039113245904, -0.000997087568975985, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8827367424964905, -1.337419867515564, 1.5127238035202026, -1.2259610891342163, 2.00620436668396, 0.27779242396354675, -0.3016800880432129, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737972378730774, -1.151205062866211, -1.6009645462036133, -1.8012405633926392, -0.4227949380874634, -0.0004163319827057421, -0.0009990050457417965, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8989446759223938, -1.3361060619354248, 1.5184006690979004, -1.249437689781189, 2.0090036392211914, 0.27727001905441284, -0.3094024956226349, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379728555679321, -1.1512055397033691, -1.6009656190872192, -1.801241159439087, -0.4227946996688843, -0.0004129763983655721, -0.0010040383785963058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9093946218490601, -1.3352669477462769, 1.5215330123901367, -1.264514684677124, 2.010789632797241, 0.2750405967235565, -0.31379422545433044, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379735708236694, -1.1512055397033691, -1.6009691953659058, -1.801241397857666, -0.42279505729675293, -0.0004077033372595906, -0.0010108693968504667, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9211288690567017, -1.3338251113891602, 1.5251585245132446, -1.2823997735977173, 2.012819290161133, 0.27289602160453796, -0.31940966844558716, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379741668701172, -1.1512057781219482, -1.6009727716445923, -1.8012419939041138, -0.42279505729675293, -0.00040243027615360916, -0.0010172210168093443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9421194791793823, -1.3320651054382324, 1.5317875146865845, -1.3125377893447876, 2.0165350437164307, 0.2687474489212036, -0.32786789536476135, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737975001335144, -1.151206135749817, -1.6009739637374878, -1.8012449741363525, -0.42279481887817383, -0.00039523973828181624, -0.0010264489101246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9627664089202881, -1.3298370838165283, 1.5368118286132812, -1.3399087190628052, 2.016932487487793, 0.26409912109375, -0.3305962383747101, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379751205444336, -1.1512062549591064, -1.6009738445281982, -1.801246166229248, -0.4227943420410156, -0.0003885285696014762, -0.0010326806223019958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9827157855033875, -1.328748106956482, 1.54355788230896, -1.3674101829528809, 2.0183663368225098, 0.25918859243392944, -0.33537134528160095, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379755973815918, -1.1512062549591064, -1.600974202156067, -1.8012478351593018, -0.4227942228317261, -0.0003854126844089478, -0.0010438259923830628, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0029065608978271, -1.3272511959075928, 1.5528595447540283, -1.3939213752746582, 2.024291515350342, 0.25792521238327026, -0.34136080741882324, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737976312637329, -1.1512064933776855, -1.6009739637374878, -1.8012497425079346, -0.4227941036224365, -0.0003834952076431364, -0.0010500578209757805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.025198221206665, -1.3249422311782837, 1.5617951154708862, -1.4260667562484741, 2.0270416736602783, 0.2533189654350281, -0.3510286211967468, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379769086837769, -1.1512064933776855, -1.600973129272461, -1.8012511730194092, -0.4227938652038574, -0.0003832555084954947, -0.0010548514546826482, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0470837354660034, -1.3218498229980469, 1.57015061378479, -1.458250641822815, 2.0276100635528564, 0.2485542595386505, -0.3620937764644623, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379766702651978, -1.1512067317962646, -1.6009728908538818, -1.801252007484436, -0.42279374599456787, -0.00038481346564367414, -0.0010576078202575445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0705289840698242, -1.319216251373291, 1.5801094770431519, -1.4913736581802368, 2.0285532474517822, 0.24454493820667267, -0.3728639781475067, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15101851166984215, -0.9885302333253332, 0.0011776819554193542, -27.302188873291016], [0.98852916283646, 0.15101587804677552, -0.0020733546751907778, -1.2964249849319458], [0.0018717251062750125, 0.0014772878946893197, 0.9999971571287604, 0.014877285808324814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379776239395142, -1.1512064933776855, -1.6009727716445923, -1.8012523651123047, -0.4227933883666992, -0.00038840872002765536, -0.0010576078202575445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.098854660987854, -1.3163626194000244, 1.591653823852539, -1.526735544204712, 2.0305962562561035, 0.2418445348739624, -0.3793535828590393, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15174593533382352, -0.9884188340892947, 0.0011745327678312559, -27.303129196166992], [0.9884177429110015, 0.15174329266838882, -0.0020829375595536044, -1.2763385772705078], [0.0018805872445571432, 0.0014770063355711946, 0.999997140917863, 0.014821874909102917], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379775047302246, -1.151206612586975, -1.6009708642959595, -1.8012527227401733, -0.4227938652038574, -0.00039344211108982563, -0.0010571284219622612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1257908344268799, -1.3125884532928467, 1.6025124788284302, -1.5612953901290894, 2.0311810970306396, 0.23595356941223145, -0.38593241572380066, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15169035534522102, -0.9884273691904917, 0.0011712943285293815, -27.30306053161621], [0.9884262994149188, 0.15168773951992398, -0.0020688896212402333, -1.2778682708740234], [0.0018672761364608675, 0.001471568720489949, 0.999997173878672, 0.014748196117579937], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379781007766724, -1.151206612586975, -1.600969910621643, -1.801252841949463, -0.42279374599456787, -0.00040243027615360916, -0.0010548514546826482, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1541551351547241, -1.3098840713500977, 1.6151630878448486, -1.5971019268035889, 2.0333712100982666, 0.2305055409669876, -0.3938961923122406, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15189181245003758, -0.9883964321787869, 0.0011705412797924292, -27.303319931030273], [0.9883953528493624, 0.15188919074491336, -0.0020736925133575212, -1.2723133563995361], [0.0018718377139172475, 0.0014719344755831302, 0.999997164812217, 0.014733448624610901], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379778623580933, -1.1512064933776855, -1.6009676456451416, -1.8012522459030151, -0.4227954149246216, -0.00040986048406921327, -0.0010529339779168367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1797813177108765, -1.307113766670227, 1.6270416975021362, -1.629311442375183, 2.034489631652832, 0.22579669952392578, -0.4017966687679291, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15171900653355286, -0.9884229716614928, 0.0011713873549502232, -27.303098678588867], [0.9884219105800569, 0.15171639719495456, -0.00206434189333133, -1.2770854234695435], [0.0018627242795190907, 0.001471024828611042, 0.9999971831681388, 0.014758199453353882], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737978458404541, -1.151206374168396, -1.6009653806686401, -1.8012539148330688, -0.42279481887817383, -0.00041729072108864784, -0.0010514958994463086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2008053064346313, -1.3035386800765991, 1.6377626657485962, -1.656601071357727, 2.0376877784729004, 0.2213664948940277, -0.4088696241378784, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15184258950393092, -0.988403996005535, 0.0011699115483966925, -27.30325698852539], [0.9884029359458961, 0.15183998504354657, -0.002062802828224792, -1.2736624479293823], [0.0018612432063780777, 0.0014695653323059852, 0.999997188071777, 0.014727052301168442], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.737978458404541, -1.1512064933776855, -1.6009629964828491, -1.8012547492980957, -0.4227954149246216, -0.00041992723708972335, -0.0010532935848459601, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2236303091049194, -1.301679253578186, 1.648940086364746, -1.6831492185592651, 2.0391716957092285, 0.21762369573116302, -0.41319605708122253, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1517388018655269, -0.9884199372344087, 0.001167769644259767, -27.303117752075195], [0.9884189066549569, 0.15173622753055938, -0.0020450481201751657, -1.2765337228775024], [0.001844173374140202, 0.0014645587465168146, 0.9999972270422774, 0.014685088768601418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7379790544509888, -1.151206374168396, -1.6009621620178223, -1.8012527227401733, -0.42279529571533203, -0.0004198073875159025, -0.001051975297741592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.250839114189148, -1.2992206811904907, 1.66460120677948, -1.7153363227844238, 2.0399558544158936, 0.21396706998348236, -0.41938650608062744, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15187684673731405, -0.9883987338046939, 0.001168947564383161, -27.303298950195312], [0.9883976897074218, 0.15187425770289598, -0.002053491715425776, -1.2727245092391968], [0.0018521355677709652, 0.0014672629185654988, 0.9999972083627866, 0.014714567922055721], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379796504974365, -1.1512064933776855, -1.6009608507156372, -1.8012521266937256, -0.42279675602912903, -0.000420166936237365, -0.0010507768020033836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.279798984527588, -1.2965060472488403, 1.6808596849441528, -1.748289704322815, 2.040722608566284, 0.20913083851337433, -0.4249277710914612, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15173571971410083, -0.9884204102958083, 0.0011678499518095696, -27.30311393737793], [0.9884193457365145, 0.15173311826762725, -0.002063442410838336, -1.276620864868164], [0.0018623470794858355, 0.001467423404583189, 0.9999971891620032, 0.014663686975836754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.737979531288147, -1.151206135749817, -1.6009597778320312, -1.8012511730194092, -0.4227973520755768, -0.0004195677174720913, -0.0010453839786350727, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3096925020217896, -1.294477939605713, 1.6958009004592896, -1.7815213203430176, 2.037696361541748, 0.20067667961120605, -0.4268721044063568, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15172996562522834, -0.9884212889476359, 0.001171787720076491, -27.303104400634766], [0.9884202090446468, 0.1517273402064886, -0.0020747496237231737, -1.2767778635025024], [0.0018729344632702506, 0.0014730203523224278, 0.9999971611597395, 0.014756476506590843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379798889160156, -1.1512057781219482, -1.6009571552276611, -1.8012504577636719, -0.422797828912735, -0.0004165716527495533, -0.001040710136294365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3387172222137451, -1.292662501335144, 1.7123775482177734, -1.8136168718338013, 2.0345823764801025, 0.1931411176919937, -0.42944833636283875, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379810810089111, -1.1512058973312378, -1.600956678390503, -1.8012481927871704, -0.422797828912735, -0.00041129859164357185, -0.0010332799283787608, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3706661462783813, -1.291911244392395, 1.7282840013504028, -1.8491424322128296, 2.0100181102752686, 0.18159648776054382, -0.4269600510597229, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.737982153892517, -1.1512055397033691, -1.6009560823440552, -1.8012487888336182, -0.42279747128486633, -0.0004033890145365149, -0.0010292052756994963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3984636068344116, -1.2909518480300903, 1.743395447731018, -1.8788002729415894, 1.9911298751831055, 0.1722531020641327, -0.42437759041786194, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.737983226776123, -1.1512056589126587, -1.6009565591812134, -1.8012434244155884, -0.42279818654060364, -0.00039380163070745766, -0.001023452845402062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4225964546203613, -1.2909148931503296, 1.7601062059402466, -1.904335618019104, 1.9740524291992188, 0.16295453906059265, -0.4229069948196411, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379860877990723, -1.1512054204940796, -1.6009570360183716, -1.8012436628341675, -0.42279818654060364, -0.00038780953036621213, -0.0010168615262955427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4445083141326904, -1.2909092903137207, 1.7769547700881958, -1.9254413843154907, 1.9650554656982422, 0.15625415742397308, -0.42124393582344055, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7379875183105469, -1.1512055397033691, -1.6009575128555298, -1.8012417554855347, -0.422797828912735, -0.00038397457683458924, -0.0010049970587715507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.454667568206787, -1.2909356355667114, 1.7880899906158447, -1.933813452720642, 1.9600991010665894, 0.15434470772743225, -0.421204149723053, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379881143569946, -1.1512054204940796, -1.6009571552276611, -1.8012423515319824, -0.4227975904941559, -0.0003831356589216739, -0.0010040383785963058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4545074701309204, -1.2915996313095093, 1.7898541688919067, -1.9339501857757568, 1.9574556350708008, 0.15279994904994965, -0.42031803727149963, 0.026399993372487485, 0.026399993372487485, 0.026399993372487485, 0.026399993372487485, -0.026399993372487485, -0.026399993372487485, -0.026399993372487485, 0.026399993372487485, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380000352859497, -1.1512048244476318, -1.6009583473205566, -1.8012421131134033, -0.42279866337776184, -0.00038253646926023066, -0.0009900168515741825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.44976806640625, -1.2924797534942627, 1.794714093208313, -1.9330790042877197, 1.9484941959381104, 0.1467275321483612, -0.41669678688049316, 0.0935999990819575, 0.0935999990819575, 0.0935999990819575, 0.0935999990819575, -0.0935999990819575, -0.0935999990819575, -0.0935999990819575, 0.0935999990819575, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15167046395285022, -0.9884304252274924, 0.0011682674888093957, -27.303024291992188], [0.9884293588049189, 0.15166785998355548, -0.0020646792741885484, -1.2784268856048584], [0.0018636031830284946, 0.001467900748306515, 0.9999971861213257, 0.014669682830572128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380015850067139, -1.15120530128479, -1.6009584665298462, -1.8012410402297974, -0.422797828912735, -0.0003834952076431364, -0.0009855827083811164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4483832120895386, -1.2922649383544922, 1.7965065240859985, -1.9322104454040527, 1.9349912405014038, 0.14124499261379242, -0.40743643045425415, 0.16680001793326915, 0.16680001793326915, 0.16680001793326915, 0.16680001793326915, -0.16680001793326915, -0.16680001793326915, -0.16680001793326915, 0.16680001793326915, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15114091781999495, -0.9885115366727267, 0.0011682574433768205, -27.302343368530273], [0.9885104802526667, 0.15113832343186306, -0.0020585482378847413, -1.2930452823638916], [0.0018583302106176122, 0.0014659655964618064, 0.9999971987729257, 0.01464630477130413], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7380043268203735, -1.1512044668197632, -1.600959300994873, -1.801234245300293, -0.42279675602912903, -0.0003864912432618439, -0.0009900168515741825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4484666585922241, -1.29240882396698, 1.7942098379135132, -1.9319742918014526, 1.9137455224990845, 0.13395631313323975, -0.396851122379303, 0.30600000449589326, 0.30600000449589326, 0.30600000449589326, 0.30600000449589326, -0.30600000449589326, -0.30600000449589326, -0.30600000449589326, 0.30600000449589326, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15117693185668724, -0.9885060337315597, 0.0011647105645813866, -27.30238914489746], [0.9885049761349973, 0.15117434710983846, -0.0020564367879118235, -1.292049527168274], [0.0018567258136658624, 0.0014622079929994334, 0.9999972072546193, 0.014554133638739586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380197048187256, -1.1512084007263184, -1.6009612083435059, -1.8012408018112183, -0.4227963984012604, -0.0003945206699427217, -0.0009878596756607294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.450857400894165, -1.2936625480651855, 1.789463758468628, -1.932196021080017, 1.8660087585449219, 0.11448841542005539, -0.3682113587856293, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121445076292606, -0.9885002911556624, 0.0011680178240122564, -27.30244255065918], [0.9884992302231823, 0.15121185330849596, -0.0020608899014171373, -1.2910174131393433], [0.0018605721277243545, 0.0014662210544487252, 0.9999971942296524, 0.014641140587627888], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380192279815674, -1.151208758354187, -1.6009622812271118, -1.8012406826019287, -0.4227958917617798, -0.00040183105738833547, -0.0009897771524265409, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4723875522613525, -1.295910358428955, 1.7924882173538208, -1.942516565322876, 1.806735873222351, 0.1005556732416153, -0.3078102767467499, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15137114495224313, -0.9884763118781813, 0.0011650457311244097, -27.302648544311523], [0.9884752092246123, 0.15136852327288386, -0.0020810839832743565, -1.2866894006729126], [0.0018807509686301113, 0.0014666348881194565, 0.9999971558749049, 0.014543140307068825], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7380191087722778, -1.1512081623077393, -1.600965142250061, -1.8012398481369019, -0.42279529571533203, -0.0004073438176419586, -0.0009909755317494273, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5314466953277588, -1.2972482442855835, 1.8070513010025024, -1.9647181034088135, 1.7138268947601318, 0.10321785509586334, -0.2130420058965683, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1515187100318014, -0.9884537028648182, 0.0011652480974475245, -27.302833557128906], [0.9884526129887183, 0.15151609725181603, -0.0020746443920070345, -1.282608985900879], [0.00187413608735173, 0.001466139968753755, 0.9999971690197518, 0.014565546065568924], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7380179166793823, -1.151208519935608, -1.6009676456451416, -1.8012444972991943, -0.4227946996688843, -0.00041609228355810046, -0.000991934328339994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6117424964904785, -1.2994552850723267, 1.8149064779281616, -1.9736331701278687, 1.5927883386611938, 0.10172150284051895, -0.11147557944059372, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15099182676581624, -0.9885343283013814, 0.0011619034633658467, -27.30215072631836], [0.9885332629972302, 0.150989244977363, -0.002058117881568959, -1.2971566915512085], [0.0018590852509516409, 0.001459339200566312, 0.9999972070616634, 0.014464645646512508], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7380163669586182, -1.1512082815170288, -1.6009695529937744, -1.8012462854385376, -0.4227941036224365, -0.00041932801832444966, -0.0009943310869857669, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6854612827301025, -1.306776762008667, 1.8193283081054688, -1.9733656644821167, 1.4787936210632324, 0.09208127111196518, -0.01525028608739376, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112855034315553, -0.9885134270322595, 0.0011686950475329348, -27.30232810974121], [0.9885123562896092, 0.15112594339258845, -0.0020665663465800864, -1.2933903932571411], [0.0018662084398507564, 0.001467586671367378, 0.9999971817237392, 0.014647159725427628], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7380160093307495, -1.1512082815170288, -1.6009705066680908, -1.8012495040893555, -0.4227933883666992, -0.0004195677174720913, -0.0010033192811533809, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7393364906311035, -1.3110363483428955, 1.819445252418518, -1.96646249294281, 1.3395789861679077, 0.09356923401355743, 0.06874535232782364, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15094210553138354, -0.9885419157186977, 0.0011668954367368694, -27.302078247070312], [0.9885408702074905, 0.1509395244796704, -0.0020513115971435352, -1.2985355854034424], [0.001851676853637691, 0.001463153122046805, 0.9999972152340081, 0.014606769196689129], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7380132675170898, -1.1512084007263184, -1.600972294807434, -1.8012512922286987, -0.4227924346923828, -0.0004198073875159025, -0.0010115883778780699, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7629857063293457, -1.31290864944458, 1.8061424493789673, -1.9370437860488892, 1.204196810722351, 0.10688838362693787, 0.10860524326562881, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15090466432275584, -0.988547634639892, 0.0011646173238891665, -27.302040100097656], [0.9885465887028299, 0.15090208989847942, -0.0020496897983924484, -1.2995684146881104], [0.0018504728138395224, 0.001460586233667044, 0.9999972212152488, 0.01454470306634903], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.738012433052063, -1.1512082815170288, -1.6009749174118042, -1.8012514114379883, -0.42279326915740967, -0.0004189684987068176, -0.001018898794427514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7578197717666626, -1.314091682434082, 1.7788304090499878, -1.8835185766220093, 1.060577154159546, 0.1526518166065216, 0.10759413242340088, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15087816627201678, -0.9885516843344695, 0.0011603197305435785, -27.30199432373047], [0.9885506236411625, 0.15087559321280763, -0.002054232545742, -1.3003007173538208], [0.0018556511154456516, 0.0014569736328498499, 0.9999972168895126, 0.014419841580092907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379984855651855, -1.1512107849121094, -1.6009713411331177, -1.8013032674789429, -0.42279303073883057, -0.0004178899107500911, -0.0010601244866847992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.735424280166626, -1.3131399154663086, 1.7390080690383911, -1.8175456523895264, 0.9329448342323303, 0.22572658956050873, 0.08831031620502472, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15123983697608423, -0.988496418663546, 0.0011584475780935717, -27.30246353149414], [0.9884953922563329, 0.15123729542455477, -0.0020346893287949376, -1.2903249263763428], [0.0018360826360047323, 0.0014528461754999284, 0.9999972590155155, 0.01441500149667263], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7379982471466064, -1.151208758354187, -1.6009820699691772, -1.801273226737976, -0.42279279232025146, -0.0004087819252163172, -0.0010483800433576107, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73762845993042, -1.314848780632019, 1.7426408529281616, -1.8295847177505493, 0.9515310525894165, 0.22609953582286835, 0.08088932186365128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1517824999740932, -0.9884132400656521, 0.001157395582301779, -27.303180694580078], [0.9884121591979614, 0.15177991706052274, -0.0020640558918172407, -1.2753595113754272], [0.0018644707662196988, 0.0014572714298953606, 0.9999972000504509, 0.014380333945155144], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7379990816116333, -1.1512086391448975, -1.6009819507598877, -1.8012776374816895, -0.42279255390167236, -0.00040326916496269405, -0.001052694278769195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7359886169433594, -1.3136122226715088, 1.7516636848449707, -1.8365604877471924, 0.9632230997085571, 0.21897073090076447, 0.08322276920080185, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15072369956229892, -0.9885752472160607, 0.0011605955188179898, -27.301786422729492], [0.9885742895815377, 0.150721208059184, -0.0019978537329601678, -1.3045622110366821], [0.0018001023892983048, 0.0014484587963231163, 0.9999973307956894, 0.014491952024400234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7379965782165527, -1.1512089967727661, -1.6009795665740967, -1.801274061203003, -0.4227919578552246, -0.0003981159534305334, -0.0010553308529779315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7359123229980469, -1.3129630088806152, 1.7510879039764404, -1.835280418395996, 0.9632375836372375, 0.2187032401561737, 0.08332212269306183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15118324195896637, -0.9885050732752387, 0.0011608014005785089, -27.30240249633789], [0.9885040942263876, 0.15118073126851928, -0.0020105200284878345, -1.2918747663497925], [0.001811918443484721, 0.0014514138729858053, 0.9999973051710307, 0.014507105574011803], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7379957437515259, -1.1512084007263184, -1.6009796857833862, -1.8012722730636597, -0.4227919578552246, -0.0003888880892191082, -0.001055690343491733, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7360039949417114, -1.3130176067352295, 1.7497057914733887, -1.8349571228027344, 0.9632300138473511, 0.21870502829551697, 0.08338863402605057, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15109357423549286, -0.9885187866910619, 0.0011576629795887082, -27.302274703979492], [0.9885178112272605, 0.1510910760098132, -0.0020059004619259898, -1.2943414449691772], [0.001807957745603336, 0.0014474491450748824, 0.9999973180862849, 0.014422347769141197], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7379953861236572, -1.1512086391448975, -1.600978970527649, -1.8012722730636597, -0.42279207706451416, -0.00038744998164474964, -0.0010561697417870164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7360732555389404, -1.313111662864685, 1.7497034072875977, -1.8347562551498413, 0.9632193446159363, 0.21870563924312592, 0.0834309384226799, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15110651193482338, -0.9885168176510468, 0.001150335576341567, -27.30229949951172], [0.9885158448060704, 0.1511040374465049, -0.001998608192304223, -1.2939928770065308], [0.001801837459984319, 0.001439127656721216, 0.999997341143143, 0.014232462272047997], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7379956245422363, -1.151208758354187, -1.6009788513183594, -1.8012725114822388, -0.42279207706451416, -0.00038721031160093844, -0.0010559300426393747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7360702753067017, -1.3125903606414795, 1.7492049932479858, -1.8346983194351196, 0.9616801142692566, 0.21813267469406128, 0.08332320302724838, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510587946254096, -0.9885241073089259, 0.0011531848982772749, -27.302228927612305], [0.9885231564620975, 0.15105632950001935, -0.0019885814525357343, -1.2953110933303833], [0.0017915648272103552, 0.0014403426928639687, 0.999997357850708, 0.014320515096187592], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7379956245422363, -1.1512088775634766, -1.6009786128997803, -1.8012723922729492, -0.42279207706451416, -0.0003867309424094856, -0.0010560499504208565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.735684871673584, -1.302261233329773, 1.7397394180297852, -1.8324267864227295, 0.9272351861000061, 0.20420700311660767, 0.0778987780213356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15110041570518373, -0.9885177454336267, 0.0011538355777659071, -27.30229377746582], [0.9885167845898492, 0.15109794050681646, -0.0019947327501347273, -1.2941601276397705], [0.0017974865414218768, 0.001441990783044627, 0.9999973448488326, 0.014332673512399197], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379956245422363, -1.1512088775634766, -1.6009787321090698, -1.8012726306915283, -0.42279207706451416, -0.0003869706124532968, -0.001056529232300818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7347966432571411, -1.2788312435150146, 1.7182972431182861, -1.8274946212768555, 0.8491517305374146, 0.1727249175310135, 0.06591083854436874, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106497831290466, -0.9885231637480268, 0.0011519812990163007, -27.302236557006836], [0.9885222163582582, 0.15106251949698057, -0.0019856911596106107, -1.2951399087905884], [0.001788880509881962, 0.001438727498869562, 0.999997364981381, 0.014291785657405853], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379955053329468, -1.1512086391448975, -1.600978970527649, -1.8012727499008179, -0.42279207706451416, -0.00038661109283566475, -0.0010562895331531763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7334296703338623, -1.242159128189087, 1.6845821142196655, -1.819640874862671, 0.7269513607025146, 0.12370944023132324, 0.0472189262509346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510678978080453, -0.9885227126653722, 0.0011561991834870868, -27.30223846435547], [0.9885218052471216, 0.15106545890564127, -0.0019666409432156262, -1.295059084892273], [0.0017694074797864926, 0.0014400244171207189, 0.9999973977600385, 0.014431774616241455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7379956245422363, -1.151208758354187, -1.6009795665740967, -1.8012722730636597, -0.4227921962738037, -0.0003870904620271176, -0.0010555705521255732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318884134292603, -1.2002015113830566, 1.6461470127105713, -1.8107314109802246, 0.5872765183448792, 0.06747370213270187, 0.025662539526820183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15108491283069747, -0.988520117889369, 0.0011513656797781063, -27.302261352539062], [0.988519262690697, 0.15108253077869604, -0.0019329208326177478, -1.294587254524231], [0.0017367798885775034, 0.0014301823283663182, 0.9999974690838603, 0.014344320632517338], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7379956245422363, -1.151208519935608, -1.600978136062622, -1.8012720346450806, -0.42279207706451416, -0.0003867309424094856, -0.0010559300426393747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7307363748550415, -1.1704601049423218, 1.618852138519287, -1.8044105768203735, 0.48828011751174927, 0.02737412601709366, 0.010473613627254963, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15112179350068666, -0.9885144800845654, 0.0011516042188881698, -27.302309036254883], [0.9885135685007886, 0.1511193645531802, -0.0019653363273904423, -1.293578863143921], [0.0017687337200865305, 0.0014353815465410042, 0.9999974056270563, 0.01431097462773323], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7379955053329468, -1.1512088775634766, -1.6009780168533325, -1.8012720346450806, -0.4227919578552246, -0.0003869706124532968, -0.0010560499504208565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73012113571167, -1.153868317604065, 1.6035575866699219, -1.80084228515625, 0.43290016055107117, 0.005190008319914341, 0.0019964519888162613, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15105051428514604, -0.9885253749185537, 0.0011512064652792575, -27.302221298217773], [0.9885244492285502, 0.15104807528809172, -0.0019728733245150056, -1.2955342531204224], [0.00177634782194337, 0.0014359992673259618, 0.999997391243857, 0.014286457560956478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379955053329468, -1.1512086391448975, -1.6009784936904907, -1.8012722730636597, -0.4227917194366455, -0.00038733016117475927, -0.001056529232300818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299809455871582, -1.1499156951904297, 1.59996497631073, -1.7999885082244873, 0.4198281168937683, -0.00011624697799561545, -8.053398778429255e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15113976043436583, -0.988511735726874, 0.0011494111906808335, -27.302335739135742], [0.9885107881695493, 0.15113730882802712, -0.0019838227335222157, -1.2930700778961182], [0.001787313139592158, 0.0014360398547196072, 0.9999973716471843, 0.014228276908397675], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.737995982170105, -1.1512086391448975, -1.600978136062622, -1.8012721538543701, -0.42279207706451416, -0.0003876896807923913, -0.0010560499504208565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301386594772339, -1.1500275135040283, 1.599969744682312, -1.7999861240386963, 0.41989535093307495, 7.070692663546652e-05, 1.8575548892840743e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510859477111337, -0.9885199568930294, 0.0011537887293467265, -27.30225944519043], [0.9885190333231639, 0.15108350273480609, -0.001973818436320905, -1.2945611476898193], [0.001776840472940963, 0.0014387583484542397, 0.9999973864027588, 0.014357692562043667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7379988431930542, -1.151208758354187, -1.6009782552719116, -1.8012691736221313, -0.42279303073883057, -0.00038984682760201395, -0.0010531736770644784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7314714193344116, -1.150313377380371, 1.5999677181243896, -1.79999840259552, 0.41991835832595825, 0.000531979720108211, 0.00025274729705415666, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15110323178874463, -0.9885173215445018, 0.0011481940084918372, -27.302288055419922], [0.9885164056958544, 0.15110080943326776, -0.00196495769938775, -1.29408860206604], [0.0017689016778774797, 0.0014319200730215317, 0.999997410292526, 0.014217439107596874], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380027770996094, -1.1512088775634766, -1.6009773015975952, -1.801262617111206, -0.4227921962738037, -0.00039404130075126886, -0.0010488593252375722, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731792688369751, -1.1504194736480713, 1.5999623537063599, -1.8000186681747437, 0.4199329912662506, 0.0006573347491212189, 0.00030499850981868804, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.738010048866272, -1.1512086391448975, -1.6009774208068848, -1.8012586832046509, -0.42279231548309326, -0.00039931436185725033, -0.001045144279487431, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73179030418396, -1.150435209274292, 1.5999438762664795, -1.8000962734222412, 0.41994258761405945, 0.0006857373518869281, 0.0003180613275617361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380214929580688, -1.1512086391448975, -1.6009770631790161, -1.8012577295303345, -0.4227931499481201, -0.00040171120781451464, -0.0010401108302175999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317854166030884, -1.150439739227295, 1.5999256372451782, -1.8001619577407837, 0.4199477434158325, 0.0006980811012908816, 0.00031997880432754755, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380584478378296, -1.1512086391448975, -1.6009771823883057, -1.8012564182281494, -0.4227931499481201, -0.0004019509069621563, -0.001033998909406364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731780767440796, -1.1504427194595337, 1.599905252456665, -1.8001821041107178, 0.4199497699737549, 0.0007057510083541274, 0.00031937958556227386, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7380963563919067, -1.1512086391448975, -1.6009771823883057, -1.8012564182281494, -0.42279350757598877, -0.0004012318386230618, -0.0010272877989336848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317779064178467, -1.15044367313385, 1.5998876094818115, -1.800188660621643, 0.41995179653167725, 0.0007089867722243071, 0.000318900216370821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.738105297088623, -1.1512088775634766, -1.6009775400161743, -1.8012570142745972, -0.4227931499481201, -0.0003975167346652597, -0.0010198575910180807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317757606506348, -1.1504452228546143, 1.5998679399490356, -1.8001928329467773, 0.4199531376361847, 0.000709825661033392, 0.0003171025891788304, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7381075620651245, -1.151208758354187, -1.6009783744812012, -1.8012580871582031, -0.4227931499481201, -0.00039523973828181624, -0.0010156630305573344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731774926185608, -1.1504460573196411, 1.599851369857788, -1.8001950979232788, 0.4199533760547638, 0.0007107843994162977, 0.00031602400122210383, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7381086349487305, -1.151208519935608, -1.6009786128997803, -1.8012583255767822, -0.42279303073883057, -0.00039368178113363683, -0.0010127868736162782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317752838134766, -1.1504474878311157, 1.5998386144638062, -1.800197958946228, 0.4199533760547638, 0.0007115034386515617, 0.0003163835499435663, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7381091117858887, -1.1512088775634766, -1.6009790897369385, -1.8012596368789673, -0.42279279232025146, -0.00039344211108982563, -0.0010127868736162782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317752838134766, -1.1504484415054321, 1.5998306274414062, -1.8001974821090698, 0.41995373368263245, 0.0007131812162697315, 0.00031578433117829263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15106328938407976, -0.988523426470822, 0.0011480064664483962, -27.302236557006836], [0.9885225089810851, 0.15106086636590854, -0.0019656781328219676, -1.295181393623352], [0.001769700031780579, 0.001431772037154521, 0.9999974090919592, 0.01420912891626358], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000017/gt/hand_left.mp4 b/agibot-challenge-2026/000017/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d7f9291d0b427860de346506443b67a2d325a9e --- /dev/null +++ b/agibot-challenge-2026/000017/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f1a09012386e64efe492acbfba9f27269f2241c973edb3e7fd9052dd18e846a +size 9042819 diff --git a/agibot-challenge-2026/000017/gt/hand_right.mp4 b/agibot-challenge-2026/000017/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..884f05dc48cd0daf9dafbf365b5e5cafb49e9699 --- /dev/null +++ b/agibot-challenge-2026/000017/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37e8d57fcb723600f9bf399852b6e1feb9c04c9ba2286f112b1997480fbedc15 +size 9561888 diff --git a/agibot-challenge-2026/000017/gt/head.mp4 b/agibot-challenge-2026/000017/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e8056fe81a37b78dc1cb6558ac354dad8fb64f1f --- /dev/null +++ b/agibot-challenge-2026/000017/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1f8b5c91268db27845676b4aadc2e0f2b42e8a990cfc109558c904888900880 +size 7792589 diff --git a/agibot-challenge-2026/000017/meta.json b/agibot-challenge-2026/000017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..304a39790875557ff2486b5d27ebc215b5f90f9e --- /dev/null +++ b/agibot-challenge-2026/000017/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Desk lamp complete unit packaging station_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1108, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000017/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000017/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..112d1afa1938f00b18cbd86e3ffd4864ce87fed6 --- /dev/null +++ b/agibot-challenge-2026/000017/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000017/ref_images/hand_left.png b/agibot-challenge-2026/000017/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..a4c2cf526f4b9c2e6515f9748c9407b44213bd96 --- /dev/null +++ b/agibot-challenge-2026/000017/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce56a9cd3e4769f9f6bcc504479943fd3d7c36d173942318db93cb0fd624b3c8 +size 350599 diff --git a/agibot-challenge-2026/000017/ref_images/hand_right.png b/agibot-challenge-2026/000017/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..161b032a572573bd88144a3c00ee839df9bc20f3 --- /dev/null +++ b/agibot-challenge-2026/000017/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff73b496878a5bdd1cf6666d3ddf47863e06d82af3add43c9825a7dba27e9765 +size 363236 diff --git a/agibot-challenge-2026/000017/ref_images/head.png b/agibot-challenge-2026/000017/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..5a96023d494eb5792cbdac76dae9efe8467f35a6 --- /dev/null +++ b/agibot-challenge-2026/000017/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71d361607c3222b56bbb83c7269ae34c87d2af4374c06ead3152090cc923d567 +size 308405 diff --git a/agibot-challenge-2026/000017/temporal.json b/agibot-challenge-2026/000017/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..64c47a3c4c22648a290608e150135ba55652a0f5 --- /dev/null +++ b/agibot-challenge-2026/000017/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.150160312652588, -1.6000568866729736, -1.799963355064392, -0.41996702551841736, 0.00011732555867638439, 0.00010402307088952512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729479432106018, -1.1499645709991455, 1.6005280017852783, -1.7996271848678589, 0.42048296332359314, 7.21450342098251e-05, 0.00019797938875854015, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.150160551071167, -1.6000566482543945, -1.7999635934829712, -0.41996750235557556, 0.00011612713569775224, 0.00010366354399593547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7294789552688599, -1.149964451789856, 1.600528359413147, -1.7996265888214111, 0.4204816222190857, 6.866960757179186e-05, 0.0001975000195670873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.150160789489746, -1.6000568866729736, -1.7999632358551025, -0.41996893286705017, 0.00011516840459080413, 0.00010378338629379869, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7294789552688599, -1.1499645709991455, 1.6005291938781738, -1.7996259927749634, 0.42047935724258423, 6.783071148674935e-05, 0.0001975000195670873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501606702804565, -1.600056767463684, -1.7999639511108398, -0.4199702739715576, 0.00011528824688866735, 0.00010354370169807225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729478359222412, -1.149964690208435, 1.6005293130874634, -1.7996253967285156, 0.42048102617263794, 6.723149999743327e-05, 0.00019714049994945526, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302289009094238, -1.150160789489746, -1.600056767463684, -1.7999635934829712, -0.4199714660644531, 0.00011504856229294091, 0.00010342385940020904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729478359222412, -1.1499648094177246, 1.6005295515060425, -1.7996245622634888, 0.42048054933547974, 6.687197310384363e-05, 0.00019690081535372883, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302286624908447, -1.1501606702804565, -1.6000570058822632, -1.799963355064392, -0.41997289657592773, 0.0001149287199950777, 0.00010378338629379869, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729478359222412, -1.1499649286270142, 1.600529670715332, -1.7996240854263306, 0.420479953289032, 6.759102689102292e-05, 0.0001966611307580024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501609086990356, -1.6000568866729736, -1.799963355064392, -0.41997432708740234, 0.00011504856229294091, 0.00010486196697456762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729478359222412, -1.1499649286270142, 1.6005295515060425, -1.7996236085891724, 0.4204797148704529, 6.807039608247578e-05, 0.00019690081535372883, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501604318618774, -1.6000570058822632, -1.799963116645813, -0.41997793316841125, 0.0001157676160801202, 0.00010594054765533656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7200210094451904, -1.156134009361267, 1.6143170595169067, -1.808130145072937, 0.4380168318748474, 0.007177112624049187, 0.019520385190844536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.1501597166061401, -1.6000585556030273, -1.7999629974365234, -0.4199794828891754, 0.0001157676160801202, 0.00010809770901687443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6734497547149658, -1.1822363138198853, 1.6422756910324097, -1.8123621940612793, 0.43528586626052856, 0.01509928423911333, 0.06133682280778885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730229139328003, -1.1501654386520386, -1.6000581979751587, -1.799965739250183, -0.4199799597263336, 0.0001157676160801202, 0.0001109739241655916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.602161169052124, -1.2031989097595215, 1.6399930715560913, -1.7942190170288086, 0.41422274708747864, 0.057924192398786545, 0.07144156098365784, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226993560791, -1.1501648426055908, -1.6000587940216064, -1.7999703884124756, -0.41997817158699036, 0.00011672634718706831, 0.00011301124322926626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5191779136657715, -1.2193633317947388, 1.6152105331420898, -1.7358072996139526, 0.385659784078598, 0.08790620416402817, 0.08406753838062286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302312850952148, -1.1501353979110718, -1.600059986114502, -1.7999746799468994, -0.41997480392456055, 0.00011852398165501654, 0.00011648666259134188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4203009605407715, -1.2394142150878906, 1.5707141160964966, -1.642059564590454, 0.34967872500419617, 0.0991840809583664, 0.0620863139629364, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5664452314376831, 0.0, 0.0, 1.7302265167236328, -1.1501655578613281, -1.6000596284866333, -1.7999722957611084, -0.4199695587158203, 0.00011960256233578548, 0.00011876366625074297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.328479290008545, -1.2586053609848022, 1.5429697036743164, -1.5723321437835693, 0.33990976214408875, 0.16515028476715088, 0.038762494921684265, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5664452314376831, 0.0, 0.0, 1.730225682258606, -1.1501492261886597, -1.6000609397888184, -1.7999725341796875, -0.4199683368206024, 0.00011840413935715333, 0.00012175972369732335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2498291730880737, -1.2715039253234863, 1.5286171436309814, -1.4959368705749512, 0.31980395317077637, 0.19550010561943054, 0.0206880085170269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5664452314376831, 0.0, 0.0, 1.7302258014678955, -1.1501520872116089, -1.6000611782073975, -1.799973487854004, -0.41996893286705017, 0.00011756524327211082, 0.00012403672735672444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.187023639678955, -1.2787648439407349, 1.5212270021438599, -1.4123629331588745, 0.28732264041900635, 0.19956359267234802, 0.025414345785975456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665586532616, 0.025821908201292074, -2.381573340576651e-05, -0.1478024125099182], [-0.02582191473343082, 0.9996665026781754, -0.0003348771192490699, -0.07005508244037628], [1.5160624690495774e-05, 0.00033538042520875344, 0.9999999436450613, -9.870206849882379e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5664452314376831, 0.0, 0.0, 1.7302261590957642, -1.1501524448394775, -1.6000611782073975, -1.7999728918075562, -0.4199688136577606, 0.00011756524327211082, 0.00012391689233481884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1483745574951172, -1.2849408388137817, 1.5186676979064941, -1.352263331413269, 0.25423023104667664, 0.19421298801898956, 0.03878286853432655, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662595078896, 0.025833489189232898, -2.092401994026983e-05, -0.14787118136882782], [-0.02583349474766911, 0.9996662035842493, -0.0003346051050544889, -0.0700545459985733], [1.2273018213323395e-05, 0.0003350339743412925, 0.9999999438008029, -9.759900422068313e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302260398864746, -1.1501529216766357, -1.6000609397888184, -1.7999730110168457, -0.4199671447277069, 0.0001166065048892051, 0.00012403672735672444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.13217294216156, -1.2897626161575317, 1.5185967683792114, -1.3215806484222412, 0.22098670899868011, 0.20391277968883514, 0.05152497813105583, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660522000617, 0.0258415026560246, -2.8622058492756735e-05, -0.1478700339794159], [-0.025841511152484526, 0.9996659901426508, -0.000352779633309707, -0.07005255669355392], [1.9496142611918352e-05, 0.00035340146057104776, 0.9999999373636521, -0.00010077890328830108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302263975143433, -1.1501529216766357, -1.6000611782073975, -1.7999732494354248, -0.4199664294719696, 0.00011516840459080413, 0.000123797042760998, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1337568759918213, -1.2942628860473633, 1.5212575197219849, -1.305088758468628, 0.19279909133911133, 0.21153810620307922, 0.050663191825151443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996657876323484, 0.025851705715675667, -4.846634676053856e-05, -0.14781226217746735], [-0.025851720996503475, 0.9996657282344419, -0.0003468645583140048, -0.0700494721531868], [3.948310534450529e-05, 0.0003480015703628894, 0.9999999386679939, -0.00010282673611072823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302262783050537, -1.1501532793045044, -1.600061058998108, -1.799973487854004, -0.4199671447277069, 0.00011313108552712947, 0.00012475578114390373, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1458683013916016, -1.2970818281173706, 1.536163568496704, -1.3001768589019775, 0.17380253970623016, 0.2109481245279312, 0.04179953783750534, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664962620043, 0.02582431403137229, -3.24970337051218e-05, -0.14783436059951782], [-0.025824323632159554, 0.9996664382266189, -0.00034145606893936796, -0.07005389034748077], [2.366832518472135e-05, 0.00034218140597950164, 0.9999999411758461, -0.00010077278420794755], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302263975143433, -1.1501542329788208, -1.6000597476959229, -1.799973487854004, -0.4199692904949188, 0.00011169297795277089, 0.00012391689233481884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1576439142227173, -1.3009998798370361, 1.5555553436279297, -1.3044055700302124, 0.1736709475517273, 0.21973782777786255, 0.01414366252720356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669074142063, 0.025808391645661004, -3.378728890806057e-05, -0.14778868854045868], [-0.025808401845346714, 0.9996668472388732, -0.0003477436993232794, -0.07005754858255386], [2.4801326995023685e-05, 0.0003484998644046823, 0.9999999389663675, -0.00010118643695022911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302265167236328, -1.1501544713974, -1.6000597476959229, -1.7999731302261353, -0.4199725389480591, 0.00010965565888909623, 0.0001243962615262717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1747615337371826, -1.30174720287323, 1.5772405862808228, -1.3308465480804443, 0.17207489907741547, 0.22627151012420654, 0.010152795352041721, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666568070089, 0.025821535907582505, -3.108606678064602e-05, -0.14778980612754822], [-0.025821545669942044, 0.9996664994949305, -0.00037089994239783794, -0.07005489617586136], [2.1498493380927998e-05, 0.00037157896280731566, 0.9999999307334422, -0.00010272852523485199], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302260398864746, -1.1501544713974, -1.6000592708587646, -1.799973487854004, -0.4199773371219635, 0.00010689928603824228, 0.00012307798897381872, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.197221279144287, -1.301751732826233, 1.601766586303711, -1.3770164251327515, 0.17019888758659363, 0.2192305475473404, 0.011297409422695637, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666494700168, 0.02582437981279735, -2.7949300398595992e-05, -0.1478387415409088], [-0.025824388079991604, 0.999666432490658, -0.0003531737458932803, -0.07005510479211807], [1.881948446621773e-05, 0.000353777734157321, 0.999999937243569, -0.00010102431406266987], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302260398864746, -1.150154709815979, -1.600058913230896, -1.7999732494354248, -0.419978529214859, 0.00010534133616602048, 0.00012259861978236586, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2074304819107056, -1.3017315864562988, 1.6323941946029663, -1.422788143157959, 0.18281911313533783, 0.2199927419424057, 0.010226977989077568, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666439350183, 0.025826514304682406, -3.458029794440528e-05, -0.1477375030517578], [-0.02582652476391645, 0.9996663794086769, -0.00034712903394292286, -0.0700552836060524], [2.5603628284259456e-05, 0.0003479063342779953, 0.9999999391528166, -0.00010105185356223956], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302253246307373, -1.1501548290252686, -1.6000572443008423, -1.7999738454818726, -0.4199787676334381, 0.00010582070535747334, 0.00012032161612296477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.197646975517273, -1.2993664741516113, 1.6650041341781616, -1.4431371688842773, 0.194956973195076, 0.21656320989131927, 0.021410536020994186, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672983716715, 0.02579325696709978, -2.147819302381938e-05, -0.14773285388946533], [-0.025793263048816156, 0.9996672331021412, -0.00036144599019313995, -0.07006069272756577], [1.2148176487375745e-05, 0.0003618797292061265, 0.9999999344477396, -0.00010014876170316711], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302252054214478, -1.1501532793045044, -1.6000577211380005, -1.7999732494354248, -0.4199778139591217, 0.00010558102076174691, 0.00011960256233578548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1493163108825684, -1.2927511930465698, 1.6911072731018066, -1.3981927633285522, 0.18827277421951294, 0.20112058520317078, 0.030452635139226913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659954254459, 0.02584370645216739, -2.0660749723885145e-05, -0.1476801186800003], [-0.025843712356637082, 0.9996659261396191, -0.0003723533871962483, -0.07005099207162857], [1.1030855872296459e-05, 0.0003727629699345106, 0.9999999304630418, -0.00010036115418188274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302234172821045, -1.1501528024673462, -1.6000564098358154, -1.7999701499938965, -0.4199780523777008, 0.00010570086305961013, 0.00011552793148439378, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.069068193435669, -1.2828537225723267, 1.7024290561676025, -1.2881863117218018, 0.17408500611782074, 0.1825823038816452, 0.03271501511335373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669121610742, 0.025808198437217475, -4.029600983893353e-05, -0.14766328036785126], [-0.025808211366665473, 0.9996668468940559, -0.0003625561332169072, -0.07005611807107925], [3.0925664467406335e-05, 0.0003634753381171611, 0.9999999334646387, -0.00010466238018125296], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302182912826538, -1.150187373161316, -1.600053310394287, -1.7999752759933472, -0.41997721791267395, 0.00010342385940020904, 0.00010797786671901122, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9729387164115906, -1.2761985063552856, 1.6986408233642578, -1.122495412826538, 0.17118218541145325, 0.15028074383735657, 0.0208720862865448, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668682879086, 0.025809908611232724, -3.263318654587491e-05, -0.14772486686706543], [-0.02580991889008466, 0.9996668006973399, -0.00036833467399302085, -0.07005476206541061], [2.311562891676618e-05, 0.000369054229930325, 0.9999999316323192, -0.0001017246104311198], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302178144454956, -1.150150179862976, -1.6000548601150513, -1.7999716997146606, -0.4199763834476471, 0.00010378338629379869, 0.00010402307088952512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8831495642662048, -1.2687113285064697, 1.675339937210083, -0.9352245926856995, 0.14124463498592377, 0.08818831294775009, 0.00995421689003706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661228056887, 0.025838734783181157, -5.195619549354483e-05, -0.1477666199207306], [-0.025838752714109778, 0.9996660512438175, -0.00038059003183533817, -0.07004988193511963], [4.2104879892968005e-05, 0.00038180544479064977, 0.999999926225888, -0.00010700765415094793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302181720733643, -1.1501668691635132, -1.6000555753707886, -1.7999721765518188, -0.4199734926223755, 0.0001023452787194401, 0.00010246512101730332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8170170187950134, -1.2642216682434082, 1.6577240228652954, -0.7910150289535522, 0.12364352494478226, 0.026901349425315857, 0.028901755809783936, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996671918660638, 0.025797366441088605, -3.730043803999357e-05, -0.14785781502723694], [-0.025797379032213495, 0.9996671162657014, -0.0003897333510377545, -0.07005780935287476], [2.7233927259853476e-05, 0.00039056589814664814, 0.9999999233582932, -0.0001062457959051244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302186489105225, -1.150165319442749, -1.6000558137893677, -1.7999718189239502, -0.41997063159942627, 0.00010270480561302975, 0.00010042780195362866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7731403708457947, -1.2601382732391357, 1.638108491897583, -0.6947392821311951, 0.11734018474817276, -0.01691860891878605, 0.04700931906700134, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667958700874, 0.025812691346006472, -4.6907448428569976e-05, -0.14779022336006165], [-0.0258127068624599, 0.9996667290350928, -0.00036745708727677496, -0.07005523145198822], [3.74067591611929e-05, 0.00036854545727368134, 0.9999999313874878, -0.00010500540520297363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302192449569702, -1.1501647233963013, -1.6000566482543945, -1.7999716997146606, -0.41996797919273376, 0.00010402307088952512, 9.958890586858615e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7436483502388, -1.258302927017212, 1.6237859725952148, -0.6332449913024902, 0.11553236097097397, -0.059784263372421265, 0.04964836686849594, 0.5262000014493753, 0.5262000014493753, 0.5262000014493753, 0.5262000014493753, -0.5262000014493753, -0.5262000014493753, -0.5262000014493753, 0.5262000014493753, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996673091221132, 0.02579282805156179, -3.3070468569362917e-05, -0.14778739213943481], [-0.02579283895932508, 0.9996672339547719, -0.0003883498856321339, -0.07005756348371506], [2.3042822016369934e-05, 0.0003890736664378747, 0.9999999240453523, -0.00010357228893553838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.730218529701233, -1.1501647233963013, -1.6000571250915527, -1.7999732494354248, -0.41996678709983826, 0.00010522149386815727, 9.503490582574159e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7271127700805664, -1.2569526433944702, 1.609723448753357, -0.599370539188385, 0.1183852106332779, -0.09102402627468109, 0.045547965914011, 0.268800005545983, 0.268800005545983, 0.268800005545983, 0.268800005545983, -0.268800005545983, -0.268800005545983, -0.268800005545983, 0.268800005545983, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665330221377, 0.025822861187765094, -5.0946802336711965e-05, -0.14780060946941376], [-0.02582287896718357, 0.999666459236864, -0.0003862624464516955, -0.07005507498979568], [4.0955407964612555e-05, 0.0003874492337915215, 0.99999992410287, -0.00010649381147231907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302212715148926, -1.1501612663269043, -1.6000581979751587, -1.7999727725982666, -0.41996654868125916, 0.00010618023225106299, 9.215869067702442e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7284026145935059, -1.259953498840332, 1.5977180004119873, -0.5936708450317383, 0.12636981904506683, -0.11529399454593658, 0.03094746358692646, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.730221152305603, -1.1501598358154297, -1.6000583171844482, -1.799971580505371, -0.41996774077415466, 0.00010713897063396871, 9.215869067702442e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7358906269073486, -1.2624597549438477, 1.5896464586257935, -0.5957381129264832, 0.13404080271720886, -0.13279803097248077, 0.013126800768077374, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, 0.1745999996478741, -0.1745999996478741, -0.1745999996478741, -0.1745999996478741, 0.1745999996478741, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302218675613403, -1.150159478187561, -1.600058674812317, -1.7999721765518188, -0.4199690520763397, 0.00010761833982542157, 9.263805986847728e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7589150667190552, -1.2633662223815918, 1.5863964557647705, -0.6297465562820435, 0.14743341505527496, -0.14068952202796936, 0.0013201822293922305, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, -0.17400001012361968, -0.17400001012361968, -0.17400001012361968, 0.17400001012361968, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.730221152305603, -1.1501598358154297, -1.6000584363937378, -1.7999718189239502, -0.41997015476226807, 0.00010869692050619051, 9.251821757061407e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.800648033618927, -1.2633516788482666, 1.5881725549697876, -0.6985628604888916, 0.1561763882637024, -0.14338693022727966, -0.007240149658173323, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, -0.17400001012361968, -0.17400001012361968, -0.17400001012361968, 0.17400001012361968, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.730221152305603, -1.1501569747924805, -1.6000593900680542, -1.7999706268310547, -0.4199725389480591, 0.00010905644739978015, 9.311742905993015e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8550223708152771, -1.262644648551941, 1.6027097702026367, -0.8086352348327637, 0.17132720351219177, -0.1265917718410492, -0.008905956521630287, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, -0.17400001012361968, -0.17400001012361968, -0.17400001012361968, 0.17400001012361968, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.7302216291427612, -1.1501542329788208, -1.6000598669052124, -1.7999725341796875, -0.4199773371219635, 0.00010881676280405372, 9.491506352787837e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9148279428482056, -1.2592616081237793, 1.6205214262008667, -0.9452707171440125, 0.18917638063430786, -0.09643418341875076, -0.0036730451975017786, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, 0.17400001012361968, -0.17400001012361968, -0.17400001012361968, -0.17400001012361968, 0.17400001012361968, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302212715148926, -1.150158166885376, -1.60005784034729, -1.799972653388977, -0.41998055577278137, 0.00010821755131473765, 9.599364420864731e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9720628261566162, -1.256486415863037, 1.643025517463684, -1.0885167121887207, 0.21742954850196838, -0.04347565025091171, -0.0014852050226181746, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302216291427612, -1.1501554250717163, -1.6000579595565796, -1.7999738454818726, -0.4199848771095276, 0.00010749849752755836, 9.815080557018518e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.022404432296753, -1.253719687461853, 1.6669330596923828, -1.2180120944976807, 0.2506253719329834, 0.01773257739841938, -0.0005989715573377907, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302203178405762, -1.150153636932373, -1.6000579595565796, -1.7999727725982666, -0.41998594999313354, 0.00010677944374037907, 0.00010102701344294474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0754390954971313, -1.2504875659942627, 1.6910041570663452, -1.351669192314148, 0.2833733558654785, 0.08547544479370117, 0.00788106583058834, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302207946777344, -1.1501561403274536, -1.6000568866729736, -1.7999743223190308, -0.4199848771095276, 0.0001054611784638837, 0.00010522149386815727, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1234238147735596, -1.249999761581421, 1.7109488248825073, -1.481582760810852, 0.3192363679409027, 0.15553630888462067, 0.007110001053661108, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.730218529701233, -1.1501604318618774, -1.6000558137893677, -1.7999732494354248, -0.4199814200401306, 0.00010462228237884119, 0.00010953581659123302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1791895627975464, -1.2501771450042725, 1.7338581085205078, -1.6309581995010376, 0.3805074095726013, 0.22676166892051697, 0.009796744212508202, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302190065383911, -1.150162696838379, -1.6000570058822632, -1.7999738454818726, -0.4199778139591217, 0.00010462228237884119, 0.00011624697799561545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2099121809005737, -1.2531877756118774, 1.7343040704727173, -1.7469050884246826, 0.4544063210487366, 0.27605122327804565, -0.0020421119406819344, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7302182912826538, -1.1501671075820923, -1.6000548601150513, -1.7999745607376099, -0.41997385025024414, 0.00010438259778311476, 0.00011924303544219583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2241390943527222, -1.26044499874115, 1.704913854598999, -1.8481627702713013, 0.5326060652732849, 0.31761130690574646, -0.02316131256520748, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662617095574, 0.025833384837683254, -3.778183059304336e-05, -0.14779673516750336], [-0.025833397522130923, 0.9996661874112557, -0.00038641830679034055, -0.07005313783884048], [2.7786725714724776e-05, 0.00038726537725406054, 0.9999999246267098, -0.0001043517841026187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7302179336547852, -1.1501672267913818, -1.600054144859314, -1.7999742031097412, -0.41997230052948, 0.00010426275548525155, 0.00012163988139946014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2267978191375732, -1.2746930122375488, 1.6487314701080322, -1.9297395944595337, 0.63381427526474, 0.3507561981678009, -0.06820114701986313, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996673082429459, 0.025792877461316997, -1.7394493229021515e-05, -0.1477310210466385], [-0.025792882428145182, 0.9996672241009342, -0.000410212603958127, -0.07005985081195831], [6.8081413339187055e-06, 0.00041052478372490377, 0.999999915711522, -0.00010271543578710407], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302181720733643, -1.1501659154891968, -1.6000546216964722, -1.7999736070632935, -0.41997265815734863, 0.00010426275548525155, 0.00012403672735672444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2374166250228882, -1.2877318859100342, 1.5784180164337158, -1.9850331544876099, 0.6415467262268066, 0.33299919962882996, -0.0857926681637764, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662593103754, 0.025833479138646517, -3.676947422138782e-05, -0.1477363556623459], [-0.025833492642874285, 0.9996661659863897, -0.0004327123091515475, -0.07005341351032257], [2.5578734908728092e-05, 0.0004335177793888628, 0.9999999057040272, -0.00010737161937868223], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7302193641662598, -1.1501675844192505, -1.6000548601150513, -1.7999736070632935, -0.4199697971343994, 0.00010510165157029405, 0.0001252351503353566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.246242880821228, -1.299129605293274, 1.5166034698486328, -2.042060375213623, 0.6658859848976135, 0.3396867513656616, -0.11106416583061218, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664245879457, 0.02582708817916069, -3.2676272401257967e-05, -0.14773166179656982], [-0.025827099980987374, 0.9996663297220971, -0.00043603500270585814, -0.07005452364683151], [2.1403854836280238e-05, 0.0004367334855044737, 0.9999999044028642, -0.00010671475320123136], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7302193641662598, -1.1501682996749878, -1.6000553369522095, -1.7999738454818726, -0.41996750235557556, 0.00010570086305961013, 0.0001253549853572622, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2460483312606812, -1.3120328187942505, 1.4405162334442139, -2.0897955894470215, 0.6661303043365479, 0.3465750217437744, -0.14243167638778687, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661335150835, 0.025838334367324613, -4.4498601201814575e-05, -0.14771266281604767], [-0.025838351792113436, 0.9996660328034215, -0.0004499285894035419, -0.07005384564399719], [3.285833479429212e-05, 0.0004509281438390437, 0.9999998977920642, -0.00010982758249156177], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.730219841003418, -1.150169014930725, -1.600054383277893, -1.799974799156189, -0.4199678599834442, 0.00010665960144251585, 0.0001245160965481773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2384045124053955, -1.3305329084396362, 1.357706069946289, -2.1202995777130127, 0.6531144976615906, 0.3575875759124756, -0.18930664658546448, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996670845982094, 0.025801518226674994, -4.034990765102609e-05, -0.1477007418870926], [-0.025801533658003428, 0.9996669857330637, -0.0004455291972300791, -0.07005742192268372], [2.8841140853260974e-05, 0.0004464219631987291, 0.9999998999378047, -0.00010968455171678215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302199602127075, -1.1501684188842773, -1.6000549793243408, -1.7999743223190308, -0.41996869444847107, 0.00010749849752755836, 0.00012487563071772456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2235562801361084, -1.3513644933700562, 1.268300175666809, -2.130559206008911, 0.6047188639640808, 0.35498329997062683, -0.24534489214420319, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669682960655, 0.025806042250796232, -2.609795602652807e-05, -0.1477213054895401], [-0.025806051074629247, 0.9996668764310473, -0.0004288292511714082, -0.07005737721920013], [1.5022876408167472e-05, 0.00042935992262135766, 0.9999999077121807, -0.00010461060446687043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7302201986312866, -1.1501649618148804, -1.6000562906265259, -1.7999740839004517, -0.4199718236923218, 0.0001085770782083273, 0.00012571451952680945, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1979416608810425, -1.3749322891235352, 1.1818031072616577, -2.1161959171295166, 0.5259004831314087, 0.3488183617591858, -0.29558131098747253, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996658863579678, 0.025847912507660085, -3.272819630021588e-05, -0.1476801186800003], [-0.025847924342061502, 0.999665791250953, -0.0004365888375583806, -0.07005015015602112], [2.1432348175641778e-05, 0.00043728892321361345, 0.9999999041595214, -0.00010647255112417042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302212715148926, -1.1501638889312744, -1.6000571250915527, -1.7999728918075562, -0.41997697949409485, 0.00010881676280405372, 0.0001253549853572622, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.170710802078247, -1.4031734466552734, 1.1056052446365356, -2.082150936126709, 0.435756117105484, 0.3433922529220581, -0.34675395488739014, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663675741713, 0.025829285380321552, -3.946902210542772e-05, -0.14768880605697632], [-0.025829300403639805, 0.9996662688755553, -0.00044509896035068493, -0.07005484402179718], [2.7959261994917475e-05, 0.00044596991813340833, 0.9999999001645509, -0.00010899664630414918], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302203178405762, -1.150164246559143, -1.6000572443008423, -1.7999733686447144, -0.4199801981449127, 0.00010953581659123302, 0.0001243962615262717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1546778678894043, -1.4327694177627563, 1.0488039255142212, -2.0451500415802, 0.3651916980743408, 0.34064140915870667, -0.37799155712127686, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666747516496, 0.025817400527287492, -3.4942712264891265e-05, -0.1477999985218048], [-0.025817413555973025, 0.9996665755077166, -0.0004460604830067751, -0.07005563378334045], [2.341493935961411e-05, 0.0004468139302388077, 0.9999998999045212, -0.00010837247100425884], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302201986312866, -1.150162696838379, -1.600058674812317, -1.7999730110168457, -0.4199809432029724, 0.00010989534348482266, 0.0001236772077390924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.158080816268921, -1.4601209163665771, 1.0062358379364014, -2.003037214279175, 0.30173978209495544, 0.3288891911506653, -0.37810349464416504, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666010428974, 0.025843107908724582, -3.696804777787713e-05, -0.1477755755186081], [-0.025843122111636307, 0.9996659063740838, -0.0004568071853578551, -0.07005314528942108], [2.5150379604068168e-05, 0.0004576099862949283, 0.9999998949802739, -0.00010970613948302343], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.730220079421997, -1.150161862373352, -1.6000584363937378, -1.7999731302261353, -0.4199811816215515, 0.00010977550118695945, 0.0001227184693561867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1702882051467896, -1.4860965013504028, 0.9797375798225403, -1.9667450189590454, 0.2461753934621811, 0.3198188245296478, -0.3764193654060364, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666321724634, 0.025831046847765327, -4.720475671498682e-05, -0.14775493741035461], [-0.02583106530987822, 0.9996662234184891, -0.0004447709210850851, -0.0700545534491539], [3.570010237358687e-05, 0.00044584185984484625, 0.9999998999752644, -0.00011031625035684556], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302204370498657, -1.1501609086990356, -1.6000592708587646, -1.7999725341796875, -0.4199804365634918, 0.00010953581659123302, 0.00012104066991014406, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.184569001197815, -1.5077831745147705, 0.9669787287712097, -1.9400050640106201, 0.1896815150976181, 0.32408806681632996, -0.3756697475910187, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665245537327, 0.025823212863537573, -3.693325967361057e-05, -0.1477368324995041], [-0.025823226744076926, 0.9996664260080923, -0.0004446040162635735, -0.07005474716424942], [2.54398355467891e-05, 0.0004454094876797873, 0.9999999004815966, -0.0001082966264220886], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302201986312866, -1.1501609086990356, -1.600059151649475, -1.7999718189239502, -0.4199794828891754, 0.00010881676280405372, 0.00011804461246356368, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2052831649780273, -1.5228828191757202, 0.9695237874984741, -1.9177790880203247, 0.15316079556941986, 0.3133007287979126, -0.35165107250213623, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730220079421997, -1.1501609086990356, -1.6000593900680542, -1.799972414970398, -0.4199787676334381, 0.000107858024421148, 0.00011624697799561545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2272372245788574, -1.5348659753799438, 0.9788517355918884, -1.899803876876831, 0.12263613194227219, 0.3019517660140991, -0.3254605233669281, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302201986312866, -1.1501606702804565, -1.6000596284866333, -1.7999722957611084, -0.41997697949409485, 0.00010761833982542157, 0.00011396998161217198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2435804605484009, -1.542636752128601, 0.9979948401451111, -1.8904999494552612, 0.10486748069524765, 0.29480665922164917, -0.3048448860645294, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302206754684448, -1.1501611471176147, -1.6000597476959229, -1.7999722957611084, -0.41997385025024414, 0.00010594054765533656, 0.0001118128202506341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2562395334243774, -1.5464363098144531, 1.0330654382705688, -1.901121973991394, 0.10247998684644699, 0.2925683557987213, -0.28217050433158875, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302204370498657, -1.1501613855361938, -1.6000603437423706, -1.7999720573425293, -0.4199713468551636, 0.0001054611784638837, 0.00010749849752755836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.263755440711975, -1.5465495586395264, 1.079521894454956, -1.925903081893921, 0.10750233381986618, 0.2928147614002228, -0.24741455912590027, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302210330963135, -1.1501611471176147, -1.6000604629516602, -1.7999718189239502, -0.4199705123901367, 0.00010438259778311476, 0.00010378338629379869, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2632386684417725, -1.5454195737838745, 1.1339969635009766, -1.9511076211929321, 0.1291489601135254, 0.30512961745262146, -0.20909859240055084, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730221152305603, -1.1501613855361938, -1.6000596284866333, -1.7999719381332397, -0.41996967792510986, 0.00010402307088952512, 0.00010162622493226081, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2632321119308472, -1.5373448133468628, 1.1984658241271973, -1.9693692922592163, 0.14658840000629425, 0.32131505012512207, -0.15153752267360687, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730222463607788, -1.1501611471176147, -1.6000596284866333, -1.7999716997146606, -0.41997063159942627, 0.00010342385940020904, 0.00010090717114508152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2752399444580078, -1.5202391147613525, 1.2709933519363403, -1.9850248098373413, 0.15337997674942017, 0.33005884289741516, -0.07603882998228073, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302234172821045, -1.1501613855361938, -1.6000596284866333, -1.7999709844589233, -0.41997087001800537, 0.00010342385940020904, 0.00010030795965576544, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2963306903839111, -1.5004040002822876, 1.3449478149414062, -1.983755350112915, 0.16144835948944092, 0.32716238498687744, -0.001910285442136228, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302247285842896, -1.1501606702804565, -1.6000597476959229, -1.7999712228775024, -0.419971227645874, 0.00010402307088952512, 0.00010030795965576544, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3083940744400024, -1.4809283018112183, 1.3991447687149048, -1.9557125568389893, 0.15893012285232544, 0.30749818682670593, 0.051486868411302567, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302261590957642, -1.1501604318618774, -1.6000596284866333, -1.799971342086792, -0.41997218132019043, 0.00010450244008097798, 9.875000978354365e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.310782551765442, -1.4639352560043335, 1.423872947692871, -1.9205485582351685, 0.130314901471138, 0.2852954864501953, 0.07972170412540436, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501600742340088, -1.6000595092773438, -1.799971580505371, -0.4199751913547516, 0.0001054611784638837, 9.910953667713329e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3111721277236938, -1.453240990638733, 1.430096983909607, -1.8998914957046509, 0.12128035724163055, 0.2819089889526367, 0.08378950506448746, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501606702804565, -1.6000592708587646, -1.799971342086792, -0.4199790060520172, 0.00010618023225106299, 0.00010054764425149187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3139088153839111, -1.4462193250656128, 1.429306983947754, -1.8988807201385498, 0.11655773222446442, 0.2878597676753998, 0.08086032420396805, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.150160551071167, -1.6000593900680542, -1.7999714612960815, -0.41998106241226196, 0.00010737865522969514, 0.00010126669803867117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3185863494873047, -1.4384757280349731, 1.4275460243225098, -1.9060240983963013, 0.1122564747929573, 0.2913280129432678, 0.07760408520698547, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226755142212, -1.1501604318618774, -1.6000592708587646, -1.799971103668213, -0.4199833273887634, 0.00010809770901687443, 0.0001023452787194401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3227959871292114, -1.4311696290969849, 1.4274431467056274, -1.9120858907699585, 0.10447379946708679, 0.3033466041088104, 0.07776898890733719, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501609086990356, -1.6000592708587646, -1.7999712228775024, -0.4199816584587097, 0.0001085770782083273, 0.00010426275548525155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3275339603424072, -1.4250270128250122, 1.4310745000839233, -1.912828803062439, 0.10814061015844345, 0.3233858048915863, 0.0788896381855011, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501609086990356, -1.600059151649475, -1.7999708652496338, -0.4199797213077545, 0.00010869692050619051, 0.00010677944374037907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3339712619781494, -1.419147253036499, 1.4342081546783447, -1.9115358591079712, 0.11625165492296219, 0.33119770884513855, 0.07938734441995621, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302266359329224, -1.1501612663269043, -1.6000598669052124, -1.7999712228775024, -0.41997745633125305, 0.00010869692050619051, 0.00010917628969764337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3361144065856934, -1.4159655570983887, 1.4334174394607544, -1.907950758934021, 0.1302700787782669, 0.33634230494499207, 0.07679275423288345, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501604318618774, -1.6000596284866333, -1.799971103668213, -0.4199754297733307, 0.00010845723591046408, 0.0001109739241655916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3322880268096924, -1.4144840240478516, 1.4273780584335327, -1.9030959606170654, 0.15234477818012238, 0.3460630774497986, 0.06580393761396408, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302266359329224, -1.1501606702804565, -1.6000603437423706, -1.799971103668213, -0.41997432708740234, 0.00010821755131473765, 0.00011468903539935127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3237309455871582, -1.413196086883545, 1.417371392250061, -1.8849000930786133, 0.16555355489253998, 0.35169339179992676, 0.05625239387154579, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501606702804565, -1.600060224533081, -1.7999705076217651, -0.4199742078781128, 0.00010797786671901122, 0.00011792477016570047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3186047077178955, -1.4125466346740723, 1.4091912508010864, -1.86821448802948, 0.1752396821975708, 0.36818236112594604, 0.04844970628619194, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302262783050537, -1.1501606702804565, -1.6000605821609497, -1.7999703884124756, -0.4199727773666382, 0.00010725881293183193, 0.00011888350854860619, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3140754699707031, -1.411302924156189, 1.4038113355636597, -1.8573403358459473, 0.17436783015727997, 0.38260069489479065, 0.04334874078631401, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302263975143433, -1.1501609086990356, -1.6000608205795288, -1.7999696731567383, -0.4199692904949188, 0.00010641991684678942, 0.00012068114301655442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3072525262832642, -1.4097737073898315, 1.4003536701202393, -1.844268560409546, 0.16724368929862976, 0.39098894596099854, 0.042506247758865356, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226755142212, -1.1501609086990356, -1.6000609397888184, -1.7999693155288696, -0.41996821761131287, 0.00010522149386815727, 0.00012080098531441763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3022083044052124, -1.407981038093567, 1.3987032175064087, -1.8309193849563599, 0.1593327820301056, 0.3917841911315918, 0.04650826007127762, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302266359329224, -1.1501609086990356, -1.6000608205795288, -1.79996919631958, -0.41997039318084717, 0.00010366354399593547, 0.00012152003910159692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2972402572631836, -1.4060088396072388, 1.3973263502120972, -1.8178422451019287, 0.15817762911319733, 0.3989142179489136, 0.052940431982278824, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302268743515015, -1.1501606702804565, -1.6000605821609497, -1.7999688386917114, -0.4199720621109009, 0.0001030643325066194, 0.00012116051220800728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2878414392471313, -1.4053627252578735, 1.392416000366211, -1.7982919216156006, 0.15555967390537262, 0.409771203994751, 0.05725415423512459, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302271127700806, -1.1501606702804565, -1.6000607013702393, -1.7999684810638428, -0.41997602581977844, 0.00010270480561302975, 0.00012128035450587049, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.277655005455017, -1.405139684677124, 1.3863765001296997, -1.7751038074493408, 0.1467936933040619, 0.4197453260421753, 0.062206875532865524, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501609086990356, -1.6000608205795288, -1.7999686002731323, -0.41997960209846497, 0.00010270480561302975, 0.0001214001968037337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.267493724822998, -1.4036188125610352, 1.3821851015090942, -1.7542921304702759, 0.1238139420747757, 0.43728435039520264, 0.08080363273620605, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.150160551071167, -1.6000607013702393, -1.7999681234359741, -0.41997936367988586, 0.00010366354399593547, 0.00012104066991014406, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.260111927986145, -1.4012848138809204, 1.3769488334655762, -1.7352961301803589, 0.09729177504777908, 0.4597789943218231, 0.10001758486032486, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226755142212, -1.1501609086990356, -1.6000605821609497, -1.7999687194824219, -0.4199801981449127, 0.00010402307088952512, 0.00012068114301655442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.255760669708252, -1.4006471633911133, 1.3741384744644165, -1.7179540395736694, 0.08160765469074249, 0.475405216217041, 0.11041665822267532, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302266359329224, -1.150160789489746, -1.6000603437423706, -1.7999687194824219, -0.41997936367988586, 0.00010462228237884119, 0.0001197224046336487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2471312284469604, -1.4000810384750366, 1.3717248439788818, -1.7017148733139038, 0.06476922333240509, 0.49123626947402954, 0.12276387959718704, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501604318618774, -1.6000601053237915, -1.7999687194824219, -0.41997960209846497, 0.0001054611784638837, 0.00011864382395287976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2330775260925293, -1.3995712995529175, 1.3692455291748047, -1.6815054416656494, 0.04641694203019142, 0.5106478333473206, 0.14119023084640503, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302265167236328, -1.1501604318618774, -1.6000597476959229, -1.7999690771102905, -0.419978529214859, 0.00010653975914465263, 0.00011648666259134188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.210394024848938, -1.4003665447235107, 1.3682374954223633, -1.656858205795288, 0.04345431923866272, 0.5272429585456848, 0.15154148638248444, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226993560791, -1.150160312652588, -1.6000596284866333, -1.7999686002731323, -0.41997745633125305, 0.00010821755131473765, 0.00011588745837798342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1917721033096313, -1.4008668661117554, 1.3682420253753662, -1.6414647102355957, 0.03424444422125816, 0.543628990650177, 0.16582104563713074, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302266359329224, -1.150160312652588, -1.6000595092773438, -1.7999687194824219, -0.41997432708740234, 0.00010953581659123302, 0.00011420966620789841, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1843044757843018, -1.400887131690979, 1.3706166744232178, -1.6338841915130615, 0.02578417956829071, 0.5501033663749695, 0.1798718273639679, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226755142212, -1.1501600742340088, -1.6000596284866333, -1.7999695539474487, -0.4199711084365845, 0.00011001518578268588, 0.00011001518578268588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.180309534072876, -1.4020577669143677, 1.3731791973114014, -1.6292246580123901, 0.022237088531255722, 0.5523360371589661, 0.18634307384490967, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730228066444397, -1.1501597166061401, -1.6000597476959229, -1.7999694347381592, -0.41997039318084717, 0.00011001518578268588, 0.0001054611784638837, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1851671934127808, -1.4041839838027954, 1.3812081813812256, -1.6319530010223389, 0.035310082137584686, 0.5498787760734558, 0.18002761900424957, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, 0.17160001272683614, -0.17160001272683614, -0.17160001272683614, -0.17160001272683614, 0.17160001272683614, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302289009094238, -1.1501598358154297, -1.6000593900680542, -1.79996919631958, -0.41997015476226807, 0.00011001518578268588, 0.00010270480561302975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2034406661987305, -1.4051547050476074, 1.390832543373108, -1.6464118957519531, 0.059046994894742966, 0.5442519783973694, 0.1583075374364853, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501599550247192, -1.6000595092773438, -1.7999688386917114, -0.4199705123901367, 0.0001094159742933698, 0.00010246512101730332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2118964195251465, -1.406630277633667, 1.3967483043670654, -1.6520987749099731, 0.08640985935926437, 0.5448845028877258, 0.13223502039909363, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302289009094238, -1.1501597166061401, -1.6000597476959229, -1.7999694347381592, -0.4199705123901367, 0.00010929613199550658, 0.00010210559412371367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2143861055374146, -1.408829927444458, 1.3983802795410156, -1.6526060104370117, 0.11138378083705902, 0.5502138733863831, 0.10822462290525436, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.1501597166061401, -1.6000596284866333, -1.7999687194824219, -0.4199718236923218, 0.00010869692050619051, 0.00010138654033653438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2151718139648438, -1.4100440740585327, 1.3987482786178589, -1.6524182558059692, 0.12870877981185913, 0.5538902878761292, 0.09657667577266693, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302286624908447, -1.1501597166061401, -1.600059986114502, -1.7999687194824219, -0.4199715852737427, 0.00010749849752755836, 0.00010042780195362866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.215239405632019, -1.4099397659301758, 1.3994929790496826, -1.6572933197021484, 0.13366881012916565, 0.571549117565155, 0.09413979947566986, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302286624908447, -1.1501597166061401, -1.6000603437423706, -1.7999687194824219, -0.4199730157852173, 0.00010594054765533656, 0.00010018811735790223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2130193710327148, -1.409556269645691, 1.3975378274917603, -1.6571640968322754, 0.12902851402759552, 0.5786948800086975, 0.09396926313638687, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501599550247192, -1.6000605821609497, -1.7999688386917114, -0.4199768602848053, 0.00010450244008097798, 0.00010054764425149187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2072392702102661, -1.4095672369003296, 1.3971205949783325, -1.6568894386291504, 0.1338549256324768, 0.5982889533042908, 0.09129007160663605, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302286624908447, -1.1501598358154297, -1.6000604629516602, -1.7999683618545532, -0.41997936367988586, 0.00010318417480448261, 0.00010138654033653438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.203160047531128, -1.4098867177963257, 1.3947962522506714, -1.65321946144104, 0.1384158730506897, 0.6045685410499573, 0.08499451726675034, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302289009094238, -1.1501598358154297, -1.6000607013702393, -1.7999683618545532, -0.4199826121330261, 0.00010318417480448261, 0.00010186590952798724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1997755765914917, -1.4099431037902832, 1.3940966129302979, -1.6524357795715332, 0.13856928050518036, 0.6147502064704895, 0.08460359275341034, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302285432815552, -1.1501595973968506, -1.6000609397888184, -1.7999686002731323, -0.4199821352958679, 0.0001030643325066194, 0.00010402307088952512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.197329044342041, -1.4099200963974, 1.3940831422805786, -1.6494953632354736, 0.13944220542907715, 0.6211212873458862, 0.08460862934589386, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, -0.19799998409145483, -0.19799998409145483, -0.19799998409145483, 0.19799998409145483, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501590013504028, -1.600061058998108, -1.7999662160873413, -0.4199809432029724, 0.00010270480561302975, 0.00010689928603824228, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1951117515563965, -1.4097002744674683, 1.3946998119354248, -1.6463062763214111, 0.14033791422843933, 0.6237792372703552, 0.08405615389347076, 0.2243999947558393, 0.2243999947558393, 0.2243999947558393, 0.2243999947558393, -0.2243999947558393, -0.2243999947558393, -0.2243999947558393, 0.2243999947558393, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730228066444397, -1.150155782699585, -1.6000620126724243, -1.79996657371521, -0.41997912526130676, 0.00010270480561302975, 0.0001118128202506341, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1939115524291992, -1.409713864326477, 1.396109938621521, -1.644840955734253, 0.14116062223911285, 0.6273875832557678, 0.08421099185943604, 0.2603999950073578, 0.2603999950073578, 0.2603999950073578, 0.2603999950073578, -0.2603999950073578, -0.2603999950073578, -0.2603999950073578, 0.2603999950073578, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302279472351074, -1.1501572132110596, -1.6000617742538452, -1.7999658584594727, -0.41997769474983215, 0.00010330401710234582, 0.00011265171633567661, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1934192180633545, -1.4097492694854736, 1.3987821340560913, -1.6441421508789062, 0.14907728135585785, 0.627280592918396, 0.08516373485326767, 0.27540000821207905, 0.27540000821207905, 0.27540000821207905, 0.27540000821207905, -0.27540000821207905, -0.27540000821207905, -0.27540000821207905, 0.27540000821207905, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302278280258179, -1.1501569747924805, -1.6000617742538452, -1.7999662160873413, -0.4199754297733307, 0.0001039032285916619, 0.00011396998161217198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1961790323257446, -1.4098687171936035, 1.4052735567092896, -1.6464580297470093, 0.17047835886478424, 0.6146030426025391, 0.0850449725985527, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, -0.32699999154269044, -0.32699999154269044, -0.32699999154269044, 0.32699999154269044, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730226993560791, -1.1501573324203491, -1.6000615358352661, -1.7999647855758667, -0.41997507214546204, 0.00010486196697456762, 0.00011864382395287976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2073837518692017, -1.4088172912597656, 1.4121531248092651, -1.6664307117462158, 0.1789761334657669, 0.5853140950202942, 0.08533379435539246, 0.4181999908698784, 0.4181999908698784, 0.4181999908698784, 0.4181999908698784, -0.4181999908698784, -0.4181999908698784, -0.4181999908698784, 0.4181999908698784, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302274703979492, -1.1501572132110596, -1.6000608205795288, -1.799965262413025, -0.41997361183166504, 0.00010582070535747334, 0.00012020177382510155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2130837440490723, -1.406237244606018, 1.419376015663147, -1.6890629529953003, 0.18153667449951172, 0.5592499375343323, 0.08890844881534576, 0.5070000026252244, 0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -0.5070000026252244, -0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302281856536865, -1.1501573324203491, -1.600061058998108, -1.7999658584594727, -0.4199691712856293, 0.0001063000745489262, 0.00012152003910159692, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2195683717727661, -1.4025936126708984, 1.427513599395752, -1.7144838571548462, 0.17953531444072723, 0.5225826501846313, 0.09767970442771912, 0.5417999992658804, 0.5417999992658804, 0.5417999992658804, 0.5417999992658804, -0.5417999992658804, -0.5417999992658804, -0.5417999992658804, 0.5417999992658804, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302279472351074, -1.15015709400177, -1.6000605821609497, -1.799965262413025, -0.4199669063091278, 0.0001070191283361055, 0.00012187956599518657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2351688146591187, -1.3993432521820068, 1.4443378448486328, -1.7511006593704224, 0.1827654242515564, 0.48548778891563416, 0.10333181917667389, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302281856536865, -1.1501569747924805, -1.6000603437423706, -1.799965739250183, -0.41996869444847107, 0.000107858024421148, 0.00012235893518663943, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2622933387756348, -1.3927630186080933, 1.4789403676986694, -1.8042051792144775, 0.18386557698249817, 0.47950538992881775, 0.11333145946264267, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302281856536865, -1.1501569747924805, -1.600059986114502, -1.7999658584594727, -0.41996967792510986, 0.00010797786671901122, 0.00012199940829304978, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3045531511306763, -1.3823580741882324, 1.5325815677642822, -1.8678778409957886, 0.18787848949432373, 0.4875194728374481, 0.12151417136192322, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730229139328003, -1.1501555442810059, -1.6000590324401855, -1.7999660968780518, -0.4199732542037964, 0.00010977550118695945, 0.00012295815395191312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3539797067642212, -1.3734296560287476, 1.5845348834991455, -1.9266674518585205, 0.19666868448257446, 0.49878594279289246, 0.0984610766172409, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730229139328003, -1.1501587629318237, -1.6000579595565796, -1.7999681234359741, -0.41997697949409485, 0.00011049455497413874, 0.00012247878476046026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4126883745193481, -1.3678858280181885, 1.6355602741241455, -1.9942971467971802, 0.20379941165447235, 0.5204576253890991, 0.056471824645996094, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302289009094238, -1.1501567363739014, -1.6000593900680542, -1.7999672889709473, -0.4199792444705963, 0.00011001518578268588, 0.00012331767356954515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.464576005935669, -1.362876057624817, 1.6857497692108154, -2.0469563007354736, 0.19809779524803162, 0.5588546991348267, 0.0052869608625769615, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.15015709400177, -1.6000595092773438, -1.7999675273895264, -0.41998007893562317, 0.00010989534348482266, 0.0001227184693561867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.488713264465332, -1.3565791845321655, 1.734930396080017, -2.057770252227783, 0.17723985016345978, 0.6083509922027588, -0.03153732791543007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.1501566171646118, -1.6000596284866333, -1.7999671697616577, -0.41998106241226196, 0.00010917628969764337, 0.0001227184693561867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4942017793655396, -1.350735068321228, 1.784539818763733, -2.0576419830322266, 0.16439096629619598, 0.6703240871429443, -0.05532745271921158, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302290201187134, -1.150156021118164, -1.6000607013702393, -1.799966812133789, -0.4199818968772888, 0.00010845723591046408, 0.00012163988139946014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4974642992019653, -1.3461992740631104, 1.8345179557800293, -2.042795181274414, 0.16013789176940918, 0.7384795546531677, -0.08642351627349854, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.150156855583191, -1.6000601053237915, -1.7999670505523682, -0.41998055577278137, 0.00010737865522969514, 0.00012020177382510155, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.52504301071167, -1.342964768409729, 1.8611623048782349, -2.007589817047119, 0.13651183247566223, 0.747590959072113, -0.12151356786489487, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730228066444397, -1.1501574516296387, -1.600059986114502, -1.7999669313430786, -0.41998007893562317, 0.00010653975914465263, 0.00011780492786783725, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5687755346298218, -1.3437074422836304, 1.8757586479187012, -1.9806861877441406, 0.1280893087387085, 0.7350191473960876, -0.14644254744052887, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302286624908447, -1.1501569747924805, -1.6000609397888184, -1.79996657371521, -0.41997769474983215, 0.00010570086305961013, 0.00011588745837798342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6054133176803589, -1.349805474281311, 1.8783167600631714, -1.963469386100769, 0.13568228483200073, 0.7163269519805908, -0.17720545828342438, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302290201187134, -1.1501573324203491, -1.6000611782073975, -1.7999666929244995, -0.41997361183166504, 0.0001047421246767044, 0.00011289140093140304, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6221951246261597, -1.359078288078308, 1.872994303703308, -1.9488972425460815, 0.163517564535141, 0.7118518352508545, -0.2134028524160385, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302284240722656, -1.1501573324203491, -1.6000607013702393, -1.7999670505523682, -0.41997087001800537, 0.00010414291318738833, 0.00010737865522969514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6326831579208374, -1.3672759532928467, 1.8653616905212402, -1.9290742874145508, 0.18582990765571594, 0.6946843862533569, -0.24672774970531464, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302289009094238, -1.1501569747924805, -1.600061058998108, -1.7999666929244995, -0.4199715852737427, 0.0001047421246767044, 0.00010570086305961013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6511285305023193, -1.373091220855713, 1.856704831123352, -1.9014641046524048, 0.2038690447807312, 0.6804358959197998, -0.273350328207016, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302286624908447, -1.1501567363739014, -1.6000607013702393, -1.79996657371521, -0.4199709892272949, 0.0001047421246767044, 0.00010450244008097798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.676721215248108, -1.378316044807434, 1.8492431640625, -1.8773645162582397, 0.20691758394241333, 0.6584275960922241, -0.27965667843818665, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302287817001343, -1.150156855583191, -1.6000608205795288, -1.7999670505523682, -0.4199711084365845, 0.00010534133616602048, 0.00010270480561302975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6918052434921265, -1.3813045024871826, 1.8435678482055664, -1.8511630296707153, 0.19248078763484955, 0.6280324459075928, -0.2807762622833252, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730229139328003, -1.1501563787460327, -1.6000607013702393, -1.7999666929244995, -0.41997218132019043, 0.00010641991684678942, 0.0001015063826343976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7008981704711914, -1.3824405670166016, 1.8388673067092896, -1.833078384399414, 0.1851174533367157, 0.6041565537452698, -0.2795903980731964, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302289009094238, -1.150156855583191, -1.6000598669052124, -1.7999670505523682, -0.4199730157852173, 0.00010773818212328479, 0.00010090717114508152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7063063383102417, -1.3844256401062012, 1.8339662551879883, -1.8221975564956665, 0.18079712986946106, 0.5929244160652161, -0.27821463346481323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302290201187134, -1.150156021118164, -1.6000601053237915, -1.7999670505523682, -0.4199734926223755, 0.00010833739361260086, 9.982859046431258e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7027064561843872, -1.3874616622924805, 1.8338062763214111, -1.823330283164978, 0.19072557985782623, 0.5910648703575134, -0.27638283371925354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7302284240722656, -1.1501566171646118, -1.6000584363937378, -1.799966812133789, -0.41997817158699036, 0.00010917628969764337, 9.898969437927008e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6693496704101562, -1.3888983726501465, 1.8266754150390625, -1.8116768598556519, 0.20241966843605042, 0.5728090405464172, -0.26941975951194763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668964621174, 0.0258088116865822, -3.683917531804852e-05, -0.14776872098445892], [-0.025808825475336316, 0.9996667988125778, -0.0004425826438474068, -0.07005688548088074], [2.540436835028149e-05, 0.0004433859938493747, 0.9999999013817344, -0.00010815206769621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302303314208984, -1.1501562595367432, -1.6000581979751587, -1.7999662160873413, -0.41998130083084106, 0.00010965565888909623, 9.982859046431258e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5899766683578491, -1.3877125978469849, 1.8027675151824951, -1.7460765838623047, 0.196161150932312, 0.5299069285392761, -0.26151615381240845, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666824551376, 0.025817102640277104, -3.46467970366927e-05, -0.14751100540161133], [-0.025817115608975174, 0.9996665818016246, -0.0004491889231791042, -0.07005574554204941], [2.3038488629454768e-05, 0.0004499336809946277, 0.9999998985144503, -0.00010870952246477827], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302371263504028, -1.1501493453979492, -1.6000570058822632, -1.799974799156189, -0.41998475790023804, 0.00011349061242071912, 9.946906357072294e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4926695823669434, -1.3872445821762085, 1.7607156038284302, -1.6487261056900024, 0.19600139558315277, 0.46098795533180237, -0.28401750326156616, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656541742237, 0.025856869634726918, -4.6444742619527095e-05, -0.14763589203357697], [-0.02585688853223723, 0.9996655455918447, -0.0004671958805487774, -0.07005000859498978], [3.434898599339117e-05, 0.0004682405920891176, 0.9999998897854415, -0.00011241175525356084], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302368879318237, -1.150144338607788, -1.6000566482543945, -1.7999669313430786, -0.419985830783844, 0.0001174454009742476, 0.00010186590952798724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3924564123153687, -1.3898342847824097, 1.7126630544662476, -1.5314395427703857, 0.22587735950946808, 0.41515669226646423, -0.3513607084751129, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996655673488627, 0.02586025567898817, -2.5165329649435682e-05, -0.14769859611988068], [-0.02586026471559673, 0.9996654547200684, -0.00047470849805541127, -0.0700496956706047], [1.2880827574482149e-05, 0.0004752005221202788, 0.9999998870092677, -0.00010902542999247089], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302358150482178, -1.1501469612121582, -1.6000562906265259, -1.7999666929244995, -0.4199848771095276, 0.00011804461246356368, 0.00010270480561302975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3137519359588623, -1.3953726291656494, 1.6771565675735474, -1.4248791933059692, 0.2555907964706421, 0.383758008480072, -0.4198617935180664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665114097303, 0.025877757229986097, -3.657283375442609e-05, -0.14776116609573364], [-0.02587777215629209, 0.9996649922041505, -0.0004942364846229037, -0.07004803419113159], [2.377084980672879e-05, 0.000495017395250612, 0.999999877196355, -0.00011084538709837943], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302345037460327, -1.150150179862976, -1.600055456161499, -1.7999674081802368, -0.4199828505516052, 0.00011720571637852117, 0.00010606038995319977, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2654306888580322, -1.3986237049102783, 1.6532264947891235, -1.3385335206985474, 0.2789852023124695, 0.36730581521987915, -0.4714198708534241, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996654974065247, 0.025862958475381403, -2.5958934762070782e-05, -0.14784888923168182], [-0.025862968018489307, 0.9996653801942752, -0.00048427916523260256, -0.07004953175783157], [1.3425356447460707e-05, 0.00048478854769541164, 0.999999882399905, -0.00010897319589275867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.730234146118164, -1.1501502990722656, -1.6000553369522095, -1.7999672889709473, -0.4199807047843933, 0.00011564777378225699, 0.00010737865522969514, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.244970679283142, -1.3992767333984375, 1.6360124349594116, -1.2758501768112183, 0.292281836271286, 0.3407137989997864, -0.506348729133606, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665238909604, 0.025823252289760904, -2.5552754335311864e-05, -0.14782239496707916], [-0.0258232614780376, 0.9996664125696906, -0.0004719604667667309, -0.07005549222230911], [1.3356676053545211e-05, 0.0004724629346833379, 0.999999888300181, -0.00010827879304997623], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302337884902954, -1.150149941444397, -1.6000555753707886, -1.7999674081802368, -0.41997769474983215, 0.00011313108552712947, 0.00010917628969764337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.236278772354126, -1.3993220329284668, 1.6270610094070435, -1.2379177808761597, 0.30587971210479736, 0.3235357105731964, -0.5211017727851868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666304658561, 0.025819110231404378, -3.8469467418878106e-05, -0.14776507019996643], [-0.025819125614934227, 0.9996665177727619, -0.0004753909553728704, -0.07005460560321808], [2.618246705541782e-05, 0.0004762257225231692, 0.9999998862617634, -0.00011010067828465253], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.730233073234558, -1.1501492261886597, -1.6000564098358154, -1.7999674081802368, -0.41997602581977844, 0.00011121360876131803, 0.00011361045471858233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2266920804977417, -1.3992599248886108, 1.6243209838867188, -1.225081443786621, 0.3236353099346161, 0.31564170122146606, -0.5335489511489868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664799521179, 0.025824949566921735, -2.8982888510445775e-05, -0.14773482084274292], [-0.025824960300816168, 0.9996663707757087, -0.0004675099833760817, -0.07005495578050613], [1.6899797229114588e-05, 0.000468102541369226, 0.9999998902971978, -0.00010951235162792727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302322387695312, -1.150152325630188, -1.600056767463684, -1.7999693155288696, -0.4199732542037964, 0.00010773818212328479, 0.0001228383043780923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2160043716430664, -1.3973692655563354, 1.6210449934005737, -1.2231876850128174, 0.335702121257782, 0.31478351354599, -0.5384765267372131, 0.3359999916055701, 0.3359999916055701, 0.3359999916055701, 0.3359999916055701, -0.3359999916055701, -0.3359999916055701, -0.3359999916055701, 0.3359999916055701, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668351707841, 0.025811198300488804, -2.649379323931329e-05, -0.14773625135421753], [-0.025811208302807816, 0.9996667110598233, -0.0004983219689820057, -0.07005835324525833], [1.3622675992158721e-05, 0.0004988397824443467, 0.9999998754866394, -0.00011126456956844777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.730231523513794, -1.1501539945602417, -1.600057601928711, -1.7999671697616577, -0.4199695587158203, 0.00010462228237884119, 0.00012751214671880007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147084474563599, -1.394888162612915, 1.6199393272399902, -1.2240984439849854, 0.3440851867198944, 0.31349438428878784, -0.5400736331939697, 0.21539999469295965, 0.21539999469295965, 0.21539999469295965, 0.21539999469295965, -0.21539999469295965, -0.21539999469295965, -0.21539999469295965, 0.21539999469295965, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666523796753, 0.02581826730350948, -3.4546460944322524e-05, -0.14779368042945862], [-0.025818281374274332, 0.9996665272202729, -0.0005007017457422563, -0.07005499303340912], [2.160768912905427e-05, 0.0005014267682559667, 0.999999874052144, -0.00011248630471527576], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302321195602417, -1.1501492261886597, -1.6000580787658691, -1.799966812133789, -0.41996535658836365, 0.00010030795965576544, 0.0001284708851017058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2240253686904907, -1.3927778005599976, 1.6244590282440186, -1.2401349544525146, 0.3609585165977478, 0.31688928604125977, -0.5470303893089294, 0.07500000943194382, 0.07500000943194382, 0.07500000943194382, 0.07500000943194382, -0.07500000943194382, -0.07500000943194382, -0.07500000943194382, 0.07500000943194382, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660889161088, 0.02584008929518665, -2.136322229517098e-05, -0.14776921272277832], [-0.025840096681824912, 0.999665967822687, -0.0004921184861117385, -0.07005312293767929], [8.639700666573912e-06, 0.0004925061900241805, 0.9999998786814969, -0.00010945723624899983], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302316427230835, -1.1501493453979492, -1.60005784034729, -1.7999662160873413, -0.4199652373790741, 9.683254029368982e-05, 0.00012859073467552662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.237560510635376, -1.391262412071228, 1.641274094581604, -1.2660964727401733, 0.3823341727256775, 0.3247964680194855, -0.5550107955932617, 0.037200001307896226, 0.037200001307896226, 0.037200001307896226, 0.037200001307896226, -0.037200001307896226, -0.037200001307896226, -0.037200001307896226, 0.037200001307896226, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659086422645, 0.025847066771129787, -1.541961520855848e-05, -0.14776018261909485], [-0.025847071258232095, 0.9996657820306081, -0.000503134678357799, -0.07005120813846588], [2.4099060696897303e-06, 0.0005033651373030528, 0.9999998733088574, -0.00010888012911891565], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7302321195602417, -1.1501483917236328, -1.6000579595565796, -1.7999670505523682, -0.41996654868125916, 9.539443271933123e-05, 0.00012811136548407376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2510124444961548, -1.3843019008636475, 1.6616548299789429, -1.2993429899215698, 0.38696548342704773, 0.3272659182548523, -0.5485520362854004, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661009254187, 0.02583961587406298, -3.020018680507501e-05, -0.14774641394615173], [-0.02583962783077529, 0.9996659737000151, -0.000504638452479734, -0.070052869617939], [1.7150435381059743e-05, 0.000505250315754916, 0.9999998722139823, -0.00011157786502735689], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302318811416626, -1.1501489877700806, -1.6000580787658691, -1.799966812133789, -0.4199691712856293, 9.599364420864731e-05, 0.0001277518313145265, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2587343454360962, -1.3731584548950195, 1.691745638847351, -1.3450589179992676, 0.38716572523117065, 0.3422839641571045, -0.5206241011619568, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669984429752, 0.025804864628760277, -3.443114616950152e-05, -0.14773374795913696], [-0.025804878331623947, 0.9996668803868717, -0.0004863248606247247, -0.07005958259105682], [2.1870129285388238e-05, 0.00048705140522663915, 0.999999881151306, -0.00011109669139841571], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501487493515015, -1.600058674812317, -1.7999660968780518, -0.4199742078781128, 9.67126979958266e-05, 0.0001276319962926209, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2658241987228394, -1.3580092191696167, 1.7209798097610474, -1.403104543685913, 0.38057607412338257, 0.36813682317733765, -0.4670847952365875, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665881701626, 0.02582074177079183, -4.2315865816283785e-05, -0.1477373093366623], [-0.025820759551796378, 0.999666466356792, -0.0004943863804195435, -0.07005447149276733], [2.953632898758309e-05, 0.0004953141739482695, 0.9999998768957296, -0.0001127124487538822], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302323579788208, -1.1501489877700806, -1.600058674812317, -1.799966812133789, -0.41997674107551575, 9.779127867659554e-05, 0.0001276319962926209, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.271710991859436, -1.3463481664657593, 1.750265121459961, -1.47800874710083, 0.38821014761924744, 0.4058970808982849, -0.4116493761539459, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664052606775, 0.025827821532307706, -4.275617135530374e-05, -0.14773836731910706], [-0.025827840215259322, 0.9996662717650796, -0.0005174602604399246, -0.07005361467599869], [2.9377031157001546e-05, 0.0005183919379812145, 0.9999998652033852, -0.00011466111754998565], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302323579788208, -1.1501487493515015, -1.6000585556030273, -1.7999664545059204, -0.4199780523777008, 9.922937897499651e-05, 0.0001270327775273472, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2787667512893677, -1.3337568044662476, 1.774231195449829, -1.5726679563522339, 0.4064537286758423, 0.4425590932369232, -0.33010080456733704, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302318811416626, -1.1501492261886597, -1.600058674812317, -1.7999664545059204, -0.41997936367988586, 0.0001007873288472183, 0.00012643357331398875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.272944450378418, -1.3218494653701782, 1.7886772155761719, -1.6608350276947021, 0.44605129957199097, 0.494971364736557, -0.24282687902450562, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.7302320003509521, -1.150149941444397, -1.6000584363937378, -1.7999656200408936, -0.4199836850166321, 0.00010330401710234582, 0.00012463594612199813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2494854927062988, -1.3105777502059937, 1.7900456190109253, -1.7243200540542603, 0.4805997908115387, 0.556286633014679, -0.15682101249694824, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501495838165283, -1.60005784034729, -1.7999656200408936, -0.419983446598053, 0.00010378338629379869, 0.00012259861978236586, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2305408716201782, -1.2892670631408691, 1.7746487855911255, -1.7649320363998413, 0.4530881941318512, 0.6017889380455017, -0.015068125911056995, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302314043045044, -1.150148868560791, -1.6000574827194214, -1.7999659776687622, -0.4199824929237366, 0.00010426275548525155, 0.00012092082761228085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2055238485336304, -1.2772738933563232, 1.7514599561691284, -1.7804665565490723, 0.45855432748794556, 0.632567286491394, 0.08025643974542618, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302321195602417, -1.150148868560791, -1.60005784034729, -1.7999658584594727, -0.41998007893562317, 0.00010486196697456762, 0.00011852398165501654, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1739637851715088, -1.2654861211776733, 1.724593997001648, -1.7828290462493896, 0.46568024158477783, 0.716212272644043, 0.16626769304275513, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231523513794, -1.150148630142212, -1.60005784034729, -1.7999658584594727, -0.4199759066104889, 0.00010486196697456762, 0.00011444935080362484, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1492527723312378, -1.255929946899414, 1.701181411743164, -1.7737493515014648, 0.4776912033557892, 0.7752043604850769, 0.23754628002643585, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302323579788208, -1.1501492261886597, -1.6000574827194214, -1.7999659776687622, -0.4199727773666382, 0.00010450244008097798, 0.00011037471267627552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.125006079673767, -1.2407959699630737, 1.6683599948883057, -1.7503454685211182, 0.4388541579246521, 0.8190464973449707, 0.31872886419296265, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302320003509521, -1.1501492261886597, -1.6000568866729736, -1.7999662160873413, -0.41997265815734863, 0.00010402307088952512, 0.00010713897063396871, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1171239614486694, -1.225022792816162, 1.6283560991287231, -1.717644453048706, 0.3628597855567932, 0.813125491142273, 0.4096675515174866, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302314043045044, -1.1501491069793701, -1.6000561714172363, -1.7999663352966309, -0.41997218132019043, 0.00010402307088952512, 0.00010402307088952512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1134819984436035, -1.223605751991272, 1.6010793447494507, -1.692225694656372, 0.32829177379608154, 0.8030285239219666, 0.4398369789123535, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501492261886597, -1.6000558137893677, -1.7999666929244995, -0.4199715852737427, 0.00010330401710234582, 0.00010138654033653438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1064045429229736, -1.2236270904541016, 1.588365912437439, -1.683105707168579, 0.3187251389026642, 0.8198734521865845, 0.4504145085811615, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501492261886597, -1.6000559329986572, -1.7999666929244995, -0.4199717044830322, 0.00010186590952798724, 0.00010054764425149187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1018329858779907, -1.2240204811096191, 1.5834192037582397, -1.6819736957550049, 0.3224307894706726, 0.8282268047332764, 0.455312579870224, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.730231523513794, -1.1501492261886597, -1.6000560522079468, -1.7999663352966309, -0.41997194290161133, 0.00010054764425149187, 9.946906357072294e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1005439758300781, -1.224802017211914, 1.5760473012924194, -1.6832553148269653, 0.32121798396110535, 0.8201730251312256, 0.46268168091773987, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501494646072388, -1.6000562906265259, -1.79996657371521, -0.41997289657592773, 0.00010006827506003901, 9.863016748568043e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.094178557395935, -1.2249239683151245, 1.5714688301086426, -1.6901620626449585, 0.3211628496646881, 0.8244123458862305, 0.4927213490009308, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501489877700806, -1.6000566482543945, -1.799966812133789, -0.41997602581977844, 9.970874816644937e-05, 9.875000978354365e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.089092493057251, -1.2250005006790161, 1.5700523853302002, -1.692492961883545, 0.32120490074157715, 0.8261264562606812, 0.4985021650791168, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730231761932373, -1.1501489877700806, -1.600056529045105, -1.7999663352966309, -0.4199782907962799, 9.922937897499651e-05, 9.922937897499651e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0889801979064941, -1.2249819040298462, 1.570163369178772, -1.6924233436584473, 0.3212125897407532, 0.8261163830757141, 0.4963291883468628, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302314043045044, -1.150148868560791, -1.6000568866729736, -1.7999669313430786, -0.4199811816215515, 9.922937897499651e-05, 9.910953667713329e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0891584157943726, -1.2249191999435425, 1.5710252523422241, -1.692297339439392, 0.3218770921230316, 0.8258612155914307, 0.4956984519958496, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302314043045044, -1.1501482725143433, -1.600059151649475, -1.7999664545059204, -0.419982373714447, 9.946906357072294e-05, 0.00010102701344294474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0855262279510498, -1.2249913215637207, 1.57035231590271, -1.692657709121704, 0.33214446902275085, 0.8176111578941345, 0.5079196095466614, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302287817001343, -1.1501497030258179, -1.6000579595565796, -1.79996657371521, -0.41998201608657837, 9.982859046431258e-05, 0.00010126669803867117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.054970145225525, -1.2245287895202637, 1.5357826948165894, -1.686215877532959, 0.3246817886829376, 0.8066416382789612, 0.5627508163452148, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302286624908447, -1.1501497030258179, -1.6000585556030273, -1.79996657371521, -0.41998130083084106, 0.00010054764425149187, 0.00010366354399593547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0102980136871338, -1.227907657623291, 1.493058204650879, -1.6670538187026978, 0.32193523645401, 0.8093761801719666, 0.6133822202682495, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302266359329224, -1.1501491069793701, -1.6000597476959229, -1.7999664545059204, -0.4199797213077545, 0.00010198575182585046, 0.00010677944374037907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9668511152267456, -1.2275714874267578, 1.4549541473388672, -1.639398455619812, 0.28913775086402893, 0.8241677284240723, 0.7044891715049744, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302255630493164, -1.1501504182815552, -1.6000595092773438, -1.79996657371521, -0.41997864842414856, 0.00010282464791089296, 0.00010869692050619051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287371039390564, -1.2240513563156128, 1.412954568862915, -1.6091173887252808, 0.24380803108215332, 0.8431562781333923, 0.8008655905723572, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302253246307373, -1.1501504182815552, -1.6000590324401855, -1.79996657371521, -0.4199770987033844, 0.00010426275548525155, 0.00011205250484636053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8960135579109192, -1.2221424579620361, 1.3763971328735352, -1.5659637451171875, 0.18705397844314575, 0.8712049722671509, 0.885726273059845, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302240133285522, -1.1501498222351074, -1.6000595092773438, -1.7999662160873413, -0.41997602581977844, 0.0001039032285916619, 0.00011528824688866735, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.883509635925293, -1.2222634553909302, 1.3457789421081543, -1.534041166305542, 0.13270312547683716, 0.8558911681175232, 0.9319491982460022, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302217483520508, -1.1501483917236328, -1.6000598669052124, -1.7999659776687622, -0.41997432708740234, 0.0001047421246767044, 0.00012163988139946014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8689367771148682, -1.225648283958435, 1.3259608745574951, -1.4910029172897339, 0.08211243152618408, 0.8395761847496033, 0.9649572968482971, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730220913887024, -1.1501495838165283, -1.600059151649475, -1.7999660968780518, -0.41997039318084717, 0.00010498180927243084, 0.00012331767356954515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8485024571418762, -1.233230471611023, 1.3141840696334839, -1.4447270631790161, 0.043121639639139175, 0.8174098134040833, 0.9796493649482727, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302210330963135, -1.1501504182815552, -1.6000585556030273, -1.7999660968780518, -0.4199691712856293, 0.00010510165157029405, 0.00012415657693054527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8235561847686768, -1.2440201044082642, 1.3079745769500732, -1.3991831541061401, 0.01619967631995678, 0.7985575795173645, 0.9845700860023499, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302206754684448, -1.1501505374908447, -1.600058674812317, -1.7999662160873413, -0.4199702739715576, 0.00010438259778311476, 0.0001243962615262717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8028239607810974, -1.2545572519302368, 1.3050225973129272, -1.360039472579956, 0.0026610970962792635, 0.798931360244751, 0.9943146109580994, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302206754684448, -1.1501504182815552, -1.60005784034729, -1.7999663352966309, -0.4199718236923218, 0.00010402307088952512, 0.00012415657693054527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7896751761436462, -1.2627509832382202, 1.300483226776123, -1.3354851007461548, -0.021636320278048515, 0.8036856055259705, 1.0068966150283813, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302206754684448, -1.1501504182815552, -1.6000579595565796, -1.7999663352966309, -0.4199737310409546, 0.00010366354399593547, 0.00012499546573963016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7819523215293884, -1.2700660228729248, 1.2960119247436523, -1.31964910030365, -0.050663430243730545, 0.8001736402511597, 1.0099977254867554, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302206754684448, -1.1501507759094238, -1.6000573635101318, -1.7999663352966309, -0.4199759066104889, 0.00010258496331516653, 0.00012427641195245087, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.771247923374176, -1.2782368659973145, 1.2896181344985962, -1.3056929111480713, -0.07640722393989563, 0.7994754314422607, 1.010750412940979, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, -0.03359998556283803, -0.03359998556283803, -0.03359998556283803, 0.03359998556283803, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302207946777344, -1.150149941444397, -1.6000574827194214, -1.7999669313430786, -0.41997578740119934, 0.00010138654033653438, 0.00012511530076153576, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7620742917060852, -1.28935706615448, 1.2833606004714966, -1.292192816734314, -0.0929953083395958, 0.8020479679107666, 1.0027683973312378, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, -0.03359998556283803, -0.03359998556283803, -0.03359998556283803, 0.03359998556283803, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302207946777344, -1.1501500606536865, -1.6000572443008423, -1.7999671697616577, -0.41997745633125305, 0.00010018811735790223, 0.00012415657693054527, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7597949504852295, -1.297869086265564, 1.2793461084365845, -1.2844271659851074, -0.11770690232515335, 0.8025116324424744, 1.0063422918319702, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, -0.03359998556283803, -0.03359998556283803, -0.03359998556283803, 0.03359998556283803, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302210330963135, -1.150149941444397, -1.6000572443008423, -1.7999671697616577, -0.41997960209846497, 9.970874816644937e-05, 0.00012355735816527158, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.753627598285675, -1.3034682273864746, 1.2777880430221558, -1.2668018341064453, -0.1185491532087326, 0.805716335773468, 1.0054980516433716, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, -0.03359998556283803, -0.03359998556283803, -0.03359998556283803, 0.03359998556283803, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302215099334717, -1.150149941444397, -1.6000574827194214, -1.7999664545059204, -0.41997960209846497, 9.970874816644937e-05, 0.00012319783854763955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.741432249546051, -1.3036400079727173, 1.267320156097412, -1.2559516429901123, -0.12887752056121826, 0.8057200312614441, 1.0060383081436157, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, 0.03359998556283803, -0.03359998556283803, -0.03359998556283803, -0.03359998556283803, 0.03359998556283803, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302212715148926, -1.1501495838165283, -1.600057601928711, -1.7999669313430786, -0.41997984051704407, 9.898969437927008e-05, 0.000122119250590913, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7420888543128967, -1.3037772178649902, 1.2662343978881836, -1.2605913877487183, -0.13702571392059326, 0.8036864399909973, 1.0086956024169922, 0.04800000924330496, 0.04800000924330496, 0.04800000924330496, 0.04800000924330496, -0.04800000924330496, -0.04800000924330496, -0.04800000924330496, 0.04800000924330496, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302210330963135, -1.1501492261886597, -1.6000574827194214, -1.79996657371521, -0.4199778139591217, 9.910953667713329e-05, 0.00012008193152723834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7505617737770081, -1.3034107685089111, 1.2661885023117065, -1.2729307413101196, -0.1358468234539032, 0.8047937750816345, 1.0071098804473877, 0.11639999400128377, 0.11639999400128377, 0.11639999400128377, 0.11639999400128377, -0.11639999400128377, -0.11639999400128377, -0.11639999400128377, 0.11639999400128377, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302210330963135, -1.1501492261886597, -1.600057601928711, -1.7999671697616577, -0.4199749231338501, 9.958890586858615e-05, 0.00011780492786783725, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7563517689704895, -1.3013825416564941, 1.266250729560852, -1.2853004932403564, -0.12898561358451843, 0.8101173043251038, 1.0024616718292236, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, -0.1764000075204032, -0.1764000075204032, -0.1764000075204032, 0.1764000075204032, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.7302207946777344, -1.1501493453979492, -1.6000573635101318, -1.7999674081802368, -0.41997194290161133, 9.99484327621758e-05, 0.00011588745837798342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7707338333129883, -1.3013063669204712, 1.284451961517334, -1.3144997358322144, -0.1062747910618782, 0.8226717114448547, 0.9909436702728271, 0.21119998942364707, 0.21119998942364707, 0.21119998942364707, 0.21119998942364707, -0.21119998942364707, -0.21119998942364707, -0.21119998942364707, 0.21119998942364707, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302201986312866, -1.1501491069793701, -1.6000581979751587, -1.7999672889709473, -0.4199720621109009, 0.00010090717114508152, 0.00011361045471858233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8021771907806396, -1.2970348596572876, 1.325692057609558, -1.3853514194488525, -0.12184061855077744, 0.7997660636901855, 0.9874840974807739, 0.23460001316699355, 0.23460001316699355, 0.23460001316699355, 0.23460001316699355, -0.23460001316699355, -0.23460001316699355, -0.23460001316699355, 0.23460001316699355, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302188873291016, -1.1501495838165283, -1.600058674812317, -1.7999670505523682, -0.4199718236923218, 0.00010210559412371367, 0.00011013502808054909, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8433713316917419, -1.2894237041473389, 1.386971354484558, -1.4610676765441895, -0.12356862425804138, 0.7976442575454712, 0.9954336881637573, 0.26460000027667036, 0.26460000027667036, 0.26460000027667036, 0.26460000027667036, -0.26460000027667036, -0.26460000027667036, -0.26460000027667036, 0.26460000027667036, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302182912826538, -1.1501468420028687, -1.6000590324401855, -1.799966812133789, -0.4199725389480591, 0.0001030643325066194, 0.0001063000745489262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9068689942359924, -1.2854863405227661, 1.4525920152664185, -1.5389776229858398, -0.06099371239542961, 0.7646890878677368, 0.9589294791221619, 0.39960000121986466, 0.39960000121986466, 0.39960000121986466, 0.39960000121986466, -0.39960000121986466, -0.39960000121986466, -0.39960000121986466, 0.39960000121986466, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302122116088867, -1.1501450538635254, -1.6000595092773438, -1.7999660968780518, -0.41997194290161133, 0.00010594054765533656, 9.982859046431258e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9892216324806213, -1.2873958349227905, 1.5145505666732788, -1.6205883026123047, 0.032859425991773605, 0.7255314588546753, 0.8775141835212708, 0.5742000009659882, 0.5742000009659882, 0.5742000009659882, 0.5742000009659882, -0.5742000009659882, -0.5742000009659882, -0.5742000009659882, 0.5742000009659882, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.730205774307251, -1.150134563446045, -1.6000614166259766, -1.7999598979949951, -0.41997194290161133, 0.00011073423956986517, 9.8390482889954e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0943266153335571, -1.2927058935165405, 1.5701764822006226, -1.727156400680542, 0.13507288694381714, 0.7174732685089111, 0.7788281440734863, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7301537990570068, -1.1501357555389404, -1.6000609397888184, -1.7999624013900757, -0.41997230052948, 0.00011648666259134188, 9.647301340010017e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2016578912734985, -1.2931240797042847, 1.6102988719940186, -1.8195668458938599, 0.1912594735622406, 0.6735140681266785, 0.6952596306800842, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7301666736602783, -1.1501582860946655, -1.6000629663467407, -1.7999582290649414, -0.4199744462966919, 0.00011636682029347867, 9.707222488941625e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.299325704574585, -1.293117642402649, 1.6504433155059814, -1.8960059881210327, 0.22637924551963806, 0.6189414858818054, 0.6139757037162781, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7301656007766724, -1.1501480340957642, -1.6000616550445557, -1.7999589443206787, -0.41997841000556946, 0.00011588745837798342, 9.623332880437374e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3776510953903198, -1.2931019067764282, 1.685258388519287, -1.9490011930465698, 0.26753127574920654, 0.5890986919403076, 0.5553244352340698, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.730172038078308, -1.1501517295837402, -1.6000609397888184, -1.7999587059020996, -0.419982373714447, 0.00011588745837798342, 9.659285569796339e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4245920181274414, -1.2946876287460327, 1.6960097551345825, -1.9728986024856567, 0.31708964705467224, 0.6106736660003662, 0.4935399889945984, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663188492847, 0.025831181415805385, -3.201537279870091e-05, -0.14773745834827423], [-0.025831194360405478, 0.9996661897900546, -0.00050831933814069, -0.07005370408296585], [1.8874196699711213e-05, 0.0005089767168762923, 0.9999998702932248, -0.0001122533722082153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7301976680755615, -1.1501586437225342, -1.6000585556030273, -1.7999598979949951, -0.41998571157455444, 0.00011444935080362484, 9.695238259155303e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4298160076141357, -1.296718716621399, 1.6950047016143799, -1.9720981121063232, 0.32251453399658203, 0.6196910738945007, 0.4857234060764313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996675107309044, 0.02578501658157318, -3.0149046837619143e-05, -0.14756843447685242], [-0.02578502859171455, 0.9996673813560619, -0.0005088744819456302, -0.0700588971376419], [1.701768174763645e-05, 0.0005094826806757877, 0.9999998700688899, -0.00011194089893251657], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302125692367554, -1.1501585245132446, -1.6000584363937378, -1.7999601364135742, -0.4199855923652649, 0.0001125318740378134, 9.815080557018518e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4236360788345337, -1.2970314025878906, 1.6938700675964355, -1.971638798713684, 0.319608598947525, 0.619086742401123, 0.49116650223731995, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664315448442, 0.025826818946367108, -3.264213210304736e-05, -0.1477048695087433], [-0.025826832152831967, 0.999666303996511, -0.0005053661094558472, -0.07005488127470016], [1.9579240543473107e-05, 0.000506040578130364, 0.9999998717697851, -0.0001119544540415518], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.73021399974823, -1.1501585245132446, -1.6000585556030273, -1.7999602556228638, -0.41998499631881714, 0.0001109739241655916, 9.982859046431258e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4209239482879639, -1.297046422958374, 1.6938139200210571, -1.9716633558273315, 0.3193933665752411, 0.6187869906425476, 0.4918059706687927, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667847959608, 0.025813147069280735, -2.85321890432782e-05, -0.1477353423833847], [-0.02581315819674176, 0.9996666572139732, -0.0005052905605348881, -0.0700567439198494], [1.5479538492084706e-05, 0.0005058586959471339, 0.9999998719336736, -0.00011122284922748804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302145957946777, -1.1501586437225342, -1.6000585556030273, -1.7999600172042847, -0.4199841618537903, 0.00010881676280405372, 0.00010294449020875618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4210233688354492, -1.2970480918884277, 1.6938025951385498, -1.9716898202896118, 0.31926071643829346, 0.6187762022018433, 0.4920036196708679, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665546435028, 0.02582205482327503, -3.1810256550412894e-05, -0.14769785106182098], [-0.02582206776738854, 0.9996664227544549, -0.000513841928709812, -0.07005567848682404], [1.8531190919010584e-05, 0.0005144919971050529, 0.9999998674772812, -0.00011308451212244108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7302155494689941, -1.1501587629318237, -1.6000583171844482, -1.799960732460022, -0.4199828505516052, 0.00010749849752755836, 0.00010486196697456762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.42137610912323, -1.2970528602600098, 1.6937872171401978, -1.971697449684143, 0.31915175914764404, 0.6187748908996582, 0.4921416640281677, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664782432412, 0.025825024188794236, -2.0059999203170104e-05, -0.1477227658033371], [-0.025825030811069596, 0.9996663651088566, -0.00047566128024260847, -0.07005542516708374], [7.76934241958142e-06, 0.00047602068695429164, 0.999999886671965, -0.00010864969954127446], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.730220079421997, -1.1561468839645386, -1.6047999858856201, -1.8095383644104004, -0.4096220135688782, 0.014944088645279408, -0.022035274654626846, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.421101689338684, -1.297379970550537, 1.6936159133911133, -1.9704537391662598, 0.3254633843898773, 0.6193705201148987, 0.48728036880493164, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996655647643555, 0.025860361409870736, -1.8223967557483452e-05, -0.14770813286304474], [-0.02586036726362525, 0.9996654422409985, -0.0004949687861587598, -0.07004988938570023], [5.417798891066754e-06, 0.0004952745296501609, 0.9999998773368863, -0.00010907798423431814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.73045814037323, -1.1793392896652222, -1.5944522619247437, -1.8319841623306274, -0.39538413286209106, 0.05223707854747772, -0.06232516095042229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4094321727752686, -1.297550082206726, 1.695454716682434, -1.930915117263794, 0.33708280324935913, 0.6103130578994751, 0.45855215191841125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665836677118, 0.025849833598709102, -3.291742419585027e-05, -0.14767815172672272], [-0.025849845924252584, 0.9996657330322083, -0.00045570480575528457, -0.07005170732736588], [2.112652758937065e-05, 0.000456403436266826, 0.9999998956247812, -0.00010894185834331438], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7346665859222412, -1.206536889076233, -1.5640828609466553, -1.822167992591858, -0.39819851517677307, 0.0496736541390419, -0.08361717313528061, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4083846807479858, -1.2961593866348267, 1.7221275568008423, -1.872118592262268, 0.32597845792770386, 0.58225417137146, 0.4172377288341522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669494743752, 0.02580677182902182, -2.561955782364855e-05, -0.14774340391159058], [-0.025806780865027107, 0.9996668445077697, -0.0004583156807040778, -0.07005690038204193], [1.3783374329658135e-05, 0.00045882419674033093, 0.999999894645182, -0.00010828652011696249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7354698181152344, -1.2249258756637573, -1.548764705657959, -1.8004052639007568, -0.36651188135147095, 0.05624256655573845, -0.0938616469502449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4087882041931152, -1.2954211235046387, 1.7490146160125732, -1.8049070835113525, 0.34917837381362915, 0.5779175758361816, 0.33778077363967896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666277278283, 0.0258327817533097, -3.8202942413857054e-05, -0.14779403805732727], [-0.025832796899949353, 0.9996661665580187, -0.00047121494222891514, -0.07005298137664795], [2.601739623259922e-05, 0.0004720445759482384, 0.9999998882485005, -0.00011107003956567496], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7343089580535889, -1.2384833097457886, -1.5358643531799316, -1.7934846878051758, -0.3475552201271057, 0.07183583825826645, -0.09019675105810165, 0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -1.4056949615478516, -1.2940901517868042, 1.7595783472061157, -1.7351971864700317, 0.3601685166358948, 0.5686065554618835, 0.30712127685546875, 0.42960000797942444, 0.42960000797942444, 0.42960000797942444, 0.42960000797942444, -0.42960000797942444, -0.42960000797942444, -0.42960000797942444, 0.42960000797942444, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996673209447495, 0.025792375819476722, -2.8013103293191005e-05, -0.14769673347473145], [-0.025792385725674785, 0.9996672223546392, -0.00044428407399717094, -0.07006067037582397], [1.6544639351494608e-05, 0.00044485879475668187, 0.9999999009134589, -0.00010850290709640831], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.727817177772522, -1.2531224489212036, -1.5183969736099243, -1.7870335578918457, -0.3447771668434143, 0.06958004832267761, -0.09071183204650879, 0.040199988228934176, -0.040199988228934176, 0.040199988228934176, 0.040199988228934176, -0.040199988228934176, -0.040199988228934176, 0.040199988228934176, 0.040199988228934176, -1.3996338844299316, -1.2916100025177002, 1.7378605604171753, -1.6722882986068726, 0.35905733704566956, 0.5484344363212585, 0.3263889253139496, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996670888105551, 0.02580137011935202, -2.9137500807707156e-05, -0.14772683382034302], [-0.025801380305723192, 0.9996669956343408, -0.0004319881135113219, -0.07005811482667923], [1.7981912688867526e-05, 0.0004325960875741247, 0.9999999062686336, -0.00010680103150662035], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.724831223487854, -1.2656986713409424, -1.5068943500518799, -1.7874990701675415, -0.34410807490348816, 0.06788859516382217, -0.09921488165855408, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3834506273269653, -1.2940306663513184, 1.6994489431381226, -1.6018462181091309, 0.40790024399757385, 0.5139402747154236, 0.35016515851020813, 0.006599985374199168, 0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -0.006599985374199168, -0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7302131652832031, -1.273626446723938, -1.5036983489990234, -1.7987743616104126, -0.3426400125026703, 0.0726194903254509, -0.1193331629037857, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3439463376998901, -1.2986128330230713, 1.655642032623291, -1.5231289863586426, 0.445148766040802, 0.4708278477191925, 0.38832172751426697, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7388663291931152, -1.2806711196899414, -1.5029668807983398, -1.8079429864883423, -0.35018792748451233, 0.07359368354082108, -0.1342235654592514, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2847144603729248, -1.3029597997665405, 1.6006470918655396, -1.4323327541351318, 0.4564673900604248, 0.4149376153945923, 0.42508453130722046, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.74473237991333, -1.2873409986495972, -1.4999334812164307, -1.815329670906067, -0.35813191533088684, 0.07304289191961288, -0.1442507654428482, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2241597175598145, -1.3121391534805298, 1.5503982305526733, -1.345356822013855, 0.4881691336631775, 0.37612777948379517, 0.43477797508239746, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.747489333152771, -1.2925652265548706, -1.4927277565002441, -1.8313570022583008, -0.3596521019935608, 0.06580286473035812, -0.15860462188720703, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1779289245605469, -1.3219211101531982, 1.5151628255844116, -1.2854896783828735, 0.5195538997650146, 0.35429611802101135, 0.4324195981025696, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7484405040740967, -1.2970818281173706, -1.4909420013427734, -1.8531609773635864, -0.36182916164398193, 0.060819581151008606, -0.17711041867733002, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1552942991256714, -1.3270896673202515, 1.5034985542297363, -1.2706081867218018, 0.5379053354263306, 0.3434387743473053, 0.4269365668296814, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7511733770370483, -1.2998462915420532, -1.4909955263137817, -1.8745074272155762, -0.36777931451797485, 0.050430215895175934, -0.1956050843000412, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1497511863708496, -1.3271362781524658, 1.509154200553894, -1.283652663230896, 0.5515598058700562, 0.3424673080444336, 0.4289502799510956, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7530971765518188, -1.3023699522018433, -1.4910118579864502, -1.8912365436553955, -0.37314262986183167, 0.03715481236577034, -0.20943990349769592, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1480025053024292, -1.324674129486084, 1.518222689628601, -1.2995303869247437, 0.5567330121994019, 0.34360894560813904, 0.44608303904533386, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7511318922042847, -1.3050602674484253, -1.4909108877182007, -1.9042328596115112, -0.3883782923221588, 0.025446584448218346, -0.21808652579784393, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1461893320083618, -1.3211723566055298, 1.5189363956451416, -1.324050784111023, 0.5569517612457275, 0.3464326560497284, 0.47001901268959045, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7401788234710693, -1.3073135614395142, -1.4849714040756226, -1.9205455780029297, -0.4069903790950775, 0.020408056676387787, -0.24197325110435486, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1428004503250122, -1.32027006149292, 1.5187305212020874, -1.3549152612686157, 0.560595691204071, 0.34612515568733215, 0.48306804895401, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7265928983688354, -1.3098582029342651, -1.4801054000854492, -1.931288719177246, -0.41739198565483093, 0.0048829722218215466, -0.27926623821258545, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1329388618469238, -1.3199961185455322, 1.5161488056182861, -1.3803284168243408, 0.5716930627822876, 0.3453449606895447, 0.4928722083568573, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.715919852256775, -1.3123043775558472, -1.4689550399780273, -1.9337624311447144, -0.4402103126049042, -0.009909635409712791, -0.29416561126708984, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.120604157447815, -1.31881844997406, 1.5070966482162476, -1.3965059518814087, 0.569280743598938, 0.3555406630039215, 0.5076724886894226, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6989905834197998, -1.3169702291488647, -1.4475520849227905, -1.9331889152526855, -0.4695715308189392, -0.012548801489174366, -0.28840360045433044, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1128926277160645, -1.3176840543746948, 1.4946870803833008, -1.4020389318466187, 0.5495989322662354, 0.3613387644290924, 0.5258671641349792, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6647902727127075, -1.3224387168884277, -1.4205076694488525, -1.9167431592941284, -0.4869244396686554, -0.012534300796687603, -0.2798529863357544, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1102434396743774, -1.3169476985931396, 1.4846271276474, -1.4020477533340454, 0.5316867232322693, 0.36260154843330383, 0.5381250381469727, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.618457317352295, -1.327454924583435, -1.3874129056930542, -1.886574387550354, -0.4884079694747925, -0.01083385944366455, -0.2739042639732361, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1064844131469727, -1.3168894052505493, 1.477832317352295, -1.4026572704315186, 0.523805558681488, 0.3760376572608948, 0.540503978729248, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5695589780807495, -1.3331429958343506, -1.3537951707839966, -1.8559491634368896, -0.4768126308917999, 0.0067812735214829445, -0.2599458694458008, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0989267826080322, -1.315274953842163, 1.469245195388794, -1.412285566329956, 0.4969061017036438, 0.3985413908958435, 0.5492075681686401, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5264537334442139, -1.3395439386367798, -1.324049949645996, -1.8374067544937134, -0.45921680331230164, 0.05446290969848633, -0.22352808713912964, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0863473415374756, -1.3113635778427124, 1.4598298072814941, -1.44319486618042, 0.4435684084892273, 0.45445799827575684, 0.5575774312019348, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5009442567825317, -1.3461573123931885, -1.3032033443450928, -1.8359596729278564, -0.4406338334083557, 0.10833284258842468, -0.17438772320747375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0717222690582275, -1.305579423904419, 1.4478051662445068, -1.468206763267517, 0.37467721104621887, 0.5220870971679688, 0.5741224884986877, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.490776538848877, -1.3481218814849854, -1.2935853004455566, -1.8403111696243286, -0.41899293661117554, 0.1288595348596573, -0.18375568091869354, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0655397176742554, -1.3042820692062378, 1.4436211585998535, -1.4817405939102173, 0.33556416630744934, 0.5600472688674927, 0.5782159566879272, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4882534742355347, -1.3493949174880981, -1.2867285013198853, -1.8630011081695557, -0.38870954513549805, 0.19648844003677368, -0.1695566475391388, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0608159303665161, -1.298751711845398, 1.4408082962036133, -1.4970067739486694, 0.29538416862487793, 0.5894101858139038, 0.6248968243598938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.483639121055603, -1.3500195741653442, -1.2840003967285156, -1.8835915327072144, -0.34127068519592285, 0.2745402455329895, -0.14981180429458618, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0618175268173218, -1.2944083213806152, 1.4388484954833984, -1.521937608718872, 0.25780633091926575, 0.6066623330116272, 0.6612005829811096, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.479763150215149, -1.3499631881713867, -1.2839922904968262, -1.9116847515106201, -0.2984354794025421, 0.33511704206466675, -0.14898116886615753, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.061773419380188, -1.2924247980117798, 1.4360101222991943, -1.535351037979126, 0.21363379061222076, 0.6174539923667908, 0.680935263633728, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4687364101409912, -1.3498730659484863, -1.2838939428329468, -1.9323912858963013, -0.2611948549747467, 0.3913484513759613, -0.1509343683719635, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.059771180152893, -1.285759687423706, 1.424543023109436, -1.537437915802002, 0.14803609251976013, 0.601061224937439, 0.7293752431869507, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.449906349182129, -1.347795009613037, -1.278900384902954, -1.9457968473434448, -0.18895204365253448, 0.43135684728622437, -0.17924529314041138, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0560109615325928, -1.2825292348861694, 1.4187257289886475, -1.5440880060195923, 0.09208223223686218, 0.586060106754303, 0.7754920125007629, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4299497604370117, -1.3463064432144165, -1.2730185985565186, -1.9577629566192627, -0.11589332669973373, 0.4937131404876709, -0.20539966225624084, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0461220741271973, -1.2820686101913452, 1.414763331413269, -1.5438010692596436, 0.04389546066522598, 0.5773543119430542, 0.7972697615623474, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4134873151779175, -1.3445364236831665, -1.2730659246444702, -1.9643256664276123, -0.05842046067118645, 0.545418381690979, -0.23916785418987274, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0354679822921753, -1.2821035385131836, 1.4131114482879639, -1.5384098291397095, 0.017217496410012245, 0.5739742517471313, 0.8113715648651123, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4016586542129517, -1.342471957206726, -1.2804348468780518, -1.9699220657348633, 0.00784858874976635, 0.5878245830535889, -0.2741374671459198, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0259729623794556, -1.2827006578445435, 1.4092247486114502, -1.5359349250793457, -0.010867414996027946, 0.5737279653549194, 0.8274996876716614, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.39584481716156, -1.3400286436080933, -1.288473129272461, -1.9694479703903198, 0.06124645844101906, 0.594804048538208, -0.30576804280281067, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.017564058303833, -1.2841496467590332, 1.4019668102264404, -1.5274795293807983, -0.03432929143309593, 0.574463963508606, 0.8474612236022949, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.39349365234375, -1.3413779735565186, -1.2901817560195923, -1.9681156873703003, 0.07236062735319138, 0.5955246686935425, -0.31490302085876465, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.014640212059021, -1.2859526872634888, 1.3978030681610107, -1.5266247987747192, -0.0599188469350338, 0.5756288170814514, 0.8607351779937744, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3932231664657593, -1.3454885482788086, -1.2902380228042603, -1.9675147533416748, 0.08395944535732269, 0.5956947207450867, -0.32352158427238464, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0092778205871582, -1.2882659435272217, 1.3944125175476074, -1.5187249183654785, -0.09042373299598694, 0.5721140503883362, 0.8692443370819092, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.397282361984253, -1.3492929935455322, -1.292592167854309, -1.967069387435913, 0.09098783135414124, 0.5927298069000244, -0.32673025131225586, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0033200979232788, -1.2913569211959839, 1.3941994905471802, -1.5065518617630005, -0.11006971448659897, 0.5681604743003845, 0.8752260208129883, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4041668176651, -1.351961612701416, -1.2965400218963623, -1.969871163368225, 0.09655222296714783, 0.589928150177002, -0.33091631531715393, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9988234639167786, -1.2954881191253662, 1.3942712545394897, -1.5012198686599731, -0.12059617787599564, 0.5653780102729797, 0.8783034682273865, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4111655950546265, -1.3535619974136353, -1.3013604879379272, -1.9723665714263916, 0.10038118809461594, 0.5808215737342834, -0.3355313241481781, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9995413422584534, -1.2984187602996826, 1.3995908498764038, -1.502872109413147, -0.12158535420894623, 0.5655312538146973, 0.8806579113006592, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4177496433258057, -1.3553650379180908, -1.3060144186019897, -1.9725626707077026, 0.10224545001983643, 0.565757155418396, -0.33561235666275024, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0044835805892944, -1.2997817993164062, 1.409480094909668, -1.5139288902282715, -0.11708731204271317, 0.5643048882484436, 0.8819161057472229, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4268821477890015, -1.3560606241226196, -1.3163490295410156, -1.977431058883667, 0.102528877556324, 0.5357410907745361, -0.333052396774292, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0147435665130615, -1.3006306886672974, 1.4244688749313354, -1.5395538806915283, -0.09472402930259705, 0.5557585954666138, 0.8860631585121155, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4325096607208252, -1.3564321994781494, -1.328675627708435, -2.0004353523254395, 0.09109868854284286, 0.5154443979263306, -0.3239562511444092, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0262172222137451, -1.304101586341858, 1.4448212385177612, -1.5701364278793335, -0.047281842678785324, 0.5418246388435364, 0.8684498071670532, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4328629970550537, -1.3608732223510742, -1.3442020416259766, -2.017251491546631, 0.0430806502699852, 0.4681895077228546, -0.30285418033599854, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0404425859451294, -1.3082655668258667, 1.4711166620254517, -1.6032402515411377, 0.013611562550067902, 0.5315222144126892, 0.8294550776481628, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4390264749526978, -1.36494779586792, -1.3786165714263916, -2.0443572998046875, -0.03933366388082504, 0.4236873984336853, -0.2966192662715912, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0700464248657227, -1.3099892139434814, 1.516318440437317, -1.6473687887191772, 0.09026913344860077, 0.5337948799133301, 0.7935174703598022, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.462175965309143, -1.364997148513794, -1.4366979598999023, -2.096522808074951, -0.12581698596477509, 0.40351352095603943, -0.3120613098144531, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1184571981430054, -1.3052375316619873, 1.5769208669662476, -1.6982511281967163, 0.1563137173652649, 0.5457618236541748, 0.7822213768959045, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.4917550086975098, -1.3608359098434448, -1.5071425437927246, -2.133601665496826, -0.19366052746772766, 0.39893555641174316, -0.3173585832118988, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1756724119186401, -1.2909903526306152, 1.6349520683288574, -1.7400639057159424, 0.18943153321743011, 0.5443055033683777, 0.7892670035362244, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5321768522262573, -1.3527071475982666, -1.5810075998306274, -2.16483473777771, -0.24443767964839935, 0.4066852629184723, -0.324921578168869, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.229621410369873, -1.278318166732788, 1.687150478363037, -1.7748085260391235, 0.22127960622310638, 0.5403869152069092, 0.7936083078384399, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5752588510513306, -1.3429358005523682, -1.6378896236419678, -2.1743040084838867, -0.24914340674877167, 0.40682607889175415, -0.348053514957428, 0.21299999729617616, -0.21299999729617616, 0.21299999729617616, 0.21299999729617616, -0.21299999729617616, -0.21299999729617616, 0.21299999729617616, 0.21299999729617616, -1.266598105430603, -1.2713865041732788, 1.7151843309402466, -1.8011047840118408, 0.271191269159317, 0.5580028891563416, 0.7834432721138, 0.2142000156444508, 0.2142000156444508, 0.2142000156444508, 0.2142000156444508, -0.2142000156444508, -0.2142000156444508, -0.2142000156444508, 0.2142000156444508, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672026169325, 0.025796961930210534, -2.769851816880108e-05, -0.14773525297641754], [-0.02579697139446185, 0.9996671120015304, -0.0004259687701083822, -0.07005872577428818], [1.670059751858275e-05, 0.00042654154669729123, 0.9999999088916953, -0.00010585856216493994], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.593225121498108, -1.3403853178024292, -1.6475589275360107, -2.172755718231201, -0.24438902735710144, 0.40568146109580994, -0.34293410181999207, 0.5268000007985713, -0.5268000007985713, 0.5268000007985713, 0.5268000007985713, -0.5268000007985713, -0.5268000007985713, 0.5268000007985713, 0.5268000007985713, -1.2778116464614868, -1.2702488899230957, 1.7175897359848022, -1.8116265535354614, 0.30274322628974915, 0.584202229976654, 0.7769836783409119, 0.524399998489317, 0.524399998489317, 0.524399998489317, 0.524399998489317, -0.524399998489317, -0.524399998489317, -0.524399998489317, 0.524399998489317, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665026798496, 0.025824073967683246, -2.497098093112886e-05, -0.14757263660430908], [-0.02582408239685581, 0.9996664079507631, -0.0004354115052085472, -0.07005328685045242], [1.3718551893542766e-05, 0.0004359111493074934, 0.9999999048966312, -0.00010665810987120494], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5890066623687744, -1.3408918380737305, -1.640993595123291, -2.172590970993042, -0.2442416250705719, 0.4056909382343292, -0.3420785665512085, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.2761287689208984, -1.2704144716262817, 1.7158764600753784, -1.8108679056167603, 0.29816824197769165, 0.5835521817207336, 0.7770066857337952, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661570917963, 0.025837435718152293, -3.5788689753275665e-05, -0.1475561559200287], [-0.02583744849357048, 0.9996660689787431, -0.0004204615664304636, -0.0700555369257927], [2.4913090104956188e-05, 0.0004212458867464912, 0.9999999109656165, -0.00010655166988726705], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.584616780281067, -1.3415462970733643, -1.6407850980758667, -2.1726579666137695, -0.24423851072788239, 0.40569236874580383, -0.3420875370502472, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2742605209350586, -1.2706602811813354, 1.7155393362045288, -1.8107436895370483, 0.2969243824481964, 0.5828543305397034, 0.7771865725517273, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667171507623, 0.025815770706502584, -2.4573299161284338e-05, -0.14775437116622925], [-0.025815778670337197, 0.9996666315669452, -0.0004138879576941406, -0.07005582004785538], [1.388027058503338e-05, 0.0004143843947886829, 0.999999914046452, -0.00010468737309565768], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.58437979221344, -1.3415613174438477, -1.6408164501190186, -2.1728920936584473, -0.24423623085021973, 0.4056883156299591, -0.3420977294445038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2740108966827393, -1.2706788778305054, 1.7155166864395142, -1.810733675956726, 0.29678165912628174, 0.582800030708313, 0.7775540351867676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667240202688, 0.025815489242496454, -3.744000997360089e-05, -0.14774954319000244], [-0.025815501833404694, 0.9996666491824187, -0.00038778535902514466, -0.07005616277456284], [2.741666055135469e-05, 0.0003886226521258063, 0.9999999241103776, -0.00010485291568329558], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.584366798400879, -1.3423492908477783, -1.6404168605804443, -2.169837474822998, -0.25086709856987, 0.39850831031799316, -0.33782920241355896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2716104984283447, -1.2706894874572754, 1.7153631448745728, -1.8043124675750732, 0.2991499900817871, 0.5809944868087769, 0.773032009601593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666160351709, 0.02581968196967454, -2.8421384308883044e-05, -0.14769843220710754], [-0.025819690758615822, 0.9996665470802103, -0.0003717766253042548, -0.07005628198385239], [1.881275288618607e-05, 0.0003723865122926672, 0.9999999304871805, -0.0001019607880152762], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.5708508491516113, -1.3432377576828003, -1.610116958618164, -2.147796630859375, -0.3031776547431946, 0.36475104093551636, -0.33185362815856934, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2373974323272705, -1.2694591283798218, 1.7122533321380615, -1.7345612049102783, 0.3130670189857483, 0.567922830581665, 0.7129627466201782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996645190555612, 0.025900723916760283, -4.2918541310579495e-05, -0.14749963581562042], [-0.025900737837018153, 0.9996644533985318, -0.0003638556205758782, -0.07004208862781525], [3.3480016165805454e-05, 0.0003648451758354806, 0.9999999328835408, -0.00010415531869512051], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.5332225561141968, -1.340970754623413, -1.5523300170898438, -2.131340980529785, -0.3143351972103119, 0.3642311692237854, -0.38242873549461365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1887474060058594, -1.2620664834976196, 1.7106683254241943, -1.641165018081665, 0.3181610405445099, 0.5485664010047913, 0.6758579015731812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996670431247929, 0.02580312284497713, -4.173224589047672e-05, -0.14748288691043854], [-0.025803136099741796, 0.9996669800931202, -0.0003564813030908302, -0.07005750387907028], [3.252001736624617e-05, 0.00035743943301054314, 0.999999935589748, -0.0001040872884914279], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.498067021369934, -1.339776635169983, -1.498234748840332, -2.1074349880218506, -0.32178109884262085, 0.3731016516685486, -0.40317317843437195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1347335577011108, -1.2558691501617432, 1.69163179397583, -1.5231832265853882, 0.3304102420806885, 0.5211772918701172, 0.6386605501174927, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667360352298, 0.025815014537017157, -4.346405186287517e-05, -0.14770632982254028], [-0.025815027510649013, 0.9996666820206805, -0.0003304729763824503, -0.07005541771650314], [3.491839982353092e-05, 0.00033148486734265603, 0.9999999444492425, -0.00010203752026427537], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.4730838537216187, -1.3389190435409546, -1.4324450492858887, -2.0799126625061035, -0.33130258321762085, 0.37840789556503296, -0.4385039806365967, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0762662887573242, -1.255453109741211, 1.6468490362167358, -1.383793592453003, 0.33905985951423645, 0.4705403447151184, 0.6143824458122253, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659711957897, 0.025844623879990803, -3.807466728157812e-05, -0.1477240025997162], [-0.025844634875407238, 0.9996659191185716, -0.00032403854436712876, -0.07005026191473007], [2.9687292961384446e-05, 0.00032491433203353076, 0.9999999467746693, -0.00010036114690592512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.461997389793396, -1.339548945426941, -1.3561618328094482, -2.0602426528930664, -0.33278730511665344, 0.39728137850761414, -0.4563404619693756, 0.4356000014713833, -0.4356000014713833, 0.4356000014713833, 0.4356000014713833, -0.4356000014713833, -0.4356000014713833, 0.4356000014713833, 0.4356000014713833, -1.0069620609283447, -1.258407473564148, 1.5880756378173828, -1.2382416725158691, 0.3304014801979065, 0.400920033454895, 0.6136298179626465, 0.42780000010689534, 0.42780000010689534, 0.42780000010689534, 0.42780000010689534, -0.42780000010689534, -0.42780000010689534, -0.42780000010689534, 0.42780000010689534, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666872388568, 0.0258169132277463, -3.7633504956088496e-05, -0.14770276844501495], [-0.025816923523323647, 0.9996666411152593, -0.0003051247717722409, -0.07005606591701508], [2.974357973636761e-05, 0.0003059946511114342, 0.9999999527412954, -9.884384780889377e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.4640313386917114, -1.3410239219665527, -1.3007826805114746, -2.0431904792785645, -0.32312262058258057, 0.414540559053421, -0.4720594584941864, 0.0899999833368993, -0.0899999833368993, 0.0899999833368993, 0.0899999833368993, -0.0899999833368993, -0.0899999833368993, 0.0899999833368993, 0.0899999833368993, -0.9208321571350098, -1.2683336734771729, 1.5268129110336304, -1.0891757011413574, 0.32634398341178894, 0.33139270544052124, 0.6234735250473022, 0.0899999833368993, 0.0899999833368993, 0.0899999833368993, 0.0899999833368993, -0.0899999833368993, -0.0899999833368993, -0.0899999833368993, 0.0899999833368993, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996673726599171, 0.025790380042664398, -1.834321219732004e-05, -0.14768272638320923], [-0.025790384304338426, 0.9996673300073164, -0.00029222162405492867, -0.070064976811409], [1.080060321999135e-05, 0.0002925975016453495, 0.9999999571350235, -9.375788795296103e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.480522871017456, -1.34202241897583, -1.2650138139724731, -2.038200616836548, -0.31283488869667053, 0.4302457869052887, -0.47583627700805664, 0.012599998516040855, -0.012599998516040855, 0.012599998516040855, 0.012599998516040855, -0.012599998516040855, -0.012599998516040855, 0.012599998516040855, 0.012599998516040855, -0.8109758496284485, -1.286070466041565, 1.4597766399383545, -0.9120867848396301, 0.3319168984889984, 0.2656000256538391, 0.647380530834198, 0.006599985374199168, 0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -0.006599985374199168, -0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663911170806, 0.025828381014813242, -3.4714631764100574e-05, -0.14767742156982422], [-0.025828389771865315, 0.9996663519009964, -0.0002813516409166876, -0.07005060464143753], [2.7436191912465746e-05, 0.0002821544025500438, 0.9999999598180734, -9.567314555170015e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.503545880317688, -1.3419928550720215, -1.246498703956604, -2.0304694175720215, -0.3017105460166931, 0.44927313923835754, -0.47618958353996277, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6816129088401794, -1.315601110458374, 1.3790143728256226, -0.71114581823349, 0.3305744230747223, 0.18619351089000702, 0.6871181726455688, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996676931672579, 0.025777911430806925, -5.019879171762744e-05, -0.14769025146961212], [-0.025777923357425202, 0.999667661971036, -0.0002535285809163398, -0.0700611025094986], [4.3646671446092054e-05, 0.0002547383522421383, 0.9999999666016695, -9.77494491962716e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5226763486862183, -1.3408212661743164, -1.238349199295044, -2.022045373916626, -0.2846614122390747, 0.4671694040298462, -0.4636628329753876, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5285832285881042, -1.363813042640686, 1.2851626873016357, -0.4677010476589203, 0.29949751496315, 0.061656441539525986, 0.7497755289077759, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996651159653108, 0.025877670206908197, -4.5899065692848895e-05, -0.14766252040863037], [-0.025877682494479498, 0.9996650743171775, -0.00029109989161379285, -0.07004324346780777], [3.835070592448235e-05, 0.0002921901683563844, 0.9999999565770635, -9.737857180880383e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5377038717269897, -1.3390867710113525, -1.2355594635009766, -2.020761489868164, -0.26400575041770935, 0.4805333912372589, -0.4369792342185974, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3979036211967468, -1.4190236330032349, 1.2406551837921143, -0.2547451853752136, 0.2820638418197632, -0.0363507904112339, 0.7964719533920288, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996655230389229, 0.025861948037266862, -4.1122189088141124e-05, -0.1478012055158615], [-0.025861959015655578, 0.9996654804704844, -0.0002936521550823448, -0.07004591822624207], [3.3514016137023675e-05, 0.00029461743557073064, 0.9999999560386877, -9.64139835559763e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5103252530097961, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5521938800811768, -1.3389861583709717, -1.2352851629257202, -2.021242141723633, -0.259832501411438, 0.48310399055480957, -0.3957076072692871, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3502386212348938, -1.439361333847046, 1.2347533702850342, -0.1858215183019638, 0.2521419823169708, -0.06449826061725616, 0.8424322605133057, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996658761116118, 0.025848285067480638, -4.792779655571599e-05, -0.14798779785633087], [-0.02584829789215821, 0.9996658349545847, -0.0002896905785081132, -0.07004939019680023], [4.04237761067622e-05, 0.0002908326379282796, 0.9999999568911466, -0.00010008884419221431], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.5625635385513306, -1.3385928869247437, -1.2352977991104126, -2.0244195461273193, -0.2600356340408325, 0.4841049313545227, -0.38120800256729126, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3608405590057373, -1.431838035583496, 1.2373323440551758, -0.20321159064769745, 0.22025051712989807, -0.06993717700242996, 0.8638386130332947, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996649813311436, 0.025882863566654948, -4.973725305485409e-05, -0.14791133999824524], [-0.02588287812211117, 0.9996649314516103, -0.00031850582921559177, -0.07004561275243759], [4.147674474290065e-05, 0.0003196864670756123, 0.9999999480401198, -0.00010154545452678576], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.570647120475769, -1.3374112844467163, -1.2338794469833374, -2.02647066116333, -0.2558135986328125, 0.4885038435459137, -0.37485241889953613, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3775431215763092, -1.4173821210861206, 1.2502307891845703, -0.20239953696727753, 0.20621687173843384, -0.0600118450820446, 0.8942240476608276, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663225203373, 0.0258310070144312, -5.1916138081377e-05, -0.14781968295574188], [-0.02583102096774498, 0.9996662817434532, -0.0002889653662491076, -0.07005294412374496], [4.443454631578146e-05, 0.00029020999186533226, 0.9999999569018649, -9.99599214992486e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5777684450149536, -1.3351354598999023, -1.233043909072876, -2.0276591777801514, -0.24510999023914337, 0.49958255887031555, -0.3661765456199646, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3903966546058655, -1.4035907983779907, 1.2619398832321167, -0.20069921016693115, 0.1941910684108734, -0.06785192340612411, 0.9460191130638123, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662587401481, 0.025833492253078138, -4.259677542429208e-05, -0.14784158766269684], [-0.025833503256461655, 0.9996662195972102, -0.0002819675878592114, -0.07005292177200317], [3.5298349958853346e-05, 0.00028297390757784014, 0.9999999593398963, -9.833765943767503e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5838282108306885, -1.332219123840332, -1.2407453060150146, -2.0303900241851807, -0.23557054996490479, 0.5101847648620605, -0.3629656136035919, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.39469510316848755, -1.3914225101470947, 1.2768834829330444, -0.20062156021595, 0.19330985844135284, -0.08900048583745956, 1.0266530513763428, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665422247818, 0.025822522570538, -4.104196233263056e-05, -0.14784198999404907], [-0.025822533293599972, 0.999666501680082, -0.00028669322914525597, -0.07005536556243896], [3.3625132526722687e-05, 0.0002876574364976641, 0.999999958061274, -9.807413152884692e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.590484619140625, -1.3288167715072632, -1.2580368518829346, -2.0349555015563965, -0.2316761612892151, 0.5186079740524292, -0.36218148469924927, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3978792130947113, -1.3877023458480835, 1.289618730545044, -0.20088233053684235, 0.19412849843502045, -0.0972723588347435, 1.0588345527648926, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661082611972, 0.025839299679196057, -5.0852739585378244e-05, -0.14781750738620758], [-0.025839313201246248, 0.9996660682513719, -0.00028614704481143136, -0.07005077600479126], [4.344191899792705e-05, 0.00028736550254237407, 0.999999957766933, -9.9697892437689e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.6016690731048584, -1.3251559734344482, -1.2738969326019287, -2.0437612533569336, -0.22915072739124298, 0.5256825089454651, -0.358303040266037, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4037443995475769, -1.3861004114151, 1.3005223274230957, -0.2018405944108963, 0.19381463527679443, -0.09730567783117294, 1.0623835325241089, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656395973732, 0.02585742021394876, -5.31813323874021e-05, -0.1478584259748459], [-0.025857434474040937, 0.9996655992530795, -0.00028766717251306744, -0.0700497180223465], [4.5725217548700646e-05, 0.0002889461208188929, 0.9999999572096709, -0.00010027462849393487], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.615895390510559, -1.3223822116851807, -1.2919234037399292, -2.0574560165405273, -0.22791370749473572, 0.5342786908149719, -0.3546923100948334, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.40914103388786316, -1.3772886991500854, 1.312235713005066, -0.20209801197052002, 0.19256600737571716, -0.10189155489206314, 1.0897198915481567, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996657910510715, 0.025851557306042612, -5.6454299428974107e-05, -0.14788870513439178], [-0.025851572050821343, 0.9996657535327146, -0.00027827391365409373, -0.0700499415397644], [4.9241615753221345e-05, 0.000279640344411164, 0.9999999596882697, -9.946632053470239e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.63100004196167, -1.3182806968688965, -1.315895438194275, -2.0715932846069336, -0.22264760732650757, 0.5443269610404968, -0.3539904057979584, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4156395494937897, -1.3629987239837646, 1.3234682083129883, -0.2020808756351471, 0.1919962763786316, -0.11064675450325012, 1.1400063037872314, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668322359238, 0.025811286470970533, -4.492334510762716e-05, -0.14784319698810577], [-0.025811297438959088, 0.9996667982022263, -0.00026362212926933144, -0.07005688548088074], [3.810395026961734e-05, 0.00026469382869648777, 0.9999999642426324, -9.679049981059507e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6417152881622314, -1.3135414123535156, -1.3379849195480347, -2.077528476715088, -0.21537233889102936, 0.5482416152954102, -0.3541626036167145, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4224770963191986, -1.3515385389328003, 1.333366870880127, -0.20174100995063782, 0.19302739202976227, -0.11606194823980331, 1.1792571544647217, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661193741001, 0.025838868154260813, -5.165301607004285e-05, -0.1478179395198822], [-0.02583888096848583, 0.9996660852321416, -0.00026507912219262997, -0.07005161046981812], [4.478642387639007e-05, 0.0002663252735432964, 0.9999999635325117, -9.774468344403431e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.649532437324524, -1.3112751245498657, -1.3575732707977295, -2.082890033721924, -0.20785930752754211, 0.5516875386238098, -0.35215848684310913, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.42637690901756287, -1.3431459665298462, 1.3387142419815063, -0.20154769718647003, 0.18719995021820068, -0.12986765801906586, 1.222745656967163, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665502763928, 0.025822226612202043, -2.9517524259355257e-05, -0.14781080186367035], [-0.025822233599671708, 0.9996665146612171, -0.00026780033340943716, -0.07005612552165985], [2.2592479701655846e-05, 0.00026847324386898894, 0.999999963705848, -9.482643508818e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.65626859664917, -1.3092151880264282, -1.3739168643951416, -2.088118076324463, -0.20368975400924683, 0.5527666211128235, -0.3401217758655548, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.42981672286987305, -1.334632396697998, 1.3437663316726685, -0.20167185366153717, 0.1798175424337387, -0.14516659080982208, 1.2668019533157349, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996658539271592, 0.025849155947548396, -4.035942203326507e-05, -0.14781886339187622], [-0.02584916610742559, 0.9996658164790296, -0.000275635385397007, -0.07005003094673157], [3.322099251771583e-05, 0.00027658654031957814, 0.999999961198125, -9.682110248832032e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6610198020935059, -1.3083792924880981, -1.3896312713623047, -2.0904040336608887, -0.20265264809131622, 0.5528641939163208, -0.32556644082069397, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4365370273590088, -1.3264356851577759, 1.3500770330429077, -0.2020721286535263, 0.1783408522605896, -0.15228210389614105, 1.2946152687072754, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661052963425, 0.025839391782565512, -6.126947915845292e-05, -0.14779262244701385], [-0.025839407390237885, 0.999666070488329, -0.00026933277668592245, -0.07005226612091064], [5.428962433452342e-05, 0.00027082601493082854, 0.9999999618529525, -9.987053635995835e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6643701791763306, -1.3081996440887451, -1.3999450206756592, -2.091461420059204, -0.20220515131950378, 0.5524327158927917, -0.30519530177116394, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.44480884075164795, -1.3199083805084229, 1.3548760414123535, -0.2040400505065918, 0.17718413472175598, -0.15846644341945648, 1.3160773515701294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.6648213863372803, -1.308240532875061, -1.4069240093231201, -2.087552070617676, -0.20363546907901764, 0.5473171472549438, -0.2921546697616577, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4541502892971039, -1.3171002864837646, 1.3605635166168213, -0.20829050242900848, 0.18197062611579895, -0.1640968769788742, 1.3339014053344727, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.6624817848205566, -1.309454321861267, -1.4074501991271973, -2.078723907470703, -0.206233412027359, 0.5392912030220032, -0.27448296546936035, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4644443392753601, -1.3171310424804688, 1.3652206659317017, -0.21202370524406433, 0.19252909719944, -0.16544030606746674, 1.342963457107544, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6576337814331055, -1.312443733215332, -1.407459020614624, -2.0680370330810547, -0.2128584086894989, 0.5256398320198059, -0.24098478257656097, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.4810611605644226, -1.3177719116210938, 1.369944453239441, -0.2227707952260971, 0.2061396986246109, -0.16631239652633667, 1.3572347164154053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6489211320877075, -1.3168530464172363, -1.40557861328125, -2.059312343597412, -0.22371995449066162, 0.5153741836547852, -0.2053668349981308, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5236382484436035, -1.315538763999939, 1.3785076141357422, -0.2824467420578003, 0.21478570997714996, -0.17268213629722595, 1.3652812242507935, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.635150671005249, -1.322034478187561, -1.3901342153549194, -2.055776357650757, -0.23459479212760925, 0.5043577551841736, -0.1652803122997284, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.625069797039032, -1.3020352125167847, 1.3965296745300293, -0.44994401931762695, 0.21903160214424133, -0.14641858637332916, 1.3440194129943848, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6230316162109375, -1.329677700996399, -1.373216152191162, -2.0505096912384033, -0.25333884358406067, 0.4913848638534546, -0.11932393163442612, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8046119213104248, -1.2759450674057007, 1.4426047801971436, -0.7509554028511047, 0.21307197213172913, -0.031243354082107544, 1.2643917798995972, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666357775822, 0.025829656593417058, -4.440144509281608e-05, -0.14781691133975983], [-0.025829668031710076, 0.9996663192751429, -0.0002799218812746381, -0.07005342841148376], [3.715634312012565e-05, 0.0002809753621024492, 0.9999999598361252, -9.802909335121512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6114308834075928, -1.336434245109558, -1.3571393489837646, -2.0410702228546143, -0.2726391851902008, 0.47656887769699097, -0.07826058566570282, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9633452296257019, -1.2569230794906616, 1.4854997396469116, -0.9903711676597595, 0.19128116965293884, 0.0491664819419384, 1.1852039098739624, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666923237343, 0.025807770397671476, -3.965205247746559e-05, -0.1479734182357788], [-0.025807780013630086, 0.9996668886710853, -0.0002649253479036894, -0.07005523145198822], [3.2801711378348975e-05, 0.00026586043887389125, 0.9999999641211368, -9.700457303551957e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5982471704483032, -1.3420202732086182, -1.3407093286514282, -2.0230226516723633, -0.2904374599456787, 0.4589071273803711, -0.04426601156592369, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.058830738067627, -1.2509608268737793, 1.509385347366333, -1.1204960346221924, 0.1780274659395218, 0.06246010214090347, 1.1314353942871094, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663372436052, 0.02583043236762768, -5.427389754212305e-05, -0.1474076360464096], [-0.025830445237716597, 0.9996663067285628, -0.000251576024697348, -0.07005499303340912], [4.77574692164371e-05, 0.0002528940020858039, 0.9999999668819234, -9.59450553636998e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.587685465812683, -1.348207950592041, -1.3242822885513306, -2.00746750831604, -0.31459394097328186, 0.4345584213733673, -0.013094443827867508, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1350302696228027, -1.251185417175293, 1.5261437892913818, -1.2249292135238647, 0.1887272149324417, 0.08678196370601654, 1.0857635736465454, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666687843048, 0.02581687867465043, -4.463640106397072e-05, -0.147532120347023], [-0.025816887894642586, 0.9996666643803669, -0.00022005923364455725, -0.07005546241998672], [3.8940279625325786e-05, 0.0002211382581890228, 0.9999999747907624, -9.438403503736481e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.57466459274292, -1.3522350788116455, -1.309202790260315, -1.986770749092102, -0.32466331124305725, 0.41874128580093384, 3.0080404030741192e-05, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1950236558914185, -1.2526459693908691, 1.537492036819458, -1.293257236480713, 0.21548870205879211, 0.1290469765663147, 1.0436792373657227, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996654318206192, 0.025865467840271644, -4.467996104738844e-05, -0.14771237969398499], [-0.025865477489013477, 0.9996654059074263, -0.0002308813680347378, -0.07004670798778534], [3.8693156796545125e-05, 0.0002319597910024627, 0.9999999723487472, -9.453021630179137e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5668286681175232, 0.0, 0.0, 1.5620536804199219, -1.3539073467254639, -1.2960808277130127, -1.966427206993103, -0.3304387629032135, 0.4142530560493469, -0.004464243538677692, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.246688961982727, -1.2518540620803833, 1.550144076347351, -1.357367753982544, 0.21972332894802094, 0.14961884915828705, 1.0273431539535522, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996651248116969, 0.025877331734529323, -4.4017219543214184e-05, -0.14769607782363892], [-0.02587734009775353, 0.9996651052719769, -0.00020142252228501971, -0.07004377245903015], [3.879020098047185e-05, 0.00020249411944021827, 0.9999999787457258, -9.230204886989668e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5668286681175232, 0.0, 0.0, 1.5437325239181519, -1.3550305366516113, -1.2834175825119019, -1.9419764280319214, -0.3286251723766327, 0.40438249707221985, -0.010592137463390827, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3012630939483643, -1.248944640159607, 1.5722259283065796, -1.4239057302474976, 0.21896125376224518, 0.16803105175495148, 1.0199472904205322, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656132348805, 0.025858460910876107, -4.141317479014317e-05, -0.14769357442855835], [-0.025858468492326307, 0.9996655949953305, -0.00019439615034084657, -0.0700470581650734], [3.6372540762420516e-05, 0.00019540202811646053, 0.9999999802475427, -9.116443106904626e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5668286681175232, 0.0, 0.0, 1.5178810358047485, -1.360313057899475, -1.264345645904541, -1.9135162830352783, -0.3367230296134949, 0.3874829411506653, -0.007706575561314821, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3546652793884277, -1.2473907470703125, 1.5972594022750854, -1.4847975969314575, 0.22257809340953827, 0.1913270652294159, 1.0007706880569458, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666127903104, 0.025838552739424463, -4.376695895993669e-05, -0.1476624310016632], [-0.025838560707622495, 0.9996661101216049, -0.00019249648767710772, -0.07004943490028381], [3.8778514966332916e-05, 0.00019356309369719622, 0.9999999805147776, -9.201600914821029e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4948550462722778, -1.3668559789657593, -1.238531470298767, -1.8889329433441162, -0.3420170843601227, 0.37385809421539307, -0.0022334998939186335, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4080004692077637, -1.2474782466888428, 1.61298668384552, -1.5480411052703857, 0.2235669195652008, 0.20939400792121887, 0.9672434329986572, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662608907193, 0.02583342020282356, -3.5176591799114125e-05, -0.14773167669773102], [-0.025833426854245493, 0.9996662405272195, -0.0002039782870325873, -0.07005096226930618], [2.989539447721606e-05, 0.00020481894341198447, 0.9999999785777327, -9.168294491246343e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5668286681175232, 0.0, 0.0, 1.475157618522644, -1.3736156225204468, -1.2120606899261475, -1.8667168617248535, -0.34931403398513794, 0.3627115488052368, 0.0029297834262251854, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4483424425125122, -1.247393012046814, 1.620797872543335, -1.591104507446289, 0.18805381655693054, 0.17636404931545258, 0.9534481763839722, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663492872141, 0.02582997852382553, -4.808567786133578e-05, -0.14772360026836395], [-0.02582998713504647, 0.9996663325401185, -0.0001880170005251534, -0.07005245238542557], [4.32131581496683e-05, 0.0001891963209594506, 0.9999999811686874, -9.225570829585195e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4587689638137817, -1.3795565366744995, -1.1926461458206177, -1.8485487699508667, -0.35085615515708923, 0.3502229154109955, 0.009405938908457756, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4786949157714844, -1.247004747390747, 1.6330021619796753, -1.624987244606018, 0.1771879643201828, 0.17597924172878265, 0.9383004307746887, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666984329932, 0.02581645398193315, -5.2420203618575935e-05, -0.14766843616962433], [-0.02581646370391173, 0.9996666807066799, -0.00019413066110126766, -0.07005435228347778], [4.739096567454696e-05, 0.00019541926133178917, 0.9999999797827042, -9.343158308183774e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.4498224258422852, -1.3838938474655151, -1.1821376085281372, -1.83571457862854, -0.35087400674819946, 0.3412436246871948, 0.011024168692529202, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.510526418685913, -1.2465574741363525, 1.6474146842956543, -1.6636769771575928, 0.166860431432724, 0.18206794559955597, 0.9386460781097412, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669771333387, 0.025805649546759606, -5.727619690288996e-05, -0.1477886438369751], [-0.025805659948110526, 0.9996669606452478, -0.00018896807942058827, -0.07005519419908524], [5.2380677642178824e-05, 0.00019038319878946915, 0.999999980505251, -9.289318404626101e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.445977807044983, -1.3891258239746094, -1.1756824254989624, -1.82456636428833, -0.3563222885131836, 0.3261457681655884, 0.011887991800904274, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5371958017349243, -1.2465176582336426, 1.6626242399215698, -1.6935666799545288, 0.15918849408626556, 0.1885172575712204, 0.9481227397918701, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661899999153, 0.025836136204223595, -5.135260508316898e-05, -0.14776349067687988], [-0.025836143984375295, 0.9996661787731412, -0.00015710227480085894, -0.07005233317613602], [4.727654672378936e-05, 0.00015837658578939586, 0.9999999863408925, -9.06167842913419e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.442168116569519, -1.3936247825622559, -1.1709238290786743, -1.8186383247375488, -0.356334388256073, 0.3210148513317108, 0.01160132884979248, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5592459440231323, -1.24680495262146, 1.6747106313705444, -1.7178966999053955, 0.15752065181732178, 0.19922910630702972, 0.9475345611572266, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665385346111, 0.025822641786918663, -5.390151589481833e-05, -0.14771682024002075], [-0.02582264944105413, 0.999666529055975, -0.00014649581561863853, -0.07005535066127777], [5.0100632335425915e-05, 0.0001478388448585823, 0.9999999878168012, -9.005002357298508e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.436981201171875, -1.397075891494751, -1.1701713800430298, -1.8142716884613037, -0.35311973094940186, 0.31924453377723694, 0.011495028622448444, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5781301259994507, -1.2480013370513916, 1.6838167905807495, -1.7380784749984741, 0.15707208216190338, 0.20559057593345642, 0.9453290700912476, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669299312609, 0.025807508457781018, -4.134016310437626e-05, -0.14775565266609192], [-0.025807513848931325, 0.9996669214411446, -0.00013566621417035563, -0.07005690783262253], [3.782518661279002e-05, 0.0001366879146469096, 0.9999999899428346, -8.819017966743559e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.4373279809951782, -1.398863434791565, -1.173093557357788, -1.8163821697235107, -0.34643423557281494, 0.3194577395915985, 0.010746254585683346, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5904875993728638, -1.2499794960021973, 1.690865397453308, -1.7526580095291138, 0.15659330785274506, 0.2111276537179947, 0.944546639919281, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666513386882, 0.02581829609367481, -4.2286085591378604e-05, -0.14774984121322632], [-0.025818300961762422, 0.9996666450322129, -0.00011893480371316989, -0.07005470246076584], [3.920129533656874e-05, 0.00011998691183986177, 0.9999999920331997, -8.690077083883807e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.4514433145523071, -1.3996936082839966, -1.1889127492904663, -1.837438941001892, -0.3366115987300873, 0.3226616084575653, 0.005276774056255817, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6016685962677002, -1.253684401512146, 1.7009472846984863, -1.7643780708312988, 0.1579166054725647, 0.21778464317321777, 0.939929723739624, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665889356396, 0.025820697141382375, -5.064499814239488e-05, -0.14780020713806152], [-0.025820702887480985, 0.9996665833060903, -0.00011629068819274509, -0.07005515694618225], [4.762540561436337e-05, 0.00011755960504039137, 0.9999999919557799, -8.731293928576633e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.4731454849243164, -1.3994520902633667, -1.210124135017395, -1.8632563352584839, -0.32899418473243713, 0.3310820758342743, 0.0007510513532906771, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6130894422531128, -1.2570563554763794, 1.7180261611938477, -1.7701785564422607, 0.167216494679451, 0.22418254613876343, 0.9365838170051575, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660809815241, 0.02584036378863174, -4.619861439936421e-05, -0.14774921536445618], [-0.025840368800735706, 0.9996660757122715, -0.00011140138729886571, -0.0700526162981987], [4.3304535185595904e-05, 0.00011255797749112456, 0.9999999927277095, -8.623689791420475e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.498655915260315, -1.3972865343093872, -1.2336822748184204, -1.8977386951446533, -0.32407763600349426, 0.3406943678855896, -0.0007737015839666128, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6288138628005981, -1.2584329843521118, 1.7427902221679688, -1.779597282409668, 0.20053838193416595, 0.24676693975925446, 0.9347156286239624, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5267080068588257, -1.3906285762786865, -1.2630672454833984, -1.9390826225280762, -0.3158951699733734, 0.35337716341018677, -0.0048497761599719524, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6488500833511353, -1.2585762739181519, 1.775557041168213, -1.7947440147399902, 0.2236461341381073, 0.25454768538475037, 0.9570192098617554, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5566906929016113, -1.381596565246582, -1.2962504625320435, -1.9804986715316772, -0.30812689661979675, 0.36568063497543335, -0.01885717734694481, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.679389476776123, -1.2585361003875732, 1.8160216808319092, -1.8038220405578613, 0.2375001311302185, 0.26437631249427795, 0.9842352867126465, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5889666080474854, -1.37218177318573, -1.333538293838501, -2.019850254058838, -0.3030429482460022, 0.375290185213089, -0.05095776170492172, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.711412787437439, -1.2584235668182373, 1.865355372428894, -1.8057671785354614, 0.25807201862335205, 0.28230005502700806, 1.0065065622329712, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6207020282745361, -1.3612810373306274, -1.3737303018569946, -2.0578925609588623, -0.30177873373031616, 0.3819611072540283, -0.10028195381164551, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7279374599456787, -1.2569433450698853, 1.9306285381317139, -1.8156877756118774, 0.2753555476665497, 0.3063773214817047, 1.060551643371582, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.641602873802185, -1.3504177331924438, -1.4074057340621948, -2.087949752807617, -0.3026794493198395, 0.391459196805954, -0.16535833477973938, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7206119298934937, -1.2518575191497803, 1.999831199645996, -1.8355549573898315, 0.30483806133270264, 0.3353496491909027, 1.1462454795837402, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.667805552482605, -1.3387829065322876, -1.4500486850738525, -2.1361887454986572, -0.33425644040107727, 0.41570770740509033, -0.26511791348457336, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7045724391937256, -1.2463816404342651, 2.0441524982452393, -1.851203441619873, 0.3221888244152069, 0.372524231672287, 1.203914761543274, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7089953422546387, -1.327208161354065, -1.5010976791381836, -2.1989307403564453, -0.33004963397979736, 0.4351218044757843, -0.32755786180496216, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6881062984466553, -1.2465617656707764, 2.062147855758667, -1.8525645732879639, 0.34497249126434326, 0.39447838068008423, 1.1972804069519043, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.743641972541809, -1.3188241720199585, -1.550537347793579, -2.2401022911071777, -0.3212849795818329, 0.45307835936546326, -0.3526071608066559, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6665152311325073, -1.2472379207611084, 2.0806565284729004, -1.8439310789108276, 0.3620131015777588, 0.414707750082016, 1.1831637620925903, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7616350650787354, -1.313300371170044, -1.5909991264343262, -2.274291753768921, -0.3194277584552765, 0.45972830057144165, -0.37559759616851807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6503136157989502, -1.246315598487854, 2.1048543453216553, -1.8325340747833252, 0.35766762495040894, 0.4098944067955017, 1.1766282320022583, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.770924687385559, -1.31008780002594, -1.6271052360534668, -2.305955648422241, -0.30910179018974304, 0.469111829996109, -0.39219263195991516, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6278823614120483, -1.2437241077423096, 2.1211066246032715, -1.8174810409545898, 0.3612656593322754, 0.40516266226768494, 1.1582379341125488, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7875844240188599, -1.3074166774749756, -1.6678640842437744, -2.34269642829895, -0.2825554311275482, 0.49731945991516113, -0.390377014875412, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5999271869659424, -1.2400286197662354, 2.1301071643829346, -1.8089938163757324, 0.3709680736064911, 0.39762866497039795, 1.1454074382781982, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7992193698883057, -1.307134985923767, -1.7069664001464844, -2.3525309562683105, -0.290150910615921, 0.49595850706100464, -0.39805135130882263, 0.12720000193669245, -0.12720000193669245, 0.12720000193669245, 0.12720000193669245, -0.12720000193669245, -0.12720000193669245, 0.12720000193669245, 0.12720000193669245, -1.573249340057373, -1.235609531402588, 2.1260344982147217, -1.8045425415039062, 0.3821398913860321, 0.397235244512558, 1.1331812143325806, 0.15360001260107692, 0.15360001260107692, 0.15360001260107692, 0.15360001260107692, -0.15360001260107692, -0.15360001260107692, -0.15360001260107692, 0.15360001260107692, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7987511157989502, -1.3071552515029907, -1.7090376615524292, -2.350404977798462, -0.2942618429660797, 0.4929960072040558, -0.40080150961875916, 0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -1.5634069442749023, -1.233794093132019, 2.1139490604400635, -1.8029282093048096, 0.38403579592704773, 0.39786261320114136, 1.1230069398880005, 0.5417999992658804, 0.5417999992658804, 0.5417999992658804, 0.5417999992658804, -0.5417999992658804, -0.5417999992658804, -0.5417999992658804, 0.5417999992658804, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666099797888, 0.02581988752272567, -4.795654765557889e-05, -0.14776387810707092], [-0.025819893305648114, 0.999666603270445, -0.00012415883274575048, -0.07005484402179718], [4.4734792002981585e-05, 0.00012535567237376626, 0.9999999911423768, -8.762028301134706e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7973436117172241, -1.3071620464324951, -1.7054225206375122, -2.350186824798584, -0.29425957798957825, 0.49299782514572144, -0.40085721015930176, 0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -1.5664302110671997, -1.2338361740112305, 2.1142826080322266, -1.802927017211914, 0.3838070333003998, 0.3978937566280365, 1.124725103378296, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660881593511, 0.02584009383575593, -4.165020684878425e-05, -0.1478729099035263], [-0.025840098782143123, 0.9996660813379579, -0.00012295259412741392, -0.07005254924297333], [3.845919249783754e-05, 0.00012398778425966558, 0.9999999915739599, -8.720504411030561e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.797255277633667, -1.3071650266647339, -1.7053219079971313, -2.3501834869384766, -0.2941741347312927, 0.493009090423584, -0.40085074305534363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5683013200759888, -1.2340164184570312, 2.115102529525757, -1.8029175996780396, 0.38343456387519836, 0.3979111313819885, 1.1250755786895752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662850206796, 0.025832450773578867, -5.549760363570933e-05, -0.14776478707790375], [-0.02583245658353055, 0.9996662807215595, -0.00010665450816932017, -0.07005378603935242], [5.2723935683404614e-05, 0.00010805255539874147, 0.9999999927724159, -8.788421109784395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.797261118888855, -1.307166337966919, -1.705324411392212, -2.350182294845581, -0.29415053129196167, 0.4930250346660614, -0.4008410573005676, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5683201551437378, -1.2341047525405884, 2.115154504776001, -1.8029054403305054, 0.3833688795566559, 0.3979220390319824, 1.1251587867736816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663658685541, 0.025829338010035768, -4.7424904853734114e-05, -0.1477382332086563], [-0.025829343853927385, 0.9996663587689919, -0.00012704967783783017, -0.07005312293767929], [4.412747287715881e-05, 0.0001282322439036211, 0.9999999908046289, -8.823037933325395e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7972642183303833, -1.3071666955947876, -1.7053287029266357, -2.3501782417297363, -0.29415005445480347, 0.49304071068763733, -0.4008292853832245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5682951211929321, -1.2341172695159912, 2.1151726245880127, -1.802895188331604, 0.3833547532558441, 0.3979237377643585, 1.1251788139343262, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666565015046, 0.025821626177988093, -4.911764407584834e-05, -0.1477893441915512], [-0.025821631982189786, 0.9996665586939126, -0.00012145306277011187, -0.07005428522825241], [4.59651506394342e-05, 0.00012268086379911325, 0.9999999914183052, -8.758914191275835e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.797269582748413, -1.3071668148040771, -1.705338478088379, -2.350172281265259, -0.29415363073349, 0.49304935336112976, -0.40081730484962463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5682655572891235, -1.234118938446045, 2.115187883377075, -1.8028883934020996, 0.3833475410938263, 0.39792361855506897, 1.1251816749572754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660931074243, 0.025839883181156258, -5.2235262859581754e-05, -0.14774668216705322], [-0.02583988868740381, 0.9996660885347712, -0.00010763927453219224, -0.07005175203084946], [4.943643462680744e-05, 0.00010895308641436295, 0.999999992842632, -8.726038504391909e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7970354557037354, -1.3071796894073486, -1.7019153833389282, -2.3401665687561035, -0.2856560945510864, 0.481673926115036, -0.40108564496040344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5682216882705688, -1.234118938446045, 2.115201473236084, -1.8028779029846191, 0.38333484530448914, 0.39792361855506897, 1.125180721282959, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661484120369, 0.025837717955258938, -6.363888627169825e-05, -0.14777220785617828], [-0.025837723871557326, 0.9996661458682408, -9.396847532504982e-05, -0.07005240023136139], [6.118970920444155e-05, 9.558138777132566e-05, 0.9999999935600089, -8.756174793234095e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7846715450286865, -1.3072069883346558, -1.6595962047576904, -2.2972543239593506, -0.23976731300354004, 0.4483104348182678, -0.40993180871009827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5681509971618652, -1.2341278791427612, 2.115222692489624, -1.8028717041015625, 0.38331878185272217, 0.39792361855506897, 1.1251813173294067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665433682248, 0.025865396511896975, -4.431890522586479e-05, -0.14767634868621826], [-0.025865400451395536, 0.9996654304435484, -9.075022877594743e-05, -0.07004719972610474], [4.195678681856571e-05, 9.186619303730517e-05, 0.9999999949001153, -8.454736234853044e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7667299509048462, -1.3092044591903687, -1.6163703203201294, -2.243046760559082, -0.2027757167816162, 0.4621271789073944, -0.37372925877571106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5681406259536743, -1.2341282367706299, 2.1154215335845947, -1.8028614521026611, 0.3833003342151642, 0.3979233503341675, 1.125180721282959, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656496330436, 0.02585705761605846, -3.8925372575350546e-05, -0.14772573113441467], [-0.025857061374036972, 0.9996656453566697, -9.935155970546644e-05, -0.0700489804148674], [3.63434186927371e-05, 0.00010032483722270933, 0.9999999943070415, -8.502355922246352e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7602730989456177, -1.3128957748413086, -1.5959597826004028, -2.1880691051483154, -0.15157240629196167, 0.5122613906860352, -0.2897283434867859, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5681445598602295, -1.2341281175613403, 2.115421772003174, -1.8028509616851807, 0.38329625129699707, 0.3979233503341675, 1.1251800060272217, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7528010606765747, -1.3128859996795654, -1.5825031995773315, -2.138915538787842, -0.10057305544614792, 0.5347026586532593, -0.2783259451389313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5681427717208862, -1.234128713607788, 2.11541485786438, -1.8028441667556763, 0.3832866847515106, 0.39792191982269287, 1.1251789331436157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.743474006652832, -1.3093618154525757, -1.5559968948364258, -2.0854272842407227, -0.03644414618611336, 0.5402371287345886, -0.3061279058456421, 0.2844000082749587, -0.2844000082749587, 0.2844000082749587, 0.2844000082749587, -0.2844000082749587, -0.2844000082749587, 0.2844000082749587, 0.2844000082749587, -1.5681533813476562, -1.2341291904449463, 2.115407705307007, -1.8028337955474854, 0.3832762539386749, 0.39792168140411377, 1.125178575515747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7406550645828247, -1.309737205505371, -1.529486060142517, -2.0256597995758057, -0.03334981948137283, 0.50986647605896, -0.3078899681568146, 0.047399980419284726, -0.047399980419284726, 0.047399980419284726, 0.047399980419284726, -0.047399980419284726, -0.047399980419284726, 0.047399980419284726, 0.047399980419284726, -1.5681555271148682, -1.2341301441192627, 2.11539363861084, -1.802817940711975, 0.3832683265209198, 0.3979206085205078, 1.1251784563064575, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.732252836227417, -1.3161970376968384, -1.4995280504226685, -1.9573371410369873, -0.0753069519996643, 0.4737588167190552, -0.287061482667923, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.5681616067886353, -1.2341313362121582, 2.115373373031616, -1.8028061389923096, 0.3832683265209198, 0.39792096614837646, 1.1251788139343262, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.7187933921813965, -1.3244818449020386, -1.4694111347198486, -1.9106674194335938, -0.14618273079395294, 0.4318771958351135, -0.2781960368156433, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.568162202835083, -1.2341333627700806, 2.1153616905212402, -1.80279541015625, 0.38327252864837646, 0.3979196548461914, 1.1251792907714844, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7028189897537231, -1.326906442642212, -1.4383914470672607, -1.8888388872146606, -0.18330435454845428, 0.40379059314727783, -0.3067832291126251, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681675672531128, -1.2341347932815552, 2.1153457164764404, -1.8027832508087158, 0.3832743167877197, 0.3979191780090332, 1.1251802444458008, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.691489338874817, -1.3269301652908325, -1.4161088466644287, -1.8725297451019287, -0.20311859250068665, 0.38865992426872253, -0.3308788239955902, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681718587875366, -1.2341350317001343, 2.1153359413146973, -1.802771806716919, 0.38327768445014954, 0.39791810512542725, 1.125182032585144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6878471374511719, -1.32729971408844, -1.4058308601379395, -1.8540527820587158, -0.24767917394638062, 0.35094305872917175, -0.3412826955318451, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681748390197754, -1.234135389328003, 2.1153252124786377, -1.8027666807174683, 0.38328343629837036, 0.39791759848594666, 1.1251882314682007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.688400149345398, -1.328832983970642, -1.4048928022384644, -1.8490071296691895, -0.3042818605899811, 0.3107653260231018, -0.3369311988353729, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.568177342414856, -1.234135389328003, 2.115316390991211, -1.802762508392334, 0.383291095495224, 0.39791759848594666, 1.1252105236053467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6953519582748413, -1.32927668094635, -1.4141929149627686, -1.8571382761001587, -0.33796411752700806, 0.29027625918388367, -0.3320309817790985, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681836605072021, -1.2341351509094238, 2.1153078079223633, -1.8027592897415161, 0.3833031952381134, 0.3979177176952362, 1.1252628564834595, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7102077007293701, -1.3274598121643066, -1.4296406507492065, -1.872717261314392, -0.3658907413482666, 0.27429914474487305, -0.3408139646053314, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681840181350708, -1.2341350317001343, 2.1153013706207275, -1.8027559518814087, 0.38331350684165955, 0.3979177176952362, 1.1253114938735962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7268612384796143, -1.325199007987976, -1.4416223764419556, -1.8864284753799438, -0.3928605020046234, 0.2468685656785965, -0.3453827202320099, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681848526000977, -1.2341344356536865, 2.1152992248535156, -1.8027541637420654, 0.3833366334438324, 0.3979179859161377, 1.125333547592163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7389556169509888, -1.3232781887054443, -1.4527308940887451, -1.904710054397583, -0.41345372796058655, 0.2124786227941513, -0.34252220392227173, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681886672973633, -1.2341340780258179, 2.115294933319092, -1.802754521369934, 0.38336193561553955, 0.39791786670684814, 1.125346064567566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7405855655670166, -1.3226888179779053, -1.4603246450424194, -1.9265105724334717, -0.429882287979126, 0.18197350203990936, -0.33706820011138916, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.568191409111023, -1.2341333627700806, 2.11529541015625, -1.8027536869049072, 0.383369117975235, 0.397918701171875, 1.1253479719161987, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7344056367874146, -1.3227187395095825, -1.462336540222168, -1.9470739364624023, -0.471829354763031, 0.14419107139110565, -0.33732572197914124, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681918859481812, -1.2341333627700806, 2.1152966022491455, -1.8027540445327759, 0.3833675682544708, 0.39791977405548096, 1.125347375869751, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7143901586532593, -1.3227403163909912, -1.459715723991394, -1.9589923620224, -0.49899545311927795, 0.1289660781621933, -0.3691459000110626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681947469711304, -1.2341337203979492, 2.1152963638305664, -1.8027547597885132, 0.38336384296417236, 0.3979198932647705, 1.1253472566604614, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6890653371810913, -1.3227521181106567, -1.4361170530319214, -1.9630672931671143, -0.5006840229034424, 0.12121599912643433, -0.385028213262558, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681949853897095, -1.2341337203979492, 2.1152970790863037, -1.802754282951355, 0.3833654224872589, 0.3979206085205078, 1.125346302986145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6587179899215698, -1.3244671821594238, -1.4049049615859985, -1.9615427255630493, -0.5126229524612427, 0.10917533189058304, -0.38273587822914124, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681942701339722, -1.2341336011886597, 2.1152985095977783, -1.802753210067749, 0.38335785269737244, 0.3979201316833496, 1.1253451108932495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.613958716392517, -1.3281728029251099, -1.3716015815734863, -1.9552546739578247, -0.5230555534362793, 0.10660818964242935, -0.374124139547348, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681943893432617, -1.2341344356536865, 2.1153006553649902, -1.8027541637420654, 0.38335341215133667, 0.3979208469390869, 1.1253448724746704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.558333396911621, -1.333680510520935, -1.3336046934127808, -1.9366991519927979, -0.5232113599777222, 0.11002752929925919, -0.367270827293396, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681952238082886, -1.2341344356536865, 2.115307092666626, -1.8027539253234863, 0.3833449184894562, 0.39792144298553467, 1.1253409385681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.4976508617401123, -1.341931700706482, -1.2869257926940918, -1.9001723527908325, -0.5156860947608948, 0.12841911613941193, -0.3419535458087921, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681928396224976, -1.234135389328003, 2.1153178215026855, -1.8027511835098267, 0.3833223879337311, 0.397921085357666, 1.1253337860107422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.4492138624191284, -1.3530961275100708, -1.2474488019943237, -1.858056664466858, -0.5239245295524597, 0.1266484558582306, -0.32434406876564026, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.568196415901184, -1.2341359853744507, 2.115325927734375, -1.8027483224868774, 0.3833044171333313, 0.3979208469390869, 1.1253246068954468, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.409500002861023, -1.365725040435791, -1.217858076095581, -1.8302658796310425, -0.5540369749069214, 0.15421384572982788, -0.2823997437953949, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681917667388916, -1.2341365814208984, 2.1153249740600586, -1.8027448654174805, 0.3832935094833374, 0.39792072772979736, 1.1253153085708618, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3778029680252075, -1.3743789196014404, -1.1986265182495117, -1.813632845878601, -0.550582230091095, 0.19906264543533325, -0.25660598278045654, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.56819486618042, -1.234135627746582, 2.1153268814086914, -1.8027372360229492, 0.38327911496162415, 0.39791977405548096, 1.1253023147583008, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3630732297897339, -1.380010724067688, -1.1893110275268555, -1.8044222593307495, -0.5371751189231873, 0.23149698972702026, -0.25647345185279846, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681926012039185, -1.2341351509094238, 2.115325927734375, -1.8027290105819702, 0.3832806646823883, 0.3979194164276123, 1.1252928972244263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3609381914138794, -1.38420569896698, -1.1841398477554321, -1.7968175411224365, -0.5205979943275452, 0.25383859872817993, -0.259172648191452, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5681626796722412, -1.2341338396072388, 2.115326166152954, -1.8026301860809326, 0.38333365321159363, 0.39792072772979736, 1.1251978874206543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3643426895141602, -1.3858187198638916, -1.1836704015731812, -1.7972338199615479, -0.4980999827384949, 0.2692035734653473, -0.270035982131958, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5499176979064941, -1.2328578233718872, 2.104947566986084, -1.7811659574508667, 0.38863009214401245, 0.40401771664619446, 1.109423279762268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3732233047485352, -1.3876761198043823, -1.1831815242767334, -1.8143763542175293, -0.4751153290271759, 0.28887876868247986, -0.26759395003318787, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.495114803314209, -1.2236418724060059, 2.045039653778076, -1.7451261281967163, 0.3809696435928345, 0.41688600182533264, 1.1086808443069458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668467258969, 0.025810718946792897, -4.84205713544001e-05, -0.14775656163692474], [-0.025810723211867684, 0.9996668437703288, -8.963007004964605e-05, -0.07005620747804642], [4.6091023192176366e-05, 9.084997946333984e-05, 0.9999999948109494, -8.527599129593e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3786044120788574, -1.3898056745529175, -1.1827374696731567, -1.8262311220169067, -0.45206114649772644, 0.3005913197994232, -0.2637340724468231, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4419164657592773, -1.2185943126678467, 1.9590929746627808, -1.7100290060043335, 0.37578657269477844, 0.4172569215297699, 1.109790563583374, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667230970905, 0.025815509595797093, -4.68682647300776e-05, -0.14768725633621216], [-0.02581551312556673, 0.9996667211899064, -7.63379697348139e-05, -0.07005634158849716], [4.4881940940364456e-05, 7.752245635599814e-05, 0.9999999959879401, -8.383357635466382e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3826491832733154, -1.3919421434402466, -1.183856725692749, -1.8340891599655151, -0.43984752893447876, 0.306734561920166, -0.2556689381599426, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4046049118041992, -1.218589425086975, 1.8741791248321533, -1.6721644401550293, 0.3813999891281128, 0.40092578530311584, 1.0905914306640625, 0.5105999987203996, 0.5105999987203996, 0.5105999987203996, 0.5105999987203996, -0.5105999987203996, -0.5105999987203996, -0.5105999987203996, 0.5105999987203996, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666388022273, 0.025818762608130784, -5.2566550407892316e-05, -0.14782728254795074], [-0.02581876551229832, 0.9996666385775685, -5.533937057746247e-05, -0.07005425542593002], [5.112023267605315e-05, 5.667812601737455e-05, 0.9999999970871559, -8.299925684696063e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3885679244995117, -1.3931387662887573, -1.1886975765228271, -1.8435773849487305, -0.4289960563182831, 0.3110029697418213, -0.250980943441391, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3633264303207397, -1.2219865322113037, 1.797089695930481, -1.637148141860962, 0.39411693811416626, 0.39207062125205994, 1.038699984550476, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, -0.22320001570733042, -0.22320001570733042, -0.22320001570733042, 0.22320001570733042, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996670033196221, 0.02580467667589796, -3.3698945260323894e-05, -0.1477251797914505], [-0.025804678312947832, 0.9996670026404115, -4.908259094620735e-05, -0.07005832344293594], [3.242116321074905e-05, 4.9935837048286216e-05, 0.9999999982276402, -8.049981261137873e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3973839282989502, -1.3948206901550293, -1.192949652671814, -1.8491320610046387, -0.4276045858860016, 0.31056028604507446, -0.24444523453712463, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3273850679397583, -1.2265777587890625, 1.7407740354537964, -1.6182007789611816, 0.40693429112434387, 0.3873254656791687, 0.999670684337616, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663953365849, 0.025828213813404416, -3.7496238730960356e-05, -0.1477576345205307], [-0.025828215386286105, 0.9996663951131862, -4.2087607043193665e-05, -0.0700552761554718], [3.6396682088876424e-05, 4.3042027351330916e-05, 0.9999999984113327, -8.062446431722492e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.406182050704956, -1.395492672920227, -1.1949641704559326, -1.8510394096374512, -0.4224953353404999, 0.3085814416408539, -0.23980481922626495, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3024919033050537, -1.2268624305725098, 1.707027554512024, -1.5978507995605469, 0.3948664367198944, 0.37649136781692505, 0.9933969974517822, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662045712256, 0.02583556561450132, -5.465838813420606e-05, -0.14783184230327606], [-0.02583556795434105, 0.9996662050997102, -4.2544339238538124e-05, -0.07005230337381363], [5.354098637506594e-05, 4.39422686334961e-05, 0.9999999976012199, -8.282234921352938e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.4082318544387817, -1.3957792520523071, -1.1962859630584717, -1.8519831895828247, -0.41519850492477417, 0.30542874336242676, -0.23875343799591064, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.290603518486023, -1.2247802019119263, 1.6927136182785034, -1.5799311399459839, 0.3697417378425598, 0.3751037120819092, 0.9924426674842834, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663660684973, 0.02582932408655292, -5.068172179968009e-05, -0.1477738320827484], [-0.025829324467506586, 0.9996663673197511, -6.87639477881309e-06, -0.07005268335342407], [5.048720009170739e-05, 8.183175217124309e-06, 0.9999999986920391, -7.979236397659406e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4055362939834595, -1.3967026472091675, -1.2065836191177368, -1.8496882915496826, -0.4131486117839813, 0.29798176884651184, -0.23931993544101715, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2902412414550781, -1.2229454517364502, 1.6866344213485718, -1.573845386505127, 0.3613390028476715, 0.39132508635520935, 0.9732745885848999, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660372999432, 0.025842025885454856, -5.972574087214469e-05, -0.14777672290802002], [-0.025842024688455697, 0.9996660389001822, 2.0727291292540795e-05, -0.070050910115242], [6.0241429996152794e-05, -1.91769350802216e-05, 0.9999999980016077, -7.943419768707827e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3989317417144775, -1.3970377445220947, -1.2127529382705688, -1.8439735174179077, -0.4138500392436981, 0.2957283556461334, -0.23943175375461578, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.292502999305725, -1.221076250076294, 1.6755516529083252, -1.5711679458618164, 0.35670360922813416, 0.3951951563358307, 0.9749776721000671, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659197482162, 0.025846569724173055, -6.105281701532899e-05, -0.14777280390262604], [-0.02584657048850862, 0.9996659215235875, -1.1763469642592704e-05, -0.07005033642053604], [6.0728375244924345e-05, 1.3337545638201376e-05, 0.9999999980670872, -8.166499173967168e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3954315185546875, -1.397971272468567, -1.212293267250061, -1.8383710384368896, -0.41313374042510986, 0.29525402188301086, -0.24271458387374878, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2996939420700073, -1.22283935546875, 1.6660563945770264, -1.5702788829803467, 0.39148005843162537, 0.4133193790912628, 0.9642363786697388, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664609841017, 0.025825658251484508, -4.646933418596547e-05, -0.14781442284584045], [-0.025825658270393133, 0.9996664620636543, 1.9319927394033015e-07, -0.0700550377368927], [4.645882439856094e-05, 1.0069663102948134e-06, 0.9999999989202818, -7.875278970459476e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3935415744781494, -1.4003793001174927, -1.2057307958602905, -1.832047462463379, -0.41854751110076904, 0.2965044677257538, -0.2323821485042572, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3039729595184326, -1.2252168655395508, 1.6607394218444824, -1.5733779668807983, 0.40559494495391846, 0.4227343201637268, 0.9466365575790405, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664098064671, 0.025827641289602975, -4.5277634152319226e-05, -0.14774179458618164], [-0.025827641013104054, 0.99966641081666, 6.680949430110906e-06, -0.07005396485328674], [4.543508318867366e-05, -5.509306250088771e-06, 0.9999999989526503, -7.792375981807709e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3908164501190186, -1.4041950702667236, -1.19658362865448, -1.8269487619400024, -0.42333903908729553, 0.29613548517227173, -0.22209729254245758, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.302498698234558, -1.225273609161377, 1.6529338359832764, -1.568579077720642, 0.402851402759552, 0.4192516803741455, 0.9486016035079956, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666349394875, 0.02582998521118092, -4.185109214677641e-05, -0.14775735139846802], [-0.025829985280536597, 0.9996663502685076, -1.117452711661e-06, -0.07005245238542557], [4.180826475410258e-05, 2.198092967013171e-06, 0.9999999991236187, -7.800442108418792e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3871694803237915, -1.406683087348938, -1.1910771131515503, -1.8257650136947632, -0.4254426062107086, 0.29647257924079895, -0.21729640662670135, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2985576391220093, -1.2252787351608276, 1.646193504333496, -1.556768536567688, 0.3970860242843628, 0.41982945799827576, 0.9561232924461365, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996658502859013, 0.025849295528967704, -4.1143920832570136e-05, -0.14776572585105896], [-0.025849295615973954, 0.9996658511290901, -1.584227605612986e-06, -0.07005065679550171], [4.1089221470316484e-05, 2.6472396088128373e-06, 0.999999999152334, -7.76534216129221e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3845072984695435, -1.4083081483840942, -1.188096046447754, -1.8251032829284668, -0.42366331815719604, 0.29943352937698364, -0.21587184071540833, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2941046953201294, -1.2251520156860352, 1.6418063640594482, -1.5486879348754883, 0.389942467212677, 0.4190199077129364, 0.9655197262763977, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660535358347, 0.02584142949204669, -4.393059556668112e-05, -0.14777207374572754], [-0.025841429513258008, 0.9996660545005538, 8.480387203925919e-08, -0.07005266100168228], [4.391811659528359e-05, 1.0504538367257907e-06, 0.9999999990350478, -7.79551119194366e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3819127082824707, -1.4098591804504395, -1.184973955154419, -1.8217350244522095, -0.42360159754753113, 0.30304592847824097, -0.21422772109508514, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.284730315208435, -1.2242603302001953, 1.6366277933120728, -1.5419933795928955, 0.3819887936115265, 0.4143270254135132, 0.9722838997840881, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668770689348, 0.02580956319960402, -3.658809852498104e-05, -0.14774399995803833], [-0.02580956290913364, 0.9996668777108018, 8.389064774549348e-06, -0.07005634158849716], [3.6792428311327285e-05, -7.441947354096676e-06, 0.9999999992954673, -7.627133163623512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3783948421478271, -1.411253571510315, -1.1812092065811157, -1.8177860975265503, -0.42208510637283325, 0.3088953197002411, -0.21385130286216736, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2712491750717163, -1.2218106985092163, 1.6319365501403809, -1.5367990732192993, 0.3481124937534332, 0.3880210518836975, 0.991715133190155, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.373978853225708, -1.413177728652954, -1.174817442893982, -1.8127357959747314, -0.4220811724662781, 0.3136652708053589, -0.21390439569950104, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2597134113311768, -1.2194679975509644, 1.63052237033844, -1.532686710357666, 0.31918761134147644, 0.3686785101890564, 1.010495662689209, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3682289123535156, -1.4157743453979492, -1.1656911373138428, -1.8083723783493042, -0.42203468084335327, 0.3205866515636444, -0.21697883307933807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2534734010696411, -1.2168567180633545, 1.6303914785385132, -1.5322269201278687, 0.2924345135688782, 0.3560589849948883, 1.0252059698104858, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3607486486434937, -1.41872239112854, -1.1581659317016602, -1.8048288822174072, -0.4210766553878784, 0.32724088430404663, -0.22243452072143555, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2461464405059814, -1.2131476402282715, 1.630295753479004, -1.5322967767715454, 0.2617466151714325, 0.3345580995082855, 1.0428739786148071, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3532226085662842, -1.4212971925735474, -1.152547001838684, -1.8000484704971313, -0.41771796345710754, 0.33661553263664246, -0.22687767446041107, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2431578636169434, -1.2116366624832153, 1.6303520202636719, -1.5352823734283447, 0.2468239814043045, 0.32832738757133484, 1.0486032962799072, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.347429871559143, -1.4224590063095093, -1.1457101106643677, -1.795912742614746, -0.4071384072303772, 0.35534581542015076, -0.23325639963150024, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.243061900138855, -1.2112466096878052, 1.6349618434906006, -1.539284348487854, 0.2343320995569229, 0.3284744322299957, 1.05685555934906, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3446441888809204, -1.4240204095840454, -1.1410410404205322, -1.7937136888504028, -0.3925440013408661, 0.372089684009552, -0.23518681526184082, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2425391674041748, -1.2105469703674316, 1.6403931379318237, -1.5400736331939697, 0.22413580119609833, 0.3252813518047333, 1.0649807453155518, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3415100574493408, -1.426127552986145, -1.1400587558746338, -1.7937313318252563, -0.3836362659931183, 0.38320672512054443, -0.23516057431697845, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2426601648330688, -1.210286021232605, 1.6427547931671143, -1.5417499542236328, 0.22005710005760193, 0.32519733905792236, 1.0697745084762573, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3399478197097778, -1.427573800086975, -1.1398617029190063, -1.794721007347107, -0.37740036845207214, 0.3955272436141968, -0.23538778722286224, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.24582839012146, -1.2098464965820312, 1.6431618928909302, -1.5458885431289673, 0.21924205124378204, 0.32627710700035095, 1.0709905624389648, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3384318351745605, -1.4289851188659668, -1.139867901802063, -1.798263669013977, -0.3704356253147125, 0.40937909483909607, -0.23585517704486847, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.247515320777893, -1.2098435163497925, 1.6429681777954102, -1.5476406812667847, 0.2187463790178299, 0.3260188400745392, 1.070976734161377, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3354120254516602, -1.4303237199783325, -1.1398645639419556, -1.799345850944519, -0.3585832417011261, 0.4277162551879883, -0.23696839809417725, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2474864721298218, -1.209823727607727, 1.6424612998962402, -1.5491175651550293, 0.21787956357002258, 0.32587024569511414, 1.0709753036499023, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3296693563461304, -1.4324184656143188, -1.1389141082763672, -1.8030942678451538, -0.34613293409347534, 0.4576133191585541, -0.2332448959350586, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2509230375289917, -1.2096105813980103, 1.6441081762313843, -1.5557777881622314, 0.2180422991514206, 0.32883599400520325, 1.068827748298645, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3238790035247803, -1.4363853931427002, -1.1401240825653076, -1.8053683042526245, -0.34127238392829895, 0.4785756468772888, -0.23091696202754974, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.259936809539795, -1.209551215171814, 1.6619950532913208, -1.5732274055480957, 0.22291569411754608, 0.33374544978141785, 1.0650384426116943, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.323470950126648, -1.4385101795196533, -1.1456842422485352, -1.8112705945968628, -0.33366695046424866, 0.4918367862701416, -0.22985467314720154, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2684354782104492, -1.2067656517028809, 1.7023916244506836, -1.611309289932251, 0.23834346234798431, 0.3399205505847931, 1.065941333770752, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.32301664352417, -1.4387516975402832, -1.153375506401062, -1.8183351755142212, -0.330562561750412, 0.5057249665260315, -0.22926002740859985, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2865337133407593, -1.1984307765960693, 1.752364158630371, -1.6480764150619507, 0.2541826665401459, 0.35142192244529724, 1.070447564125061, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3200141191482544, -1.4385489225387573, -1.158944845199585, -1.824795126914978, -0.3268231153488159, 0.523274302482605, -0.22791779041290283, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3137301206588745, -1.1913129091262817, 1.7988791465759277, -1.67662513256073, 0.2698092460632324, 0.35429468750953674, 1.069800615310669, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3110544681549072, -1.4375542402267456, -1.1625661849975586, -1.826101303100586, -0.3229277729988098, 0.5368139147758484, -0.22751343250274658, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.331874132156372, -1.1862801313400269, 1.8391783237457275, -1.6977996826171875, 0.2782726287841797, 0.3563094735145569, 1.0693933963775635, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.296076774597168, -1.4369598627090454, -1.1656526327133179, -1.8207861185073853, -0.32180556654930115, 0.5348926186561584, -0.23326046764850616, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3444874286651611, -1.182347059249878, 1.8788632154464722, -1.7206357717514038, 0.3102967441082001, 0.35776349902153015, 1.0746163129806519, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.2840312719345093, -1.4345061779022217, -1.1809569597244263, -1.8268128633499146, -0.3101006746292114, 0.5172958374023438, -0.26475608348846436, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3619658946990967, -1.1783092021942139, 1.914760947227478, -1.746313214302063, 0.36984995007514954, 0.3567357361316681, 1.0989271402359009, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.281226634979248, -1.4267702102661133, -1.2215946912765503, -1.8646882772445679, -0.29717880487442017, 0.48867127299308777, -0.3342728614807129, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.387488603591919, -1.1755430698394775, 1.9546905755996704, -1.779718279838562, 0.4398035705089569, 0.38137146830558777, 1.1268810033798218, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.2863849401474, -1.414336919784546, -1.2812124490737915, -1.9183409214019775, -0.27769115567207336, 0.48237138986587524, -0.39123857021331787, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4075443744659424, -1.1665934324264526, 2.0009586811065674, -1.7897605895996094, 0.45634129643440247, 0.3906729221343994, 1.1698869466781616, 0.040199988228934176, 0.040199988228934176, 0.040199988228934176, 0.040199988228934176, -0.040199988228934176, -0.040199988228934176, -0.040199988228934176, 0.040199988228934176, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3158681392669678, -1.398358702659607, -1.3600598573684692, -1.9834777116775513, -0.2661782503128052, 0.4910707473754883, -0.4371020793914795, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.431833267211914, -1.1561540365219116, 2.048180103302002, -1.794651985168457, 0.4693267047405243, 0.3922925889492035, 1.2238852977752686, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3669193983078003, -1.380428433418274, -1.4307935237884521, -2.049107313156128, -0.251024454832077, 0.511867344379425, -0.4652591347694397, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4546207189559937, -1.1509133577346802, 2.077486038208008, -1.8042843341827393, 0.4910684823989868, 0.3982650339603424, 1.2633733749389648, 0.13080001768175065, 0.13080001768175065, 0.13080001768175065, 0.13080001768175065, -0.13080001768175065, -0.13080001768175065, -0.13080001768175065, 0.13080001768175065, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.4364988803863525, -1.3667361736297607, -1.4804879426956177, -2.1155450344085693, -0.2424544095993042, 0.5176448225975037, -0.46906113624572754, 0.23280000529446446, -0.23280000529446446, 0.23280000529446446, 0.23280000529446446, -0.23280000529446446, -0.23280000529446446, 0.23280000529446446, 0.23280000529446446, -1.4720176458358765, -1.1501575708389282, 2.079434394836426, -1.8079023361206055, 0.5108158588409424, 0.4147002100944519, 1.2725204229354858, 0.23099999742193536, 0.23099999742193536, 0.23099999742193536, 0.23099999742193536, -0.23099999742193536, -0.23099999742193536, -0.23099999742193536, 0.23099999742193536, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.496012568473816, -1.3601058721542358, -1.5061973333358765, -2.15508770942688, -0.25250187516212463, 0.5069324970245361, -0.4635489881038666, 0.5321999998538048, -0.5321999998538048, 0.5321999998538048, 0.5321999998538048, -0.5321999998538048, -0.5321999998538048, 0.5321999998538048, 0.5321999998538048, -1.4765139818191528, -1.150187611579895, 2.071686029434204, -1.8077882528305054, 0.5159785151481628, 0.41857337951660156, 1.2707322835922241, 0.5580000013440519, 0.5580000013440519, 0.5580000013440519, 0.5580000013440519, -0.5580000013440519, -0.5580000013440519, -0.5580000013440519, 0.5580000013440519, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665404562886, 0.025822582673251212, -4.60025945959164e-05, -0.14773787558078766], [-0.025822582233596132, 0.9996665414748354, 1.0125732772364433e-05, -0.0700545608997345], [4.624872721021033e-05, -8.93445046822258e-06, 0.9999999988906154, -7.784713670844212e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4987154006958008, -1.3599146604537964, -1.504340648651123, -2.1516337394714355, -0.25521618127822876, 0.5061674118041992, -0.46088704466819763, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.475904941558838, -1.1502728462219238, 2.0711541175842285, -1.8077075481414795, 0.5152214765548706, 0.4185265302658081, 1.2699511051177979, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665772852638, 0.025852273773121038, -5.027621327518706e-05, -0.14747902750968933], [-0.025852271587525035, 0.999665773220606, 4.364645199651868e-05, -0.07005097717046738], [5.1387769644583357e-05, -4.2332109847392935e-05, 0.9999999977836448, -7.587169238831848e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4889873266220093, -1.3603787422180176, -1.5019561052322388, -2.1499433517456055, -0.25517064332962036, 0.5063377022743225, -0.46089398860931396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4750546216964722, -1.1503441333770752, 2.071444034576416, -1.8076999187469482, 0.5149248838424683, 0.4184389114379883, 1.269834280014038, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661495408935, 0.02583768466450413, -5.9272772453349946e-05, -0.14765337109565735], [-0.025837682795303907, 0.999666150831444, 3.208760015178548e-05, -0.07005296647548676], [6.0082053581910906e-05, -3.05454165986953e-05, 0.9999999977285622, -7.792645192239434e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4865034818649292, -1.3606438636779785, -1.5019651651382446, -2.150099515914917, -0.2550545036792755, 0.5063469409942627, -0.46091005206108093, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4750328063964844, -1.1503571271896362, 2.071784734725952, -1.8077000379562378, 0.5148752331733704, 0.41841039061546326, 1.2697595357894897, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665891889055, 0.02584769118858066, -3.81297781368085e-05, -0.14782215654850006], [-0.02584769074156831, 0.9996658925537157, 1.2170092954203764e-05, -0.07005143910646439], [3.843160749842441e-05, -1.1180460114111972e-05, 0.9999999991990044, -7.629988249391317e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4868160486221313, -1.3606477975845337, -1.5020004510879517, -2.150312900543213, -0.2549659311771393, 0.5063561797142029, -0.46094611287117004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4750396013259888, -1.1503630876541138, 2.071788787841797, -1.8076989650726318, 0.5148575305938721, 0.4184033274650574, 1.2697182893753052, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665260187668, 0.025823139293314767, -4.727164421737454e-05, -0.14773820340633392], [-0.025823139010319133, 0.9996665271220506, 6.587279178093156e-06, -0.07005532085895538], [4.742598463391183e-05, -5.364380252008531e-06, 0.9999999988609997, -7.843170897103846e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4875622987747192, -1.3606456518173218, -1.5020973682403564, -2.1503326892852783, -0.2549365758895874, 0.5063700675964355, -0.4610084593296051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4750556945800781, -1.1503642797470093, 2.0717883110046387, -1.807699203491211, 0.5148468613624573, 0.41840213537216187, 1.2696914672851562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663015148173, 0.02583182857367977, -4.741546677803105e-05, -0.14773301780223846], [-0.025831827761600926, 0.9996663025042963, 1.7660226975490168e-05, -0.07005259394645691], [4.7855840311312736e-05, -1.6429505613454453e-05, 0.9999999987199449, -7.746806659270078e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4876090288162231, -1.3582953214645386, -1.5056952238082886, -2.1503231525421143, -0.24336977303028107, 0.5097665190696716, -0.46146637201309204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4750652313232422, -1.1503643989562988, 2.0717875957489014, -1.8076990842819214, 0.5148420333862305, 0.4184024930000305, 1.2696640491485596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666233551824, 0.025819384680111288, -3.904341425198515e-05, -0.14775072038173676], [-0.025819383488396908, 0.9996666236762419, 3.072494230360868e-05, -0.07005491852760315], [3.9823697206685954e-05, -2.970662244016295e-05, 0.9999999987657948, -7.538811769336462e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.4878935813903809, -1.3473949432373047, -1.5221679210662842, -2.148439645767212, -0.22952595353126526, 0.5173059105873108, -0.472318559885025, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4779411554336548, -1.1503686904907227, 2.0766923427581787, -1.801323413848877, 0.5080565810203552, 0.4205622971057892, 1.2581562995910645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996654729545641, 0.025863881131964243, -4.284062793980518e-05, -0.14774946868419647], [-0.02586388109750533, 0.9996654738724996, 1.3582611394335315e-06, -0.07004877924919128], [4.286142653509726e-05, -2.4978185717004056e-07, 0.9999999990814179, -7.789373921696097e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.4916073083877563, -1.337315559387207, -1.5589178800582886, -2.1483078002929688, -0.22527550160884857, 0.5265840888023376, -0.48202410340309143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4915409088134766, -1.1494425535202026, 2.09972882270813, -1.752463936805725, 0.4584752321243286, 0.3988884687423706, 1.2336664199829102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665357882673, 0.025822758267848668, -4.879062759974738e-05, -0.14776499569416046], [-0.025822756653824074, 0.9996665364617823, 3.342605888679065e-05, -0.07005404680967331], [4.963751074291658e-05, -3.2155003988917e-05, 0.9999999982510867, -7.651589839952067e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.499694585800171, -1.328214168548584, -1.5995513200759888, -2.1489410400390625, -0.2102319449186325, 0.5374066829681396, -0.4868752062320709, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5232853889465332, -1.1466270685195923, 2.1053450107574463, -1.6944661140441895, 0.39093393087387085, 0.33974066376686096, 1.2330949306488037, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663301009238, 0.02583075028672674, -2.832270438441175e-05, -0.1478034257888794], [-0.02583075002657799, 0.9996663304636051, 9.512872467574711e-06, -0.07005468010902405], [2.8558978593989757e-05, -8.778101611348126e-06, 0.9999999995536648, -7.556242053397e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.5136867761611938, -1.3196079730987549, -1.6432039737701416, -2.148348569869995, -0.19544856250286102, 0.5416051149368286, -0.4934169054031372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5573601722717285, -1.149592399597168, 2.09291672706604, -1.6388798952102661, 0.3420221209526062, 0.3147178590297699, 1.199919581413269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996669598077069, 0.025806370363683814, -2.678560823766489e-05, -0.14773309230804443], [-0.025806369528561864, 0.9996669597053179, 3.106898015495522e-05, -0.07005748897790909], [2.7578465159504898e-05, -3.03673936316016e-05, 0.9999999991586248, -7.37217633286491e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.5362555980682373, -1.313050627708435, -1.6798577308654785, -2.1579573154449463, -0.19463783502578735, 0.5474187731742859, -0.49569451808929443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5795657634735107, -1.1627228260040283, 2.0582404136657715, -1.5882487297058105, 0.3221546709537506, 0.30188778042793274, 1.1552834510803223, 0.1319999967302595, 0.1319999967302595, 0.1319999967302595, 0.1319999967302595, -0.1319999967302595, -0.1319999967302595, -0.1319999967302595, 0.1319999967302595, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665918850326, 0.025846661789377706, -2.7631124523470227e-05, -0.1477455198764801], [-0.025846660913489417, 0.9996659187553943, 3.1599944623289895e-05, -0.07005009055137634], [2.8438646564240808e-05, -3.087521537124397e-05, 0.9999999991189822, -7.399106107186526e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.5535610914230347, -1.3087419271469116, -1.7012701034545898, -2.1653261184692383, -0.19762586057186127, 0.5471658110618591, -0.5020474791526794, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5798792839050293, -1.1782680749893188, 2.00333309173584, -1.5388561487197876, 0.30503591895103455, 0.2675160765647888, 1.1289857625961304, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, 0.026999982896741947, -0.026999982896741947, -0.026999982896741947, -0.026999982896741947, 0.026999982896741947, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996654370677276, 0.025865264841639674, -4.479800330692043e-05, -0.14766648411750793], [-0.02586526411526277, 0.9996654379504831, 1.6718749337150396e-05, -0.07004915177822113], [4.521545047454619e-05, -1.555444367597832e-05, 0.9999999988568111, -7.671360799577087e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5568326711654663, -1.3079849481582642, -1.702086329460144, -2.166314125061035, -0.19810175895690918, 0.5470326542854309, -0.5007657408714294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5654220581054688, -1.1909987926483154, 1.9413535594940186, -1.494171380996704, 0.28504815697669983, 0.23896975815296173, 1.1108869314193726, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660538993695, 0.02584142084306432, -4.062110872331676e-05, -0.14763768017292023], [-0.02584141953358399, 0.9996660542322624, 3.243745689345768e-05, -0.07005146145820618], [4.1445773450640395e-05, -3.1376917418775184e-05, 0.9999999986488685, -7.526484841946512e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5556117296218872, -1.3080295324325562, -1.7004430294036865, -2.166299819946289, -0.19821032881736755, 0.5470108389854431, -0.5007281303405762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.54069983959198, -1.2011154890060425, 1.886091709136963, -1.4515608549118042, 0.285354346036911, 0.24343736469745636, 1.1093690395355225, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659976114768, 0.02584359668795497, -4.15894359202327e-05, -0.14771999418735504], [-0.025843596747741938, 0.999665998474655, -9.006942935295069e-07, -0.07005159556865692], [4.155226780513599e-05, 1.975214070372686e-06, 0.9999999991347538, -7.76168453739956e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.554586410522461, -1.3081010580062866, -1.7002919912338257, -2.1662817001342773, -0.19833365082740784, 0.5469942092895508, -0.5007336139678955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5261110067367554, -1.2066868543624878, 1.8489989042282104, -1.425708532333374, 0.29089081287384033, 0.246003657579422, 1.1280834674835205, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659001787315, 0.0258473522282888, -4.9016662340184475e-05, -0.1477731317281723], [-0.02584735197138655, 0.9996659013698727, 5.867479616041982e-06, -0.07005056738853455], [4.9151944752771346e-05, -4.59856836818161e-06, 0.9999999987814697, -7.855564035708085e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.554580569267273, -1.3081732988357544, -1.700179934501648, -2.1662404537200928, -0.19837307929992676, 0.5469854474067688, -0.500743567943573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.523203730583191, -1.210597276687622, 1.8360862731933594, -1.4281601905822754, 0.306367963552475, 0.24312277138233185, 1.1510738134384155, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656939813664, 0.025855328563274473, -4.755668423560578e-05, -0.14778971672058105], [-0.025855327465473078, 0.9996656948634243, 2.3555895599267935e-05, -0.07004904001951218], [4.814983121210857e-05, -2.2318427077511108e-05, 0.9999999985917408, -7.71341219660826e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.554582953453064, -1.308221459388733, -1.7000879049301147, -2.166212797164917, -0.19840028882026672, 0.5469810962677002, -0.5007543563842773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5230555534362793, -1.2135616540908813, 1.8354579210281372, -1.4478904008865356, 0.33730942010879517, 0.24957987666130066, 1.1566672325134277, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545839071273804, -1.3082337379455566, -1.7000715732574463, -2.16619873046875, -0.19842208921909332, 0.5469788312911987, -0.5007626414299011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5196709632873535, -1.2154150009155273, 1.8440489768981934, -1.4644206762313843, 0.3605248034000397, 0.25254836678504944, 1.1586030721664429, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545858144760132, -1.3082410097122192, -1.7000657320022583, -2.166187286376953, -0.19844186305999756, 0.5469787120819092, -0.500770092010498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5109543800354004, -1.215990424156189, 1.8615797758102417, -1.4763436317443848, 0.37187516689300537, 0.2530086934566498, 1.1399016380310059, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545880794525146, -1.3082472085952759, -1.7000620365142822, -2.1661808490753174, -0.19845516979694366, 0.5469784736633301, -0.5007750988006592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4948869943618774, -1.2169108390808105, 1.873422622680664, -1.487541913986206, 0.4019564092159271, 0.26061445474624634, 1.1059234142303467, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545885562896729, -1.3082534074783325, -1.700048804283142, -2.166177272796631, -0.19848836958408356, 0.5469785928726196, -0.5007791519165039, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4682234525680542, -1.219617486000061, 1.8701961040496826, -1.508951187133789, 0.4383770823478699, 0.26105010509490967, 1.0836185216903687, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545933246612549, -1.308261752128601, -1.7000404596328735, -2.1661765575408936, -0.19856278598308563, 0.5469787120819092, -0.5007817149162292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4362868070602417, -1.2225866317749023, 1.8504995107650757, -1.5420787334442139, 0.474445641040802, 0.2701209485530853, 1.0527167320251465, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545926094055176, -1.3082654476165771, -1.7000387907028198, -2.1661765575408936, -0.19860796630382538, 0.5469796657562256, -0.5007819533348083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4085274934768677, -1.226352334022522, 1.8218554258346558, -1.5726391077041626, 0.50810706615448, 0.2881354093551636, 1.0232534408569336, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545923709869385, -1.3082669973373413, -1.7000377178192139, -2.1661784648895264, -0.19862978160381317, 0.5469808578491211, -0.5007835030555725, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3769664764404297, -1.2282512187957764, 1.7791131734848022, -1.5775785446166992, 0.5174984931945801, 0.292149156332016, 1.0073589086532593, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.554593563079834, -1.308268666267395, -1.7000375986099243, -2.1661794185638428, -0.19864404201507568, 0.546981930732727, -0.5007855296134949, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3385915756225586, -1.2303353548049927, 1.728854775428772, -1.560152292251587, 0.5109230875968933, 0.2802388668060303, 1.0032329559326172, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.5545921325683594, -1.3082728385925293, -1.7000359296798706, -2.1661806106567383, -0.19865074753761292, 0.5469864010810852, -0.50078946352005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3051533699035645, -1.2322064638137817, 1.6829408407211304, -1.5444830656051636, 0.4957767128944397, 0.26657482981681824, 1.0042145252227783, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.5545920133590698, -1.3082761764526367, -1.7000389099121094, -2.166181802749634, -0.19865410029888153, 0.5469920039176941, -0.5007893443107605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2808269262313843, -1.233542561531067, 1.6437273025512695, -1.5319538116455078, 0.475162535905838, 0.2511090636253357, 1.0142861604690552, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.554591417312622, -1.308280110359192, -1.7000377178192139, -2.166184186935425, -0.1986604630947113, 0.5469999313354492, -0.5007895827293396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2671096324920654, -1.2355849742889404, 1.613374948501587, -1.5259275436401367, 0.4625089764595032, 0.2491423338651657, 1.015589714050293, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.5545905828475952, -1.3082842826843262, -1.7000395059585571, -2.1661858558654785, -0.1986628621816635, 0.5470054745674133, -0.50078946352005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.256831407546997, -1.2366461753845215, 1.5944441556930542, -1.52336585521698, 0.4426307678222656, 0.2551529109477997, 1.022964358329773, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.5545904636383057, -1.3082870244979858, -1.7000401020050049, -2.1661877632141113, -0.19866201281547546, 0.547007143497467, -0.500790536403656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.251172661781311, -1.2366492748260498, 1.5835247039794922, -1.522842288017273, 0.41918444633483887, 0.2593922019004822, 1.03203284740448, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545904636383057, -1.3082880973815918, -1.7000402212142944, -2.1661906242370605, -0.1986599862575531, 0.5470083355903625, -0.5007917284965515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2492202520370483, -1.236648678779602, 1.5792065858840942, -1.5230190753936768, 0.40349939465522766, 0.2605178654193878, 1.0368365049362183, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5545893907546997, -1.30828857421875, -1.7000402212142944, -2.1661927700042725, -0.19865518808364868, 0.5470083355903625, -0.5007959604263306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2482025623321533, -1.2366492748260498, 1.5781135559082031, -1.5231133699417114, 0.39479824900627136, 0.2604065537452698, 1.0402610301971436, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.552359700202942, -1.3082915544509888, -1.6976438760757446, -2.1643741130828857, -0.19797363877296448, 0.5469874739646912, -0.5000320672988892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.24786376953125, -1.2366645336151123, 1.5767379999160767, -1.5241706371307373, 0.3913925588130951, 0.26130151748657227, 1.0427887439727783, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5080701112747192, -1.3083066940307617, -1.6501597166061401, -2.122821092605591, -0.19988608360290527, 0.5447158813476562, -0.47680485248565674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.250489592552185, -1.2369669675827026, 1.5753694772720337, -1.5304783582687378, 0.38259217143058777, 0.2682534456253052, 1.0461463928222656, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659087076457, 0.025847036082214322, -4.115193477610479e-05, -0.1477460414171219], [-0.025847035084376153, 0.9996659092778449, 2.4597695401770617e-05, -0.07005085051059723], [4.1773963817086235e-05, -2.352582202397696e-05, 0.9999999988507359, -7.59432150516659e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4471485614776611, -1.3090530633926392, -1.5805524587631226, -2.0778982639312744, -0.1960444152355194, 0.5428609251976013, -0.46875685453414917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.256740689277649, -1.2369786500930786, 1.5746415853500366, -1.533160924911499, 0.371590793132782, 0.273240327835083, 1.0463541746139526, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665891497413, 0.025820680596626015, -5.46923163171124e-05, -0.14760823547840118], [-0.02582067927879716, 0.9996665903755956, 2.4666021820205786e-05, -0.07005301862955093], [5.531097484348025e-05, -2.3245605142259526e-05, 0.9999999982001689, -7.727318006800488e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3979636430740356, -1.3120272159576416, -1.5195648670196533, -2.033876419067383, -0.18911562860012054, 0.5429825782775879, -0.4513401687145233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.260825276374817, -1.2371209859848022, 1.5764520168304443, -1.5377020835876465, 0.3720962703227997, 0.27617347240448, 1.046355962753296, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666736391816, 0.025815002366385707, -4.2480101255112686e-05, -0.14783461391925812], [-0.02581500009439037, 0.9996667359379998, 5.319014849711856e-05, -0.0700569674372673], [4.383904797333575e-05, -5.207579833840012e-05, 0.9999999976831245, -7.390083919744939e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3645318746566772, -1.3193447589874268, -1.4700932502746582, -1.9883192777633667, -0.2131928950548172, 0.5365289449691772, -0.4110831320285797, 0.5477999976703098, -0.5477999976703098, 0.5477999976703098, 0.5477999976703098, -0.5477999976703098, -0.5477999976703098, 0.5477999976703098, 0.5477999976703098, -1.2611956596374512, -1.2380485534667969, 1.5814605951309204, -1.5391952991485596, 0.374642938375473, 0.27755680680274963, 1.0437427759170532, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99966604270442, 0.025841856710569672, -3.879993567479575e-05, -0.14779339730739594], [-0.025841855010959675, 0.9996660425468225, 4.3684860792460854e-05, -0.07005121558904648], [3.9915876060114304e-05, -4.266760960235018e-05, 0.9999999982930989, -7.436057057930157e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3414825201034546, -1.327828288078308, -1.4226515293121338, -1.9497851133346558, -0.2249506115913391, 0.5269351005554199, -0.38010820746421814, 0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -1.2609964609146118, -1.238215446472168, 1.583208680152893, -1.532019019126892, 0.37458276748657227, 0.27702435851097107, 1.0407564640045166, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664747444962, 0.02582513767550954, -3.9191231185917e-05, -0.1477656364440918], [-0.02582513618937465, 0.9996664748302501, 3.7963947165344524e-05, -0.07005084306001663], [4.01585840861338e-05, -3.6939166347360704e-05, 0.9999999985113931, -7.485932292183861e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3324894905090332, -1.3356471061706543, -1.3926846981048584, -1.928748607635498, -0.23654115200042725, 0.5248430371284485, -0.3565235137939453, 0.03299999603858363, -0.03299999603858363, 0.03299999603858363, 0.03299999603858363, -0.03299999603858363, -0.03299999603858363, 0.03299999603858363, 0.03299999603858363, -1.2601274251937866, -1.2387750148773193, 1.5828797817230225, -1.5232148170471191, 0.3744812607765198, 0.274522989988327, 1.0370606184005737, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666401866565, 0.02582796948751442, -3.116580619557959e-05, -0.14779995381832123], [-0.025827968185166177, 0.9996664015250016, 4.1490725026148084e-05, -0.07005603611469269], [3.222703051015086e-05, -4.0671934346840014e-05, 0.9999999986536061, -7.311635272344574e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3248381614685059, -1.3406882286071777, -1.3712821006774902, -1.9176100492477417, -0.2450854331254959, 0.5174137353897095, -0.34709012508392334, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2549736499786377, -1.2402245998382568, 1.5798468589782715, -1.5175782442092896, 0.37672626972198486, 0.2732996642589569, 1.032616376876831, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999665533064578, 0.02586152483590963, -5.946322217146011e-05, -0.14775413274765015], [-0.025861523114635316, 0.9996655344413043, 2.9535951527550625e-05, -0.07004868984222412], [6.020717851561666e-05, -2.7988263233700523e-05, 0.9999999977958763, -7.880145858507603e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3177882432937622, -1.345859169960022, -1.355817198753357, -1.9082590341567993, -0.2496442347764969, 0.5157572031021118, -0.3443053364753723, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.244291067123413, -1.242529273033142, 1.57401704788208, -1.5061489343643188, 0.3832761347293854, 0.2705559730529785, 1.0274131298065186, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665787399093, 0.02582111578447419, -3.647039342159586e-05, -0.1476934552192688], [-0.025821114819280386, 0.9996665790737387, 2.669266079452226e-05, -0.0700530856847763], [3.714746771421117e-05, -2.574205467788162e-05, 0.9999999989787062, -7.505277608288452e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3172571659088135, -1.348573923110962, -1.3501585721969604, -1.9046361446380615, -0.250844806432724, 0.51593416929245, -0.35114583373069763, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2329767942428589, -1.244389533996582, 1.5679097175598145, -1.4882758855819702, 0.38411107659339905, 0.2611033022403717, 1.0262967348098755, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996658711141001, 0.025848492281697263, -3.970453919991393e-05, -0.14778581261634827], [-0.025848490837398517, 0.9996658712747332, 3.6468583182861246e-05, -0.07005003839731216], [4.063393066377039e-05, -3.54300955580799e-05, 0.999999998546796, -7.423168426612392e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.3172619342803955, -1.3501219749450684, -1.3431860208511353, -1.8988982439041138, -0.2475394457578659, 0.5169593095779419, -0.35915666818618774, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2258843183517456, -1.2453826665878296, 1.5639152526855469, -1.476704478263855, 0.3844783902168274, 0.2577068507671356, 1.025964617729187, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666033990246, 0.025820161175521654, -3.640779243547409e-05, -0.14776396751403809], [-0.025820159787698284, 0.9996666033722961, 3.808719094487917e-05, -0.07005658745765686], [3.737907160917361e-05, -3.713443778667614e-05, 0.9999999986119192, -7.336847193073481e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3172366619110107, -1.3522465229034424, -1.3397727012634277, -1.893369436264038, -0.24211561679840088, 0.5187191963195801, -0.36430808901786804, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.213276743888855, -1.247020959854126, 1.5552104711532593, -1.4626052379608154, 0.3871328830718994, 0.2518662214279175, 1.0246728658676147, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665946374613, 0.02582048548042966, -4.577659373974276e-05, -0.14771293103694916], [-0.025820483395135863, 0.9996665947005735, 4.5574123385690046e-05, -0.07005497068166733], [4.693807757196377e-05, -4.437695495001735e-05, 0.9999999979137514, -7.448583346558735e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3170559406280518, -1.3532264232635498, -1.3397711515426636, -1.8874765634536743, -0.23529934883117676, 0.5199573040008545, -0.3693654239177704, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1941945552825928, -1.2495837211608887, 1.5420289039611816, -1.4439376592636108, 0.3872748911380768, 0.2409554272890091, 1.0246894359588623, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667183267653, 0.025815716963054756, -3.205431423674887e-05, -0.14773857593536377], [-0.025815715430940776, 0.9996667177600372, 4.7325076125993243e-05, -0.07005433738231659], [3.326536187362323e-05, -4.648179849076615e-05, 0.999999998366429, -7.272190850926563e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3171242475509644, -1.3542132377624512, -1.341599464416504, -1.8827404975891113, -0.23261140286922455, 0.5220033526420593, -0.37229833006858826, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1729354858398438, -1.2534409761428833, 1.5298793315887451, -1.4227172136306763, 0.3874298632144928, 0.22920681536197662, 1.0246905088424683, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665135135915, 0.025823633061291276, -4.1654486068003336e-05, -0.14773990213871002], [-0.02582363203168977, 0.9996665140936924, 2.5069051528302645e-05, -0.07005395740270615], [4.2287968871826664e-05, -2.398502121770161e-05, 0.9999999988182232, -7.565718988189474e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3173733949661255, -1.3554190397262573, -1.3423652648925781, -1.8762056827545166, -0.2296019345521927, 0.5230728387832642, -0.37636709213256836, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1534638404846191, -1.2562432289123535, 1.5166847705841064, -1.4064208269119263, 0.38719579577445984, 0.22245262563228607, 1.0247080326080322, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661420560221, 0.02583799960620518, -4.693803202605333e-05, -0.14774619042873383], [-0.02583799716024055, 0.9996661418692524, 5.199029803787713e-05, -0.07005243748426437], [4.82656866826493e-05, -5.076015592567096e-05, 0.999999997546915, -7.503262168029323e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3168504238128662, -1.3566744327545166, -1.3406040668487549, -1.8669689893722534, -0.22614136338233948, 0.5247879028320312, -0.37733015418052673, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1370233297348022, -1.2594013214111328, 1.5003530979156494, -1.3894506692886353, 0.3832918107509613, 0.21199554204940796, 1.0282739400863647, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662033865718, 0.02583562202080402, -4.941128903661292e-05, -0.1477455049753189], [-0.025835619534109476, 0.999666203405532, 5.031956048416351e-05, -0.07005263864994049], [5.069483286152606e-05, -4.9026192721044846e-05, 0.9999999975132332, -7.545202970504761e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.311984658241272, -1.357569694519043, -1.3410110473632812, -1.8560141324996948, -0.22299909591674805, 0.5296469926834106, -0.37816569209098816, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1209266185760498, -1.2627625465393066, 1.4810857772827148, -1.370276689529419, 0.3689359128475189, 0.1925482600927353, 1.0426181554794312, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660085172878, 0.02584314875997954, -5.547326761081753e-05, -0.1477453112602234], [-0.025843147227906114, 0.9996660096994329, 2.815972707491174e-05, -0.07005137205123901], [5.618247609333212e-05, -2.671671814383383e-05, 0.9999999980648732, -7.713753439020365e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3040680885314941, -1.3586453199386597, -1.3452693223953247, -1.8460229635238647, -0.21838194131851196, 0.5306316614151001, -0.38126373291015625, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0968104600906372, -1.2673583030700684, 1.4607598781585693, -1.3378489017486572, 0.3491595685482025, 0.1664341539144516, 1.0573712587356567, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3018914461135864, -1.3589035272598267, -1.3509845733642578, -1.843408226966858, -0.21453247964382172, 0.5308868885040283, -0.3818630576133728, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0757557153701782, -1.2713322639465332, 1.4480395317077637, -1.3151779174804688, 0.3347848355770111, 0.15121635794639587, 1.0684973001480103, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3032113313674927, -1.3590527772903442, -1.3544268608093262, -1.843115210533142, -0.2123650163412094, 0.5336109399795532, -0.3808729350566864, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0636283159255981, -1.2746880054473877, 1.442629098892212, -1.3057514429092407, 0.32571086287498474, 0.14432686567306519, 1.0720384120941162, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3091672658920288, -1.3595539331436157, -1.354565143585205, -1.8431379795074463, -0.2116336226463318, 0.5384977459907532, -0.38001856207847595, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0541505813598633, -1.277443528175354, 1.4410991668701172, -1.2986831665039062, 0.3214517831802368, 0.14319363236427307, 1.0726171731948853, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3136677742004395, -1.360076665878296, -1.3520891666412354, -1.8417021036148071, -0.21158628165721893, 0.5431105494499207, -0.37915679812431335, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0470927953720093, -1.2792437076568604, 1.44098699092865, -1.2917044162750244, 0.314664751291275, 0.13893179595470428, 1.077042579650879, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3132933378219604, -1.3606637716293335, -1.3476711511611938, -1.8359047174453735, -0.2086648941040039, 0.5507954359054565, -0.3806530237197876, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0385041236877441, -1.2808970212936401, 1.4395055770874023, -1.2800843715667725, 0.30454695224761963, 0.13500912487506866, 1.0835905075073242, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3115098476409912, -1.3613277673721313, -1.3458219766616821, -1.8322938680648804, -0.20596843957901, 0.554114580154419, -0.3850366175174713, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0307198762893677, -1.281988263130188, 1.4342517852783203, -1.267905592918396, 0.287369966506958, 0.1264541894197464, 1.0921705961227417, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3090362548828125, -1.3619716167449951, -1.3433303833007812, -1.8296846151351929, -0.20591068267822266, 0.5601761341094971, -0.387096107006073, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0271722078323364, -1.2843111753463745, 1.4316998720169067, -1.2613621950149536, 0.28140589594841003, 0.12064387649297714, 1.093959927558899, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3082952499389648, -1.3624316453933716, -1.3394320011138916, -1.828749656677246, -0.20567026734352112, 0.564860999584198, -0.3903786838054657, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0211656093597412, -1.2869510650634766, 1.429743766784668, -1.2528634071350098, 0.27873942255973816, 0.11932740360498428, 1.093875765800476, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3067512512207031, -1.3627686500549316, -1.338040828704834, -1.8286212682724, -0.20313285291194916, 0.5698547959327698, -0.3924071490764618, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0146853923797607, -1.288955569267273, 1.429380178451538, -1.246713638305664, 0.2747751474380493, 0.11679154634475708, 1.093902826309204, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3047071695327759, -1.3631646633148193, -1.3356688022613525, -1.8280452489852905, -0.20154158771038055, 0.576615571975708, -0.39265796542167664, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0123844146728516, -1.2901337146759033, 1.4293594360351562, -1.2440669536590576, 0.2709110677242279, 0.1158612072467804, 1.0965758562088013, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.303681492805481, -1.363734483718872, -1.333177924156189, -1.8271970748901367, -0.19746096432209015, 0.5908302068710327, -0.38924258947372437, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0096386671066284, -1.2913048267364502, 1.4271982908248901, -1.2377315759658813, 0.26180917024612427, 0.11205454170703888, 1.1011613607406616, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3036965131759644, -1.3640162944793701, -1.3328700065612793, -1.826648473739624, -0.19335779547691345, 0.6051777005195618, -0.3874206244945526, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0095492601394653, -1.2921345233917236, 1.4263079166412354, -1.2382255792617798, 0.2440694123506546, 0.11222027987241745, 1.1025960445404053, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3044739961624146, -1.3642667531967163, -1.3329108953475952, -1.826635479927063, -0.18971554934978485, 0.6137500405311584, -0.38196325302124023, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0067408084869385, -1.2939660549163818, 1.4259999990463257, -1.2387398481369019, 0.22435271739959717, 0.11389723420143127, 1.1025941371917725, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3057668209075928, -1.364997386932373, -1.3337557315826416, -1.8279953002929688, -0.18776056170463562, 0.6213726997375488, -0.3800329566001892, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0004727840423584, -1.2947361469268799, 1.4252724647521973, -1.2387382984161377, 0.20774762332439423, 0.11638108640909195, 1.106229305267334, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3076502084732056, -1.365231990814209, -1.3351882696151733, -1.8320008516311646, -0.18494559824466705, 0.6277369260787964, -0.37600624561309814, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9962626695632935, -1.2952755689620972, 1.4252387285232544, -1.241662859916687, 0.19057589769363403, 0.11837274581193924, 1.1084595918655396, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.31121826171875, -1.3653265237808228, -1.3382946252822876, -1.8383560180664062, -0.18203581869602203, 0.6327918767929077, -0.3700551390647888, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9929574728012085, -1.2964297533035278, 1.4250893592834473, -1.2447991371154785, 0.1757252961397171, 0.11994770914316177, 1.1084297895431519, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.3149919509887695, -1.365896463394165, -1.3428462743759155, -1.8455352783203125, -0.18009857833385468, 0.6375025510787964, -0.35671237111091614, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9896593689918518, -1.2970203161239624, 1.4249811172485352, -1.2435985803604126, 0.16923558712005615, 0.120909683406353, 1.1090099811553955, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.317503809928894, -1.3664799928665161, -1.3455066680908203, -1.851513385772705, -0.17869317531585693, 0.6363096237182617, -0.33886751532554626, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9912000298500061, -1.2974449396133423, 1.4305709600448608, -1.2430565357208252, 0.1773807853460312, 0.12113798409700394, 1.1091631650924683, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3210128545761108, -1.367831826210022, -1.351033091545105, -1.8590298891067505, -0.18000736832618713, 0.6300763487815857, -0.3228940963745117, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0064436197280884, -1.2961409091949463, 1.4455927610397339, -1.258510947227478, 0.19487200677394867, 0.13248609006404877, 1.1061503887176514, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3241448402404785, -1.3683462142944336, -1.353685975074768, -1.8654848337173462, -0.18160870671272278, 0.6262267827987671, -0.3120531439781189, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0181974172592163, -1.2929147481918335, 1.4558051824569702, -1.2771656513214111, 0.20455621182918549, 0.1391092836856842, 1.104555368423462, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3266122341156006, -1.3687266111373901, -1.3543674945831299, -1.8676860332489014, -0.18257738649845123, 0.6238950490951538, -0.30730921030044556, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0235892534255981, -1.2910810708999634, 1.463105320930481, -1.2906761169433594, 0.2127685248851776, 0.14048351347446442, 1.1034327745437622, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3293284177780151, -1.3687368631362915, -1.3543058633804321, -1.8707973957061768, -0.18265144526958466, 0.6218699216842651, -0.307543009519577, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0287610292434692, -1.2896358966827393, 1.4700181484222412, -1.3072600364685059, 0.22326982021331787, 0.14367923140525818, 1.1005667448043823, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3307404518127441, -1.3687705993652344, -1.3511155843734741, -1.8788657188415527, -0.19047774374485016, 0.6087498664855957, -0.3114962577819824, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0401746034622192, -1.2872761487960815, 1.4786033630371094, -1.3365670442581177, 0.2338702380657196, 0.15012650191783905, 1.0999348163604736, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3273733854293823, -1.3696705102920532, -1.3418956995010376, -1.883152723312378, -0.19853882491588593, 0.5893730521202087, -0.31696656346321106, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.049113392829895, -1.2847788333892822, 1.4816443920135498, -1.355542540550232, 0.23955781757831573, 0.15097007155418396, 1.1006230115890503, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3132997751235962, -1.3719278573989868, -1.3271085023880005, -1.8860042095184326, -0.20583373308181763, 0.5665313601493835, -0.32521194219589233, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.052455186843872, -1.2836897373199463, 1.4819146394729614, -1.3636159896850586, 0.24369430541992188, 0.15383322536945343, 1.1007155179977417, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.298841953277588, -1.375349521636963, -1.3184727430343628, -1.88704514503479, -0.20877718925476074, 0.5638263821601868, -0.3301778733730316, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.052446961402893, -1.282824158668518, 1.481047511100769, -1.3663785457611084, 0.24685057997703552, 0.1538265198469162, 1.0965101718902588, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.298486590385437, -1.3762391805648804, -1.316162109375, -1.8823001384735107, -0.206093430519104, 0.5648885369300842, -0.33134907484054565, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0518219470977783, -1.282355546951294, 1.479514241218567, -1.36943781375885, 0.2501964569091797, 0.15381751954555511, 1.092833161354065, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.305108904838562, -1.3761909008026123, -1.3179476261138916, -1.8784403800964355, -0.20093278586864471, 0.5659343004226685, -0.3372211158275604, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0508993864059448, -1.2821818590164185, 1.476979374885559, -1.369553565979004, 0.25216078758239746, 0.15354607999324799, 1.088830828666687, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3125592470169067, -1.3759912252426147, -1.3240982294082642, -1.8784648180007935, -0.1952131986618042, 0.5712935328483582, -0.33375000953674316, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0501033067703247, -1.2821329832077026, 1.4748095273971558, -1.369520902633667, 0.2537081837654114, 0.1528565138578415, 1.0849504470825195, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3191280364990234, -1.376024842262268, -1.333409309387207, -1.8807305097579956, -0.19556061923503876, 0.5730366110801697, -0.3017731010913849, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0499956607818604, -1.2817801237106323, 1.4743380546569824, -1.3700361251831055, 0.25449806451797485, 0.1528273969888687, 1.0836186408996582, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.320328712463379, -1.3761227130889893, -1.3408249616622925, -1.880889892578125, -0.19758978486061096, 0.5724673867225647, -0.28829023241996765, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0502898693084717, -1.2811726331710815, 1.474287509918213, -1.3719770908355713, 0.2536916732788086, 0.1527574062347412, 1.0835212469100952, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3203128576278687, -1.376570463180542, -1.3394343852996826, -1.8808666467666626, -0.20012469589710236, 0.5734007954597473, -0.28988736867904663, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0508732795715332, -1.2806357145309448, 1.4742882251739502, -1.3720824718475342, 0.2519224286079407, 0.15252910554409027, 1.0860174894332886, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3169147968292236, -1.3766779899597168, -1.3258857727050781, -1.8768993616104126, -0.20387431979179382, 0.5797097682952881, -0.30733975768089294, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0508383512496948, -1.2802436351776123, 1.4741833209991455, -1.3719041347503662, 0.2519018054008484, 0.15334534645080566, 1.0874109268188477, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3141671419143677, -1.3792357444763184, -1.3107497692108154, -1.8728392124176025, -0.20567026734352112, 0.581127405166626, -0.30688580870628357, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.050612449645996, -1.2797998189926147, 1.4738869667053223, -1.3712691068649292, 0.252846896648407, 0.1530173420906067, 1.0873934030532837, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.311957836151123, -1.3806971311569214, -1.3071799278259277, -1.8711063861846924, -0.2073397934436798, 0.5817916989326477, -0.30555662512779236, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.049766182899475, -1.279658317565918, 1.4738569259643555, -1.3699159622192383, 0.2563164532184601, 0.15219150483608246, 1.0873955488204956, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3094359636306763, -1.3807207345962524, -1.3074814081192017, -1.8709590435028076, -0.20723840594291687, 0.5850021243095398, -0.3081521689891815, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0495002269744873, -1.2796332836151123, 1.4738574028015137, -1.3690651655197144, 0.2585597634315491, 0.15219150483608246, 1.087151288986206, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3059730529785156, -1.3812392950057983, -1.3077001571655273, -1.8715676069259644, -0.20791491866111755, 0.5870551466941833, -0.30917850136756897, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0494691133499146, -1.2795567512512207, 1.4738576412200928, -1.3684574365615845, 0.25944048166275024, 0.1520506888628006, 1.0865411758422852, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.302847981452942, -1.382356882095337, -1.3065036535263062, -1.8758530616760254, -0.21553269028663635, 0.5839772820472717, -0.31416407227516174, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0494965314865112, -1.279329538345337, 1.4738589525222778, -1.3686579465866089, 0.2609761655330658, 0.1525787115097046, 1.0865395069122314, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3002734184265137, -1.382637619972229, -1.3010900020599365, -1.8794535398483276, -0.21831566095352173, 0.5741239190101624, -0.3268178403377533, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0503789186477661, -1.2791612148284912, 1.4738918542861938, -1.3712385892868042, 0.262654185295105, 0.1530562937259674, 1.0854493379592896, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.2994334697723389, -1.3834792375564575, -1.2995985746383667, -1.8807008266448975, -0.2160310000181198, 0.574319064617157, -0.32761216163635254, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.051438808441162, -1.2791091203689575, 1.4743515253067017, -1.3734525442123413, 0.2653791606426239, 0.15306107699871063, 1.0832138061523438, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.302528977394104, -1.3834805488586426, -1.3020986318588257, -1.8800262212753296, -0.21275654435157776, 0.5740306973457336, -0.328197717666626, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0514434576034546, -1.279101014137268, 1.474018931388855, -1.3735647201538086, 0.2653113305568695, 0.1530100256204605, 1.0828880071640015, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.31309974193573, -1.3834015130996704, -1.309484839439392, -1.8796902894973755, -0.20563682913780212, 0.5750823020935059, -0.32895907759666443, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0503947734832764, -1.2790884971618652, 1.4661509990692139, -1.368395209312439, 0.25924310088157654, 0.152064710855484, 1.0829440355300903, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.323193073272705, -1.3823013305664062, -1.3147339820861816, -1.8797268867492676, -0.20178785920143127, 0.5781365036964417, -0.32895103096961975, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0494812726974487, -1.279290795326233, 1.4553005695343018, -1.3588916063308716, 0.2471906989812851, 0.14999791979789734, 1.0852551460266113, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3257638216018677, -1.3816560506820679, -1.3158916234970093, -1.8798677921295166, -0.20115892589092255, 0.5819522738456726, -0.32903337478637695, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0467299222946167, -1.2805976867675781, 1.4469530582427979, -1.3435755968093872, 0.23726201057434082, 0.1437969207763672, 1.0876086950302124, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3257168531417847, -1.3815544843673706, -1.3158786296844482, -1.8799761533737183, -0.20116372406482697, 0.5832421183586121, -0.32889387011528015, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0441185235977173, -1.2816169261932373, 1.4439228773117065, -1.3383405208587646, 0.23079591989517212, 0.14263887703418732, 1.0886129140853882, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.323848843574524, -1.3811109066009521, -1.3154516220092773, -1.8785147666931152, -0.20006920397281647, 0.585004448890686, -0.32887038588523865, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0384913682937622, -1.2826391458511353, 1.4399559497833252, -1.330381155014038, 0.22189727425575256, 0.14012962579727173, 1.0913622379302979, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3215627670288086, -1.380761981010437, -1.3147860765457153, -1.873922348022461, -0.19913408160209656, 0.5856369733810425, -0.3313823938369751, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0334479808807373, -1.2833930253982544, 1.4392820596694946, -1.326897382736206, 0.21446117758750916, 0.13885138928890228, 1.0968607664108276, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3205442428588867, -1.3805975914001465, -1.313859224319458, -1.871551752090454, -0.19905617833137512, 0.5874747633934021, -0.33170080184936523, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0315582752227783, -1.2843017578125, 1.4392874240875244, -1.3250648975372314, 0.20802900195121765, 0.13858090341091156, 1.0986963510513306, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3201998472213745, -1.3804941177368164, -1.3128459453582764, -1.870972990989685, -0.19603759050369263, 0.5889957547187805, -0.3313320577144623, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0264005661010742, -1.2866716384887695, 1.4383573532104492, -1.3161853551864624, 0.2022867649793625, 0.13435611128807068, 1.102569580078125, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.3201578855514526, -1.3802489042282104, -1.3129076957702637, -1.8710627555847168, -0.1934361755847931, 0.5915372371673584, -0.33055511116981506, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0219192504882812, -1.2880550622940063, 1.4376150369644165, -1.3109530210494995, 0.19550645351409912, 0.1320895254611969, 1.1067217588424683, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3203173875808716, -1.379899263381958, -1.314168095588684, -1.8730413913726807, -0.19111542403697968, 0.5936142802238464, -0.32974690198898315, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0230159759521484, -1.2885223627090454, 1.4364858865737915, -1.3095977306365967, 0.1862819492816925, 0.13348113000392914, 1.1074702739715576, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3208118677139282, -1.379905343055725, -1.314224362373352, -1.8748608827590942, -0.19096802175045013, 0.5939099192619324, -0.32795730233192444, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.024584174156189, -1.2901328802108765, 1.4360917806625366, -1.3088669776916504, 0.1847042292356491, 0.13382723927497864, 1.106961965560913, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.320839285850525, -1.3799108266830444, -1.3142238855361938, -1.875151515007019, -0.1899450570344925, 0.5964936017990112, -0.32796400785446167, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.024674654006958, -1.2906525135040283, 1.435529351234436, -1.3092857599258423, 0.180644690990448, 0.1362256407737732, 1.1051260232925415, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3211570978164673, -1.3799288272857666, -1.3142118453979492, -1.8758937120437622, -0.1892445683479309, 0.5962851643562317, -0.32796210050582886, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0223190784454346, -1.2916984558105469, 1.4324272871017456, -1.307345986366272, 0.16621088981628418, 0.13718269765377045, 1.1051256656646729, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3217540979385376, -1.379934310913086, -1.3142127990722656, -1.8769563436508179, -0.18787741661071777, 0.5963459610939026, -0.3279536962509155, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0154640674591064, -1.2929396629333496, 1.4279356002807617, -1.3001532554626465, 0.1424172967672348, 0.13738763332366943, 1.1060584783554077, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.3246197700500488, -1.3799407482147217, -1.314811110496521, -1.8829543590545654, -0.18528582155704498, 0.5972248315811157, -0.324616938829422, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0109111070632935, -1.2944449186325073, 1.4278031587600708, -1.305633544921875, 0.12261372059583664, 0.1443314105272293, 1.107888102531433, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.3297067880630493, -1.3799394369125366, -1.318068504333496, -1.8888622522354126, -0.18225394189357758, 0.5978281497955322, -0.319613516330719, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0087627172470093, -1.2946633100509644, 1.4278961420059204, -1.3133959770202637, 0.10903918743133545, 0.1557081639766693, 1.10822594165802, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.3345768451690674, -1.3799149990081787, -1.3191801309585571, -1.894162893295288, -0.18080396950244904, 0.5978640913963318, -0.31395530700683594, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0068039894104004, -1.2954543828964233, 1.4289913177490234, -1.3196260929107666, 0.09748256206512451, 0.16758045554161072, 1.1116712093353271, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3383862972259521, -1.3797297477722168, -1.3205783367156982, -1.9031122922897339, -0.18035706877708435, 0.599187970161438, -0.3093329668045044, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0057328939437866, -1.2956337928771973, 1.431762456893921, -1.3251125812530518, 0.09538771957159042, 0.17498226463794708, 1.1142553091049194, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3410285711288452, -1.3795222043991089, -1.3249725103378296, -1.9137822389602661, -0.17966414988040924, 0.5985444188117981, -0.2999095320701599, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0204832553863525, -1.2934807538986206, 1.4485054016113281, -1.3404499292373657, 0.12209504097700119, 0.18467511236667633, 1.1120814085006714, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.341100811958313, -1.3792880773544312, -1.332533359527588, -1.9229522943496704, -0.17961008846759796, 0.588116466999054, -0.29225102066993713, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0392266511917114, -1.2893314361572266, 1.4774936437606812, -1.3663409948349, 0.17399811744689941, 0.19325940310955048, 1.1081572771072388, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3375803232192993, -1.3786561489105225, -1.345484972000122, -1.9308398962020874, -0.17961440980434418, 0.5720379948616028, -0.2905557453632355, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0474073886871338, -1.2853199243545532, 1.5142168998718262, -1.4061315059661865, 0.2226860672235489, 0.20792822539806366, 1.0948562622070312, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3350178003311157, -1.3770006895065308, -1.3687613010406494, -1.938978910446167, -0.18449054658412933, 0.5466867685317993, -0.2897847890853882, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0620992183685303, -1.2773010730743408, 1.5673716068267822, -1.4620919227600098, 0.2750895023345947, 0.24191153049468994, 1.0885504484176636, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3411113023757935, -1.3726584911346436, -1.403491735458374, -1.9554532766342163, -0.19178366661071777, 0.5180367231369019, -0.2933461368083954, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1024121046066284, -1.2586760520935059, 1.639404535293579, -1.533699631690979, 0.3059552311897278, 0.2850368916988373, 1.1130558252334595, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663348413205, 0.02583053517717038, -4.9369846658541745e-05, -0.14771206676959991], [-0.025830533140528612, 0.9996663352535128, 4.145464275644646e-05, -0.07005325704813004], [5.0424169289149726e-05, -4.016556132623685e-05, 0.9999999979220654, -7.584528793813661e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3586804866790771, -1.3664426803588867, -1.4461125135421753, -1.9746840000152588, -0.19879503548145294, 0.5042481422424316, -0.3024854362010956, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.167694330215454, -1.236762285232544, 1.7126820087432861, -1.5921381711959839, 0.32424554228782654, 0.3091332018375397, 1.154207468032837, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667630680759, 0.02581395262757769, -5.1640454882457555e-05, -0.14792096614837646], [-0.025813949626650966, 0.9996667627992447, 5.795818636499092e-05, -0.0700586661696434], [5.311937623903299e-05, -5.660582845575366e-05, 0.999999996987056, -7.587706932099536e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3860880136489868, -1.3585009574890137, -1.489235281944275, -1.98903489112854, -0.2056235373020172, 0.49589860439300537, -0.3135928809642792, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2504171133041382, -1.2182040214538574, 1.7746587991714478, -1.6416460275650024, 0.32593831419944763, 0.31051796674728394, 1.1989049911499023, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996671357515202, 0.025799476475919892, -6.864342649142379e-05, -0.14785319566726685], [-0.025799471217702707, 0.9996671353233346, 7.641547368048869e-05, -0.07005586475133896], [7.059205673507557e-05, -7.461907359521983e-05, 0.9999999947243777, -7.887403626227751e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4252022504806519, -1.349509835243225, -1.5328893661499023, -2.017312526702881, -0.2063140571117401, 0.48347803950309753, -0.3304814100265503, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3177870512008667, -1.2044159173965454, 1.8375561237335205, -1.682329535484314, 0.32561761140823364, 0.32684779167175293, 1.229371190071106, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662237917209, 0.02583479767620816, -6.510783756029823e-05, -0.14784763753414154], [-0.025834794236656154, 0.9996662245891068, 5.312730993429365e-05, -0.07005519419908524], [6.645863946829785e-05, -5.1427529715663776e-05, 0.9999999964692292, -7.937966438475996e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.4743164777755737, -1.3419138193130493, -1.5793479681015015, -2.05715274810791, -0.20591774582862854, 0.48194465041160583, -0.3358134329319, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.365825891494751, -1.1927162408828735, 1.9027950763702393, -1.7133240699768066, 0.33217358589172363, 0.3542979061603546, 1.2354037761688232, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665583766917, 0.025821881910998455, -4.9778257485927135e-05, -0.14779891073703766], [-0.025821879102516893, 0.9996665581054468, 5.626032696597981e-05, -0.07005102932453156], [5.121440684863317e-05, -5.495619928449285e-05, 0.9999999971784503, -7.520131475757807e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.53029203414917, -1.3346949815750122, -1.6251527070999146, -2.0963172912597656, -0.2015383541584015, 0.4949903190135956, -0.33870571851730347, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4092562198638916, -1.1835198402404785, 1.9513167142868042, -1.7371045351028442, 0.33340582251548767, 0.36482664942741394, 1.2249987125396729, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662951038531, 0.025832031845370338, -6.755794520058298e-05, -0.14781410992145538], [-0.02583202654872438, 0.9996662944701166, 7.813304159772473e-05, -0.07005257159471512], [6.955373595941005e-05, -7.636180958519399e-05, 0.9999999946655759, -7.609002204844728e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.597174882888794, -1.32807195186615, -1.6737637519836426, -2.1392343044281006, -0.20120614767074585, 0.49971306324005127, -0.3533276617527008, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4595866203308105, -1.1827751398086548, 1.976427674293518, -1.7620877027511597, 0.3496462404727936, 0.3704606890678406, 1.1705210208892822, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664907669146, 0.025824488877603954, -5.488144233822687e-05, -0.1478915959596634], [-0.025824485349525497, 0.9996664903126427, 6.405025670354423e-05, -0.07005657255649567], [5.651720398739928e-05, -6.261161034792774e-05, 0.9999999964427959, -7.452485442627221e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6544547080993652, -1.324641466140747, -1.7103265523910522, -2.1711230278015137, -0.22477228939533234, 0.5088105201721191, -0.3728841245174408, 0.18120000231397024, -0.18120000231397024, 0.18120000231397024, 0.18120000231397024, -0.18120000231397024, -0.18120000231397024, 0.18120000231397024, 0.18120000231397024, -1.494940161705017, -1.1874638795852661, 1.9812604188919067, -1.7790184020996094, 0.37197524309158325, 0.38527485728263855, 1.106614351272583, 0.2484000080234402, 0.2484000080234402, 0.2484000080234402, 0.2484000080234402, -0.2484000080234402, -0.2484000080234402, -0.2484000080234402, 0.2484000080234402, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996649766900401, 0.025883043030001655, -4.9626693562267184e-05, -0.14771468937397003], [-0.02588303873710291, 0.999664974395606, 8.527816943479713e-05, -0.07004404067993164], [5.181732587826303e-05, -8.396510962833926e-05, 0.9999999951324126, -7.323789759539068e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.671006679534912, -1.3240277767181396, -1.7166721820831299, -2.1770503520965576, -0.23082467913627625, 0.5097551345825195, -0.3752610683441162, 0.515400003338908, -0.515400003338908, 0.515400003338908, 0.515400003338908, -0.515400003338908, -0.515400003338908, 0.515400003338908, 0.515400003338908, -1.4991044998168945, -1.1901021003723145, 1.9800245761871338, -1.7808799743652344, 0.3729717433452606, 0.3857651352882385, 1.0957578420639038, 0.5249999978385128, 0.5249999978385128, 0.5249999978385128, 0.5249999978385128, -0.5249999978385128, -0.5249999978385128, -0.5249999978385128, 0.5249999978385128, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662205681033, 0.025834929014860456, -6.243301472604256e-05, -0.14748840034008026], [-0.025834923501363263, 0.9996662188255225, 8.756004292135676e-05, -0.07005298137664795], [6.467428325447253e-05, -8.591786502056682e-05, 0.9999999942176787, -7.509002898586914e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6643096208572388, -1.3240264654159546, -1.7136002779006958, -2.175537347793579, -0.22964602708816528, 0.5097439885139465, -0.3743397295475006, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.4957494735717773, -1.1901196241378784, 1.9796587228775024, -1.7808715105056763, 0.3722706437110901, 0.3857169449329376, 1.1004457473754883, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996672896865836, 0.02579355319497325, -5.044064089966426e-05, -0.1475236415863037], [-0.02579354930756769, 0.9996672881508345, 7.625794761178667e-05, -0.07005827128887177], [5.239082212902155e-05, -7.493153264798546e-05, 0.9999999958202336, -7.419323810609058e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6601691246032715, -1.3240339756011963, -1.7133220434188843, -2.1755433082580566, -0.22951720654964447, 0.5096760392189026, -0.3740604817867279, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4945393800735474, -1.190110683441162, 1.9796240329742432, -1.7808711528778076, 0.372209757566452, 0.3856232464313507, 1.1012816429138184, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656753869558, 0.025856015672175756, -6.250361367471587e-05, -0.14779701828956604], [-0.025856010592103053, 0.9996656742099802, 8.076240905091708e-05, -0.07004955410957336], [6.457091121883816e-05, -7.911931409254444e-05, 0.9999999947853657, -7.537983037764207e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6601569652557373, -1.3240381479263306, -1.713322401046753, -2.175554037094116, -0.2294674664735794, 0.509624719619751, -0.37400224804878235, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4945118427276611, -1.1900979280471802, 1.9796061515808105, -1.7808680534362793, 0.37217238545417786, 0.38559579849243164, 1.1014907360076904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660653876833, 0.025840967901236113, -4.571909075816726e-05, -0.14777246117591858], [-0.0258409637911003, 0.9996660626382575, 8.831574294978665e-05, -0.07005143165588379], [4.7985987724357466e-05, -8.710482589755942e-05, 0.9999999950550471, -7.219958934001625e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.6553034782409668, -1.324135184288025, -1.7067556381225586, -2.169219732284546, -0.22947274148464203, 0.50801682472229, -0.3740721344947815, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4945148229599, -1.1900397539138794, 1.979599952697754, -1.7808445692062378, 0.3721087574958801, 0.38559040427207947, 1.1016032695770264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996650923410643, 0.02587857821944937, -4.84156101460116e-05, -0.14771774411201477], [-0.025878574043938157, 0.9996650900105515, 8.496851398189087e-05, -0.07004670798778534], [5.05982596097992e-05, -8.368713042374395e-05, 0.9999999952181402, -7.224083674373105e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5882530212402344, -1.3233362436294556, -1.6246228218078613, -2.114231586456299, -0.20368772745132446, 0.5142356753349304, -0.37927722930908203, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4945019483566284, -1.1900417804718018, 1.9793200492858887, -1.7808679342269897, 0.37210777401924133, 0.3855871558189392, 1.1018099784851074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996670395083079, 0.025803183396927835, -7.646750733399477e-05, -0.1474456638097763], [-0.025803177601120813, 0.9996670397060252, 7.583585737664324e-05, -0.07005587965250015], [7.839885322622611e-05, -7.383750235982916e-05, 0.9999999942008215, -7.759864820400253e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5222312211990356, -1.3256111145019531, -1.5558393001556396, -2.056955337524414, -0.1838822364807129, 0.5354076027870178, -0.3383309543132782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4945350885391235, -1.1899926662445068, 1.9793429374694824, -1.780830979347229, 0.3720681071281433, 0.3855859637260437, 1.1019141674041748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664871578711, 0.02582464335577657, -4.7423505120880944e-05, -0.14760969579219818], [-0.025824639938726555, 0.9996664858279168, 7.130566960776043e-05, -0.07005082815885544], [4.924913219669852e-05, -7.005719330685056e-05, 0.9999999963332563, -7.315804396057501e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4874048233032227, -1.3284374475479126, -1.5235211849212646, -1.989578127861023, -0.19306178390979767, 0.5352393388748169, -0.2989954948425293, 0.2868000056717422, -0.2868000056717422, 0.2868000056717422, 0.2868000056717422, -0.2868000056717422, -0.2868000056717422, 0.2868000056717422, 0.2868000056717422, -1.494532585144043, -1.1899937391281128, 1.9793438911437988, -1.78083336353302, 0.37206679582595825, 0.38558560609817505, 1.1019132137298584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666229920277, 0.025819357073262106, -6.063034439272117e-05, -0.14792639017105103], [-0.025819351388821576, 0.9996666206758648, 9.273811135871937e-05, -0.07005715370178223], [6.300456990095616e-05, -9.114175843792866e-05, 0.999999993861802, -7.396435830742121e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.4669694900512695, -1.3319487571716309, -1.4931412935256958, -1.9296598434448242, -0.20351047813892365, 0.5379607081413269, -0.27543044090270996, 0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -1.4945194721221924, -1.1899954080581665, 1.9793436527252197, -1.7808372974395752, 0.37207460403442383, 0.38558608293533325, 1.101912260055542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666149762155, 0.025819708418608405, -3.948636633665889e-05, -0.14792925119400024], [-0.02581970380270832, 0.9996666094600625, 0.00011325265311171505, -0.0700540617108345], [4.239735243664403e-05, -0.00011219537009020596, 0.9999999928073317, -6.977807788643986e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4469900131225586, -1.3366316556930542, -1.4618475437164307, -1.8768913745880127, -0.21733415126800537, 0.5260952711105347, -0.2656382620334625, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.4945203065872192, -1.189997673034668, 1.979341745376587, -1.7808440923690796, 0.37208500504493713, 0.38558655977249146, 1.101913332939148, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661299362004, 0.025838453549186534, -5.455791636190683e-05, -0.14778155088424683], [-0.025838447979627914, 0.9996661265236584, 0.00010043499942268008, -0.07005136460065842], [5.713478598800462e-05, -9.899177529922108e-05, 0.9999999934681223, -7.240354898385704e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4237970113754272, -1.3413712978363037, -1.4221969842910767, -1.832834005355835, -0.22423048317432404, 0.509337842464447, -0.2640381157398224, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945199489593506, -1.1899995803833008, 1.9793418645858765, -1.7808505296707153, 0.3720887303352356, 0.3855871558189392, 1.101913332939148, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661337608793, 0.025838252001157355, -7.579644008246173e-05, -0.14780840277671814], [-0.025838243578497885, 0.9996661307920379, 0.00011007294992105983, -0.07005217671394348], [7.861522660361617e-05, -0.00010807775339800711, 0.9999999910694226, -7.519331848016009e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3997336626052856, -1.350212574005127, -1.3855903148651123, -1.7936553955078125, -0.25814393162727356, 0.49345824122428894, -0.253461092710495, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945191144943237, -1.190002679824829, 1.9793416261672974, -1.7808544635772705, 0.3720882534980774, 0.38558751344680786, 1.101913571357727, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99966604836435, 0.02584159479885337, -6.103979790051474e-05, -0.14782211184501648], [-0.02584158799250476, 0.9996660443759035, 0.00010978096309294716, -0.07005111128091812], [6.385632848158797e-05, -0.00010816693625226819, 0.9999999921111415, -7.344112236751243e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.377474308013916, -1.3574683666229248, -1.353747844696045, -1.7712477445602417, -0.2734512388706207, 0.4823603928089142, -0.24880988895893097, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945194721221924, -1.190005898475647, 1.979341983795166, -1.7808592319488525, 0.3720884919166565, 0.38558799028396606, 1.1019142866134644, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662509730951, 0.025833765990556812, -5.656979624660567e-05, -0.1477997601032257], [-0.025833759115475044, 0.9996662456606316, 0.00011906612222516138, -0.0700535997748375], [5.9626842170599034e-05, -0.00011756497353328509, 0.9999999913115583, -7.12577166268602e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.3664718866348267, -1.3617395162582397, -1.3355811834335327, -1.7704248428344727, -0.2783561646938324, 0.479926735162735, -0.24886921048164368, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945194721221924, -1.1900088787078857, 1.9793425798416138, -1.7808597087860107, 0.3720833361148834, 0.38559016585350037, 1.1019152402877808, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668789559848, 0.025809430662319506, -6.638740400564778e-05, -0.14784179627895355], [-0.025809423425216648, 0.999666875550695, 0.00010765300351091558, -0.07005615532398224], [6.914375146795301e-05, -0.00010590372140991196, 0.9999999920017717, -7.401327457046136e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3658154010772705, -1.3645559549331665, -1.3275530338287354, -1.7820872068405151, -0.28425538539886475, 0.47848084568977356, -0.248911514878273, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.494518756866455, -1.1900126934051514, 1.9793422222137451, -1.7808595895767212, 0.37207841873168945, 0.3855937421321869, 1.1019203662872314, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664322329782, 0.025826721417067124, -6.875633399350396e-05, -0.1478194147348404], [-0.02582671372020475, 0.999666428681151, 0.00011057254584167633, -0.07005295902490616], [7.158912519032338e-05, -0.000108759912249965, 0.9999999915231392, -7.395894499495625e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3670917749404907, -1.3665977716445923, -1.3235129117965698, -1.795868992805481, -0.2849288880825043, 0.47929325699806213, -0.24572083353996277, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945179224014282, -1.1900147199630737, 1.9793416261672974, -1.780860424041748, 0.37207555770874023, 0.38559865951538086, 1.101938247680664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663120579751, 0.02583136085704639, -7.302520299905132e-05, -0.14779412746429443], [-0.025831353197490105, 0.9996663095179286, 0.00010395571958384684, -0.07005256414413452], [7.568615288958349e-05, -0.00010203469100273027, 0.999999991930264, -7.48049424146302e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.3707631826400757, -1.368633508682251, -1.3230867385864258, -1.8103890419006348, -0.2899458706378937, 0.47500038146972656, -0.24058319628238678, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945175647735596, -1.1900166273117065, 1.9793412685394287, -1.780861735343933, 0.37207111716270447, 0.3856033384799957, 1.1019831895828247, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659875063365, 0.025843942615910404, -6.366354243986367e-05, -0.14781901240348816], [-0.02584393581332855, 0.9996659841473926, 0.0001054528400261496, -0.0700506940484047], [6.636759495377621e-05, -0.0001037723009556236, 0.9999999924133259, -7.373153493972495e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5665411353111267, 0.0, 0.0, 1.3718986511230469, -1.3708488941192627, -1.3230888843536377, -1.8227523565292358, -0.2971566319465637, 0.46482518315315247, -0.23645175993442535, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945170879364014, -1.1900181770324707, 1.9793415069580078, -1.7808619737625122, 0.3720579445362091, 0.3856082558631897, 1.1020395755767822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996656905558642, 0.025855402584811393, -7.26818025571879e-05, -0.14779970049858093], [-0.02585539476725897, 0.9996656877255585, 0.0001065157986713953, -0.07004901021718979], [7.541151299475614e-05, -0.00010460097273643773, 0.9999999916858701, -7.51848638174124e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3697644472122192, -1.3731732368469238, -1.3225270509719849, -1.8293147087097168, -0.30624571442604065, 0.4526996612548828, -0.23593667149543762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945175647735596, -1.1900207996368408, 1.9793418645858765, -1.7808624505996704, 0.37204593420028687, 0.3856135308742523, 1.1020784378051758, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659347176661, 0.025845959854678156, -7.296742641111153e-05, -0.14779755473136902], [-0.02584595133464513, 0.9996659309415042, 0.00011538831320468105, -0.07005084306001663], [7.592537196245674e-05, -0.00011346385342321641, 0.9999999906806459, -7.452661520801485e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3599611520767212, -1.3750529289245605, -1.3146352767944336, -1.8296865224838257, -0.31609195470809937, 0.44876378774642944, -0.2387111335992813, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.494517207145691, -1.1900237798690796, 1.9793426990509033, -1.7808624505996704, 0.3720400631427765, 0.3856146037578583, 1.1021066904067993, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662872284898, 0.02583235843353686, -5.862224573051634e-05, -0.1477973908185959], [-0.02583235153547906, 0.9996662824503773, 0.00011552484598446461, -0.07005142420530319], [6.15869616877676e-05, -0.00011397194340842291, 0.9999999916087211, -7.224603905342519e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3485691547393799, -1.377790927886963, -1.304288625717163, -1.8269433975219727, -0.32141584157943726, 0.44593527913093567, -0.2534205913543701, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945170879364014, -1.1900255680084229, 1.9793425798416138, -1.7808623313903809, 0.37203744053840637, 0.38561663031578064, 1.1021289825439453, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663906748774, 0.02582837595541844, -4.8482667686287804e-05, -0.14781689643859863], [-0.02582836956034756, 0.99966638379598, 0.00012819564129189605, -0.07005272805690765], [5.17775783018666e-05, -0.00012690064577224803, 0.9999999906076542, -6.89721418893896e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3436471223831177, -1.379567265510559, -1.2975895404815674, -1.8221683502197266, -0.32267946004867554, 0.4449532926082611, -0.26633310317993164, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945170879364014, -1.1900279521942139, 1.9793442487716675, -1.7808623313903809, 0.37203851342201233, 0.3856174945831299, 1.1021397113800049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3434385061264038, -1.3803397417068481, -1.2963368892669678, -1.8204662799835205, -0.3218158781528473, 0.44256770610809326, -0.26939111948013306, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945160150527954, -1.1900285482406616, 1.9793452024459839, -1.7808618545532227, 0.3720398247241974, 0.38561761379241943, 1.1021440029144287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3431222438812256, -1.3810830116271973, -1.2964321374893188, -1.8174307346343994, -0.3216991424560547, 0.43973657488822937, -0.27160927653312683, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.494515061378479, -1.1900291442871094, 1.979346513748169, -1.780861496925354, 0.37204378843307495, 0.3856165111064911, 1.1021449565887451, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3426450490951538, -1.3817538022994995, -1.2992502450942993, -1.8131293058395386, -0.31794267892837524, 0.4394766390323639, -0.27477407455444336, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945142269134521, -1.1900297403335571, 1.979347825050354, -1.7808610200881958, 0.37204787135124207, 0.38561591506004333, 1.1021454334259033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3431458473205566, -1.381772518157959, -1.3057804107666016, -1.812873363494873, -0.3124488890171051, 0.4396098852157593, -0.2749679684638977, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945136308670044, -1.1900299787521362, 1.9793503284454346, -1.780861258506775, 0.3720543384552002, 0.38561591506004333, 1.102145791053772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3477368354797363, -1.3817130327224731, -1.313147783279419, -1.8129736185073853, -0.30820250511169434, 0.4400478005409241, -0.2746164798736572, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945136308670044, -1.1900303363800049, 1.97935152053833, -1.7808609008789062, 0.37206128239631653, 0.38561543822288513, 1.1021466255187988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3549054861068726, -1.3810749053955078, -1.3182687759399414, -1.8144327402114868, -0.3043665885925293, 0.44120511412620544, -0.2723115384578705, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945131540298462, -1.1900306940078735, 1.9793530702590942, -1.7808606624603271, 0.3720730245113373, 0.3856146037578583, 1.1021463871002197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.358985185623169, -1.3804504871368408, -1.3208829164505005, -1.8164600133895874, -0.3029555678367615, 0.4415344297885895, -0.27179646492004395, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.494512915611267, -1.1900309324264526, 1.9793545007705688, -1.7808607816696167, 0.37208718061447144, 0.38561341166496277, 1.102146029472351, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.362421989440918, -1.3803876638412476, -1.323035478591919, -1.8174223899841309, -0.30126962065696716, 0.4415050745010376, -0.26935479044914246, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945127964019775, -1.1900310516357422, 1.9793541431427002, -1.7808609008789062, 0.3720944821834564, 0.38561317324638367, 1.1021455526351929, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3648344278335571, -1.3798578977584839, -1.3243952989578247, -1.817918300628662, -0.30115950107574463, 0.4421579837799072, -0.26751330494880676, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945124387741089, -1.1900312900543213, 1.979353904724121, -1.7808606624603271, 0.37209221720695496, 0.3856123387813568, 1.1021450757980347, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3651612997055054, -1.3794710636138916, -1.3249400854110718, -1.8185614347457886, -0.2998557388782501, 0.44442179799079895, -0.2674790322780609, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945120811462402, -1.1900314092636108, 1.979353427886963, -1.780860424041748, 0.37209051847457886, 0.38561245799064636, 1.102144718170166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3652915954589844, -1.3793210983276367, -1.3249280452728271, -1.8193367719650269, -0.2992308735847473, 0.44593924283981323, -0.2671200931072235, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945117235183716, -1.19003164768219, 1.9793524742126465, -1.780860424041748, 0.37208884954452515, 0.38561221957206726, 1.1021441221237183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3657010793685913, -1.3793096542358398, -1.3234248161315918, -1.81952965259552, -0.29960575699806213, 0.4446243345737457, -0.2645432651042938, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945117235183716, -1.1900311708450317, 1.9793517589569092, -1.7808611392974854, 0.3720877766609192, 0.3856121003627777, 1.1021435260772705, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3658438920974731, -1.3793094158172607, -1.3226370811462402, -1.8198063373565674, -0.3002719581127167, 0.44457998871803284, -0.26376092433929443, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945119619369507, -1.1900311708450317, 1.9793509244918823, -1.7808616161346436, 0.37208452820777893, 0.38561198115348816, 1.1021418571472168, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.36733877658844, -1.3793041706085205, -1.3212556838989258, -1.8222476243972778, -0.30026620626449585, 0.44561052322387695, -0.2636873424053192, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945124387741089, -1.1900309324264526, 1.9793505668640137, -1.7808616161346436, 0.37208011746406555, 0.3856123387813568, 1.1021416187286377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3712345361709595, -1.3793048858642578, -1.320499300956726, -1.825520634651184, -0.30018433928489685, 0.4452391266822815, -0.2630325257778168, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945124387741089, -1.1900309324264526, 1.9793498516082764, -1.7808620929718018, 0.3720669150352478, 0.3856132924556732, 1.1021413803100586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3736512660980225, -1.3792877197265625, -1.320098876953125, -1.8291691541671753, -0.2996947765350342, 0.4460892975330353, -0.26237723231315613, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945127964019775, -1.1900312900543213, 1.9793484210968018, -1.7808619737625122, 0.3720552921295166, 0.3856135308742523, 1.1021414995193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3738617897033691, -1.379259705543518, -1.3188755512237549, -1.8311153650283813, -0.3000359833240509, 0.4472135305404663, -0.2632201910018921, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945124387741089, -1.1900311708450317, 1.9793473482131958, -1.7808623313903809, 0.3720439076423645, 0.3856146037578583, 1.1021407842636108, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3734362125396729, -1.3790911436080933, -1.3155264854431152, -1.8332111835479736, -0.3038307726383209, 0.4474234879016876, -0.26569950580596924, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945124387741089, -1.1900315284729004, 1.9793463945388794, -1.78086256980896, 0.3720291554927826, 0.385616272687912, 1.1021409034729004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3702597618103027, -1.3791003227233887, -1.313428282737732, -1.8330094814300537, -0.30650854110717773, 0.4497533440589905, -0.2697172164916992, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.494512915611267, -1.190031886100769, 1.9793461561203003, -1.7808631658554077, 0.3720264136791229, 0.38561663031578064, 1.1021411418914795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.367383360862732, -1.379356861114502, -1.3099232912063599, -1.8299518823623657, -0.3075188100337982, 0.448146253824234, -0.2703671157360077, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.494512677192688, -1.1900320053100586, 1.9793461561203003, -1.7808634042739868, 0.3720272481441498, 0.3856174945831299, 1.102142095565796, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3663631677627563, -1.3794987201690674, -1.3095918893814087, -1.82914400100708, -0.3075088560581207, 0.44785982370376587, -0.27055680751800537, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945130348205566, -1.1900324821472168, 1.9793462753295898, -1.7808630466461182, 0.3720301389694214, 0.3856184482574463, 1.1021426916122437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3663365840911865, -1.3796132802963257, -1.3101401329040527, -1.8316283226013184, -0.3072889447212219, 0.4471103250980377, -0.26749855279922485, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945130348205566, -1.1900330781936646, 1.979346752166748, -1.7808632850646973, 0.3720291554927826, 0.3856189250946045, 1.1021435260772705, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3664071559906006, -1.3796131610870361, -1.3202253580093384, -1.844117283821106, -0.30387619137763977, 0.44324350357055664, -0.25955674052238464, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945130348205566, -1.1900334358215332, 1.9793479442596436, -1.7808631658554077, 0.37203216552734375, 0.38561928272247314, 1.1021445989608765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.369505524635315, -1.3789137601852417, -1.3456411361694336, -1.8761183023452759, -0.30495166778564453, 0.44321438670158386, -0.24908636510372162, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4945132732391357, -1.1900339126586914, 1.979347825050354, -1.7808635234832764, 0.372037798166275, 0.3856194019317627, 1.1021456718444824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3862890005111694, -1.373458981513977, -1.380915641784668, -1.9246658086776733, -0.2892961800098419, 0.4454241693019867, -0.24910792708396912, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945124387741089, -1.1900347471237183, 1.979348063468933, -1.780866265296936, 0.37205061316490173, 0.3856194019317627, 1.1021480560302734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.43183434009552, -1.3628469705581665, -1.435150146484375, -1.9777390956878662, -0.258466899394989, 0.45055699348449707, -0.250848650932312, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.494513750076294, -1.1900337934494019, 1.9793622493743896, -1.780868649482727, 0.37206247448921204, 0.38561928272247314, 1.102150797843933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4934529066085815, -1.3519136905670166, -1.5014069080352783, -2.0299458503723145, -0.24641519784927368, 0.4660220444202423, -0.24723084270954132, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945110082626343, -1.1900426149368286, 1.9793673753738403, -1.7808727025985718, 0.3720797300338745, 0.3856189250946045, 1.1021617650985718, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5428475141525269, -1.343804955482483, -1.5567855834960938, -2.075193166732788, -0.24533326923847198, 0.4770662188529968, -0.2507510781288147, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4945068359375, -1.1900475025177002, 1.9793596267700195, -1.7808786630630493, 0.3720859885215759, 0.38561856746673584, 1.1021766662597656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5671814680099487, -1.3385165929794312, -1.5871551036834717, -2.0887398719787598, -0.24716445803642273, 0.47508177161216736, -0.2642976939678192, 0.1253999940641634, -0.1253999940641634, 0.1253999940641634, 0.1253999940641634, -0.1253999940641634, -0.1253999940641634, 0.1253999940641634, 0.1253999940641634, -1.494502067565918, -1.1900484561920166, 1.9793545007705688, -1.780879020690918, 0.3720841705799103, 0.38561809062957764, 1.1021883487701416, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5709729194641113, -1.3370518684387207, -1.5883218050003052, -2.087939739227295, -0.24292275309562683, 0.47204458713531494, -0.266526997089386, 0.5586000006932479, -0.5586000006932479, 0.5586000006932479, 0.5586000006932479, -0.5586000006932479, -0.5586000006932479, 0.5586000006932479, 0.5586000006932479, -1.4944955110549927, -1.190046787261963, 1.9793561697006226, -1.780877709388733, 0.3720828592777252, 0.3856170177459717, 1.1022086143493652, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5695407390594482, -1.3370752334594727, -1.585519790649414, -2.0873258113861084, -0.24286200106143951, 0.4720471203327179, -0.266522079706192, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -1.494492769241333, -1.1900471448898315, 1.9793537855148315, -1.7808774709701538, 0.3720848858356476, 0.3856170177459717, 1.1022133827209473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5683331489562988, -1.3371282815933228, -1.5852233171463013, -2.0873122215270996, -0.2428915947675705, 0.4720635414123535, -0.26651477813720703, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4944912195205688, -1.190047264099121, 1.9793524742126465, -1.7808775901794434, 0.37208622694015503, 0.38561761379241943, 1.1022135019302368, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5683084726333618, -1.337202548980713, -1.5852237939834595, -2.087312936782837, -0.24295978248119354, 0.47208067774772644, -0.2665059268474579, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4944912195205688, -1.190047264099121, 1.9793504476547241, -1.7808773517608643, 0.3720859885215759, 0.3856182098388672, 1.1022125482559204, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.5683073997497559, -1.3372342586517334, -1.5852240324020386, -2.087312936782837, -0.24304859340190887, 0.4720877408981323, -0.26649248600006104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4944908618927002, -1.190047264099121, 1.9793471097946167, -1.7808767557144165, 0.3720841705799103, 0.3856167495250702, 1.1022120714187622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5108045339584351, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5576353073120117, -1.3369866609573364, -1.5834355354309082, -2.0725135803222656, -0.2307197004556656, 0.4729461669921875, -0.2727276384830475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4795258045196533, -1.190453052520752, 1.9547145366668701, -1.777734637260437, 0.37018826603889465, 0.37024015188217163, 1.0904674530029297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662912983837, 0.02583219319116388, -6.194085536345348e-05, -0.147817462682724], [-0.025832185332357628, 0.9996662856694544, 0.0001244861096057407, -0.07005272060632706], [6.513593404532434e-05, -0.0001228444998523414, 0.9999999903332695, -7.191368058556691e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.516727089881897, -1.3346736431121826, -1.5434514284133911, -2.0299582481384277, -0.2239784449338913, 0.47622421383857727, -0.27420398592948914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4207216501235962, -1.1959307193756104, 1.8643518686294556, -1.748693585395813, 0.3884586989879608, 0.3290275037288666, 1.065205693244934, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996647179518853, 0.025892994565341866, -6.719089858561821e-05, -0.14721190929412842], [-0.025892986040594645, 0.9996647126425023, 0.00012478495421812467, -0.07004359364509583], [7.039942646818988e-05, -0.00012300334306396808, 0.9999999899570491, -7.164503040257841e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.469904899597168, -1.337916374206543, -1.4805934429168701, -1.9828600883483887, -0.21495240926742554, 0.4798108637332916, -0.23228783905506134, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3568445444107056, -1.206103801727295, 1.773972988128662, -1.7222204208374023, 0.40857037901878357, 0.29442447423934937, 1.0523778200149536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996651828923432, 0.02587502644919751, -7.154768561173161e-05, -0.14756587147712708], [-0.02587502157230181, 0.9996651832478848, 6.826863000231397e-05, -0.070046566426754], [7.32901828549741e-05, -6.639447458842108e-05, 0.9999999951101614, -7.599029777338728e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.4309629201889038, -1.345910906791687, -1.4343619346618652, -1.924121379852295, -0.21590684354305267, 0.46224233508110046, -0.1992795616388321, 0.4091999908069988, -0.4091999908069988, 0.4091999908069988, 0.4091999908069988, -0.4091999908069988, -0.4091999908069988, 0.4091999908069988, 0.4091999908069988, -1.3022112846374512, -1.211362361907959, 1.6924383640289307, -1.6746337413787842, 0.4094666838645935, 0.25152143836021423, 1.0549424886703491, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, -0.3432000034458035, -0.3432000034458035, -0.3432000034458035, 0.3432000034458035, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665948894633, 0.025820434732779146, -6.490235794382131e-05, -0.14801345765590668], [-0.025820429803691335, 0.9996665942596826, 7.567033580389893e-05, -0.07005443423986435], [6.683456009195474e-05, -7.39693001498434e-05, 0.9999999950308421, -7.600380195071921e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.4063807725906372, -1.352582573890686, -1.3991345167160034, -1.8767764568328857, -0.22962529957294464, 0.4545597434043884, -0.1833542138338089, 0.10680000441414973, -0.10680000441414973, 0.10680000441414973, 0.10680000441414973, -0.10680000441414973, -0.10680000441414973, 0.10680000441414973, 0.10680000441414973, -1.258177638053894, -1.2154960632324219, 1.6259970664978027, -1.611176609992981, 0.38640138506889343, 0.21556900441646576, 1.0791244506835938, 0.07859998587723617, 0.07859998587723617, 0.07859998587723617, 0.07859998587723617, -0.07859998587723617, -0.07859998587723617, -0.07859998587723617, 0.07859998587723617, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996649914449822, 0.025882436159144803, -6.616472950356508e-05, -0.14801651239395142], [-0.025882431681985445, 0.9996649914614493, 6.765063063382492e-05, -0.07004404067993164], [6.789352688273636e-05, -6.591546300267717e-05, 0.9999999955228104, -7.704621384618804e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3974640369415283, -1.3577665090560913, -1.3676650524139404, -1.8579528331756592, -0.23697654902935028, 0.45791760087013245, -0.17174509167671204, 0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -1.2316352128982544, -1.2208216190338135, 1.5861663818359375, -1.5560535192489624, 0.3705700933933258, 0.2094726264476776, 1.0899765491485596, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659614984286, 0.025844923669269607, -7.3088658378477e-05, -0.14793074131011963], [-0.025844917194846054, 0.9996659604483316, 8.818223387620248e-05, -0.0700485110282898], [7.534330697931634e-05, -8.626380729125911e-05, 0.9999999934409708, -7.524613465648144e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3952968120574951, -1.3648669719696045, -1.3371326923370361, -1.8535346984863281, -0.25560110807418823, 0.47227242588996887, -0.15424704551696777, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2236260175704956, -1.2242385149002075, 1.5603176355361938, -1.5196589231491089, 0.34686949849128723, 0.19150203466415405, 1.0902724266052246, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996654603057286, 0.025864372606813322, -4.124793041209969e-05, -0.14795902371406555], [-0.025864368864034693, 0.999665457307028, 8.882789939369694e-05, -0.07004985213279724], [4.353160910617921e-05, -8.77313312483344e-05, 0.9999999952041062, -7.097428169799969e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3952579498291016, -1.370803952217102, -1.3068208694458008, -1.8512006998062134, -0.2651573419570923, 0.47193780541419983, -0.15115787088871002, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2257837057113647, -1.2268379926681519, 1.5473225116729736, -1.5083998441696167, 0.3211419880390167, 0.1765090525150299, 1.0905781984329224, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663117948429, 0.025831411360244735, -5.700556000072369e-05, -0.14789803326129913], [-0.025831407052651148, 0.9996663107143479, 7.504961765821223e-05, -0.07005235552787781], [5.892517540228722e-05, -7.355204066135512e-05, 0.9999999955589605, -7.46419609640725e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5665411353111267, 0.0, 0.0, 1.3953368663787842, -1.3775193691253662, -1.294089674949646, -1.8429758548736572, -0.27792519330978394, 0.4619113504886627, -0.13991869986057281, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2299230098724365, -1.2292699813842773, 1.545681357383728, -1.5118424892425537, 0.3029327988624573, 0.17819775640964508, 1.0894349813461304, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667761735539, 0.025813390959557887, -7.390495622473008e-05, -0.14783672988414764], [-0.025813382856986512, 0.9996667732193376, 0.00010856664384089719, -0.07005423307418823], [7.668280233672448e-05, -0.00010662272991835433, 0.9999999913756706, -7.431935227941722e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3953474760055542, -1.3791053295135498, -1.2894574403762817, -1.8422335386276245, -0.2810579836368561, 0.4573076069355011, -0.13853415846824646, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2312856912612915, -1.2303873300552368, 1.542482852935791, -1.510994553565979, 0.28083160519599915, 0.1797235906124115, 1.0897983312606812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665238846234, 0.02582318144691656, -6.576011915603765e-05, -0.14781640470027924], [-0.025823174903561175, 0.9996665213656903, 9.84810634823917e-05, -0.07005313038825989], [6.828128393270056e-05, -9.675008734125804e-05, 0.9999999929885434, -7.404696225421503e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.39522385597229, -1.3797053098678589, -1.2889703512191772, -1.8421757221221924, -0.2819860577583313, 0.45355677604675293, -0.14865028858184814, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2312296628952026, -1.231824278831482, 1.5395184755325317, -1.506379246711731, 0.2618478834629059, 0.18228460848331451, 1.0915920734405518, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663509357243, 0.025829880090477667, -6.404189861483104e-05, -0.14784209430217743], [-0.025829873619989265, 0.9996663481642364, 9.988370838060636e-05, -0.07005321234464645], [6.660051512825572e-05, -9.819618812716354e-05, 0.99999999296094, -7.376845314865932e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3936543464660645, -1.380814790725708, -1.2890782356262207, -1.840811848640442, -0.29145312309265137, 0.44514134526252747, -0.16477303206920624, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2294925451278687, -1.2350717782974243, 1.5332890748977661, -1.493072509765625, 0.25212758779525757, 0.1764969527721405, 1.092940092086792, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665033961951, 0.02582396925021491, -6.782174356033646e-05, -0.14781802892684937], [-0.025823962227352507, 0.9996665006274903, 0.00010246008126538539, -0.07005321234464645], [7.04450510393884e-05, -0.0001006744850323625, 0.9999999924510714, -7.425368676194921e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3923540115356445, -1.3808001279830933, -1.2892128229141235, -1.8434717655181885, -0.29130905866622925, 0.4483589828014374, -0.18122652173042297, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2211302518844604, -1.2390121221542358, 1.5296649932861328, -1.4887504577636719, 0.23917672038078308, 0.1719113141298294, 1.0945078134536743, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666130905059, 0.025838373912366437, -7.179745329965536e-05, -0.14782372117042542], [-0.025838367495880785, 0.9996661296958987, 8.89042766366798e-05, -0.07005122303962708], [7.40706242042355e-05, -8.701946526267789e-05, 0.9999999934705777, -7.589632150484249e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3923485279083252, -1.3808228969573975, -1.282673954963684, -1.8501867055892944, -0.2907090187072754, 0.44897231459617615, -0.19290216267108917, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2165017127990723, -1.241330862045288, 1.5275956392288208, -1.4886374473571777, 0.22615215182304382, 0.17285878956317902, 1.098388910293579, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663454262955, 0.02583012856714718, -4.7751848185233424e-05, -0.1478668749332428], [-0.02583012417064148, 0.9996663425837644, 9.050154095021142e-05, -0.07005246728658676], [5.007358186521637e-05, -8.923790852914388e-05, 0.999999994764616, -7.162266410887241e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3920249938964844, -1.3819829225540161, -1.2791783809661865, -1.85153067111969, -0.29058343172073364, 0.45028892159461975, -0.19689470529556274, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2136472463607788, -1.2423980236053467, 1.5275770425796509, -1.488175392150879, 0.22016578912734985, 0.17413365840911865, 1.1009067296981812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661458187991, 0.025837802562301847, -6.973190898987599e-05, -0.1477932631969452], [-0.025837795639872714, 0.9996661435857721, 9.841149688706328e-05, -0.0700518861413002], [7.225136537121187e-05, -9.657692298329065e-05, 0.999999992726319, -7.468380499631166e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3910729885101318, -1.3814685344696045, -1.283078908920288, -1.8542039394378662, -0.28721824288368225, 0.44913938641548157, -0.21399930119514465, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2122907638549805, -1.2439454793930054, 1.527624487876892, -1.488615870475769, 0.2160302698612213, 0.1746188998222351, 1.1025383472442627, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996657736300066, 0.025852205664325695, -6.70448334040066e-05, -0.1478261947631836], [-0.02585219803051149, 0.9996657697642569, 0.00011233266219835673, -0.07004940509796143], [6.992647207950576e-05, -0.00011056186135035546, 0.9999999914431816, -7.28081286069937e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3874785900115967, -1.3797311782836914, -1.2828179597854614, -1.8599177598953247, -0.28612542152404785, 0.44992125034332275, -0.22409865260124207, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2116585969924927, -1.245708703994751, 1.5281540155410767, -1.4891000986099243, 0.21424485743045807, 0.1746843457221985, 1.1063227653503418, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662070937882, 0.025835467865034642, -5.4725808774847484e-05, -0.14784930646419525], [-0.025835460711203163, 0.999666200629701, 0.00012762608764786446, -0.07005149126052856], [5.800482102050583e-05, -0.00012616962048266864, 0.9999999903583338, -7.047092367429286e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3851906061172485, -1.3797560930252075, -1.2809548377990723, -1.8643006086349487, -0.28370949625968933, 0.45001280307769775, -0.22399379312992096, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2121639251708984, -1.247344970703125, 1.5286458730697632, -1.4898183345794678, 0.21673589944839478, 0.17467978596687317, 1.1065318584442139, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661770124737, 0.025836613774697433, -6.265718291445688e-05, -0.14782468974590302], [-0.025836604846705916, 0.9996661694954545, 0.00013934231342990435, -0.07005178928375244], [6.623639957003241e-05, -0.00013767694888677776, 0.9999999883288985, -7.112932507880032e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3840649127960205, -1.381447672843933, -1.2804063558578491, -1.8715085983276367, -0.2819332182407379, 0.4434932470321655, -0.22575068473815918, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2163056135177612, -1.249387502670288, 1.5322445631027222, -1.4888192415237427, 0.23144762217998505, 0.172654926776886, 1.0978548526763916, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665663083596, 0.025821555097219243, -5.914064143415301e-05, -0.14784269034862518], [-0.025821546587944826, 0.9996665584196237, 0.00014038971357121987, -0.07005267590284348], [6.274600220927082e-05, -0.00013881580008272257, 0.9999999883965563, -6.978314922889695e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3809932470321655, -1.3843879699707031, -1.291685938835144, -1.8814435005187988, -0.2808738052845001, 0.43821659684181213, -0.22685766220092773, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.222054362297058, -1.251210331916809, 1.552491307258606, -1.4895551204681396, 0.262083500623703, 0.15482839941978455, 1.0878349542617798, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660955153226, 0.025839765931256753, -6.303782892346734e-05, -0.14782491326332092], [-0.025839756293024277, 0.9996660866182675, 0.0001491979746933065, -0.07005125284194946], [6.687202049232704e-05, -0.00014751927468382788, 0.9999999868830981, -7.019245094852522e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.373024344444275, -1.383475422859192, -1.3268940448760986, -1.891114592552185, -0.2773337662220001, 0.42375069856643677, -0.23697629570960999, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2291032075881958, -1.2501274347305298, 1.5849984884262085, -1.5141664743423462, 0.28830257058143616, 0.14135117828845978, 1.079892873764038, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660955153226, 0.025839765931256753, -6.303782892346734e-05, -0.14782491326332092], [-0.025839756293024277, 0.9996660866182675, 0.0001491979746933065, -0.07005125284194946], [6.687202049232704e-05, -0.00014751927468382788, 0.9999999868830981, -7.019245094852522e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2653214931488037, -0.5666369795799255, 0.0, 0.0, 1.3699567317962646, -1.3760937452316284, -1.3703477382659912, -1.914965033531189, -0.26759204268455505, 0.41270649433135986, -0.2593476176261902, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2522554397583008, -1.2461851835250854, 1.6318458318710327, -1.5681393146514893, 0.32573002576828003, 0.156498521566391, 1.0758531093597412, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660955153226, 0.025839765931256753, -6.303782892346734e-05, -0.14782491326332092], [-0.025839756293024277, 0.9996660866182675, 0.0001491979746933065, -0.07005125284194946], [6.687202049232704e-05, -0.00014751927468382788, 0.9999999868830981, -7.019245094852522e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.510421097278595, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.3865388631820679, -1.364854097366333, -1.4261406660079956, -1.956886649131775, -0.25402817130088806, 0.4126577377319336, -0.299929678440094, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3056150674819946, -1.2373080253601074, 1.7017334699630737, -1.634415864944458, 0.35737067461013794, 0.18481628596782684, 1.080433964729309, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996660955153226, 0.025839765931256753, -6.303782892346734e-05, -0.14782491326332092], [-0.025839756293024277, 0.9996660866182675, 0.0001491979746933065, -0.07005125284194946], [6.687202049232704e-05, -0.00014751927468382788, 0.9999999868830981, -7.019245094852522e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4341251850128174, -1.3524293899536133, -1.493646264076233, -2.0085830688476562, -0.24087117612361908, 0.41264909505844116, -0.3354673385620117, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3773688077926636, -1.225892424583435, 1.7820250988006592, -1.687322735786438, 0.37523770332336426, 0.2229655385017395, 1.0805407762527466, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996668045774912, 0.02581231880099888, -6.343456158160497e-05, -0.14799024164676666], [-0.02581231007856729, 0.9996667977434962, 0.0001346761740367547, -0.07005434483289719], [6.688972938168117e-05, -0.0001329939079788023, 0.9999999889191922, -7.088997517712414e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.4976645708084106, -1.3418482542037964, -1.5627286434173584, -2.05877423286438, -0.2350090891122818, 0.41649770736694336, -0.3449031114578247, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.440317988395691, -1.2143328189849854, 1.8581539392471313, -1.7226313352584839, 0.3678430914878845, 0.2639676630496979, 1.1030726432800293, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996677706612371, 0.02577487725700435, -6.327383728290356e-05, -0.14784614741802216], [-0.02577486984930448, 0.9996677662142794, 0.00011522327939389938, -0.07005837559700012], [6.622268145993326e-05, -0.00011355412391914336, 0.9999999913600086, -7.296448166016489e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5549441576004028, -1.3333300352096558, -1.6277050971984863, -2.0989811420440674, -0.2230917364358902, 0.4332282841205597, -0.3411261737346649, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.481370449066162, -1.2066048383712769, 1.929335117340088, -1.7334998846054077, 0.3571245074272156, 0.29147589206695557, 1.114864706993103, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665302718248, 0.025822972639107905, -4.835670065920843e-05, -0.14768649637699127], [-0.02582296661352194, 0.9996665242328228, 0.00012134061155758933, -0.07005597651004791], [5.147395016362219e-05, -0.00012005143467017382, 0.9999999914690427, -6.927306822035462e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.58894944190979, -1.3265281915664673, -1.6819911003112793, -2.1140480041503906, -0.22347906231880188, 0.4364528954029083, -0.35499635338783264, 0.046799990895030265, -0.046799990895030265, 0.046799990895030265, 0.046799990895030265, -0.046799990895030265, -0.046799990895030265, 0.046799990895030265, 0.046799990895030265, -1.492794156074524, -1.200646162033081, 1.966230869293213, -1.7335118055343628, 0.3571952283382416, 0.33401161432266235, 1.115773320198059, 0.05099999616434285, 0.05099999616434285, 0.05099999616434285, 0.05099999616434285, -0.05099999616434285, -0.05099999616434285, -0.05099999616434285, 0.05099999616434285, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996670229852039, 0.02580387776381217, -5.5210958036889846e-05, -0.14753395318984985], [-0.025803872171269226, 0.999667019680896, 9.971601639232918e-05, -0.07005450129508972], [5.776563377254664e-05, -9.825815674722629e-05, 0.9999999935042331, -7.189191819634289e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.596683382987976, -1.3247026205062866, -1.6999441385269165, -2.11718487739563, -0.23643018305301666, 0.4391213059425354, -0.3582029640674591, 0.4553999996447301, -0.4553999996447301, 0.4553999996447301, 0.4553999996447301, -0.4553999996447301, -0.4553999996447301, 0.4553999996447301, 0.4553999996447301, -1.4908729791641235, -1.1992374658584595, 1.964323878288269, -1.7335867881774902, 0.3570740520954132, 0.3474339544773102, 1.115871787071228, 0.5105999987203996, 0.5105999987203996, 0.5105999987203996, 0.5105999987203996, -0.5105999987203996, -0.5105999987203996, -0.5105999987203996, 0.5105999987203996, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996663092851125, 0.025831510767214922, -5.5962176379435624e-05, -0.14750215411186218], [-0.025831504942509072, 0.99966630575546, 0.00010241892502143564, -0.07005206495523453], [5.858913768772367e-05, -0.00010093916154138826, 0.9999999931892993, -7.262911094585434e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5941717624664307, -1.3246420621871948, -1.6937121152877808, -2.1172115802764893, -0.23700866103172302, 0.43916887044906616, -0.3580160140991211, 0.5862000002310825, -0.5862000002310825, 0.5862000002310825, 0.5862000002310825, -0.5862000002310825, -0.5862000002310825, 0.5862000002310825, 0.5862000002310825, -1.489125370979309, -1.1995314359664917, 1.9605344533920288, -1.7337590456008911, 0.35704806447029114, 0.3451830744743347, 1.115868091583252, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, -0.5855999996537691, -0.5855999996537691, -0.5855999996537691, 0.5855999996537691, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666492328692, 0.025824430064397982, -5.410266335192862e-05, -0.1476641595363617], [-0.025824424944852063, 0.9996664895729908, 9.32795870326999e-05, -0.07005412131547928], [5.6493511721333665e-05, -9.185130740579959e-05, 0.9999999941859102, -7.350547821260989e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5923913717269897, -1.3248316049575806, -1.6925039291381836, -2.1172070503234863, -0.23679079115390778, 0.43916526436805725, -0.35801732540130615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4888745546340942, -1.1997708082199097, 1.9603124856948853, -1.7338708639144897, 0.35707369446754456, 0.34490227699279785, 1.1158676147460938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666133876083, 0.025819724060844117, -6.267034239948476e-05, -0.14773069322109222], [-0.025819717965938405, 0.9996666108818012, 9.618863201305655e-05, -0.07005491107702255], [6.513301272566216e-05, -9.453843344529564e-05, 0.9999999934100876, -7.377607835223898e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5107086896896362, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5923559665679932, -1.3248971700668335, -1.692509412765503, -2.117183208465576, -0.23669180274009705, 0.4391612112522125, -0.3580143451690674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.488874912261963, -1.1997921466827393, 1.9603132009506226, -1.7338972091674805, 0.3571043610572815, 0.3448295295238495, 1.115867257118225, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996666884144907, 0.025816817090594763, -6.34800473499916e-05, -0.14766038954257965], [-0.025816812223993103, 0.9996666876420707, 7.632379526941532e-05, -0.07005488127470016], [6.542932612785842e-05, -7.465950320179706e-05, 0.9999999950724809, -7.503402594011277e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.5923395156860352, -1.3249177932739258, -1.6925185918807983, -2.117187023162842, -0.23666974902153015, 0.43916407227516174, -0.3580203354358673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4888452291488647, -1.1998013257980347, 1.960321068763733, -1.7338988780975342, 0.35710451006889343, 0.34482690691947937, 1.1159042119979858, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999666082836144, 0.025840271304791173, -5.6620971259268565e-05, -0.14768022298812866], [-0.025840267746019607, 0.9996660825648502, 6.270773606294572e-05, -0.070050910115242], [5.8222449442545734e-05, -6.122369581618857e-05, 0.9999999964309028, -7.5755815487355e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.5950400829315186, -1.32145094871521, -1.690687656402588, -2.1109395027160645, -0.240264892578125, 0.4305952489376068, -0.3509986400604248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4938907623291016, -1.1988050937652588, 1.9527521133422852, -1.7352937459945679, 0.35837721824645996, 0.3376326560974121, 1.0924949645996094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661465696833, 0.025837777409493064, -6.827194056034875e-05, -0.14769762754440308], [-0.025837772443663275, 0.9996661463899041, 7.264370687137952e-05, -0.07005101442337036], [7.012609965486758e-05, -7.085545965616399e-05, 0.999999995030917, -7.634807116119191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5106128454208374, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.6032047271728516, -1.3111169338226318, -1.6852118968963623, -2.0922179222106934, -0.25112858414649963, 0.4045601189136505, -0.3298344016075134, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5084352493286133, -1.1957491636276245, 1.9310712814331055, -1.7392802238464355, 0.3622060716152191, 0.31689706444740295, 1.0253491401672363, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996667788227674, 0.02581333437256189, -5.55579204901542e-05, -0.14769166707992554], [-0.025813331606143203, 0.9996667791902617, 4.994756988832001e-05, -0.07005490362644196], [5.682872075752521e-05, -4.849679127532183e-05, 0.9999999972092789, -7.598187221447006e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.616694450378418, -1.2939720153808594, -1.6761481761932373, -2.0611157417297363, -0.26906827092170715, 0.3616196811199188, -0.2947341501712799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.532322883605957, -1.1907912492752075, 1.8953654766082764, -1.745802879333496, 0.3684462606906891, 0.2827048599720001, 0.9148175120353699, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996661939780234, 0.0258359756904768, -5.456751732483116e-05, -0.14769907295703888], [-0.02583597337651073, 0.9996661946154715, 4.26932149336679e-05, -0.07005132734775543], [5.565232325690233e-05, -4.126915875659888e-05, 0.9999999975998377, -7.67952369642444e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6355568170547485, -1.2700144052505493, -1.6634726524353027, -2.017629384994507, -0.2942196726799011, 0.3013896048069, -0.24558384716510773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.565669059753418, -1.183882474899292, 1.8455442190170288, -1.7550110816955566, 0.37715181708335876, 0.2349754124879837, 0.7603576183319092, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664486231711, 0.02582607371927896, -7.357569619621651e-05, -0.1477106362581253], [-0.025826073153011966, 0.9996664513080902, 8.636262614992066e-06, -0.07005620747804642], [7.377419587394775e-05, -6.733210665458908e-06, 0.999999997256016, -8.137063559843227e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.6598660945892334, -1.2391316890716553, -1.6471346616744995, -1.9616618156433105, -0.3265734910964966, 0.22380192577838898, -0.18235759437084198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6085106134414673, -1.175040602684021, 1.7815747261047363, -1.7666871547698975, 0.38832029700279236, 0.1737511307001114, 0.5621242523193359, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996665127165861, 0.025823625342655327, -6.105097713367365e-05, -0.1477176696062088], [-0.025823624836708088, 0.9996665145528218, 9.061227232541563e-06, -0.07005194574594498], [6.126461125846138e-05, -7.481647899072955e-06, 0.9999999980953361, -7.892995927250013e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.6846204996109009, -1.2076818943023682, -1.6305203437805176, -1.9045941829681396, -0.35952818393707275, 0.14477194845676422, -0.1178922951221466, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6516340970993042, -1.1661605834960938, 1.7171024084091187, -1.7785545587539673, 0.39962080121040344, 0.11202050745487213, 0.3624652922153473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659614680057, 0.025844978274219943, -5.079618964874886e-05, -0.14770333468914032], [-0.025844978161745094, 0.9996659627573526, 2.86951485964677e-06, -0.07005134224891663], [5.0853384378826724e-05, -1.5557299189437413e-06, 0.9999999987057565, -7.902772631496191e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7040302753448486, -1.1830209493637085, -1.6174606084823608, -1.8598711490631104, -0.3853748142719269, 0.0828670784831047, -0.0675487220287323, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6853641271591187, -1.159205436706543, 1.6667051315307617, -1.7877140045166016, 0.4083370566368103, 0.06388203054666519, 0.20668797194957733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996659973538454, 0.02584356103524301, -6.39340224049166e-05, -0.1476529985666275], [-0.025843561618137986, 0.9996659993487181, -8.307715527858122e-06, -0.0700564756989479], [6.369796744648665e-05, 9.957223576405194e-06, 0.9999999979217113, -8.236680878326297e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7180202007293701, -1.1652032136917114, -1.6080371141433716, -1.8275439739227295, -0.4041959047317505, 0.0380910187959671, -0.031175522133708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7096762657165527, -1.1542030572891235, 1.6303982734680176, -1.7944127321243286, 0.41473016142845154, 0.02913077361881733, 0.09434617310762405, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662532264784, 0.02583368041383484, -5.582481765507518e-05, -0.1476639360189438], [-0.025833681030616194, 0.9996662547156264, -1.0355704805332205e-05, -0.07005346566438675], [5.553866041703082e-05, 1.1794409155159405e-05, 0.9999999983881745, -8.112352952593938e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5667328238487244, 0.0, 0.0, 1.7266898155212402, -1.154201626777649, -1.6022214889526367, -1.8076411485671997, -0.415555864572525, 0.010474931448698044, -0.008542115800082684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7245571613311768, -1.1511502265930176, 1.608123779296875, -1.7984910011291504, 0.4185976982116699, 0.007807722315192223, 0.025266580283641815, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996664965316779, 0.025824270370059414, -5.264916797858739e-05, -0.14765851199626923], [-0.025824271948348562, 0.9996664974414387, -2.952124285504355e-05, -0.07005307078361511], [5.186924478921158e-05, 3.087102384989554e-05, 0.9999999981782807, -8.10571582405828e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.729945182800293, -1.1500575542449951, -1.6000453233718872, -1.8001340627670288, -0.41991597414016724, 0.00018503643514122814, -6.735134229529649e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299402952194214, -1.1500014066696167, 1.6001187562942505, -1.7999622821807861, 0.4199986755847931, 5.6086173572111875e-05, 0.00021607556845992804, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662439102394, 0.02583404643242289, -5.321016010131057e-05, -0.1476467102766037], [-0.025834048572541273, 0.9996662444734685, -3.993323103153631e-05, -0.07005243003368378], [5.216076397164376e-05, 4.1294536933105665e-05, 0.999999997787008, -8.196118869818747e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2651296854019165, -0.5666369795799255, 0.0, 0.0, 1.7300227880477905, -1.1499855518341064, -1.599956750869751, -1.7999563217163086, -0.42003151774406433, -8.041414548642933e-05, 9.659285569796339e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730002760887146, -1.149973750114441, 1.5999492406845093, -1.8000304698944092, 0.42004865407943726, -8.532767969882116e-05, -0.00010773818212328479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5667328238487244, 0.0, 0.0, 1.73002290725708, -1.1500009298324585, -1.5999685525894165, -1.7999615669250488, -0.42002275586128235, 8.388957212446257e-06, 7.502124935854226e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729791522026062, -1.1499807834625244, 1.6002103090286255, -1.7999110221862793, 0.4200150966644287, 4.925516259390861e-05, 0.00014788533735554665, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7300225496292114, -1.1500223875045776, -1.5999863147735596, -1.7999669313430786, -0.420000821352005, 0.00011840413935715333, 5.165200855117291e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295739650726318, -1.1499850749969482, 1.6004409790039062, -1.799803376197815, 0.4198221266269684, 0.00011624697799561545, 0.00023405191313941032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730022668838501, -1.1500407457351685, -1.6000181436538696, -1.7999738454818726, -0.4199732542037964, 0.0001332645770162344, 3.2956617360468954e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729569911956787, -1.1499874591827393, 1.6004849672317505, -1.799769401550293, 0.4196808338165283, 0.00013889717229176313, 0.00025274729705415666, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.730022668838501, -1.1500530242919922, -1.6000516414642334, -1.7999800443649292, -0.41994163393974304, 0.00013470268459059298, 2.253034290333744e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295702695846558, -1.1499887704849243, 1.6004960536956787, -1.799756407737732, 0.41965267062187195, 0.00014932344492990524, 0.00025730131892487407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7300224304199219, -1.1500588655471802, -1.6000884771347046, -1.7999858856201172, -0.4199213683605194, 0.00013422331539914012, 1.8815233488567173e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729570984840393, -1.1499890089035034, 1.6005008220672607, -1.7997498512268066, 0.41963961720466614, 0.0001516004413133487, 0.0002569417702034116, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7300221920013428, -1.150062084197998, -1.600105881690979, -1.7999889850616455, -0.4199170470237732, 0.00013278520782478154, 1.6298545233439654e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729572057723999, -1.1499887704849243, 1.600502848625183, -1.7997456789016724, 0.41963937878608704, 0.00015184012590907514, 0.00025574336177669466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5105169415473938, 1.2652256488800049, -0.5666369795799255, 0.0, 0.0, 1.7300224304199219, -1.1500637531280518, -1.6001132726669312, -1.7999919652938843, -0.41991811990737915, 0.00013302489242050797, 1.6298545233439654e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295724153518677, -1.1499886512756348, 1.6005038022994995, -1.7997455596923828, 0.4196423888206482, 0.00015195997548289597, 0.00025514414301142097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3188258409500122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9996662230087235, 0.025834848942408728, -5.617469194233284e-05, -0.14764700829982758], [-0.02583485099244269, 0.9996662238829803, -3.6079653423556675e-05, -0.07005219906568527], [5.522382977568951e-05, 3.75188756612672e-05, 0.9999999977713313, -8.197318675229326e-05], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000018/gt/hand_left.mp4 b/agibot-challenge-2026/000018/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..308b87d6c348ff75cf20c29da3bbe22f6dce1b0a --- /dev/null +++ b/agibot-challenge-2026/000018/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:149e8b9d140f281beb53bc488fc5941fd979f094659d1d301e9e449ae52faa70 +size 2968105 diff --git a/agibot-challenge-2026/000018/gt/hand_right.mp4 b/agibot-challenge-2026/000018/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7b46470e4f0ef7ceb41ed38d434a02713876edc --- /dev/null +++ b/agibot-challenge-2026/000018/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a263ca78c0da472769c1b895791d5c87259481ffe7e9040f65106e7108167768 +size 3340401 diff --git a/agibot-challenge-2026/000018/gt/head.mp4 b/agibot-challenge-2026/000018/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b379bdc18340fddf420889735fd9a65b5567ece --- /dev/null +++ b/agibot-challenge-2026/000018/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99b5b1592659d0fdc0a1c2f1e8647184fa6f72d6e8e00f2d51addb873b1d1a5f +size 2328874 diff --git a/agibot-challenge-2026/000018/meta.json b/agibot-challenge-2026/000018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c104b8e6041c2977442752883430f4826661c4a --- /dev/null +++ b/agibot-challenge-2026/000018/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Router_connecting_network_cable_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1299, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000018/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000018/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..6751f404874f91fbee6c3e25f96fb1a46ce80d81 --- /dev/null +++ b/agibot-challenge-2026/000018/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000018/ref_images/hand_left.png b/agibot-challenge-2026/000018/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..415eede897316981956f9da550d09b65da8661e5 --- /dev/null +++ b/agibot-challenge-2026/000018/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23194aac51c234a9b7d4da6b286f03f1334eb977d64768ee374a873ebee649a3 +size 363058 diff --git a/agibot-challenge-2026/000018/ref_images/hand_right.png b/agibot-challenge-2026/000018/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..eb6b7efbab40e8271a2cf34985c861a913facc76 --- /dev/null +++ b/agibot-challenge-2026/000018/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62e13ca5ccab276131a136dbbabd306cc9d8c5a4ede8d35d8013b6b7b8a634dc +size 403064 diff --git a/agibot-challenge-2026/000018/ref_images/head.png b/agibot-challenge-2026/000018/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..d2faeea9acbd70ec8294b6e11b6676a00d1f7d93 --- /dev/null +++ b/agibot-challenge-2026/000018/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bbf416a72ce24fe0c7a89602ec892f287760b33faea9d9c13260ae5a8364540 +size 299982 diff --git a/agibot-challenge-2026/000018/temporal.json b/agibot-challenge-2026/000018/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..955f89bff944d7929611c1bb1b4a615651222258 --- /dev/null +++ b/agibot-challenge-2026/000018/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296150922775269, -1.150483250617981, -1.5997304916381836, -1.7998433113098145, -0.4197540581226349, 0.0001109739241655916, -0.0006629673298448324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293487787246704, -1.1501421928405762, 1.600079894065857, -1.799973726272583, 0.4198872148990631, -0.00016694025543984026, 4.829642784898169e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729615330696106, -1.1504833698272705, -1.5997306108474731, -1.799843430519104, -0.41975370049476624, 0.00011061439727200195, -0.000667761021759361, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729349136352539, -1.1501420736312866, 1.600080132484436, -1.7999745607376099, 0.419886976480484, -0.0001681386784184724, 4.99742163810879e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296152114868164, -1.1504833698272705, -1.599730372428894, -1.799843430519104, -0.41975370049476624, 0.0001102548703784123, -0.0006684800609946251, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293493747711182, -1.1501421928405762, 1.600080132484436, -1.7999745607376099, 0.4198867380619049, -0.00016861804760992527, 5.1052797061856836e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729615569114685, -1.1504833698272705, -1.5997302532196045, -1.799843192100525, -0.4197538197040558, 0.00010905644739978015, -0.0006688396097160876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729349970817566, -1.1501420736312866, 1.600079894065857, -1.7999742031097412, 0.4198872148990631, -0.0001688577322056517, 5.2850431529805064e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296160459518433, -1.150483250617981, -1.599730372428894, -1.799843192100525, -0.4197533428668976, 0.000107858024421148, -0.0006688396097160876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729350209236145, -1.1501418352127075, 1.6000802516937256, -1.799973487854004, 0.41988685727119446, -0.0001688577322056517, 5.368932761484757e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.7248876094818115, -1.1564234495162964, -1.6116153001785278, -1.811757206916809, -0.4397715628147125, 0.02914527617394924, -0.015900909900665283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293524742126465, -1.1501413583755493, 1.6000807285308838, -1.7999727725982666, 0.41988685727119446, -0.00016909741680137813, 5.3569485316984355e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.685960054397583, -1.1838053464889526, -1.655335545539856, -1.8491612672805786, -0.564743161201477, 0.19755671918392181, -0.028638463467359543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293541431427002, -1.1501402854919434, 1.6000795364379883, -1.7999718189239502, 0.41988733410835266, -0.0001688577322056517, 5.524727748706937e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.6048210859298706, -1.2026910781860352, -1.6789954900741577, -1.8596391677856445, -0.6659749746322632, 0.3922608196735382, -0.026026621460914612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293645143508911, -1.1501421928405762, 1.6000784635543823, -1.799971342086792, 0.419886976480484, -0.00016789899382274598, 5.5367119784932584e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.5034741163253784, -1.2166496515274048, -1.6742759943008423, -1.8582642078399658, -0.7503747344017029, 0.5796470046043396, -0.012368319556117058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293682098388672, -1.150139570236206, 1.6000759601593018, -1.7999705076217651, 0.41988685727119446, -0.00016789899382274598, 5.716475425288081e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.3866395950317383, -1.231239914894104, -1.63704252243042, -1.8165124654769897, -0.8322032690048218, 0.7360345125198364, 0.03219274431467056, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7294514179229736, -1.1501413583755493, 1.6000735759735107, -1.7999707460403442, 0.4198867380619049, -0.0001672997750574723, 5.596633127424866e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.275213360786438, -1.2525132894515991, -1.578223466873169, -1.7459907531738281, -0.8816872239112854, 0.8362582325935364, 0.12423518300056458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7294564247131348, -1.1501396894454956, 1.6000744104385376, -1.7999699115753174, 0.4198857843875885, -0.00016598151705693454, 4.9614689487498254e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.1869146823883057, -1.2740790843963623, -1.5238070487976074, -1.6675304174423218, -0.9796172976493835, 0.8810895681381226, 0.204550102353096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729447364807129, -1.1501399278640747, 1.6000750064849854, -1.79996919631958, 0.41988542675971985, -0.00016250608314294368, 4.6738477976759896e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993624113024, 0.0011285572363387364, -3.9186133890600166e-05, 0.00024328037397935987], [-0.001128562534409365, 0.9999993540004428, -0.00013544483366809777, 0.00038012233562767506], [3.90332513292142e-05, 0.00013548897131257992, 0.999999990059572, -2.0472125470405445e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.1244498491287231, -1.2939921617507935, -1.4784231185913086, -1.6027752161026, -1.037712574005127, 0.8881971836090088, 0.2427348494529724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293742895126343, -1.1501383781433105, 1.6000782251358032, -1.7999683618545532, 0.4198853075504303, -0.0001609481405466795, 4.3742420530179515e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993693127734, 0.0011225388190477682, -3.578624095883868e-05, 0.00010802115866681561], [-0.0011225440806824408, 0.9999993590911649, -0.00014735008107768293, 0.00038239441346377134], [3.5620811837121144e-05, 0.00014739015977882717, 0.9999999885036492, -2.1863663732801797e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.0761386156082153, -1.3101471662521362, -1.4347572326660156, -1.5554448366165161, -1.0909343957901, 0.891879677772522, 0.2813069224357605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293171882629395, -1.1501396894454956, 1.6000744104385376, -1.7999699115753174, 0.41988444328308105, -0.00015891082875896245, 4.2783682147273794e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993511942651, 0.0011387611563354232, -2.888040169195105e-05, 0.00018097525753546506], [-0.0011387636496589758, 0.9999993478704751, -8.646371905017634e-05, 0.0003779001999646425], [2.8781921333501775e-05, 8.649655090365389e-05, 0.9999999958449738, -1.6788170569270733e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.042798399925232, -1.3230133056640625, -1.3943262100219727, -1.5264042615890503, -1.094215989112854, 0.8926364779472351, 0.2793458104133606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293167114257812, -1.1501384973526, 1.6000750064849854, -1.799971103668213, 0.41988396644592285, -0.00015891082875896245, 3.834952076431364e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993431702076, 0.0011456292372740361, -3.453699658620086e-05, 0.00015678191266488284], [-0.001145633028495181, 0.9999993377173705, -0.00010995355588633705, 0.00037972384598106146], [3.441100770458231e-05, 0.00010999305038955992, 0.9999999933587057, -1.968556489373441e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.0267282724380493, -1.335726261138916, -1.372201919555664, -1.5213890075683594, -1.10654878616333, 0.892646074295044, 0.2795851230621338, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293158769607544, -1.1501388549804688, 1.6000748872756958, -1.7999733686447144, 0.4198838472366333, -0.00015879097918514162, 3.751062467927113e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993455849167, 0.0011433840223180444, -3.876488142821897e-05, 0.0001313712273258716], [-0.0011433885726054665, 0.9999993394204868, -0.00011756343852466753, 0.0003802005376201123], [3.8630435663714585e-05, 0.00011760768491182355, 0.9999999923380609, -2.006733211601386e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.0099526643753052, -1.3475444316864014, -1.3492428064346313, -1.5092554092407227, -1.1151124238967896, 0.8972471952438354, 0.2821652293205261, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293200492858887, -1.1501384973526, 1.6000752449035645, -1.7999764680862427, 0.41988396644592285, -0.00015927034837659448, 3.6432043998502195e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993647295169, 0.0011268487124062292, -2.7432497365183084e-05, 0.00021504740288946778], [-0.0011268521775797187, 0.9999993570842574, -0.00012663033529045255, 0.00037933350540697575], [2.7289786498125053e-05, 0.0001266611672153307, 0.9999999916061081, -1.5341163361881627e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.002522349357605, -1.3601347208023071, -1.334040641784668, -1.5054408311843872, -1.1308223009109497, 0.9028751850128174, 0.29270270466804504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293304204940796, -1.150137186050415, 1.6000748872756958, -1.7999763488769531, 0.41988325119018555, -0.0001584314595675096, 3.631220170063898e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993856400042, 0.0011081085650595682, -2.8548591728865192e-05, 0.0001925584947457537], [-0.001108112670781981, 0.9999993756456963, -0.00014420307340390714, 0.00038166396552696824], [2.83887812436823e-05, 0.00014423461986753531, 0.9999999891952257, -1.8107184587279335e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.0094138383865356, -1.3693665266036987, -1.3328584432601929, -1.5218206644058228, -1.1433688402175903, 0.9136322736740112, 0.31126052141189575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729332685470581, -1.1501370668411255, 1.6000747680664062, -1.7999775409698486, 0.4198828935623169, -0.00015807192539796233, 3.655188629636541e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993487295411, 0.0011406369897656835, -3.8571377053115165e-05, 0.00014465313870459795], [-0.001140642896315057, 0.9999993376917976, -0.00015345927570272304, 0.0003801964921876788], [3.839631018068659e-05, 0.0001535031719264669, 0.9999999874812497, -1.972143991224584e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.0274587869644165, -1.3746098279953003, -1.340612530708313, -1.5430530309677124, -1.1617281436920166, 0.9333243370056152, 0.32446712255477905, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293318510055542, -1.1501356363296509, 1.6000746488571167, -1.7999823093414307, 0.419883131980896, -0.00015927034837659448, 3.787015157286078e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993621625403, 0.0011290119654069608, -3.172529751875856e-05, 0.0001417639577994123], [-0.00112901654148507, 0.999999352206776, -0.00014459487304400062, 0.00037855328992009163], [3.156202762552262e-05, 0.00014463059920165634, 0.999999989042914, -2.0870293155894615e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.056193232536316, -1.3771041631698608, -1.3474522829055786, -1.5781532526016235, -1.175408124923706, 0.9540207386016846, 0.3512633740901947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293412685394287, -1.150134563446045, 1.6000747680664062, -1.7999851703643799, 0.41988420486450195, -0.00016058862092904747, 3.763046697713435e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993486104963, 0.0011405663836200964, -4.3438549444124475e-05, 0.00021349426242522895], [-0.001140573568891474, 0.9999993358094917, -0.00016574833148810163, 0.00037834796239621937], [4.3249473617615794e-05, 0.00016579776838274523, 0.9999999853202914, -2.4821549686748767e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.0945340394973755, -1.3779120445251465, -1.3475733995437622, -1.6310813426971436, -1.1712602376937866, 0.971159040927887, 0.3696497082710266, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293401956558228, -1.150133728981018, 1.6000750064849854, -1.7999881505966187, 0.4198845624923706, -0.00016142750973813236, 3.834952076431364e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993479015117, 0.0011414166552076816, -3.6940094608855176e-05, 0.00013133550237398595], [-0.001141422727285733, 0.9999993350014827, -0.00016477484597400118, 0.000380179873900488], [3.675199329019303e-05, 0.0001648169027881078, 0.9999999857423397, -1.9593251181504456e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.1343342065811157, -1.3795980215072632, -1.3443189859390259, -1.6856218576431274, -1.1704504489898682, 0.9974215030670166, 0.3875729441642761, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293435335159302, -1.1501332521438599, 1.6000748872756958, -1.799992561340332, 0.41988396644592285, -0.00016490292910020798, 4.338289363658987e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993236331799, 0.0011625028392749613, -3.633636384171063e-05, 0.00023527145094703883], [-0.0011625081947724734, 0.9999993133772912, -0.0001477147359220941, 0.0003803118597716093], [3.616462009242588e-05, 0.00014775687733348215, 0.9999999884300127, -1.6504834547959035e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.1772552728652954, -1.3795931339263916, -1.3207077980041504, -1.7470016479492188, -1.1271686553955078, 1.0034244060516357, 0.3881289064884186, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729341983795166, -1.150131106376648, 1.600075602531433, -1.799991488456726, 0.41988471150398254, -0.00016849819803610444, 4.482100121094845e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993492845342, 0.0011402814962945228, -3.447633098168325e-05, 0.00022360382718034089], [-0.0011402861645192842, 0.9999993406678077, -0.00013568866188615498, 0.00038016989128664136], [3.4321584979922615e-05, 0.00013572788647466593, 0.9999999901999848, -1.9643882751552155e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.2005590200424194, -1.3800523281097412, -1.2885468006134033, -1.7506322860717773, -1.1061911582946777, 1.006551742553711, 0.3938862383365631, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293453216552734, -1.1501312255859375, 1.600075602531433, -1.799992322921753, 0.41988518834114075, -0.00017389110871590674, 4.733768946607597e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993492845342, 0.0011402814962945228, -3.447633098168325e-05, 0.00022360382718034089], [-0.0011402861645192842, 0.9999993406678077, -0.00013568866188615498, 0.00038016989128664136], [3.4321584979922615e-05, 0.00013572788647466593, 0.9999999901999848, -1.9643882751552155e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2130823135375977, -1.3800636529922485, -1.2675641775131226, -1.7448127269744873, -1.107090950012207, 1.007318377494812, 0.40953415632247925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293579578399658, -1.1501330137252808, 1.6000745296478271, -1.7999916076660156, 0.4198860228061676, -0.00018180068582296371, 5.069327016826719e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993033434215, 0.0011799580132784428, -3.180815527643294e-05, 0.00030852327472530305], [-0.00117996268653268, 0.9999992929945744, -0.000147303801353334, 0.00037967588286846876], [3.163432048710134e-05, 0.0001473412311695254, 0.9999999886449156, -2.209832246080623e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.216417908668518, -1.3799623250961304, -1.2485641241073608, -1.7484891414642334, -1.0720765590667725, 1.0073366165161133, 0.40991753339767456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293494939804077, -1.150131344795227, 1.6000767946243286, -1.7999898195266724, 0.4198860228061676, -0.00018659437773749232, 5.320995842339471e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993254491893, 0.0011610826242929014, -3.143733177110073e-05, 0.00017498907982371747], [-0.0011610871803984701, 0.9999993153822465, -0.00014529830588588702, 0.000379210920073092], [3.126860691024197e-05, 0.00014533470935770235, 0.9999999889500482, -1.2061140068908571e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2123161554336548, -1.379981279373169, -1.2309366464614868, -1.7316014766693115, -1.0648881196975708, 1.0073180198669434, 0.4102504551410675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293586730957031, -1.1501318216323853, 1.6000776290893555, -1.7999881505966187, 0.41988542675971985, -0.0001886317040771246, 5.368932761484757e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993693904792, 0.0011225764169571538, -3.226192776628287e-05, 0.0002590614603832364], [-0.001122581452756684, 0.9999993576592364, -0.00015649919023685686, 0.0003808964102063328], [3.208622474289877e-05, 0.00015653530818871808, 0.9999999872335856, -1.964794819286908e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2074378728866577, -1.380111575126648, -1.209533929824829, -1.7198121547698975, -1.0426478385925293, 1.0072674751281738, 0.411905974149704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293580770492554, -1.1501320600509644, 1.6000772714614868, -1.7999870777130127, 0.4198860228061676, -0.00018911107326857746, 5.3809169912710786e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993490943565, 0.0011406226012985483, -2.8123741134079978e-05, 0.00021874353114981204], [-0.0011406265536642495, 0.9999993395558641, -0.0001409216124467266, 0.0003809401532635093], [2.796298418375189e-05, 0.0001409535994059797, 0.9999999896750771, -2.057804977084743e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.200224757194519, -1.384266972541809, -1.183980107307434, -1.7024799585342407, -1.0003323554992676, 1.004249930381775, 0.416364461183548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729357123374939, -1.1501325368881226, 1.6000771522521973, -1.799986720085144, 0.4198862612247467, -0.00018994996207766235, 5.3569485316984355e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993619357347, 0.0011295305558513642, -1.6995495128974136e-05, 0.00020852388115599751], [-0.001129532883960787, 0.9999993526101458, -0.00013760360951886258, 0.000379092845832929], [1.6840056644716032e-05, 0.00013762271868954394, 0.9999999903881999, -2.2122164864413207e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2000540494918823, -1.3940075635910034, -1.1788407564163208, -1.6918069124221802, -0.9592330455780029, 1.0014710426330566, 0.39956653118133545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293576002120972, -1.1501325368881226, 1.600077509880066, -1.799981713294983, 0.4198860228061676, -0.00018959044246003032, 5.0813112466130406e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993363770125, 0.0011514363657933538, -3.7945093089639455e-05, 0.00023132112983148545], [-0.0011514415744317665, 0.99999932763326, -0.0001375330090314536, 0.0003793061769101769], [3.778670706852511e-05, 0.0001375766093191164, 0.9999999898224207, -2.500104073988041e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2010918855667114, -1.3985689878463745, -1.1625597476959229, -1.6923532485961914, -0.8973115086555481, 0.9942408800125122, 0.3662987947463989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729355812072754, -1.1501307487487793, 1.6000784635543823, -1.7999790906906128, 0.4198862612247467, -0.00018767296569421887, 4.817658555111848e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993542262371, 0.0011358599427607164, -3.7004044532708996e-05, 0.00016932838479988277], [-0.00113586365772141, 0.9999993498537731, -0.00010052751931027574, 0.0003789686306845397], [3.688983529233942e-05, 0.00010056948594161473, 0.9999999942624592, -4.218552192014613e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.1996498107910156, -1.4126116037368774, -1.1562799215316772, -1.668844223022461, -0.8882883787155151, 0.9948484897613525, 0.35635969042778015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293609380722046, -1.1501307487487793, 1.6000803709030151, -1.7999792098999023, 0.4198857843875885, -0.00018647454271558672, 4.6978162572486326e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99999937979483, 0.0011131911294491466, -3.4863514901766753e-05, 0.00024386853328906], [-0.0011131945592800772, 0.9999993755461979, -9.851440258760626e-05, 0.0003782697895076126], [3.4753827772028816e-05, 9.855315136357048e-05, 0.9999999945397239, -2.2309077394311316e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.1958112716674805, -1.424641728401184, -1.1507363319396973, -1.6567519903182983, -0.8772202134132385, 0.9949491620063782, 0.33781397342681885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293577194213867, -1.150130033493042, 1.6000802516937256, -1.799978256225586, 0.41988542675971985, -0.00018144116620533168, 4.482100121094845e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993641871906, 0.0011270307996853592, -3.777288841438216e-05, 0.0001996911596506834], [-0.0011270340088937684, 0.9999993612804454, -8.504730495807321e-05, 0.00037705633440054953], [3.767701335598171e-05, 8.508982221376448e-05, 0.9999999956700824, -5.663818569701107e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.186787486076355, -1.4332138299942017, -1.1423923969268799, -1.6415730714797974, -0.8518404960632324, 0.9970235228538513, 0.3143046200275421, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729357361793518, -1.150130033493042, 1.600079894065857, -1.7999783754348755, 0.4198850691318512, -0.00017772606224752963, 4.458131661522202e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.1923301219940186, -1.4358768463134766, -1.138837218284607, -1.640697717666626, -0.8001582026481628, 0.9952149987220764, 0.277935266494751, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293564081192017, -1.1501303911209106, 1.6000789403915405, -1.7999790906906128, 0.4198850691318512, -0.0001743704779073596, 4.3982105125905946e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.202842354774475, -1.4352881908416748, -1.1364928483963013, -1.6454449892044067, -0.7317954897880554, 0.9870200157165527, 0.2247525155544281, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293574810028076, -1.1501293182373047, 1.6000789403915405, -1.7999804019927979, 0.4198850691318512, -0.00017305220535490662, 4.170510146650486e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.2124983072280884, -1.4339218139648438, -1.1327285766601562, -1.649315595626831, -0.665841281414032, 0.9778522253036499, 0.17262448370456696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293553352355957, -1.1501296758651733, 1.6000781059265137, -1.799983024597168, 0.4198843240737915, -0.00017065535939764231, 3.978762833867222e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.2192978858947754, -1.4338483810424805, -1.134425401687622, -1.6497942209243774, -0.6295398473739624, 0.9706569314002991, 0.13753348588943481, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293567657470703, -1.1501291990280151, 1.6000787019729614, -1.7999845743179321, 0.4198843240737915, -0.00017101489356718957, 3.763046697713435e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.2317001819610596, -1.433858871459961, -1.1417471170425415, -1.6542376279830933, -0.6131400465965271, 0.9643908143043518, 0.11629611998796463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293577194213867, -1.150128722190857, 1.6000785827636719, -1.7999836206436157, 0.4198840856552124, -0.00017065535939764231, 3.48740941262804e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.2354741096496582, -1.4327698945999146, -1.1446070671081543, -1.6529680490493774, -0.6021692156791687, 0.9598654508590698, 0.10011813044548035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293565273284912, -1.1501286029815674, 1.6000792980194092, -1.799984335899353, 0.41988372802734375, -0.00017065535939764231, 3.451456723269075e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.2383638620376587, -1.4317265748977661, -1.1473979949951172, -1.652657151222229, -0.5844283699989319, 0.9568693041801453, 0.0784764215350151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293572425842285, -1.150128722190857, 1.600078821182251, -1.7999846935272217, 0.4198840856552124, -0.00017041567480191588, 3.535346331773326e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993537360647, 0.001136449071695633, -3.1795603520219236e-05, 0.00018399377586320043], [-0.0011364521857275389, 0.999999349426882, -9.809302905174716e-05, 0.000380127428798005], [3.168410510304865e-05, 9.812909984087725e-05, 0.9999999946833986, -1.981710056497832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4160112142562866, -0.4951264262199402, 0.0, 0.0, 1.2442389726638794, -1.4315776824951172, -1.153650164604187, -1.6542932987213135, -0.5767784714698792, 0.9560873508453369, 0.06171492487192154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293570041656494, -1.150128960609436, 1.6000785827636719, -1.799985408782959, 0.4198843240737915, -0.00017065535939764231, 3.655188629636541e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993151048036, 0.001169789627808718, -3.71772853539863e-05, 4.828970122616738e-05], [-0.0011697940355295412, 0.9999993087387805, -0.00011875973917310001, 0.000380009354557842], [3.7038335743684726e-05, 0.0001188031476017894, 0.9999999922569869, -1.9029880604648497e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2446600198745728, -1.4312870502471924, -1.1537002325057983, -1.6547465324401855, -0.5775765776634216, 0.9559122323989868, 0.06224966049194336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293572425842285, -1.1501291990280151, 1.6000789403915405, -1.7999850511550903, 0.4198836088180542, -0.00017149426275864244, 3.6192359402775764e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993205675338, 0.0011654704371279528, -2.330517089230387e-05, 7.877397001720965e-05], [-0.001165471731102642, 0.9999993192926446, -5.55867906557967e-05, 0.0003796578384935856], [2.3240370267098477e-05, 5.561391440618993e-05, 0.9999999981834888, -3.103631343037705e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2446630001068115, -1.4311530590057373, -1.1536288261413574, -1.6549251079559326, -0.5782849788665771, 0.9559044241905212, 0.06261733174324036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293604612350464, -1.1503770351409912, 1.6059399843215942, -1.8084145784378052, 0.4237976670265198, 0.00914060790091753, 0.00892285443842411, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993044614428, 0.0011786583119353428, -4.290937418412056e-05, 8.02147260401398e-05], [-0.0011786614481644926, 0.9999993027037809, -7.313783319040019e-05, 0.00037828536005690694], [4.282313974856937e-05, 7.31883579453329e-05, 0.9999999964048215, -2.9201567031122977e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2447572946548462, -1.4308451414108276, -1.1533288955688477, -1.6551100015640259, -0.5783581137657166, 0.9559056162834167, 0.0630064606666565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7294235229492188, -1.163158655166626, 1.646256685256958, -1.87843918800354, 0.4047517478466034, 0.1295667290687561, 0.11799835413694382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999337034752, 0.0011511116179296753, -2.953133266682545e-05, 1.9397975847823545e-05], [-0.001151114171096209, 0.9999993337193478, -8.658536578722654e-05, 0.0003801552520599216], [2.9431643570169497e-05, 8.661930231966216e-05, 0.9999999958154374, -1.987555151572451e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2448928356170654, -1.4306917190551758, -1.1532329320907593, -1.655115008354187, -0.5785618424415588, 0.9559059739112854, 0.06303558498620987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7190312147140503, -1.1800321340560913, 1.6489418745040894, -1.9100124835968018, 0.33488333225250244, 0.261473149061203, 0.20031428337097168, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992984065142, 0.001184010991898304, -3.61171753162662e-05, 9.055792179424316e-05], [-0.0011840145424642514, 0.999999294208883, -9.844439567791026e-05, 0.0003772007767111063], [3.600059057851125e-05, 9.848708987077074e-05, 0.9999999945021253, -1.1627699905147892e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.244886875152588, -1.4306694269180298, -1.1532468795776367, -1.6552015542984009, -0.5786367058753967, 0.9559074640274048, 0.06301616877317429, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7005127668380737, -1.195361614227295, 1.633248209953308, -1.9235947132110596, 0.2791631817817688, 0.3701395094394684, 0.2367638200521469, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993735892331, 0.0011192291001614037, -1.2139310655780727e-05, 6.605791713809595e-05], [-0.001119230015265436, 0.9999993708011431, -7.564053648343266e-05, 0.0003796788223553449], [1.2054643928156261e-05, 7.565407578223677e-05, 0.9999999970655732, -1.5672068229832803e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2448798418045044, -1.4303216934204102, -1.1532827615737915, -1.655229091644287, -0.5786340832710266, 0.9559098482131958, 0.06288889795541763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6522630453109741, -1.211787223815918, 1.5997591018676758, -1.9120934009552002, 0.22592900693416595, 0.47050389647483826, 0.2238512933254242, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993411808834, 0.0011476620592300558, -2.257425536545216e-05, 0.00015999696915969253], [-0.0011476635683955385, 0.9999993391925005, -6.695443353020141e-05, 0.00037914313725195825], [2.249739938515507e-05, 6.698029706980724e-05, 0.9999999975037535, -1.9296994651085697e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2448965311050415, -1.4303226470947266, -1.1532673835754395, -1.655497670173645, -0.5788387656211853, 0.9559244513511658, 0.06238652020692825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.604047417640686, -1.2232072353363037, 1.570979356765747, -1.8906776905059814, 0.16921749711036682, 0.5408938527107239, 0.23698636889457703, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993188610332, 0.0011667772268771138, -3.0139219204646284e-05, 0.00015768621233291924], [-0.001166780089251185, 0.9999993147870765, -9.512938944483942e-05, 0.0003802697465289384], [3.0028203747652824e-05, 9.516449048937893e-05, 0.9999999950210133, -2.017655333474977e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2451413869857788, -1.4302223920822144, -1.1532697677612305, -1.6555384397506714, -0.5789608955383301, 0.9560427665710449, 0.06229603663086891, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5764362812042236, -1.2354880571365356, 1.5524990558624268, -1.8786364793777466, 0.1363065391778946, 0.5659217238426208, 0.2368517816066742, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993161308925, 0.0011694173193972498, -1.4173225370721535e-05, -7.026221283013001e-05], [-0.0011694189592465307, 0.9999993094724017, -0.00011624980700464512, 0.0003837979747913778], [1.403727104603044e-05, 0.00011626630194345555, 0.9999999931425511, -2.704539383557858e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2451627254486084, -1.43001389503479, -1.1532937288284302, -1.6555523872375488, -0.5789430737495422, 0.9560693502426147, 0.06244476139545441, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5455434322357178, -1.2488741874694824, 1.539615273475647, -1.8565399646759033, 0.11687231808900833, 0.6045780181884766, 0.2228253334760666, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992817115632, 0.0011984102311887101, -1.9730068937543722e-05, 8.812142186798155e-05], [-0.0011984129308014678, 0.9999992724651082, -0.0001373888694131402, 0.00037955044535920024], [1.9565406356474e-05, 0.00013741241549804426, 0.9999999903675114, -3.280327291577123e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2451601028442383, -1.4300185441970825, -1.1533247232437134, -1.655788779258728, -0.5789557695388794, 0.9560695886611938, 0.06246237829327583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5192302465438843, -1.260874629020691, 1.5269213914871216, -1.836220383644104, 0.09940291196107864, 0.6271446943283081, 0.20758917927742004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2451852560043335, -1.4300206899642944, -1.1533044576644897, -1.6557939052581787, -0.5790378451347351, 0.9560784697532654, 0.062400780618190765, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5026190280914307, -1.271044135093689, 1.5211005210876465, -1.8251850605010986, 0.08710314333438873, 0.6426733732223511, 0.20470350980758667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2453081607818604, -1.4300200939178467, -1.153301477432251, -1.6557915210723877, -0.579032301902771, 0.9560912847518921, 0.062412045896053314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4937379360198975, -1.2787915468215942, 1.5162358283996582, -1.8170965909957886, 0.07470151036977768, 0.6592735648155212, 0.20333729684352875, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453073263168335, -1.4300199747085571, -1.1533020734786987, -1.6557931900024414, -0.5790314674377441, 0.95609450340271, 0.06241180747747421, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.495200753211975, -1.287186861038208, 1.5167750120162964, -1.8180102109909058, 0.07145605981349945, 0.6593918204307556, 0.1914108395576477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453068494796753, -1.4300192594528198, -1.153302788734436, -1.6557925939559937, -0.5790252685546875, 0.9560962915420532, 0.06242894381284714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5013651847839355, -1.2936384677886963, 1.527381181716919, -1.8189250230789185, 0.06567762792110443, 0.6525736451148987, 0.18952740728855133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453069686889648, -1.4300187826156616, -1.1533037424087524, -1.6557927131652832, -0.5790084600448608, 0.956096887588501, 0.062490660697221756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5122997760772705, -1.2962560653686523, 1.543304443359375, -1.8149420022964478, 0.054349057376384735, 0.643581748008728, 0.19335228204727173, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.245307207107544, -1.430015206336975, -1.1533070802688599, -1.6557952165603638, -0.5790059566497803, 0.9560984373092651, 0.06250288337469101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.528305172920227, -1.2987730503082275, 1.5532042980194092, -1.8166935443878174, 0.05079633742570877, 0.6293532252311707, 0.1961827278137207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453069686889648, -1.4300132989883423, -1.1533106565475464, -1.6557954549789429, -0.578990638256073, 0.9560994505882263, 0.06257802993059158, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5427287817001343, -1.3046903610229492, 1.563524842262268, -1.8235366344451904, 0.05101217329502106, 0.6000603437423706, 0.18902263045310974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453073263168335, -1.4300127029418945, -1.1533102989196777, -1.655796766281128, -0.578991711139679, 0.9561008810997009, 0.06258893013000488, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5534015893936157, -1.310289740562439, 1.5847827196121216, -1.839453101158142, 0.06252110004425049, 0.5756945013999939, 0.17660708725452423, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453086376190186, -1.4300143718719482, -1.153305172920227, -1.655798316001892, -0.5790050029754639, 0.9561024308204651, 0.06256724148988724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5665380954742432, -1.3126927614212036, 1.6113636493682861, -1.8561296463012695, 0.07377177476882935, 0.5491822361946106, 0.1660194993019104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453781366348267, -1.4300141334533691, -1.1532920598983765, -1.6557966470718384, -0.5790084600448608, 0.956106960773468, 0.06256436556577682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5862764120101929, -1.3137142658233643, 1.6406058073043823, -1.8696633577346802, 0.07533212006092072, 0.5284544825553894, 0.161655455827713, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453851699829102, -1.4300130605697632, -1.153293251991272, -1.6557962894439697, -0.5790053606033325, 0.9561087489128113, 0.0625707134604454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6108230352401733, -1.314290165901184, 1.6747885942459106, -1.8697855472564697, 0.07634957879781723, 0.5107711553573608, 0.16817043721675873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453862428665161, -1.430006504058838, -1.1533007621765137, -1.6557884216308594, -0.5789781808853149, 0.9561089873313904, 0.06272854655981064, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6281605958938599, -1.3145296573638916, 1.6998283863067627, -1.8505308628082275, 0.07505480200052261, 0.4851652979850769, 0.17903293669223785, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453844547271729, -1.4300062656402588, -1.153302788734436, -1.655792474746704, -0.5790069103240967, 0.9561087489128113, 0.06267210096120834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.654016137123108, -1.3164613246917725, 1.7145764827728271, -1.8422168493270874, 0.08284515142440796, 0.4500126838684082, 0.1981840878725052, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2453882694244385, -1.43000328540802, -1.153302788734436, -1.6557918787002563, -0.5790714025497437, 0.9561094641685486, 0.062499649822711945, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6881979703903198, -1.318677544593811, 1.7322856187820435, -1.8434418439865112, 0.09764686226844788, 0.41184818744659424, 0.22814033925533295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2454254627227783, -1.42988920211792, -1.1533117294311523, -1.6557713747024536, -0.5790206789970398, 0.9561100006103516, 0.06273753941059113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7091457843780518, -1.3190971612930298, 1.7549844980239868, -1.833038568496704, 0.09670382738113403, 0.3787693381309509, 0.27429085969924927, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2454911470413208, -1.4298897981643677, -1.153311014175415, -1.655768871307373, -0.5790385603904724, 0.9561101198196411, 0.06266563385725021, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7189222574234009, -1.3185529708862305, 1.773697853088379, -1.805875301361084, 0.08964020758867264, 0.3354293406009674, 0.31941530108451843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2454993724822998, -1.4298878908157349, -1.1533116102218628, -1.655775547027588, -0.579067587852478, 0.956112265586853, 0.0624895840883255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730954885482788, -1.318512201309204, 1.7881678342819214, -1.79118013381958, 0.09038334339857101, 0.2879447340965271, 0.3544747829437256, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2455191612243652, -1.4298325777053833, -1.1533360481262207, -1.6557717323303223, -0.5790340304374695, 0.9561166763305664, 0.06256783753633499, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7322593927383423, -1.3194386959075928, 1.7894123792648315, -1.7696468830108643, 0.08939093351364136, 0.25951263308525085, 0.36369484663009644, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2455240488052368, -1.4298073053359985, -1.1533844470977783, -1.655775547027588, -0.579049825668335, 0.9561241269111633, 0.06252769380807877, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7290046215057373, -1.322914719581604, 1.7894060611724854, -1.7541993856430054, 0.08948308974504471, 0.2503867745399475, 0.3687693476676941, 0.5574000019948561, 0.5574000019948561, 0.5574000019948561, 0.5574000019948561, -0.5574000019948561, -0.5574000019948561, -0.5574000019948561, 0.5574000019948561, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2455857992172241, -1.4298076629638672, -1.1533807516098022, -1.6557787656784058, -0.5790663361549377, 0.9561458230018616, 0.062481075525283813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7140181064605713, -1.3252612352371216, 1.7882314920425415, -1.7314448356628418, 0.08543577790260315, 0.2528824806213379, 0.3724813461303711, 0.5184000000848875, 0.5184000000848875, 0.5184000000848875, 0.5184000000848875, -0.5184000000848875, -0.5184000000848875, -0.5184000000848875, 0.5184000000848875, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2455878257751465, -1.4298081398010254, -1.1533746719360352, -1.6558386087417603, -0.5791622400283813, 0.9561591148376465, 0.06234841048717499, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7065138816833496, -1.3258670568466187, 1.7882088422775269, -1.7229220867156982, 0.08393247425556183, 0.25104111433029175, 0.380821168422699, 0.412800006552057, 0.412800006552057, 0.412800006552057, 0.412800006552057, -0.412800006552057, -0.412800006552057, -0.412800006552057, 0.412800006552057, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456101179122925, -1.4297934770584106, -1.1533671617507935, -1.6558550596237183, -0.5791770815849304, 0.9561954140663147, 0.062336184084415436, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.700455904006958, -1.3260523080825806, 1.7884336709976196, -1.715324878692627, 0.0793289765715599, 0.25168105959892273, 0.3928801715373993, 0.35819999700064187, 0.35819999700064187, 0.35819999700064187, 0.35819999700064187, -0.35819999700064187, -0.35819999700064187, -0.35819999700064187, 0.35819999700064187, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456287145614624, -1.429743766784668, -1.1533658504486084, -1.6558641195297241, -0.5791679620742798, 0.9562084674835205, 0.06235320493578911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6997395753860474, -1.3265877962112427, 1.7902483940124512, -1.71401047706604, 0.08193399012088776, 0.25109946727752686, 0.40003475546836853, 0.27360000033954995, 0.27360000033954995, 0.27360000033954995, 0.27360000033954995, -0.27360000033954995, -0.27360000033954995, -0.27360000033954995, 0.27360000033954995, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456287145614624, -1.429713487625122, -1.153365969657898, -1.6558663845062256, -0.5791535973548889, 0.9562129378318787, 0.0623735748231411, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6954455375671387, -1.327030897140503, 1.7910058498382568, -1.7080705165863037, 0.08325405418872833, 0.24773357808589935, 0.40618589520454407, 0.2418000053573441, 0.2418000053573441, 0.2418000053573441, 0.2418000053573441, -0.2418000053573441, -0.2418000053573441, -0.2418000053573441, 0.2418000053573441, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456282377243042, -1.429712176322937, -1.1533626317977905, -1.6558836698532104, -0.5791544318199158, 0.9562129378318787, 0.06237369775772095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6912012100219727, -1.3273930549621582, 1.7918883562088013, -1.7067716121673584, 0.0849073976278305, 0.24699954688549042, 0.4119401276111603, 0.22019998948652664, 0.22019998948652664, 0.22019998948652664, 0.22019998948652664, -0.22019998948652664, -0.22019998948652664, -0.22019998948652664, 0.22019998948652664, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456283569335938, -1.4297127723693848, -1.153318166732788, -1.6559507846832275, -0.5791583061218262, 0.9562132954597473, 0.06236530840396881, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6922199726104736, -1.3283920288085938, 1.7940821647644043, -1.714040756225586, 0.08766867965459824, 0.2404359132051468, 0.4105507731437683, 0.19440000764616247, 0.19440000764616247, 0.19440000764616247, 0.19440000764616247, -0.19440000764616247, -0.19440000764616247, -0.19440000764616247, 0.19440000764616247, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456291913986206, -1.4297032356262207, -1.153267741203308, -1.655946969985962, -0.5791290402412415, 0.95621258020401, 0.06241396442055702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6925022602081299, -1.3288073539733887, 1.7971279621124268, -1.7183259725570679, 0.08964308351278305, 0.23898665606975555, 0.41176658868789673, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, -0.1865999866317917, -0.1865999866317917, -0.1865999866317917, 0.1865999866317917, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.245629072189331, -1.4296932220458984, -1.1532682180404663, -1.6559457778930664, -0.5791055560112, 0.9562119841575623, 0.062458064407110214, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.692041277885437, -1.328808307647705, 1.7977758646011353, -1.7178879976272583, 0.08982092887163162, 0.24019993841648102, 0.41679444909095764, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, -0.12299999666737986, -0.12299999666737986, -0.12299999666737986, 0.12299999666737986, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456310987472534, -1.429691195487976, -1.1532691717147827, -1.655946135520935, -0.5791069865226746, 0.9562109708786011, 0.06245458871126175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.691037893295288, -1.3288464546203613, 1.7980009317398071, -1.7170448303222656, 0.08841637521982193, 0.24883349239826202, 0.42080065608024597, 0.04499998302250117, 0.04499998302250117, 0.04499998302250117, 0.04499998302250117, -0.04499998302250117, -0.04499998302250117, -0.04499998302250117, 0.04499998302250117, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456326484680176, -1.4296903610229492, -1.1532703638076782, -1.655946135520935, -0.5791087746620178, 0.956209659576416, 0.06244739890098572, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6914230585098267, -1.328864336013794, 1.7980009317398071, -1.7173150777816772, 0.08742276579141617, 0.24900570511817932, 0.4204481840133667, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.245635747909546, -1.4296894073486328, -1.1532715559005737, -1.6559464931488037, -0.5791122913360596, 0.9562082290649414, 0.062442004680633545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6917939186096191, -1.3289344310760498, 1.7980518341064453, -1.7195011377334595, 0.08679239451885223, 0.2534435987472534, 0.42046964168548584, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456384897232056, -1.429688572883606, -1.1532745361328125, -1.6559463739395142, -0.5791175365447998, 0.9562060832977295, 0.06243852898478508, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6929131746292114, -1.3292763233184814, 1.7991658449172974, -1.7265565395355225, 0.08528406172990799, 0.26063087582588196, 0.4211280643939972, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456456422805786, -1.429687261581421, -1.1532782316207886, -1.6559464931488037, -0.5791205167770386, 0.9562045335769653, 0.062437571585178375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6930932998657227, -1.329274296760559, 1.8004448413848877, -1.7328048944473267, 0.07958076894283295, 0.2713097929954529, 0.4266875386238098, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456529140472412, -1.429686427116394, -1.1532835960388184, -1.6559460163116455, -0.5791290402412415, 0.9562020301818848, 0.06242954358458519, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6962125301361084, -1.3291995525360107, 1.8021832704544067, -1.7419660091400146, 0.07383984327316284, 0.2782699763774872, 0.432829350233078, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456557750701904, -1.4296865463256836, -1.153290033340454, -1.6559462547302246, -0.5791409015655518, 0.9562011957168579, 0.06241635978221893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7027614116668701, -1.3288840055465698, 1.8052634000778198, -1.7609134912490845, 0.06800065189599991, 0.2881926894187927, 0.4371647536754608, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2456600666046143, -1.4296848773956299, -1.153300166130066, -1.655945897102356, -0.5791468024253845, 0.9562005996704102, 0.06241863593459129, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7100942134857178, -1.3287036418914795, 1.809993863105774, -1.7863918542861938, 0.05891912430524826, 0.3009527623653412, 0.43790203332901, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, -0.30659999402014765, -0.30659999402014765, -0.30659999402014765, 0.30659999402014765, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2457044124603271, -1.4296749830245972, -1.153397560119629, -1.655938982963562, -0.5791451930999756, 0.9562004804611206, 0.06243205815553665, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7110542058944702, -1.3284577131271362, 1.8122169971466064, -1.79660964012146, 0.04726650193333626, 0.3174406588077545, 0.43694424629211426, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, -0.5358000008614509, -0.5358000008614509, -0.5358000008614509, 0.5358000008614509, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2457525730133057, -1.429669737815857, -1.153405785560608, -1.6559264659881592, -0.5791434049606323, 0.9562004804611206, 0.06245339289307594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6988626718521118, -1.3283292055130005, 1.8062890768051147, -1.7720978260040283, 0.02878718636929989, 0.3286759853363037, 0.4371776878833771, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2457513809204102, -1.4296720027923584, -1.1534028053283691, -1.655936598777771, -0.5793405771255493, 0.9561999440193176, 0.062370698899030685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6852236986160278, -1.32782781124115, 1.7987443208694458, -1.7451012134552002, 0.019155224785208702, 0.34650805592536926, 0.4489399790763855, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2457499504089355, -1.4296709299087524, -1.153401255607605, -1.655950903892517, -0.5794045329093933, 0.9562004804611206, 0.062303707003593445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6789458990097046, -1.327833890914917, 1.7945476770401, -1.7322309017181396, 0.017900237813591957, 0.35067903995513916, 0.4496968984603882, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2457479238510132, -1.4296561479568481, -1.153403639793396, -1.6559516191482544, -0.5793489217758179, 0.956200361251831, 0.062361352145671844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6747355461120605, -1.3278266191482544, 1.7935833930969238, -1.7272449731826782, 0.015644926577806473, 0.36276835203170776, 0.4488939642906189, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.245742678642273, -1.4296305179595947, -1.1534032821655273, -1.6559566259384155, -0.5793412923812866, 0.9562007188796997, 0.062362190335989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.671124815940857, -1.3274372816085815, 1.792182445526123, -1.7251402139663696, 0.011884636245667934, 0.3738718628883362, 0.4479636251926422, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.245743751525879, -1.4295902252197266, -1.1534011363983154, -1.655958652496338, -0.5792197585105896, 0.9562005996704102, 0.06240473687648773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6656514406204224, -1.3269213438034058, 1.7910420894622803, -1.7259272336959839, 0.009958891198039055, 0.38753628730773926, 0.44859111309051514, 0.5621999992446585, 0.5621999992446585, 0.5621999992446585, 0.5621999992446585, -0.5621999992446585, -0.5621999992446585, -0.5621999992446585, 0.5621999992446585, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.245867133140564, -1.429525375366211, -1.1533489227294922, -1.6559194326400757, -0.579164981842041, 0.9562027454376221, 0.06246165931224823, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6524354219436646, -1.3254820108413696, 1.78532075881958, -1.7257786989212036, 0.00036432043998502195, 0.40651175379753113, 0.4491640627384186, 0.5094000000220078, 0.5094000000220078, 0.5094000000220078, 0.5094000000220078, -0.5094000000220078, -0.5094000000220078, -0.5094000000220078, 0.5094000000220078, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.246026873588562, -1.42950439453125, -1.1531670093536377, -1.6559439897537231, -0.5792221426963806, 0.9562060832977295, 0.062379926443099976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6431111097335815, -1.324373483657837, 1.7805389165878296, -1.7341184616088867, -0.008453072980046272, 0.43511268496513367, 0.446877121925354, 0.451200004200359, 0.451200004200359, 0.451200004200359, 0.451200004200359, -0.451200004200359, -0.451200004200359, -0.451200004200359, 0.451200004200359, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.246125340461731, -1.4294371604919434, -1.1531707048416138, -1.6559275388717651, -0.5792272090911865, 0.9562122225761414, 0.06238088756799698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6384007930755615, -1.3235386610031128, 1.7791227102279663, -1.7447508573532104, -0.014269017614424229, 0.4613616168498993, 0.4478735029697418, 0.3629999917942089, 0.3629999917942089, 0.3629999917942089, 0.3629999917942089, -0.3629999917942089, -0.3629999917942089, -0.3629999917942089, 0.3629999917942089, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2462388277053833, -1.4294003248214722, -1.1531678438186646, -1.6559842824935913, -0.5792666077613831, 0.9562423825263977, 0.062327075749635696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6387821435928345, -1.3227027654647827, 1.7834242582321167, -1.7562081813812256, -0.017061341553926468, 0.4865529537200928, 0.45478132367134094, 0.31199999798785194, 0.31199999798785194, 0.31199999798785194, 0.31199999798785194, -0.31199999798785194, -0.31199999798785194, -0.31199999798785194, 0.31199999798785194, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2463045120239258, -1.4293756484985352, -1.1531695127487183, -1.6559839248657227, -0.5792796611785889, 0.9563267827033997, 0.06230993941426277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6392053365707397, -1.3206305503845215, 1.7930830717086792, -1.761658787727356, -0.017281372100114822, 0.5043495297431946, 0.464992493391037, 0.27780000560886253, 0.27780000560886253, 0.27780000560886253, 0.27780000560886253, -0.27780000560886253, -0.27780000560886253, -0.27780000560886253, 0.27780000560886253, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2463984489440918, -1.4292658567428589, -1.1531707048416138, -1.6559199094772339, -0.5791908502578735, 0.9563460350036621, 0.0624084509909153, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6343817710876465, -1.3183135986328125, 1.7945524454116821, -1.7614812850952148, -0.023236572742462158, 0.5137103796005249, 0.4741828143596649, 0.2442000027541276, 0.2442000027541276, 0.2442000027541276, 0.2442000027541276, -0.2442000027541276, -0.2442000027541276, -0.2442000027541276, 0.2442000027541276, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2465769052505493, -1.429229974746704, -1.1531625986099243, -1.6559442281723022, -0.5792465806007385, 0.9563522934913635, 0.062294598668813705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6293540000915527, -1.3163255453109741, 1.7961279153823853, -1.7640225887298584, -0.026316039264202118, 0.5278122425079346, 0.48395463824272156, 0.06959998581435653, 0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2466233968734741, -1.4291608333587646, -1.1531662940979004, -1.6563736200332642, -0.5794201493263245, 0.9564270973205566, 0.06187719106674194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6298112869262695, -1.3136132955551147, 1.810876727104187, -1.7652764320373535, -0.014857083559036255, 0.5334181189537048, 0.5114103555679321, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2466219663619995, -1.4287102222442627, -1.153411626815796, -1.6572108268737793, -0.5796065926551819, 0.9567771553993225, 0.06163127347826958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6497818231582642, -1.3098101615905762, 1.8488718271255493, -1.7662625312805176, 0.033961374312639236, 0.5112175345420837, 0.5804172158241272, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2466198205947876, -1.428499460220337, -1.1535351276397705, -1.65720534324646, -0.5796888470649719, 0.9568678736686707, 0.061566200107336044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6415237188339233, -1.3023592233657837, 1.8879910707473755, -1.7656118869781494, 0.06547988951206207, 0.5006399154663086, 0.6909475922584534, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999317800195, 0.0011677414405815776, -2.79118697953761e-05, 0.00013158228830434382], [-0.001167745103877623, 0.9999993095273368, -0.0001315911163412696, 0.00038020755164325237], [2.7758186123228938e-05, 0.0001316236205191293, 0.9999999909523528, -1.9976669136667624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465720176696777, -1.428507924079895, -1.1535580158233643, -1.657160758972168, -0.5796530842781067, 0.956856369972229, 0.06169455125927925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5974750518798828, -1.2817668914794922, 1.921360969543457, -1.7499788999557495, 0.03775893524289131, 0.454584538936615, 0.825766921043396, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993092625241, 0.0011749659413835447, -3.048788757541403e-05, 0.0003613460867200047], [-0.001174970059781079, 0.9999993005533332, -0.00013541862098485894, 0.00037997771869413555], [3.0328753983276352e-05, 0.00013545434980122956, 0.9999999903661428, -1.9591063846746692e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2465624809265137, -1.42857027053833, -1.1534860134124756, -1.6571673154830933, -0.5799646973609924, 0.9568478465080261, 0.06127665936946869, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.567449927330017, -1.2661097049713135, 1.9371742010116577, -1.7437385320663452, 0.02607252076268196, 0.4428449273109436, 0.9190657734870911, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992965812047, 0.0011857447945463101, -2.9092576985058034e-05, 0.00010538657807046548], [-0.0011857478174817043, 0.9999992915812389, -0.00010411116047744314, 0.00037778110709041357], [2.896910710874038e-05, 0.00010414558370336101, 0.999999994157244, -2.3319328192883404e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.246569275856018, -1.4285423755645752, -1.1534512042999268, -1.6571762561798096, -0.580169141292572, 0.9568549394607544, 0.06101839989423752, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5714503526687622, -1.267439842224121, 1.9331011772155762, -1.74423086643219, 0.026506109163165092, 0.4452458322048187, 0.8931517004966736, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993069245102, 0.0011770030654774987, -2.853564503975592e-05, -3.7568825064226985e-05], [-0.0011770049156794766, 0.9999993052229218, -6.490841429477071e-05, 0.0003844026359729469], [2.8459227811243604e-05, 6.494195590282357e-05, 0.9999999974863073, -1.8713956251303898e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465722560882568, -1.4283097982406616, -1.1534785032272339, -1.6571756601333618, -0.5800731778144836, 0.9568613767623901, 0.061210986226797104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.577247977256775, -1.2706269025802612, 1.9326714277267456, -1.7439517974853516, 0.026600904762744904, 0.44595614075660706, 0.8876180648803711, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993127732968, 0.0011721292173849725, -2.3791426307599834e-05, 0.00013285687600728124], [-0.001172130619313849, 0.9999993113143076, -5.899764136060229e-05, 0.00038244397728703916], [2.3722257063589373e-05, 5.902548747510001e-05, 0.9999999979766232, -1.9463684566289885e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465678453445435, -1.4283168315887451, -1.1534942388534546, -1.6571773290634155, -0.5800244808197021, 0.9568610191345215, 0.06130746006965637, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5778942108154297, -1.2711222171783447, 1.9323861598968506, -1.7435811758041382, 0.026638055220246315, 0.4462774395942688, 0.8878113031387329, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993176895956, 0.001167992986308642, -2.0315689841462163e-05, 0.00015709386207163334], [-0.0011679936875785028, 0.9999993172985964, -3.45410897745476e-05, 0.0003799487021751702], [2.027533222131606e-05, 3.45647948042963e-05, 0.9999999991970929, -1.0861605233003502e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.246555209159851, -1.428356647491455, -1.153493881225586, -1.6571943759918213, -0.5800648927688599, 0.9568612575531006, 0.06125940382480621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5774182081222534, -1.2711156606674194, 1.9323676824569702, -1.743557095527649, 0.026672329753637314, 0.4463711380958557, 0.8878889083862305, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993165653155, 0.0011689064916236918, -2.294593407083194e-05, 0.00011082394485129043], [-0.0011689069703254144, 0.9999993166104473, -2.0859845546088974e-05, 0.0003802260325755924], [2.2921535180947227e-05, 2.0886652952023033e-05, 0.9999999995191755, -3.180070962116588e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.24655282497406, -1.4283699989318848, -1.1534940004348755, -1.6571956872940063, -0.5800704956054688, 0.9568619728088379, 0.06124957650899887, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5771257877349854, -1.2710837125778198, 1.9323549270629883, -1.7435567378997803, 0.0267042089253664, 0.4464368224143982, 0.8879102468490601, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993121417896, 0.0011726099070418227, -2.649440677928103e-05, 0.00014285792713053524], [-0.0011726103570349148, 0.9999993123481583, -1.6975310910227342e-05, 0.0003791575145442039], [2.6474483142604965e-05, 1.7006366849413236e-05, 0.9999999995049426, -3.025873411388602e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2465523481369019, -1.428372859954834, -1.1534940004348755, -1.6571943759918213, -0.5800704956054688, 0.9568625688552856, 0.06124957650899887, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5771276950836182, -1.2710363864898682, 1.9323450326919556, -1.7435581684112549, 0.02671103924512863, 0.44647926092147827, 0.88791424036026, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999357146495, 0.0011337687355895316, -1.6584657329052913e-05, 0.00012612204591277987], [-0.0011337695096590716, 0.999999356190869, -4.673913281554725e-05, 0.0003792232892010361], [1.6531655284184253e-05, 4.675790594793973e-05, 0.9999999987702013, -1.8793410845319158e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.24655282497406, -1.4283725023269653, -1.1535004377365112, -1.6571829319000244, -0.5800473690032959, 0.9568636417388916, 0.06129930913448334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5691834688186646, -1.2680860757827759, 1.9330432415008545, -1.7314860820770264, 0.0265197716653347, 0.4362473487854004, 0.9034916758537292, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993422289017, 0.0011468806947443361, -1.4367876541647908e-05, 0.00014048474258743227], [-0.0011468814774109105, 0.9999993408415105, -5.458407365134138e-05, 0.00037996130413375795], [1.4305265650628883e-05, 5.4600515998990646e-05, 0.9999999984070715, -1.5930703511912725e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2465338706970215, -1.4283764362335205, -1.1535996198654175, -1.6571422815322876, -0.5798918604850769, 0.9568616151809692, 0.0616832859814167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5107166767120361, -1.248584508895874, 1.9306915998458862, -1.6661860942840576, -0.0236843042075634, 0.3803636133670807, 1.0272005796432495, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993266394678, 0.001159935592211744, -3.563752044235194e-05, 0.0003065414202865213], [-0.0011599375832009593, 0.9999993257098809, -5.589800049865947e-05, 0.00037086065276525915], [3.557265833201218e-05, 5.593930015848528e-05, 0.9999999978026903, -5.735195145462058e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.246423363685608, -1.4285316467285156, -1.1535950899124146, -1.6571439504623413, -0.5799430012702942, 0.9568606615066528, 0.06156500056385994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4316601753234863, -1.2235028743743896, 1.9093044996261597, -1.6063318252563477, -0.05293108522891998, 0.3144367039203644, 1.1712616682052612, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999336625834, 0.0011518238773649584, -7.046107382960424e-06, 0.00023049280571285635], [-0.0011518242758324806, 0.9999993350364403, -5.6811220354199726e-05, 0.0003724476555362344], [6.980666177449568e-06, 5.681929854463761e-05, 0.9999999983614188, 4.6354276150850637e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2464652061462402, -1.4285335540771484, -1.1535724401474, -1.6571533679962158, -0.580163300037384, 0.9568636417388916, 0.06117048114538193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3582088947296143, -1.2083404064178467, 1.8616969585418701, -1.5567806959152222, -0.09000620245933533, 0.23480379581451416, 1.257149577140808, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993359424552, 0.0011519932077520571, -3.203588624380505e-05, 0.0001739395083859563], [-0.001151994877636972, 0.9999993350935589, -5.215593898955229e-05, 0.0003745013673324138], [3.197578165547804e-05, 5.2192809531860916e-05, 0.99999999812673, 1.000708039100573e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465678453445435, -1.4284322261810303, -1.1535630226135254, -1.6571993827819824, -0.5802358984947205, 0.9568802118301392, 0.06099994480609894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3099437952041626, -1.1990234851837158, 1.8016260862350464, -1.5302457809448242, -0.1331186145544052, 0.1558753401041031, 1.3217700719833374, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993098549878, 0.0011748106746327677, -1.0460737922074822e-05, 9.619889897294343e-05], [-0.001174811016059494, 0.9999993093748911, -3.26927713588196e-05, 0.0003724994894582778], [1.0422322880850885e-05, 3.270503818621347e-05, 0.9999999994108778, -1.7298582406510832e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465965747833252, -1.4283101558685303, -1.1535758972167969, -1.6572208404541016, -0.5802358984947205, 0.956925630569458, 0.060992635786533356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.276178240776062, -1.1965163946151733, 1.7463405132293701, -1.4920696020126343, -0.147133931517601, 0.11325512081384659, 1.3552240133285522, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993387656351, 0.0011497860267230165, -2.1456592004270203e-05, 0.00014094967627897859], [-0.0011497868957158661, 0.9999993381734169, -4.053174888496012e-05, 0.0003664912946987897], [2.140997496522066e-05, 4.055639259228813e-05, 0.999999998948396, -4.017849732917966e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465893030166626, -1.4283078908920288, -1.153592586517334, -1.6572922468185425, -0.5801968574523926, 0.956932544708252, 0.06112482026219368, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2435872554779053, -1.1953920125961304, 1.6976972818374634, -1.4369791746139526, -0.15857058763504028, 0.07578380405902863, 1.3645501136779785, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992980268477, 0.0011846736987219375, -2.2226995484474442e-05, 0.00017476652283221483], [-0.0011846745507176446, 0.9999992975372033, -3.835764390488134e-05, 0.00037973589496687055], [2.2181538578957978e-05, 3.83839487347345e-05, 0.999999999017326, -2.137168166882475e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465866804122925, -1.4283185005187988, -1.1535893678665161, -1.6574487686157227, -0.580203652381897, 0.9569386839866638, 0.061098575592041016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2148278951644897, -1.1951913833618164, 1.6541566848754883, -1.388826847076416, -0.16921678185462952, 0.045905694365501404, 1.3780494928359985, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993282792111, 0.0011589181793416027, -1.870241283425937e-05, 0.0001270890497835353], [-0.0011589193594725438, 0.9999993264547604, -6.321347666562524e-05, 0.0003875100810546428], [1.8629140990051056e-05, 6.32351087921213e-05, 0.9999999978271381, -1.3293915799295064e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465900182724, -1.4283123016357422, -1.153588891029358, -1.6574335098266602, -0.5801892876625061, 0.956954836845398, 0.061111755669116974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1796433925628662, -1.1966221332550049, 1.6209825277328491, -1.3289494514465332, -0.1758190095424652, 0.030690161511301994, 1.3670783042907715, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999290973328, 0.0011901855262894678, -3.887485540966575e-05, 0.00019798525318037719], [-0.0011901872435433072, 0.9999992907509452, -4.418067361239183e-05, 0.00037717929808422923], [3.8822244639436105e-05, 4.4226910644119024e-05, 0.9999999982684068, -6.61891533582093e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2465981245040894, -1.428313136100769, -1.153584361076355, -1.6574212312698364, -0.5801842212677002, 0.956964910030365, 0.06111151725053787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1528549194335938, -1.198427438735962, 1.5955901145935059, -1.2897861003875732, -0.18478919565677643, 0.01807365007698536, 1.3583858013153076, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993218105862, 0.0011634593189947548, -5.235246610540599e-05, 0.00013986782869324088], [-0.0011634607033545992, 0.9999993228303482, -2.642038774594777e-05, 0.0003802581341005862], [5.232169160757027e-05, 2.6481279864957837e-05, 0.9999999982805912, -3.0475978292088257e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.246602177619934, -1.4283102750778198, -1.1535743474960327, -1.65742027759552, -0.5802087187767029, 0.9569844603538513, 0.06097034364938736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.141265869140625, -1.2012125253677368, 1.5810707807540894, -1.26798415184021, -0.1777084320783615, 0.009294245392084122, 1.3502153158187866, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999401047852, 0.0010943304551406332, -1.8568577927096976e-05, 0.00011637651186902076], [-0.0010943306492746815, 0.9999994011654549, -1.0448039505937356e-05, 0.0003773760690819472], [1.8557133199763203e-05, 1.0468353412000721e-05, 0.9999999997730232, -1.4511578001474845e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2466119527816772, -1.428285837173462, -1.1535756587982178, -1.6573761701583862, -0.5801194310188293, 0.956992506980896, 0.06121530011296272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1264506578445435, -1.204351782798767, 1.5644562244415283, -1.2371881008148193, -0.17790162563323975, 0.000990376342087984, 1.3413678407669067, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992964624609, 0.0011860803400116262, -1.697086562189163e-05, 0.00019453366985544562], [-0.001186080269294765, 0.9999992965978288, 4.176414452296541e-06, 0.00038689933717250824], [1.697580724762151e-05, -4.156282705165217e-06, 0.9999999998472736, -2.7376388516131556e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.246610403060913, -1.428286075592041, -1.15357506275177, -1.657370686531067, -0.5801156759262085, 0.9569910764694214, 0.061218537390232086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1061911582946777, -1.2074394226074219, 1.5522716045379639, -1.2012096643447876, -0.1752612590789795, -0.004717230796813965, 1.3395215272903442, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992823022359, 0.0011975504538975323, -3.56079130673544e-05, 0.0001707415358396247], [-0.0011975504721516914, 0.9999992829360556, -4.913266068985367e-07, 0.00038055534241721034], [3.560729914580269e-05, 5.339685273806762e-07, 0.9999999993659175, -1.8595701476442628e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2466069459915161, -1.4282947778701782, -1.1535624265670776, -1.6573749780654907, -0.5801606178283691, 0.9569876790046692, 0.06113668531179428, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.095540165901184, -1.2091237306594849, 1.547407627105713, -1.1896300315856934, -0.1726844161748886, -0.013072272762656212, 1.3344767093658447, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999286956598, 0.0011934772213291743, -4.121186351454834e-05, 0.00012175914162071422], [-0.0011934769674976997, 0.9999992877869942, 6.183228093013763e-06, 0.00037960740155540407], [4.121921370480645e-05, -6.134038274211496e-06, 0.999999999131675, -2.8323486276349286e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2466058731079102, -1.4282937049865723, -1.1535574197769165, -1.6573699712753296, -0.5801392197608948, 0.9569811224937439, 0.061163049191236496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.087157964706421, -1.2096903324127197, 1.5435962677001953, -1.177799105644226, -0.1642901748418808, -0.013932859525084496, 1.338180661201477, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993059180845, 0.0011777049034449203, -3.427111896247806e-05, 0.00015510604134760797], [-0.0011777047192301816, 0.9999993064910042, 5.3949023830743785e-06, 0.00037583225639536977], [3.427744879813891e-05, -5.354537380034789e-06, 0.9999999993981927, -2.0379757188493386e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2465972900390625, -1.4282687902450562, -1.153568148612976, -1.6573576927185059, -0.5800176858901978, 0.9569666981697083, 0.06133526191115379, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810294151306152, -1.2099632024765015, 1.5380287170410156, -1.1708848476409912, -0.16300511360168457, -0.01720503345131874, 1.3406623601913452, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992989769747, 0.0011839822226067153, -1.5220238807151952e-05, 0.00015404490113724023], [-0.0011839818505386098, 0.9999992987947957, 2.4431426634999264e-05, 0.00037741856067441404], [1.5249154509450049e-05, -2.4413389021498122e-05, 0.9999999995857248, -2.4649179977132007e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.246579885482788, -1.427920937538147, -1.1536740064620972, -1.657360315322876, -0.579917848110199, 0.9569602608680725, 0.061467207968235016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0776654481887817, -1.20758056640625, 1.5299768447875977, -1.1697361469268799, -0.16590997576713562, -0.022763077169656754, 1.3410224914550781, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2465800046920776, -1.427818775177002, -1.1538360118865967, -1.6573405265808105, -0.5798892974853516, 0.9569577574729919, 0.06163366883993149, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0715934038162231, -1.2060127258300781, 1.5234756469726562, -1.1590888500213623, -0.1627204865217209, -0.029240190982818604, 1.338042974472046, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2465791702270508, -1.4278193712234497, -1.1538374423980713, -1.6573240756988525, -0.5799084901809692, 0.9569525718688965, 0.06163834407925606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0615545511245728, -1.2059991359710693, 1.5225939750671387, -1.1343517303466797, -0.15025664865970612, -0.046899665147066116, 1.3445876836776733, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2465790510177612, -1.4277489185333252, -1.153880000114441, -1.6573338508605957, -0.5799260139465332, 0.9569525718688965, 0.061561886221170425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0556296110153198, -1.205314040184021, 1.5226004123687744, -1.1266400814056396, -0.1458604782819748, -0.054167017340660095, 1.351159930229187, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.246579647064209, -1.4276435375213623, -1.153967022895813, -1.6573493480682373, -0.5799376368522644, 0.9569532871246338, 0.061515986919403076, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0452545881271362, -1.204378366470337, 1.5222665071487427, -1.1155338287353516, -0.1433763951063156, -0.06326987594366074, 1.3691385984420776, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.24658203125, -1.4276056289672852, -1.1539850234985352, -1.6573786735534668, -0.5800954699516296, 0.9569572806358337, 0.0612674318253994, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0368773937225342, -1.2026829719543457, 1.5186747312545776, -1.1054987907409668, -0.1441318690776825, -0.0712265595793724, 1.377325415611267, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, 0.0594000067029681, -0.0594000067029681, -0.0594000067029681, -0.0594000067029681, 0.0594000067029681, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2465885877609253, -1.427605390548706, -1.1539828777313232, -1.6573764085769653, -0.5800815224647522, 0.9569627642631531, 0.06129343807697296, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0348972082138062, -1.2031997442245483, 1.5178554058074951, -1.0964081287384033, -0.1390070617198944, -0.07660484313964844, 1.3745111227035522, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2465916872024536, -1.427602767944336, -1.1539833545684814, -1.6573735475540161, -0.5800274014472961, 0.956967294216156, 0.06143341213464737, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0337752103805542, -1.2042796611785889, 1.5174683332443237, -1.087473750114441, -0.13330437242984772, -0.08439338952302933, 1.363903284072876, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2465896606445312, -1.4277417659759521, -1.1541190147399902, -1.6573565006256104, -0.5797532796859741, 0.9569671750068665, 0.06185394152998924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.02556312084198, -1.2097662687301636, 1.5097148418426514, -1.0723234415054321, -0.1305784434080124, -0.09009860455989838, 1.3532167673110962, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2465860843658447, -1.4276458024978638, -1.1545709371566772, -1.6573572158813477, -0.5796830654144287, 0.95696622133255, 0.062040653079748154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0226645469665527, -1.2102961540222168, 1.5073254108428955, -1.0653421878814697, -0.12963096797466278, -0.09460970014333725, 1.3529579639434814, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2465627193450928, -1.427377462387085, -1.1548779010772705, -1.6573526859283447, -0.579647958278656, 0.9569645524024963, 0.06233654543757439, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0227676630020142, -1.2093411684036255, 1.501676321029663, -1.0651787519454956, -0.12965193390846252, -0.1040593832731247, 1.3454029560089111, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2465041875839233, -1.427351713180542, -1.155072569847107, -1.657342553138733, -0.5797387957572937, 0.9569622874259949, 0.06230286881327629, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0137630701065063, -1.2097605466842651, 1.4998390674591064, -1.038412094116211, -0.11724095046520233, -0.11816541850566864, 1.3497111797332764, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.246504545211792, -1.427392840385437, -1.1546521186828613, -1.6572232246398926, -0.579744815826416, 0.9569543600082397, 0.062273986637592316, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9883232712745667, -1.2145576477050781, 1.4891663789749146, -0.9989834427833557, -0.11611215770244598, -0.1389567255973816, 1.357062578201294, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2464803457260132, -1.4274042844772339, -1.154719591140747, -1.6572415828704834, -0.5797633528709412, 0.9569088220596313, 0.062170322984457016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9587336778640747, -1.217384934425354, 1.4835984706878662, -0.9578884243965149, -0.11001841723918915, -0.15041100978851318, 1.375560998916626, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2464337348937988, -1.4275028705596924, -1.15472412109375, -1.6572604179382324, -0.579780638217926, 0.9568380117416382, 0.0620860755443573, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9434995651245117, -1.2206189632415771, 1.4765673875808716, -0.929783046245575, -0.10523299872875214, -0.16180992126464844, 1.3779138326644897, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2464393377304077, -1.427451252937317, -1.1549708843231201, -1.6572480201721191, -0.5795478820800781, 0.9568333625793457, 0.06237836927175522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9389318823814392, -1.221110224723816, 1.4704089164733887, -0.9209710359573364, -0.10599243640899658, -0.1663210242986679, 1.3765522241592407, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2464491128921509, -1.427149772644043, -1.1551626920700073, -1.6572272777557373, -0.5793156623840332, 0.9568357467651367, 0.06296128034591675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.93623948097229, -1.2200183868408203, 1.4618381261825562, -0.9206255078315735, -0.10927384346723557, -0.1721883863210678, 1.3700454235076904, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.2464505434036255, -1.4270052909851074, -1.1559381484985352, -1.657008409500122, -0.5791947245597839, 0.9568362236022949, 0.06362245231866837, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9269401431083679, -1.2208043336868286, 1.453934907913208, -0.9077440500259399, -0.10829928517341614, -0.17496848106384277, 1.3683559894561768, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.246438980102539, -1.4265656471252441, -1.1580263376235962, -1.6569881439208984, -0.5786328911781311, 0.9568302035331726, 0.0651288703083992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.916176438331604, -1.2223231792449951, 1.442784070968628, -0.8975266218185425, -0.10722369700670242, -0.17890578508377075, 1.363853096961975, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.2458339929580688, -1.4252618551254272, -1.1606134176254272, -1.6569974422454834, -0.5782671570777893, 0.9567351937294006, 0.0666147917509079, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9138836860656738, -1.223091959953308, 1.4313485622406006, -0.902201235294342, -0.10863903909921646, -0.1791924387216568, 1.3536241054534912, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.2450751066207886, -1.423141598701477, -1.16261625289917, -1.6571630239486694, -0.5777063965797424, 0.9565821290016174, 0.0682392567396164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9126770496368408, -1.2250686883926392, 1.421669602394104, -0.9059999585151672, -0.10916142910718918, -0.17588216066360474, 1.343009352684021, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.2444208860397339, -1.4207781553268433, -1.1665092706680298, -1.6574629545211792, -0.5767869353294373, 0.9564598202705383, 0.07026290893554688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9070581793785095, -1.2283339500427246, 1.407660722732544, -0.9066088795661926, -0.10949087142944336, -0.17440342903137207, 1.3297876119613647, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2432661056518555, -1.4176493883132935, -1.1701934337615967, -1.6578724384307861, -0.5757400393486023, 0.9563620090484619, 0.07218769937753677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8988152742385864, -1.2324564456939697, 1.3920187950134277, -0.9060497283935547, -0.10977358371019363, -0.17033730447292328, 1.3204182386398315, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2426493167877197, -1.414519190788269, -1.1731029748916626, -1.658569574356079, -0.5749650001525879, 0.956355631351471, 0.0735422745347023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8909612894058228, -1.2353781461715698, 1.3786342144012451, -0.9011217951774597, -0.10685770213603973, -0.1669517606496811, 1.311179757118225, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2414569854736328, -1.4121532440185547, -1.1772181987762451, -1.65878164768219, -0.573121964931488, 0.9563477635383606, 0.07703184336423874, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8800119161605835, -1.2409005165100098, 1.3625239133834839, -0.8886730670928955, -0.10099238157272339, -0.16423924267292023, 1.2986071109771729, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2407734394073486, -1.4089019298553467, -1.1797370910644531, -1.6597075462341309, -0.5723718404769897, 0.9563407897949219, 0.07799309492111206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8760316371917725, -1.2450344562530518, 1.3577162027359009, -0.8836830854415894, -0.09487683326005936, -0.16598068177700043, 1.2940666675567627, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2403662204742432, -1.4070072174072266, -1.180572509765625, -1.6603466272354126, -0.5718654990196228, 0.9563431739807129, 0.07836879789829254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8843795657157898, -1.2450929880142212, 1.3569931983947754, -0.902396559715271, -0.0973300039768219, -0.16152842342853546, 1.2863562107086182, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2403138875961304, -1.4066812992095947, -1.1809215545654297, -1.6605749130249023, -0.5711990594863892, 0.9563489556312561, 0.07887057960033417, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8856996297836304, -1.2464760541915894, 1.3569374084472656, -0.9072229862213135, -0.09798170626163483, -0.1502983570098877, 1.284536361694336, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2403146028518677, -1.4053080081939697, -1.182508111000061, -1.661054015159607, -0.5705004930496216, 0.95641028881073, 0.07965267449617386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8882620334625244, -1.2478879690170288, 1.351666808128357, -0.9194666743278503, -0.10708887875080109, -0.14504842460155487, 1.2764358520507812, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.240256428718567, -1.4036561250686646, -1.1840639114379883, -1.661505103111267, -0.569898784160614, 0.9565176963806152, 0.08054561913013458, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8921226859092712, -1.250312089920044, 1.3495371341705322, -0.9356502890586853, -0.12126621603965759, -0.14235737919807434, 1.2692686319351196, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2400563955307007, -1.402919888496399, -1.184170126914978, -1.6618998050689697, -0.5698192119598389, 0.9565809369087219, 0.0805954709649086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8974836468696594, -1.2528513669967651, 1.355410099029541, -0.9410339593887329, -0.12304383516311646, -0.13891562819480896, 1.2686372995376587, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.240058183670044, -1.4026663303375244, -1.1841728687286377, -1.662121057510376, -0.5696346759796143, 0.9567820429801941, 0.08059870451688766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.906297504901886, -1.2539914846420288, 1.3591070175170898, -0.9584019780158997, -0.13604587316513062, -0.13342444598674774, 1.2635716199874878, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2400357723236084, -1.4024369716644287, -1.184215784072876, -1.6621071100234985, -0.5683746337890625, 0.9567808508872986, 0.08220183849334717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9074286818504333, -1.2574498653411865, 1.360198974609375, -0.9660115838050842, -0.14920096099376678, -0.130029559135437, 1.2600769996643066, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2396540641784668, -1.402186393737793, -1.1846139430999756, -1.6621100902557373, -0.5683565139770508, 0.9567617774009705, 0.08226211369037628, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9085184335708618, -1.259950041770935, 1.3639761209487915, -0.9646450281143188, -0.1507851630449295, -0.1300755739212036, 1.2608391046524048, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2396552562713623, -1.4019711017608643, -1.184615135192871, -1.6621180772781372, -0.5683566331863403, 0.9567387700080872, 0.08221334218978882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9103367924690247, -1.2618955373764038, 1.367727279663086, -0.9639114737510681, -0.1529250591993332, -0.13049070537090302, 1.2605030536651611, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2396503686904907, -1.4018975496292114, -1.184618592262268, -1.662127137184143, -0.5681685209274292, 0.9566710591316223, 0.0822095051407814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.911811113357544, -1.263757348060608, 1.37153160572052, -0.9638739228248596, -0.1557195484638214, -0.1308329850435257, 1.2607473134994507, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2396397590637207, -1.401900053024292, -1.1846165657043457, -1.662158727645874, -0.5681613087654114, 0.9566437602043152, 0.08201728016138077, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9120432138442993, -1.265552043914795, 1.3752626180648804, -0.9638619422912598, -0.16066890954971313, -0.1307644248008728, 1.2628036737442017, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2396388053894043, -1.4019405841827393, -1.1845803260803223, -1.6621648073196411, -0.5681657791137695, 0.9566411375999451, 0.08171766996383667, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.911407470703125, -1.2689136266708374, 1.3821747303009033, -0.958932638168335, -0.16396012902259827, -0.1298891007900238, 1.2673401832580566, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2396388053894043, -1.4021416902542114, -1.1842459440231323, -1.6621628999710083, -0.5681724548339844, 0.9566407799720764, 0.08170665055513382, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9096280336380005, -1.2714873552322388, 1.3881725072860718, -0.9530743956565857, -0.1652139276266098, -0.1298450082540512, 1.2728350162506104, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2396124601364136, -1.4026910066604614, -1.1837867498397827, -1.6621695756912231, -0.5681895017623901, 0.9566385746002197, 0.08161389082670212, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9131580591201782, -1.2744557857513428, 1.399552345275879, -0.9548571705818176, -0.16935387253761292, -0.12805180251598358, 1.277794599533081, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.238415002822876, -1.4044222831726074, -1.1794925928115845, -1.6622555255889893, -0.5676274299621582, 0.9561423063278198, 0.08073844015598297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9261219501495361, -1.2812281847000122, 1.4162808656692505, -0.967718243598938, -0.17096514999866486, -0.1234106719493866, 1.2916828393936157, 0.10979999133518763, 0.10979999133518763, 0.10979999133518763, 0.10979999133518763, -0.10979999133518763, -0.10979999133518763, -0.10979999133518763, 0.10979999133518763, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993376829516, 0.0011505347231156272, -3.0058427808497062e-05, 0.00012489325308706611], [-0.0011505336693136737, 0.9999993375215882, 3.505225251152829e-05, 0.0003802335704676807], [3.009873672907548e-05, -3.501764606258355e-05, 0.9999999989339152, -2.0863392364844913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2376879453659058, -1.4049652814865112, -1.178963541984558, -1.6617685556411743, -0.566734254360199, 0.9560279846191406, 0.08062662929296494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9577710628509521, -1.2762385606765747, 1.4395718574523926, -1.0075715780258179, -0.17026755213737488, -0.11226474493741989, 1.3215430974960327, 0.24539998180263645, 0.24539998180263645, 0.24539998180263645, 0.24539998180263645, -0.24539998180263645, -0.24539998180263645, -0.24539998180263645, 0.24539998180263645, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999301052112, 0.0011820719949258197, -2.4517063381603937e-05, 3.177021790179424e-05], [-0.0011820706305017755, 0.9999992998090295, 5.55920444675856e-05, 0.00038833534927107394], [2.4582760013883333e-05, -5.556302471107399e-05, 0.9999999981542191, -3.260187213527388e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.2376724481582642, -1.4087508916854858, -1.1725398302078247, -1.6614460945129395, -0.5674811005592346, 0.9558948278427124, 0.07828550785779953, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9964567422866821, -1.2702018022537231, 1.4732922315597534, -1.0617659091949463, -0.16151630878448486, -0.10166182368993759, 1.3472298383712769, 0.2771999964347252, 0.2771999964347252, 0.2771999964347252, 0.2771999964347252, -0.2771999964347252, -0.2771999964347252, -0.2771999964347252, 0.2771999964347252, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992766825804, 0.0012025536846684644, -2.233722549887007e-05, 9.974576096283272e-05], [-0.0012025531293614828, 0.9999992766237893, 2.485697610749883e-05, 0.00038925939588807523], [2.236710118886032e-05, -2.4830096427590093e-05, 0.9999999994415896, -2.060490487565403e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.239112377166748, -1.418419599533081, -1.1628544330596924, -1.6585639715194702, -0.5700219869613647, 0.9556195735931396, 0.07357008010149002, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0317095518112183, -1.270417332649231, 1.5233503580093384, -1.1299958229064941, -0.08667507022619247, -0.07691691070795059, 1.415107011795044, 0.2856000069733505, 0.2856000069733505, 0.2856000069733505, 0.2856000069733505, -0.2856000069733505, -0.2856000069733505, -0.2856000069733505, 0.2856000069733505, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992874880738, 0.001193396292970407, -2.8785982173161503e-05, 6.574444705620408e-05], [-0.0011933956132512003, 0.999999287624285, 2.36184845929946e-05, 0.0003800435224547982], [2.8814147878685726e-05, -2.3584114699694068e-05, 0.9999999993067672, -2.0509066871454706e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2426893711090088, -1.424717903137207, -1.1582527160644531, -1.6581109762191772, -0.572315514087677, 0.9556155204772949, 0.07050355523824692, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.055025339126587, -1.266507863998413, 1.5605547428131104, -1.2053072452545166, -0.05292605236172676, -0.059127647429704666, 1.4423267841339111, 0.321600007224869, 0.321600007224869, 0.321600007224869, 0.321600007224869, -0.321600007224869, -0.321600007224869, -0.321600007224869, 0.321600007224869, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992995529927, 0.0011829178415876606, -3.998629721300534e-05, 0.00010094387107528746], [-0.0011829165304249824, 0.9999992998161394, 3.27980616399219e-05, 0.00038025222602300346], [4.002506662752875e-05, -3.275073821465403e-05, 0.9999999986626916, -2.0170534753560787e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2431461811065674, -1.4249626398086548, -1.1582285165786743, -1.6578508615493774, -0.573392927646637, 0.9556148052215576, 0.06924736499786377, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.066255807876587, -1.2507696151733398, 1.5925620794296265, -1.2351224422454834, -0.03493761271238327, -0.0425853431224823, 1.4439294338226318, 0.5459999996227223, 0.5459999996227223, 0.5459999996227223, 0.5459999996227223, -0.5459999996227223, -0.5459999996227223, -0.5459999996227223, 0.5459999996227223, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993339975852, 0.001153951354783148, -2.0016410575486386e-05, 0.00010980483784805983], [-0.0011539503782496733, 0.9999993330117443, 4.87297764085681e-05, 0.00037981997593306005], [2.0072629016280564e-05, -4.8706646009864564e-05, 0.9999999986123761, -1.7683328223938588e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.243181824684143, -1.4248040914535522, -1.158241868019104, -1.657684087753296, -0.573983371257782, 0.9556162357330322, 0.06858140230178833, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0633587837219238, -1.2315654754638672, 1.6189091205596924, -1.1999887228012085, -0.032232772558927536, -0.03534315526485443, 1.4417140483856201, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993248323924, 0.0011616691431613516, -2.9318272441887426e-05, 9.363673598272726e-05], [-0.0011616678517795114, 0.9999993242945436, 4.402565561653062e-05, 0.00038029515417292714], [2.9369395877007942e-05, -4.39915677972686e-05, 0.9999999986010902, -2.2007407096680254e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.2432267665863037, -1.4246535301208496, -1.158279538154602, -1.6576801538467407, -0.5744929313659668, 0.9556193351745605, 0.06804043799638748, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0607187747955322, -1.2171833515167236, 1.62897789478302, -1.1458319425582886, -0.04483514279127121, -0.046931423246860504, 1.4413676261901855, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993500395835, 0.0011397237594284956, -3.0824707974730986e-05, 7.552127499366179e-05], [-0.0011397221332864246, 0.9999993491267807, 5.27207158759766e-05, 0.0003772035415749997], [3.088477496425201e-05, -5.268555000766726e-05, 0.9999999981351817, -1.6117638779178378e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.243364930152893, -1.4246035814285278, -1.158284306526184, -1.657577395439148, -0.5746192336082458, 0.9556277394294739, 0.067998968064785, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.044981598854065, -1.2121038436889648, 1.613282561302185, -1.0733669996261597, -0.058742355555295944, -0.06763117760419846, 1.4282640218734741, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993576486781, 0.00113322973807402, -2.2194415088093612e-05, 0.00010118624777533114], [-0.001133228172139549, 0.99999935541576, 7.04412821948591e-05, 0.00038230809150263667], [2.227422693769471e-05, -7.041608561036637e-05, 0.9999999972727168, -3.2626683150738245e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.2434043884277344, -1.4246363639831543, -1.1582785844802856, -1.6575706005096436, -0.5750425457954407, 0.9556331038475037, 0.06757089495658875, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0268207788467407, -1.2122693061828613, 1.580751895904541, -1.0193850994110107, -0.06477485597133636, -0.0870722234249115, 1.4037326574325562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993623347966, 0.0011290166785122198, -2.55213623002912e-05, 0.00012312929902691394], [-0.0011290150978487997, 0.999999360748629, 6.186470706428939e-05, 0.0003801187267526984], [2.5591192271812213e-05, -6.183585361196369e-05, 0.999999997760709, 3.282838463292137e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.243602991104126, -1.4247469902038574, -1.1582653522491455, -1.6575664281845093, -0.5750987529754639, 0.9556496739387512, 0.06746891140937805, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0127032995224, -1.215804934501648, 1.5481153726577759, -0.9939306378364563, -0.062409527599811554, -0.09451226890087128, 1.3889654874801636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993476510469, 0.0011414155157936066, -4.322153172848043e-05, 2.8543523512780666e-05], [-0.0011414129368457644, 0.9999993468092263, 5.9645856812963036e-05, 0.00038008493720553815], [4.3289584202993807e-05, -5.959648428758562e-05, 0.9999999972871355, -9.032556249621848e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4163947105407715, -0.4951264262199402, 0.0, 0.0, 1.2436240911483765, -1.4248008728027344, -1.1582131385803223, -1.6574970483779907, -0.5751326680183411, 0.9556639194488525, 0.06742780655622482, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.006227731704712, -1.2215452194213867, 1.5194752216339111, -0.9863866567611694, -0.06310784816741943, -0.09541767835617065, 1.3681650161743164, 0.5214000017433376, 0.5214000017433376, 0.5214000017433376, 0.5214000017433376, -0.5214000017433376, -0.5214000017433376, -0.5214000017433376, 0.5214000017433376, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993037450898, 0.001179726853320146, -2.7457003148253513e-05, 5.373590101953596e-05], [-0.0011797256362679677, 0.9999993031422321, 4.429981366321151e-05, 0.0003801190759986639], [2.7509245694403154e-05, -4.426739108873964e-05, 0.9999999986418198, -2.0427908111742e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2436294555664062, -1.4248803853988647, -1.1580451726913452, -1.6573556661605835, -0.5751530528068542, 0.9556710124015808, 0.0674104243516922, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9990668892860413, -1.2278656959533691, 1.4993112087249756, -0.9753950834274292, -0.06019891798496246, -0.09407820552587509, 1.354384422302246, 0.4026000077907856, 0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999333912881, 0.0011539190064807667, -2.5391354738992983e-05, 5.514768781722523e-05], [-0.001153917766711742, 0.9999993330465847, 4.878702125317216e-05, 0.0003770307230297476], [2.5447634075235834e-05, -4.8757689221411525e-05, 0.9999999984875528, -2.335659473828855e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.243632435798645, -1.4249703884124756, -1.1578670740127563, -1.6573396921157837, -0.5752047896385193, 0.9556743502616882, 0.06729885190725327, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9856076836585999, -1.2328240871429443, 1.4775562286376953, -0.9528441429138184, -0.06056863069534302, -0.09496120363473892, 1.3422998189926147, 0.292799999163701, 0.292799999163701, 0.292799999163701, 0.292799999163701, -0.292799999163701, -0.292799999163701, -0.292799999163701, 0.292799999163701, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993145600248, 0.0011706316039441702, -2.238589945989124e-05, 7.990870653884485e-05], [-0.0011706296068850547, 0.9999993108509502, 8.901656109543195e-05, 0.0003785324515774846], [2.2490089632362638e-05, -8.899029448323802e-05, 0.9999999957874617, -3.0322428301587934e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2436391115188599, -1.4249939918518066, -1.1577731370925903, -1.6573389768600464, -0.5752970576286316, 0.9556816816329956, 0.06711417436599731, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9749623537063599, -1.2369208335876465, 1.4692572355270386, -0.9327636361122131, -0.06200278550386429, -0.09894248098134995, 1.3356457948684692, 0.25619998973804514, 0.25619998973804514, 0.25619998973804514, 0.25619998973804514, -0.25619998973804514, -0.25619998973804514, -0.25619998973804514, 0.25619998973804514, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2437855005264282, -1.4249932765960693, -1.1577130556106567, -1.6573383808135986, -0.5753486156463623, 0.9556920528411865, 0.06707654893398285, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9632638096809387, -1.2385785579681396, 1.4635106325149536, -0.9118536710739136, -0.06342028081417084, -0.10098890960216522, 1.3317917585372925, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2437952756881714, -1.424996256828308, -1.1576136350631714, -1.657341480255127, -0.575455367565155, 0.9556964039802551, 0.06683698296546936, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9536076188087463, -1.2401400804519653, 1.4593753814697266, -0.8959792256355286, -0.06340733915567398, -0.10509590059518814, 1.3303632736206055, 0.21779999208974313, 0.21779999208974313, 0.21779999208974313, 0.21779999208974313, -0.21779999208974313, -0.21779999208974313, -0.21779999208974313, 0.21779999208974313, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.243812084197998, -1.4249987602233887, -1.1575642824172974, -1.6573411226272583, -0.5755119323730469, 0.955699622631073, 0.06674686074256897, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9479407072067261, -1.2415289878845215, 1.4590197801589966, -0.8881340026855469, -0.062377769500017166, -0.10704825073480606, 1.3341524600982666, 0.19979999196398393, 0.19979999196398393, 0.19979999196398393, 0.19979999196398393, -0.19979999196398393, -0.19979999196398393, -0.19979999196398393, 0.19979999196398393, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2439494132995605, -1.4250211715698242, -1.1573771238327026, -1.65733802318573, -0.5755116939544678, 0.9557016491889954, 0.06674925982952118, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9439642429351807, -1.2424962520599365, 1.4564005136489868, -0.8814465999603271, -0.06197953596711159, -0.10879015922546387, 1.337005853652954, 0.16379999171246543, 0.16379999171246543, 0.16379999171246543, 0.16379999171246543, -0.16379999171246543, -0.16379999171246543, -0.16379999171246543, 0.16379999171246543, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2439475059509277, -1.425039529800415, -1.1573655605316162, -1.6573200225830078, -0.5754687190055847, 0.9557022452354431, 0.06687065958976746, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9418222308158875, -1.243525505065918, 1.452451467514038, -0.8790937066078186, -0.06404513865709305, -0.10885678976774216, 1.335610270500183, 0.095999996478741, 0.095999996478741, 0.095999996478741, 0.095999996478741, -0.095999996478741, -0.095999996478741, -0.095999996478741, 0.095999996478741, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2438998222351074, -1.425023078918457, -1.1575431823730469, -1.6572017669677734, -0.5752249360084534, 0.9557002186775208, 0.06735194474458694, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9399896860122681, -1.2430706024169922, 1.4510784149169922, -0.8747965097427368, -0.06461330503225327, -0.1088998094201088, 1.3398114442825317, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.243893027305603, -1.4250260591506958, -1.1575430631637573, -1.6572649478912354, -0.5755168795585632, 0.9556995034217834, 0.06696461141109467, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9451957941055298, -1.2412924766540527, 1.4512896537780762, -0.89126056432724, -0.06999470293521881, -0.10658793896436691, 1.339627742767334, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2439764738082886, -1.4249107837677002, -1.157541275024414, -1.6573431491851807, -0.5757808685302734, 0.9557176232337952, 0.06644976884126663, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9541538953781128, -1.2403522729873657, 1.4532259702682495, -0.9098852872848511, -0.07759761810302734, -0.09900132566690445, 1.3362846374511719, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2446237802505493, -1.424878716468811, -1.1575268507003784, -1.6575464010238647, -0.5763211250305176, 0.955869197845459, 0.06579123437404633, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9556258916854858, -1.2389293909072876, 1.4534631967544556, -0.9178499579429626, -0.08373857289552689, -0.0975382849574089, 1.3395578861236572, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, 0.06299998314826045, -0.06299998314826045, -0.06299998314826045, -0.06299998314826045, 0.06299998314826045, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2447720766067505, -1.4248946905136108, -1.157300353050232, -1.6576493978500366, -0.5768445134162903, 0.9559058547019958, 0.06518315523862839, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9623712301254272, -1.2378438711166382, 1.4573731422424316, -0.9286706447601318, -0.08301807940006256, -0.09199630469083786, 1.3373312950134277, 0.06239999362400599, 0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.244774341583252, -1.4249048233032227, -1.1572678089141846, -1.6576271057128906, -0.5768171548843384, 0.9559104442596436, 0.06523037701845169, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9691592454910278, -1.2394545078277588, 1.4615850448608398, -0.9293493032455444, -0.07649398595094681, -0.08397010713815689, 1.3351619243621826, 0.06239999362400599, 0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2454257011413574, -1.4249190092086792, -1.1567201614379883, -1.657819151878357, -0.5775169134140015, 0.9561768174171448, 0.06425294280052185, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9645750522613525, -1.2369704246520996, 1.459700345993042, -0.9373184442520142, -0.09318873286247253, -0.08928176015615463, 1.3452640771865845, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2458168268203735, -1.4249311685562134, -1.156615138053894, -1.6582196950912476, -0.5783146023750305, 0.9566197991371155, 0.06287188082933426, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9767097234725952, -1.233515977859497, 1.4632205963134766, -0.9585592150688171, -0.09230969101190567, -0.07821923494338989, 1.342191219329834, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2460330724716187, -1.42507004737854, -1.155879020690918, -1.6582030057907104, -0.5784723162651062, 0.9566424489021301, 0.06271692365407944, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9840999841690063, -1.2351773977279663, 1.4713164567947388, -0.9546226263046265, -0.0836598351597786, -0.07160814106464386, 1.342632532119751, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.49531814455986023, 0.0, 0.0, 1.2462844848632812, -1.4252488613128662, -1.1558321714401245, -1.658166766166687, -0.5784977078437805, 0.9566437602043152, 0.0627199187874794, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9823741316795349, -1.2351869344711304, 1.471336007118225, -0.9568818807601929, -0.08995934575796127, -0.07238531857728958, 1.3453487157821655, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.2462793588638306, -1.4253766536712646, -1.1556475162506104, -1.6580793857574463, -0.5793477296829224, 0.9566425681114197, 0.06211363896727562, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.9898347854614258, -1.2337876558303833, 1.4750127792358398, -0.9697911739349365, -0.09135250747203827, -0.06867212802171707, 1.3496366739273071, 0.16680001793326915, 0.16680001793326915, 0.16680001793326915, 0.16680001793326915, -0.16680001793326915, -0.16680001793326915, -0.16680001793326915, 0.16680001793326915, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.246201992034912, -1.4257537126541138, -1.1555927991867065, -1.6577534675598145, -0.5790975093841553, 0.9566202759742737, 0.06252337992191315, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0049195289611816, -1.235857367515564, 1.489654302597046, -0.9742024540901184, -0.0898616760969162, -0.06184567138552666, 1.3598986864089966, 0.23220001577021, 0.23220001577021, 0.23220001577021, 0.23220001577021, -0.23220001577021, -0.23220001577021, -0.23220001577021, 0.23220001577021, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.2460511922836304, -1.4259670972824097, -1.1554462909698486, -1.6576964855194092, -0.5788784623146057, 0.9565362334251404, 0.06272698938846588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0302603244781494, -1.230676293373108, 1.528700590133667, -0.9936347603797913, -0.08989354968070984, -0.059043999761343, 1.3780401945114136, 0.3209999980507316, 0.3209999980507316, 0.3209999980507316, 0.3209999980507316, -0.3209999980507316, -0.3209999980507316, -0.3209999980507316, 0.3209999980507316, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2460461854934692, -1.425978660583496, -1.155401349067688, -1.657682180404663, -0.5788561701774597, 0.956497311592102, 0.06278295814990997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0623528957366943, -1.212541103363037, 1.583716630935669, -1.0154485702514648, -0.08285581320524216, -0.05372264236211777, 1.3898286819458008, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, -0.3432000034458035, -0.3432000034458035, -0.3432000034458035, 0.3432000034458035, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2471058368682861, -1.4257768392562866, -1.1579267978668213, -1.6606642007827759, -0.574637234210968, 0.9479154944419861, 0.0561625137925148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0970590114593506, -1.191805124282837, 1.6485577821731567, -1.0365866422653198, -0.04559314623475075, -0.04627097398042679, 1.4020416736602783, 0.4794000030873896, 0.4794000030873896, 0.4794000030873896, 0.4794000030873896, -0.4794000030873896, -0.4794000030873896, -0.4794000030873896, 0.4794000030873896, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.2718428373336792, -1.4193685054779053, -1.1733644008636475, -1.6662176847457886, -0.5643523931503296, 0.9072009325027466, 0.012702319771051407, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.1235249042510986, -1.1766557693481445, 1.6961097717285156, -1.056255578994751, -0.01087640319019556, -0.03530636429786682, 1.4038259983062744, 0.5676000007561275, 0.5676000007561275, 0.5676000007561275, 0.5676000007561275, -0.5676000007561275, -0.5676000007561275, -0.5676000007561275, 0.5676000007561275, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4164905548095703, -0.4947429895401001, 0.0, 0.0, 1.3085448741912842, -1.4070916175842285, -1.1869221925735474, -1.6792442798614502, -0.5310918092727661, 0.8274278044700623, -0.037995144724845886, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.147617220878601, -1.1696492433547974, 1.7263479232788086, -1.0905375480651855, 0.019686127081513405, -0.02453266642987728, 1.396048903465271, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4164905548095703, -0.4948388636112213, 0.0, 0.0, 1.3304630517959595, -1.397697925567627, -1.2095537185668945, -1.7006388902664185, -0.49404704570770264, 0.7471357583999634, -0.05776887759566307, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.1790565252304077, -1.166601538658142, 1.756150722503662, -1.1429951190948486, 0.06448376178741455, -0.006528167054057121, 1.37340247631073, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993082743416, 0.0011758045230748407, -3.057060524564969e-05, 5.905235229874961e-05], [-0.0011758022769599824, 0.9999993060514012, 7.33874760853958e-05, 0.00038039719220250845], [3.0656873357539276e-05, -7.335148033413973e-05, 0.9999999968398582, -1.8647575643626624e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4163947105407715, -0.4948388636112213, 0.0, 0.0, 1.3275740146636963, -1.3961646556854248, -1.2373955249786377, -1.7378368377685547, -0.4520954191684723, 0.6669327616691589, -0.04815920814871788, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.2312947511672974, -1.165916085243225, 1.7949283123016357, -1.231831669807434, 0.1272740215063095, 0.03292977437376976, 1.3000191450119019, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993334611836, 0.0011544269790293594, -1.937881919432947e-05, 0.0002510379417799413], [-0.0011544249300513131, 0.9999993280953494, 0.00010541314187130918, 0.0003806144814006984], [1.9500497948531224e-05, -0.00010539070021736546, 0.9999999942562654, -2.0063127976754913e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4164905548095703, -0.4948388636112213, 0.0, 0.0, 1.3167246580123901, -1.395997166633606, -1.2679522037506104, -1.7784860134124756, -0.4119662344455719, 0.6144225597381592, -0.0323275662958622, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.3014225959777832, -1.1707314252853394, 1.8528798818588257, -1.3543702363967896, 0.20665201544761658, 0.09985890984535217, 1.1483356952667236, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993374944312, 0.0011504367355441422, -3.880742482187822e-05, 0.00016558582137804478], [-0.0011504318797399735, 0.9999993304509223, 0.00012491676174284253, 0.0003855707182083279], [3.8951107669996895e-05, -0.00012487203368610655, 0.9999999914448932, -9.369776989842649e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162988662719727, -0.4952223002910614, 0.0, 0.0, 1.3174810409545898, -1.3910610675811768, -1.292325496673584, -1.8193483352661133, -0.2922639548778534, 0.5366448163986206, -0.03658484295010567, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.384533405303955, -1.1893011331558228, 1.9208803176879883, -1.5129005908966064, 0.28328046202659607, 0.16431786119937897, 0.8741662502288818, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993966635511, 0.0010977393712496097, -4.0506871073690475e-05, -0.00010802825272548944], [-0.0010977345773917674, 0.9999993905059757, 0.00011817983987646637, 0.00038700460572727025], [4.063657704811499e-05, -0.00011813530278126192, 0.9999999921963594, -6.238421406123962e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.751697301864624, 1.4160112142562866, -0.49541401863098145, 0.0, 0.0, 1.3177398443222046, -1.3871020078659058, -1.3160713911056519, -1.821993112564087, -0.2791915833950043, 0.521189272403717, -0.05041751265525818, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.3943123817443848, -1.1901803016662598, 1.9363764524459839, -1.5274791717529297, 0.2882241904735565, 0.16298317909240723, 0.717826783657074, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993655971778, 0.0011256557560940688, -4.128390365260086e-05, 0.00032938458025455475], [-0.0011256497707925737, 0.9999993559846034, 0.0001447168683124628, 0.0003725472488440573], [4.14467784409511e-05, -0.00014467030528698917, 0.9999999886763336, -4.873848411079962e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.49531814455986023, 0.0, 0.0, 1.3176528215408325, -1.3876092433929443, -1.3160110712051392, -1.8220857381820679, -0.2783483564853668, 0.5207775831222534, -0.05030018836259842, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.394575834274292, -1.190374493598938, 1.93659245967865, -1.5279291868209839, 0.2889538109302521, 0.16322718560695648, 0.7122026085853577, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992958549287, 0.0011866655000081507, 1.0706903972803048e-05, 0.0007345986668951809], [-0.0011866662436382776, 0.9999992934811776, 6.971636746865898e-05, 0.000361537910066545], [-1.0624166400112912e-05, -6.972902389974085e-05, 0.9999999975124951, -5.863342721568188e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.32343327999115, -1.3843528032302856, -1.3199812173843384, -1.8219525814056396, -0.28009840846061707, 0.513450562953949, -0.049619246274232864, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.3997681140899658, -1.1897975206375122, 1.9314119815826416, -1.531998634338379, 0.29097530245780945, 0.16092009842395782, 0.7010892629623413, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999440302923, 0.0010573288480231339, -3.807292938054406e-05, 0.00016989636060316116], [-0.0010573239251535605, 0.9999994327008026, 0.00012908985352923582, 0.0003811106726061553], [3.820939820792531e-05, -0.0001290495258588874, 0.9999999909431309, -1.159567545983009e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.3532581329345703, -1.3671318292617798, -1.3405203819274902, -1.8202372789382935, -0.29052865505218506, 0.4758220314979553, -0.04593721032142639, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.4246165752410889, -1.186769962310791, 1.9064879417419434, -1.5522617101669312, 0.30070528388023376, 0.14867424964904785, 0.6483639478683472, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999416942126, 0.001079265005981207, -3.6089539292319866e-05, -0.0001966921117855236], [-0.001079260712808544, 0.9999994105451179, 0.00011876754807554259, 0.00038454867899417877], [3.621769967764886e-05, -0.00011872852880528695, 0.9999999922959073, -1.0252703077640035e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.4082911014556885, -1.3353980779647827, -1.3784284591674805, -1.817278265953064, -0.30941975116729736, 0.40629684925079346, -0.03920399397611618, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.469919204711914, -1.1812758445739746, 1.8609431982040405, -1.5890997648239136, 0.31852608919143677, 0.12663933634757996, 0.5519259572029114, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999236698875, 0.0012355414158612423, -6.251163061604882e-06, -0.0001005490412353538], [-0.0012355409229707257, 0.9999992336577493, 7.824667166406234e-05, 0.0003880443109665066], [6.3478352745687575e-06, -7.823888837051106e-05, 0.9999999969191906, 3.960850847306574e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.4888286590576172, -1.288962721824646, -1.4339642524719238, -1.8129204511642456, -0.3370891511440277, 0.3046422302722931, -0.029343733564019203, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5361297130584717, -1.1733170747756958, 1.7945934534072876, -1.642701506614685, 0.3443250060081482, 0.09443389624357224, 0.4115525484085083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999355510143, 0.0011351049763787878, -2.2715443120557793e-05, -4.263221126166172e-05], [-0.0011351031331393354, 0.9999993524902301, 8.099381274201963e-05, 0.00036319709033705294], [2.2807364891985805e-05, -8.096797617167206e-05, 0.9999999964620054, 1.4850504612695659e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.5838050842285156, -1.234188437461853, -1.499401330947876, -1.8078280687332153, -0.3697519302368164, 0.18454387784004211, -0.017691951245069504, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.613262414932251, -1.164077639579773, 1.717185616493225, -1.7052332162857056, 0.3744710683822632, 0.05687917023897171, 0.24784515798091888, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992854061117, 0.001195191298354896, -2.655233175892564e-05, -5.310149208526127e-05], [-0.0011951892201365814, 0.9999992827076107, 7.814724610443662e-05, 0.00038042699452489614], [2.664571362167457e-05, -7.811545520020439e-05, 0.9999999965939907, -1.683765162852069e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7516014575958252, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.6571111679077148, -1.1919972896575928, -1.54987370967865, -1.8039381504058838, -0.3949952721595764, 0.09185680747032166, -0.00883045606315136, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.672220230102539, -1.156945824623108, 1.6579816341400146, -1.7531229257583618, 0.3974015712738037, 0.02806393802165985, 0.12253809720277786, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993416249275, 0.0011472077560972333, -2.5769666578848284e-05, 0.000195129236089997], [-0.0011472061076073239, 0.9999993399176261, 6.389412100304533e-05, 0.0004035866295453161], [2.5842949399929303e-05, -6.386451581785853e-05, 0.9999999976267328, -1.6588445532761398e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7516014575958252, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.7052007913589478, -1.1642520427703857, -1.5829893350601196, -1.8013365268707275, -0.4115331172943115, 0.03120548278093338, -0.0029913822654634714, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.7107452154159546, -1.1523505449295044, 1.6193431615829468, -1.7841964960098267, 0.4125123620033264, 0.009563411585986614, 0.04097010940313339, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999993130611196, 0.0011717014984108825, -3.151011832008882e-05, 0.0005255367723293602], [-0.0011716991926039569, 0.9999993108887594, 7.309588496443022e-05, 0.0003780090482905507], [3.1595743164052586e-05, -7.305891437183034e-05, 0.999999996832052, -2.8312047106737737e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7516014575958252, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.7278715372085571, -1.1511787176132202, -1.5985901355743408, -1.8001165390014648, -0.4192998707294464, 0.0025890718679875135, -0.00021703430684283376, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.728518009185791, -1.1501829624176025, 1.601513385772705, -1.7987741231918335, 0.41941022872924805, 0.0007206114241853356, 0.003079346613958478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999992665002941, 0.0012108493160671425, -2.9031145679638868e-05, 0.0004892218858003616], [-0.0012108478288994507, 0.9999992656133107, 5.118959526246143e-05, 0.00037735627847723663], [2.9093107245965205e-05, -5.11544054151917e-05, 0.9999999982684089, -3.1679915082349908e-06], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000019/gt/hand_left.mp4 b/agibot-challenge-2026/000019/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc2e6dbde03245db2638cc9a75ab497d8104c229 --- /dev/null +++ b/agibot-challenge-2026/000019/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f250ee294cf76c340aeedb167669be684697002fb4f2e3cac906cbffe7cc2e57 +size 4648814 diff --git a/agibot-challenge-2026/000019/gt/hand_right.mp4 b/agibot-challenge-2026/000019/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..53782e70e8a48b7896a388da289a0dec6aefb6a3 --- /dev/null +++ b/agibot-challenge-2026/000019/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:889168ad84f15139ec027fbd8e38ada259cea434d4b8eb3f77968d19f7a24b31 +size 6204213 diff --git a/agibot-challenge-2026/000019/gt/head.mp4 b/agibot-challenge-2026/000019/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d6194d6d9a5c18920fd9246de0f5e1b08de08664 --- /dev/null +++ b/agibot-challenge-2026/000019/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dfdd2d0068e3de144e52df508de156a5f1adf77d765bc14f5eadeb7eea0f795 +size 4927257 diff --git a/agibot-challenge-2026/000019/meta.json b/agibot-challenge-2026/000019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..055e7245f5bd0315e18a69a132efe36f824f3abe --- /dev/null +++ b/agibot-challenge-2026/000019/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Tear tape", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1011, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000019/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000019/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..b975f2bdce93b193aaa98382ea297dbaa55980eb --- /dev/null +++ b/agibot-challenge-2026/000019/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000019/ref_images/hand_left.png b/agibot-challenge-2026/000019/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..e9f4d0d49a9ae01299ce0064e06acb22ca8604b2 --- /dev/null +++ b/agibot-challenge-2026/000019/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aa73b5b3d19fe60c60a7744d663f7bbd5c729a3c1dd13a081fcae1ecea18e6b +size 423606 diff --git a/agibot-challenge-2026/000019/ref_images/hand_right.png b/agibot-challenge-2026/000019/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..a762182212c86dfe07ad926ce9e62d6b1b2639b5 --- /dev/null +++ b/agibot-challenge-2026/000019/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:938f9b7bab195783dc58e4d7ac9103eb5ba7d09b1690262ed35ca73e74ce2a06 +size 429073 diff --git a/agibot-challenge-2026/000019/ref_images/head.png b/agibot-challenge-2026/000019/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..476e149e26d08ad49600beff72e077e37a83fda0 --- /dev/null +++ b/agibot-challenge-2026/000019/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcc29a53475cfc9e410a5a118a64f2ca42d1532e837e52cadfca80d675df0c46 +size 386539 diff --git a/agibot-challenge-2026/000019/temporal.json b/agibot-challenge-2026/000019/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..3f02d5bb1a9cd60089f49c4061010c5e546ae23a --- /dev/null +++ b/agibot-challenge-2026/000019/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298029661178589, -1.1503115892410278, -1.5997260808944702, -1.7999175786972046, -0.41995397210121155, -7.669904334761668e-06, -0.0003162637003697455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301191091537476, -1.1499602794647217, 1.6001765727996826, -1.8003307580947876, 0.42033159732818604, -0.0001270327775273472, 0.00044042026274837554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298029661178589, -1.1503117084503174, -1.5997259616851807, -1.7999178171157837, -0.4199540913105011, -9.467537893215194e-06, -0.00031494544236920774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301197052001953, -1.1499601602554321, 1.6001765727996826, -1.8003307580947876, 0.4203319549560547, -0.00012547483493108302, 0.0004406599618960172, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298027276992798, -1.1503114700317383, -1.5997263193130493, -1.7999176979064941, -0.41995444893836975, -1.0426275366626214e-05, -0.00031518511241301894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301198244094849, -1.1499600410461426, 1.6001765727996826, -1.8003312349319458, 0.4203314781188965, -0.00012247878476046026, 0.0004406599618960172, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298030853271484, -1.1503113508224487, -1.599726676940918, -1.7999180555343628, -0.4199559986591339, -9.946907084668055e-06, -0.00031518511241301894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301199436187744, -1.1499600410461426, 1.600176453590393, -1.8003313541412354, 0.4203317165374756, -0.00011936287774005905, 0.0004420980694703758, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.729803204536438, -1.1503115892410278, -1.5997263193130493, -1.7999179363250732, -0.4199571907520294, -1.0066748473036569e-05, -0.0003148255927953869, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730120062828064, -1.1499593257904053, 1.6001766920089722, -1.800331711769104, 0.42033183574676514, -0.00011708587408065796, 0.0004420980694703758, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298033237457275, -1.1503113508224487, -1.5997264385223389, -1.7999173402786255, -0.4199591279029846, -9.58738019107841e-06, -0.00031290811602957547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301197052001953, -1.1499593257904053, 1.6001763343811035, -1.8003318309783936, 0.4203324317932129, -0.00011672634718706831, 0.0004416187002789229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.729601263999939, -1.1572006940841675, -1.6053693294525146, -1.8044335842132568, -0.4295182228088379, 0.014224915765225887, -0.008299315348267555, 0.3179999914798108, -0.3179999914798108, 0.3179999914798108, 0.3179999914798108, -0.3179999914798108, -0.3179999914798108, 0.3179999914798108, 0.3179999914798108, -1.7301201820373535, -1.149958848953247, 1.6001769304275513, -1.8003307580947876, 0.42033255100250244, -0.00011648666259134188, 0.000439341674791649, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.722477674484253, -1.182107925415039, -1.627604365348816, -1.825832486152649, -0.431640625, 0.06745859980583191, -0.03623490408062935, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -1.7301210165023804, -1.1499532461166382, 1.6001763343811035, -1.8003308773040771, 0.42033278942108154, -0.00011564777378225699, 0.00044533380423672497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7036986351013184, -1.2000054121017456, -1.6551358699798584, -1.8592497110366821, -0.4308522939682007, 0.12990480661392212, -0.09818196296691895, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.7301170825958252, -1.1499513387680054, 1.600176453590393, -1.8003298044204712, 0.420332670211792, -0.00011516840459080413, 0.0004495282773859799, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6635600328445435, -1.2096258401870728, -1.6773122549057007, -1.8966435194015503, -0.44149595499038696, 0.22392092645168304, -0.17160727083683014, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.73012113571167, -1.149950623512268, 1.6001759767532349, -1.8003302812576294, 0.42033350467681885, -0.00011528824688866735, 0.0004512060550041497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6043568849563599, -1.2187143564224243, -1.690315842628479, -1.9312536716461182, -0.47990578413009644, 0.33294442296028137, -0.2327415645122528, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301182746887207, -1.1499512195587158, 1.6001766920089722, -1.800329327583313, 0.42033350467681885, -0.00011564777378225699, 0.00044916875776834786, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.5285698175430298, -1.2244596481323242, -1.6809951066970825, -1.9349497556686401, -0.47592341899871826, 0.4151008427143097, -0.2951316833496094, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301362752914429, -1.1499512195587158, 1.6001754999160767, -1.800330400466919, 0.42033421993255615, -0.00011564777378225699, 0.0004504870157688856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4445642232894897, -1.2288925647735596, -1.6455241441726685, -1.9194644689559937, -0.46258077025413513, 0.490617036819458, -0.34495487809181213, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301145792007446, -1.1499513387680054, 1.6001746654510498, -1.8003290891647339, 0.4203343391418457, -0.00011624697799561545, 0.0004483298398554325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3700294494628906, -1.2330316305160522, -1.596201777458191, -1.9052411317825317, -0.43404561281204224, 0.5567539930343628, -0.3879908323287964, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301197052001953, -1.149951457977295, 1.6001754999160767, -1.800328254699707, 0.42033421993255615, -0.00011876366625074297, 0.0004447345854714513, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3056026697158813, -1.2393665313720703, -1.5304683446884155, -1.8830236196517944, -0.4101502597332001, 0.593479335308075, -0.4200286269187927, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301127910614014, -1.1499522924423218, 1.6001728773117065, -1.800328016281128, 0.42033517360687256, -0.00012163988139946014, 0.0004462925426196307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2477390766143799, -1.250923752784729, -1.458590030670166, -1.8586076498031616, -0.3835282623767853, 0.6207916140556335, -0.43701350688934326, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301093339920044, -1.1499518156051636, 1.6001734733581543, -1.8003268241882324, 0.4203343391418457, -0.0001269129425054416, 0.00044521395466290414, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.192861795425415, -1.26656973361969, -1.3862816095352173, -1.8230645656585693, -0.37150245904922485, 0.6431410908699036, -0.4441758692264557, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301201820373535, -1.1499518156051636, 1.6001743078231812, -1.8003250360488892, 0.420335054397583, -0.00013218600361142308, 0.0004416187002789229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1419837474822998, -1.284515142440796, -1.3157554864883423, -1.78279709815979, -0.3553764820098877, 0.6483080983161926, -0.4525858163833618, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301024198532104, -1.1499525308609009, 1.6001709699630737, -1.8003250360488892, 0.42033615708351135, -0.00013650032633449882, 0.00044197821989655495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1000051498413086, -1.3077316284179688, -1.259216547012329, -1.7385530471801758, -0.35656723380088806, 0.6421817541122437, -0.4518393278121948, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301105260849, -1.1499522924423218, 1.600170612335205, -1.8003264665603638, 0.42033541202545166, -0.00014237259165383875, 0.00044341632747091353, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0618282556533813, -1.3309299945831299, -1.214147925376892, -1.687882661819458, -0.34794482588768005, 0.6416522860527039, -0.44778719544410706, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301000356674194, -1.1499536037445068, 1.6001695394515991, -1.8003288507461548, 0.42033588886260986, -0.00014824485697317868, 0.0004394615243654698, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0356626510620117, -1.3511261940002441, -1.1807438135147095, -1.6445624828338623, -0.33208465576171875, 0.6336180567741394, -0.45240557193756104, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300949096679688, -1.1499522924423218, 1.6001695394515991, -1.8003290891647339, 0.4203352928161621, -0.00014848454156890512, 0.00044353617704473436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0152320861816406, -1.37272310256958, -1.1545686721801758, -1.6050699949264526, -0.3217281401157379, 0.6305225491523743, -0.4550061523914337, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301080226898193, -1.1499532461166382, 1.6001707315444946, -1.8003334999084473, 0.4203355312347412, -0.00014812502195127308, 0.00043634563917294145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9966136813163757, -1.39504873752594, -1.1310386657714844, -1.568908452987671, -0.3140590786933899, 0.6287039518356323, -0.4603058099746704, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730103611946106, -1.1499525308609009, 1.6001704931259155, -1.8003342151641846, 0.42033541202545166, -0.00014716628356836736, 0.00043742419802583754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9814755320549011, -1.4183275699615479, -1.1101093292236328, -1.5352565050125122, -0.30553722381591797, 0.6234768033027649, -0.4604443609714508, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301044464111328, -1.1499526500701904, 1.6001700162887573, -1.8003391027450562, 0.4203357696533203, -0.0001459678605897352, 0.0004379035672172904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9694563150405884, -1.440467119216919, -1.094669222831726, -1.5048331022262573, -0.30494940280914307, 0.6229966878890991, -0.4633965492248535, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301031351089478, -1.149951696395874, 1.600170373916626, -1.800339937210083, 0.420335054397583, -0.00014536864182446152, 0.0004399408935569227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9647119045257568, -1.4595409631729126, -1.0758628845214844, -1.48795485496521, -0.29266029596328735, 0.6230366230010986, -0.4723801612854004, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301015853881836, -1.1499511003494263, 1.6001719236373901, -1.8003411293029785, 0.42033517360687256, -0.00014417021884582937, 0.00043982104398310184, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9658580422401428, -1.4774726629257202, -1.058721661567688, -1.4776102304458618, -0.27325543761253357, 0.6229850649833679, -0.4829983115196228, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301024198532104, -1.1499505043029785, 1.6001726388931274, -1.8003425598144531, 0.420335054397583, -0.00014057496446184814, 0.00044054011232219636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9769397377967834, -1.4930177927017212, -1.0527626276016235, -1.4760782718658447, -0.25246554613113403, 0.6220693588256836, -0.4904191792011261, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300993204116821, -1.1499507427215576, 1.6001724004745483, -1.8003488779067993, 0.42033469676971436, -0.00013458284956868738, 0.00044197821989655495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9947586059570312, -1.5023092031478882, -1.053544282913208, -1.4761723279953003, -0.23200345039367676, 0.6233134269714355, -0.5029158592224121, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301009893417358, -1.1499502658843994, 1.6001726388931274, -1.8003475666046143, 0.42033326625823975, -0.0001293097884627059, 0.00044054011232219636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0142412185668945, -1.5062010288238525, -1.0664091110229492, -1.482068419456482, -0.20555761456489563, 0.6281076073646545, -0.5195786952972412, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730100154876709, -1.1499496698379517, 1.6001726388931274, -1.8003482818603516, 0.42033350467681885, -0.00012463594612199813, 0.0004444949154276401, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.0314140319824219, -1.5063749551773071, -1.0939744710922241, -1.5041882991790771, -0.17811530828475952, 0.6324226260185242, -0.5346857905387878, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300995588302612, -1.1499496698379517, 1.6001731157302856, -1.800349235534668, 0.4203333854675293, -0.00011876366625074297, 0.0004466520622372627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.043336272239685, -1.504787802696228, -1.1304622888565063, -1.5393530130386353, -0.15758907794952393, 0.6359164118766785, -0.5427073240280151, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300968170166016, -1.1499497890472412, 1.6001726388931274, -1.800347089767456, 0.42033278942108154, -0.00011636682029347867, 0.0004464123921934515, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0587571859359741, -1.499252438545227, -1.178452730178833, -1.5835492610931396, -0.13752424716949463, 0.6446561217308044, -0.5539868474006653, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300972938537598, -1.1499494314193726, 1.6001741886138916, -1.800347089767456, 0.42033350467681885, -0.00011480887769721448, 0.000445693323854357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0779616832733154, -1.4842398166656494, -1.2396458387374878, -1.62562096118927, -0.12038561701774597, 0.6525948643684387, -0.5750769376754761, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730102777481079, -1.1499491930007935, 1.6001747846603394, -1.8003437519073486, 0.4203329086303711, -0.00011301124322926626, 0.0004466520622372627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1038717031478882, -1.4634428024291992, -1.3013464212417603, -1.6686962842941284, -0.10014677792787552, 0.6566983461380005, -0.597088098526001, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300900220870972, -1.149948000907898, 1.6001745462417603, -1.8003365993499756, 0.4203321933746338, -0.00011193266254849732, 0.0004512060550041497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1388517618179321, -1.4431788921356201, -1.3522628545761108, -1.708748698234558, -0.08305247873067856, 0.6583166122436523, -0.6152100563049316, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300859689712524, -1.1499497890472412, 1.6001739501953125, -1.8003381490707397, 0.42033183574676514, -0.0001109739241655916, 0.00045324338134378195, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1781021356582642, -1.4257111549377441, -1.3929741382598877, -1.7361626625061035, -0.06946632266044617, 0.6577197909355164, -0.6300913691520691, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7300984859466553, -1.1499501466751099, 1.6001739501953125, -1.8003365993499756, 0.4203321933746338, -0.00011109376646345481, 0.00045000764657743275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.213545560836792, -1.410526990890503, -1.4241193532943726, -1.7516357898712158, -0.0764349102973938, 0.6580094695091248, -0.6372997760772705, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730102300643921, -1.1499496698379517, 1.6001754999160767, -1.8003343343734741, 0.42033255100250244, -0.0001118128202506341, 0.00044785047066397965, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2429848909378052, -1.3965498208999634, -1.440444827079773, -1.7553398609161377, -0.08658123016357422, 0.6580588221549988, -0.6460505127906799, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301026582717896, -1.1499507427215576, 1.6001750230789185, -1.8003332614898682, 0.42033231258392334, -0.00011301124322926626, 0.0004503671661950648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2641054391860962, -1.3849667310714722, -1.4448580741882324, -1.7520716190338135, -0.09465739876031876, 0.654387354850769, -0.6521347761154175, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730100393295288, -1.1499502658843994, 1.6001752614974976, -1.8003325462341309, 0.4203324317932129, -0.00011277155863353983, 0.00044761080062016845, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2687841653823853, -1.3782495260238647, -1.4473507404327393, -1.7369074821472168, -0.11379320919513702, 0.6487222909927368, -0.6503928899765015, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730104923248291, -1.149950385093689, 1.6001739501953125, -1.8003332614898682, 0.4203324317932129, -0.00011480887769721448, 0.0004471314314287156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2697632312774658, -1.3709149360656738, -1.4439458847045898, -1.726367712020874, -0.1253485232591629, 0.6389508247375488, -0.6495163440704346, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301017045974731, -1.1499502658843994, 1.6001741886138916, -1.8003344535827637, 0.4203324317932129, -0.00011780492786783725, 0.0004480901698116213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2753956317901611, -1.364990472793579, -1.4414567947387695, -1.7156394720077515, -0.13526535034179688, 0.629948616027832, -0.6489387154579163, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301064729690552, -1.1499501466751099, 1.6001746654510498, -1.8003343343734741, 0.4203329086303711, -0.0001227184693561867, 0.0004462925426196307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.27847421169281, -1.3594766855239868, -1.44133722782135, -1.7077000141143799, -0.1418839991092682, 0.616486132144928, -0.6575151085853577, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301051616668701, -1.149950623512268, 1.6001743078231812, -1.800333857536316, 0.42033326625823975, -0.0001284708851017058, 0.00044605284347198904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2768851518630981, -1.3562813997268677, -1.4416096210479736, -1.697859287261963, -0.14802435040473938, 0.6053453683853149, -0.6667168140411377, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301095724105835, -1.1499501466751099, 1.600174069404602, -1.80033540725708, 0.4203336238861084, -0.00013434316497296095, 0.0004454536538105458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.273674488067627, -1.3520026206970215, -1.4412615299224854, -1.6889464855194092, -0.15140870213508606, 0.5953428745269775, -0.673494279384613, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301082611083984, -1.1499499082565308, 1.600174069404602, -1.800336241722107, 0.42033374309539795, -0.00013685984595213085, 0.0004442552162799984, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2726037502288818, -1.348160743713379, -1.4413230419158936, -1.6815670728683472, -0.15267686545848846, 0.5830389857292175, -0.6803222894668579, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301098108291626, -1.1499497890472412, 1.600174069404602, -1.800337791442871, 0.42033398151397705, -0.0001386574876960367, 0.00044365599751472473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.268657922744751, -1.3462177515029907, -1.4453271627426147, -1.6692614555358887, -0.15418748557567596, 0.5734135508537292, -0.6959426403045654, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301095724105835, -1.149949312210083, 1.6001750230789185, -1.8003374338150024, 0.4203341007232666, -0.000139376541483216, 0.00044317662832327187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2657489776611328, -1.3418596982955933, -1.448115348815918, -1.6609565019607544, -0.15393377840518951, 0.5614053010940552, -0.710358202457428, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301111221313477, -1.1499489545822144, 1.6001745462417603, -1.8003385066986084, 0.42033421993255615, -0.000141054333653301, 0.0004438956966623664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2633417844772339, -1.3385459184646606, -1.4518779516220093, -1.6512730121612549, -0.16033370792865753, 0.5543206334114075, -0.7210056185722351, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301099300384521, -1.1499487161636353, 1.6001746654510498, -1.8003387451171875, 0.4203343391418457, -0.0001418932224623859, 0.0004424575890880078, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2584121227264404, -1.3353559970855713, -1.4529708623886108, -1.6397945880889893, -0.1614445298910141, 0.5444319248199463, -0.7321532368659973, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730110764503479, -1.1499489545822144, 1.6001743078231812, -1.8003393411636353, 0.42033421993255615, -0.00014153370284475386, 0.00044281710870563984, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.37616586685180664, 0.0, 0.0, 1.2533674240112305, -1.3337628841400146, -1.4562922716140747, -1.6285207271575928, -0.1609487384557724, 0.5364041924476624, -0.7465699911117554, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301126718521118, -1.1499487161636353, 1.6001756191253662, -1.8003392219543457, 0.42033445835113525, -0.00014069479948375374, 0.00044125915155746043, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2485390901565552, -1.3324946165084839, -1.4559962749481201, -1.615740180015564, -0.16152745485305786, 0.5225092172622681, -0.7538732886314392, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301112413406372, -1.1499496698379517, 1.6001741886138916, -1.8003395795822144, 0.42033493518829346, -0.00014057496446184814, 0.00044293695827946067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2402265071868896, -1.3311972618103027, -1.4552139043807983, -1.598472237586975, -0.16830885410308838, 0.5100130438804626, -0.7606488466262817, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301137447357178, -1.1499501466751099, 1.6001752614974976, -1.8003400564193726, 0.42033469676971436, -0.0001403352798661217, 0.0004440155462361872, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2397515773773193, -1.3307561874389648, -1.455191731452942, -1.597876787185669, -0.16810308396816254, 0.5089495182037354, -0.7596645355224609, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301087379455566, -1.149950623512268, 1.6001745462417603, -1.800338864326477, 0.4203336238861084, -0.000139376541483216, 0.00044437506585381925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2397180795669556, -1.3307523727416992, -1.4551961421966553, -1.597994327545166, -0.16779737174510956, 0.5091332793235779, -0.7588314414024353, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301113605499268, -1.1499501466751099, 1.6001747846603394, -1.8003385066986084, 0.42033445835113525, -0.00013829795352648944, 0.0004441353667061776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.239604115486145, -1.3307526111602783, -1.455210566520691, -1.5980377197265625, -0.1676911860704422, 0.509232223033905, -0.7586327195167542, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301095724105835, -1.1499505043029785, 1.600174903869629, -1.800337553024292, 0.42033326625823975, -0.00013590110756922513, 0.0004441353667061776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2396047115325928, -1.3307512998580933, -1.4552397727966309, -1.5980379581451416, -0.16751369833946228, 0.5092700123786926, -0.7584483027458191, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301105260849, -1.149950385093689, 1.6001747846603394, -1.8003374338150024, 0.42033326625823975, -0.0001331447419943288, 0.00044461473589763045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.239582896232605, -1.3307468891143799, -1.4554107189178467, -1.598041296005249, -0.1675083041191101, 0.5092746615409851, -0.7581698894500732, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301095724105835, -1.1499502658843994, 1.6001745462417603, -1.8003369569778442, 0.42033302783966064, -0.00013134710025042295, 0.00044437506585381925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2394450902938843, -1.3307439088821411, -1.4554136991500854, -1.5980441570281982, -0.16745005548000336, 0.5092788934707642, -0.7579514384269714, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730109453201294, -1.149950623512268, 1.6001747846603394, -1.8003357648849487, 0.4203331470489502, -0.00012895025429315865, 0.0004447345854714513, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.239426612854004, -1.3307418823242188, -1.4554076194763184, -1.5980442762374878, -0.16737240552902222, 0.5092951655387878, -0.7579494714736938, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301090955734253, -1.149950385093689, 1.6001744270324707, -1.8003352880477905, 0.4203324317932129, -0.00012667325790971518, 0.0004454536538105458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2394351959228516, -1.3307383060455322, -1.4553852081298828, -1.59804368019104, -0.16737420856952667, 0.509364664554596, -0.7581151127815247, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7301087379455566, -1.149950385093689, 1.6001744270324707, -1.8003352880477905, 0.42033255100250244, -0.0001253549853572622, 0.00044533380423672497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.239434838294983, -1.3307157754898071, -1.4553866386413574, -1.5980430841445923, -0.16737468540668488, 0.509372353553772, -0.7581127285957336, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730108618736267, -1.1499501466751099, 1.6001746654510498, -1.8003352880477905, 0.42033231258392334, -0.00012415657693054527, 0.00044521395466290414, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2393224239349365, -1.3306912183761597, -1.4554086923599243, -1.5980429649353027, -0.16737480461597443, 0.5093639492988586, -0.7579489946365356, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730071783065796, -1.1530250310897827, 1.6060482263565063, -1.8065158128738403, 0.4226236939430237, 0.013348748907446861, 0.016177386045455933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2392810583114624, -1.3305540084838867, -1.4554213285446167, -1.5980418920516968, -0.16736389696598053, 0.5093574523925781, -0.757938802242279, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.726208209991455, -1.176867127418518, 1.6369692087173462, -1.8475373983383179, 0.4732241928577423, 0.08866121619939804, 0.10113044083118439, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2392839193344116, -1.3305482864379883, -1.4554110765457153, -1.59804105758667, -0.1673581451177597, 0.5093550682067871, -0.758029043674469, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.718796968460083, -1.1974605321884155, 1.6646456718444824, -1.8859535455703735, 0.5334426760673523, 0.1645580232143402, 0.18506388366222382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2392834424972534, -1.3305463790893555, -1.4554141759872437, -1.5980406999588013, -0.16735705733299255, 0.5093401074409485, -0.7580236792564392, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7091010808944702, -1.2106789350509644, 1.7041202783584595, -1.9249598979949951, 0.6361076831817627, 0.28887519240379333, 0.2683453857898712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.239281177520752, -1.3305299282073975, -1.455418348312378, -1.5980393886566162, -0.1672855168581009, 0.5093231797218323, -0.7578598260879517, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6859439611434937, -1.218747615814209, 1.738733172416687, -1.9506555795669556, 0.7328171133995056, 0.44039079546928406, 0.346059113740921, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2391793727874756, -1.3305182456970215, -1.455486536026001, -1.59804105758667, -0.1672786921262741, 0.5092804431915283, -0.7578263878822327, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6580687761306763, -1.2267382144927979, 1.761117935180664, -1.9624204635620117, 0.821000874042511, 0.585482120513916, 0.3995939791202545, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2391712665557861, -1.3305091857910156, -1.4555206298828125, -1.5980409383773804, -0.16727784276008606, 0.5092792510986328, -0.7578241229057312, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6191326379776, -1.2348647117614746, 1.7675637006759644, -1.9530587196350098, 0.9230169653892517, 0.7239105701446533, 0.41586148738861084, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.239170789718628, -1.3305062055587769, -1.4555164575576782, -1.5980433225631714, -0.1673130840063095, 0.5092804431915283, -0.7579390406608582, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.572812557220459, -1.2423111200332642, 1.7677806615829468, -1.9264957904815674, 1.0236774682998657, 0.8582983016967773, 0.4041648805141449, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.239122986793518, -1.3304849863052368, -1.4555317163467407, -1.5980521440505981, -0.1673220694065094, 0.5092799663543701, -0.757834792137146, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5299034118652344, -1.249290943145752, 1.762372374534607, -1.8880064487457275, 1.143676519393921, 0.9610239863395691, 0.35869336128234863, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2390209436416626, -1.3304176330566406, -1.4555519819259644, -1.5980570316314697, -0.16732314229011536, 0.5092802047729492, -0.7577934861183167, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4998385906219482, -1.253814697265625, 1.7397600412368774, -1.8457024097442627, 1.2646392583847046, 1.0155229568481445, 0.298185259103775, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2389553785324097, -1.3303946256637573, -1.4556025266647339, -1.5980619192123413, -0.1673111617565155, 0.5092802047729492, -0.7577652931213379, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4889217615127563, -1.2384206056594849, 1.691453218460083, -1.8082997798919678, 1.3967251777648926, 1.009781837463379, 0.2286042422056198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.238950252532959, -1.3303494453430176, -1.455682635307312, -1.598058819770813, -0.16730397939682007, 0.5092812776565552, -0.7577139139175415, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4757802486419678, -1.2040292024612427, 1.642077922821045, -1.769302487373352, 1.5211399793624878, 1.0078716278076172, 0.15970861911773682, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.238946557044983, -1.3302900791168213, -1.4557900428771973, -1.5980572700500488, -0.1672755777835846, 0.5092843770980835, -0.7575094103813171, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4574992656707764, -1.1683471202850342, 1.5903719663619995, -1.738211750984192, 1.6419566869735718, 1.0065503120422363, 0.09366930276155472, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2388324737548828, -1.3302631378173828, -1.455941081047058, -1.5980576276779175, -0.1672530472278595, 0.5092862844467163, -0.7572104334831238, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4443389177322388, -1.1387611627578735, 1.544394850730896, -1.7242679595947266, 1.7510627508163452, 1.0060272216796875, 0.037222642451524734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.238824486732483, -1.3302191495895386, -1.455953598022461, -1.5980504751205444, -0.16701599955558777, 0.5092951655387878, -0.7568773627281189, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4311801195144653, -1.1194490194320679, 1.5069636106491089, -1.7077280282974243, 1.833423376083374, 1.0055962800979614, -0.002775546396151185, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2387341260910034, -1.3302005529403687, -1.456081509590149, -1.598048210144043, -0.16699525713920593, 0.5092993378639221, -0.7566679120063782, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.417962670326233, -1.108950138092041, 1.4740710258483887, -1.694960117340088, 1.880666971206665, 1.005194902420044, -0.02887730859220028, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2387151718139648, -1.3301588296890259, -1.4562569856643677, -1.5980406999588013, -0.16670511662960052, 0.509307861328125, -0.7561538815498352, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4093267917633057, -1.1067547798156738, 1.4488933086395264, -1.6878814697265625, 1.9051826000213623, 1.0048003196716309, -0.043027203530073166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2386184930801392, -1.330041527748108, -1.4564287662506104, -1.598035216331482, -0.16665059328079224, 0.5093153119087219, -0.7559518218040466, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.398707389831543, -1.1069231033325195, 1.422536015510559, -1.6772634983062744, 1.9403947591781616, 1.0045961141586304, -0.07044614851474762, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2385755777359009, -1.3299778699874878, -1.456519603729248, -1.598021388053894, -0.16653339564800262, 0.5093234181404114, -0.7557564973831177, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3870048522949219, -1.1127830743789673, 1.4020740985870361, -1.6677665710449219, 1.9523673057556152, 1.0043537616729736, -0.0889173150062561, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2385460138320923, -1.329894781112671, -1.4566469192504883, -1.5980167388916016, -0.16648149490356445, 0.5093281269073486, -0.755616307258606, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.38173246383667, -1.1222330331802368, 1.3859776258468628, -1.665328025817871, 1.9583238363265991, 1.004028558731079, -0.0991957038640976, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.238537311553955, -1.3298578262329102, -1.4567193984985352, -1.5979965925216675, -0.16632066667079926, 0.5093348026275635, -0.7552919983863831, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.379175066947937, -1.1323217153549194, 1.3718583583831787, -1.6623965501785278, 1.9614170789718628, 1.0039795637130737, -0.11121780425310135, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.23846435546875, -1.3298380374908447, -1.4568647146224976, -1.5979934930801392, -0.16627776622772217, 0.5093355774879456, -0.7552452683448792, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3783334493637085, -1.1396583318710327, 1.3588390350341797, -1.6615283489227295, 1.966992974281311, 1.0038942098617554, -0.12287042289972305, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2384623289108276, -1.329787254333496, -1.4569382667541504, -1.5979695320129395, -0.1661108285188675, 0.5093360543251038, -0.755027711391449, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3760621547698975, -1.1458560228347778, 1.346643328666687, -1.662341594696045, 1.9761335849761963, 1.00379478931427, -0.1366625875234604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.238449215888977, -1.3296993970870972, -1.4569967985153198, -1.5979691743850708, -0.16607379913330078, 0.5093339681625366, -0.7549381256103516, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.366679310798645, -1.152775526046753, 1.333281397819519, -1.6617854833602905, 1.984334945678711, 1.0037444829940796, -0.1528664529323578, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2384397983551025, -1.3296892642974854, -1.457030177116394, -1.5979695320129395, -0.166053906083107, 0.5093320608139038, -0.7549043297767639, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3531513214111328, -1.1604830026626587, 1.3219085931777954, -1.6540467739105225, 1.995833158493042, 1.003679871559143, -0.16847027838230133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2383999824523926, -1.3296654224395752, -1.4571419954299927, -1.5979688167572021, -0.1659630537033081, 0.5093284845352173, -0.7548536062240601, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3405064344406128, -1.1664490699768066, 1.3080984354019165, -1.6452749967575073, 2.0049397945404053, 1.003446340560913, -0.18149833381175995, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2383723258972168, -1.3296374082565308, -1.4571863412857056, -1.597965955734253, -0.1658707857131958, 0.509325385093689, -0.7547638416290283, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.330203652381897, -1.1709697246551514, 1.2898222208023071, -1.6375805139541626, 2.013423442840576, 1.0032870769500732, -0.19712528586387634, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2383315563201904, -1.329611897468567, -1.457190990447998, -1.597939372062683, -0.16585125029087067, 0.5093238353729248, -0.7545710206031799, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3255757093429565, -1.1766846179962158, 1.2778589725494385, -1.6309921741485596, 2.0133426189422607, 1.003277063369751, -0.20496104657649994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2383302450180054, -1.3295667171478271, -1.457197904586792, -1.5979350805282593, -0.1658465713262558, 0.5093228220939636, -0.7545590400695801, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.322779893875122, -1.1796430349349976, 1.2713840007781982, -1.6266568899154663, 2.0134968757629395, 1.00326669216156, -0.20738545060157776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2383286952972412, -1.329469919204712, -1.4573166370391846, -1.5979331731796265, -0.16577346622943878, 0.5093223452568054, -0.7544990181922913, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3180848360061646, -1.18021559715271, 1.2651675939559937, -1.6266611814498901, 2.0159623622894287, 1.0028468370437622, -0.21591390669345856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2383216619491577, -1.329463243484497, -1.4573355913162231, -1.5979313850402832, -0.16576172411441803, 0.5093235373497009, -0.7544872760772705, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3138543367385864, -1.1802483797073364, 1.260786771774292, -1.626697301864624, 2.0249931812286377, 1.0021131038665771, -0.22598065435886383, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2383216619491577, -1.3294044733047485, -1.4573866128921509, -1.597917914390564, -0.16573092341423035, 0.5093271732330322, -0.7544178366661072, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3114575147628784, -1.1789504289627075, 1.256001353263855, -1.6283437013626099, 2.0342228412628174, 0.9993910193443298, -0.24267959594726562, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2382969856262207, -1.3291773796081543, -1.4574981927871704, -1.5978962182998657, -0.16576160490512848, 0.509331226348877, -0.7544212341308594, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.309559941291809, -1.1743295192718506, 1.2475565671920776, -1.6269956827163696, 2.045989990234375, 0.9979172945022583, -0.2552874684333801, 0.40500000518756907, 0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.238232970237732, -1.3290456533432007, -1.4576082229614258, -1.5978655815124512, -0.16573213040828705, 0.5093374848365784, -0.7541768550872803, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3086055517196655, -1.1686079502105713, 1.238984227180481, -1.623489260673523, 2.0537126064300537, 0.9981867074966431, -0.26195141673088074, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.238134503364563, -1.3290104866027832, -1.4576092958450317, -1.5978484153747559, -0.1657077968120575, 0.5093401074409485, -0.7540344595909119, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.308900237083435, -1.163371205329895, 1.2345855236053467, -1.6185706853866577, 2.056222677230835, 0.9988996386528015, -0.2617737054824829, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.238059163093567, -1.3290094137191772, -1.4576098918914795, -1.597805380821228, -0.1656150370836258, 0.5093401074409485, -0.7538185119628906, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.310247540473938, -1.1577332019805908, 1.2297965288162231, -1.614114761352539, 2.059537410736084, 0.9993028044700623, -0.26295894384384155, 0.04800000924330496, 0.04800000924330496, 0.04800000924330496, 0.04800000924330496, -0.04800000924330496, -0.04800000924330496, -0.04800000924330496, 0.04800000924330496, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2380682229995728, -1.3289669752120972, -1.4576234817504883, -1.5977293252944946, -0.1655377447605133, 0.5093429684638977, -0.7538453936576843, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3088793754577637, -1.153543472290039, 1.227049469947815, -1.610490083694458, 2.0694072246551514, 0.9978251457214355, -0.2618044912815094, 0.11820000187381287, 0.11820000187381287, 0.11820000187381287, 0.11820000187381287, -0.11820000187381287, -0.11820000187381287, -0.11820000187381287, 0.11820000187381287, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.238203763961792, -1.3288934230804443, -1.45766019821167, -1.597723126411438, -0.1655585914850235, 0.5093545913696289, -0.7538412809371948, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2897224426269531, -1.1530969142913818, 1.2300106287002563, -1.611791729927063, 2.08581805229187, 0.9911845326423645, -0.25954321026802063, 0.46380000035841384, 0.46380000035841384, 0.46380000035841384, 0.46380000035841384, -0.46380000035841384, -0.46380000035841384, -0.46380000035841384, 0.46380000035841384, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.238194227218628, -1.328818917274475, -1.4576919078826904, -1.5977413654327393, -0.16561120748519897, 0.5093536376953125, -0.7539213299751282, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2838106155395508, -1.1522804498672485, 1.2217097282409668, -1.6137194633483887, 2.0867602825164795, 0.9918127655982971, -0.26109179854393005, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, -0.5423999986150763, -0.5423999986150763, -0.5423999986150763, 0.5423999986150763, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2381157875061035, -1.32859468460083, -1.4582017660140991, -1.5976910591125488, -0.16554349660873413, 0.5093424916267395, -0.7533440589904785, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.285183310508728, -1.1460795402526855, 1.2065305709838867, -1.6118229627609253, 2.083669900894165, 0.9931660294532776, -0.26581743359565735, 0.31559999408302725, 0.31559999408302725, 0.31559999408302725, 0.31559999408302725, -0.31559999408302725, -0.31559999408302725, -0.31559999408302725, 0.31559999408302725, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2380468845367432, -1.328479290008545, -1.4584205150604248, -1.5976718664169312, -0.16553258895874023, 0.5093303918838501, -0.753273606300354, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.28678297996521, -1.1403906345367432, 1.1989045143127441, -1.6087496280670166, 2.082589626312256, 0.994201123714447, -0.26822805404663086, 0.037200001307896226, 0.037200001307896226, 0.037200001307896226, 0.037200001307896226, -0.037200001307896226, -0.037200001307896226, -0.037200001307896226, 0.037200001307896226, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2380473613739014, -1.328482985496521, -1.4582308530807495, -1.5976781845092773, -0.16559982299804688, 0.5093268156051636, -0.75350022315979, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.289583444595337, -1.138350486755371, 1.1991246938705444, -1.6130114793777466, 2.0832250118255615, 0.9945407509803772, -0.2669749855995178, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.238048791885376, -1.3284951448440552, -1.4580903053283691, -1.5976812839508057, -0.1656758040189743, 0.5093246698379517, -0.7537192106246948, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.294602870941162, -1.1366262435913086, 1.2061222791671753, -1.6212645769119263, 2.080310344696045, 0.9945428967475891, -0.26102587580680847, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.238038420677185, -1.3285247087478638, -1.4580028057098389, -1.5976825952529907, -0.1656942516565323, 0.5093174576759338, -0.7534883618354797, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3047053813934326, -1.1353955268859863, 1.2138525247573853, -1.6382365226745605, 2.079850196838379, 0.9959748983383179, -0.2561487853527069, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2378828525543213, -1.3285220861434937, -1.4581705331802368, -1.5976797342300415, -0.16552790999412537, 0.5093052387237549, -0.7530128359794617, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.314285159111023, -1.133002758026123, 1.2187376022338867, -1.665924310684204, 2.0877997875213623, 0.9961678385734558, -0.26832127571105957, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2378499507904053, -1.3285225629806519, -1.458167552947998, -1.597673773765564, -0.1654909998178482, 0.509305477142334, -0.7530408501625061, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3243905305862427, -1.129748821258545, 1.2276341915130615, -1.6924182176589966, 2.0949084758758545, 0.9961437582969666, -0.27921339869499207, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2380613088607788, -1.3285161256790161, -1.4581347703933716, -1.5976353883743286, -0.16541993618011475, 0.5093261003494263, -0.7533039450645447, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.336400032043457, -1.1229653358459473, 1.244986653327942, -1.7177388668060303, 2.113426685333252, 0.9959696531295776, -0.2821172773838043, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2380982637405396, -1.328514814376831, -1.4581204652786255, -1.5976409912109375, -0.16551317274570465, 0.5093356966972351, -0.753380537033081, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3503984212875366, -1.1128952503204346, 1.2549575567245483, -1.7478972673416138, 2.126997232437134, 0.9957781434059143, -0.28952449560165405, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2379469871520996, -1.3285081386566162, -1.4581350088119507, -1.597641110420227, -0.16544270515441895, 0.5093333721160889, -0.7531225085258484, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.372316837310791, -1.1021242141723633, 1.2665168046951294, -1.7821730375289917, 2.133578300476074, 0.9955203533172607, -0.2937319278717041, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378876209259033, -1.3285006284713745, -1.4581478834152222, -1.597636342048645, -0.1653948873281479, 0.509337842464447, -0.7530022859573364, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4063260555267334, -1.0863423347473145, 1.2877273559570312, -1.8263487815856934, 2.1392014026641846, 0.9956179857254028, -0.2919003665447235, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2379132509231567, -1.328465461730957, -1.4581514596939087, -1.5976053476333618, -0.1651448905467987, 0.5093690156936646, -0.7529395818710327, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.446686029434204, -1.0659680366516113, 1.3017557859420776, -1.8799172639846802, 2.123753070831299, 0.995948314666748, -0.2762959599494934, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237982988357544, -1.328434944152832, -1.4581637382507324, -1.5975894927978516, -0.16515615582466125, 0.5094076991081238, -0.7530325055122375, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4901331663131714, -1.0466198921203613, 1.3154215812683105, -1.9254053831100464, 2.101595401763916, 0.9961691498756409, -0.24718423187732697, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2379857301712036, -1.328384280204773, -1.4582867622375488, -1.597564935684204, -0.16508808732032776, 0.509415864944458, -0.7528674602508545, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5342097282409668, -1.0246492624282837, 1.3291192054748535, -1.9657530784606934, 2.0756494998931885, 0.9962048530578613, -0.21044299006462097, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2379838228225708, -1.328363060951233, -1.458434820175171, -1.5975397825241089, -0.1649802327156067, 0.509412944316864, -0.7526187896728516, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5810513496398926, -1.0034970045089722, 1.3448185920715332, -1.9948689937591553, 2.0396764278411865, 0.9962501525878906, -0.16241297125816345, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2379869222640991, -1.328334093093872, -1.4584407806396484, -1.597399115562439, -0.16503116488456726, 0.5094093680381775, -0.7527396082878113, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6231650114059448, -0.9856092929840088, 1.353456974029541, -2.0102713108062744, 1.9872205257415771, 0.9962318539619446, -0.10158080607652664, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2379865646362305, -1.3283236026763916, -1.458432674407959, -1.5973680019378662, -0.16508138179779053, 0.5093913674354553, -0.7528706789016724, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.668151617050171, -0.9694385528564453, 1.3640652894973755, -2.0261712074279785, 1.9275286197662354, 0.9962295889854431, -0.035669248551130295, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2379904985427856, -1.3282946348190308, -1.4584407806396484, -1.5973200798034668, -0.1649121642112732, 0.5093813538551331, -0.7526413202285767, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7109938859939575, -0.9552810192108154, 1.373077154159546, -2.0320496559143066, 1.8531345129013062, 0.9963569641113281, 0.042058758437633514, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.237975835800171, -1.3282684087753296, -1.458458662033081, -1.5973210334777832, -0.16491898894309998, 0.509344756603241, -0.7525098323822021, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7499746084213257, -0.9433528780937195, 1.3795133829116821, -2.039020299911499, 1.7773141860961914, 0.9964094161987305, 0.11922997236251831, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2379686832427979, -1.3282612562179565, -1.458512544631958, -1.5973132848739624, -0.16493146121501923, 0.5093409419059753, -0.7525241374969482, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7812124490737915, -0.9343940019607544, 1.3861563205718994, -2.041832685470581, 1.7119264602661133, 0.9966220259666443, 0.18869785964488983, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.237981915473938, -1.3282424211502075, -1.4585015773773193, -1.5973076820373535, -0.16496944427490234, 0.5093434453010559, -0.752705454826355, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8042693138122559, -0.9304868578910828, 1.3967989683151245, -2.0418598651885986, 1.6650067567825317, 0.9964925050735474, 0.2411264330148697, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2380082607269287, -1.3282091617584229, -1.458506464958191, -1.597301721572876, -0.1649688482284546, 0.5093504190444946, -0.75274258852005, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8237650394439697, -0.9290532469749451, 1.4058998823165894, -2.0438425540924072, 1.624237060546875, 0.9963042140007019, 0.28271734714508057, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2380127906799316, -1.3281943798065186, -1.4585143327713013, -1.5973005294799805, -0.16496141254901886, 0.5093570947647095, -0.7526512742042542, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8363653421401978, -0.9282863140106201, 1.409774899482727, -2.0410850048065186, 1.5918934345245361, 0.9960113167762756, 0.31273481249809265, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.238010287284851, -1.328191876411438, -1.4585164785385132, -1.5972990989685059, -0.16492725908756256, 0.5093607306480408, -0.7525368332862854, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8312395811080933, -0.9283888936042786, 1.3923509120941162, -2.0121257305145264, 1.570912480354309, 0.9960254430770874, 0.32990163564682007, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2380127906799316, -1.3281898498535156, -1.4585163593292236, -1.5973000526428223, -0.1649344563484192, 0.5093656182289124, -0.7525713443756104, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8056882619857788, -0.9343832731246948, 1.3574237823486328, -1.9668607711791992, 1.5426446199417114, 0.9956828355789185, 0.33944082260131836, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.238031268119812, -1.3281813859939575, -1.458519697189331, -1.5973020792007446, -0.1649693250656128, 0.5093725919723511, -0.7527533769607544, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7701770067214966, -0.9474284052848816, 1.3180721998214722, -1.9112310409545898, 1.5174452066421509, 0.9953116774559021, 0.3468295931816101, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2380315065383911, -1.3281751871109009, -1.4585773944854736, -1.5973131656646729, -0.16510702669620514, 0.5093752145767212, -0.7528433799743652, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.738735318183899, -0.9632529616355896, 1.2906523942947388, -1.8655320405960083, 1.4951317310333252, 0.9942418336868286, 0.3485647737979889, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2380353212356567, -1.3281739950180054, -1.45860755443573, -1.5973196029663086, -0.16513842344284058, 0.509379506111145, -0.7529098987579346, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7163034677505493, -0.9789291620254517, 1.2766368389129639, -1.8264573812484741, 1.4801101684570312, 0.9938358068466187, 0.34423092007637024, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.238074541091919, -1.3281702995300293, -1.4586132764816284, -1.5973223447799683, -0.1651885211467743, 0.5093876719474792, -0.7530791163444519, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7031426429748535, -0.9932475090026855, 1.2723112106323242, -1.7983709573745728, 1.4673389196395874, 0.9929124712944031, 0.3403201103210449, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2380787134170532, -1.3281675577163696, -1.458612322807312, -1.5973254442214966, -0.1652718037366867, 0.5093936920166016, -0.75309818983078, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.699629306793213, -1.0033204555511475, 1.2767813205718994, -1.7804771661758423, 1.455643892288208, 0.9924046993255615, 0.34634852409362793, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2380722761154175, -1.328167200088501, -1.4586118459701538, -1.5973273515701294, -0.16529494524002075, 0.5093927383422852, -0.7530286312103271, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7057071924209595, -1.0054970979690552, 1.2915841341018677, -1.7740072011947632, 1.444120168685913, 0.9924496412277222, 0.35546132922172546, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2380445003509521, -1.3281683921813965, -1.4586066007614136, -1.5973278284072876, -0.16527660191059113, 0.509392261505127, -0.752892017364502, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7140573263168335, -1.0054333209991455, 1.3063429594039917, -1.7722914218902588, 1.435956358909607, 0.9926488995552063, 0.3651588559150696, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.238031268119812, -1.3281728029251099, -1.4584447145462036, -1.5973280668258667, -0.1652608960866928, 0.5093917846679688, -0.7528872489929199, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7244924306869507, -1.0051573514938354, 1.3228445053100586, -1.7713677883148193, 1.430733561515808, 0.9926697611808777, 0.3746063709259033, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.238006830215454, -1.3281826972961426, -1.4582895040512085, -1.5973280668258667, -0.1652597039937973, 0.5093902945518494, -0.7528954148292542, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7353036403656006, -1.0045719146728516, 1.3370239734649658, -1.7713876962661743, 1.4248058795928955, 0.9926623106002808, 0.3880276381969452, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2379144430160522, -1.3281927108764648, -1.4582536220550537, -1.5973272323608398, -0.16517186164855957, 0.5093842148780823, -0.7527620196342468, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7449723482131958, -1.00181245803833, 1.3467494249343872, -1.771903395652771, 1.4200010299682617, 0.9934467077255249, 0.39031025767326355, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2377842664718628, -1.3281877040863037, -1.4585710763931274, -1.597322702407837, -0.16486938297748566, 0.5093750953674316, -0.7522546052932739, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7671489715576172, -0.9918366074562073, 1.354904055595398, -1.7637497186660767, 1.4135046005249023, 0.9991033673286438, 0.3894137144088745, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2377872467041016, -1.328183650970459, -1.4587057828903198, -1.5973097085952759, -0.1646573841571808, 0.509372353553772, -0.7519012689590454, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7838093042373657, -0.9868664741516113, 1.3648808002471924, -1.762865424156189, 1.4081274271011353, 1.0008583068847656, 0.39883187413215637, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378009557724, -1.3281843662261963, -1.4586528539657593, -1.59730863571167, -0.16479207575321198, 0.5093666911125183, -0.7522352933883667, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7994755506515503, -0.9817250967025757, 1.3825372457504272, -1.7791728973388672, 1.4005558490753174, 1.0010385513305664, 0.42222702503204346, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378945350646973, -1.3281844854354858, -1.4585936069488525, -1.5973091125488281, -0.1649135947227478, 0.509364902973175, -0.7524654865264893, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8297661542892456, -0.9699941277503967, 1.4061280488967896, -1.8044954538345337, 1.3966509103775024, 1.0010563135147095, 0.45754188299179077, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2379183769226074, -1.328182339668274, -1.4585967063903809, -1.5973056554794312, -0.1649121642112732, 0.5093647837638855, -0.7523379921913147, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.871949315071106, -0.9518124461174011, 1.4343106746673584, -1.8336842060089111, 1.3947495222091675, 1.0010905265808105, 0.49815595149993896, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2378867864608765, -1.328176736831665, -1.4586243629455566, -1.5972977876663208, -0.164846733212471, 0.5093610882759094, -0.7519482970237732, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9155516624450684, -0.9363034963607788, 1.4784953594207764, -1.8663358688354492, 1.4098783731460571, 1.0015172958374023, 0.5356997847557068, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2378711700439453, -1.3281710147857666, -1.458651065826416, -1.5972906351089478, -0.1647508591413498, 0.5093568563461304, -0.7518306970596313, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9495114088058472, -0.9264291524887085, 1.541194200515747, -1.9048761129379272, 1.446693778038025, 1.0018492937088013, 0.5561208724975586, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2378919124603271, -1.3281673192977905, -1.458638072013855, -1.5972797870635986, -0.16471801698207855, 0.509360134601593, -0.7519705891609192, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9554518461227417, -0.9268816113471985, 1.604672908782959, -1.9341728687286377, 1.5040881633758545, 1.0020546913146973, 0.5432388186454773, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.237916350364685, -1.3281623125076294, -1.458635687828064, -1.5972764492034912, -0.164719820022583, 0.5093666911125183, -0.7521417140960693, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.93325936794281, -0.9400458335876465, 1.6556220054626465, -1.9441406726837158, 1.5681232213974, 1.0021048784255981, 0.4947851300239563, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378913164138794, -1.3281539678573608, -1.4586474895477295, -1.5972760915756226, -0.1647176593542099, 0.5093693733215332, -0.752028226852417, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.88352370262146, -0.9621399641036987, 1.6895209550857544, -1.9427008628845215, 1.6374588012695312, 1.0021545886993408, 0.41856619715690613, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378283739089966, -1.3281545639038086, -1.458647608757019, -1.5972870588302612, -0.16486123204231262, 0.5093666911125183, -0.7520907521247864, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8297245502471924, -0.9827528595924377, 1.716470718383789, -1.9353328943252563, 1.6915509700775146, 1.002183198928833, 0.3573349416255951, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378294467926025, -1.3281545639038086, -1.4586464166641235, -1.5972900390625, -0.16486722230911255, 0.5093684792518616, -0.75229811668396, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7725369930267334, -1.0061546564102173, 1.7348586320877075, -1.9154525995254517, 1.7125822305679321, 1.0022993087768555, 0.314769983291626, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378289699554443, -1.3281550407409668, -1.4586464166641235, -1.59731125831604, -0.16506940126419067, 0.5093675255775452, -0.7526181936264038, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.735582947731018, -1.0251833200454712, 1.7290865182876587, -1.8885689973831177, 1.6917064189910889, 1.0022845268249512, 0.31097111105918884, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378051280975342, -1.3281546831130981, -1.4587218761444092, -1.5973188877105713, -0.16510127484798431, 0.5093645453453064, -0.7525773048400879, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7293188571929932, -1.035921335220337, 1.7053184509277344, -1.8536460399627686, 1.612518072128296, 1.002258539199829, 0.35140085220336914, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2377827167510986, -1.3281549215316772, -1.4587786197662354, -1.5973196029663086, -0.16510163247585297, 0.5093629956245422, -0.7525471448898315, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7419511079788208, -1.0416996479034424, 1.6762773990631104, -1.8168056011199951, 1.5106360912322998, 1.002263069152832, 0.41670647263526917, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237787127494812, -1.3281546831130981, -1.4587764739990234, -1.597320318222046, -0.16510282456874847, 0.5093619227409363, -0.7525678873062134, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7703075408935547, -1.0432957410812378, 1.6502387523651123, -1.789977788925171, 1.414572834968567, 1.0023013353347778, 0.4824199378490448, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378015518188477, -1.3281537294387817, -1.458772897720337, -1.5973206758499146, -0.16508713364601135, 0.5093627572059631, -0.7525840401649475, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.808361530303955, -1.044748067855835, 1.629310965538025, -1.7795463800430298, 1.3466194868087769, 1.0024434328079224, 0.521883487701416, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378108501434326, -1.328149676322937, -1.4587743282318115, -1.5973193645477295, -0.1649221032857895, 0.5093621611595154, -0.7524157762527466, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8426234722137451, -1.0513688325881958, 1.6184581518173218, -1.7727495431900024, 1.3193354606628418, 1.0026177167892456, 0.5177890062332153, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378145456314087, -1.3281474113464355, -1.4587743282318115, -1.5973197221755981, -0.16492247581481934, 0.5093614459037781, -0.7524048686027527, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.869490623474121, -1.062888741493225, 1.6196932792663574, -1.778433084487915, 1.30349862575531, 1.0026673078536987, 0.5110617876052856, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237831473350525, -1.328145980834961, -1.4587714672088623, -1.597318172454834, -0.16491299867630005, 0.5093604922294617, -0.7523219585418701, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8862818479537964, -1.0788085460662842, 1.6269667148590088, -1.7896692752838135, 1.2948520183563232, 1.002685785293579, 0.4777652621269226, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378578186035156, -1.328145980834961, -1.4587651491165161, -1.5973165035247803, -0.16492702066898346, 0.5093589425086975, -0.7523261308670044, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8893218040466309, -1.0929205417633057, 1.6303601264953613, -1.7878602743148804, 1.2995271682739258, 1.0026929378509521, 0.45572221279144287, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378557920455933, -1.3281463384628296, -1.4587591886520386, -1.5973166227340698, -0.16498778760433197, 0.509355902671814, -0.7523421049118042, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8919951915740967, -1.102207899093628, 1.635817050933838, -1.787627100944519, 1.305802583694458, 1.0026934146881104, 0.43622565269470215, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237849473953247, -1.3281466960906982, -1.458756685256958, -1.5973162651062012, -0.16501186788082123, 0.5093512535095215, -0.7523423433303833, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8961411714553833, -1.1083638668060303, 1.640262246131897, -1.7865784168243408, 1.3093914985656738, 1.0026929378509521, 0.42504212260246277, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378474473953247, -1.328147053718567, -1.4587516784667969, -1.5973156690597534, -0.16500899195671082, 0.5093499422073364, -0.7523456811904907, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8962916135787964, -1.1120785474777222, 1.6469160318374634, -1.7849985361099243, 1.3134183883666992, 1.0026929378509521, 0.4177216589450836, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378478050231934, -1.3281471729278564, -1.4587429761886597, -1.597315788269043, -0.1650073230266571, 0.509350061416626, -0.7523552775382996, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8968677520751953, -1.1127934455871582, 1.653882384300232, -1.7853881120681763, 1.3173569440841675, 1.002691388130188, 0.41139745712280273, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237844467163086, -1.3281469345092773, -1.4587407112121582, -1.5973151922225952, -0.16500744223594666, 0.5093520879745483, -0.7523543238639832, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8988571166992188, -1.1119188070297241, 1.6543688774108887, -1.7853405475616455, 1.3174296617507935, 1.002689242362976, 0.40981820225715637, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237836241722107, -1.3281468152999878, -1.458741545677185, -1.5973140001296997, -0.16498717665672302, 0.5093536376953125, -0.752327561378479, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8987693786621094, -1.1101713180541992, 1.6473300457000732, -1.7804886102676392, 1.3174301385879517, 1.0026861429214478, 0.40939801931381226, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237834095954895, -1.3281465768814087, -1.4587414264678955, -1.5973131656646729, -0.16497519612312317, 0.5093585848808289, -0.7523273229598999, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8947510719299316, -1.109999418258667, 1.634385585784912, -1.7763116359710693, 1.3205358982086182, 1.0026850700378418, 0.4077390432357788, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378343343734741, -1.3281468152999878, -1.4587379693984985, -1.5973129272460938, -0.1649712473154068, 0.5093663334846497, -0.7523335814476013, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.887102484703064, -1.1113686561584473, 1.6231859922409058, -1.773331880569458, 1.3224819898605347, 1.0026832818984985, 0.40153419971466064, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237833023071289, -1.3281466960906982, -1.4587368965148926, -1.5973130464553833, -0.16497041285037994, 0.5093692541122437, -0.7523357272148132, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.878724217414856, -1.1128085851669312, 1.6181550025939941, -1.7702747583389282, 1.32355535030365, 1.0026813745498657, 0.3993988633155823, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378166913986206, -1.3281469345092773, -1.4587295055389404, -1.597313404083252, -0.16497687995433807, 0.5093693733215332, -0.7523406147956848, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.876327395439148, -1.1129436492919922, 1.6183584928512573, -1.7688641548156738, 1.3242616653442383, 1.0026785135269165, 0.3996363878250122, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237815022468567, -1.3281468152999878, -1.458717703819275, -1.5973132848739624, -0.1649814248085022, 0.5093702077865601, -0.752353847026825, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8773863315582275, -1.111596703529358, 1.619394063949585, -1.768857717514038, 1.3238378763198853, 1.002676010131836, 0.40224966406822205, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378157377243042, -1.328147053718567, -1.4587023258209229, -1.5973128080368042, -0.16498370468616486, 0.5093718767166138, -0.7523638606071472, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8794704675674438, -1.1084494590759277, 1.6223931312561035, -1.7650883197784424, 1.3277908563613892, 1.0026752948760986, 0.4056917726993561, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378145456314087, -1.3281468152999878, -1.4587032794952393, -1.5973122119903564, -0.16497747600078583, 0.5093717575073242, -0.7523550391197205, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8838226795196533, -1.1032356023788452, 1.6287429332733154, -1.7653069496154785, 1.335189938545227, 1.0026742219924927, 0.40638649463653564, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378147840499878, -1.3281466960906982, -1.4587064981460571, -1.597311019897461, -0.16495877504348755, 0.5093704462051392, -0.7523346543312073, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8862521648406982, -1.0989986658096313, 1.6292598247528076, -1.7664324045181274, 1.3455684185028076, 1.0026695728302002, 0.4025455713272095, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237815022468567, -1.3281461000442505, -1.458710789680481, -1.597309947013855, -0.1649370938539505, 0.5093696117401123, -0.7523280382156372, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8867013454437256, -1.0969431400299072, 1.6288307905197144, -1.7665561437606812, 1.3547611236572266, 1.0026638507843018, 0.39706170558929443, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237815260887146, -1.3281465768814087, -1.4587101936340332, -1.5973097085952759, -0.1649358868598938, 0.5093677639961243, -0.7523384690284729, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8866804838180542, -1.094710111618042, 1.6269662380218506, -1.7665661573410034, 1.3623853921890259, 1.0026590824127197, 0.39042219519615173, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237815260887146, -1.328145980834961, -1.4587123394012451, -1.5973091125488281, -0.1649346947669983, 0.509364902973175, -0.7523357272148132, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8874636888504028, -1.0928468704223633, 1.6267966032028198, -1.7692347764968872, 1.3704853057861328, 1.0026538372039795, 0.38633713126182556, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378147840499878, -1.32814621925354, -1.4587165117263794, -1.5973094701766968, -0.16493277251720428, 0.509362518787384, -0.7523305416107178, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8886914253234863, -1.0917179584503174, 1.6269371509552002, -1.7715559005737305, 1.373673439025879, 1.0026483535766602, 0.3838386535644531, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378146648406982, -1.3281461000442505, -1.4587194919586182, -1.5973098278045654, -0.16493289172649384, 0.5093607306480408, -0.7523368000984192, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8908685445785522, -1.0909148454666138, 1.627595067024231, -1.7730644941329956, 1.3789253234863281, 1.002631425857544, 0.38310426473617554, 0.04080001705295442, 0.04080001705295442, 0.04080001705295442, 0.04080001705295442, -0.04080001705295442, -0.04080001705295442, -0.04080001705295442, 0.04080001705295442, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378151416778564, -1.3281458616256714, -1.458720088005066, -1.5973105430603027, -0.16493217647075653, 0.5093600153923035, -0.7523449659347534, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8946805000305176, -1.0887730121612549, 1.6282551288604736, -1.7753207683563232, 1.3819307088851929, 1.00260591506958, 0.38159066438674927, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, -0.10259999914483708, -0.10259999914483708, -0.10259999914483708, 0.10259999914483708, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378151416778564, -1.3281452655792236, -1.4587321281433105, -1.5973100662231445, -0.16491635143756866, 0.509357750415802, -0.7523294687271118, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8968256711959839, -1.0875853300094604, 1.629249930381775, -1.7789347171783447, 1.3869143724441528, 1.0025949478149414, 0.37502044439315796, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, 0.17279999177534505, -0.17279999177534505, -0.17279999177534505, -0.17279999177534505, 0.17279999177534505, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237815022468567, -1.328145146369934, -1.458734154701233, -1.5973093509674072, -0.16491910815238953, 0.5093574523925781, -0.7523333430290222, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8975027799606323, -1.0875675678253174, 1.6293865442276, -1.7801265716552734, 1.3951982259750366, 1.002593755722046, 0.36529630422592163, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, -0.19920000243972946, -0.19920000243972946, -0.19920000243972946, 0.19920000243972946, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237823724746704, -1.328145146369934, -1.458732008934021, -1.5973089933395386, -0.16492989659309387, 0.5093578696250916, -0.7523567080497742, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8974192142486572, -1.0876210927963257, 1.6263973712921143, -1.7813469171524048, 1.4038593769073486, 1.0024349689483643, 0.3577750027179718, 0.2982000031314053, 0.2982000031314053, 0.2982000031314053, 0.2982000031314053, -0.2982000031314053, -0.2982000031314053, -0.2982000031314053, 0.2982000031314053, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378344535827637, -1.3281453847885132, -1.4587305784225464, -1.5973097085952759, -0.16494151949882507, 0.5093587040901184, -0.7523987889289856, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8972666263580322, -1.0879509449005127, 1.624703049659729, -1.7812124490737915, 1.4118763208389282, 1.0023726224899292, 0.35158050060272217, 0.4428000034866752, 0.4428000034866752, 0.4428000034866752, 0.4428000034866752, -0.4428000034866752, -0.4428000034866752, -0.4428000034866752, 0.4428000034866752, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378329038619995, -1.3281444311141968, -1.4587361812591553, -1.5973094701766968, -0.16493697464466095, 0.5093608498573303, -0.7523600459098816, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.897371768951416, -1.0882649421691895, 1.624612808227539, -1.7811369895935059, 1.4182536602020264, 1.002384901046753, 0.343387246131897, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378268241882324, -1.3281437158584595, -1.458748459815979, -1.597310185432434, -0.1649361252784729, 0.5093632340431213, -0.7523267269134521, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8978275060653687, -1.0885833501815796, 1.625116229057312, -1.7836754322052002, 1.419883131980896, 1.0023995637893677, 0.3354122042655945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378203868865967, -1.3281432390213013, -1.4587504863739014, -1.5973111391067505, -0.16496393084526062, 0.509364664554596, -0.7523434162139893, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.906252384185791, -1.0884829759597778, 1.6312754154205322, -1.800682783126831, 1.4237048625946045, 1.0024088621139526, 0.3280516266822815, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378201484680176, -1.3281433582305908, -1.4587452411651611, -1.597312092781067, -0.16499881446361542, 0.5093652606010437, -0.7523907423019409, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.928078532218933, -1.0854811668395996, 1.650307297706604, -1.8161044120788574, 1.4282087087631226, 1.0024317502975464, 0.324619323015213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237818717956543, -1.3281428813934326, -1.458748698234558, -1.597312092781067, -0.16499832272529602, 0.5093684792518616, -0.7523556351661682, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.960951805114746, -1.078961730003357, 1.6786640882492065, -1.8318434953689575, 1.4334349632263184, 1.002446174621582, 0.32594600319862366, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378181219100952, -1.3281422853469849, -1.458747386932373, -1.597310185432434, -0.164962500333786, 0.5093733072280884, -0.7523189187049866, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9994211196899414, -1.0736775398254395, 1.7144737243652344, -1.8561185598373413, 1.443265676498413, 1.0024819374084473, 0.3313063085079193, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378215789794922, -1.3281404972076416, -1.458749532699585, -1.5973044633865356, -0.1648772954940796, 0.509374737739563, -0.7522452473640442, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0397238731384277, -1.0708420276641846, 1.763013243675232, -1.8885129690170288, 1.4557327032089233, 1.0025396347045898, 0.3430817425251007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378283739089966, -1.3281314373016357, -1.4587514400482178, -1.5972975492477417, -0.16483786702156067, 0.5093775987625122, -0.7522062659263611, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.070084571838379, -1.0702327489852905, 1.809311032295227, -1.9254496097564697, 1.4714183807373047, 1.0025779008865356, 0.35904785990715027, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378379106521606, -1.3281158208847046, -1.458755612373352, -1.5972909927368164, -0.16474030911922455, 0.5093838572502136, -0.7520499229431152, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.079500913619995, -1.0723754167556763, 1.851572871208191, -1.972580909729004, 1.504532814025879, 1.0026676654815674, 0.36146101355552673, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2378568649291992, -1.3281065225601196, -1.4587609767913818, -1.5972872972488403, -0.16472773253917694, 0.5093880295753479, -0.7520099878311157, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.056159019470215, -1.075690507888794, 1.8692638874053955, -2.0113589763641357, 1.5553442239761353, 1.0026922225952148, 0.32859882712364197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378684282302856, -1.3281008005142212, -1.458762764930725, -1.5972836017608643, -0.16471298038959503, 0.5093898177146912, -0.7519590854644775, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9899400472640991, -1.079292893409729, 1.8551242351531982, -2.0251569747924805, 1.6110001802444458, 1.0027827024459839, 0.26352137327194214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237870454788208, -1.3281009197235107, -1.4587637186050415, -1.597288727760315, -0.16488316655158997, 0.509388267993927, -0.7521482706069946, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8969645500183105, -1.080427646636963, 1.8040112257003784, -2.0189895629882812, 1.6664001941680908, 1.0028042793273926, 0.18230965733528137, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378592491149902, -1.3281006813049316, -1.4587657451629639, -1.5972990989685059, -0.16497783362865448, 0.5093833804130554, -0.7521834969520569, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7933332920074463, -1.0838830471038818, 1.7275325059890747, -1.9831775426864624, 1.7035906314849854, 1.0028443336486816, 0.1108248382806778, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.23781418800354, -1.3281017541885376, -1.458772897720337, -1.5973267555236816, -0.16513602435588837, 0.5093691349029541, -0.7525010108947754, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.688475489616394, -1.0884814262390137, 1.6324278116226196, -1.9313863515853882, 1.7285088300704956, 1.00289785861969, 0.055782612413167953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2377320528030396, -1.3280984163284302, -1.4587773084640503, -1.597424030303955, -0.1653495877981186, 0.5093424916267395, -0.7527539730072021, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6049909591674805, -1.0954151153564453, 1.5481997728347778, -1.890059471130371, 1.747793197631836, 1.0029164552688599, 0.013491600751876831, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.237733244895935, -1.3280932903289795, -1.4587801694869995, -1.5974034070968628, -0.1652623414993286, 0.5093398690223694, -0.752629816532135, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5391920804977417, -1.1067562103271484, 1.4801583290100098, -1.8468118906021118, 1.7622933387756348, 1.0029648542404175, -0.011713381856679916, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.237734079360962, -1.3280770778656006, -1.458780288696289, -1.597399353981018, -0.16526928544044495, 0.5093376040458679, -0.7526523470878601, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4856207370758057, -1.1212204694747925, 1.4262319803237915, -1.806277871131897, 1.7665547132492065, 1.0029808282852173, -0.03192261978983879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2377320528030396, -1.3280764818191528, -1.4587808847427368, -1.597399353981018, -0.1652686893939972, 0.5093356966972351, -0.7526536583900452, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.44514000415802, -1.1378052234649658, 1.392333984375, -1.7718018293380737, 1.7631999254226685, 1.0029900074005127, -0.043285224586725235, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.37578243017196655, 0.0, 0.0, 1.2377253770828247, -1.3280763626098633, -1.4587810039520264, -1.5974018573760986, -0.16533400118350983, 0.5093321800231934, -0.7527413964271545, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4169044494628906, -1.150159478187561, 1.368678092956543, -1.7417972087860107, 1.7798997163772583, 1.0029852390289307, -0.05100294202566147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2376608848571777, -1.3280762434005737, -1.4588053226470947, -1.5973933935165405, -0.16517773270606995, 0.509331464767456, -0.7525635361671448, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4020835161209106, -1.156549334526062, 1.3503917455673218, -1.7327780723571777, 1.7822741270065308, 1.0029579401016235, -0.05871850624680519, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2376662492752075, -1.3280760049819946, -1.4588202238082886, -1.5973697900772095, -0.16513937711715698, 0.5093334913253784, -0.7525904178619385, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.386255145072937, -1.162752389907837, 1.3268307447433472, -1.7104873657226562, 1.778573989868164, 1.0029155015945435, -0.05789027735590935, 0.5610000005462668, 0.5610000005462668, 0.5610000005462668, 0.5610000005462668, -0.5610000005462668, -0.5610000005462668, -0.5610000005462668, 0.5610000005462668, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2376636266708374, -1.3280757665634155, -1.4588284492492676, -1.59736967086792, -0.16512273252010345, 0.509333610534668, -0.7524559497833252, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3731462955474854, -1.1703287363052368, 1.311360478401184, -1.6909836530685425, 1.7723087072372437, 1.0029017925262451, -0.0541229173541069, 0.5052000045776367, 0.5052000045776367, 0.5052000045776367, 0.5052000045776367, -0.5052000045776367, -0.5052000045776367, -0.5052000045776367, 0.5052000045776367, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2376452684402466, -1.3280775547027588, -1.458828091621399, -1.5973809957504272, -0.16521775722503662, 0.5093319416046143, -0.7525196671485901, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.367570400238037, -1.1745994091033936, 1.3032010793685913, -1.6859583854675293, 1.7707313299179077, 1.002851963043213, -0.05426552891731262, 0.3527999930329375, 0.3527999930329375, 0.3527999930329375, 0.3527999930329375, -0.3527999930329375, -0.3527999930329375, -0.3527999930329375, 0.3527999930329375, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.2376418113708496, -1.3280757665634155, -1.4588810205459595, -1.5973639488220215, -0.16496525704860687, 0.5093334913253784, -0.7522013783454895, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3663581609725952, -1.1770447492599487, 1.2936427593231201, -1.6886402368545532, 1.764913558959961, 1.0028201341629028, -0.06122357025742531, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, -0.30659999402014765, -0.30659999402014765, -0.30659999402014765, 0.30659999402014765, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2376415729522705, -1.328076720237732, -1.4588791131973267, -1.5973479747772217, -0.165005162358284, 0.5093331336975098, -0.7523046731948853, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3609837293624878, -1.178112268447876, 1.2756216526031494, -1.6814367771148682, 1.764295220375061, 1.0028191804885864, -0.07116053253412247, 0.268800005545983, 0.268800005545983, 0.268800005545983, 0.268800005545983, -0.268800005545983, -0.268800005545983, -0.268800005545983, 0.268800005545983, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2376511096954346, -1.328076720237732, -1.4588711261749268, -1.5973498821258545, -0.1650146245956421, 0.5093338489532471, -0.7523561120033264, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3555126190185547, -1.1794713735580444, 1.268657922744751, -1.6725714206695557, 1.7582577466964722, 1.002049446105957, -0.06997265666723251, 0.25740000808631985, 0.25740000808631985, 0.25740000808631985, 0.25740000808631985, -0.25740000808631985, -0.25740000808631985, -0.25740000808631985, 0.25740000808631985, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2376691102981567, -1.328076958656311, -1.458866000175476, -1.5973528623580933, -0.1650521457195282, 0.5093339681625366, -0.7524384260177612, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3555376529693604, -1.1799780130386353, 1.266015648841858, -1.6716852188110352, 1.7560606002807617, 1.0018305778503418, -0.06753697991371155, 0.2087999920268635, 0.2087999920268635, 0.2087999920268635, 0.2087999920268635, -0.2087999920268635, -0.2087999920268635, -0.2087999920268635, 0.2087999920268635, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2376840114593506, -1.3280497789382935, -1.4588701725006104, -1.5973529815673828, -0.16501019895076752, 0.5093366503715515, -0.752321720123291, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.361747145652771, -1.1799707412719727, 1.2653887271881104, -1.6804448366165161, 1.7578887939453125, 1.0018285512924194, -0.0728144720196724, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, -0.11159999920771672, -0.11159999920771672, -0.11159999920771672, 0.11159999920771672, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2377103567123413, -1.3279457092285156, -1.4590431451797485, -1.5973470211029053, -0.1649346947669983, 0.5093392729759216, -0.7522513270378113, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3656622171401978, -1.1776553392410278, 1.2634214162826538, -1.681323528289795, 1.7599724531173706, 1.0015102624893188, -0.0791892409324646, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, -0.03180001699007477, -0.03180001699007477, -0.03180001699007477, 0.03180001699007477, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2377159595489502, -1.3279435634613037, -1.4590351581573486, -1.5973533391952515, -0.16504734754562378, 0.509341299533844, -0.752467691898346, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3668458461761475, -1.1746561527252197, 1.2625888586044312, -1.682770013809204, 1.7645785808563232, 1.0005848407745361, -0.08147715032100677, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2377182245254517, -1.3279534578323364, -1.4589273929595947, -1.597373127937317, -0.1653057187795639, 0.5093408226966858, -0.7527952194213867, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3726471662521362, -1.1720540523529053, 1.265419363975525, -1.6930780410766602, 1.7713030576705933, 0.9985053539276123, -0.08450987935066223, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2377166748046875, -1.3279521465301514, -1.458917260169983, -1.597380518913269, -0.16521896421909332, 0.5093411803245544, -0.7526997923851013, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3805433511734009, -1.1705175638198853, 1.2731891870498657, -1.7173702716827393, 1.7869808673858643, 0.9980692863464355, -0.09197904914617538, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2376995086669922, -1.3279527425765991, -1.4589616060256958, -1.5973814725875854, -0.16519306600093842, 0.5093403458595276, -0.7524816989898682, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.391509771347046, -1.1684982776641846, 1.280413031578064, -1.7449846267700195, 1.8035882711410522, 0.9988176822662354, -0.10789193958044052, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2376625537872314, -1.3279527425765991, -1.4589954614639282, -1.5973783731460571, -0.16512775421142578, 0.5093409419059753, -0.7523033618927002, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.404550313949585, -1.1680177450180054, 1.2929171323776245, -1.7773021459579468, 1.8205891847610474, 0.9989407658576965, -0.11740849167108536, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2376633882522583, -1.3279533386230469, -1.458992600440979, -1.5973738431930542, -0.16512811183929443, 0.509346604347229, -0.7523568272590637, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.421331524848938, -1.161626935005188, 1.3075507879257202, -1.8168165683746338, 1.8300570249557495, 0.9986441135406494, -0.12018979340791702, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376759052276611, -1.3279520273208618, -1.4589980840682983, -1.5973498821258545, -0.16500923037528992, 0.5093733072280884, -0.7523047924041748, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4517041444778442, -1.1500129699707031, 1.3247227668762207, -1.8623868227005005, 1.8409755229949951, 0.998639702796936, -0.11735324561595917, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376946210861206, -1.327950119972229, -1.4589976072311401, -1.5973368883132935, -0.16499114036560059, 0.5094010829925537, -0.7522802352905273, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.492769479751587, -1.132497787475586, 1.3433047533035278, -1.9151650667190552, 1.844559907913208, 0.9986594915390015, -0.11269761621952057, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376985549926758, -1.3279474973678589, -1.4590181112289429, -1.5973228216171265, -0.16488519310951233, 0.5094063878059387, -0.7520014643669128, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5420114994049072, -1.1126362085342407, 1.3669108152389526, -1.9692472219467163, 1.8354235887527466, 0.998700737953186, -0.09410349279642105, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2377068996429443, -1.327949047088623, -1.4590086936950684, -1.5973049402236938, -0.1648452877998352, 0.5094086527824402, -0.7519439458847046, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5919952392578125, -1.0896642208099365, 1.3893080949783325, -2.01458740234375, 1.8146216869354248, 0.998701810836792, -0.06329348683357239, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237760066986084, -1.3279441595077515, -1.458997368812561, -1.5972671508789062, -0.16471993923187256, 0.509409487247467, -0.7519096732139587, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6351172924041748, -1.067319393157959, 1.406251311302185, -2.0425500869750977, 1.7927796840667725, 0.9987409710884094, -0.027384312823414803, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2377781867980957, -1.3279454708099365, -1.4589602947235107, -1.5972464084625244, -0.16475684940814972, 0.5094061493873596, -0.7519857883453369, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.67156183719635, -1.0503425598144531, 1.41793692111969, -2.0637552738189697, 1.7581429481506348, 0.9986809492111206, 0.01289083156734705, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2377550601959229, -1.327945351600647, -1.458984613418579, -1.5972301959991455, -0.16471034288406372, 0.5093944072723389, -0.7517712712287903, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7147694826126099, -1.0334303379058838, 1.431982398033142, -2.085434675216675, 1.7172638177871704, 0.9987205862998962, 0.060202036052942276, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.237757682800293, -1.3279426097869873, -1.4589675664901733, -1.5972049236297607, -0.1646694839000702, 0.5093921422958374, -0.7517446875572205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.750336766242981, -1.0174436569213867, 1.43929922580719, -2.09106183052063, 1.6760152578353882, 0.9986363649368286, 0.10856761038303375, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377609014511108, -1.3279311656951904, -1.4589546918869019, -1.5971699953079224, -0.1646455079317093, 0.5093908905982971, -0.7518414855003357, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7760337591171265, -1.0055298805236816, 1.4402198791503906, -2.09073543548584, 1.633384108543396, 0.998330295085907, 0.15676313638687134, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377691268920898, -1.3279143571853638, -1.4589427709579468, -1.597166895866394, -0.16461879014968872, 0.5093929767608643, -0.7518508434295654, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7975655794143677, -0.9974912405014038, 1.440507411956787, -2.086371898651123, 1.5931236743927002, 0.9982131719589233, 0.20417308807373047, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377715110778809, -1.327893614768982, -1.4589639902114868, -1.5971429347991943, -0.16461291909217834, 0.5093913674354553, -0.7517496943473816, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8178824186325073, -0.9883733987808228, 1.437893033027649, -2.078432083129883, 1.5540679693222046, 0.9982273578643799, 0.2544199526309967, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377688884735107, -1.3278871774673462, -1.45900559425354, -1.5971362590789795, -0.16456377506256104, 0.5093905329704285, -0.751630425453186, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8272395133972168, -0.9832010269165039, 1.4313510656356812, -2.0703704357147217, 1.5284866094589233, 0.9981945157051086, 0.28233540058135986, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377688884735107, -1.3278790712356567, -1.4590078592300415, -1.597139835357666, -0.16462059319019318, 0.509389340877533, -0.7517727017402649, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8302494287490845, -0.9801431894302368, 1.4221806526184082, -2.0659756660461426, 1.506550669670105, 0.9979774355888367, 0.30516043305397034, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377732992172241, -1.3278758525848389, -1.4590083360671997, -1.597142219543457, -0.1646958440542221, 0.509388267993927, -0.7521067261695862, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.831839680671692, -0.9769645929336548, 1.4173450469970703, -2.063546895980835, 1.488757848739624, 0.9967674016952515, 0.3251105844974518, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2377798557281494, -1.3278517723083496, -1.4590177536010742, -1.5971424579620361, -0.16469992697238922, 0.5093888640403748, -0.7520896792411804, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8328990936279297, -0.9738649725914001, 1.4088349342346191, -2.052567958831787, 1.4741058349609375, 0.9960812926292419, 0.3382062017917633, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2378005981445312, -1.3278437852859497, -1.459025263786316, -1.5971465110778809, -0.16472545266151428, 0.5093892216682434, -0.7521394491195679, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8314342498779297, -0.9734807014465332, 1.3915272951126099, -2.0313966274261475, 1.4606432914733887, 0.9928010106086731, 0.340372234582901, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2379010915756226, -1.327842354774475, -1.4590309858322144, -1.5971612930297852, -0.1648564338684082, 0.5093902945518494, -0.7523219585418701, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.821847677230835, -0.9757703542709351, 1.3711990118026733, -2.000187873840332, 1.4450913667678833, 0.9887572526931763, 0.3355465531349182, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.237929344177246, -1.327838659286499, -1.459036111831665, -1.5971765518188477, -0.16496501863002777, 0.5093911290168762, -0.75255286693573, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8081343173980713, -0.985588014125824, 1.3563096523284912, -1.963593602180481, 1.4363263845443726, 0.9881795048713684, 0.3278312385082245, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2379258871078491, -1.3278340101242065, -1.4591102600097656, -1.5971814393997192, -0.16496789455413818, 0.5093921422958374, -0.7524976134300232, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8025645017623901, -0.9968867301940918, 1.3539180755615234, -1.9380426406860352, 1.4239344596862793, 0.9881449937820435, 0.329475462436676, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2379006147384644, -1.327833652496338, -1.4591238498687744, -1.5971816778182983, -0.16492941975593567, 0.5093923807144165, -0.7522792816162109, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7971268892288208, -1.0050268173217773, 1.3536955118179321, -1.9157804250717163, 1.4152461290359497, 0.9881331324577332, 0.3373495936393738, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.237844705581665, -1.3278344869613647, -1.459108829498291, -1.5971814393997192, -0.16488279402256012, 0.5093930959701538, -0.7522260546684265, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7935569286346436, -1.011131763458252, 1.3568425178527832, -1.8980159759521484, 1.4111804962158203, 0.9883977770805359, 0.341086745262146, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2378281354904175, -1.3278385400772095, -1.459010124206543, -1.597180962562561, -0.16482886672019958, 0.5093941688537598, -0.752197802066803, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7917758226394653, -1.0163356065750122, 1.3661328554153442, -1.8815324306488037, 1.4074443578720093, 0.9898237586021423, 0.3434489369392395, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2377465963363647, -1.3278436660766602, -1.4589197635650635, -1.5971801280975342, -0.16475649178028107, 0.5093936920166016, -0.7519496083259583, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7918137311935425, -1.0202046632766724, 1.3787404298782349, -1.868774652481079, 1.4032776355743408, 0.9909830093383789, 0.3499819040298462, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376201152801514, -1.3278502225875854, -1.458908200263977, -1.5971763134002686, -0.1646120846271515, 0.509392499923706, -0.7515147924423218, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7951109409332275, -1.021220088005066, 1.3877161741256714, -1.8575295209884644, 1.3933836221694946, 0.9959506988525391, 0.35535120964050293, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2375755310058594, -1.3278496265411377, -1.4589638710021973, -1.597165584564209, -0.16438713669776917, 0.5093899369239807, -0.7510658502578735, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8058114051818848, -1.0205202102661133, 1.3970612287521362, -1.8465217351913452, 1.3867214918136597, 1.00070321559906, 0.35988950729370117, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2375781536102295, -1.3278499841690063, -1.459012508392334, -1.5971587896347046, -0.1643625646829605, 0.509388267993927, -0.7510784864425659, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8128278255462646, -1.020486831665039, 1.4094160795211792, -1.8445476293563843, 1.3821167945861816, 1.001376748085022, 0.36713001132011414, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237596869468689, -1.3278510570526123, -1.4590117931365967, -1.597157597541809, -0.16447390615940094, 0.5093857645988464, -0.7513744831085205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8281606435775757, -1.018941044807434, 1.4257475137710571, -1.853762149810791, 1.3807687759399414, 1.001414179801941, 0.3789682686328888, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376428842544556, -1.3278508186340332, -1.4590137004852295, -1.5971529483795166, -0.16448600590229034, 0.5093832612037659, -0.7513931393623352, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8562532663345337, -1.011590600013733, 1.447921872138977, -1.8749873638153076, 1.3839282989501953, 1.0014821290969849, 0.39912059903144836, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376482486724854, -1.3278508186340332, -1.4590896368026733, -1.5971473455429077, -0.16448061168193817, 0.5093809962272644, -0.7513301372528076, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.893941879272461, -0.9997336864471436, 1.477461576461792, -1.9007062911987305, 1.389988660812378, 1.0016223192214966, 0.42041271924972534, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376537322998047, -1.3278506994247437, -1.4591065645217896, -1.5971331596374512, -0.16445915400981903, 0.5093793869018555, -0.7512263655662537, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9315779209136963, -0.9917107224464417, 1.5176812410354614, -1.9293431043624878, 1.3987476825714111, 1.0016988515853882, 0.43478071689605713, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.2376679182052612, -1.3278506994247437, -1.4591072797775269, -1.5971139669418335, -0.16442321240901947, 0.5093802809715271, -0.7511758804321289, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.964239239692688, -0.987079381942749, 1.5677961111068726, -1.9500929117202759, 1.420219898223877, 1.0020729303359985, 0.45183464884757996, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.2376924753189087, -1.3278506994247437, -1.4591065645217896, -1.5971074104309082, -0.1644047498703003, 0.5093842148780823, -0.7511705160140991, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9877763986587524, -0.9859090447425842, 1.618975281715393, -1.9684138298034668, 1.4487189054489136, 1.0021486282348633, 0.45685386657714844, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376943826675415, -1.3278504610061646, -1.4591103792190552, -1.5971072912216187, -0.16440726816654205, 0.5093868374824524, -0.751161515712738, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.001967668533325, -0.9859570264816284, 1.668112874031067, -1.9835784435272217, 1.4767255783081055, 1.0022696256637573, 0.4571835696697235, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376874685287476, -1.3278504610061646, -1.4591128826141357, -1.5971075296401978, -0.164408341050148, 0.5093876719474792, -0.7511011362075806, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.004812240600586, -0.9897928833961487, 1.717969298362732, -1.9872277975082397, 1.5111132860183716, 1.0024383068084717, 0.4488820731639862, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.237682580947876, -1.3278502225875854, -1.4591106176376343, -1.5971078872680664, -0.1644178181886673, 0.5093881487846375, -0.7511248588562012, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9974220991134644, -0.9996656179428101, 1.7682769298553467, -1.9771603345870972, 1.5493611097335815, 1.0025309324264526, 0.4264550507068634, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237676978111267, -1.3278498649597168, -1.4591103792190552, -1.5971094369888306, -0.1644275188446045, 0.5093905329704285, -0.751209557056427, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9781855344772339, -1.0098267793655396, 1.8136639595031738, -1.9617159366607666, 1.5802990198135376, 1.0025852918624878, 0.4006652235984802, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376399040222168, -1.32784903049469, -1.4591134786605835, -1.5971101522445679, -0.16443122923374176, 0.5093928575515747, -0.7512039542198181, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9476439952850342, -1.0180983543395996, 1.8540360927581787, -1.9426610469818115, 1.609536051750183, 1.0026843547821045, 0.3717872202396393, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237633228302002, -1.3278477191925049, -1.4591152667999268, -1.597116231918335, -0.16449151933193207, 0.509392261505127, -0.7513309717178345, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9151079654693604, -1.0258934497833252, 1.8825275897979736, -1.9288794994354248, 1.631666660308838, 1.0026932954788208, 0.34304893016815186, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376289367675781, -1.3278440237045288, -1.4591268301010132, -1.597118854522705, -0.16449499130249023, 0.5093921422958374, -0.751338541507721, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8874343633651733, -1.0347927808761597, 1.8971339464187622, -1.916465401649475, 1.6412441730499268, 1.0026966333389282, 0.3248976171016693, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376242876052856, -1.3278416395187378, -1.459130883216858, -1.5971239805221558, -0.16456690430641174, 0.5093907713890076, -0.7515212893486023, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.872448205947876, -1.040597915649414, 1.893751859664917, -1.9012736082077026, 1.6413524150848389, 1.0026875734329224, 0.3133186995983124, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237613320350647, -1.3278404474258423, -1.4591683149337769, -1.597131371498108, -0.16463269293308258, 0.5093867182731628, -0.751557469367981, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8897221088409424, -1.0417288541793823, 1.8672809600830078, -1.8952480554580688, 1.598172664642334, 1.0026488304138184, 0.33163419365882874, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2375961542129517, -1.3278392553329468, -1.459195852279663, -1.5971323251724243, -0.1646265834569931, 0.509381115436554, -0.7515292763710022, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9214870929718018, -1.0434911251068115, 1.833815097808838, -1.8645962476730347, 1.549415111541748, 1.0026452541351318, 0.3613799810409546, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376002073287964, -1.3278330564498901, -1.4592201709747314, -1.5971317291259766, -0.16457852721214294, 0.5093793869018555, -0.7515170574188232, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.95272696018219, -1.0453152656555176, 1.7969309091567993, -1.8409126996994019, 1.4958319664001465, 1.0026473999023438, 0.38660427927970886, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376097440719604, -1.3278312683105469, -1.4592193365097046, -1.5971320867538452, -0.16455227136611938, 0.5093789100646973, -0.7515161037445068, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9800394773483276, -1.0500446557998657, 1.777937412261963, -1.8314101696014404, 1.4663357734680176, 1.002759575843811, 0.4085021913051605, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2376161813735962, -1.3278298377990723, -1.4592204093933105, -1.5971314907073975, -0.16443578898906708, 0.5093773603439331, -0.7513415217399597, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0013880729675293, -1.0510046482086182, 1.7717721462249756, -1.8272022008895874, 1.4828041791915894, 1.0027953386306763, 0.40064895153045654, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376500368118286, -1.3278290033340454, -1.4592124223709106, -1.5971308946609497, -0.16441373527050018, 0.5093764066696167, -0.7513352632522583, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0035605430603027, -1.05076265335083, 1.7635256052017212, -1.8128138780593872, 1.4916578531265259, 1.0027934312820435, 0.38318708539009094, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2376493215560913, -1.327829122543335, -1.4592010974884033, -1.597133755683899, -0.16451357305049896, 0.5093706846237183, -0.7514491081237793, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.003596305847168, -1.0502101182937622, 1.762858271598816, -1.810762882232666, 1.495644211769104, 1.0027817487716675, 0.37871983647346497, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376478910446167, -1.3278295993804932, -1.4591988325119019, -1.5971378087997437, -0.16454268991947174, 0.5093623995780945, -0.7514379620552063, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.004183292388916, -1.0502294301986694, 1.7689530849456787, -1.8025683164596558, 1.5006431341171265, 1.002750039100647, 0.37322986125946045, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376465797424316, -1.3278298377990723, -1.4591989517211914, -1.597139596939087, -0.16454939544200897, 0.5093583464622498, -0.7514145970344543, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0074706077575684, -1.0504463911056519, 1.7771600484848022, -1.7914512157440186, 1.5012028217315674, 1.0026098489761353, 0.37090662121772766, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2376466989517212, -1.3278300762176514, -1.4591978788375854, -1.5971403121948242, -0.16455131769180298, 0.5093584656715393, -0.7514157891273499, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0143284797668457, -1.0503909587860107, 1.7784969806671143, -1.7824866771697998, 1.4882895946502686, 1.0025100708007812, 0.37431418895721436, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237648844718933, -1.3278299570083618, -1.459197998046875, -1.5971397161483765, -0.16453741490840912, 0.5093613266944885, -0.7514113783836365, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0159733295440674, -1.0491950511932373, 1.7762290239334106, -1.774196982383728, 1.4771920442581177, 1.0024569034576416, 0.38299450278282166, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376608848571777, -1.327829360961914, -1.459197998046875, -1.59713876247406, -0.16451452672481537, 0.5093725919723511, -0.7514060139656067, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.007235050201416, -1.0482537746429443, 1.7647688388824463, -1.7660260200500488, 1.4760291576385498, 1.0024206638336182, 0.3822494447231293, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237665057182312, -1.3278288841247559, -1.4592008590698242, -1.597138524055481, -0.1644868403673172, 0.5093804001808167, -0.7513627409934998, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.988322377204895, -1.0505279302597046, 1.7469476461410522, -1.7630195617675781, 1.47774076461792, 1.0024245977401733, 0.3641161024570465, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376528978347778, -1.3278292417526245, -1.4592034816741943, -1.5971405506134033, -0.16452950239181519, 0.5093797445297241, -0.7513625025749207, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.970270037651062, -1.0555024147033691, 1.7332414388656616, -1.7638299465179443, 1.4780187606811523, 1.0024298429489136, 0.35038769245147705, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376396656036377, -1.3278299570083618, -1.4592015743255615, -1.5971451997756958, -0.16467416286468506, 0.5093793869018555, -0.7514057755470276, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9643733501434326, -1.0570610761642456, 1.7295310497283936, -1.7639358043670654, 1.4789652824401855, 1.0024358034133911, 0.3455864489078522, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376407384872437, -1.3278297185897827, -1.4592024087905884, -1.5971450805664062, -0.16464538872241974, 0.5093812346458435, -0.7514011859893799, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.964189052581787, -1.0554202795028687, 1.7278238534927368, -1.7607426643371582, 1.4778825044631958, 1.0024375915527344, 0.3450150489807129, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376415729522705, -1.3278298377990723, -1.4592020511627197, -1.5971442461013794, -0.16463112831115723, 0.5093823075294495, -0.7514039278030396, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.96466064453125, -1.0511646270751953, 1.727290153503418, -1.754684567451477, 1.4748972654342651, 1.0024515390396118, 0.34572282433509827, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376409769058228, -1.3278295993804932, -1.4592045545578003, -1.5971438884735107, -0.1645897924900055, 0.5093827843666077, -0.7513943910598755, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9659935235977173, -1.0477467775344849, 1.7278844118118286, -1.7522084712982178, 1.4742788076400757, 1.0024659633636475, 0.34676212072372437, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376400232315063, -1.3278295993804932, -1.4592124223709106, -1.5971424579620361, -0.1645549088716507, 0.509382426738739, -0.7513736486434937, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.966054081916809, -1.0467312335968018, 1.7282065153121948, -1.7522345781326294, 1.4763689041137695, 1.0024724006652832, 0.3439069986343384, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237640619277954, -1.327829360961914, -1.4592126607894897, -1.5971418619155884, -0.16456054151058197, 0.5093815922737122, -0.7513912320137024, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9663501977920532, -1.0462156534194946, 1.7282017469406128, -1.7530766725540161, 1.4795929193496704, 1.0024735927581787, 0.33928370475769043, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376405000686646, -1.3278292417526245, -1.4592124223709106, -1.5971410274505615, -0.16456270217895508, 0.5093802809715271, -0.7513986825942993, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.966871976852417, -1.0462055206298828, 1.7280232906341553, -1.7538312673568726, 1.4811584949493408, 1.0024752616882324, 0.3356596827507019, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376394271850586, -1.327829122543335, -1.4592148065567017, -1.5971404314041138, -0.16456282138824463, 0.5093770027160645, -0.7513923048973083, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.967438817024231, -1.046665072441101, 1.7279831171035767, -1.7550554275512695, 1.4812930822372437, 1.0024758577346802, 0.3320874273777008, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376370429992676, -1.327829122543335, -1.4592158794403076, -1.5971403121948242, -0.1645655781030655, 0.509375810623169, -0.7513931393623352, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9682283401489258, -1.049113154411316, 1.7287460565567017, -1.7559040784835815, 1.4877461194992065, 1.0024783611297607, 0.32687297463417053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376375198364258, -1.3278290033340454, -1.4592150449752808, -1.5971400737762451, -0.16457876563072205, 0.5093759298324585, -0.7514252662658691, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9724624156951904, -1.0509597063064575, 1.7319506406784058, -1.760840654373169, 1.4976329803466797, 1.002480149269104, 0.3209243714809418, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376378774642944, -1.3278288841247559, -1.459215521812439, -1.597139835357666, -0.1645701378583908, 0.5093756914138794, -0.7514141201972961, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9759538173675537, -1.051395297050476, 1.7351367473602295, -1.7667814493179321, 1.508413553237915, 1.0024826526641846, 0.31071117520332336, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376363277435303, -1.3278286457061768, -1.459216594696045, -1.5971391201019287, -0.16456833481788635, 0.5093748569488525, -0.7514141201972961, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9768848419189453, -1.0529261827468872, 1.7366162538528442, -1.7717771530151367, 1.5189104080200195, 1.002481460571289, 0.298627108335495, 0.05040000664008846, 0.05040000664008846, 0.05040000664008846, 0.05040000664008846, -0.05040000664008846, -0.05040000664008846, -0.05040000664008846, 0.05040000664008846, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237635850906372, -1.327828288078308, -1.4592162370681763, -1.5971381664276123, -0.16455143690109253, 0.5093744993209839, -0.7514066100120544, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9776439666748047, -1.0545228719711304, 1.7369707822799683, -1.7740427255630493, 1.5286226272583008, 1.0024815797805786, 0.289157897233963, 0.13739998104808096, 0.13739998104808096, 0.13739998104808096, 0.13739998104808096, -0.13739998104808096, -0.13739998104808096, -0.13739998104808096, 0.13739998104808096, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.237634539604187, -1.32782781124115, -1.459213376045227, -1.5971373319625854, -0.16455000638961792, 0.5093753337860107, -0.7514171600341797, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9785187244415283, -1.0549832582473755, 1.7372671365737915, -1.7779178619384766, 1.53993558883667, 1.0024739503860474, 0.27580422163009644, 0.22080001831054688, 0.22080001831054688, 0.22080001831054688, 0.22080001831054688, -0.22080001831054688, -0.22080001831054688, -0.22080001831054688, 0.22080001831054688, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376396656036377, -1.32782781124115, -1.4592058658599854, -1.597137212753296, -0.16456186771392822, 0.5093766450881958, -0.7514915466308594, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9784704446792603, -1.0550161600112915, 1.7378531694412231, -1.7828058004379272, 1.5471622943878174, 1.0024006366729736, 0.26833686232566833, 0.364799999666738, 0.364799999666738, 0.364799999666738, 0.364799999666738, -0.364799999666738, -0.364799999666738, -0.364799999666738, 0.364799999666738, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376304864883423, -1.3278268575668335, -1.4592069387435913, -1.5971380472183228, -0.16455060243606567, 0.50937819480896, -0.7514980435371399, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9799708127975464, -1.0548187494277954, 1.740653157234192, -1.7835243940353394, 1.5527173280715942, 1.0023844242095947, 0.2622336447238922, 0.5394000018690969, 0.5394000018690969, 0.5394000018690969, 0.5394000018690969, -0.5394000018690969, -0.5394000018690969, -0.5394000018690969, 0.5394000018690969, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376302480697632, -1.3278263807296753, -1.4592077732086182, -1.5971378087997437, -0.16455431282520294, 0.5093797445297241, -0.7514824271202087, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9869812726974487, -1.054215908050537, 1.7492616176605225, -1.784920573234558, 1.5550973415374756, 1.0023841857910156, 0.26043039560317993, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376279830932617, -1.3278263807296753, -1.459208369255066, -1.5971386432647705, -0.1645546704530716, 0.5093798637390137, -0.7514692544937134, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.003465414047241, -1.053527593612671, 1.764047622680664, -1.7904032468795776, 1.5476082563400269, 1.0023845434188843, 0.264882892370224, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376207113265991, -1.3278264999389648, -1.459205985069275, -1.5971407890319824, -0.164577916264534, 0.509379506111145, -0.7514790892601013, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.036715030670166, -1.051770567893982, 1.795822262763977, -1.8073793649673462, 1.5374596118927002, 1.0023878812789917, 0.2805749177932739, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376209497451782, -1.3278264999389648, -1.4592069387435913, -1.5971393585205078, -0.16453705728054047, 0.5093804001808167, -0.751392662525177, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.076495409011841, -1.0473774671554565, 1.8386025428771973, -1.8192764520645142, 1.5248079299926758, 1.0023998022079468, 0.3027172088623047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376240491867065, -1.3278262615203857, -1.4592058658599854, -1.5971373319625854, -0.16448229551315308, 0.5093829035758972, -0.7513890862464905, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1138529777526855, -1.0438591241836548, 1.8867735862731934, -1.8291289806365967, 1.5154567956924438, 1.0024189949035645, 0.3293153643608093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2376271486282349, -1.3278250694274902, -1.4592074155807495, -1.597135305404663, -0.1643926501274109, 0.5093856453895569, -0.751326322555542, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1484391689300537, -1.0441380739212036, 1.9411309957504272, -1.850587010383606, 1.515246033668518, 1.00251042842865, 0.3551330864429474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2376302480697632, -1.3278170824050903, -1.459215521812439, -1.5971273183822632, -0.16435477137565613, 0.5093870759010315, -0.7511965036392212, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.170360565185547, -1.0600109100341797, 2.024035930633545, -1.901221752166748, 1.5301350355148315, 1.0028584003448486, 0.37815070152282715, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.2376525402069092, -1.3277411460876465, -1.4592353105545044, -1.5971167087554932, -0.16423672437667847, 0.5093901753425598, -0.7510266900062561, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.141704559326172, -1.0985852479934692, 2.0996615886688232, -1.9500151872634888, 1.5220304727554321, 1.0008841753005981, 0.38172489404678345, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.37578243017196655, 0.0, 0.0, 1.23846435546875, -1.3262592554092407, -1.460170030593872, -1.6036707162857056, -0.15909454226493835, 0.49848228693008423, -0.7280609607696533, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.06699275970459, -1.1481765508651733, 2.146620988845825, -1.9941129684448242, 1.4801597595214844, 0.9646120667457581, 0.3607131838798523, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0328642129898071, -0.3754948377609253, 0.0, 0.0, 1.2492753267288208, -1.3183462619781494, -1.4768606424331665, -1.6253204345703125, -0.13386966288089752, 0.44744840264320374, -0.6584931015968323, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9901314973831177, -1.1869852542877197, 2.1596498489379883, -2.039921522140503, 1.4091986417770386, 0.896268904209137, 0.3227277398109436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3755907118320465, 0.0, 0.0, 1.2344003915786743, -1.3147836923599243, -1.516816258430481, -1.6457734107971191, -0.13747799396514893, 0.40865200757980347, -0.5905424356460571, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9214801788330078, -1.2162449359893799, 2.143117666244507, -2.08640718460083, 1.298352837562561, 0.8230137825012207, 0.2967543303966522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0329601764678955, -0.37568655610084534, 0.0, 0.0, 1.2023544311523438, -1.3115079402923584, -1.5535844564437866, -1.6625434160232544, -0.12979143857955933, 0.3966377079486847, -0.5512676239013672, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8678503036499023, -1.2388262748718262, 2.0983197689056396, -2.1108245849609375, 1.1533381938934326, 0.7214145064353943, 0.29088181257247925, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0328642129898071, -0.37578243017196655, 0.0, 0.0, 1.1991922855377197, -1.304245114326477, -1.5877937078475952, -1.6812058687210083, -0.10907262563705444, 0.36441570520401, -0.5335676670074463, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8428699970245361, -1.2499784231185913, 2.073699951171875, -2.122565984725952, 1.0304152965545654, 0.6624529361724854, 0.2900707423686981, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0328642129898071, -0.3759741485118866, 0.0, 0.0, 1.2120023965835571, -1.2990798950195312, -1.5966399908065796, -1.688018560409546, -0.09894931316375732, 0.35029852390289307, -0.5289419889450073, 0.1643999812367198, -0.1643999812367198, 0.1643999812367198, 0.1643999812367198, -0.1643999812367198, -0.1643999812367198, 0.1643999812367198, 0.1643999812367198, -1.8494129180908203, -1.24924635887146, 2.077242136001587, -2.120079278945923, 1.047934651374817, 0.6708741784095764, 0.29023250937461853, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.2179371118545532, -1.2992900609970093, -1.5899534225463867, -1.6851162910461426, -0.10011202096939087, 0.3537124693393707, -0.531293511390686, 0.5033999967051076, -0.5033999967051076, 0.5033999967051076, 0.5033999967051076, -0.5033999967051076, -0.5033999967051076, 0.5033999967051076, 0.5033999967051076, -1.8524891138076782, -1.2483503818511963, 2.0790750980377197, -2.1197237968444824, 1.07496178150177, 0.6737117767333984, 0.29061564803123474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3759741485118866, 0.0, 0.0, 1.2183083295822144, -1.2996680736541748, -1.5891327857971191, -1.6848948001861572, -0.10030209273099899, 0.35483288764953613, -0.531661331653595, 0.5796000000212218, -0.5796000000212218, 0.5796000000212218, 0.5796000000212218, -0.5796000000212218, -0.5796000000212218, 0.5796000000212218, 0.5796000000212218, -1.8524680137634277, -1.248284101486206, 2.0792031288146973, -2.119734287261963, 1.0749332904815674, 0.6739360094070435, 0.29068371653556824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2223749160766602, -1.2984788417816162, -1.5892118215560913, -1.6857671737670898, -0.10275034606456757, 0.3518528938293457, -0.5275759100914001, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -1.8514057397842407, -1.2474290132522583, 2.0748300552368164, -2.1169161796569824, 1.0691940784454346, 0.6679456830024719, 0.2882046699523926, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2554726600646973, -1.2887580394744873, -1.5899114608764648, -1.6932162046432495, -0.12346795946359634, 0.32909974455833435, -0.493110716342926, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -1.8432129621505737, -1.2408746480941772, 2.0429277420043945, -2.0955536365509033, 1.0255359411239624, 0.6230508685112, 0.26873043179512024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3216471672058105, -1.2694416046142578, -1.5913114547729492, -1.7081891298294067, -0.16488195955753326, 0.2830604314804077, -0.42435720562934875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8271974325180054, -1.2279999256134033, 1.9800554513931274, -2.0535075664520264, 0.9393434524536133, 0.5345110297203064, 0.23046107590198517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.4212453365325928, -1.240325689315796, -1.5934321880340576, -1.7304913997650146, -0.2270597219467163, 0.21407516300678253, -0.32083016633987427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8030365705490112, -1.2086782455444336, 1.8858132362365723, -1.9907176494598389, 0.8107056021690369, 0.40204283595085144, 0.17341557145118713, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.5427539348602295, -1.2047722339630127, -1.596076250076294, -1.7576987743377686, -0.3029674291610718, 0.12992049753665924, -0.1945326179265976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7740797996520996, -1.1853728294372559, 1.772197961807251, -1.9149808883666992, 0.6554451584815979, 0.24237483739852905, 0.10456691682338715, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.6375532150268555, -1.1769942045211792, -1.5980610847473145, -1.7791966199874878, -0.36227425932884216, 0.06401792913675308, -0.09592700749635696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.751602053642273, -1.1672868728637695, 1.6843477487564087, -1.8562923669815063, 0.5353070497512817, 0.11870494484901428, 0.05114567652344704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6992225646972656, -1.1590005159378052, -1.5993285179138184, -1.7931302785873413, -0.4008397161960602, 0.02126624621450901, -0.03188259154558182, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7370046377182007, -1.155641794204712, 1.6275169849395752, -1.8183883428573608, 0.45759162306785583, 0.038638100028038025, 0.016726981848478317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7276391983032227, -1.1506505012512207, -1.5999670028686523, -1.7995445728302002, -0.4186263382434845, 0.0015980963362380862, -0.0024185364600270987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730496883392334, -1.150374412536621, 1.6018668413162231, -1.8012325763702393, 0.42245757579803467, 0.0026047711726278067, 0.0011061439290642738, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.730018138885498, -1.1499704122543335, -1.6000275611877441, -1.8000822067260742, -0.42008447647094727, -0.00018515627016313374, 0.00014249244122765958, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299734354019165, -1.1499613523483276, 1.5999553203582764, -1.7999242544174194, 0.4198785722255707, -0.0001514806062914431, -9.263805986847728e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7299965620040894, -1.1499797105789185, -1.6000179052352905, -1.8000520467758179, -0.4200444519519806, -4.410194742376916e-05, 3.223756357328966e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299985885620117, -1.1499794721603394, 1.5999897718429565, -1.799959659576416, 0.4199676215648651, -3.0080404030741192e-05, -1.7736652807798237e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7298372983932495, -1.1500723361968994, -1.5999587774276733, -1.799931287765503, -0.42001232504844666, -1.6298545233439654e-05, -0.0001252351503353566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730120301246643, -1.1500886678695679, 1.6000827550888062, -1.8001617193222046, 0.4202004671096802, -2.624545231810771e-05, 0.0003855325048789382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.729824185371399, -1.1501922607421875, -1.599777340888977, -1.7998945713043213, -0.4199928045272827, -1.5819176041986793e-05, -0.00018096179701387882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301790714263916, -1.15023672580719, 1.6001142263412476, -1.8002209663391113, 0.42027023434638977, -5.668538506142795e-05, 0.0004406599618960172, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7298219203948975, -1.1502348184585571, -1.5997275114059448, -1.799880862236023, -0.41998475790023804, -1.641838753130287e-05, -0.00019821907335426658, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302268743515015, -1.1502933502197266, 1.6001418828964233, -1.8002598285675049, 0.4202840030193329, -8.628641808172688e-05, 0.0004464123921934515, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.729819893836975, -1.1502450704574585, -1.5997177362442017, -1.7998731136322021, -0.4199826121330261, -1.761681050993502e-05, -0.0002021738764597103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302359342575073, -1.1503127813339233, 1.6001546382904053, -1.800289511680603, 0.4202899932861328, -9.371664054924622e-05, 0.0004466520622372627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7298190593719482, -1.150252342224121, -1.599713921546936, -1.7998698949813843, -0.41998130083084106, -1.8455706594977528e-05, -0.00020325244986452162, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302366495132446, -1.1503187417984009, 1.6001625061035156, -1.8003153800964355, 0.4202933609485626, -9.635317110223696e-05, 0.0004465322126634419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.72981858253479, -1.150256633758545, -1.5997120141983032, -1.7998684644699097, -0.4199807047843933, -1.8216021999251097e-05, -0.00020241356105543673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302361726760864, -1.150321364402771, 1.6001640558242798, -1.8003264665603638, 0.4202965795993805, -9.779127867659554e-05, 0.00044617269304580986, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7298179864883423, -1.1502606868743896, -1.5997116565704346, -1.799866795539856, -0.4199801981449127, -1.6538229829166085e-05, -0.00020241356105543673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302350997924805, -1.150322437286377, 1.6001644134521484, -1.8003321886062622, 0.420296847820282, -9.719206718727946e-05, 0.0004462925426196307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298178672790527, -1.1502631902694702, -1.5997123718261719, -1.79986572265625, -0.41998031735420227, -1.5579493265249766e-05, -0.00020265324565116316, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302347421646118, -1.1503218412399292, 1.6001644134521484, -1.8003360033035278, 0.42029646039009094, -9.74317517830059e-05, 0.0004472512810025364, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.729817509651184, -1.1502653360366821, -1.5997117757797241, -1.799865484237671, -0.4199807047843933, -1.4261227988754399e-05, -0.0002030127652687952, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730233907699585, -1.150322437286377, 1.6001646518707275, -1.800337791442871, 0.42029696702957153, -9.67126979958266e-05, 0.00044701158185489476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298171520233154, -1.150267243385315, -1.5997117757797241, -1.7998652458190918, -0.4199797213077545, -1.3062805010122247e-05, -0.00020481040701270103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302335500717163, -1.1503219604492188, 1.6001641750335693, -1.800339937210083, 0.4202973246574402, -9.623332880437374e-05, 0.0004462925426196307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298165559768677, -1.1502685546875, -1.5997122526168823, -1.7998653650283813, -0.419978529214859, -1.2703278116532601e-05, -0.0002060088299913332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302327156066895, -1.1503219604492188, 1.6001642942428589, -1.8003407716751099, 0.42029720544815063, -9.58738019107841e-05, 0.00044581317342817783, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298163175582886, -1.1502699851989746, -1.599712610244751, -1.7998650074005127, -0.4199775755405426, -9.82706478680484e-06, -0.0002084056759485975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730231523513794, -1.1503221988677979, 1.6001642942428589, -1.8003405332565308, 0.42029744386672974, -9.58738019107841e-05, 0.00044677191181108356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298156023025513, -1.150270938873291, -1.5997127294540405, -1.799864649772644, -0.41997817158699036, -9.58738019107841e-06, -0.00021487714548129588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302305698394775, -1.1503218412399292, 1.6001639366149902, -1.8003406524658203, 0.42029744386672974, -9.58738019107841e-05, 0.0004474909510463476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7298156023025513, -1.1502718925476074, -1.5997133255004883, -1.799864411354065, -0.4199782907962799, -1.0426275366626214e-05, -0.00023513048654422164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302300930023193, -1.1503221988677979, 1.6001636981964111, -1.8003407716751099, 0.42029720544815063, -9.611348650651053e-05, 0.0004479703202378005, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5103149521273811, 0.8599869492876048, -0.001047229787504859, 17.417442321777344], [-0.8597299663239333, -0.5101915064587113, -0.023853967008436373, 14.9434814453125], [-0.021048388058887906, -0.011272701202013359, 0.9997149051443279, 1.0242635011672974], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000020/gt/hand_left.mp4 b/agibot-challenge-2026/000020/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21b0e7e7084d72585881c40ccb61d44496383410 --- /dev/null +++ b/agibot-challenge-2026/000020/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7b166b63875a631f60d1b92bd57285abb3f196b2038d24b9963a8743cd199b +size 1323776 diff --git a/agibot-challenge-2026/000020/gt/hand_right.mp4 b/agibot-challenge-2026/000020/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f77abef214484b87ae9a63422466c7f9c6336fa --- /dev/null +++ b/agibot-challenge-2026/000020/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:339c75b2a1e779146f885609e3c302d02a7e79a9ceccfc3e1f9960334d98ff99 +size 1835190 diff --git a/agibot-challenge-2026/000020/gt/head.mp4 b/agibot-challenge-2026/000020/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ba6ec87809c194d7e325488a6ddf9271f149d27 --- /dev/null +++ b/agibot-challenge-2026/000020/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:861bd689d6cdb9c6058ccc1fc1584c92e5286e6a3905914de3430bba0758663c +size 1449769 diff --git a/agibot-challenge-2026/000020/meta.json b/agibot-challenge-2026/000020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85c9cbb44e0e25276ab2b26120d77f17f397bdf3 --- /dev/null +++ b/agibot-challenge-2026/000020/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 602, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000020/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000020/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..a8eea7d239cb94fb0bf55935e83adc7271003c2f --- /dev/null +++ b/agibot-challenge-2026/000020/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000020/ref_images/hand_left.png b/agibot-challenge-2026/000020/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..155624b491201eb4f2f4f3ba765f7466fbd22690 --- /dev/null +++ b/agibot-challenge-2026/000020/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c04de33575824131fab68bdb45951c85ecbd41268ab60d1347b7ceac42506a72 +size 338231 diff --git a/agibot-challenge-2026/000020/ref_images/hand_right.png b/agibot-challenge-2026/000020/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..843b465016f05736db62523eafb8b4aadd15e697 --- /dev/null +++ b/agibot-challenge-2026/000020/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58643c092f11d7dfb667e937118377f502a3e144bad70aa44d9f6c946ceb633b +size 354686 diff --git a/agibot-challenge-2026/000020/ref_images/head.png b/agibot-challenge-2026/000020/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..82a76d71c4244457c8d842b65ed2f5645dcad928 --- /dev/null +++ b/agibot-challenge-2026/000020/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6efcb0086acb4b88c98f20a610474ea1eb492ef1373dfd4233f74e1b901e577d +size 272068 diff --git a/agibot-challenge-2026/000020/temporal.json b/agibot-challenge-2026/000020/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..d3e65d1b68c6cad54575faf5aa0a0b3169fcacf0 --- /dev/null +++ b/agibot-challenge-2026/000020/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.747990369796753, -1.146803379058838, -1.600804328918457, -1.7962737083435059, -0.42007166147232056, 0.00018144116620533168, 0.001664249342866242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729821801185608, -1.1503359079360962, 1.6004109382629395, -1.7995847463607788, 0.42000824213027954, 0.00012811136548407376, -2.3968450477696024e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840096839135567, -0.178110461819203, 0.0012670260030860562, -20.984045028686523], [0.17811118438488313, 0.9840102510717003, -0.0004814382863348586, -0.8564081788063049], [-0.0011610173798945358, 0.0006994114380163507, 0.9999990814307201, 0.08516145497560501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.747990369796753, -1.1468037366867065, -1.600803256034851, -1.7962735891342163, -0.42006948590278625, 0.00018132131663151085, 0.0016644890420138836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298219203948975, -1.1503360271453857, 1.6004116535186768, -1.7995853424072266, 0.42000871896743774, 0.00012823120050597936, -2.3968450477696024e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840096839135567, -0.178110461819203, 0.0012670260030860562, -20.984045028686523], [0.17811118438488313, 0.9840102510717003, -0.0004814382863348586, -0.8564081788063049], [-0.0011610173798945358, 0.0006994114380163507, 0.9999990814307201, 0.08516145497560501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7479904890060425, -1.146803617477417, -1.6008034944534302, -1.7962733507156372, -0.4200710654258728, 0.00018192053539678454, 0.0016653279308229685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298221588134766, -1.1503357887268066, 1.6004111766815186, -1.7995857000350952, 0.4200091063976288, 0.00012871056969743222, -2.4447819669148885e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840096839135567, -0.178110461819203, 0.0012670260030860562, -20.984045028686523], [0.17811118438488313, 0.9840102510717003, -0.0004814382863348586, -0.8564081788063049], [-0.0011610173798945358, 0.0006994114380163507, 0.9999990814307201, 0.08516145497560501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7479907274246216, -1.1468034982681274, -1.6008028984069824, -1.796273946762085, -0.4200742840766907, 0.0001831189583754167, 0.0016653279308229685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298216819763184, -1.1503359079360962, 1.6004115343093872, -1.7995871305465698, 0.42000871896743774, 0.00012811136548407376, -2.408829277555924e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840096839135567, -0.178110461819203, 0.0012670260030860562, -20.984045028686523], [0.17811118438488313, 0.9840102510717003, -0.0004814382863348586, -0.8564081788063049], [-0.0011610173798945358, 0.0006994114380163507, 0.9999990814307201, 0.08516145497560501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8127061128616333, 0.0, 0.0, 1.7480072975158691, -1.146798849105835, -1.6008049249649048, -1.7962723970413208, -0.42007681727409363, 0.000183838012162596, 0.0016678445972502232, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.725515604019165, -1.153106451034546, 1.6004136800765991, -1.8090667724609375, 0.4141986668109894, 0.002043310320004821, 0.004270458593964577, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840096839135567, -0.178110461819203, 0.0012670260030860562, -20.984045028686523], [0.17811118438488313, 0.9840102510717003, -0.0004814382863348586, -0.8564081788063049], [-0.0011610173798945358, 0.0006994114380163507, 0.9999990814307201, 0.08516145497560501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7479952573776245, -1.1468048095703125, -1.600800633430481, -1.7962762117385864, -0.42008039355278015, 0.00018587532395031303, 0.0016653279308229685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6949609518051147, -1.177154541015625, 1.602678656578064, -1.9041836261749268, 0.4114868640899658, 0.0646568089723587, 0.017878545448184013, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840096839135567, -0.178110461819203, 0.0012670260030860562, -20.984045028686523], [0.17811118438488313, 0.9840102510717003, -0.0004814382863348586, -0.8564081788063049], [-0.0011610173798945358, 0.0006994114380163507, 0.9999990814307201, 0.08516145497560501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748003363609314, -1.146804690361023, -1.6008023023605347, -1.7962782382965088, -0.4200817048549652, 0.00018683406233321875, 0.00166568742133677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.624962329864502, -1.2032891511917114, 1.6009377241134644, -1.9716449975967407, 0.41603487730026245, 0.14484889805316925, 0.02624041959643364, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9841119298228198, -0.17754471750667122, 0.001258119979087821, -20.984529495239258], [0.17754546890800194, 0.9841124651774696, -0.000512203632615342, -0.8443253636360168], [-0.0011471925048505604, 0.0007274392069850156, 0.9999990773903529, 0.08495454490184784], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748008370399475, -1.146763801574707, -1.6008073091506958, -1.7962727546691895, -0.4200843572616577, 0.0001935452310135588, 0.0016706009628251195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.529536247253418, -1.220432996749878, 1.574177622795105, -1.9960049390792847, 0.40457940101623535, 0.2354268580675125, 0.012913960963487625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839780505864818, -0.1782850790143035, 0.0012753685313071528, -20.9838809967041], [0.1782858180292252, 0.98397862099103, -0.0004904306690243207, -0.8601041436195374], [-0.0011674988981129287, 0.0007099531355472024, 0.9999990664559983, 0.08532725274562836], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8127061128616333, 0.0, 0.0, 1.7480006217956543, -1.146782398223877, -1.6008098125457764, -1.7962899208068848, -0.42008745670318604, 0.00019318571139592677, 0.0016696421662345529, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.378282904624939, -1.2423230409622192, 1.5044524669647217, -1.9635074138641357, 0.3977225124835968, 0.35733136534690857, -0.05227866396307945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9838509297451778, -0.17898539947310188, 0.0012549163331984025, -20.9832706451416], [0.1789861718097289, 0.9838514457856266, -0.0005319082914357247, -0.8750436305999756], [-0.001139447430731567, 0.0007479311374888909, 0.9999990711288517, 0.08485345542430878], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7479732036590576, -1.1467769145965576, -1.600809097290039, -1.7962961196899414, -0.4200880825519562, 0.0001998968655243516, 0.001672518439590931, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2300080060958862, -1.2701747417449951, 1.4454313516616821, -1.89201819896698, 0.40132150053977966, 0.44896093010902405, -0.11447463184595108, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9842076485522337, -0.1770132614585221, 0.0012687785857054938, -20.984983444213867], [0.17701408510156172, 0.9842081541132749, -0.0005683771610550025, -0.8330016732215881], [-0.001148131934798774, 0.0007839928297178496, 0.9999990335736846, 0.08513721823692322], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.61041259765625, -0.8127061128616333, 0.0, 0.0, 1.7480252981185913, -1.146761178970337, -1.601212978363037, -1.7962725162506104, -0.42008844017982483, 0.0001998968655243516, 0.0016801883466541767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1418555974960327, -1.2933106422424316, 1.4067305326461792, -1.8128587007522583, 0.39698681235313416, 0.45018693804740906, -0.1403280794620514, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9841670768638907, -0.17723866798048335, 0.0012725524305700134, -20.984783172607422], [0.17723946943924032, 0.9841676035273293, -0.0005464797984541799, -0.8377953767776489], [-0.0011555475244007063, 0.0007633739434376633, 0.9999990409846108, 0.08523357659578323], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.748020887374878, -1.1467814445495605, -1.6012800931930542, -1.796277642250061, -0.4200860261917114, 0.0001991778117371723, 0.0016771922819316387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0839061737060547, -1.3126100301742554, 1.3709129095077515, -1.714787483215332, 0.3807149827480316, 0.4475375711917877, -0.1555805206298828, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840318125261901, -0.1779882588872178, 0.0012536485623508723, -20.984148025512695], [0.1779890320555801, 0.984032326393407, -0.0005339294869298922, -0.8537821769714355], [-0.001138597531542682, 0.0007485392949355018, 0.9999990716418616, 0.08483517915010452], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480170726776123, -1.1467818021774292, -1.6011652946472168, -1.7962802648544312, -0.42008280754089355, 0.0001966611307580024, 0.001676233485341072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0265167951583862, -1.3353784084320068, 1.3374762535095215, -1.6100736856460571, 0.3685651421546936, 0.45066702365875244, -0.17500612139701843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840680450616428, -0.17778775708501474, 0.0012633761261954222, -20.984315872192383], [0.17778854609072495, 0.9840685645262096, -0.0005414704713968568, -0.8495122790336609], [-0.0011469819103243997, 0.0007574575928881274, 0.9999990553448, 0.08503792434930801], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.748016357421875, -1.146784782409668, -1.600951910018921, -1.7962802648544312, -0.42007943987846375, 0.0001918674388434738, 0.0016765930922701955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9700925946235657, -1.360129475593567, 1.3180046081542969, -1.5122740268707275, 0.3688656985759735, 0.4467945694923401, -0.18365369737148285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840748242943615, -0.17775020404232464, 0.0012669463024520661, -20.98434829711914], [0.17775100342288094, 0.9840753427993683, -0.0005481573357844969, -0.8487117886543274], [-0.0011493355386109176, 0.0007646288104415577, 0.999999047184847, 0.08510831743478775], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480154037475586, -1.1467869281768799, -1.6009104251861572, -1.7962778806686401, -0.42007896304130554, 0.00018887138867285103, 0.0016774319810792804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9337105751037598, -1.3773761987686157, 1.311212420463562, -1.4384857416152954, 0.33747363090515137, 0.4083985388278961, -0.1768636703491211, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.984125525222665, -0.17746917952118788, 0.0012809860616277535, -20.984586715698242], [0.17746997739578502, 0.984126068112055, -0.0005377596548568326, -0.8427183628082275], [-0.0011652160114090284, 0.0007565595701809325, 0.9999990349441661, 0.08541417866945267], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480148077011108, -1.146787166595459, -1.6009070873260498, -1.7962779998779297, -0.4200778901576996, 0.00018275942420586944, 0.0016770724905654788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9135271906852722, -1.3899335861206055, 1.314328670501709, -1.394466519355774, 0.322721391916275, 0.3967128396034241, -0.17163483798503876, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840698562265313, -0.17777770029228868, 0.0012678111370292657, -20.98432159423828], [0.1777784842795132, 0.9840703862815697, -0.0005342011990349384, -0.8492892980575562], [-0.0011526463346906513, 0.0007510808394241015, 0.9999990536415521, 0.08513766527175903], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480140924453735, -1.1467872858047485, -1.6008987426757812, -1.796277642250061, -0.4200774133205414, 0.00017904432024806738, 0.0016774319810792804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9069253206253052, -1.4018452167510986, 1.3256515264511108, -1.3796900510787964, 0.3205527365207672, 0.4035792052745819, -0.1698487102985382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840844866958489, -0.17769664898397663, 0.0012743564779365078, -20.98438835144043], [0.1776974504809385, 0.9840850161179635, -0.0005451097888767844, -0.8475697040557861], [-0.0011572109323184118, 0.0007628839839128788, 0.9999990394349813, 0.08526547998189926], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.748014211654663, -1.146787405014038, -1.6008931398391724, -1.7962775230407715, -0.4200781285762787, 0.00017640778969507664, 0.0016758739948272705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9071986079216003, -1.4106134176254272, 1.3349870443344116, -1.3772262334823608, 0.30775490403175354, 0.4029310941696167, -0.16251400113105774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840677493134452, -0.17778930742575705, 0.0012755101880843375, -20.984315872192383], [0.17779010990659433, 0.9840682799604055, -0.000545156096996521, -0.849541962146759], [-0.001158266191936187, 0.0007632436299223639, 0.9999990379388323, 0.08528898656368256], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480098009109497, -1.1467880010604858, -1.6008870601654053, -1.7962751388549805, -0.42007848620414734, 0.0001713744131848216, 0.0016744359163567424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9075838923454285, -1.4182032346725464, 1.3436696529388428, -1.3733915090560913, 0.2993881106376648, 0.40210357308387756, -0.159034863114357, 0.5076000019744202, 0.5076000019744202, 0.5076000019744202, 0.5076000019744202, -0.5076000019744202, -0.5076000019744202, -0.5076000019744202, 0.5076000019744202, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840759732757107, -0.17774388200793947, 0.0012614397371124122, -20.984344482421875], [0.17774468192086515, 0.9840764822958012, -0.000552305324962858, -0.8485737442970276], [-0.001143184286613168, 0.0007677246050435675, 0.9999990518638593, 0.08498822897672653], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480072975158691, -1.1467880010604858, -1.6008824110031128, -1.7962729930877686, -0.42007872462272644, 0.00016837836301419884, 0.001673237537033856, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9045235514640808, -1.4247387647628784, 1.3521147966384888, -1.358392357826233, 0.2934640645980835, 0.40224355459213257, -0.15210126340389252, 0.3384000086522364, 0.3384000086522364, 0.3384000086522364, 0.3384000086522364, -0.3384000086522364, -0.3384000086522364, -0.3384000086522364, 0.3384000086522364, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840724490022603, -0.17776345246613198, 0.0012530291357437558, -20.984336853027344], [0.17776425583561337, 0.984072941701993, -0.0005610322597040667, -0.8489952683448792], [-0.0011333410362197932, 0.0007748401816320836, 0.9999990575799502, 0.08480434864759445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.748005747795105, -1.1467914581298828, -1.6008785963058472, -1.7962713241577148, -0.4200814664363861, 0.00016861804760992527, 0.0016729978378862143, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9013485908508301, -1.4287854433059692, 1.3568220138549805, -1.3515939712524414, 0.2856788635253906, 0.4053257703781128, -0.14318571984767914, 0.2759999977363335, 0.2759999977363335, 0.2759999977363335, 0.2759999977363335, -0.2759999977363335, -0.2759999977363335, -0.2759999977363335, 0.2759999977363335, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840647292576054, -0.1778060640624061, 0.0012697298103641174, -20.98430061340332], [0.17780689466929112, 0.9840652312609034, -0.0005734383039130383, -0.8499011397361755], [-0.001147536151673429, 0.0007900671239359961, 0.9999990294768892, 0.08514413237571716], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480031251907349, -1.1467909812927246, -1.6008738279342651, -1.7962732315063477, -0.4200853109359741, 0.00017077520897146314, 0.0016700017731636763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9009473323822021, -1.4335161447525024, 1.3571557998657227, -1.3511719703674316, 0.2786654531955719, 0.4075368642807007, -0.1368592530488968, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, -0.19799998409145483, -0.19799998409145483, -0.19799998409145483, 0.19799998409145483, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840630922615444, -0.1778152216066164, 0.0012559512876952625, -20.98428726196289], [0.17781608115602524, 0.9840635502040171, -0.0006086396140038187, -0.8500996232032776], [-0.0011277104952100523, 0.0008222681167303058, 0.9999990260716173, 0.08482366055250168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480002641677856, -1.1467922925949097, -1.6008650064468384, -1.7962706089019775, -0.42008987069129944, 0.0001719736319500953, 0.0016682040877640247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9024507403373718, -1.4393060207366943, 1.3576325178146362, -1.3504433631896973, 0.27508482336997986, 0.4059686064720154, -0.13353602588176727, 0.1463999811109606, 0.1463999811109606, 0.1463999811109606, 0.1463999811109606, -0.1463999811109606, -0.1463999811109606, -0.1463999811109606, 0.1463999811109606, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840664809287611, -0.17779635123674764, 0.001272241872961698, -20.984310150146484], [0.17779723515045096, 0.9840669494355379, -0.0006182244656436674, -0.8496975302696228], [-0.0011420531246328412, 0.0008345750617852487, 0.999998999599063, 0.08515813201665878], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480005025863647, -1.1467921733856201, -1.600860834121704, -1.7962698936462402, -0.42009106278419495, 0.00017472999752499163, 0.0016680842963978648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084519743919373, -1.4435969591140747, 1.3608187437057495, -1.3513773679733276, 0.2751764953136444, 0.40215176343917847, -0.1264551430940628, 0.095999996478741, 0.095999996478741, 0.095999996478741, 0.095999996478741, -0.095999996478741, -0.095999996478741, -0.095999996478741, 0.095999996478741, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840740819174854, -0.17775436514886872, 0.0012597494913305133, -20.984338760375977], [0.17775524486028202, 0.984074531665513, -0.0006237403005129984, -0.8488021492958069], [-0.0011288148295614904, 0.0008377337428763364, 0.9999990119891402, 0.08489256352186203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.61041259765625, -0.8126102685928345, 0.0, 0.0, 1.7480002641677856, -1.1467922925949097, -1.6008590459823608, -1.7962701320648193, -0.420089989900589, 0.00017724669305607677, 0.001666526310145855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.910902738571167, -1.446162462234497, 1.36479651927948, -1.3507375717163086, 0.2733134329319, 0.4011194407939911, -0.12512153387069702, 0.07680001730447285, 0.07680001730447285, 0.07680001730447285, 0.07680001730447285, -0.07680001730447285, -0.07680001730447285, -0.07680001730447285, 0.07680001730447285, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840659360611246, -0.1777993019615064, 0.001281290811578547, -20.98430633544922], [0.17780019536377886, 0.9840664135377327, -0.0006198996579954035, -0.8497612476348877], [-0.0011506575271711924, 0.0008378358938256982, 0.999998987008622, 0.08534631878137589], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480002641677856, -1.1467924118041992, -1.6008576154708862, -1.7962710857391357, -0.42008697986602783, 0.00018048242782242596, 0.0016668858006596565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9055298566818237, -1.4507262706756592, 1.3657771348953247, -1.3379063606262207, 0.2730543315410614, 0.3950836956501007, -0.1251036822795868, 0.05040000664008846, 0.05040000664008846, 0.05040000664008846, 0.05040000664008846, -0.05040000664008846, -0.05040000664008846, -0.05040000664008846, 0.05040000664008846, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480000257492065, -1.1467915773391724, -1.6008577346801758, -1.7962703704833984, -0.4200860261917114, 0.0001831189583754167, 0.0016661668196320534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8927881121635437, -1.455549955368042, 1.3658720254898071, -1.3230443000793457, 0.2721590995788574, 0.3913067579269409, -0.12475110590457916, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, 0.03660001178364176, -0.03660001178364176, -0.03660001178364176, -0.03660001178364176, 0.03660001178364176, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480005025863647, -1.146791696548462, -1.6008579730987549, -1.796270489692688, -0.42008519172668457, 0.0001849165855674073, 0.0016654477221891284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8817496299743652, -1.4579806327819824, 1.366866111755371, -1.3065457344055176, 0.2694045305252075, 0.38832399249076843, -0.12174941599369049, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748000144958496, -1.146791696548462, -1.6008588075637817, -1.7962710857391357, -0.42008280754089355, 0.00018647454271558672, 0.0016653279308229685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8748180270195007, -1.4609801769256592, 1.3671138286590576, -1.2930155992507935, 0.26811671257019043, 0.38324567675590515, -0.12124955654144287, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480003833770752, -1.1467915773391724, -1.6008596420288086, -1.7962708473205566, -0.4200819432735443, 0.0001880324853118509, 0.001664968323893845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8728581666946411, -1.4638473987579346, 1.3699865341186523, -1.2892476320266724, 0.2707327604293823, 0.3849351108074188, -0.12171430140733719, 0.03240000651432917, 0.03240000651432917, 0.03240000651432917, 0.03240000651432917, -0.03240000651432917, -0.03240000651432917, -0.03240000651432917, 0.03240000651432917, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480007410049438, -1.1467913389205933, -1.6008609533309937, -1.7962713241577148, -0.42007943987846375, 0.000187193596502766, 0.001664968323893845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8714263439178467, -1.4653383493423462, 1.3726704120635986, -1.2868202924728394, 0.27256107330322266, 0.3851623237133026, -0.12135046720504761, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480007410049438, -1.1467913389205933, -1.6008617877960205, -1.7962712049484253, -0.42007559537887573, 0.00018659437773749232, 0.001664249342866242, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8711152076721191, -1.4665385484695435, 1.3758140802383423, -1.285860538482666, 0.2772742211818695, 0.3858245611190796, -0.11969699710607529, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480007410049438, -1.1467914581298828, -1.6008630990982056, -1.7962714433670044, -0.4200727343559265, 0.00018611500854603946, 0.001664968323893845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8704074025154114, -1.466904640197754, 1.3774826526641846, -1.284591794013977, 0.2781766355037689, 0.38583847880363464, -0.11744408309459686, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480008602142334, -1.1467914581298828, -1.6008646488189697, -1.7962712049484253, -0.4200742840766907, 0.0001849165855674073, 0.0016647286247462034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8700052499771118, -1.4671756029129028, 1.3789583444595337, -1.2830777168273926, 0.27817532420158386, 0.38439247012138367, -0.11486005038022995, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480007410049438, -1.1467914581298828, -1.6008650064468384, -1.796271562576294, -0.42007681727409363, 0.00018407769675832242, 0.0016655676299706101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8678863644599915, -1.4672422409057617, 1.3802472352981567, -1.2799361944198608, 0.2769089341163635, 0.38444483280181885, -0.11147594451904297, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.748001217842102, -1.1467913389205933, -1.6008652448654175, -1.7962713241577148, -0.42008206248283386, 0.00018263958918396384, 0.001666526310145855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8627290725708008, -1.4675759077072144, 1.3844722509384155, -1.2745096683502197, 0.2794598937034607, 0.3905053734779358, -0.10424334555864334, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480010986328125, -1.1467915773391724, -1.6008645296096802, -1.7962721586227417, -0.4200841188430786, 0.00018156100122723728, 0.0016670057084411383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8592129349708557, -1.4692561626434326, 1.3934829235076904, -1.2747050523757935, 0.30622079968452454, 0.40209460258483887, -0.1033472791314125, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.748001217842102, -1.146791696548462, -1.6008646488189697, -1.7962727546691895, -0.42008423805236816, 0.00018024274322669953, 0.0016673651989549398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.857494056224823, -1.4753493070602417, 1.418907642364502, -1.2799080610275269, 0.40771400928497314, 0.4187387526035309, -0.11888950318098068, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.748000979423523, -1.1467921733856201, -1.6008641719818115, -1.7962719202041626, -0.4200843572616577, 0.0001800030586309731, 0.001667964388616383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8502684235572815, -1.4807685613632202, 1.443908452987671, -1.28546941280365, 0.5452831983566284, 0.4454194903373718, -0.16048842668533325, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.748002290725708, -1.146791696548462, -1.6008634567260742, -1.7962712049484253, -0.4200856685638428, 0.00018024274322669953, 0.0016691628843545914, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8440413475036621, -1.4871468544006348, 1.4674139022827148, -1.2857993841171265, 0.690997838973999, 0.4527924060821533, -0.20990094542503357, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748003602027893, -1.1467911005020142, -1.6008641719818115, -1.7962708473205566, -0.4200863838195801, 0.00018120148160960525, 0.0016710803611204028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8421947956085205, -1.489681601524353, 1.4956846237182617, -1.2840137481689453, 0.8578449487686157, 0.4444427788257599, -0.24999560415744781, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.748004674911499, -1.1467920541763306, -1.6008628606796265, -1.7962687015533447, -0.4200859069824219, 0.00018156100122723728, 0.0016713200602680445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8538087606430054, -1.4883829355239868, 1.5218476057052612, -1.2830097675323486, 1.0219945907592773, 0.4190775454044342, -0.26602017879486084, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.748005986213684, -1.1467909812927246, -1.6008630990982056, -1.796265721321106, -0.42008399963378906, 0.00018263958918396384, 0.0016731176292523742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8470154404640198, -1.481752634048462, 1.5491290092468262, -1.2725502252578735, 1.1993870735168457, 0.435018390417099, -0.3118225932121277, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840674737610804, -0.17779085755804347, 0.0012720276179387356, -20.984315872192383], [0.177791748882583, 0.9840679364545913, -0.0006248770078743793, -0.849581241607666], [-0.0011406641739999306, 0.0008410771533705971, 0.9999989957367278, 0.08514818549156189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480049133300781, -1.146790862083435, -1.6008621454238892, -1.7962652444839478, -0.42008134722709656, 0.00018407769675832242, 0.001673237537033856, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.813887357711792, -1.4707560539245605, 1.5683975219726562, -1.2442514896392822, 1.389201283454895, 0.4510430693626404, -0.3907897472381592, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9838354620398897, -0.17907018942636968, 0.0012848702506216318, -20.98318862915039], [0.17907110595202935, 0.9838359281174882, -0.0006368346077052009, -0.8768582940101624], [-0.0011500634216958447, 0.000856623607298315, 0.9999989717745321, 0.0853889212012291], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480055093765259, -1.1467902660369873, -1.6008623838424683, -1.7962632179260254, -0.4200790822505951, 0.00018599517352413386, 0.0016737168189138174, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8054841756820679, -1.4553366899490356, 1.5860406160354614, -1.2232049703598022, 1.567286491394043, 0.45207756757736206, -0.4341009855270386, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9837727011466785, -0.17941474095054957, 0.001274051888747128, -20.982879638671875], [0.1794156583854704, 0.9837731469670886, -0.0006456257269217168, -0.8842059373855591], [-0.001137543263445455, 0.0008637338237403833, 0.9999989799790825, 0.08514857292175293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480047941207886, -1.1467911005020142, -1.6008621454238892, -1.7962626218795776, -0.4200786054134369, 0.00018707374692894518, 0.001674675615504384, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7897013425827026, -1.4421199560165405, 1.6009021997451782, -1.1875317096710205, 1.7392122745513916, 0.4400936961174011, -0.4767342507839203, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9835862344698304, -0.18043412851744461, 0.0012824303529119325, -20.981948852539062], [0.1804350505936926, 0.9835866912188127, -0.0006429420500193735, -0.9059540033340454], [-0.001145372739056757, 0.0008637843355714205, 0.9999989709984257, 0.08531154692173004], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480055093765259, -1.1467921733856201, -1.6008617877960205, -1.7962636947631836, -0.42007753252983093, 0.00018839201948139817, 0.0016735970275476575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7675230503082275, -1.4274358749389648, 1.6067818403244019, -1.1416980028152466, 1.8712607622146606, 0.4321766793727875, -0.5028367638587952, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9836306635655284, -0.1801917962239368, 0.001278384617159043, -20.982173919677734], [0.1801927143006975, 0.9836311162133602, -0.0006425961454920624, -0.900774359703064], [-0.0011416683342233456, 0.0008624328670811542, 0.9999989764009584, 0.08523049205541611], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480043172836304, -1.1467915773391724, -1.600861668586731, -1.796263337135315, -0.42007705569267273, 0.00018899122369475663, 0.0016727581387385726, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.765899658203125, -1.4103363752365112, 1.5907546281814575, -1.1275293827056885, 1.9095537662506104, 0.43039703369140625, -0.4895716607570648, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9835882583977668, -0.18042311412224946, 0.0012797782924079514, -20.981962203979492], [0.18042403066806795, 0.9835887145623898, -0.0006401117040137107, -0.9057108759880066], [-0.001143284538530134, 0.0008605091140086124, 0.9999989762117403, 0.08525856584310532], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480037212371826, -1.1467907428741455, -1.6008628606796265, -1.7962638139724731, -0.42007800936698914, 0.00018983012705575675, 0.0016722787404432893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7623611092567444, -1.399102807044983, 1.576373815536499, -1.1141093969345093, 1.9411554336547852, 0.42181751132011414, -0.48064711689949036, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9836231221619521, -0.1802329405771557, 0.0012808900361947807, -20.98213768005371], [0.1802338738596585, 0.9836235677376994, -0.0006539912080081281, -0.9016534686088562], [-0.00114204286875067, 0.0008741406470990453, 0.9999989658075727, 0.08527166396379471], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480039596557617, -1.1467907428741455, -1.6008632183074951, -1.7962647676467896, -0.4200795590877533, 0.00018923090829048306, 0.0016708406619727612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7598379850387573, -1.3871679306030273, 1.5590022802352905, -1.112522840499878, 1.96358060836792, 0.4118761122226715, -0.48297443985939026, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9835902285734021, -0.1804123512077019, 0.0012828821580872943, -20.98197364807129], [0.18041328186441846, 0.9835906796495144, -0.0006501026967419151, -0.905476987361908], [-0.0011445443777376408, 0.0008708836404704019, 0.9999989657893913, 0.08531532436609268], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480041980743408, -1.1467903852462769, -1.6008639335632324, -1.7962658405303955, -0.4200781285762787, 0.00018839201948139817, 0.001670241472311318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7642244696617126, -1.375797986984253, 1.542685627937317, -1.1235448122024536, 1.9720691442489624, 0.40492525696754456, -0.4829210042953491, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9836026317281081, -0.18034477658033773, 0.0012745264719438891, -20.98204231262207], [0.18034568047271096, 0.9836030880633947, -0.0006329984112478645, -0.9040377736091614], [-0.001139470216570348, 0.000852474247046315, 0.9999989874471292, 0.08515620231628418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480039596557617, -1.1467907428741455, -1.600865125656128, -1.7962665557861328, -0.42008134722709656, 0.00018755311612039804, 0.0016692826757207513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.770734965801239, -1.3664485216140747, 1.5320698022842407, -1.1322743892669678, 1.9834004640579224, 0.40115228295326233, -0.47968095541000366, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9835735707062914, -0.18050317961136475, 0.0012779508063537714, -20.981891632080078], [0.18050406368699703, 0.9835740476145405, -0.0006130673944683717, -0.9074103832244873], [-0.0011462986332400487, 0.0008336721999997892, 0.9999989954945486, 0.08524385839700699], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480037212371826, -1.1467902660369873, -1.6008667945861816, -1.7962666749954224, -0.42008352279663086, 0.0001862348581198603, 0.0016676048981025815, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7718136310577393, -1.3595800399780273, 1.524571180343628, -1.1328126192092896, 1.99808669090271, 0.3986732065677643, -0.4782992899417877, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9835791400753082, -0.18047274579601666, 0.0012896641282249962, -20.981916427612305], [0.18047364394184953, 0.983579627388431, -0.000616789093556166, -0.9067652821540833], [-0.00115717374140465, 0.0008394112709296564, 0.9999989781683032, 0.08548722416162491], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7479846477508545, -1.1467996835708618, -1.6008626222610474, -1.7962769269943237, -0.420086145401001, 0.0001839578471845016, 0.0016509467968717217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7683833241462708, -1.3609110116958618, 1.508122205734253, -1.137256383895874, 2.0216751098632812, 0.40872713923454285, -0.48062291741371155, 0.14579999158670612, 0.14579999158670612, 0.14579999158670612, 0.14579999158670612, -0.14579999158670612, -0.14579999158670612, -0.14579999158670612, 0.14579999158670612, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9836562955070528, -0.1800518317264948, 0.0012767933566521748, -20.9822998046875], [0.1800527466985279, 0.983656747729975, -0.0006411330625894868, -0.8977912664413452], [-0.0011404892184280618, 0.0008605447241055232, 0.9999989793730394, 0.08519843220710754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7479609251022339, -1.1467981338500977, -1.600861668586731, -1.7962790727615356, -0.4200866222381592, 0.00018168085080105811, 0.0016467523528262973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7649487257003784, -1.3733614683151245, 1.4957425594329834, -1.147681713104248, 2.036543607711792, 0.418802410364151, -0.47389891743659973, 0.512999996117183, 0.512999996117183, 0.512999996117183, 0.512999996117183, -0.512999996117183, -0.512999996117183, -0.512999996117183, 0.512999996117183, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840921409526122, -0.17765433915631088, 0.001262495242995496, -20.984432220458984], [0.1776552728369198, 0.9840925544183903, -0.0006696055011218391, -0.8466821312904358], [-0.0011234538458232734, 0.0008832424480423156, 0.9999989788665958, 0.08491149544715881], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7479904890060425, -1.1467889547348022, -1.600877046585083, -1.7962749004364014, -0.4200857877731323, 0.000180841947440058, 0.001655141357332468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7662142515182495, -1.3726533651351929, 1.4960049390792847, -1.1557766199111938, 2.0485708713531494, 0.42528778314590454, -0.4764157235622406, 0.5759999990135759, 0.5759999990135759, 0.5759999990135759, 0.5759999990135759, -0.5759999990135759, -0.5759999990135759, -0.5759999990135759, 0.5759999990135759, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9842200759525587, -0.17694412870706946, 0.0012717735788012239, -20.985029220581055], [0.176945070307809, 0.9842205005456438, -0.0006696263486620517, -0.8315394520759583], [-0.0011332191774851624, 0.0008840937610565954, 0.9999989670957252, 0.08511774986982346], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7479894161224365, -1.1467905044555664, -1.6008766889572144, -1.7962756156921387, -0.4200838804244995, 0.00017880463565234095, 0.001655261148698628, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7802737951278687, -1.3595160245895386, 1.5094972848892212, -1.167467713356018, 2.0622692108154297, 0.43426889181137085, -0.4928717315196991, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840886201887656, -0.17767375516085065, 0.0012744967687253975, -20.984413146972656], [0.17767467140740098, 0.984089068729407, -0.0006449399665288485, -0.8470865488052368], [-0.0011396294325271212, 0.0008611238763590425, 0.9999989798546927, 0.08518510311841965], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7479902505874634, -1.1467903852462769, -1.600875973701477, -1.7962740659713745, -0.42008087038993835, 0.00017844511603470892, 0.0016556206392124295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8147301077842712, -1.3425794839859009, 1.5320289134979248, -1.198218584060669, 2.0730974674224854, 0.4490732252597809, -0.5061574578285217, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840789382008617, -0.17772730110290408, 0.0012844579177415808, -20.984365463256836], [0.17772820328534963, 0.9840794149001127, -0.0006252414039300725, -0.848229706287384], [-0.0011528861288966695, 0.0008435712948145743, 0.9999989796200016, 0.08540992438793182], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.747989535331726, -1.146791934967041, -1.6008732318878174, -1.79627525806427, -0.4200795590877533, 0.00017892447067424655, 0.0016534634632989764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8653958439826965, -1.3274568319320679, 1.5681976079940796, -1.250546932220459, 2.0966269969940186, 0.47558796405792236, -0.5303084254264832, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.984091465059458, -0.1776580488941224, 0.0012673043293448376, -20.98442268371582], [0.17765893308079642, 0.9840919247881071, -0.0006221442208578702, -0.8467535376548767], [-0.0011366150283488993, 0.0008373947528223746, 0.999999003437656, 0.08505217730998993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7479947805404663, -1.1467939615249634, -1.6008692979812622, -1.7962638139724731, -0.420078843832016, 0.0001807221124181524, 0.0016557405469939113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9340909719467163, -1.3094483613967896, 1.6219638586044312, -1.3265657424926758, 2.1537904739379883, 0.5294584035873413, -0.5610134601593018, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.984102940136206, -0.1775943817679405, 0.0012801483264817447, -20.98447608947754], [0.1775952626664029, 0.9841034247674165, -0.0006099504022023989, -0.8454005122184753], [-0.00115147458771272, 0.0008276022624381238, 0.9999989945898791, 0.08533412963151932], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7504511475563049, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480508089065552, -1.146775484085083, -1.6008801460266113, -1.7962238788604736, -0.4200786054134369, 0.00018108163203578442, 0.001663530245423317, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9877834916114807, -1.2926688194274902, 1.6547173261642456, -1.3869847059249878, 2.1555137634277344, 0.5740265250205994, -0.562288224697113, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.983833420799196, -0.1790813823003863, 0.0012878788510342024, -20.983165740966797], [0.17908222335322033, 0.9838339458266234, -0.000569489318618317, -0.8770639896392822], [-0.001165073997376164, 0.0007909188324976579, 0.999999008524499, 0.08550769835710526], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480179071426392, -1.1467931270599365, -1.6005229949951172, -1.79624342918396, -0.4200761914253235, 0.00018060226284433156, 0.001655980246141553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9845391511917114, -1.2899600267410278, 1.653939962387085, -1.376632571220398, 2.1386606693267822, 0.5707773566246033, -0.5614722967147827, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9836990793897735, -0.17981805236747156, 0.0012606547827518026, -20.982519149780273], [0.17981888547536273, 0.9836995632795282, -0.0005810594322439356, -0.8927974700927734], [-0.0011356205838233433, 0.0007982771665727185, 0.9999990365592634, 0.08492045104503632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480206489562988, -1.1467950344085693, -1.600205421447754, -1.7962404489517212, -0.42007285356521606, 0.00018371816258877516, 0.001657418324612081, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9773679375648499, -1.292461633682251, 1.6494725942611694, -1.374743938446045, 2.13930606842041, 0.5693440437316895, -0.5614625215530396, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9841047103210144, -0.1775845246897236, 0.0012867457857477934, -20.9844970703125], [0.1775853740552855, 0.9841052284901882, -0.0005780829687239663, -0.8451802730560303], [-0.001163634666260049, 0.0007974014041536951, 0.9999990050521871, 0.08549923449754715], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480274438858032, -1.1467911005020142, -1.6006524562835693, -1.7962416410446167, -0.4200732111930847, 0.000183838012162596, 0.001658976310864091, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9743663668632507, -1.294409990310669, 1.648754596710205, -1.3760796785354614, 2.140204668045044, 0.5693369507789612, -0.5609590411186218, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.984078159437138, -0.1777317871349538, 0.0012601430991815226, -20.98436737060547], [0.17773261253873768, 0.9840786488820371, -0.000575547269400348, -0.8483163118362427], [-0.0011377868736694092, 0.0007903520227307587, 0.9999990403918947, 0.08494122326374054], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480249404907227, -1.1467911005020142, -1.6006817817687988, -1.7962417602539062, -0.420074999332428, 0.000185515804332681, 0.0016593358013778925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9744646549224854, -1.2940220832824707, 1.6487842798233032, -1.3761281967163086, 2.139765501022339, 0.5686640739440918, -0.5604947805404663, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840478913029319, -0.17789916657776694, 0.0012783400130795095, -20.98421859741211], [0.17790000202497425, 0.9840484045240098, -0.0005716933313040391, -0.8518855571746826], [-0.0011562446831330372, 0.0007899903080571385, 0.9999990195062922, 0.08532460033893585], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.74802565574646, -1.1467889547348022, -1.6008262634277344, -1.796240210533142, -0.4200778901576996, 0.00018707374692894518, 0.001662811147980392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9687991738319397, -1.290885329246521, 1.6338008642196655, -1.3711944818496704, 2.096815586090088, 0.5136265158653259, -0.5219281911849976, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840241811354952, -0.17803024573405815, 0.001281617918539148, -20.984092712402344], [0.17803106979376784, 0.9840247075397349, -0.0005595886219559577, -0.8546783924102783], [-0.0011615199975913667, 0.000778816544597338, 0.9999990221575644, 0.08540158718824387], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480239868164062, -1.146790862083435, -1.6009875535964966, -1.7962521314620972, -0.42008399963378906, 0.00018779280071612448, 0.0016647286247462034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9154431223869324, -1.2869237661361694, 1.602885127067566, -1.2880302667617798, 2.051877737045288, 0.466825932264328, -0.4619700610637665, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839888278376697, -0.17822574269089334, 0.0012535281920166043, -20.983932495117188], [0.17822653272799138, 0.9839893301862583, -0.0005487361450312448, -0.8588379621505737], [-0.0011356594590424785, 0.0007633622194813633, 0.9999990637774192, 0.0848192572593689], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480196952819824, -1.1467889547348022, -1.6009846925735474, -1.796254277229309, -0.4200856685638428, 0.00018851185450330377, 0.0016641294350847602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.854897677898407, -1.285471796989441, 1.5759211778640747, -1.201874852180481, 2.0318515300750732, 0.4612461030483246, -0.41823697090148926, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.984051642872756, -0.1778784202513815, 0.0012774068665353576, -20.984237670898438], [0.17787922968262926, 0.9840521720427802, -0.0005498594375670175, -0.8514514565467834], [-0.0011592268734817463, 0.0007683142322975237, 0.9999990329426806, 0.08532273769378662], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748018741607666, -1.1467887163162231, -1.6009812355041504, -1.796256184577942, -0.42008721828460693, 0.00018815233488567173, 0.0016644890420138836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8118473887443542, -1.2852858304977417, 1.5460222959518433, -1.1330546140670776, 2.0137405395507812, 0.46986839175224304, -0.37490585446357727, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840398492318564, -0.17794377736442657, 0.0012598496040440237, -20.984172821044922], [0.1779445580177206, 0.9840403683352441, -0.0005364312771444446, -0.8528362512588501], [-0.0011442882606589866, 0.0007520531340448855, 0.9999990625097906, 0.08496572077274323], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6103167533874512, -0.8126102685928345, 0.0, 0.0, 1.7480181455612183, -1.146788239479065, -1.6009711027145386, -1.796255111694336, -0.42008650302886963, 0.00018839201948139817, 0.001666406518779695, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7915664315223694, -1.286441445350647, 1.5247862339019775, -1.0883288383483887, 2.0089123249053955, 0.47939151525497437, -0.3501887619495392, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840871035894898, -0.17768225236800214, 0.001260849825435663, -20.984397888183594], [0.17768302385265558, 0.9840876304271408, -0.0005278966489261407, -0.8472625017166138], [-0.0011469888514387384, 0.0007435278938438251, 0.9999990657909865, 0.08499696850776672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480182647705078, -1.1467880010604858, -1.6009632349014282, -1.7962559461593628, -0.4200868606567383, 0.00018695391190703958, 0.0016661668196320534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7897902131080627, -1.2889983654022217, 1.5183466672897339, -1.0733039379119873, 2.029157876968384, 0.4831171929836273, -0.35357993841171265, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840719979418033, -0.17776579405767012, 0.0012748842588696536, -20.984329223632812], [0.17776657016891548, 0.984072544667811, -0.0005228397451121165, -0.8490455150604248], [-0.0011616355743280312, 0.0007411437546374618, 0.999999050653913, 0.08529454469680786], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480177879333496, -1.1467887163162231, -1.6009434461593628, -1.7962559461593628, -0.4200857877731323, 0.00018647454271558672, 0.001666406518779695, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7936000823974609, -1.2892069816589355, 1.5162222385406494, -1.071752667427063, 2.0352783203125, 0.4861219823360443, -0.35312333703041077, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840629094458132, -0.17781604172642979, 0.0012827929629756426, -20.984285354614258], [0.17781683203330925, 0.9840634600510425, -0.0005299415138263548, -0.8501156568527222], [-0.0011681175793398254, 0.0007495979687630322, 0.9999990368016392, 0.08545374125242233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480154037475586, -1.1467889547348022, -1.6009242534637451, -1.7962591648101807, -0.42008447647094727, 0.0001847967505455017, 0.0016670057084411383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7998523116111755, -1.2891193628311157, 1.518735408782959, -1.0738890171051025, 2.0549519062042236, 0.5013176202774048, -0.35304927825927734, 0.5027999973559117, 0.5027999973559117, 0.5027999973559117, 0.5027999973559117, -0.5027999973559117, -0.5027999973559117, -0.5027999973559117, 0.5027999973559117, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840608866549417, -0.177827338946268, 0.0012684160117784912, -20.984281539916992], [0.17782811054119427, 0.9840614256856773, -0.0005230476277572765, -0.8503507375717163], [-0.0011551871011270484, 0.0007402707350883558, 0.9999990587705572, 0.08515910804271698], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748012661933899, -1.1467878818511963, -1.6008905172348022, -1.796263337135315, -0.4200819432735443, 0.00018263958918396384, 0.00166724540758878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8072536587715149, -1.2887864112854004, 1.5191341638565063, -1.0807077884674072, 2.051394462585449, 0.5028396248817444, -0.34962597489356995, 0.3612000035715627, 0.3612000035715627, 0.3612000035715627, 0.3612000035715627, -0.3612000035715627, -0.3612000035715627, -0.3612000035715627, 0.3612000035715627, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840601841468466, -0.17783125538615327, 0.0012643514777164395, -20.98427391052246], [0.17783202748245638, 0.9840607162294916, -0.0005260944580581097, -0.8504385948181152], [-0.001150642582799284, 0.000742550796008053, 0.9999990623195414, 0.08507046103477478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480101585388184, -1.1467914581298828, -1.600797176361084, -1.7962645292282104, -0.42007920145988464, 0.00018216021999251097, 0.001669402583502233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8078482151031494, -1.2884671688079834, 1.5189917087554932, -1.0781466960906982, 2.048699378967285, 0.5011625289916992, -0.34667882323265076, 0.28979999259278016, 0.28979999259278016, 0.28979999259278016, 0.28979999259278016, -0.28979999259278016, -0.28979999259278016, -0.28979999259278016, 0.28979999259278016, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840554658477135, -0.17785736531651267, 0.0012640165774314765, -20.984251022338867], [0.17785815390945872, 0.9840559866079807, -0.0005406560024770655, -0.8509976267814636], [-0.0011477034280500458, 0.0007568511493538459, 0.9999990549761429, 0.0850515067577362], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480114698410034, -1.1467918157577515, -1.6006946563720703, -1.7962653636932373, -0.4200771749019623, 0.00018168085080105811, 0.001668803277425468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8042683005332947, -1.2884209156036377, 1.5178972482681274, -1.0649690628051758, 2.0450258255004883, 0.5006357431411743, -0.34132149815559387, 0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840629429567767, -0.17781601370553665, 0.0012607811547261823, -20.984283447265625], [0.1778168127602331, 0.9840634514275387, -0.0005519640498734975, -0.850112795829773], [-0.0011425406075573753, 0.0007673554538464311, 0.9999990528828353, 0.08497418463230133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480107545852661, -1.1467914581298828, -1.6006948947906494, -1.7962653636932373, -0.4200745224952698, 0.00018168085080105811, 0.0016677246894687414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8023421168327332, -1.288366675376892, 1.5172698497772217, -1.060306429862976, 2.0431814193725586, 0.5005990266799927, -0.3360297679901123, 0.22380000523158483, 0.22380000523158483, 0.22380000523158483, 0.22380000523158483, -0.22380000523158483, -0.22380000523158483, -0.22380000523158483, 0.22380000523158483, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840589451494601, -0.17783814768206566, 0.001259245942505593, -20.98427391052246], [0.17783893873507015, 0.9840594564249748, -0.0005459763430017196, -0.8505830764770508], [-0.0011420774561697552, 0.0007612158661924698, 0.999999058104301, 0.08494653552770615], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480106353759766, -1.1467912197113037, -1.6006971597671509, -1.7962652444839478, -0.4200745224952698, 0.00018192053539678454, 0.0016677246894687414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8017092943191528, -1.2883734703063965, 1.5155909061431885, -1.0610454082489014, 2.0427911281585693, 0.5012474060058594, -0.33525294065475464, 0.19499999717041686, 0.19499999717041686, 0.19499999717041686, 0.19499999717041686, -0.19499999717041686, -0.19499999717041686, -0.19499999717041686, 0.19499999717041686, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480106353759766, -1.146793007850647, -1.6007013320922852, -1.7962654829025269, -0.42007607221603394, 0.00018204037041869015, 0.0016661668196320534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8017097115516663, -1.2884163856506348, 1.5131103992462158, -1.0634574890136719, 2.042776346206665, 0.5042582154273987, -0.3331957161426544, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480103969573975, -1.1467928886413574, -1.6007126569747925, -1.7962650060653687, -0.42007824778556824, 0.000182519739610143, 0.0016652080230414867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8005576729774475, -1.288875699043274, 1.5109752416610718, -1.0622118711471558, 2.042041301727295, 0.506096363067627, -0.32909172773361206, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480107545852661, -1.1467937231063843, -1.6007217168807983, -1.7962654829025269, -0.42007991671562195, 0.00018359832756686956, 0.001663410454057157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7954950928688049, -1.289038062095642, 1.5095454454421997, -1.0566332340240479, 2.0388200283050537, 0.5105614066123962, -0.3248755633831024, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, 0.12059999927059636, -0.12059999927059636, -0.12059999927059636, -0.12059999927059636, 0.12059999927059636, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480058670043945, -1.1467866897583008, -1.600738525390625, -1.7962627410888672, -0.4200817048549652, 0.00018539595475886017, 0.001662811147980392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7912432551383972, -1.2889639139175415, 1.5097910165786743, -1.0553139448165894, 2.0373120307922363, 0.5143821239471436, -0.3205210864543915, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480080127716064, -1.1467989683151245, -1.6007506847381592, -1.796265959739685, -0.420082688331604, 0.00018503643514122814, 0.0016601746901869774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7887409925460815, -1.288312554359436, 1.5108873844146729, -1.053611159324646, 2.0373003482818604, 0.5172697305679321, -0.32152464985847473, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480080127716064, -1.1467992067337036, -1.600757122039795, -1.796265721321106, -0.4200855493545532, 0.0001856356393545866, 0.0016599349910393357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7900959253311157, -1.288313865661621, 1.5133136510849, -1.053922176361084, 2.0378124713897705, 0.519947350025177, -0.3208758234977722, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480080127716064, -1.1467982530593872, -1.600765585899353, -1.7962647676467896, -0.4200880825519562, 0.00018659437773749232, 0.0016600547824054956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8028433918952942, -1.2882126569747925, 1.5207257270812988, -1.069413423538208, 2.0407824516296387, 0.522284984588623, -0.3228418231010437, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748008131980896, -1.14679753780365, -1.6007779836654663, -1.7962653636932373, -0.4200885593891144, 0.00018695391190703958, 0.001659695291891694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8303497433662415, -1.2855602502822876, 1.5358867645263672, -1.106583833694458, 2.046379804611206, 0.5274512767791748, -0.3336169719696045, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480080127716064, -1.1467969417572021, -1.6008005142211914, -1.796264410018921, -0.4200870990753174, 0.00018647454271558672, 0.0016598151996731758, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8737568259239197, -1.2793911695480347, 1.5603526830673218, -1.172798752784729, 2.0555601119995117, 0.5355280041694641, -0.363125741481781, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748009204864502, -1.146793246269226, -1.6011861562728882, -1.796264410018921, -0.4200841188430786, 0.0001863546931417659, 0.0016608937876299024, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9429556131362915, -1.2676466703414917, 1.5974329710006714, -1.2692652940750122, 2.0789108276367188, 0.5509784817695618, -0.39980921149253845, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480069398880005, -1.1467832326889038, -1.601187825202942, -1.796263575553894, -0.4200781285762787, 0.00018467690097168088, 0.001661972259171307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0189799070358276, -1.2483394145965576, 1.6441515684127808, -1.364814281463623, 2.1070008277893066, 0.5822629332542419, -0.43092936277389526, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840583868786125, -0.17784118007861302, 0.0012672340389413275, -20.984272003173828], [0.17784198408731086, 0.9840589027317233, -0.0005519513797428315, -0.850648045539856], [-0.0011488732531454086, 0.0007685198001734575, 0.9999990447333262, 0.08510883152484894], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480019330978394, -1.1467845439910889, -1.6011019945144653, -1.796264886856079, -0.42007681727409363, 0.00018539595475886017, 0.0016594555927440524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0949674844741821, -1.2314521074295044, 1.7047685384750366, -1.455365538597107, 2.150893211364746, 0.6134757995605469, -0.4712533950805664, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.983993301381374, -0.17820099045808954, 0.0012608871243983053, -20.983963012695312], [0.17820178645657242, 0.9839938118984036, -0.0005490440193836307, -0.8583148121833801], [-0.0011428649398510515, 0.0007649479753248663, 0.999999054356715, 0.08497206121683121], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480067014694214, -1.1467797756195068, -1.6010838747024536, -1.7962636947631836, -0.4200759530067444, 0.0001831189583754167, 0.0016607738798484206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1618666648864746, -1.2179622650146484, 1.766842246055603, -1.5277677774429321, 2.195661783218384, 0.6368840336799622, -0.5131130814552307, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9838616475669087, -0.17892628490375195, 0.001281802429836729, -20.983320236206055], [0.17892705584824597, 0.9838622083594661, -0.0005134661753374665, -0.8737825155258179], [-0.0011692443741228224, 0.0007345288121872128, 0.9999990466670544, 0.08543229848146439], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480002641677856, -1.1467853784561157, -1.6008973121643066, -1.7962666749954224, -0.4200754761695862, 0.00018263958918396384, 0.0016598151996731758, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1948623657226562, -1.2076495885849, 1.800726294517517, -1.5646553039550781, 2.222120761871338, 0.6432650089263916, -0.5421374440193176, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9837744671496556, -0.17940516197168768, 0.0012592229047323695, -20.982900619506836], [0.17940590246529442, 0.9837750103757853, -0.0005011194834612611, -0.8839876651763916], [-0.0011488886040709773, 0.000718900574448893, 0.9999990816180481, 0.08496556431055069], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480008602142334, -1.1467863321304321, -1.600864291191101, -1.7962666749954224, -0.420074999332428, 0.00018168085080105811, 0.001660534180700779, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2068487405776978, -1.203003168106079, 1.8113665580749512, -1.5799033641815186, 2.2321581840515137, 0.6376454830169678, -0.5526397228240967, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9838662206527959, -0.17890114284592698, 0.0012809944594012919, -20.983341217041016], [0.17890189163239117, 0.9838667938785658, -0.0004950489509114242, -0.8732457756996155], [-0.0011717630886646248, 0.000716234272328858, 0.9999990569894209, 0.08543416112661362], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480007410049438, -1.146787166595459, -1.6008583307266235, -1.7962671518325806, -0.420074999332428, 0.00018132131663151085, 0.0016599349910393357, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2089072465896606, -1.2004915475845337, 1.8110318183898926, -1.5822997093200684, 2.234557867050171, 0.6332399845123291, -0.5521630048751831, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839001305438843, -0.1787146118137096, 0.0012730435980889837, -20.98351287841797], [0.17871534547486032, 0.9839007003170225, -0.00048703949942865483, -0.8692721128463745], [-0.0011655074126155176, 0.0007067106535049135, 0.9999990710758302, 0.08527640998363495], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480014562606812, -1.146787405014038, -1.6008583307266235, -1.7962671518325806, -0.42007583379745483, 0.000180841947440058, 0.0016607738798484206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2088485956192017, -1.19658362865448, 1.8068509101867676, -1.581358551979065, 2.2346205711364746, 0.6316665410995483, -0.5473793745040894, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839494792619122, -0.17844276958954017, 0.0012650064924986239, -20.983745574951172], [0.1784434839983575, 0.9839500480004769, -0.00047545597803262094, -0.863471508026123], [-0.0011598615174768915, 0.000693556827799157, 0.9999990868496765, 0.08512042462825775], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480021715164185, -1.1467878818511963, -1.600858211517334, -1.796267032623291, -0.42007848620414734, 0.0001807221124181524, 0.001661253278143704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2072525024414062, -1.192477822303772, 1.8011490106582642, -1.5753083229064941, 2.234792947769165, 0.6316980719566345, -0.5403653383255005, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839341949405264, -0.1785270817193052, 0.0012574257539845915, -20.983678817749023], [0.1785277812526939, 0.9839347606256482, -0.00046706909398319446, -0.8652729392051697], [-0.0011538404259412549, 0.0006840506829188204, 0.9999991003630626, 0.08496776223182678], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480021715164185, -1.1467885971069336, -1.6008579730987549, -1.7962676286697388, -0.4200824499130249, 0.00018168085080105811, 0.001661972259171307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2052342891693115, -1.1895897388458252, 1.7957367897033691, -1.5684138536453247, 2.2335357666015625, 0.6316418647766113, -0.5306733250617981, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.983955371579483, -0.1784102700885004, 0.0012658067900789356, -20.98377799987793], [0.17841097164971012, 0.9839559491965586, -0.00046393502305968254, -0.8627821207046509], [-0.0011627273488639756, 0.0006823251773422096, 0.9999990912483193, 0.08514721691608429], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480027675628662, -1.1467889547348022, -1.6008579730987549, -1.796267032623291, -0.4200855493545532, 0.00018228005501441658, 0.0016631707549095154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2031182050704956, -1.1889379024505615, 1.7934937477111816, -1.5628904104232788, 2.2335972785949707, 0.6294980049133301, -0.5264074206352234, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839680597274882, -0.1783401669108171, 0.0012815234465534794, -20.983840942382812], [0.1783408764613594, 0.9839686573661759, -0.00046163188716869197, -0.8612865209579468], [-0.0011786513972794814, 0.0006827790469898463, 0.9999990722963981, 0.08548024296760559], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480037212371826, -1.1467891931533813, -1.6008578538894653, -1.7962672710418701, -0.42008867859840393, 0.0001832387933973223, 0.0016640096437186003, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.199345350265503, -1.188295602798462, 1.7911224365234375, -1.557127833366394, 2.2337865829467773, 0.6262859106063843, -0.525119960308075, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.984001081995256, -0.1781579349752121, 0.0012731211778623944, -20.983999252319336], [0.17815863423028738, 0.9840016724805155, -0.0004578261098514477, -0.8574004173278809], [-0.0011711880139780916, 0.0006773189177171225, 0.999999084778441, 0.0853089839220047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480050325393677, -1.1467889547348022, -1.6008576154708862, -1.796266794204712, -0.4200880825519562, 0.00018431738135404885, 0.0016647286247462034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1984117031097412, -1.1860363483428955, 1.789177417755127, -1.5524568557739258, 2.233914375305176, 0.621346116065979, -0.5228438377380371, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, -0.0840000094948234, -0.0840000094948234, -0.0840000094948234, 0.0840000094948234, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839910634356362, -0.17821326524855174, 0.0012724654239294315, -20.983951568603516], [0.1782139495046161, 0.9839916614703522, -0.0004453748780092886, -0.8585781455039978], [-0.0011727236553861866, 0.0006650159886464063, 0.9999990912360686, 0.0853048712015152], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480075359344482, -1.1467921733856201, -1.6008561849594116, -1.7962666749954224, -0.42008745670318604, 0.00018575548892840743, 0.0016650882316753268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2016398906707764, -1.1839916706085205, 1.7865629196166992, -1.5507569313049316, 2.235819101333618, 0.6140419840812683, -0.5225967168807983, 0.12959999933347602, 0.12959999933347602, 0.12959999933347602, 0.12959999933347602, -0.12959999933347602, -0.12959999933347602, -0.12959999933347602, 0.12959999933347602, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839959447129779, -0.1781863747053313, 0.0012635892471424277, -20.983970642089844], [0.17818703970020328, 0.9839965399326084, -0.0004339165044144141, -0.8579995632171631], [-0.0011660494382377841, 0.0006521273080331322, 0.9999991075289426, 0.08512876182794571], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480099201202393, -1.146791934967041, -1.6008554697036743, -1.7962658405303955, -0.4200859069824219, 0.00018575548892840743, 0.0016659271204844117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2071855068206787, -1.1837165355682373, 1.7859824895858765, -1.5511982440948486, 2.2370352745056152, 0.6059315204620361, -0.5185599327087402, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, -0.1865999866317917, -0.1865999866317917, -0.1865999866317917, 0.1865999866317917, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839929116049496, -0.1782031383229817, 0.001261508245714155, -20.98396110534668], [0.17820381606762967, 0.9839934964159708, -0.0004460381230641968, -0.8583639860153198], [-0.0011618305161161168, 0.0006637039347877892, 0.9999991048230688, 0.08507458865642548], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480113506317139, -1.1467926502227783, -1.6008543968200684, -1.796265721321106, -0.42008423805236816, 0.00018659437773749232, 0.0016662866109982133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2098184823989868, -1.1832387447357178, 1.78719961643219, -1.5520042181015015, 2.2358081340789795, 0.601614773273468, -0.5125312805175781, 0.2357999922155024, 0.2357999922155024, 0.2357999922155024, 0.2357999922155024, -0.2357999922155024, -0.2357999922155024, -0.2357999922155024, 0.2357999922155024, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839939680089917, -0.17819728823068065, 0.0012638786140420797, -20.98396110534668], [0.17819793024432748, 0.9839945763053599, -0.0004140752021621081, -0.85822993516922], [-0.0011698626231768832, 0.000632668054331986, 0.9999991155758968, 0.08515231311321259], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480107545852661, -1.1467928886413574, -1.6008530855178833, -1.7962669134140015, -0.4200809895992279, 0.00018827216990757734, 0.0016666461015120149, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2105883359909058, -1.182520866394043, 1.7976611852645874, -1.5509535074234009, 2.225308895111084, 0.5972636938095093, -0.5041463971138, 0.44340000283587105, 0.44340000283587105, 0.44340000283587105, 0.44340000283587105, -0.44340000283587105, -0.44340000283587105, -0.44340000283587105, 0.44340000283587105, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840346172280809, -0.17797261589288238, 0.001272827179490084, -20.984155654907227], [0.1779732982843317, 0.9840352169628969, -0.00044370551141147997, -0.8534495234489441], [-0.0011735393391738066, 0.0006631508343635789, 0.9999990915177824, 0.08531735837459564], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480188608169556, -1.1467918157577515, -1.6008522510528564, -1.7962632179260254, -0.4200805127620697, 0.00018887138867285103, 0.001668683486059308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2109941244125366, -1.1785619258880615, 1.820439338684082, -1.541521430015564, 2.2193613052368164, 0.5973367691040039, -0.49936023354530334, 0.5639999997484815, 0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840363836826428, -0.17796289744888785, 0.001265985933291293, -20.984169006347656], [0.17796356490922918, 0.9840369812713685, -0.0004348047043650117, -0.8532381653785706], [-0.0011683978711147754, 0.0006531630187050028, 0.9999991041118416, 0.08518143743276596], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480186223983765, -1.146791696548462, -1.6008520126342773, -1.7962629795074463, -0.4200793206691742, 0.00018851185450330377, 0.0016680842963978648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2116187810897827, -1.1744351387023926, 1.832027792930603, -1.534198522567749, 2.234344244003296, 0.5995346903800964, -0.4907427430152893, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839419299592415, -0.1784843500675303, 0.0012709244881036808, -20.983713150024414], [0.17848499870214826, 0.9839425452657854, -0.0004157573594641836, -0.8643472194671631], [-0.0011763104935755937, 0.0006359220542756608, 0.9999991059479821, 0.08529546111822128], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480171918869019, -1.1467924118041992, -1.6008484363555908, -1.7962634563446045, -0.42007583379745483, 0.00018851185450330377, 0.0016667660092934966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2116177082061768, -1.1740072965621948, 1.8311129808425903, -1.5342693328857422, 2.235750198364258, 0.5998008847236633, -0.48969554901123047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9839991066718786, -0.17816879925254306, 0.0012794693633773732, -20.983985900878906], [0.17816943766616025, 0.9839997404961832, -0.00040272219752863586, -0.8576300144195557], [-0.0011872449911701293, 0.0006242406195891402, 0.9999991003860852, 0.08548877388238907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.74801766872406, -1.1467924118041992, -1.600848913192749, -1.7962630987167358, -0.4200720191001892, 0.00018731343152467161, 0.0016671254998072982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2116137742996216, -1.174251914024353, 1.8294817209243774, -1.534443736076355, 2.2355549335479736, 0.5998536944389343, -0.4897310435771942, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840169779266235, -0.1780700816339269, 0.0012779589358039615, -20.98407554626465], [0.17807071205425298, 0.9840176136799843, -0.0003968325092683398, -0.8555203676223755], [-0.0011868701050704172, 0.0006180569841879774, 0.9999991046720582, 0.08546376973390579], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480177879333496, -1.1467924118041992, -1.6008491516113281, -1.7962627410888672, -0.4200727343559265, 0.00018695391190703958, 0.0016670057084411383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.211613416671753, -1.1743910312652588, 1.8294538259506226, -1.5344882011413574, 2.23549485206604, 0.5998963713645935, -0.4897720217704773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840067541776417, -0.1781266626878292, 0.0012648211251041817, -20.98402214050293], [0.17812728391027194, 0.9840073749789798, -0.00039587084608086156, -0.8567224740982056], [-0.0011740781624639345, 0.0006148387379727276, 0.9999991217565117, 0.08518791198730469], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480175495147705, -1.1467922925949097, -1.600848913192749, -1.7962629795074463, -0.4200720191001892, 0.00018659437773749232, 0.0016668858006596565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2122745513916016, -1.1743637323379517, 1.8291608095169067, -1.5348538160324097, 2.2330868244171143, 0.5993804335594177, -0.489361435174942, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480175495147705, -1.1467922925949097, -1.6008490324020386, -1.7962629795074463, -0.42007213830947876, 0.00018647454271558672, 0.001666526310145855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2228929996490479, -1.1738637685775757, 1.8244692087173462, -1.5402557849884033, 2.1959574222564697, 0.58686363697052, -0.4791669547557831, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.74801766872406, -1.1467924118041992, -1.6008487939834595, -1.7962630987167358, -0.42007213830947876, 0.00018671422731131315, 0.0016671254998072982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2459347248077393, -1.1727685928344727, 1.814271330833435, -1.5520439147949219, 2.1153037548065186, 0.5601642727851868, -0.45733946561813354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.74801766872406, -1.1467921733856201, -1.6008492708206177, -1.7962634563446045, -0.42007261514663696, 0.00018671422731131315, 0.0016667660092934966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2813550233840942, -1.1710869073867798, 1.798564076423645, -1.5702595710754395, 1.991119623184204, 0.519163191318512, -0.42384499311447144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480170726776123, -1.1467922925949097, -1.6008490324020386, -1.796263575553894, -0.42007261514663696, 0.0001863546931417659, 0.001666526310145855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3292840719223022, -1.1688398122787476, 1.7773702144622803, -1.5947338342666626, 1.8234014511108398, 0.46371713280677795, -0.3784920275211334, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7480181455612183, -1.1467928886413574, -1.6008490324020386, -1.7962630987167358, -0.42007261514663696, 0.00018647454271558672, 0.00166724540758878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3896814584732056, -1.1659919023513794, 1.7506307363510132, -1.625725507736206, 1.6117397546768188, 0.3938075006008148, -0.32145392894744873, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8128019571304321, 0.0, 0.0, 1.7480175495147705, -1.1467922925949097, -1.600848913192749, -1.7962627410888672, -0.4200720191001892, 0.00018659437773749232, 0.0016671254998072982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4567649364471436, -1.1628410816192627, 1.7209407091140747, -1.6600760221481323, 1.3769434690475464, 0.3162078559398651, -0.2580159306526184, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.74801766872406, -1.1467921733856201, -1.600848913192749, -1.7962629795074463, -0.4200722575187683, 0.0001862348581198603, 0.0016667660092934966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5239219665527344, -1.1596729755401611, 1.6912198066711426, -1.6944867372512817, 1.1416785717010498, 0.23844078183174133, -0.19455154240131378, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480177879333496, -1.1467922925949097, -1.6008491516113281, -1.7962628602981567, -0.4200720191001892, 0.00018659437773749232, 0.0016670057084411383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5885486602783203, -1.15665864944458, 1.662595272064209, -1.7275338172912598, 0.915248453617096, 0.1637047529220581, -0.13350090384483337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480175495147705, -1.1467922925949097, -1.600848913192749, -1.7962630987167358, -0.42007213830947876, 0.0001862348581198603, 0.0016667660092934966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6416735649108887, -1.1541588306427002, 1.6390594244003296, -1.7547754049301147, 0.7291544079780579, 0.1022404208779335, -0.08342038840055466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480177879333496, -1.1467925310134888, -1.600848913192749, -1.796263337135315, -0.42007261514663696, 0.00018671422731131315, 0.00166724540758878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6823484897613525, -1.1522316932678223, 1.6210895776748657, -1.7756056785583496, 0.5868196487426758, 0.05506199970841408, -0.04500328004360199, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.74801766872406, -1.1467921733856201, -1.6008487939834595, -1.7962629795074463, -0.4200722575187683, 0.00018671422731131315, 0.0016671254998072982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7106072902679443, -1.1509158611297607, 1.608565092086792, -1.7900205850601196, 0.4878368079662323, 0.022476892918348312, -0.018315011635422707, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.74801766872406, -1.1467920541763306, -1.6008490324020386, -1.7962628602981567, -0.42007237672805786, 0.00018671422731131315, 0.0016668858006596565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7263821363449097, -1.1501810550689697, 1.6015982627868652, -1.7981115579605103, 0.43262729048728943, 0.004231150262057781, -0.003356182249262929, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6102207899093628, -0.8128019571304321, 0.0, 0.0, 1.7480177879333496, -1.1467920541763306, -1.6008491516113281, -1.7962628602981567, -0.42007166147232056, 0.00018647454271558672, 0.0016670057084411383, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300701141357422, -1.1499909162521362, 1.5999722480773926, -1.8000143766403198, 0.41979971528053284, -8.08935146778822e-05, 6.495449633803219e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6102207899093628, -0.8127061128616333, 0.0, 0.0, 1.7480205297470093, -1.146791696548462, -1.600848913192749, -1.796262264251709, -0.4200720191001892, 0.00018647454271558672, 0.0016671254998072982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72991943359375, -1.1499840021133423, 1.5999798774719238, -1.800012230873108, 0.4199638068675995, -4.829642784898169e-05, 6.555370782734826e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6102207899093628, -0.8127061128616333, 0.0, 0.0, 1.7481297254562378, -1.1467912197113037, -1.600848913192749, -1.7962599992752075, -0.42007309198379517, 0.00018587532395031303, 0.0016676048981025815, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298818826675415, -1.1500121355056763, 1.6000630855560303, -1.7998785972595215, 0.42001375555992126, 0.00010713897063396871, 2.5047029339475557e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6102207899093628, -0.8127061128616333, 0.0, 0.0, 1.748516321182251, -1.1467901468276978, -1.6008497476577759, -1.7962563037872314, -0.4200736880302429, 0.00018527611973695457, 0.0016677246894687414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298787832260132, -1.1500695943832397, 1.6002992391586304, -1.799781322479248, 0.4200299382209778, 0.00016777914424892515, -2.0972393031115644e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748652458190918, -1.1467899084091187, -1.6008490324020386, -1.7962509393692017, -0.42007607221603394, 0.00018419753178022802, 0.0016683239955455065, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729877233505249, -1.1501086950302124, 1.600367784500122, -1.7997629642486572, 0.4200337827205658, 0.00017245300114154816, -4.242415525368415e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7486668825149536, -1.14678955078125, -1.6008491516113281, -1.7962461709976196, -0.4200802743434906, 0.00018263958918396384, 0.0016684437869116664, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298774719238281, -1.1501275300979614, 1.600388765335083, -1.799754023551941, 0.4200340211391449, 0.00017221331654582173, -4.781705865752883e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7486754655838013, -1.1467887163162231, -1.6008492708206177, -1.7962403297424316, -0.42008304595947266, 0.00018132131663151085, 0.0016689231852069497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298773527145386, -1.1501351594924927, 1.6003981828689575, -1.7997477054595947, 0.4200333058834076, 0.000171254578162916, -4.913532029604539e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7486834526062012, -1.1467887163162231, -1.6008497476577759, -1.7962334156036377, -0.4200862646102905, 0.00018060226284433156, 0.001668803277425468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298774719238281, -1.1501386165618896, 1.6004019975662231, -1.7997409105300903, 0.42003270983695984, 0.0001713744131848216, -4.99742163810879e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.748692274093628, -1.1467888355255127, -1.6008505821228027, -1.7962286472320557, -0.4200868606567383, 0.00018120148160960525, 0.0016689231852069497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298774719238281, -1.1501398086547852, 1.6004033088684082, -1.7997366189956665, 0.42003175616264343, 0.00016993630561046302, -4.9854374083224684e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7487000226974487, -1.1467889547348022, -1.6008514165878296, -1.7962262630462646, -0.42008543014526367, 0.00018108163203578442, 0.0016684437869116664, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298774719238281, -1.1501401662826538, 1.600403070449829, -1.7997350692749023, 0.42003270983695984, 0.0001671799400355667, -4.9854374083224684e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7487077713012695, -1.1467890739440918, -1.6008533239364624, -1.7962241172790527, -0.4200824499130249, 0.00018204037041869015, 0.0016689231852069497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298775911331177, -1.1501405239105225, 1.60040283203125, -1.7997326850891113, 0.42003151774406433, 0.00016130766016431153, -4.9614689487498254e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7487152814865112, -1.1467889547348022, -1.6008549928665161, -1.796223759651184, -0.42007991671562195, 0.0001823999045882374, 0.001668803277425468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298775911331177, -1.1501408815383911, 1.60040283203125, -1.7997305393218994, 0.42003485560417175, 0.00015243934467434883, -4.949484718963504e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6103167533874512, -0.8127061128616333, 0.0, 0.0, 1.7487238645553589, -1.1467890739440918, -1.6008566617965698, -1.7962225675582886, -0.4200795590877533, 0.00018335864297114313, 0.001668683486059308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298773527145386, -1.1501412391662598, 1.6004022359848022, -1.7997289896011353, 0.4200325906276703, 0.00014285196084529161, -4.9614689487498254e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03891860693693161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9840125552096415, -0.17809457167608397, 0.001270719994481536, -20.984052658081055], [0.17809520378302737, 0.9840131791565255, -0.00040203948762102307, -0.8560484051704407], [-0.0011788041712428004, 0.0006219210398774945, 0.9999991118170786, 0.08530694991350174], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000021/gt/hand_left.mp4 b/agibot-challenge-2026/000021/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..800aefeb62a0022a323309edf05685845c0442f4 --- /dev/null +++ b/agibot-challenge-2026/000021/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de3963843e913a2a2013940feef09902e0d6625084f65b07afbf15067f5846ad +size 1329259 diff --git a/agibot-challenge-2026/000021/gt/hand_right.mp4 b/agibot-challenge-2026/000021/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..817cf6fc706f5092bbff1691fe60892465020fe9 --- /dev/null +++ b/agibot-challenge-2026/000021/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73ce9c3f28b472f4d508a79b7ecef383eceaaef94c807b7211cf8266af4a1b22 +size 2431442 diff --git a/agibot-challenge-2026/000021/gt/head.mp4 b/agibot-challenge-2026/000021/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b73c2e39b337ebe5064272a6dddd732d2cd04234 --- /dev/null +++ b/agibot-challenge-2026/000021/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e33084a4b14ec6011a68079205787f3fd26760fc19c777c36691d220c8bead3 +size 1705193 diff --git a/agibot-challenge-2026/000021/meta.json b/agibot-challenge-2026/000021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96a2a6c28ed1f9bf72693bc61170c2bf221be72c --- /dev/null +++ b/agibot-challenge-2026/000021/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 775, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000021/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000021/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..0449d8c59e70a277b54b472bb7628a5ac45a938e --- /dev/null +++ b/agibot-challenge-2026/000021/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000021/ref_images/hand_left.png b/agibot-challenge-2026/000021/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..4aed154486069070365b6c702e66f15e7d16400f --- /dev/null +++ b/agibot-challenge-2026/000021/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57e5cc7175ae90975283067d2ea2c0cdfc60cae467abb8d30bbfcf9cdcef1de7 +size 319671 diff --git a/agibot-challenge-2026/000021/ref_images/hand_right.png b/agibot-challenge-2026/000021/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..cdb03cfe65951888afa6b2b7a00ecf321cf51e73 --- /dev/null +++ b/agibot-challenge-2026/000021/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a74249843532ec3d39d8fff9d4cd3a3e2d57293f52fb9e08ca80cd026f18ea3f +size 357898 diff --git a/agibot-challenge-2026/000021/ref_images/head.png b/agibot-challenge-2026/000021/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..3b8cdb2bfa320755400576b78af2be7def4ca4fd --- /dev/null +++ b/agibot-challenge-2026/000021/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df0d0ba23b4a7c7064e05cca483b1911b44128c6feb5239fe55be1e4724cba65 +size 259181 diff --git a/agibot-challenge-2026/000021/temporal.json b/agibot-challenge-2026/000021/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..e22ba51d99495811497220b67905dd2833ba428f --- /dev/null +++ b/agibot-challenge-2026/000021/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739384651184082, -1.1511980295181274, -1.600978970527649, -1.801222324371338, -0.4227563440799713, -0.0004304733593016863, -0.0010179401142522693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309231758117676, -1.1504648923873901, 1.5997169017791748, -1.799813151359558, 0.4200974106788635, 0.0008917461964301765, 0.0003289669693913311, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.150934815908486, -0.9885433047519543, 0.0009033143176530119, -27.30194664001465], [0.9885425719306119, 0.1509331868676661, -0.001660295992109406, -1.29872465133667], [0.0015049343781996963, 0.0011435611287570844, 0.9999982137186356, 0.007916862145066261], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7393851280212402, -1.151197910308838, -1.6009795665740967, -1.8012210130691528, -0.4227546751499176, -0.0004292749217711389, -0.001018179696984589, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730925440788269, -1.1504650115966797, 1.5997166633605957, -1.7998127937316895, 0.4200970530509949, 0.0008927049348130822, 0.0003293264890089631, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.150934815908486, -0.9885433047519543, 0.0009033143176530119, -27.30194664001465], [0.9885425719306119, 0.1509331868676661, -0.001660295992109406, -1.29872465133667], [0.0015049343781996963, 0.0011435611287570844, 0.9999982137186356, 0.007916862145066261], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7393853664398193, -1.151197910308838, -1.6009793281555176, -1.801220178604126, -0.4227546751499176, -0.0004256796673871577, -0.0010186590952798724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309263944625854, -1.1504656076431274, 1.599717140197754, -1.7998148202896118, 0.4200971722602844, 0.0008945025620050728, 0.00033004555734805763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.150934815908486, -0.9885433047519543, 0.0009033143176530119, -27.30194664001465], [0.9885425719306119, 0.1509331868676661, -0.001660295992109406, -1.29872465133667], [0.0015049343781996963, 0.0011435611287570844, 0.9999982137186356, 0.007916862145066261], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7393985986709595, -1.1511977910995483, -1.6009814739227295, -1.8012150526046753, -0.42275431752204895, -0.00042064630542881787, -0.0010168615262955427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7125074863433838, -1.1590901613235474, 1.5967564582824707, -1.8069742918014526, 0.4128536581993103, 0.029337143525481224, 0.007919175550341606, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.150934815908486, -0.9885433047519543, 0.0009033143176530119, -27.30194664001465], [0.9885425719306119, 0.1509331868676661, -0.001660295992109406, -1.29872465133667], [0.0015049343781996963, 0.0011435611287570844, 0.9999982137186356, 0.007916862145066261], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7393982410430908, -1.151199221611023, -1.6009750366210938, -1.8012213706970215, -0.42275312542915344, -0.00041824945947155356, -0.001034718006849289, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6450508832931519, -1.188015341758728, 1.589320421218872, -1.8039350509643555, 0.37886977195739746, 0.078233502805233, 0.018854660913348198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1503498404135818, -0.9886324472020251, 0.0008999038535103362, -27.301166534423828], [0.9886316449101611, 0.15034816859932632, -0.0017026100720986665, -1.314875602722168], [0.0015479566659189657, 0.0011456605795835077, 0.9999981456442791, 0.0077405087649822235], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394086122512817, -1.1511982679367065, -1.6009763479232788, -1.8012020587921143, -0.4227520525455475, -0.0004133359179832041, -0.001025729812681675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5569990873336792, -1.2118849754333496, 1.5786802768707275, -1.776653528213501, 0.3665264844894409, 0.1128556877374649, 0.030690761283040047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124890189986573, -0.9884952947220489, 0.0009066346864554534, -27.30235481262207], [0.9884944310583124, 0.1512471668266634, -0.0017476537445509268, -1.2900447845458984], [0.0015904215756187927, 0.0011605340483300311, 0.999998061858089, 0.00790941808372736], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394229173660278, -1.1511985063552856, -1.6009756326675415, -1.8012052774429321, -0.4227518141269684, -0.0004116581112612039, -0.0010180599056184292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4671307802200317, -1.2287707328796387, 1.5571964979171753, -1.735901117324829, 0.3450055718421936, 0.13433033227920532, 0.036801278591156006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15081844818876688, -0.9885610686502371, 0.0008995749183228195, -27.301790237426758], [0.9885601880623325, 0.15081671893724402, -0.0017526742909262257, -1.301930546760559], [0.001596954632414139, 0.0011536195671712044, 0.9999980594470153, 0.007688798941671848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394227981567383, -1.1511971950531006, -1.6009745597839355, -1.8012076616287231, -0.4227525293827057, -0.0004132160684093833, -0.0010149440495297313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3728810548782349, -1.246150016784668, 1.5274505615234375, -1.685550570487976, 0.31544002890586853, 0.13924627006053925, 0.03661767765879631, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510727448938638, -0.9885222401429777, 0.0008980495212462415, -27.30211067199707], [0.9885213526571991, 0.1510710138252085, -0.0017561670208175984, -1.2949140071868896], [0.001600340905843919, 0.0011530500998224785, 0.9999980546903341, 0.00765558797866106], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.739428997039795, -1.1511956453323364, -1.6009743213653564, -1.8012080192565918, -0.4227525293827057, -0.00042687810491770506, -0.0010022406931966543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2783173322677612, -1.263755202293396, 1.4981120824813843, -1.6257944107055664, 0.2852521240711212, 0.12990911304950714, 0.04488152265548706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510009652693617, -0.9885332023039766, 0.0009035653637681514, -27.302021026611328], [0.9885323260855323, 0.15099922907688312, -0.0017530265582200474, -1.2968974113464355], [0.0015964872839716172, 0.001157912273250105, 0.9999980552318687, 0.00780629925429821], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394282817840576, -1.151192545890808, -1.6009715795516968, -1.8012099266052246, -0.4227522909641266, -0.0004308328789193183, -0.0009943310869857669, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1959857940673828, -1.2796216011047363, 1.4691742658615112, -1.5668879747390747, 0.25720638036727905, 0.12427473813295364, 0.04398174583911896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121211936869716, -0.9885009334925079, 0.0008941143479888696, -27.302295684814453], [0.988500060731887, 0.15121040816357745, -0.0017442465593878887, -1.2910617589950562], [0.0015889899566917153, 0.00114758330623485, 0.9999980790798915, 0.007570210378617048], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394285202026367, -1.1511926651000977, -1.60097074508667, -1.801210641860962, -0.4227525293827057, -0.0004338289436418563, -0.0009780325926840305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1262853145599365, -1.2954814434051514, 1.444507122039795, -1.5040266513824463, 0.24251265823841095, 0.12439829111099243, 0.0436682403087616, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15108753405370645, -0.988519982248978, 0.0008954038476294686, -27.302139282226562], [0.988519081988403, 0.15108580020663198, -0.00176224876976771, -1.2945038080215454], [0.0016067353157818644, 0.0011513776104809473, 0.9999980463637032, 0.007575503084808588], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394282817840576, -1.15119206905365, -1.6009708642959595, -1.8012144565582275, -0.42275360226631165, -0.0004353869007900357, -0.0009770739125087857, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0704745054244995, -1.3106069564819336, 1.4247106313705444, -1.4391682147979736, 0.22558099031448364, 0.11928785592317581, 0.04272783547639847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15116502427100298, -0.9885081239234981, 0.0009079506556127428, -27.302234649658203], [0.9885071950491837, 0.15116323902236273, -0.0017889953222844405, -1.2923699617385864], [0.0016311876477644062, 0.0011679492771366577, 0.999997987558647, 0.007888159714639187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394274473190308, -1.151192307472229, -1.6009689569473267, -1.8012206554412842, -0.42275479435920715, -0.0004361059400252998, -0.0009795905789360404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0234929323196411, -1.3253687620162964, 1.4082276821136475, -1.3780887126922607, 0.21082744002342224, 0.11122582852840424, 0.037339966744184494, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15115881293182964, -0.9885090938229373, 0.0008858342936013771, -27.302227020263672], [0.9885081711491724, 0.15115708620328372, -0.001769424158176483, -1.2925286293029785], [0.0016151917405077207, 0.0011431184928319756, 0.9999980422159599, 0.007309248670935631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394272089004517, -1.1511914730072021, -1.6009715795516968, -1.8012155294418335, -0.42275550961494446, -0.0004352670512162149, -0.0009762349654920399, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0039016008377075, -1.337756633758545, 1.401732087135315, -1.358096718788147, 0.197715625166893, 0.10991739481687546, 0.03529486060142517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512308706154012, -0.988498046351032, 0.0009144031390566208, -27.30231285095215], [0.9884971550424646, 0.15122909641258675, -0.0017705567447276827, -1.2905504703521729], [0.0016119075226405917, 0.001171647739498507, 0.9999980144958853, 0.008091458119452], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.739427924156189, -1.1511917114257812, -1.6009711027145386, -1.8012195825576782, -0.42275574803352356, -0.0004356265708338469, -0.000979230972006917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9906290173530579, -1.3474854230880737, 1.3990356922149658, -1.337967038154602, 0.18787166476249695, 0.10818842798471451, 0.03541530296206474, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15117093906938572, -0.9885072334053874, 0.0008925727462774184, -27.30223846435547], [0.9885063026916375, 0.15116919023031383, -0.0017791750953529257, -1.292199730873108], [0.0016237979519746818, 0.0011512733552393776, 0.999998018922974, 0.00748087465763092], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394284009933472, -1.1511915922164917, -1.600973129272461, -1.8012187480926514, -0.42275527119636536, -0.0004320313164498657, -0.0009860619902610779, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9932988286018372, -1.354720950126648, 1.4015178680419922, -1.3431545495986938, 0.1773056536912918, 0.11004801839590073, 0.03865751251578331, 0.407999992108607, 0.407999992108607, 0.407999992108607, 0.407999992108607, -0.407999992108607, -0.407999992108607, -0.407999992108607, 0.407999992108607, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15118055269772868, -0.9885057626316613, 0.0008931573247866493, -27.30225944519043], [0.988504826891579, 0.151178798848442, -0.0017826920069607666, -1.2919340133666992], [0.0016271748703341861, 0.0011523986896273244, 0.999998012137625, 0.007493064273148775], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.739427924156189, -1.1511918306350708, -1.6009763479232788, -1.8012202978134155, -0.4227561056613922, -0.00042651855619624257, -0.0009952898835763335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0067576169967651, -1.3596171140670776, 1.4080426692962646, -1.3633185625076294, 0.16199363768100739, 0.11151393502950668, 0.04832926392555237, 0.32520000332004423, 0.32520000332004423, 0.32520000332004423, 0.32520000332004423, -0.32520000332004423, -0.32520000332004423, -0.32520000332004423, 0.32520000332004423, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15104057968384144, -0.9885271653915634, 0.0008868887696008874, -27.302072525024414], [0.9885262114038005, 0.151038828584669, -0.0017893092018574802, -1.2958093881607056], [0.0016348261124757993, 0.0011469710944323288, 0.999998005898457, 0.007306839805096388], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394287586212158, -1.1511921882629395, -1.6009776592254639, -1.801220417022705, -0.42275622487068176, -0.0004204066062811762, -0.0009981660405173898, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0129350423812866, -1.364471197128296, 1.4160264730453491, -1.3645268678665161, 0.15938708186149597, 0.1124514564871788, 0.05427619442343712, 0.2664000081491994, 0.2664000081491994, 0.2664000081491994, 0.2664000081491994, -0.2664000081491994, -0.2664000081491994, -0.2664000081491994, 0.2664000081491994, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1511809860167087, -0.9885056934802156, 0.0008963393408295993, -27.30225372314453], [0.9885047274051504, 0.15117920295112475, -0.0018034668646387307, -1.2919241189956665], [0.001647229396577943, 0.0011586855746138205, 0.9999979720394708, 0.0075529227033257484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394287586212158, -1.151192307472229, -1.6009796857833862, -1.8012197017669678, -0.422755628824234, -0.0004144145059399307, -0.001000203425064683, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.014796257019043, -1.3681695461273193, 1.4233649969100952, -1.3643639087677002, 0.16169463098049164, 0.11918575316667557, 0.06458442658185959, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510322324339426, -0.9885284350358418, 0.0008932477869503362, -27.302061080932617], [0.9885274615481253, 0.15103045210734733, -0.0018056304908536853, -1.2960258722305298], [0.0016500094662695959, 0.0011557083713519241, 0.9999979709014022, 0.007458404637873173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394285202026367, -1.1511929035186768, -1.6009820699691772, -1.8012181520462036, -0.42275574803352356, -0.00041189781040884554, -0.0010138654615730047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0150789022445679, -1.3704488277435303, 1.4269856214523315, -1.3592376708984375, 0.15462909638881683, 0.1188470795750618, 0.07186604291200638, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739428162574768, -1.151193380355835, -1.6009835004806519, -1.8012163639068604, -0.4227551519870758, -0.0004087819252163172, -0.0010217750677838922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0186684131622314, -1.3729530572891235, 1.4318186044692993, -1.359653353691101, 0.14753180742263794, 0.11741220951080322, 0.07868470251560211, 0.08939999381264492, 0.08939999381264492, 0.08939999381264492, 0.08939999381264492, -0.08939999381264492, -0.08939999381264492, -0.08939999381264492, 0.08939999381264492, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394285202026367, -1.1511929035186768, -1.6009838581085205, -1.801215648651123, -0.42275431752204895, -0.00041213748045265675, -0.0010245314333587885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0207561254501343, -1.374617338180542, 1.436801791191101, -1.3606688976287842, 0.14531579613685608, 0.11627142876386642, 0.08564993739128113, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394284009933472, -1.1511932611465454, -1.60098397731781, -1.801214575767517, -0.422753244638443, -0.0004164518031757325, -0.0010245314333587885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0212211608886719, -1.375706672668457, 1.4399609565734863, -1.3605399131774902, 0.14301350712776184, 0.11544032394886017, 0.0895736888051033, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, 0.004199987977415676, -0.004199987977415676, -0.004199987977415676, -0.004199987977415676, 0.004199987977415676, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739428162574768, -1.1511930227279663, -1.6009838581085205, -1.801213264465332, -0.42275312542915344, -0.00042052645585499704, -0.001023452845402062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0232731103897095, -1.3770420551300049, 1.4452768564224243, -1.3623067140579224, 0.14129269123077393, 0.11631840467453003, 0.09168267250061035, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394278049468994, -1.1511931419372559, -1.600983738899231, -1.801213264465332, -0.4227534830570221, -0.00042711777496151626, -0.0010238123359158635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0244102478027344, -1.3775036334991455, 1.4471886157989502, -1.3630746603012085, 0.13868409395217896, 0.11684547364711761, 0.09512574225664139, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.739428162574768, -1.151192545890808, -1.6009832620620728, -1.8012126684188843, -0.422753244638443, -0.0004296344704926014, -0.0010232131462544203, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0286521911621094, -1.3790373802185059, 1.454370379447937, -1.3738607168197632, 0.14779150485992432, 0.12231004238128662, 0.09626664221286774, 0.11699998352553817, 0.11699998352553817, 0.11699998352553817, 0.11699998352553817, -0.11699998352553817, -0.11699998352553817, -0.11699998352553817, 0.11699998352553817, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394272089004517, -1.15119206905365, -1.6009825468063354, -1.8012129068374634, -0.42275241017341614, -0.00043251068564131856, -0.001019737683236599, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0379804372787476, -1.3800263404846191, 1.4596037864685059, -1.408970832824707, 0.1613631546497345, 0.13976098597049713, 0.08583317697048187, 0.46859999515198086, 0.46859999515198086, 0.46859999515198086, 0.46859999515198086, -0.46859999515198086, -0.46859999515198086, -0.46859999515198086, 0.46859999515198086, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739427089691162, -1.15119206905365, -1.6009818315505981, -1.8012131452560425, -0.42275217175483704, -0.0004379035672172904, -0.0010163821280002594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.03598153591156, -1.3812204599380493, 1.4484882354736328, -1.425815463066101, 0.15039615333080292, 0.15645824372768402, 0.062487903982400894, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394272089004517, -1.1511921882629395, -1.6009806394577026, -1.8012144565582275, -0.42275264859199524, -0.00043898215517401695, -0.0010115883778780699, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0151801109313965, -1.3879567384719849, 1.4305739402770996, -1.4064304828643799, 0.14942771196365356, 0.17769333720207214, 0.04315435513854027, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394275665283203, -1.151192307472229, -1.6009796857833862, -1.8012152910232544, -0.4227534830570221, -0.00043718452798202634, -0.0010028398828580976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9893704652786255, -1.3965296745300293, 1.423117995262146, -1.3862215280532837, 0.1703098565340042, 0.21252669394016266, 0.023247238248586655, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394274473190308, -1.1511921882629395, -1.6009793281555176, -1.801217794418335, -0.4227541983127594, -0.00043334957445040345, -0.0009943310869857669, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9673351645469666, -1.4012295007705688, 1.4183355569839478, -1.3717173337936401, 0.18325485289096832, 0.23315370082855225, 0.010285341180860996, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394274473190308, -1.151192545890808, -1.6009777784347534, -1.80121648311615, -0.42275479435920715, -0.0004236423410475254, -0.0009863016894087195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.953109622001648, -1.4040745496749878, 1.4130367040634155, -1.3628212213516235, 0.18547937273979187, 0.24400781095027924, 0.002496913308277726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394280433654785, -1.151192545890808, -1.6009767055511475, -1.8012200593948364, -0.4227551519870758, -0.00041573276394046843, -0.0009812683565542102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9334468841552734, -1.4090850353240967, 1.4069194793701172, -1.3406033515930176, 0.18553149700164795, 0.26312491297721863, -0.0064598568715155125, 0.535200001512255, 0.535200001512255, 0.535200001512255, 0.535200001512255, -0.535200001512255, -0.535200001512255, -0.535200001512255, 0.535200001512255, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394294738769531, -1.1511927843093872, -1.6009759902954102, -1.801221489906311, -0.4227546751499176, -0.0004115382907912135, -0.000976834213361144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.916681706905365, -1.4129010438919067, 1.4048770666122437, -1.3168931007385254, 0.18236897885799408, 0.27042630314826965, -0.008880071341991425, 0.39240000902951416, 0.39240000902951416, 0.39240000902951416, 0.39240000902951416, -0.39240000902951416, -0.39240000902951416, -0.39240000902951416, 0.39240000902951416, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394315004348755, -1.15119206905365, -1.6009775400161743, -1.8012208938598633, -0.42275574803352356, -0.0004093811148777604, -0.000969403947237879, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9131998419761658, -1.4142721891403198, 1.4034982919692993, -1.3125476837158203, 0.17357183992862701, 0.2678108811378479, -0.006684680934995413, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, -0.2819999912282923, -0.2819999912282923, -0.2819999912282923, 0.2819999912282923, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394318580627441, -1.1511934995651245, -1.6009774208068848, -1.801220417022705, -0.42275574803352356, -0.00040986048406921327, -0.0009703626856207848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9149855375289917, -1.4155571460723877, 1.4036035537719727, -1.31837797164917, 0.17253029346466064, 0.2688639163970947, -0.007283292710781097, 0.22140000783480132, 0.22140000783480132, 0.22140000783480132, 0.22140000783480132, -0.22140000783480132, -0.22140000783480132, -0.22140000783480132, 0.22140000783480132, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739432692527771, -1.151193618774414, -1.6009784936904907, -1.8012211322784424, -0.4227568507194519, -0.000414174806792289, -0.0009758754167705774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9147182106971741, -1.4185140132904053, 1.404231071472168, -1.3190618753433228, 0.16928209364414215, 0.2759597897529602, -0.011486280709505081, 0.18060001278971577, 0.18060001278971577, 0.18060001278971577, 0.18060001278971577, -0.18060001278971577, -0.18060001278971577, -0.18060001278971577, 0.18060001278971577, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394322156906128, -1.151193380355835, -1.600979208946228, -1.8012193441390991, -0.4227563440799713, -0.0004189684987068176, -0.0009863016894087195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.914253294467926, -1.4204400777816772, 1.404240608215332, -1.3179965019226074, 0.16577322781085968, 0.28103750944137573, -0.014874580316245556, 0.10319998866909154, 0.10319998866909154, 0.10319998866909154, 0.10319998866909154, -0.10319998866909154, -0.10319998866909154, -0.10319998866909154, 0.10319998866909154, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394325733184814, -1.1511937379837036, -1.6009806394577026, -1.8012195825576782, -0.4227563440799713, -0.00042472092900425196, -0.000993492198176682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9117882251739502, -1.4209777116775513, 1.4050153493881226, -1.317535400390625, 0.1637614369392395, 0.2938072979450226, -0.011261816136538982, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, 0.06420000149653508, -0.06420000149653508, -0.06420000149653508, -0.06420000149653508, 0.06420000149653508, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394322156906128, -1.1511937379837036, -1.6009811162948608, -1.8012175559997559, -0.42275550961494446, -0.00043191146687604487, -0.0010026003001257777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9107131958007812, -1.4214162826538086, 1.4057023525238037, -1.3184717893600464, 0.15935100615024567, 0.2932928204536438, -0.013217401690781116, 0.04980001711583399, 0.04980001711583399, 0.04980001711583399, 0.04980001711583399, -0.04980001711583399, -0.04980001711583399, -0.04980001711583399, 0.04980001711583399, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739432692527771, -1.1511934995651245, -1.6009864807128906, -1.8012135028839111, -0.4227553904056549, -0.00043502735206857324, -0.0010148241417482495, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9097901582717896, -1.4221162796020508, 1.4068831205368042, -1.3165100812911987, 0.15530729293823242, 0.29239052534103394, -0.01835707575082779, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394325733184814, -1.1511934995651245, -1.6009869575500488, -1.801213026046753, -0.4227558672428131, -0.0004367051587905735, -0.001019018585793674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9042143821716309, -1.4230221509933472, 1.406674861907959, -1.3099194765090942, 0.1573978066444397, 0.29137006402015686, -0.018184982240200043, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, -0.022800016927195133, -0.022800016927195133, -0.022800016927195133, 0.022800016927195133, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394323348999023, -1.1511934995651245, -1.600987195968628, -1.8012125492095947, -0.4227549135684967, -0.0004367051587905735, -0.001021175761707127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8985242247581482, -1.4247077703475952, 1.4057190418243408, -1.301631212234497, 0.16399429738521576, 0.2909592390060425, -0.020686211064457893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1510547223078238, -0.9885250016149514, 0.0008899722841622224, -27.30209732055664], [0.9885239890921617, 0.15105292283994565, -0.0018268800806618265, -1.295418620109558], [0.0016714837199173084, 0.0011557178157955699, 0.9999979352271205, 0.007342482451349497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739432692527771, -1.1511938571929932, -1.6009873151779175, -1.8012113571166992, -0.42275312542915344, -0.0004338289436418563, -0.0010216551600024104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8921162486076355, -1.4277069568634033, 1.4055800437927246, -1.292973279953003, 0.17715536057949066, 0.28830641508102417, -0.025121692568063736, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15015541411532507, -0.9886620040471804, 0.0008907105411761103, -27.300886154174805], [0.9886609992633418, 0.15015362022729906, -0.0018217761241541303, -1.3202418088912964], [0.001667377421499318, 0.0011541603220413404, 0.9999979438811288, 0.007322703488171101], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394322156906128, -1.1511937379837036, -1.6009865999221802, -1.8012118339538574, -0.4227522909641266, -0.000428436032962054, -0.0010228535393252969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8928693532943726, -1.4308983087539673, 1.418698787689209, -1.2973854541778564, 0.23822817206382751, 0.2973670959472656, -0.027933070436120033, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.14992065136200994, -0.9886976361625824, 0.000884613877676386, -27.300582885742188], [0.988696615758497, 0.14991886226317308, -0.0018266705807354052, -1.3267273902893066], [0.0016734045791373692, 0.0011484703903993168, 0.9999979403643174, 0.007138181012123823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739432692527771, -1.1511939764022827, -1.6009849309921265, -1.8012131452560425, -0.4227522909641266, -0.00042304315138608217, -0.0010254901135340333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.894123911857605, -1.4354690313339233, 1.4371333122253418, -1.3066080808639526, 0.3107316493988037, 0.3147939443588257, -0.03319498524069786, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.150234977414347, -0.9886499190007747, 0.0008883811525682752, -27.300994873046875], [0.988648907116884, 0.15023318418276965, -0.0018245073024547773, -1.3180404901504517], [0.0016703346674699466, 0.0011524018689664677, 0.9999979409738957, 0.007259894162416458], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7394325733184814, -1.1511942148208618, -1.6009835004806519, -1.8012139797210693, -0.4227527678012848, -0.000417170871514827, -0.0010260893031954765, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8970639705657959, -1.4434230327606201, 1.4602093696594238, -1.320621371269226, 0.42597734928131104, 0.3376467823982239, -0.058410272002220154, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15062885038299134, -0.9885899887107374, 0.0008852418891054246, -27.301530838012695], [0.9885889935303815, 0.15062707552456833, -0.001812729848373918, -1.3071705102920532], [0.0016587051834517942, 0.0011481898012971627, 0.999997965176577, 0.0072098090313375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394330501556396, -1.1511938571929932, -1.600982666015625, -1.8012140989303589, -0.42275264859199524, -0.00041369543760083616, -0.0010221345582976937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8949352502822876, -1.4475057125091553, 1.4849742650985718, -1.3301761150360107, 0.5417972207069397, 0.3663647174835205, -0.0790402740240097, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15117413394514156, -0.988506746755677, 0.0008904181290714765, -27.30224609375], [0.9885057614903192, 0.15117235202998558, -0.0018109340590479973, -1.2921205759048462], [0.0016555139324367144, 0.001153949838730926, 0.9999979638346216, 0.007381276693195105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394342422485352, -1.151194453239441, -1.6009814739227295, -1.8012160062789917, -0.4227527678012848, -0.0004133359179832041, -0.0010178202064707875, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8964384198188782, -1.4472862482070923, 1.5072741508483887, -1.3335524797439575, 0.660078763961792, 0.37901610136032104, -0.09320035576820374, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15132839510659934, -0.9884831458173525, 0.0008872820812994919, -27.302440643310547], [0.9884821350399731, 0.15132660286118338, -0.0018242733650470691, -1.2878656387329102], [0.0016689940915698817, 0.001153126846673921, 0.999997942376482, 0.00728655606508255], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394336462020874, -1.1511948108673096, -1.600977897644043, -1.8012168407440186, -0.4227527678012848, -0.00041609228355810046, -0.0010156630305573344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8974076509475708, -1.4471389055252075, 1.5227057933807373, -1.342957854270935, 0.7744446992874146, 0.3974051773548126, -0.12827986478805542, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15199020308055877, -0.9883816048266512, 0.0008839727507425735, -27.303298950195312], [0.98838055091748, 0.15198838788791724, -0.0018483818033228892, -1.2695789337158203], [0.0016925529797784452, 0.0011546374000324404, 0.9999979010362398, 0.00719925994053483], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394342422485352, -1.1511951684951782, -1.600976824760437, -1.801216721534729, -0.4227530062198639, -0.00041848912951536477, -0.0010045177768915892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8963918685913086, -1.445631504058838, 1.5389622449874878, -1.3530648946762085, 0.8897693753242493, 0.4191819429397583, -0.16956695914268494, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15259690700758344, -0.9882881121661328, 0.000889563275211773, -27.3040771484375], [0.9882870457922349, 0.1525950679770759, -0.001860201152738581, -1.252821683883667], [0.001702671717038425, 0.0011630048036241568, 0.9999978741621658, 0.007368899881839752], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.739435076713562, -1.15119469165802, -1.6009758710861206, -1.8012181520462036, -0.42275384068489075, -0.00042388204019516706, -0.0009976867586374283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8943849205970764, -1.443477749824524, 1.547878623008728, -1.3553321361541748, 1.0013405084609985, 0.42247939109802246, -0.21237748861312866, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15270008529191348, -0.9882721846000238, 0.000879259767724968, -27.30421257019043], [0.9882711075669806, 0.15269826443211576, -0.0018595665497989906, -1.2499721050262451], [0.0017034964560623893, 0.0011529029952489355, 0.9999978844550161, 0.007094056811183691], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394357919692993, -1.15119469165802, -1.600974678993225, -1.801218032836914, -0.4227541983127594, -0.00042855588253587484, -0.0009890580549836159, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8944817781448364, -1.4412496089935303, 1.552537441253662, -1.3577879667282104, 1.0960286855697632, 0.41438835859298706, -0.2499556988477707, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15324957627089275, -0.9881871187221156, 0.0008864335705878321, -27.304895401000977], [0.9881860578217733, 0.15324774725534962, -0.001855555933834548, -1.234795331954956], [0.0016977925240995854, 0.0011603244562471537, 0.9999978855716153, 0.007323600351810455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394379377365112, -1.1511950492858887, -1.6009737253189087, -1.8012185096740723, -0.4227563440799713, -0.0004328702052589506, -0.0009777928935363889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8956042528152466, -1.4374334812164307, 1.5537452697753906, -1.3577464818954468, 1.1871792078018188, 0.39383915066719055, -0.2811533808708191, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1533346925660013, -0.9881739234161079, 0.0008770040513328387, -27.304996490478516], [0.9881728950182951, 0.15333290894130258, -0.0018299144132031214, -1.2324395179748535], [0.0016738001228664417, 0.0011472209963189401, 0.9999979411364477, 0.007102701812982559], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394381761550903, -1.1511945724487305, -1.6009728908538818, -1.8012186288833618, -0.42275550961494446, -0.0004343083128333092, -0.0009787516901269555, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8985404968261719, -1.4354994297027588, 1.5493017435073853, -1.3556329011917114, 1.234696388244629, 0.3704860806465149, -0.2945556044578552, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15410920936194905, -0.9880534269385012, 0.0008815355458857895, -27.305953979492188], [0.9880523698954903, 0.1541073931571335, -0.0018508695842526525, -1.211045742034912], [0.001692906890585263, 0.0011562393335208246, 0.9999978985862238, 0.0072405398823320866], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394413948059082, -1.151194453239441, -1.600975513458252, -1.8012181520462036, -0.42275574803352356, -0.0004353869007900357, -0.0009779128013178706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8975975513458252, -1.4293996095657349, 1.5510821342468262, -1.348806381225586, 1.3276422023773193, 0.35057058930397034, -0.31100860238075256, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15388021303244914, -0.9880891177280602, 0.0008806046057538211, -27.3056697845459], [0.9880881144472959, 0.1538784366204946, -0.0018179194756392223, -1.2173649072647095], [0.0016607603907708118, 0.0011498567806600994, 0.9999979598500731, 0.007243369240313768], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394410371780396, -1.151194453239441, -1.6009751558303833, -1.8012179136276245, -0.42275527119636536, -0.00043394879321567714, -0.000978392083197832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8984478116035461, -1.424039363861084, 1.551429033279419, -1.3490136861801147, 1.3994766473770142, 0.33535072207450867, -0.331826776266098, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15410275313392285, -0.988054437061373, 0.0008779976528386798, -27.30594825744629], [0.9880534320409414, 0.15410098141659612, -0.0018174043464326047, -1.2112127542495728], [0.0016603941284434516, 0.0011475756075539705, 0.999997963078707, 0.007184318266808987], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394417524337769, -1.1511940956115723, -1.6009782552719116, -1.8012162446975708, -0.422755628824234, -0.00043191146687604487, -0.0009804294677451253, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8988838791847229, -1.4167355298995972, 1.5520291328430176, -1.3473423719406128, 1.4571138620376587, 0.32988208532333374, -0.34147968888282776, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15406357914301405, -0.9880605504437808, 0.0008730626420282872, -27.305891036987305], [0.98805954022061, 0.15406181601833613, -0.0018170922290643462, -1.2123010158538818], [0.0016608915319277905, 0.0011425856051088712, 0.9999979679666625, 0.00704791909083724], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394410371780396, -1.1511942148208618, -1.600977897644043, -1.8012162446975708, -0.4227565824985504, -0.0004278368433006108, -0.0009876199765130877, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8989471197128296, -1.4106636047363281, 1.5511395931243896, -1.3464562892913818, 1.500304102897644, 0.32012441754341125, -0.34987369179725647, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15437508141717882, -0.9880119286331466, 0.0008735651373682708, -27.306272506713867], [0.9880109202855349, 0.15437331765293405, -0.0018166434312342351, -1.2036820650100708], [0.001660010231690993, 0.001143536372903353, 0.9999979683432334, 0.007078027818351984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394413948059082, -1.1511942148208618, -1.6009807586669922, -1.8012135028839111, -0.42275622487068176, -0.00042112567462027073, -0.0009906160412356257, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8989545106887817, -1.406261920928955, 1.5517055988311768, -1.3459241390228271, 1.5598576068878174, 0.30713939666748047, -0.36586520075798035, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15477060446027513, -0.9879500445456089, 0.0008771985695554825, -27.306758880615234], [0.9879490261752337, 0.15476882398105973, -0.0018255965948102504, -1.1927518844604492], [0.0016678352461571289, 0.0011491761610340492, 0.9999979488577677, 0.007187070790678263], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394407987594604, -1.1511943340301514, -1.6009821891784668, -1.8012136220932007, -0.42275503277778625, -0.0004165716527495533, -0.0009998439345508814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8983408212661743, -1.399575114250183, 1.5541532039642334, -1.3381168842315674, 1.6202770471572876, 0.30042654275894165, -0.36776554584503174, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15465741741501704, -0.9879677743635416, 0.0008718128625481799, -27.30661392211914], [0.987966757061202, 0.15465565114588176, -0.00182112893975114, -1.1958833932876587], [0.0016643859195002264, 0.001142973225177628, 0.9999979617137814, 0.007039264310151339], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394403219223022, -1.1511939764022827, -1.6009840965270996, -1.8012113571166992, -0.42275384068489075, -0.00041273669921793044, -0.001010629697702825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8957757353782654, -1.3928674459457397, 1.5565818548202515, -1.3295929431915283, 1.6706207990646362, 0.29839736223220825, -0.3724096715450287, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1547141437470544, -0.9879588845013441, 0.0008810558868322992, -27.30668830871582], [0.9879578750527119, 0.1547123600651097, -0.0018228451425614147, -1.1943269968032837], [0.0016645858180625854, 0.0011524660271723874, 0.999997950485955, 0.0072928424924612045], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739440679550171, -1.1511943340301514, -1.600986361503601, -1.8012096881866455, -0.42275312542915344, -0.00041285654879175127, -0.0010154233314096928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8919024467468262, -1.386659860610962, 1.5575051307678223, -1.3190335035324097, 1.7175323963165283, 0.29811084270477295, -0.37562096118927, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1547830597455323, -0.9879480952122667, 0.0008749755797677429, -27.3067684173584], [0.9879470666544087, 0.154781277701611, -0.0018301808670318383, -1.192421317100525], [0.0016726938632838802, 0.0011477105519127012, 0.9999979424257476, 0.007121286820620298], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394403219223022, -1.1511942148208618, -1.6009857654571533, -1.8012105226516724, -0.4227527678012848, -0.00041513354517519474, -0.0010193781927227974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8911619186401367, -1.3800373077392578, 1.556452989578247, -1.3136521577835083, 1.7494065761566162, 0.2971120774745941, -0.3751163184642792, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15484653752632804, -0.9879381441760327, 0.0008792599864889125, -27.30685043334961], [0.9879371218635297, 0.1548447490813437, -0.0018294605601089065, -1.190661907196045], [0.001671245078612097, 0.001151939213695463, 0.9999979399858457, 0.00724276015534997], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394487857818604, -1.1511956453323364, -1.6009942293167114, -1.8012090921401978, -0.4227525293827057, -0.0004187288286630064, -0.0010160226374864578, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8867865204811096, -1.372106909751892, 1.5570110082626343, -1.3029849529266357, 1.8015997409820557, 0.29708486795425415, -0.3808864653110504, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1546849806517906, -0.987963459944083, 0.0008709627269031967, -27.3066463470459], [0.9879624549987225, 0.15468322489816244, -0.0018131320971163875, -1.1951162815093994], [0.0016565849366392933, 0.001140942777245253, 0.9999979769859171, 0.007027089595794678], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6089746952056885, -0.8128019571304321, 0.0, 0.0, 1.7394448518753052, -1.1511924266815186, -1.600996494293213, -1.8011987209320068, -0.4227520525455475, -0.0004249606281518936, -0.0010235726367682219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8865581154823303, -1.365267276763916, 1.5581326484680176, -1.2957947254180908, 1.8450335264205933, 0.299667090177536, -0.38396281003952026, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15396198435246589, -0.9880763796689456, 0.0008805194833651586, -27.305770874023438], [0.9880754054099847, 0.15396022814205423, -0.001800381720812263, -1.2151132822036743], [0.0016433496721799036, 0.0011472099878255828, 0.9999979916535326, 0.007266609463840723], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6090705394744873, -0.8128019571304321, 0.0, 0.0, 1.7394449710845947, -1.1511929035186768, -1.6009924411773682, -1.8012064695358276, -0.42275121808052063, -0.0004329900548327714, -0.0010259695118293166, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8865604400634766, -1.3593615293502808, 1.5555442571640015, -1.2936636209487915, 1.858924150466919, 0.2995595932006836, -0.3820160925388336, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15408847092018874, -0.9880566625104698, 0.00088022619227881, -27.30592155456543], [0.9880556629698891, 0.1540866975584506, -0.0018156289993405375, -1.2116172313690186], [0.001658313182372944, 0.0011494799702422365, 0.9999979643445216, 0.007246644236147404], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6089746952056885, -0.8128019571304321, 0.0, 0.0, 1.7394455671310425, -1.1511931419372559, -1.6009917259216309, -1.8012068271636963, -0.42274951934814453, -0.00043442816240713, -0.001025610021315515, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8870382308959961, -1.3536094427108765, 1.55325186252594, -1.291878581047058, 1.8777098655700684, 0.30044978857040405, -0.3827085494995117, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1540800988025044, -0.9880579786566037, 0.0008683121771472461, -27.305906295776367], [0.9880569953002032, 0.15407836574083156, -0.001797567514418966, -1.211844801902771], [0.0016423128035878678, 0.0011349113009605323, 0.9999980073905118, 0.0069426847621798515], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6089746952056885, -0.8128019571304321, 0.0, 0.0, 1.7394448518753052, -1.151193380355835, -1.6009877920150757, -1.8012089729309082, -0.42274999618530273, -0.0004362257895991206, -0.0010235726367682219, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8858737349510193, -1.3493096828460693, 1.5491596460342407, -1.2889138460159302, 1.880130410194397, 0.300777792930603, -0.3795999586582184, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1540926412498812, -0.9880560113824144, 0.0008810696396984371, -27.30592155456543], [0.9880550429490326, 0.15409088747578814, -0.0017973591486966736, -1.2114989757537842], [0.0016401267087738217, 0.0011475051191906364, 0.9999979966061835, 0.007291736546903849], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6089746952056885, -0.8127061128616333, 0.0, 0.0, 1.739445686340332, -1.1511930227279663, -1.6009879112243652, -1.8012104034423828, -0.42275145649909973, -0.0004386226355563849, -0.0010163821280002594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8857352137565613, -1.3441054821014404, 1.5437836647033691, -1.284186840057373, 1.8882620334625244, 0.300575852394104, -0.368595689535141, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1539124455262828, -0.9880840978268965, 0.0008801895973383739, -27.305700302124023], [0.9880831466861599, 0.15391070641980853, -0.0017859686817855663, -1.216475486755371], [0.0016292166509794665, 0.001144583314465493, 0.9999980177891056, 0.007272681687027216], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739445686340332, -1.151193380355835, -1.6009845733642578, -1.8012113571166992, -0.4227508306503296, -0.0004369448288343847, -0.00101146858651191, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8868945240974426, -1.3395875692367554, 1.5395785570144653, -1.2865711450576782, 1.885802149772644, 0.30057287216186523, -0.366453617811203, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15403306232895264, -0.9880653125205683, 0.0008682759910243972, -27.305856704711914], [0.988064363644584, 0.15403135340200624, -0.0017763627921042375, -1.2131474018096924], [0.0016214207313064268, 0.0011315311652144158, 0.9999980453141067, 0.00696501275524497], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394458055496216, -1.151193380355835, -1.6009833812713623, -1.8012118339538574, -0.42275193333625793, -0.00043418846325948834, -0.0010063153458759189, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8875192403793335, -1.3354716300964355, 1.535670518875122, -1.2907253503799438, 1.8866838216781616, 0.2998250424861908, -0.3701786994934082, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15389388076898025, -0.9880869935777199, 0.0008755480601816343, -27.305688858032227], [0.988086076306025, 0.15389217682032252, -0.0017617388191129401, -1.21699059009552], [0.0016060112163543052, 0.0011362376711768734, 0.9999980648440914, 0.007174334488809109], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394462823867798, -1.1511930227279663, -1.6009812355041504, -1.8012118339538574, -0.4227518141269684, -0.00042975429096259177, -0.0009998439345508814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8874719142913818, -1.3325588703155518, 1.5326051712036133, -1.291246771812439, 1.8895097970962524, 0.29912444949150085, -0.368904173374176, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15394826512083482, -0.9880785220419345, 0.0008751832445776042, -27.305744171142578], [0.9880776146477288, 0.15394656893202918, -0.001755376344336734, -1.2154884338378906], [0.0015997182062500908, 0.0011349861155266923, 0.9999980763522389, 0.007175068836659193], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394543886184692, -1.151189923286438, -1.6009849309921265, -1.8012126684188843, -0.4227527678012848, -0.0004170510219410062, -0.0009480720036663115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8828494548797607, -1.3222397565841675, 1.53806471824646, -1.2933733463287354, 1.887560486793518, 0.28640201687812805, -0.35977840423583984, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1531600335439124, -0.988201012377824, 0.0008736476814423197, -27.30477523803711], [0.9882001358649926, 0.15315836468972532, -0.0017340132581004381, -1.2372665405273438], [0.0015797472069267464, 0.0011289202862756879, 0.999998114967098, 0.007119528483599424], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6089746952056885, -0.8127061128616333, 0.0, 0.0, 1.7394615411758423, -1.1511858701705933, -1.600985050201416, -1.8012127876281738, -0.422753244638443, -0.00041345576755702496, -0.0009399227565154433, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8668478727340698, -1.3031214475631714, 1.5484004020690918, -1.2950650453567505, 1.8854732513427734, 0.2729227542877197, -0.35298049449920654, 0.09120000168517395, 0.09120000168517395, 0.09120000168517395, 0.09120000168517395, -0.09120000168517395, -0.09120000168517395, -0.09120000168517395, 0.09120000168517395, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15051286181240475, -0.9886076626522329, 0.0008762273269817606, -27.30135726928711], [0.9886068631296309, 0.1505112478915691, -0.0016835768808926082, -1.3103636503219604], [0.0015325149366938594, 0.0011196443235402483, 0.9999981988956568, 0.00712693203240633], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6089746952056885, -0.8127061128616333, 0.0, 0.0, 1.7394511699676514, -1.151188850402832, -1.6009758710861206, -1.801218867301941, -0.42275431752204895, -0.0004120176599826664, -0.0009652094449847937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8633607029914856, -1.295745611190796, 1.5492769479751587, -1.3023368120193481, 1.8827006816864014, 0.2700132131576538, -0.3500269651412964, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15049865895000114, -0.9886098226543311, 0.0008787523105475651, -27.301347732543945], [0.9886090360162799, 0.1504970485645858, -0.001676985483042473, -1.310765266418457], [0.0015256346918277879, 0.001121126540904019, 0.9999982077554271, 0.007203848101198673], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6089746952056885, -0.8127061128616333, 0.0, 0.0, 1.7394548654556274, -1.151187539100647, -1.600977897644043, -1.8012211322784424, -0.4227563440799713, -0.0004105795524083078, -0.0009774334030225873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8789288401603699, -1.2992457151412964, 1.5484652519226074, -1.3226547241210938, 1.875106692314148, 0.2758418619632721, -0.3519306778907776, 0.2693999950702374, 0.2693999950702374, 0.2693999950702374, 0.2693999950702374, -0.2693999950702374, -0.2693999950702374, -0.2693999950702374, 0.2693999950702374, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15187490335710008, -0.9883993215475566, 0.0008915686184308764, -27.303136825561523], [0.9883985283755248, 0.1518732550715297, -0.0016921876595659016, -1.2727586030960083], [0.001537151706445361, 0.0011382259476615268, 0.9999981708014888, 0.00760035403072834], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6089746952056885, -0.8126102685928345, 0.0, 0.0, 1.7394521236419678, -1.1511865854263306, -1.6009782552719116, -1.80121648311615, -0.42275527119636536, -0.0004163319827057421, -0.0009655689937062562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.903748631477356, -1.30141019821167, 1.5512526035308838, -1.3434699773788452, 1.8644262552261353, 0.2812744379043579, -0.3558785021305084, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, -0.5358000008614509, -0.5358000008614509, -0.5358000008614509, 0.5358000008614509, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15162705735982085, -0.9884373838830437, 0.0008795560506194814, -27.302818298339844], [0.9884365823313243, 0.15162543187537225, -0.0016885253263943893, -1.2796123027801514], [0.001535638490207757, 0.0011254115031618698, 0.9999981876300457, 0.0072652194648981094], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394521236419678, -1.1511873006820679, -1.6009783744812012, -1.8012149333953857, -0.42275550961494446, -0.00041932801832444966, -0.0009738380904309452, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9351661801338196, -1.2978233098983765, 1.5615423917770386, -1.3762519359588623, 1.8341633081436157, 0.29254835844039917, -0.35967811942100525, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1515775138910872, -0.9884449770876648, 0.0008857498308942594, -27.30275535583496], [0.9884441731382687, 0.15157587208849488, -0.0016945765301188687, -1.2809771299362183], [0.0015407373564166058, 0.0011323739567392407, 0.9999981719271394, 0.00742340786382556], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394523620605469, -1.1511869430541992, -1.6009811162948608, -1.8012131452560425, -0.42275431752204895, -0.00042304315138608217, -0.0009771937038749456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9642172455787659, -1.2872283458709717, 1.5681501626968384, -1.4172756671905518, 1.7508145570755005, 0.31997138261795044, -0.34563368558883667, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15147965131587726, -0.9884599861041724, 0.0008781276443687069, -27.30261993408203], [0.9884592005335328, 0.15147804122808584, -0.0016768739701412628, -1.2836717367172241], [0.0015245057657070759, 0.0011220056336167556, 0.9999982084911595, 0.007233581505715847], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739452838897705, -1.1511878967285156, -1.6009796857833862, -1.8012146949768066, -0.4227541983127594, -0.00043191146687604487, -0.0009984057396650314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9663406014442444, -1.2827235460281372, 1.5690211057662964, -1.4211831092834473, 1.7215335369110107, 0.3297528922557831, -0.3382232189178467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15107211309515012, -0.9885223530824695, 0.0008798302470660553, -27.30209732055664], [0.9885215547951269, 0.15107049047399235, -0.0016860051518962217, -1.2949241399765015], [0.0015337373931034967, 0.0011244395247717895, 0.999998191641047, 0.007248747628182173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394522428512573, -1.1511884927749634, -1.6009808778762817, -1.8012127876281738, -0.4227541983127594, -0.0004352670512162149, -0.001009191619232297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9642742872238159, -1.283033013343811, 1.569186806678772, -1.4188944101333618, 1.736884593963623, 0.32907697558403015, -0.33882614970207214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.151491792344723, -0.9884581201842363, 0.000884021509519612, -27.302644729614258], [0.9884572680229601, 0.15149011969834625, -0.0017242176099795338, -1.2833452224731445], [0.001570396373255888, 0.001135022302301423, 0.9999981227880401, 0.00733419181779027], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394533157348633, -1.1511880159378052, -1.6009821891784668, -1.8012133836746216, -0.4227537214756012, -0.0004376638971734792, -0.0010147043503820896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9637317061424255, -1.2836793661117554, 1.568904995918274, -1.418835997581482, 1.7377794981002808, 0.329006165266037, -0.33905506134033203, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513041702002239, -0.9884868697862196, 0.0008696782527132377, -27.302392959594727], [0.9884860446511209, 0.15130255147893112, -0.0016963036131168927, -1.2885240316390991], [0.00154518931013572, 0.0011163226267338995, 0.9999981831052439, 0.00696899089962244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739452600479126, -1.1511883735656738, -1.6009818315505981, -1.8012127876281738, -0.42275193333625793, -0.0004391020047478378, -0.0010228535393252969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9637550115585327, -1.2837108373641968, 1.5685118436813354, -1.41847825050354, 1.737777829170227, 0.32898133993148804, -0.3391246795654297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15141430681534018, -0.9884699993068681, 0.0008764484642284291, -27.30254364013672], [0.9884691922892089, 0.15141268509094186, -0.0016895823951910516, -1.2854773998260498], [0.0015373960936907365, 0.0011221692526942482, 0.9999981885730691, 0.007168457377701998], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394530773162842, -1.1511881351470947, -1.6009830236434937, -1.8012133836746216, -0.4227513372898102, -0.0004356265708338469, -0.0010247710160911083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.965234637260437, -1.2836533784866333, 1.5687150955200195, -1.420291543006897, 1.7363319396972656, 0.33723583817481995, -0.34810277819633484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15139148853573536, -0.9884734960329308, 0.0008745509532578966, -27.302509307861328], [0.9884726969858424, 0.15138987714387087, -0.0016829770939438163, -1.2861164808273315], [0.001531180090424218, 0.0011192581468420732, 0.9999982013727482, 0.0071240379475057125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394527196884155, -1.1511883735656738, -1.6009818315505981, -1.8012140989303589, -0.4227515757083893, -0.0004305932088755071, -0.0010268084006384015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.957962691783905, -1.2828518152236938, 1.5631102323532104, -1.4109872579574585, 1.7355152368545532, 0.3805886507034302, -0.3486756384372711, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15117840112741365, -0.9885061026360167, 0.0008809562486052426, -27.302236557006836], [0.9885053208153368, 0.15117678775160814, -0.0016761756689635048, -1.2919950485229492], [0.0015237297420465843, 0.001124231496794377, 0.9999982071740003, 0.007297511212527752], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8125143647193909, 0.0, 0.0, 1.7394535541534424, -1.151188611984253, -1.6009814739227295, -1.801216721534729, -0.4227510690689087, -0.000425080448621884, -0.0010274075902998447, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9347119331359863, -1.2827844619750977, 1.5478506088256836, -1.3796353340148926, 1.7381094694137573, 0.40831559896469116, -0.3412224054336548, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15143000718035382, -0.9884676008748262, 0.0008688763565989392, -27.30255889892578], [0.9884667930997257, 0.15142840266437474, -0.001684578778182328, -1.2850470542907715], [0.001533578984561913, 0.0011139512022835488, 0.999998203622495, 0.006969053763896227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.739453673362732, -1.151188611984253, -1.6009809970855713, -1.8012160062789917, -0.4227508306503296, -0.0004144145059399307, -0.0010268084006384015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.909372866153717, -1.2852569818496704, 1.536335825920105, -1.350582242012024, 1.7319377660751343, 0.41659730672836304, -0.33922404050827026, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15148716128391604, -0.9884588439103305, 0.0008682520336291236, -27.302629470825195], [0.9884580414337332, 0.15148556196712581, -0.001680726180084099, -1.2834653854370117], [0.0015298010096523463, 0.0011128391425483993, 0.999998210647356, 0.0069595579989254475], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8125143647193909, 0.0, 0.0, 1.7394556999206543, -1.1511876583099365, -1.6009800434112549, -1.8012144565582275, -0.42275121808052063, -0.0004117779608350247, -0.0010130265727639198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8846023082733154, -1.287529468536377, 1.5321357250213623, -1.3156157732009888, 1.751627802848816, 0.42464208602905273, -0.33761587738990784, 0.5567999977331894, 0.5567999977331894, 0.5567999977331894, 0.5567999977331894, -0.5567999977331894, -0.5567999977331894, -0.5567999977331894, 0.5567999977331894, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513807176934734, -0.9884751482056251, 0.0008716022466016305, -27.30250358581543], [0.9884743255088998, 0.15137909605391764, -0.0016961979908408412, -1.2864139080047607], [0.0015447072001733657, 0.0011183281120253027, 0.9999981816092965, 0.007025782950222492], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394579648971558, -1.1511905193328857, -1.600977897644043, -1.801222324371338, -0.42275193333625793, -0.0004027897957712412, -0.001022733747959137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8706021308898926, -1.288760781288147, 1.5229328870773315, -1.2977889776229858, 1.7600985765457153, 0.4255090057849884, -0.34213966131210327, 0.3396000073506282, 0.3396000073506282, 0.3396000073506282, 0.3396000073506282, -0.3396000073506282, -0.3396000073506282, -0.3396000073506282, 0.3396000073506282, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15129658186830885, -0.9884880208972305, 0.0008813952815206034, -27.302379608154297], [0.9884871796173346, 0.15129492376305043, -0.0017151605463659294, -1.288728952407837], [0.0015620650220754982, 0.001130745863978874, 0.9999981406816004, 0.007264882326126099], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394604682922363, -1.1511918306350708, -1.6009782552719116, -1.8012256622314453, -0.4227518141269684, -0.00040686444845050573, -0.0010115883778780699, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8643423318862915, -1.2915942668914795, 1.5190982818603516, -1.281512975692749, 1.7717636823654175, 0.431504487991333, -0.3435336649417877, 0.27059999376862914, 0.27059999376862914, 0.27059999376862914, 0.27059999376862914, -0.27059999376862914, -0.27059999376862914, -0.27059999376862914, 0.27059999376862914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15149771159639114, -0.9884572222015465, 0.0008736467587563038, -27.302654266357422], [0.988456371465917, 0.1514960646656257, -0.0017158377724478895, -1.283173680305481], [0.001563678192442871, 0.00112350720109972, 0.9999981463193217, 0.007061722222715616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394591569900513, -1.151190996170044, -1.6009763479232788, -1.8012232780456543, -0.42275264859199524, -0.0004106994019821286, -0.0010057161562144756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.864361584186554, -1.293925166130066, 1.5189344882965088, -1.27851140499115, 1.774978518486023, 0.4317699372768402, -0.34597402811050415, 0.21480000516870518, 0.21480000516870518, 0.21480000516870518, 0.21480000516870518, -0.21480000516870518, -0.21480000516870518, -0.21480000516870518, 0.21480000516870518, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513381872427506, -0.9884816658814276, 0.0008656202145714583, -27.302448272705078], [0.9884808027748105, 0.15133655078341157, -0.001717830796661778, -1.2875792980194092], [0.001567044270025013, 0.0011156223633542626, 0.9999981498777876, 0.006832446437329054], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394596338272095, -1.151190996170044, -1.6009752750396729, -1.8012224435806274, -0.4227537214756012, -0.00042148519423790276, -0.0009849834023043513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8654049634933472, -1.2943674325942993, 1.5204435586929321, -1.279629111289978, 1.7810580730438232, 0.42900168895721436, -0.3527355194091797, 0.167999996981778, 0.167999996981778, 0.167999996981778, 0.167999996981778, -0.167999996981778, -0.167999996981778, -0.167999996981778, 0.167999996981778, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394591569900513, -1.151190996170044, -1.6009747982025146, -1.801220417022705, -0.42275407910346985, -0.0004320313164498657, -0.000977673102170229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8660941123962402, -1.2947102785110474, 1.525558352470398, -1.275915503501892, 1.7993628978729248, 0.4317895770072937, -0.3565564453601837, 0.09960001222379919, 0.09960001222379919, 0.09960001222379919, 0.09960001222379919, -0.09960001222379919, -0.09960001222379919, -0.09960001222379919, 0.09960001222379919, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394596338272095, -1.1511902809143066, -1.6009739637374878, -1.801217794418335, -0.42275503277778625, -0.00044856953900307417, -0.0009623332880437374, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8645936250686646, -1.294798731803894, 1.530721664428711, -1.2652678489685059, 1.8109049797058105, 0.43196263909339905, -0.3560151159763336, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394585609436035, -1.151189923286438, -1.6009739637374878, -1.80121648311615, -0.42275479435920715, -0.00045060686534270644, -0.0009654491441324353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8642144799232483, -1.2948038578033447, 1.5316448211669922, -1.2636126279830933, 1.815272331237793, 0.4328708052635193, -0.35325637459754944, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394591569900513, -1.1511895656585693, -1.600974202156067, -1.8012158870697021, -0.4227551519870758, -0.00044880920904688537, -0.0009662880329415202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8641130924224854, -1.2946006059646606, 1.5317649841308594, -1.2599760293960571, 1.8264524936676025, 0.4329083263874054, -0.352631151676178, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394589185714722, -1.1511895656585693, -1.600974678993225, -1.8012146949768066, -0.4227549135684967, -0.00044533380423672497, -0.0009671269217506051, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8632549047470093, -1.2943779230117798, 1.5335832834243774, -1.2544763088226318, 1.8443247079849243, 0.4309327006340027, -0.35286784172058105, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394591569900513, -1.1511895656585693, -1.6009756326675415, -1.8012135028839111, -0.42275479435920715, -0.0004382631159387529, -0.0009680856601335108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8612626791000366, -1.294419765472412, 1.5368592739105225, -1.2474250793457031, 1.8744909763336182, 0.43007081747055054, -0.35912251472473145, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394585609436035, -1.1511892080307007, -1.6009771823883057, -1.8012126684188843, -0.4227546751499176, -0.00042939477134495974, -0.0009747968288138509, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8609786033630371, -1.2948095798492432, 1.5401527881622314, -1.2451421022415161, 1.901698112487793, 0.423657089471817, -0.3675735592842102, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394593954086304, -1.1511892080307007, -1.6009782552719116, -1.8012115955352783, -0.42275479435920715, -0.0004210058250464499, -0.0009839048143476248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8627023696899414, -1.29530930519104, 1.5392802953720093, -1.246425747871399, 1.905522346496582, 0.41958868503570557, -0.36761465668678284, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394591569900513, -1.1511894464492798, -1.600978970527649, -1.8012114763259888, -0.42275384068489075, -0.0004133359179832041, -0.0009969676611945033, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8689017295837402, -1.294739842414856, 1.5423120260238647, -1.2548537254333496, 1.9107587337493896, 0.41889384388923645, -0.37149420380592346, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.73945951461792, -1.1511894464492798, -1.6009801626205444, -1.8012117147445679, -0.4227530062198639, -0.0004081827064510435, -0.0010087122209370136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8796441555023193, -1.2939419746398926, 1.5489171743392944, -1.2695285081863403, 1.920358419418335, 0.41887179017066956, -0.37911269068717957, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.73945951461792, -1.1511892080307007, -1.6009818315505981, -1.801212191581726, -0.42275217175483704, -0.00040638507925905287, -0.0010180599056184292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8978770971298218, -1.2922786474227905, 1.5564332008361816, -1.297568917274475, 1.9268525838851929, 0.41708052158355713, -0.390252023935318, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739459753036499, -1.151188611984253, -1.6009821891784668, -1.8012127876281738, -0.42275169491767883, -0.00040782318683341146, -0.001022733747959137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9248184561729431, -1.288432002067566, 1.5673236846923828, -1.341119647026062, 1.9356733560562134, 0.41325393319129944, -0.40902793407440186, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394596338272095, -1.1511887311935425, -1.60098135471344, -1.801213264465332, -0.4227518141269684, -0.00041357558802701533, -0.0010268084006384015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9496265649795532, -1.2849929332733154, 1.5781853199005127, -1.376017689704895, 1.9441478252410889, 0.4123140275478363, -0.42143186926841736, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739459753036499, -1.151188611984253, -1.6009819507598877, -1.8012144565582275, -0.4227510690689087, -0.00042064630542881787, -0.0010266884928569198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9716728329658508, -1.2824440002441406, 1.5886144638061523, -1.4074877500534058, 1.9503395557403564, 0.4111986458301544, -0.4342995584011078, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394593954086304, -1.151188611984253, -1.6009814739227295, -1.8012151718139648, -0.4227501153945923, -0.0004296344704926014, -0.0010260893031954765, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9894976615905762, -1.2792314291000366, 1.598625659942627, -1.4313642978668213, 1.958391785621643, 0.410686194896698, -0.4430563151836395, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739459753036499, -1.1511883735656738, -1.6009811162948608, -1.8012157678604126, -0.42275094985961914, -0.00043358924449421465, -0.0010251306230202317, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0137556791305542, -1.2757568359375, 1.6114161014556885, -1.4639456272125244, 1.9690055847167969, 0.4112206995487213, -0.4547007977962494, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15133325492952987, -0.9884824169259513, 0.0008702761996859288, -27.302444458007812], [0.9884815668954852, 0.1513316168221447, -0.0017127924107163686, -1.2877154350280762], [0.0015613648774570393, 0.0011194544320296993, 0.999998154479044, 0.006965896114706993], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.73945951461792, -1.1511883735656738, -1.6009795665740967, -1.8012168407440186, -0.4227518141269684, -0.00043718452798202634, -0.0010263290023431182, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.04154634475708, -1.2708611488342285, 1.6257284879684448, -1.5020008087158203, 1.9784568548202515, 0.41063815355300903, -0.4699334502220154, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15179142446874838, -0.988412167930091, 0.0008658784475643684, -27.30303192138672], [0.9884113224406035, 0.15178979905750223, -0.0017072121428307805, -1.2750684022903442], [0.0015559977396479303, 0.0011149842244605427, 0.9999981678389283, 0.00687482999637723], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394591569900513, -1.1511880159378052, -1.6009799242019653, -1.8012168407440186, -0.42275193333625793, -0.00043958137393929064, -0.0010215353686362505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.068916916847229, -1.2661535739898682, 1.6412476301193237, -1.537902593612671, 1.9898681640625, 0.4105573892593384, -0.48294270038604736, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15186445199745124, -0.9884009453552768, 0.0008714587248134651, -27.303125381469727], [0.988400114702271, 0.151862823961758, -0.0017017505391740987, -1.2730509042739868], [0.0015496696587622458, 0.0011197853166319653, 0.9999981723007264, 0.0070377434603869915], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394596338272095, -1.1511881351470947, -1.6009790897369385, -1.8012175559997559, -0.42275264859199524, -0.00044042026274837554, -0.0010175805073231459, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1004879474639893, -1.261849284172058, 1.658736228942871, -1.5785796642303467, 1.9986634254455566, 0.4098163843154907, -0.49598428606987, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1518422962647853, -0.9884043459053352, 0.0008752488124603024, -27.3030948638916], [0.9884035568204375, 0.15184068963276065, -0.0016774494198023495, -1.2736639976501465], [0.0015250999132847979, 0.0011198068111094475, 0.9999982100498782, 0.007171523757278919], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394596338272095, -1.1511880159378052, -1.6009786128997803, -1.8012173175811768, -0.4227534830570221, -0.00043742419802583754, -0.0010117082856595516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.134751558303833, -1.2559430599212646, 1.6776740550994873, -1.6252857446670532, 2.0060698986053467, 0.40942415595054626, -0.5118136405944824, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15189659659937826, -0.9883960242079181, 0.0008504537063200762, -27.30316925048828], [0.9883951993676471, 0.15189502178854142, -0.0016829209273192432, -1.272154450416565], [0.0015342126693670085, 0.0010962143218168489, 0.9999982222512427, 0.0064898403361439705], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.739459753036499, -1.1511882543563843, -1.6009782552719116, -1.8012155294418335, -0.4227539598941803, -0.00043334957445040345, -0.0010043978691101074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1706886291503906, -1.2508485317230225, 1.7001779079437256, -1.6689938306808472, 2.0149142742156982, 0.4084414541721344, -0.5248206257820129, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15179441323894827, -0.9884117079657395, 0.0008669865587346833, -27.30302619934082], [0.9884109190362385, 0.15179282614493184, -0.0016712453060976529, -1.2749849557876587], [0.0015202760874496997, 0.0011106246819284538, 0.9999982276351462, 0.00695156492292881], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394602298736572, -1.1511883735656738, -1.600975513458252, -1.801216721534729, -0.4227546751499176, -0.00042687810491770506, -0.0009984057396650314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1975795030593872, -1.2476353645324707, 1.7165812253952026, -1.6975798606872559, 2.021364450454712, 0.40383458137512207, -0.5287792086601257, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1517542178258645, -0.9884178791245528, 0.0008681007896460419, -27.302976608276367], [0.9884170992947096, 0.15175263487410717, -0.001666022388316848, -1.276090383529663], [0.001514989733469081, 0.0011108715888167896, 0.9999982353836534, 0.006986584980040789], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394605875015259, -1.1511880159378052, -1.6009751558303833, -1.801214337348938, -0.4227546751499176, -0.0004126168496441096, -0.0009839048143476248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2256125211715698, -1.2451250553131104, 1.7359014749526978, -1.7304784059524536, 2.0251896381378174, 0.4002282917499542, -0.5368550419807434, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15194440248431806, -0.9883886555891847, 0.0008741031333282971, -27.3032283782959], [0.9883878845316323, 0.15194281160716638, -0.0016648459369123234, -1.2708455324172974], [0.0015127011496353527, 0.0011169169679254144, 0.9999982321142966, 0.00716090202331543], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394607067108154, -1.1511882543563843, -1.6009759902954102, -1.8012135028839111, -0.4227549135684967, -0.00040806285687722266, -0.000976834213361144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2566059827804565, -1.2418512105941772, 1.7611411809921265, -1.7629450559616089, 2.0364112854003906, 0.3996783494949341, -0.5453759431838989, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1518487914270683, -0.9884033634594734, 0.0008576969970014477, -27.303102493286133], [0.9884025922876817, 0.1518472387448776, -0.001652768751795219, -1.273482322692871], [0.001503363272620667, 0.001098720872702119, 0.9999982663541545, 0.006724095903337002], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394611835479736, -1.151188611984253, -1.6009759902954102, -1.8012124300003052, -0.4227553904056549, -0.00040746363811194897, -0.000976834213361144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.289090871810913, -1.2381943464279175, 1.7853552103042603, -1.7977244853973389, 2.0482633113861084, 0.3947323262691498, -0.554273784160614, 0.02399999597570399, 0.02399999597570399, 0.02399999597570399, 0.02399999597570399, -0.02399999597570399, -0.02399999597570399, -0.02399999597570399, 0.02399999597570399, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15185991625054573, -0.9884016497771941, 0.000862875482486958, -27.303123474121094], [0.9884008751131803, 0.15185834901924733, -0.0016588877743484102, -1.2731763124465942], [0.0015086125667815305, 0.0011047854404854208, 0.9999982517670988, 0.0068579306825995445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394620180130005, -1.1511880159378052, -1.6009773015975952, -1.8012105226516724, -0.42275550961494446, -0.00040866207564249635, -0.0009757555671967566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3188551664352417, -1.2344319820404053, 1.812598705291748, -1.830679178237915, 2.0546834468841553, 0.3883400559425354, -0.5630675554275513, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, -0.03299999603858363, -0.03299999603858363, -0.03299999603858363, 0.03299999603858363, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15185991625054573, -0.9884016497771941, 0.000862875482486958, -27.303123474121094], [0.9884008751131803, 0.15185834901924733, -0.0016588877743484102, -1.2731763124465942], [0.0015086125667815305, 0.0011047854404854208, 0.9999982517670988, 0.0068579306825995445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394615411758423, -1.1511882543563843, -1.6009774208068848, -1.8012105226516724, -0.42275503277778625, -0.0004139351367484778, -0.0009770739125087857, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3452600240707397, -1.231011152267456, 1.8338360786437988, -1.8604111671447754, 2.058316230773926, 0.3820941150188446, -0.5702763199806213, 0.045600011846521404, 0.045600011846521404, 0.045600011846521404, 0.045600011846521404, -0.045600011846521404, -0.045600011846521404, -0.045600011846521404, 0.045600011846521404, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15185991625054573, -0.9884016497771941, 0.000862875482486958, -27.303123474121094], [0.9884008751131803, 0.15185834901924733, -0.0016588877743484102, -1.2731763124465942], [0.0015086125667815305, 0.0011047854404854208, 0.9999982517670988, 0.0068579306825995445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739466667175293, -1.151188850402832, -1.6009783744812012, -1.8012099266052246, -0.4227541983127594, -0.0004225637821946293, -0.0009849834023043513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3664581775665283, -1.230539321899414, 1.8547159433364868, -1.8839905261993408, 2.067131757736206, 0.37888702750205994, -0.5758598446846008, 0.11100000968346233, 0.11100000968346233, 0.11100000968346233, 0.11100000968346233, -0.11100000968346233, -0.11100000968346233, -0.11100000968346233, 0.11100000968346233, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15185991625054573, -0.9884016497771941, 0.000862875482486958, -27.303123474121094], [0.9884008751131803, 0.15185834901924733, -0.0016588877743484102, -1.2731763124465942], [0.0015086125667815305, 0.0011047854404854208, 0.9999982517670988, 0.0068579306825995445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394665479660034, -1.151188850402832, -1.6009787321090698, -1.8012101650238037, -0.42275407910346985, -0.000431432097684592, -0.0009864215971902013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3829231262207031, -1.2301455736160278, 1.8694041967391968, -1.9025561809539795, 2.0730020999908447, 0.3774448335170746, -0.5810920596122742, 0.12779999146094692, 0.12779999146094692, 0.12779999146094692, 0.12779999146094692, -0.12779999146094692, -0.12779999146094692, -0.12779999146094692, 0.12779999146094692, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15132328048017718, -0.9884839522953095, 0.0008607202576110655, -27.302419662475586], [0.988483177716036, 0.15132171934194316, -0.0016566918257502584, -1.2879886627197266], [0.001507367614398801, 0.0011015035371851744, 0.9999982572648978, 0.006777046713978052], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6090705394744873, -0.8126102685928345, 0.0, 0.0, 1.7394673824310303, -1.1511882543563843, -1.6009806394577026, -1.8012101650238037, -0.4227539598941803, -0.0004376638971734792, -0.0009931327076628804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.40040922164917, -1.2299212217330933, 1.88438081741333, -1.9185038805007935, 2.0710155963897705, 0.373980313539505, -0.5852892994880676, 0.2045999867575509, 0.2045999867575509, 0.2045999867575509, 0.2045999867575509, -0.2045999867575509, -0.2045999867575509, -0.2045999867575509, 0.2045999867575509, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1515265879458173, -0.9884528104077047, 0.0008571712832289073, -27.302698135375977], [0.9884520214076903, 0.1515250241176469, -0.0016638633350021775, -1.282374382019043], [0.001514767490253024, 0.0010993922215612657, 0.9999982484065628, 0.00668008578941226], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.739467740058899, -1.1511883735656738, -1.6009825468063354, -1.8012101650238037, -0.42275193333625793, -0.0004410194815136492, -0.0010017614113166928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4234840869903564, -1.229883074760437, 1.906968355178833, -1.9364712238311768, 2.063122272491455, 0.37340304255485535, -0.5862861275672913, 0.23339999481871887, 0.23339999481871887, 0.23339999481871887, 0.23339999481871887, -0.23339999481871887, -0.23339999481871887, -0.23339999481871887, 0.23339999481871887, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15147453847682346, -0.9884607861768492, 0.0008592926616875486, -27.302621841430664], [0.9884599802325329, 0.15147295756193446, -0.0016764862484006141, -1.2838165760040283], [0.001526981314231668, 0.001103321388124859, 0.9999982255034159, 0.006719574797898531], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.73947274684906, -1.151188611984253, -1.6009836196899414, -1.801213026046753, -0.42275047302246094, -0.00044593302300199866, -0.0010147043503820896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4464129209518433, -1.2297511100769043, 1.9350454807281494, -1.9462836980819702, 2.0498971939086914, 0.3746008574962616, -0.5857866406440735, 0.5274000001477671, 0.5274000001477671, 0.5274000001477671, 0.5274000001477671, -0.5274000001477671, -0.5274000001477671, -0.5274000001477671, 0.5274000001477671, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513523557298706, -0.9884795065081641, 0.0008541828816617331, -27.302461624145508], [0.9884787153919199, 0.15135079761039016, -0.0016629130580639833, -1.2871930599212646], [0.001514474218556423, 0.0010960274062867055, 0.9999982525443561, 0.006591847166419029], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7394770383834839, -1.151188611984253, -1.6009836196899414, -1.801215410232544, -0.42274975776672363, -0.00044593302300199866, -0.0010253703221678734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.474891185760498, -1.2297389507293701, 1.9584870338439941, -1.9602975845336914, 2.021339178085327, 0.38820308446884155, -0.5565917491912842, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15140593139708536, -0.9884712909461033, 0.0008665524365428457, -27.302526473999023], [0.9884705075052153, 0.1514043500900525, -0.001666903173881136, -1.285707950592041], [0.0015164861236947223, 0.0011089405543196185, 0.9999982352587846, 0.0069271717220544815], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7394770383834839, -1.1511887311935425, -1.6009833812713623, -1.8012151718139648, -0.4227491617202759, -0.00044054011232219636, -0.0010242917342111468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.515434741973877, -1.2304893732070923, 1.9814313650131226, -1.9796518087387085, 1.964071273803711, 0.430845707654953, -0.48308518528938293, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15141997829392506, -0.9884691452736769, 0.0008596600456617356, -27.302553176879883], [0.9884683347171679, 0.1514183933021641, -0.0016797116598677938, -1.2853236198425293], [0.0015301748058355819, 0.0011040886368353746, 0.9999982197750882, 0.006722947582602501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7394766807556152, -1.1511889696121216, -1.6009838581085205, -1.8012163639068604, -0.42274928092956543, -0.00042915510130114853, -0.0010228535393252969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5724495649337769, -1.2309701442718506, 1.9952802658081055, -2.0123062133789062, 1.8244719505310059, 0.5038335919380188, -0.3600385785102844, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15128059339090294, -0.9884904873454915, 0.000859354856247398, -27.302364349365234], [0.9884896541662244, 0.15127899312886395, -0.0016940614673889207, -1.28916597366333], [0.0015445613080989867, 0.0011057420086853155, 0.9999981958308604, 0.00668923556804657], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7394760847091675, -1.1511895656585693, -1.6009818315505981, -1.8012193441390991, -0.4227489233016968, -0.00041968756704591215, -0.0010276472894474864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6461126804351807, -1.231136441230774, 1.986556053161621, -2.053072690963745, 1.5773741006851196, 0.5664902329444885, -0.17591536045074463, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513190418919249, -0.9884846052667018, 0.0008559857725230865, -27.30242156982422], [0.9884837498997465, 0.15131743361920857, -0.0017060090948489723, -1.2880980968475342], [0.0015568381563904402, 0.0011042796879759083, 0.9999981784090036, 0.006584533024579287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6090705394744873, -0.8127061128616333, 0.0, 0.0, 1.7394771575927734, -1.1511893272399902, -1.60098135471344, -1.801222562789917, -0.4227489233016968, -0.0004057858604937792, -0.0010242917342111468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7134062051773071, -1.2333544492721558, 1.9578723907470703, -2.062671184539795, 1.2986931800842285, 0.5914803147315979, 0.02281101420521736, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512811893817878, -0.9884903931043308, 0.0008628323575049261, -27.302364349365234], [0.9884895433170227, 0.15127956909970053, -0.0017072568385151422, -1.2891582250595093], [0.001557078076185266, 0.0011111766081399559, 0.9999981703955314, 0.006767857354134321], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7394757270812988, -1.1511892080307007, -1.6009804010391235, -1.8012226819992065, -0.4227491617202759, -0.00040782318683341146, -0.0010242917342111468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7426575422286987, -1.2399566173553467, 1.923331379890442, -2.034968137741089, 1.112021803855896, 0.5931745767593384, 0.1418735682964325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15111405528353272, -0.9885159588044338, 0.0008610950681891537, -27.302152633666992], [0.9885151178306335, 0.15111244570970406, -0.0017001682035560591, -1.2937673330307007], [0.0015505212201244022, 0.0011081248046978535, 0.9999981839700326, 0.006721038371324539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7394745349884033, -1.151189923286438, -1.600978136062622, -1.801217794418335, -0.42274999618530273, -0.00040566601091995835, -0.001022014650516212, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.745658278465271, -1.2401869297027588, 1.863525390625, -1.9822996854782104, 0.8656366467475891, 0.5386404395103455, 0.24987156689167023, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15105530265273648, -0.9885249444509604, 0.0008542474558716854, -27.302074432373047], [0.988524107911305, 0.15105371235079568, -0.0016923543369348965, -1.2953780889511108], [0.00154389722743427, 0.0011000833008124314, 0.9999982030974268, 0.006541041191667318], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7496842741966248, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394757270812988, -1.151189923286438, -1.6009756326675415, -1.8012311458587646, -0.4227505922317505, -0.0004129763983655721, -0.001014464651234448, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7446119785308838, -1.2396502494812012, 1.8497309684753418, -1.9722120761871338, 0.7202175259590149, 0.5522114038467407, 0.245255246758461, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15224988582387844, -0.9883416633729766, 0.0008536438097766574, -27.303619384765625], [0.9883408222462865, 0.15224829127459028, -0.001696138408888788, -1.2624120712280273], [0.0015463984449563112, 0.001101927903954927, 0.9999981972017469, 0.006577188149094582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394765615463257, -1.1511889696121216, -1.600975751876831, -1.8012186288833618, -0.42275241017341614, -0.00041525339474901557, -0.0009999637259170413, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7440998554229736, -1.2397807836532593, 1.8615790605545044, -1.9758446216583252, 0.7808883786201477, 0.5537059307098389, 0.23376597464084625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1509530704241261, -0.988540551859519, 0.000864788301671948, -27.301923751831055], [0.9885398110784267, 0.15095152547584145, -0.0016367252503019989, -1.2981975078582764], [0.0014874281688249044, 0.001101946366331404, 0.9999982866343563, 0.006896332371979952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394750118255615, -1.1511898040771484, -1.6009660959243774, -1.8012206554412842, -0.42275217175483704, -0.0004263987357262522, -0.0010029597906395793, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7414828538894653, -1.238925576210022, 1.8622311353683472, -1.9792888164520264, 0.8185542225837708, 0.5532892346382141, 0.2340201586484909, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15114252336653422, -0.9885116101221828, 0.0008569037555474136, -27.302183151245117], [0.9885108334982434, 0.15114096989840775, -0.0016550754595405976, -1.292994737625122], [0.0015065480426611636, 0.0010972109269409408, 0.9999982632190803, 0.006665995344519615], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739476203918457, -1.1511896848678589, -1.6009670495986938, -1.8012168407440186, -0.4227525293827057, -0.0004329900548327714, -0.0009966081706807017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7400329113006592, -1.2389030456542969, 1.860955834388733, -1.979217290878296, 0.8145256042480469, 0.5532662272453308, 0.2342473715543747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1513992453761519, -0.9884723210193992, 0.0008596964892628259, -27.302520751953125], [0.9884715185076528, 0.15139766615296402, -0.001674449942698383, -1.2858976125717163], [0.0015249913792155822, 0.0011032959519419996, 0.9999982285680988, 0.006729443557560444], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394758462905884, -1.1511900424957275, -1.6009674072265625, -1.8012166023254395, -0.42275241017341614, -0.0004403004131745547, -0.000993372406810522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7401922941207886, -1.2389028072357178, 1.860933780670166, -1.9787769317626953, 0.8133859038352966, 0.5532664656639099, 0.23424090445041656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15117093351708044, -0.988507274752485, 0.0008465346949501052, -27.302215576171875], [0.9885064722589003, 0.15116938516582812, -0.0016647194507734212, -1.2921967506408691], [0.0015176171581543386, 0.0010884622183673523, 0.9999982560425595, 0.006371709518134594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.739475965499878, -1.151190161705017, -1.6009670495986938, -1.801216959953308, -0.42275241017341614, -0.00044125915155746043, -0.000993372406810522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7401819229125977, -1.2389127016067505, 1.8609739542007446, -1.9788161516189575, 0.8134526610374451, 0.5533576607704163, 0.23430345952510834, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15129746118706922, -0.9884879121391865, 0.0008519348912997877, -27.302379608154297], [0.9884871105736935, 0.15129590081937372, -0.0016681201769157905, -1.2887026071548462], [0.0015200223740580838, 0.0010945090068201248, 0.9999982457894695, 0.006520835682749748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739476203918457, -1.151190161705017, -1.6009669303894043, -1.8012168407440186, -0.42275241017341614, -0.00044113933108747005, -0.000992653309367597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7398008108139038, -1.235451340675354, 1.8507585525512695, -1.971825122833252, 0.7980256080627441, 0.5318154692649841, 0.22514092922210693, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15119331556362214, -0.988503850133961, 0.0008482919393687783, -27.302248001098633], [0.988503093683175, 0.15119179645043757, -0.0016353791247032663, -1.2915831804275513], [0.0014883237789702947, 0.0010857975984799588, 0.999998302966512, 0.006458768621087074], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394758462905884, -1.1511898040771484, -1.6009663343429565, -1.8012171983718872, -0.4227522909641266, -0.00044125915155746043, -0.0009927732171490788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7385869026184082, -1.2249174118041992, 1.8198819160461426, -1.9506909847259521, 0.751526415348053, 0.4663487374782562, 0.197428360581398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15117033847838712, -0.9885073622755871, 0.0008505829125535316, -27.302223205566406], [0.9885065997777671, 0.15116880976621183, -0.0016410818579205815, -1.292211890220642], [0.0014936398921531985, 0.001088889722649956, 0.9999982916780631, 0.006512677296996117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394758462905884, -1.1511900424957275, -1.6009669303894043, -1.8012173175811768, -0.4227522909641266, -0.00044113933108747005, -0.0009921740274876356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7365858554840088, -1.2074166536331177, 1.7683687210083008, -1.9153931140899658, 0.6740083694458008, 0.35715433955192566, 0.15128442645072937, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15114469167502642, -0.9885112883894359, 0.0008455206197648552, -27.302188873291016], [0.9885104874089773, 0.15114314678894492, -0.0016629675888036413, -1.292917251586914], [0.0015160675866119622, 0.001087154723433386, 0.999998259815326, 0.006345103960484266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7394758462905884, -1.151190161705017, -1.6009669303894043, -1.8012174367904663, -0.42275241017341614, -0.00044125915155746043, -0.0009922938188537955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7338898181915283, -1.1842373609542847, 1.7005929946899414, -1.8688994646072388, 0.5715166330337524, 0.2131333351135254, 0.09026110917329788, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15120938697293618, -0.9885013891346861, 0.0008514517395183204, -27.30226707458496], [0.988500579186416, 0.15120782186669868, -0.0016731869139702798, -1.2911415100097656], [0.001525201425784423, 0.001094662105215726, 0.9999982377361903, 0.006497269496321678], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394758462905884, -1.1511902809143066, -1.6009660959243774, -1.801216959953308, -0.42275241017341614, -0.00044054011232219636, -0.0009928930085152388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7318798303604126, -1.165852665901184, 1.6463452577590942, -1.8318105936050415, 0.49000030755996704, 0.09843423217535019, 0.04175328090786934, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15129628939433892, -0.9884880950608032, 0.0008477845062375421, -27.302383422851562], [0.988487263772423, 0.15129471735260835, -0.001684595174693212, -1.2887355089187622], [0.0015369369579339848, 0.0010928971859020939, 0.999998221698683, 0.006386620923876762], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8125143647193909, 0.0, 0.0, 1.7394760847091675, -1.151190161705017, -1.6009665727615356, -1.8012171983718872, -0.42275241017341614, -0.00044077978236600757, -0.0009927732171490788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7305121421813965, -1.154396414756775, 1.6130192279815674, -1.8089035749435425, 0.4395698606967926, 0.027501879259943962, 0.0115538714453578, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15129904743932832, -0.9884876694872332, 0.0008517720646673178, -27.302377700805664], [0.9884868624557864, 0.15129748351253636, -0.0016715965688232815, -1.288665533065796], [0.0015234816267285386, 0.0010948764642962961, 0.9999982401230819, 0.006511112209409475], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394760847091675, -1.1511904001235962, -1.6009660959243774, -1.801216721534729, -0.42275217175483704, -0.00044054011232219636, -0.0009936121059581637, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729993224143982, -1.1500931978225708, 1.6002625226974487, -1.8002008199691772, 0.42036861181259155, 0.00043095272849313915, 0.00020337229943834245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15125483312703225, -0.9884944394392138, 0.0008477343145297642, -27.302322387695312], [0.9884936321579281, 0.15125327842061576, -0.001668817018805078, -1.289882779121399], [0.0015213937492280652, 0.0010903966113733517, 0.9999982481966104, 0.006403188221156597], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394757270812988, -1.1511904001235962, -1.6009663343429565, -1.80121648311615, -0.42275241017341614, -0.00044077978236600757, -0.0009936121059581637, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299846410751343, -1.149959921836853, 1.5999592542648315, -1.799940586090088, 0.41989681124687195, -0.00012319783854763955, -8.56872065924108e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512594330718554, -0.9884937352687568, 0.0008480808934437041, -27.302335739135742], [0.9884929338362759, 0.15125788175522792, -0.001665221508744909, -1.2897467613220215], [0.0015177821097297542, 0.0010902024318424717, 0.9999982538965381, 0.006417528726160526], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394766807556152, -1.1511905193328857, -1.600966453552246, -1.8012173175811768, -0.42275193333625793, -0.0004386226355563849, -0.0009968478698283434, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7306958436965942, -1.1501147747039795, 1.5999648571014404, -1.799997329711914, 0.4199507236480713, 0.0004883571527898312, 0.0001886317040771246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.1512982889759743, -0.9884877947376598, 0.0008410752765025574, -27.302385330200195], [0.9884869647437072, 0.1512967333315398, -0.0016789922506586423, -1.2886794805526733], [0.001532411405414423, 0.00108542060191956, 0.9999982367871463, 0.006210275925695896], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394789457321167, -1.1511902809143066, -1.600965976715088, -1.8012174367904663, -0.42275071144104004, -0.000439341674791649, -0.000998645438812673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317949533462524, -1.1503957509994507, 1.5999633073806763, -1.8000519275665283, 0.41997864842414856, 0.0007372695254161954, 0.00027467843028716743, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15121781758097785, -0.9885001031999707, 0.0008471243670559379, -27.302276611328125], [0.98849929630242, 0.1512162646256806, -0.0016680894091451284, -1.2909072637557983], [0.0015208075706271448, 0.0010896266806962966, 0.9999982499274835, 0.006385739427059889], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7394893169403076, -1.1511902809143066, -1.6009653806686401, -1.8012171983718872, -0.4227505922317505, -0.00044018059270456433, -0.0010006828233599663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731806993484497, -1.150447130203247, 1.5999596118927002, -1.8001075983047485, 0.41999316215515137, 0.000788561999797821, 0.00028989839483983815, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.739514708518982, -1.1511902809143066, -1.6009652614593506, -1.8012174367904663, -0.4227505922317505, -0.0004420980694703758, -0.0010015217121690512, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731801152229309, -1.1504539251327515, 1.5999560356140137, -1.800150990486145, 0.42000141739845276, 0.0008024636772461236, 0.0002936134987976402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7395330667495728, -1.1511900424957275, -1.6009645462036133, -1.8012161254882812, -0.4227515757083893, -0.0004410194815136492, -0.0010027200914919376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317947149276733, -1.1504557132720947, 1.5999480485916138, -1.8001638650894165, 0.42000359296798706, 0.0008052200428210199, 0.0002960103447549045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8126102685928345, 0.0, 0.0, 1.7395437955856323, -1.1511904001235962, -1.6009633541107178, -1.8012162446975708, -0.42275193333625793, -0.0004417385207489133, -0.0010029597906395793, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7317900657653809, -1.150456428527832, 1.5999401807785034, -1.8001670837402344, 0.4200039505958557, 0.0008078566170297563, 0.0002966095635201782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8126102685928345, 0.0, 0.0, 1.7395498752593994, -1.151190161705017, -1.6009624004364014, -1.8012152910232544, -0.42275193333625793, -0.0004400607431307435, -0.001002360600978136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731787085533142, -1.1504565477371216, 1.5999276638031006, -1.800167202949524, 0.4200044274330139, 0.0008125304593704641, 0.00029708893271163106, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03815173730254173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.15124263786914716, -0.9884963073307916, 0.0008455079959436174, -27.30231285095215], [0.9884954985191129, 0.1512410872137976, -0.0016682163644995106, -1.290216088294983], [0.0015211501675820923, 0.0010880862914555668, 0.9999982510836657, 0.00634262477979064], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000022/gt/hand_left.mp4 b/agibot-challenge-2026/000022/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1beef273afe624bc55bfae55b9b483f3ffead0f7 --- /dev/null +++ b/agibot-challenge-2026/000022/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f24bd7cf547adbd2561495552c342d80e619e0db0d329d9093b3a71cdde88b9 +size 7175939 diff --git a/agibot-challenge-2026/000022/gt/hand_right.mp4 b/agibot-challenge-2026/000022/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1bda159a228b1a931d03a5358b6544db09e6fbb4 --- /dev/null +++ b/agibot-challenge-2026/000022/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a198ccc0222d3b60d8e2e4991ecb0b756dff115e1b0a02385c55c762ab6c0567 +size 8618869 diff --git a/agibot-challenge-2026/000022/gt/head.mp4 b/agibot-challenge-2026/000022/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d6fe06547d8873c82210cb62f0a5d911b40f43a6 --- /dev/null +++ b/agibot-challenge-2026/000022/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f2189733e28d8fe53e50da9ee75cfa4cc088e4d66b75e375f5db0af35a13430 +size 5612134 diff --git a/agibot-challenge-2026/000022/meta.json b/agibot-challenge-2026/000022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef9dc9650178da2177d4b31beb9f210fbf5596c --- /dev/null +++ b/agibot-challenge-2026/000022/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Put the change into the coin slot of the piggy bank", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 391, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000022/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000022/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..b6bb80f6f6574835d055c6a7ad9abb81e0273ed6 --- /dev/null +++ b/agibot-challenge-2026/000022/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000022/ref_images/hand_left.png b/agibot-challenge-2026/000022/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..f4bee151d9acb6542c8886f0a40ded79ddd63315 --- /dev/null +++ b/agibot-challenge-2026/000022/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d5bc55fe3199a8d2aff2a84415cf67479e2517249659c312382b36ff2f2dac5 +size 306932 diff --git a/agibot-challenge-2026/000022/ref_images/hand_right.png b/agibot-challenge-2026/000022/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..54bdbd06ed4bd09ac195cc484cc9d3ffb352c1a7 --- /dev/null +++ b/agibot-challenge-2026/000022/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e81ea502b2008327d4873b4f4459260dc652660ce87e5414a0c331113cbbe9d4 +size 332955 diff --git a/agibot-challenge-2026/000022/ref_images/head.png b/agibot-challenge-2026/000022/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..4af09e68ff7bd822478c51820e4d1981751085e4 --- /dev/null +++ b/agibot-challenge-2026/000022/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:800e48f7edf008f3930ed759a1015dae5e737498eb66070ec59e5c1991f91870 +size 204507 diff --git a/agibot-challenge-2026/000022/temporal.json b/agibot-challenge-2026/000022/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d23d461ce441a82cdfedcbc449e21e447f647c --- /dev/null +++ b/agibot-challenge-2026/000022/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729634404182434, -1.1499658823013306, -1.5999886989593506, -1.7993659973144531, -0.4187658429145813, 0.0006431933725252748, 0.000823076581582427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293884754180908, -1.1500223875045776, 1.600236177444458, -1.7990854978561401, 0.4197956621646881, -0.00017401094373781234, -9.347695595351979e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729634404182434, -1.1499658823013306, -1.5999890565872192, -1.7993661165237427, -0.41876596212387085, 0.0006431933725252748, 0.000823076581582427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293885946273804, -1.150022268295288, 1.6002377271652222, -1.799085259437561, 0.4198002219200134, -0.000169576785992831, -1.0905644558079075e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296342849731445, -1.149965763092041, -1.5999888181686401, -1.799365758895874, -0.4187660813331604, 0.0006421147845685482, 0.0008227170328609645, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293884754180908, -1.1500223875045776, 1.6002388000488281, -1.7990866899490356, 0.4198010563850403, -0.00016694025543984026, -1.2583435818669386e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296345233917236, -1.1499658823013306, -1.5999886989593506, -1.799365758895874, -0.4187660813331604, 0.0006412758957594633, 0.0008224773337133229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293883562088013, -1.1500223875045776, 1.6002391576766968, -1.799086570739746, 0.41980141401290894, -0.00016454340948257595, -1.7017599020618945e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729634404182434, -1.1499658823013306, -1.599987268447876, -1.7993654012680054, -0.41876453161239624, 0.0006399576086550951, 0.0008218781440518796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293682098388672, -1.1517101526260376, 1.6112951040267944, -1.8032612800598145, 0.4037328362464905, 0.011183918453752995, 0.02161235176026821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729622483253479, -1.1499649286270142, -1.5999895334243774, -1.7993601560592651, -0.41876357793807983, 0.0006389988702721894, 0.000822357484139502, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72246253490448, -1.1623276472091675, 1.6627156734466553, -1.8251478672027588, 0.30163130164146423, 0.06287643313407898, 0.16673676669597626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296100854873657, -1.149965763092041, -1.5999881029129028, -1.7993613481521606, -0.4187622666358948, 0.0006374409422278404, 0.0008217582944780588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6732829809188843, -1.1631531715393066, 1.722021460533142, -1.8177540302276611, 0.19095927476882935, 0.13970011472702026, 0.39287981390953064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999486926511, -8.189541240481631e-05, -0.0003096899040328456, 0.0014114388031885028], [8.189659018056862e-05, 0.9999999966392907, 3.790401516993793e-06, 0.00041776022408157587], [0.00030968959257557236, -3.8157638696719776e-06, 0.9999999520388969, -9.179502740153112e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296162843704224, -1.1499661207199097, -1.5999857187271118, -1.7993634939193726, -0.4187599718570709, 0.0006352837663143873, 0.000820080516859889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5795345306396484, -1.1585220098495483, 1.763532042503357, -1.7713960409164429, 0.08957453072071075, 0.20456939935684204, 0.6109282374382019, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999317948438, -8.125157731589232e-05, -0.00036028945170325354, 0.0017083243001252413], [8.12496981522082e-05, 0.999999996685565, -5.230339163434941e-06, 0.0004147965519223362], [0.0003602898754824045, 5.201065397500528e-06, 0.9999999350820752, -2.472512960594031e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.7296104431152344, -1.1499637365341187, -1.5999863147735596, -1.7993470430374146, -0.41875746846199036, 0.0006338456296361983, 0.0008203202160075307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4739049673080444, -1.1511662006378174, 1.7870005369186401, -1.7160881757736206, 0.03099563904106617, 0.26974380016326904, 0.8186962008476257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999489955289, -7.891317729876612e-05, -0.00030948610636494136, 0.0015838656108826399], [7.891201635104867e-05, 0.9999999968793651, -3.763420392487874e-06, 0.00041600261465646327], [0.00030948640238260893, 3.738998027850715e-06, 0.9999999521020921, -8.540052363059658e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.729620337486267, -1.1499630212783813, -1.599983811378479, -1.7993414402008057, -0.41875362396240234, 0.0006321678520180285, 0.0008187622297555208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3703999519348145, -1.144806146621704, 1.7881321907043457, -1.6489627361297607, -0.01967546157538891, 0.32074686884880066, 0.9885468482971191, 0.4812000011349772, 0.4812000011349772, 0.4812000011349772, 0.4812000011349772, -0.4812000011349772, -0.4812000011349772, -0.4812000011349772, 0.4812000011349772, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999525048713, -3.4184752372397385e-05, -0.00030630321222493973, 0.001603074953891337], [3.418343975537734e-05, 0.9999999994065416, -4.290586018156406e-06, 0.0004182188131380826], [0.0003063033587157821, 4.2801153169725005e-06, 0.9999999530799655, -1.0822982403624337e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7296161651611328, -1.1499433517456055, -1.5999823808670044, -1.7993245124816895, -0.41875433921813965, 0.0006357631064020097, 0.0008168447529897094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2739145755767822, -1.1382389068603516, 1.771323323249817, -1.571423053741455, -0.06995312124490738, 0.35884159803390503, 1.1042768955230713, 0.07559999895619822, 0.07559999895619822, 0.07559999895619822, 0.07559999895619822, -0.07559999895619822, -0.07559999895619822, -0.07559999895619822, 0.07559999895619822, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999508529993, -2.842163565974763e-05, -0.000312227816983928, 0.0016072060680016875], [2.842250939985086e-05, 0.9999999995921773, 2.793968908845012e-06, 0.00041990456520579755], [0.000312227737447428, -2.8028430695929404e-06, 0.9999999512529908, 4.0012386648413667e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7296103239059448, -1.1499464511871338, -1.599981427192688, -1.7993335723876953, -0.41875338554382324, 0.0006350440671667457, 0.0008149272762238979, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1938412189483643, -1.1327650547027588, 1.7449209690093994, -1.5067625045776367, -0.13379451632499695, 0.37232986092567444, 1.1622354984283447, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999444576815, -4.82037031480466e-05, -0.0003297893825918345, 0.0015767973382025957], [4.821016130583977e-05, 0.9999999986463047, 1.9574751895947216e-05, 0.0004141686949878931], [0.00032978843856987055, -1.959065000805182e-05, 0.9999999454278946, -2.23987149183813e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7296054363250732, -1.1499454975128174, -1.5999815464019775, -1.799334168434143, -0.4187537431716919, 0.000635523465462029, 0.0008132494986057281, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1252877712249756, -1.1292426586151123, 1.708147406578064, -1.4463762044906616, -0.2099178433418274, 0.38897809386253357, 1.1769551038742065, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999462263267, -7.953373543928612e-05, -0.0003181536242110714, 0.0016199895180761814], [7.953852798124589e-05, 0.9999999967235452, 1.5050985138180333e-05, 0.00041286280611529946], [0.0003181524261075854, -1.5076289799775222e-05, 0.9999999492758683, -3.406194991839584e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7296156883239746, -1.149945616722107, -1.5999796390533447, -1.7993348836898804, -0.41875290870666504, 0.0006370813935063779, 0.0008125304593704641, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0630604028701782, -1.1270352602005005, 1.6745809316635132, -1.3845463991165161, -0.27057310938835144, 0.3927309513092041, 1.202073574066162, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999560655547, -9.23495069748781e-05, -0.00028167438167685124, 0.001620189636014402], [9.235470386852925e-05, 0.9999999955653418, 1.8437053472959513e-05, 0.00042165853665210307], [0.0002816726777749233, -1.846306661704491e-05, 0.9999999601598081, -2.1191528958297567e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7296122312545776, -1.1499459743499756, -1.5999785661697388, -1.7993366718292236, -0.41875386238098145, 0.0006389988702721894, 0.0008132494986057281, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0169154405593872, -1.1247940063476562, 1.6480717658996582, -1.3405650854110718, -0.3179720342159271, 0.38989585638046265, 1.2270853519439697, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999510281437, -5.938498138132479e-05, -0.00030727371241531077, 0.00156535510905087], [5.938697655160475e-05, 0.9999999982155723, 6.484016943783322e-06, 0.0004163543344475329], [0.00030727332681377753, -6.502264683003107e-06, 0.9999999527704104, -3.950143820929952e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7296183109283447, -1.1499460935592651, -1.5999776124954224, -1.7993390560150146, -0.41875362396240234, 0.0006404370069503784, 0.0008142082369886339, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9826748967170715, -1.1247305870056152, 1.6257404088974, -1.3048913478851318, -0.3545740246772766, 0.39561617374420166, 1.2408726215362549, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999537929147, -6.169371864183047e-05, -0.0002976710491644551, 0.0016302732983604074], [6.17107395981844e-05, 0.9999999964615978, 5.717157656237925e-05, 0.00041876736213453114], [0.0002976675209840165, -5.718994342124824e-05, 0.9999999540616776, -1.9471765426715137e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7296241521835327, -1.1499459743499756, -1.5999786853790283, -1.7993385791778564, -0.41875386238098145, 0.0006412758957594633, 0.0008158860146068037, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9560221433639526, -1.124879240989685, 1.6104071140289307, -1.269534707069397, -0.37509509921073914, 0.3957478702068329, 1.246617317199707, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999492571016, -2.9224871782324945e-05, -0.000317225000978646, 0.0016072709113359451], [2.924465658131865e-05, 0.9999999976277478, 6.236388778562762e-05, 0.0004141238459851593], [0.0003172231776494839, -6.237316175731583e-05, 0.9999999477395207, -2.230195377705968e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7296162843704224, -1.149949550628662, -1.5999748706817627, -1.79934561252594, -0.4187546968460083, 0.0006430735229514539, 0.0008162455633282661, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9332433938980103, -1.1261324882507324, 1.5976011753082275, -1.2411128282546997, -0.3916456699371338, 0.3997192084789276, 1.2428680658340454, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999541181478, -6.101915708320022e-05, -0.000296715966387601, 0.0016137341735884547], [6.104412382543966e-05, 0.9999999945974376, 8.413524686828983e-05, 0.0004156938230153173], [0.00029671083092272954, -8.415335577420204e-05, 0.9999999524404466, -4.4710873225994874e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729622483253479, -1.1499501466751099, -1.5999749898910522, -1.7993500232696533, -0.4187554121017456, 0.0006443917518481612, 0.0008184027392417192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9164627194404602, -1.1266918182373047, 1.5906623601913452, -1.2309740781784058, -0.413422554731369, 0.3965921700000763, 1.2653226852416992, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999497199284, -4.539051504839247e-05, -0.0003138468443944502, 0.0016085279639810324], [4.5418177441680454e-05, 0.9999999950848624, 8.813321928653833e-05, 0.000417597679188475], [0.0003138428424396335, -8.814746920686197e-05, 0.9999999468663455, -9.321262837147515e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296208143234253, -1.149950385093689, -1.5999755859375, -1.7993510961532593, -0.4187558889389038, 0.0006434330134652555, 0.0008198408177122474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9144665598869324, -1.126725435256958, 1.5903738737106323, -1.234273076057434, -0.4273149073123932, 0.3865917921066284, 1.2802659273147583, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296243906021118, -1.1499513387680054, -1.5999760627746582, -1.7993557453155518, -0.4187568724155426, 0.0006436727126128972, 0.0008199606672860682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9215468168258667, -1.126705288887024, 1.5939782857894897, -1.249056100845337, -0.43792131543159485, 0.37895819544792175, 1.2969707250595093, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296231985092163, -1.1499515771865845, -1.5999776124954224, -1.7993576526641846, -0.41875985264778137, 0.0006436727126128972, 0.0008210392552427948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9443844556808472, -1.126332402229309, 1.607101321220398, -1.2790626287460327, -0.4409492611885071, 0.3677421808242798, 1.3216192722320557, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296172380447388, -1.149957537651062, -1.5999804735183716, -1.7993643283843994, -0.41876116394996643, 0.0006424742750823498, 0.0008219979936257005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9638288021087646, -1.126109004020691, 1.6191655397415161, -1.3028435707092285, -0.4417543411254883, 0.36673057079315186, 1.3325281143188477, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729627251625061, -1.1499577760696411, -1.5999813079833984, -1.7993683815002441, -0.41876286268234253, 0.0006421147845685482, 0.0008225971832871437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9658522009849548, -1.1261258125305176, 1.6246064901351929, -1.3040772676467896, -0.4417840838432312, 0.3679092228412628, 1.33256196975708, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729618787765503, -1.1499576568603516, -1.5999822616577148, -1.799379825592041, -0.41876357793807983, 0.0006400774582289159, 0.0008224773337133229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9802917242050171, -1.1254383325576782, 1.6435825824737549, -1.3221800327301025, -0.4419090747833252, 0.36916565895080566, 1.3469310998916626, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729604959487915, -1.1499570608139038, -1.5999841690063477, -1.799381971359253, -0.4187641739845276, 0.000637800432741642, 0.0008210392552427948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0184186697006226, -1.1213819980621338, 1.6832038164138794, -1.3748317956924438, -0.4354574680328369, 0.36159247159957886, 1.3827475309371948, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296100854873657, -1.1499563455581665, -1.5999892950057983, -1.7993824481964111, -0.41876548528671265, 0.0006372012430801988, 0.0008199606672860682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0685503482818604, -1.1117805242538452, 1.7230356931686401, -1.4329668283462524, -0.4218594431877136, 0.3457048535346985, 1.4123821258544922, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296148538589478, -1.1499546766281128, -1.5999940633773804, -1.7993792295455933, -0.41876524686813354, 0.0006358829559758306, 0.0008186423801817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1140859127044678, -1.1054489612579346, 1.750644326210022, -1.4776536226272583, -0.40800461173057556, 0.33228984475135803, 1.4306459426879883, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296169996261597, -1.1499556303024292, -1.5999935865402222, -1.7993777990341187, -0.41876500844955444, 0.0006344448775053024, 0.0008179233409464359, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1442562341690063, -1.104559063911438, 1.7626559734344482, -1.5042853355407715, -0.4034685790538788, 0.3193139135837555, 1.43843412399292, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296117544174194, -1.14995539188385, -1.5999945402145386, -1.799378514289856, -0.4187646508216858, 0.0006331265904009342, 0.0008175638504326344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1563968658447266, -1.1045598983764648, 1.765002965927124, -1.5123974084854126, -0.4029126465320587, 0.3127520680427551, 1.4373935461044312, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296139001846313, -1.1499557495117188, -1.5999947786331177, -1.7993770837783813, -0.4187636971473694, 0.0006327670998871326, 0.0008178034913726151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1583404541015625, -1.1045663356781006, 1.7652255296707153, -1.5131440162658691, -0.40278980135917664, 0.31030982732772827, 1.4367467164993286, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729613184928894, -1.1499552726745605, -1.5999946594238281, -1.7993751764297485, -0.41876453161239624, 0.0006330067408271134, 0.0008180431905202568, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1633355617523193, -1.1045717000961304, 1.766242265701294, -1.5179098844528198, -0.39928609132766724, 0.3050825297832489, 1.4450145959854126, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296119928359985, -1.14995539188385, -1.5999952554702759, -1.7993730306625366, -0.4187636971473694, 0.0006337258382700384, 0.0008184027392417192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1737933158874512, -1.104591965675354, 1.765821099281311, -1.5253223180770874, -0.400729238986969, 0.2977612614631653, 1.4471609592437744, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296106815338135, -1.1499556303024292, -1.5999948978424072, -1.7993707656860352, -0.41876286268234253, 0.000634804368019104, 0.0008181630400940776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.184876799583435, -1.104706883430481, 1.7658770084381104, -1.5350561141967773, -0.40128517150878906, 0.29039132595062256, 1.4525693655014038, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296109199523926, -1.1499546766281128, -1.5999952554702759, -1.7993665933609009, -0.4187617599964142, 0.0006367218447849154, 0.000820080516859889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1953309774398804, -1.105175256729126, 1.769320011138916, -1.549030065536499, -0.4003453850746155, 0.2815421521663666, 1.4613819122314453, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296130657196045, -1.1499533653259277, -1.5999952554702759, -1.799362301826477, -0.4187594950199127, 0.0006374409422278404, 0.0008217582944780588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2104363441467285, -1.1053818464279175, 1.7768781185150146, -1.5664585828781128, -0.39885082840919495, 0.2694263458251953, 1.4715423583984375, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296068668365479, -1.1499525308609009, -1.5999946594238281, -1.799359679222107, -0.41875866055488586, 0.000638519530184567, 0.000822357484139502, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2325193881988525, -1.1057767868041992, 1.7879244089126587, -1.5909099578857422, -0.3919196128845215, 0.2578761875629425, 1.487954020500183, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296109199523926, -1.1499485969543457, -1.5999943017959595, -1.7993533611297607, -0.4187575876712799, 0.0006388790206983685, 0.0008229567320086062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2574050426483154, -1.1071348190307617, 1.7994083166122437, -1.6167198419570923, -0.38345733284950256, 0.2508617043495178, 1.4992554187774658, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.7296093702316284, -1.1499485969543457, -1.5999916791915894, -1.7993509769439697, -0.4187558889389038, 0.0006399576086550951, 0.0008233162225224078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.286076545715332, -1.110543966293335, 1.8085358142852783, -1.649298071861267, -0.37247833609580994, 0.24423611164093018, 1.5101072788238525, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296067476272583, -1.1499465703964233, -1.599990725517273, -1.7993518114089966, -0.41875481605529785, 0.0006406766478903592, 0.0008231964311562479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3188341856002808, -1.113236427307129, 1.815101981163025, -1.6836493015289307, -0.3575022518634796, 0.2440655678510666, 1.5142074823379517, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296199798583984, -1.1499468088150024, -1.5999897718429565, -1.7993535995483398, -0.418753981590271, 0.0006423544837161899, 0.0008245146600529552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3464128971099854, -1.1187149286270142, 1.8213460445404053, -1.716346263885498, -0.351551353931427, 0.23721131682395935, 1.5204004049301147, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296143770217896, -1.149946689605713, -1.599987268447876, -1.7993531227111816, -0.4187544584274292, 0.0006431933725252748, 0.0008255932480096817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3679753541946411, -1.1221979856491089, 1.8299309015274048, -1.7420669794082642, -0.34960585832595825, 0.23260709643363953, 1.5254369974136353, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296152114868164, -1.1499468088150024, -1.5999842882156372, -1.7993555068969727, -0.41875433921813965, 0.0006425941246561706, 0.000826072646304965, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3817576169967651, -1.1254292726516724, 1.836451530456543, -1.758222222328186, -0.3494608402252197, 0.23012983798980713, 1.5279814004898071, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729613184928894, -1.1499472856521606, -1.599984049797058, -1.7993570566177368, -0.418753981590271, 0.0006411560461856425, 0.0008258329471573234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3943678140640259, -1.1285792589187622, 1.8435487747192383, -1.7732582092285156, -0.3497878909111023, 0.22662529349327087, 1.5313595533370972, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729614496231079, -1.1499474048614502, -1.599982738494873, -1.799356460571289, -0.41875410079956055, 0.0006405567983165383, 0.0008264321368187666, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4084559679031372, -1.1311057806015015, 1.850320816040039, -1.7882119417190552, -0.345823734998703, 0.22278015315532684, 1.535285234451294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296158075332642, -1.1499476432800293, -1.599981427192688, -1.7993582487106323, -0.4187535047531128, 0.0006393584189936519, 0.0008252336992882192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4169892072677612, -1.1310176849365234, 1.8542044162750244, -1.7952195405960083, -0.33837124705314636, 0.21944841742515564, 1.5353033542633057, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729615569114685, -1.1499484777450562, -1.599980115890503, -1.7993592023849487, -0.4187542200088501, 0.000639238569419831, 0.0008248742087744176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4206615686416626, -1.1307920217514038, 1.857628345489502, -1.8024619817733765, -0.3359960913658142, 0.21883362531661987, 1.534874439239502, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296165227890015, -1.1499496698379517, -1.5999746322631836, -1.799361228942871, -0.41875675320625305, 0.0006383996806107461, 0.0008237956208176911, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.422047734260559, -1.1318014860153198, 1.864187240600586, -1.8114097118377686, -0.336469829082489, 0.21450072526931763, 1.514689564704895, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296199798583984, -1.1499505043029785, -1.5999748706817627, -1.7993613481521606, -0.4187575876712799, 0.0006383996806107461, 0.0008239154703915119, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4223443269729614, -1.1401387453079224, 1.8714510202407837, -1.8218047618865967, -0.32719677686691284, 0.21778763830661774, 1.459471583366394, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729623556137085, -1.1499528884887695, -1.5999735593795776, -1.7993593215942383, -0.41875866055488586, 0.0006357631064020097, 0.0008234360720962286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4386448860168457, -1.1502947807312012, 1.8893651962280273, -1.8587303161621094, -0.2948003113269806, 0.20590396225452423, 1.3993580341339111, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296109199523926, -1.1499533653259277, -1.5999726057052612, -1.7993723154067993, -0.4187590181827545, 0.0006340853287838399, 0.0008225971832871437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5045310258865356, -1.15851891040802, 1.9216055870056152, -1.9403613805770874, -0.2577599585056305, 0.14024634659290314, 1.3447481393814087, 0.10680000441414973, 0.10680000441414973, 0.10680000441414973, 0.10680000441414973, -0.10680000441414973, -0.10680000441414973, -0.10680000441414973, 0.10680000441414973, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.729612946510315, -1.149956464767456, -1.599974274635315, -1.7993725538253784, -0.4187622666358948, 0.0006350440671667457, 0.0008233162225224078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6119507551193237, -1.1722733974456787, 1.956011176109314, -2.034019708633423, -0.24060788750648499, 0.020839128643274307, 1.270654320716858, 0.3851999971892807, 0.3851999971892807, 0.3851999971892807, 0.3851999971892807, -0.3851999971892807, -0.3851999971892807, -0.3851999971892807, 0.3851999971892807, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.729624629020691, -1.1499632596969604, -1.5999739170074463, -1.7993601560592651, -0.4187644124031067, 0.0006360028055496514, 0.0008240353199653327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7340635061264038, -1.1926002502441406, 1.9800676107406616, -2.1173503398895264, -0.26755332946777344, -0.12218192964792252, 1.1890614032745361, 0.5711999993075382, 0.5711999993075382, 0.5711999993075382, 0.5711999993075382, -0.5711999993075382, -0.5711999993075382, -0.5711999993075382, 0.5711999993075382, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.7296208143234253, -1.1499619483947754, -1.5999778509140015, -1.7993592023849487, -0.41876381635665894, 0.0006352837663143873, 0.0008245146600529552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8498691320419312, -1.2158167362213135, 1.9826643466949463, -2.1786954402923584, -0.3492978513240814, -0.2583760619163513, 1.102346420288086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.729621410369873, -1.1499512195587158, -1.5999799966812134, -1.799355149269104, -0.41876405477523804, 0.0006373210926540196, 0.0008254733984358609, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9451202154159546, -1.240989327430725, 1.9768925905227661, -2.208109140396118, -0.44883427023887634, -0.3748812973499298, 1.0094707012176514, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.729628086090088, -1.1499637365341187, -1.599985122680664, -1.7993451356887817, -0.4187632203102112, 0.000638519530184567, 0.0008287091623060405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.00665283203125, -1.2653502225875854, 1.9558324813842773, -2.2111408710479736, -0.5734142661094666, -0.458955317735672, 0.9067392945289612, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296255826950073, -1.1499537229537964, -1.599987506866455, -1.7993462085723877, -0.41876333951950073, 0.0006398377590812743, 0.0008319448679685593, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.029862403869629, -1.28484308719635, 1.9445260763168335, -2.207510471343994, -0.6481984257698059, -0.49292364716529846, 0.8528788089752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.7296242713928223, -1.1499532461166382, -1.599987506866455, -1.7993476390838623, -0.41876381635665894, 0.0006404370069503784, 0.0008344615926034749, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.021193742752075, -1.2961273193359375, 1.9437743425369263, -2.197563648223877, -0.6624338030815125, -0.49438080191612244, 0.8651495575904846, 0.5375999989090384, 0.5375999989090384, 0.5375999989090384, 0.5375999989090384, -0.5375999989090384, -0.5375999989090384, -0.5375999989090384, 0.5375999989090384, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.7296217679977417, -1.149948000907898, -1.5999895334243774, -1.7993457317352295, -0.4187646508216858, 0.0006406766478903592, 0.0008348210831172764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9975632429122925, -1.304036021232605, 1.9431596994400024, -2.179950475692749, -0.6570489406585693, -0.48572638630867004, 0.8946413397789001, 0.3510000048102913, 0.3510000048102913, 0.3510000048102913, 0.3510000048102913, -0.3510000048102913, -0.3510000048102913, -0.3510000048102913, 0.3510000048102913, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296323776245117, -1.1499488353729248, -1.599992275238037, -1.7993453741073608, -0.41876477003097534, 0.0006433131638914347, 0.0008361393702216446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9741182327270508, -1.3099749088287354, 1.9467977285385132, -2.1666259765625, -0.6389763355255127, -0.47909167408943176, 0.9315578937530518, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.21180001824766723, -0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296239137649536, -1.1499489545822144, -1.5999935865402222, -1.7993463277816772, -0.4187634587287903, 0.0006443917518481612, 0.000835899671074003, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9601479768753052, -1.3155919313430786, 1.9528917074203491, -2.1585934162139893, -0.6303352117538452, -0.47661179304122925, 0.9578750133514404, 0.160200015267173, 0.160200015267173, 0.160200015267173, 0.160200015267173, -0.160200015267173, -0.160200015267173, -0.160200015267173, 0.160200015267173, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296273708343506, -1.149949312210083, -1.5999940633773804, -1.7993468046188354, -0.4187608063220978, 0.0006447513005696237, 0.0008369782590307295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9510952234268188, -1.3211997747421265, 1.9549968242645264, -2.1492257118225098, -0.6375004649162292, -0.4767209589481354, 0.9672665596008301, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, 0.11159999920771672, -0.11159999920771672, -0.11159999920771672, -0.11159999920771672, 0.11159999920771672, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296142578125, -1.149948000907898, -1.5999959707260132, -1.7993478775024414, -0.41875985264778137, 0.0006441521109081805, 0.000837337807752192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9424625635147095, -1.3257288932800293, 1.9551266431808472, -2.1403868198394775, -0.6527144312858582, -0.4765869677066803, 0.9698821306228638, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, 0.0840000094948234, -0.0840000094948234, -0.0840000094948234, -0.0840000094948234, 0.0840000094948234, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296183109283447, -1.1499441862106323, -1.5999982357025146, -1.7993484735488892, -0.41875937581062317, 0.0006439124117605388, 0.0008363790693692863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9389365911483765, -1.328747272491455, 1.955810308456421, -2.137281656265259, -0.6591383814811707, -0.4769522547721863, 0.9737054705619812, 0.06479999102078955, 0.06479999102078955, 0.06479999102078955, 0.06479999102078955, -0.06479999102078955, -0.06479999102078955, -0.06479999102078955, 0.06479999102078955, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7296174764633179, -1.1499420404434204, -1.5999983549118042, -1.7993510961532593, -0.4187568724155426, 0.0006434330134652555, 0.0008355401805602014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.941616415977478, -1.3341875076293945, 1.9593881368637085, -2.138719081878662, -0.6583318114280701, -0.4834514260292053, 0.9766825437545776, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296197414398193, -1.1499412059783936, -1.599997878074646, -1.7993531227111816, -0.41875675320625305, 0.0006423544837161899, 0.0008348210831172764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.945662498474121, -1.336530089378357, 1.9699816703796387, -2.148286819458008, -0.6448003053665161, -0.4899753928184509, 0.9780190587043762, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296184301376343, -1.1499377489089966, -1.5999977588653564, -1.7993531227111816, -0.4187544584274292, 0.0006416353862732649, 0.0008341020438820124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9492462873458862, -1.3401134014129639, 1.99081552028656, -2.1634438037872314, -0.5960081219673157, -0.48751527070999146, 1.0003912448883057, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296192646026611, -1.1499384641647339, -1.5999969244003296, -1.799355387687683, -0.41875362396240234, 0.0006391187198460102, 0.0008342218934558332, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9495742321014404, -1.3415528535842896, 2.0150649547576904, -2.183300733566284, -0.5143993496894836, -0.4665111303329468, 1.0315641164779663, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729617953300476, -1.149938702583313, -1.5999963283538818, -1.7993592023849487, -0.41875386238098145, 0.0006382798310369253, 0.0008332631550729275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9355831146240234, -1.3471492528915405, 2.0382187366485596, -2.2003402709960938, -0.37708520889282227, -0.38722851872444153, 1.0831319093704224, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296183109283447, -1.1499396562576294, -1.5999951362609863, -1.7993676662445068, -0.41875290870666504, 0.0006350440671667457, 0.000832903606351465, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8993674516677856, -1.3488003015518188, 2.0435984134674072, -2.2099409103393555, -0.22187916934490204, -0.22675351798534393, 1.1449639797210693, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296205759048462, -1.1499441862106323, -1.5999970436096191, -1.7994000911712646, -0.4187336266040802, 0.0006334861391223967, 0.0008287091623060405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8549880981445312, -1.3533382415771484, 2.0304787158966064, -2.200809955596924, -0.10860656201839447, -0.06384631991386414, 1.1623461246490479, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6846071481704712, -0.6396812796592712, 0.0, 0.0, 1.7429906129837036, -1.1566758155822754, -1.6252517700195312, -1.8280959129333496, -0.405784547328949, 0.000566494301892817, -0.03239947184920311, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8127410411834717, -1.3544361591339111, 2.0087013244628906, -2.1763505935668945, 0.0027990355156362057, 0.08898982405662537, 1.1550296545028687, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7687183618545532, -1.1806144714355469, -1.6787828207015991, -1.8758639097213745, -0.40241050720214844, -0.012248356826603413, -0.09393151849508286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7778902053833008, -1.3568774461746216, 1.9867585897445679, -2.151365041732788, 0.11279959976673126, 0.22963356971740723, 1.1264989376068115, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7855392694473267, -1.1991981267929077, -1.7213269472122192, -1.9122885465621948, -0.4403538703918457, -0.022187354043126106, -0.1838584989309311, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.747361421585083, -1.3580948114395142, 1.9602059125900269, -2.1186938285827637, 0.22115233540534973, 0.3418175280094147, 1.102042555809021, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.794684886932373, -1.2123371362686157, -1.773056983947754, -1.9507977962493896, -0.5507120490074158, -0.0030339264776557684, -0.3411731421947479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7187148332595825, -1.356016755104065, 1.9326356649398804, -2.0811445713043213, 0.3235221803188324, 0.42739197611808777, 1.0932304859161377, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7887827157974243, -1.2196630239486694, -1.8073447942733765, -1.9719500541687012, -0.7147389054298401, 0.0780930444598198, -0.5329672694206238, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6941652297973633, -1.3518577814102173, 1.9051085710525513, -2.054037570953369, 0.4069758951663971, 0.4970652759075165, 1.0881881713867188, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7612848281860352, -1.2316944599151611, -1.8078676462173462, -1.9566959142684937, -0.9058287143707275, 0.21003013849258423, -0.7260449528694153, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6744823455810547, -1.3453764915466309, 1.867727518081665, -2.030813217163086, 0.4799562096595764, 0.5478721261024475, 1.075316309928894, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999482691019, -7.497608784546815e-05, -0.00031279446888695105, 0.001595596899278462], [7.500095224077067e-05, 0.9999999940288784, 7.948018779144044e-05, 0.00041773641714826226], [0.00031278850790567535, -7.950364356288112e-05, 0.9999999479212587, -9.863650802799384e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7246806621551514, -1.2409782409667969, -1.7624555826187134, -1.9215366840362549, -1.024214506149292, 0.32864075899124146, -0.8590714335441589, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6551727056503296, -1.3386116027832031, 1.8308658599853516, -2.0037338733673096, 0.5425887703895569, 0.5882847309112549, 1.0721704959869385, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999524913887, -2.774536625510602e-05, -0.00030699741853867723, 0.001647848286665976], [2.776805709103168e-05, 0.9999999968832621, 7.390812368021287e-05, 0.0004219424445182085], [0.0003069953669738861, -7.391664489078532e-05, 0.9999999501450859, -1.6571506193940877e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.693159818649292, -1.251865267753601, -1.695359230041504, -1.8879672288894653, -1.0659898519515991, 0.40186581015586853, -0.9122116565704346, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6345075368881226, -1.331976056098938, 1.7915377616882324, -1.9780590534210205, 0.6022244095802307, 0.6390198469161987, 1.0705922842025757, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999942333567, -9.269968399963673e-05, -0.0003267103167848529, 0.0016438086749985814], [9.272375372912406e-05, 0.9999999929883563, 7.365862410833998e-05, 0.00040351724601350725], [0.00032670348636289784, -7.36889136676642e-05, 0.9999999439173864, -1.7979253925659577e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6696865558624268, -1.2609572410583496, -1.6294653415679932, -1.8590583801269531, -1.0819945335388184, 0.4462014436721802, -0.9379892349243164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6204607486724854, -1.3251522779464722, 1.74796462059021, -1.9692777395248413, 0.6529523730278015, 0.6728644967079163, 1.0716012716293335, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999497755977, -7.221803342396548e-05, -0.000308599024175822, 0.00164047721773386], [7.224986993938304e-05, 0.9999999920695255, 0.00010315476375640699, 0.0004133975598961115], [0.0003085915720943085, -0.00010317705481488076, 0.9999999470628671, -2.4432194933865503e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6552878618240356, -1.2662904262542725, -1.573293685913086, -1.842599868774414, -1.0709035396575928, 0.4565739333629608, -0.958746612071991, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6186060905456543, -1.319718837738037, 1.710180401802063, -1.9815638065338135, 0.6913676857948303, 0.6770609021186829, 1.064885139465332, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999492200562, -0.00011641521058367603, -0.00029666038463301264, 0.0016418296145275235], [0.00011644998715636648, 0.9999999863503376, 0.00011721230806730204, 0.00041370486724190414], [0.00029664673528817184, -0.00011724684821324794, 0.9999999491269442, -4.587939770317462e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6507132053375244, -1.2705905437469482, -1.5345932245254517, -1.8390707969665527, -1.0467784404754639, 0.45500338077545166, -0.9754893183708191, 0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -1.6196832656860352, -1.3163695335388184, 1.6852641105651855, -1.998166561126709, 0.7216935157775879, 0.6776688694953918, 1.04619562625885, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999542545919, -8.298355690544135e-05, -0.0002908686015045975, 0.0016710407799109817], [8.301992909757923e-05, 0.9999999887367235, 0.0001250369714570318, 0.00040910299867391586], [0.0002908582222158278, -0.00012506111362783816, 0.9999999498806049, -6.756957304787647e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6501203775405884, -1.2715129852294922, -1.519221305847168, -1.8368752002716064, -1.0337285995483398, 0.4566201865673065, -0.9887867569923401, 0.3209999980507316, -0.3209999980507316, 0.3209999980507316, 0.3209999980507316, -0.3209999980507316, -0.3209999980507316, 0.3209999980507316, 0.3209999980507316, -1.6185823678970337, -1.3107328414916992, 1.6699141263961792, -1.99879789352417, 0.7508489489555359, 0.6868722438812256, 1.0348365306854248, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999391231019, -9.551251685549462e-05, -0.00033560564885124676, 0.0016961990622803569], [9.556193761952143e-05, 0.9999999845933408, 0.000147245489491632, 0.0004214656655676663], [0.00033559157989338797, -0.00014727755165386364, 0.9999999328438048, -1.2882937880931422e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6503733396530151, -1.272447943687439, -1.5152515172958374, -1.8368415832519531, -1.033281683921814, 0.463954895734787, -0.9990772604942322, 0.2633999819283957, -0.2633999819283957, 0.2633999819283957, 0.2633999819283957, -0.2633999819283957, -0.2633999819283957, 0.2633999819283957, 0.2633999819283957, -1.6144417524337769, -1.304608941078186, 1.6578760147094727, -1.9983450174331665, 0.7645296454429626, 0.6911400556564331, 1.025592565536499, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999480849121, -7.747952933386534e-05, -0.0003127732335639815, 0.001674434170126915], [7.751659683045076e-05, 0.9999999899742283, 0.00011850198520574641, 0.00041792361298576], [0.0003127640489501496, -0.00011852622417035098, 0.9999999440650904, -1.0192981108048116e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.650496482849121, -1.2726645469665527, -1.512648105621338, -1.8385415077209473, -1.0332260131835938, 0.46644675731658936, -1.0086203813552856, 0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -1.6136661767959595, -1.2992801666259766, 1.650139570236206, -2.000763177871704, 0.7747154235839844, 0.6911996603012085, 1.007991909980774, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999374490771, -8.427884412071012e-05, -0.00034350970616814385, 0.0016793889226391912], [8.431988722296312e-05, 0.9999999893086684, 0.0001194689066492832, 0.00041791057446971536], [0.0003434996337942069, -0.00011949786387607691, 0.9999999338641289, -7.368498131654633e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.6495401859283447, -1.2735111713409424, -1.5063819885253906, -1.8395143747329712, -1.027719497680664, 0.46975356340408325, -1.011638879776001, 0.2183999816139976, -0.2183999816139976, 0.2183999816139976, 0.2183999816139976, -0.2183999816139976, -0.2183999816139976, 0.2183999816139976, 0.2183999816139976, -1.6136571168899536, -1.2944374084472656, 1.6431190967559814, -2.0052335262298584, 0.7829859852790833, 0.6911852359771729, 0.9956152439117432, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999420974721, -9.367944832290945e-05, -0.00032715319559318147, 0.0016780128935351968], [9.370679523315373e-05, 0.9999999921170272, 8.357620596344706e-05, 0.00042177358409389853], [0.00032714536364137416, -8.36068576016828e-05, 0.9999999429929006, -6.145804576362934e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6454415321350098, -1.2742078304290771, -1.4964942932128906, -1.8395063877105713, -1.0194299221038818, 0.46974852681159973, -1.0121253728866577, 0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -1.6137679815292358, -1.2913076877593994, 1.636170506477356, -2.0094046592712402, 0.7875701785087585, 0.6914488077163696, 0.9888761639595032, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468411019, -8.941399794848908e-05, -0.00031356487405496367, 0.0016941506182774901], [8.945019334292997e-05, 0.9999999893384671, 0.00011541979236843875, 0.00041797696030698717], [0.0003135545505668034, -0.00011544783467145955, 0.9999999441776691, -1.00732415830862e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6397976875305176, -1.2751795053482056, -1.4911164045333862, -1.8380147218704224, -1.014899492263794, 0.46901583671569824, -1.0120692253112793, 0.1782000153929323, -0.1782000153929323, 0.1782000153929323, 0.1782000153929323, -0.1782000153929323, -0.1782000153929323, 0.1782000153929323, 0.1782000153929323, -1.6144461631774902, -1.2862670421600342, 1.629320740699768, -2.013509750366211, 0.78816819190979, 0.6914331912994385, 0.9895457029342651, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.6361709833145142, -1.2753536701202393, -1.4872347116470337, -1.835540533065796, -1.0041134357452393, 0.46446385979652405, -1.011458158493042, 0.1319999967302595, -0.1319999967302595, 0.1319999967302595, 0.1319999967302595, -0.1319999967302595, -0.1319999967302595, 0.1319999967302595, 0.1319999967302595, -1.61555016040802, -1.2819112539291382, 1.6215600967407227, -2.015856981277466, 0.7878610491752625, 0.6903330683708191, 0.9889142513275146, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.6359715461730957, -1.2757288217544556, -1.4852817058563232, -1.8347033262252808, -0.9974357485771179, 0.461590051651001, -1.0131332874298096, 0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -0.06239999362400599, -0.06239999362400599, 0.06239999362400599, 0.06239999362400599, -1.615692138671875, -1.2802581787109375, 1.6170035600662231, -2.0164451599121094, 0.7888771891593933, 0.6885995268821716, 0.9794477820396423, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.6364485025405884, -1.2758276462554932, -1.485239863395691, -1.8348222970962524, -0.9976794123649597, 0.46123266220092773, -1.0188335180282593, 0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -1.6156030893325806, -1.2774686813354492, 1.6146512031555176, -2.013854742050171, 0.7906235456466675, 0.6878709197044373, 0.9702585339546204, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.637283205986023, -1.275812029838562, -1.4893416166305542, -1.8318917751312256, -0.9975894093513489, 0.4614090919494629, -1.023485541343689, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.613889455795288, -1.2747548818588257, 1.6086769104003906, -2.0138604640960693, 0.793157696723938, 0.6877062320709229, 0.962378203868866, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.6369142532348633, -1.275770664215088, -1.4945791959762573, -1.8270190954208374, -0.9891141653060913, 0.45557132363319397, -1.0277193784713745, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.6131789684295654, -1.2744524478912354, 1.6033658981323242, -2.0139317512512207, 0.793999969959259, 0.6887951493263245, 0.9537055492401123, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.6317222118377686, -1.27554452419281, -1.5188180208206177, -1.8159432411193848, -0.9475305676460266, 0.42161378264427185, -1.022968053817749, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.620609164237976, -1.273990511894226, 1.6030471324920654, -2.022963285446167, 0.7861546277999878, 0.6717608571052551, 0.9242686033248901, 0.4475999982802423, 0.4475999982802423, 0.4475999982802423, 0.4475999982802423, -0.4475999982802423, -0.4475999982802423, -0.4475999982802423, 0.4475999982802423, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6223735809326172, -1.272766351699829, -1.5484710931777954, -1.810900330543518, -0.8647022247314453, 0.3638301491737366, -1.0166137218475342, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.656273603439331, -1.2740203142166138, 1.6144260168075562, -2.0566036701202393, 0.7164942622184753, 0.5825170874595642, 0.8394503593444824, 0.5621999992446585, 0.5621999992446585, 0.5621999992446585, 0.5621999992446585, -0.5621999992446585, -0.5621999992446585, -0.5621999992446585, 0.5621999992446585, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.6147348880767822, -1.2650409936904907, -1.5890969038009644, -1.8098434209823608, -0.7529239058494568, 0.29596805572509766, -1.0309802293777466, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.7136057615280151, -1.2760299444198608, 1.6167405843734741, -2.097562313079834, 0.6092419028282166, 0.47081512212753296, 0.7075987458229065, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.5997313261032104, -1.2552731037139893, -1.6467111110687256, -1.8089945316314697, -0.6489612460136414, 0.25084277987480164, -1.0575605630874634, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.7644343376159668, -1.2845916748046875, 1.6005775928497314, -2.1251602172851562, 0.4812234342098236, 0.38973838090896606, 0.535936713218689, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.5726585388183594, -1.2439090013504028, -1.703334093093872, -1.8080370426177979, -0.5445157289505005, 0.22870144248008728, -1.0825082063674927, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7989420890808105, -1.2947056293487549, 1.5751416683197021, -2.1312198638916016, 0.37059682607650757, 0.3271706700325012, 0.38922545313835144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.5225175619125366, -1.2328943014144897, -1.750141978263855, -1.7798620462417603, -0.44572770595550537, 0.22393974661827087, -1.1187095642089844, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.8298780918121338, -1.3024189472198486, 1.5528279542922974, -2.129835367202759, 0.2812030017375946, 0.25816646218299866, 0.26842591166496277, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.4567701816558838, -1.2215595245361328, -1.781366229057312, -1.725651741027832, -0.3750065267086029, 0.2190953642129898, -1.154604196548462, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.8534770011901855, -1.3095190525054932, 1.5384312868118286, -2.120347261428833, 0.24057637155056, 0.21012325584888458, 0.1873738318681717, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999476618997, -7.550869640362716e-05, -0.00031460234361208744, 0.0016744391759857535], [7.554567981594145e-05, 0.9999999902379133, 0.00011754583610151029, 0.0004180045798420906], [0.00031459346480806037, -0.0001175695967973044, 0.9999999436041693, -9.830151839196333e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.3710991144180298, -1.209241509437561, -1.790118932723999, -1.652446985244751, -0.32989755272865295, 0.2257457673549652, -1.2070717811584473, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.8795406818389893, -1.3149254322052002, 1.5264204740524292, -2.1172401905059814, 0.198782816529274, 0.1695433408021927, 0.12081548571586609, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999496891203, -4.644692901311438e-05, -0.0003137904388618269, 0.001804517349228263], [4.648690309349503e-05, 0.9999999908060255, 0.000127384915743588, 0.0004206684825476259], [0.0003137845193387067, -0.00012739949648046388, 0.9999999426543202, -8.566864266867924e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.2825722694396973, -1.1947739124298096, -1.775760293006897, -1.5954214334487915, -0.2698034942150116, 0.2366487681865692, -1.252658724784851, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.9038779735565186, -1.3172366619110107, 1.515446662902832, -2.1128363609313965, 0.162724569439888, 0.12936682999134064, 0.07839864492416382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999953105057, -7.992733185525967e-05, -0.00029563745603719235, 0.0017794860759750009], [7.996024631322604e-05, 0.999999990606695, 0.00011132371201586199, 0.00042016501538455486], [0.00029562855545290593, -0.00011134734603914702, 0.9999999501027617, 3.0925852456675784e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.1978886127471924, -1.1817357540130615, -1.7415528297424316, -1.535095453262329, -0.19353288412094116, 0.23700350522994995, -1.2844855785369873, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.9232206344604492, -1.3203381299972534, 1.509363055229187, -2.1102335453033447, 0.1343478411436081, 0.09299051761627197, 0.05432796850800514, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999440111377, -0.00010567887852186425, -0.00031750542679099837, 0.0018189247930422425], [0.00010571555046491632, 0.9999999877436438, 0.0001154856462367778, 0.0004183120036032051], [0.0003174932185059591, -0.00011551920503183667, 0.9999999429266831, -9.381797099194955e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.1249467134475708, -1.17243230342865, -1.7060390710830688, -1.4665371179580688, -0.13312244415283203, 0.2332579642534256, -1.3130766153335571, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.925849437713623, -1.3203330039978027, 1.5087469816207886, -2.108952760696411, 0.13380782306194305, 0.08973763883113861, 0.05431358516216278, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999481729474, -5.1069585839624406e-05, -0.00031787733493695826, 0.0018066883785650134], [5.109869507315974e-05, 0.9999999945022638, 9.15663459096956e-05, 0.000418355455622077], [0.00031787265693399003, -9.158258428109038e-05, 0.9999999452848006, -2.36913729168009e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.0647252798080444, -1.1652147769927979, -1.6748932600021362, -1.4033225774765015, -0.10075437277555466, 0.23198355734348297, -1.340880036354065, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.924201250076294, -1.3203085660934448, 1.509305715560913, -2.1089587211608887, 0.13540136814117432, 0.09153982251882553, 0.05599125847220421, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999420288499, -0.0001428962330925689, -0.00030906789455867106, 0.0017593191005289555], [0.00014292333838600033, 0.9999999859425843, 8.767981802694113e-05, 0.0004125423147343099], [0.0003090553610982609, -8.772398595931949e-05, 0.9999999483946417, -6.80946584452613e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.0092698335647583, -1.1606999635696411, -1.636467456817627, -1.3484359979629517, -0.07727284729480743, 0.22967647016048431, -1.3590545654296875, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9239435195922852, -1.3202595710754395, 1.5096042156219482, -2.109102964401245, 0.1354350447654724, 0.09166578203439713, 0.056228186935186386, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999942870557, -0.00011929988057249917, -0.0003162695385786815, 0.0017773282015696168], [0.00011932764220382426, 0.9999999890294625, 8.77609747430248e-05, 0.000410414271755144], [0.00031625906523522884, -8.779870942762869e-05, 0.9999999461357937, -5.838795686941012e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 0.9447498321533203, -1.1605697870254517, -1.5860744714736938, -1.2835367918014526, -0.06773855537176132, 0.22790279984474182, -1.3607654571533203, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9239587783813477, -1.3202166557312012, 1.5096224546432495, -2.1097002029418945, 0.135434091091156, 0.09172605723142624, 0.05631279572844505, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999342614745, -0.0001499163744291802, -0.0003301547021015444, 0.0018201112980023026], [0.0001499447750339808, 0.9999999850603647, 8.599903974541681e-05, 0.0004154947237111628], [0.00033014180450491055, -8.604853906449977e-05, 0.9999999418010173, -2.5038118565134937e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.879561722278595, -1.1650078296661377, -1.5327684879302979, -1.2210696935653687, -0.06371856480836868, 0.22127613425254822, -1.3572895526885986, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9239567518234253, -1.320198893547058, 1.5096360445022583, -2.1098015308380127, 0.13543371856212616, 0.09176812320947647, 0.05635989084839821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999498920894, -7.336822085651787e-05, -0.0003079495459617824, 0.0017535219667479396], [7.339414126392908e-05, 0.9999999937651552, 8.416049824874973e-05, 0.00041786456131376326], [0.000307943369335742, -8.418309572412149e-05, 0.9999999490420426, -1.0707859701142297e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 0.8263710737228394, -1.1742913722991943, -1.4821066856384277, -1.1755937337875366, -0.060423023998737335, 0.21217350661754608, -1.3579163551330566, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9239633083343506, -1.3201985359191895, 1.5096263885498047, -2.1097989082336426, 0.13543599843978882, 0.09182480722665787, 0.0563698373734951, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.781879186630249, -1.1870683431625366, -1.4344953298568726, -1.1358264684677124, -0.04411105439066887, 0.20451894402503967, -1.3569316864013672, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9240025281906128, -1.3201813697814941, 1.5096330642700195, -2.109759569168091, 0.1354421079158783, 0.09186986833810806, 0.056370437145233154, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.735963761806488, -1.1994603872299194, -1.39499831199646, -1.0910283327102661, -0.022131508216261864, 0.20355984568595886, -1.3604159355163574, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9240034818649292, -1.3201872110366821, 1.5096182823181152, -2.1097214221954346, 0.13545997440814972, 0.09189324080944061, 0.056372955441474915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.6715917587280273, -1.2102771997451782, -1.3539875745773315, -1.0386053323745728, 0.016540387645363808, 0.22547385096549988, -1.3833115100860596, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.924010157585144, -1.3201818466186523, 1.509608268737793, -2.1096150875091553, 0.13550586998462677, 0.09190965443849564, 0.056368641555309296, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.5831037163734436, -1.224399209022522, -1.3108024597167969, -0.9708846211433411, 0.057790450751781464, 0.2817695140838623, -1.4224225282669067, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9240168333053589, -1.3201416730880737, 1.5095970630645752, -2.1094539165496826, 0.13553008437156677, 0.09192367643117905, 0.05636312812566757, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.4888997972011566, -1.2422808408737183, -1.2619915008544922, -0.9015551209449768, 0.10878308862447739, 0.3048068881034851, -1.4574031829833984, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9240074157714844, -1.3201930522918701, 1.5095808506011963, -2.109407424926758, 0.13553355634212494, 0.09193674474954605, 0.05636660382151604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.40069180727005005, -1.2671961784362793, -1.2206324338912964, -0.8318948149681091, 0.1382932811975479, 0.31995290517807007, -1.4825267791748047, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239929914474487, -1.3201626539230347, 1.509583830833435, -2.1094064712524414, 0.1355336755514145, 0.0919463261961937, 0.05636324733495712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.32817158102989197, -1.2948662042617798, -1.1862993240356445, -0.7688900232315063, 0.14983409643173218, 0.3289089798927307, -1.4959497451782227, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239925146102905, -1.3201789855957031, 1.5095826387405396, -2.10941481590271, 0.13553355634212494, 0.09195807576179504, 0.05636097118258476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.27022430300712585, -1.3197588920593262, -1.142541766166687, -0.706824541091919, 0.16818194091320038, 0.32596972584724426, -1.4963194131851196, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239790439605713, -1.3201788663864136, 1.5095809698104858, -2.109422206878662, 0.13553307950496674, 0.09196466207504272, 0.056361328810453415, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.22686342895030975, -1.3439583778381348, -1.1010509729385376, -0.6454349756240845, 0.19300533831119537, 0.32526084780693054, -1.4954376220703125, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239832162857056, -1.3201797008514404, 1.509581208229065, -2.109431028366089, 0.13553079962730408, 0.0919700562953949, 0.05636097118258476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.19681422412395477, -1.3657073974609375, -1.069076418876648, -0.5960385203361511, 0.2157997041940689, 0.31574153900146484, -1.5039838552474976, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239834547042847, -1.3201782703399658, 1.5095815658569336, -2.109443187713623, 0.1355234831571579, 0.0919707790017128, 0.05636049062013626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.18026891350746155, -1.3844164609909058, -1.0534130334854126, -0.5655913949012756, 0.23359626531600952, 0.30960550904273987, -1.5107738971710205, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239695072174072, -1.3201801776885986, 1.5095802545547485, -2.109466314315796, 0.13550803065299988, 0.0919719785451889, 0.056363608688116074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.17246872186660767, -1.4006075859069824, -1.05264151096344, -0.5387365818023682, 0.25300806760787964, 0.3030132055282593, -1.517362356185913, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239716529846191, -1.320184588432312, 1.5095793008804321, -2.109475612640381, 0.13549531996250153, 0.0919710174202919, 0.056363966315984726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.16422677040100098, -1.4124683141708374, -1.0522817373275757, -0.5124458074569702, 0.2750106453895569, 0.2910255193710327, -1.529323697090149, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239702224731445, -1.3201793432235718, 1.509576678276062, -2.1094822883605957, 0.1354817897081375, 0.0919705405831337, 0.05636528506875038, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.15980039536952972, -1.419656753540039, -1.0637797117233276, -0.4994470179080963, 0.2909175455570221, 0.2865028977394104, -1.5350369215011597, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.92396080493927, -1.3201875686645508, 1.5095494985580444, -2.1095032691955566, 0.1354689598083496, 0.09196873754262924, 0.05637271702289581, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.15961888432502747, -1.4208886623382568, -1.0691996812820435, -0.5009632706642151, 0.29933837056159973, 0.2861524820327759, -1.5350892543792725, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239609241485596, -1.3201872110366821, 1.5095499753952026, -2.1095125675201416, 0.1354651302099228, 0.09196826070547104, 0.0563805066049099, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.16127216815948486, -1.4202775955200195, -1.0679950714111328, -0.5099714398384094, 0.29850199818611145, 0.2861698567867279, -1.5348924398422241, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239599704742432, -1.3201874494552612, 1.5095500946044922, -2.109520673751831, 0.13546428084373474, 0.09196610003709793, 0.056412022560834885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.167869433760643, -1.4167053699493408, -1.056121826171875, -0.5218196511268616, 0.29473990201950073, 0.2862095236778259, -1.5345155000686646, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239592552185059, -1.3201872110366821, 1.5095503330230713, -2.1095285415649414, 0.1354641616344452, 0.09196418523788452, 0.05645900219678879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.17739568650722504, -1.4114147424697876, -1.0458604097366333, -0.5306556224822998, 0.29004520177841187, 0.2862507700920105, -1.5344547033309937, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239575862884521, -1.320189118385315, 1.5095500946044922, -2.1095337867736816, 0.13546404242515564, 0.09196142852306366, 0.05649435520172119, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18375810980796814, -1.4066389799118042, -1.0382814407348633, -0.5376200079917908, 0.2854107916355133, 0.2862858772277832, -1.5343401432037354, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9239569902420044, -1.3201894760131836, 1.509549856185913, -2.1095402240753174, 0.1354644000530243, 0.09195999056100845, 0.056511733680963516, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.184112548828125, -1.405624270439148, -1.032542109489441, -0.5436928868293762, 0.28472888469696045, 0.28629329800605774, -1.5342252254486084, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239535331726074, -1.3201954364776611, 1.5095503330230713, -2.109549045562744, 0.1354665607213974, 0.0919593945145607, 0.056520599871873856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18404458463191986, -1.4056169986724854, -1.0278782844543457, -0.5463327765464783, 0.2831960916519165, 0.2862931787967682, -1.5341603755950928, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239492416381836, -1.3201950788497925, 1.5095518827438354, -2.109556198120117, 0.13547663390636444, 0.0919589102268219, 0.05652695149183273, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18327440321445465, -1.4057012796401978, -1.0219117403030396, -0.5466534495353699, 0.2769831120967865, 0.28629162907600403, -1.5340876579284668, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239484071731567, -1.320195198059082, 1.5095527172088623, -2.1095592975616455, 0.1354914903640747, 0.0919581949710846, 0.056527432054281235, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18313847482204437, -1.4062426090240479, -1.013623595237732, -0.5423663258552551, 0.2754792273044586, 0.2862910330295563, -1.534077763557434, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239487648010254, -1.320195198059082, 1.5095548629760742, -2.109560966491699, 0.13550035655498505, 0.0919584333896637, 0.05652587488293648, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18370339274406433, -1.4062583446502686, -1.0077532529830933, -0.5392374992370605, 0.2741108536720276, 0.2862906754016876, -1.5340882539749146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239490032196045, -1.320194959640503, 1.5095610618591309, -2.1095616817474365, 0.13551054894924164, 0.0919579565525055, 0.05652335658669472, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18381039798259735, -1.4063023328781128, -1.0041875839233398, -0.5390554666519165, 0.2741882801055908, 0.2862909138202667, -1.5341095924377441, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239495992660522, -1.3201954364776611, 1.5095653533935547, -2.1095616817474365, 0.13552576303482056, 0.0919581949710846, 0.05652359500527382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18380869925022125, -1.4067426919937134, -1.0041836500167847, -0.5394048094749451, 0.27593281865119934, 0.2862904369831085, -1.5341436862945557, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9239497184753418, -1.3201954364776611, 1.5095758438110352, -2.109563112258911, 0.13554085791110992, 0.0919586718082428, 0.056522637605667114, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.1838550865650177, -1.4082903861999512, -1.0045381784439087, -0.5395090579986572, 0.27984651923179626, 0.286288857460022, -1.5342637300491333, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.9239503145217896, -1.3201947212219238, 1.5095921754837036, -2.109563112258911, 0.13555116951465607, 0.09195831418037415, 0.05652143806219101, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18397362530231476, -1.411354899406433, -1.0079466104507446, -0.538275420665741, 0.2832354009151459, 0.2863001227378845, -1.5346448421478271, 0.2526000132927528, -0.2526000132927528, 0.2526000132927528, 0.2526000132927528, -0.2526000132927528, -0.2526000132927528, 0.2526000132927528, 0.2526000132927528, -1.923950433731079, -1.3201926946640015, 1.5096075534820557, -2.1095633506774902, 0.13555775582790375, 0.0919603481888771, 0.05651460960507393, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.18456624448299408, -1.4141192436218262, -1.017256498336792, -0.5390970706939697, 0.27842891216278076, 0.2862701714038849, -1.5345892906188965, 0.4595999950891012, -0.4595999950891012, 0.4595999950891012, 0.4595999950891012, -0.4595999950891012, -0.4595999950891012, 0.4595999950891012, 0.4595999950891012, -1.9239602088928223, -1.3201911449432373, 1.5096348524093628, -2.109571933746338, 0.1355583667755127, 0.09195783734321594, 0.05650262534618378, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.190330371260643, -1.4140969514846802, -1.0424888134002686, -0.5524014830589294, 0.27386507391929626, 0.28641217947006226, -1.5340465307235718, 0.577200000168203, -0.577200000168203, 0.577200000168203, 0.577200000168203, -0.577200000168203, -0.577200000168203, 0.577200000168203, 0.577200000168203, -1.9239522218704224, -1.3201905488967896, 1.509637713432312, -2.1095738410949707, 0.1355569213628769, 0.09196262806653976, 0.05649926885962486, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.22194784879684448, -1.4075156450271606, -1.0904723405838013, -0.613648533821106, 0.2685374915599823, 0.3003246784210205, -1.5188041925430298, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -1.9239510297775269, -1.320190668106079, 1.5096383094787598, -2.10957407951355, 0.13555237650871277, 0.09196562319993973, 0.056495312601327896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.3152468800544739, -1.3809517621994019, -1.177801251411438, -0.7736228108406067, 0.2673826813697815, 0.34084010124206543, -1.4746085405349731, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.9239541292190552, -1.3201580047607422, 1.509644865989685, -2.1095705032348633, 0.13554230332374573, 0.09197353571653366, 0.05648704618215561, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.4998326599597931, -1.3534590005874634, -1.3167215585708618, -1.051833987236023, 0.22733786702156067, 0.43782758712768555, -1.2980300188064575, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.9239342212677002, -1.3201816082000732, 1.509661078453064, -2.1095969676971436, 0.13552863895893097, 0.09215473383665085, 0.056407470256090164, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.6950520873069763, -1.3492393493652344, -1.4277639389038086, -1.2912381887435913, 0.10195112228393555, 0.5403828620910645, -1.0352369546890259, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.9238873720169067, -1.3201727867126465, 1.509642243385315, -2.109618663787842, 0.13551785051822662, 0.09224485605955124, 0.05642784386873245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8703951835632324, -1.3486454486846924, -1.4976234436035156, -1.4860641956329346, 0.004248407669365406, 0.5593651533126831, -0.8710530400276184, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239107370376587, -1.320188045501709, 1.509635329246521, -2.109616279602051, 0.13549640774726868, 0.0922238826751709, 0.056432515382766724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.0245985984802246, -1.3496081829071045, -1.5483479499816895, -1.6431666612625122, -0.08136677742004395, 0.5235978364944458, -0.7046951651573181, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9238978624343872, -1.320194125175476, 1.5096219778060913, -2.109611749649048, 0.1354801058769226, 0.09223143011331558, 0.05647613853216171, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.1804932355880737, -1.3514279127120972, -1.6013381481170654, -1.7653428316116333, -0.18505428731441498, 0.45087507367134094, -0.5401345491409302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239554405212402, -1.320188283920288, 1.509616732597351, -2.1096019744873047, 0.13547255098819733, 0.09218744933605194, 0.056469906121492386, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.3377143144607544, -1.35154390335083, -1.643109917640686, -1.8466941118240356, -0.24196749925613403, 0.3660811483860016, -0.4117390215396881, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.923893690109253, -1.3201937675476074, 1.509582757949829, -2.1095926761627197, 0.13547171652317047, 0.09221549332141876, 0.05649663135409355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.4840394258499146, -1.3514264822006226, -1.6621402502059937, -1.8945457935333252, -0.242082417011261, 0.23673194646835327, -0.30638089776039124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239414930343628, -1.3201959133148193, 1.509587049484253, -2.109574317932129, 0.13547411561012268, 0.0921894907951355, 0.05645528808236122, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.5991895198822021, -1.3518311977386475, -1.6810399293899536, -1.9291856288909912, -0.2638775408267975, 0.14094646275043488, -0.23104171454906464, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239158630371094, -1.3201904296875, 1.5095773935317993, -2.109476327896118, 0.13547758758068085, 0.09219919890165329, 0.056476857513189316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.6907275915145874, -1.3534862995147705, -1.6897947788238525, -1.958404779434204, -0.26928842067718506, 0.06393128633499146, -0.18562941253185272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.923903226852417, -1.3201953172683716, 1.5095770359039307, -2.1094284057617188, 0.13547927141189575, 0.09220279008150101, 0.05647769570350647, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.7590183019638062, -1.3554725646972656, -1.6909362077713013, -1.968803882598877, -0.27429553866386414, 0.004758576396852732, -0.1607276350259781, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239126443862915, -1.3202009201049805, 1.5095750093460083, -2.109436273574829, 0.13548117876052856, 0.09219799935817719, 0.05648213252425194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.8019704818725586, -1.358380675315857, -1.6889959573745728, -1.9525521993637085, -0.27224862575531006, -0.04895387962460518, -0.15116865932941437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.923919916152954, -1.320200800895691, 1.50957453250885, -2.1094415187835693, 0.13548801839351654, 0.09219440072774887, 0.05648728460073471, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.814234972000122, -1.3615760803222656, -1.673322319984436, -1.9102832078933716, -0.2785765528678894, -0.08851704001426697, -0.12054260820150375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239317178726196, -1.3202011585235596, 1.509567379951477, -2.1094439029693604, 0.13550059497356415, 0.09219512343406677, 0.0564962737262249, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6842236518859863, -0.6398729681968689, 0.0, 0.0, 1.8175698518753052, -1.3635751008987427, -1.6539596319198608, -1.8842962980270386, -0.2801499664783478, -0.1154259443283081, -0.10426407307386398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.923928141593933, -1.3202003240585327, 1.5095609426498413, -2.1094555854797363, 0.13551881909370422, 0.09219368547201157, 0.05651029571890831, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6842236518859863, -0.6398729681968689, 0.0, 0.0, 1.8184294700622559, -1.365574836730957, -1.6387038230895996, -1.8782455921173096, -0.2704581916332245, -0.12724646925926208, -0.09521909803152084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239256381988525, -1.32020103931427, 1.509558916091919, -2.109459638595581, 0.13554434478282928, 0.09219308197498322, 0.05652203783392906, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8184406757354736, -1.3659744262695312, -1.6387290954589844, -1.8782652616500854, -0.2700706124305725, -0.12700533866882324, -0.0949222519993782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9239267110824585, -1.3202000856399536, 1.5095587968826294, -2.1094698905944824, 0.1355566829442978, 0.0921906903386116, 0.05653306469321251, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8184393644332886, -1.3659677505493164, -1.6402757167816162, -1.8783905506134033, -0.270468145608902, -0.12649361789226532, -0.09532144665718079, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9226034879684448, -1.3195427656173706, 1.5114600658416748, -2.111093282699585, 0.1343013346195221, 0.09284275025129318, 0.057882849127054214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8184446096420288, -1.3659592866897583, -1.6407513618469238, -1.878528356552124, -0.2705317735671997, -0.12639965116977692, -0.09537285566329956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.892561435699463, -1.307708740234375, 1.56510329246521, -2.127225637435913, 0.07666105031967163, 0.16275188326835632, 0.16003841161727905, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8184711933135986, -1.3659597635269165, -1.640751838684082, -1.878671646118164, -0.27053260803222656, -0.12634657323360443, -0.09541084617376328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8350194692611694, -1.2901577949523926, 1.6314877271652222, -2.1359081268310547, 0.004559637978672981, 0.2534748613834381, 0.3684358298778534, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8184640407562256, -1.3659613132476807, -1.6407500505447388, -1.8786858320236206, -0.2705274522304535, -0.1263151615858078, -0.09543780982494354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7543812990188599, -1.2756677865982056, 1.6750401258468628, -2.1256330013275146, -0.08250096440315247, 0.32902592420578003, 0.5721906423568726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8184986114501953, -1.365964412689209, -1.6407451629638672, -1.8787000179290771, -0.27051812410354614, -0.1262957602739334, -0.09546837210655212, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6516427993774414, -1.2603756189346313, 1.6938915252685547, -2.093909978866577, -0.1686009019613266, 0.401864618062973, 0.7833149433135986, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185425996780396, -1.3659716844558716, -1.6407430171966553, -1.8787115812301636, -0.270517498254776, -0.12625177204608917, -0.09547879546880722, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5440666675567627, -1.2453386783599854, 1.695381760597229, -2.0528323650360107, -0.22529515624046326, 0.470295250415802, 0.9890176653862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185585737228394, -1.3659846782684326, -1.6407362222671509, -1.878717064857483, -0.2705155909061432, -0.1262105405330658, -0.09548251330852509, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4438345432281494, -1.2346479892730713, 1.6829115152359009, -1.9990391731262207, -0.2551816701889038, 0.5421426296234131, 1.132904052734375, 0.5291999981953548, 0.5291999981953548, 0.5291999981953548, 0.5291999981953548, -0.5291999981953548, -0.5291999981953548, -0.5291999981953548, 0.5291999981953548, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185533285140991, -1.3659917116165161, -1.6407309770584106, -1.8787147998809814, -0.2705087661743164, -0.12618201971054077, -0.09548814594745636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3627723455429077, -1.2262486219406128, 1.6561658382415771, -1.9363360404968262, -0.2960984408855438, 0.5944749712944031, 1.2283258438110352, 0.18480001805902838, 0.18480001805902838, 0.18480001805902838, 0.18480001805902838, -0.18480001805902838, -0.18480001805902838, -0.18480001805902838, 0.18480001805902838, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185374736785889, -1.36599862575531, -1.6407195329666138, -1.8787163496017456, -0.2705097198486328, -0.12617507576942444, -0.09548994153738022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3052587509155273, -1.2040990591049194, 1.6127971410751343, -1.8673961162567139, -0.3125552833080292, 0.5951931476593018, 1.2627146244049072, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185518980026245, -1.3660138845443726, -1.6407119035720825, -1.878711223602295, -0.2705053985118866, -0.12616847455501556, -0.09549018740653992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2610512971878052, -1.1727749109268188, 1.555834412574768, -1.820366382598877, -0.3194859027862549, 0.5911104083061218, 1.229182481765747, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185551166534424, -1.3660199642181396, -1.640699028968811, -1.878706455230713, -0.2705106735229492, -0.12616609036922455, -0.0954868271946907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2230474948883057, -1.1446932554244995, 1.5039372444152832, -1.7920310497283936, -0.3257654011249542, 0.5951387882232666, 1.2243196964263916, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185555934906006, -1.3660212755203247, -1.640683889389038, -1.878693699836731, -0.27051103115081787, -0.12616081535816193, -0.09548886865377426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1952753067016602, -1.1181049346923828, 1.4600896835327148, -1.7702724933624268, -0.3313990533351898, 0.5934109091758728, 1.2272852659225464, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185665607452393, -1.3660224676132202, -1.6406738758087158, -1.8786860704421997, -0.2705104351043701, -0.12615661323070526, -0.09549102187156677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1796839237213135, -1.0935463905334473, 1.4280190467834473, -1.7521089315414429, -0.3286697566509247, 0.5924872756004333, 1.229590892791748, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.818571925163269, -1.366024374961853, -1.6406573057174683, -1.8786674737930298, -0.2705111503601074, -0.12615278363227844, -0.09549413621425629, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1747313737869263, -1.0733449459075928, 1.407027244567871, -1.744941234588623, -0.3082617223262787, 0.5925155282020569, 1.2291979789733887, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185724020004272, -1.3660262823104858, -1.640647292137146, -1.8786671161651611, -0.2705094814300537, -0.12614990770816803, -0.09549929201602936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1749647855758667, -1.0582265853881836, 1.3892598152160645, -1.7466216087341309, -0.2922990918159485, 0.5949323773384094, 1.2249469757080078, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8185704946517944, -1.3660272359848022, -1.6406335830688477, -1.878665566444397, -0.270510196685791, -0.12614810466766357, -0.09550504386425018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1754605770111084, -1.0483978986740112, 1.377914309501648, -1.7503118515014648, -0.2809709906578064, 0.5960632562637329, 1.2237143516540527, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8185718059539795, -1.3660266399383545, -1.6406320333480835, -1.8786617517471313, -0.2705133259296417, -0.12614582479000092, -0.09551463276147842, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1744624376296997, -1.0412788391113281, 1.3712632656097412, -1.7528578042984009, -0.27529311180114746, 0.5968567132949829, 1.2211894989013672, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8185878992080688, -1.3660264015197754, -1.6406303644180298, -1.8786582946777344, -0.27051714062690735, -0.12614379823207855, -0.09551966190338135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.172346591949463, -1.0348515510559082, 1.3655500411987305, -1.7547309398651123, -0.2708243131637573, 0.5970093607902527, 1.220180869102478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.818588137626648, -1.3660258054733276, -1.6406296491622925, -1.8786532878875732, -0.27052003145217896, -0.1261427104473114, -0.0955212265253067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1760793924331665, -1.0258921384811401, 1.3623024225234985, -1.7638351917266846, -0.2678056061267853, 0.5916092991828918, 1.2262170314788818, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818602442741394, -1.3660253286361694, -1.6406290531158447, -1.8786476850509644, -0.27052217721939087, -0.12614211440086365, -0.09552254527807236, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1848843097686768, -1.0179189443588257, 1.3594950437545776, -1.7782503366470337, -0.2627002000808716, 0.584574818611145, 1.2324796915054321, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186196088790894, -1.3660250902175903, -1.6406290531158447, -1.8786444664001465, -0.2705249488353729, -0.12614092230796814, -0.09552373737096786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1894590854644775, -1.013596773147583, 1.354209542274475, -1.786578893661499, -0.2553149163722992, 0.583844006061554, 1.2330873012542725, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186231851577759, -1.3660252094268799, -1.6406288146972656, -1.8786433935165405, -0.2705281674861908, -0.12614044547080994, -0.09552326053380966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.193156361579895, -1.0121859312057495, 1.349047303199768, -1.793326735496521, -0.24739383161067963, 0.5804688930511475, 1.2369624376296997, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818621039390564, -1.366025447845459, -1.6406283378601074, -1.8786441087722778, -0.27053141593933105, -0.12614019215106964, -0.09552398324012756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1998003721237183, -1.0107206106185913, 1.3457422256469727, -1.8032785654067993, -0.24473632872104645, 0.5749835968017578, 1.241465449333191, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186237812042236, -1.3660259246826172, -1.6406300067901611, -1.878644347190857, -0.2705351412296295, -0.12614068388938904, -0.09552229940891266, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2081657648086548, -1.0056856870651245, 1.3450368642807007, -1.817834734916687, -0.24734637141227722, 0.5675877332687378, 1.2484384775161743, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818625569343567, -1.3660252094268799, -1.6406329870224, -1.8786449432373047, -0.27053597569465637, -0.1261405646800995, -0.0955193042755127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.216414213180542, -1.0040998458862305, 1.3468090295791626, -1.8300187587738037, -0.2503640055656433, 0.5644324421882629, 1.25198495388031, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818628191947937, -1.3660260438919067, -1.6406341791152954, -1.878645658493042, -0.2705342769622803, -0.12614019215106964, -0.09551546722650528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2247079610824585, -1.0001357793807983, 1.3476213216781616, -1.843298077583313, -0.2525928318500519, 0.5643953680992126, 1.2521816492080688, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186241388320923, -1.3660259246826172, -1.640636920928955, -1.878646731376648, -0.27053549885749817, -0.1261400729417801, -0.09551307559013367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.23475182056427, -0.9990848302841187, 1.348610758781433, -1.8572909832000732, -0.2545107901096344, 0.563282310962677, 1.2541778087615967, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186402320861816, -1.3660261631011963, -1.640642523765564, -1.8786474466323853, -0.2705345153808594, -0.12614044547080994, -0.09551115334033966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2408510446548462, -0.9980348944664001, 1.3483717441558838, -1.866794466972351, -0.25456950068473816, 0.5611395239830017, 1.2566490173339844, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186391592025757, -1.3660264015197754, -1.6406434774398804, -1.8786481618881226, -0.27053478360176086, -0.1261400729417801, -0.09551271796226501, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2454609870910645, -0.994572639465332, 1.3470932245254517, -1.8761906623840332, -0.2547052800655365, 0.5567542314529419, 1.2628730535507202, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186383247375488, -1.3660269975662231, -1.6406456232070923, -1.8786495923995972, -0.27053332328796387, -0.12614044547080994, -0.09551223367452621, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2496005296707153, -0.9926290512084961, 1.3460919857025146, -1.8817577362060547, -0.2513004541397095, 0.5567049980163574, 1.2630555629730225, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818638563156128, -1.3660268783569336, -1.6406506299972534, -1.8786495923995972, -0.27052998542785645, -0.1261408030986786, -0.09551283717155457, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.252002477645874, -0.9907476305961609, 1.3425965309143066, -1.8884446620941162, -0.25124531984329224, 0.5567651391029358, 1.2631733417510986, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186386823654175, -1.3660272359848022, -1.6406538486480713, -1.8786495923995972, -0.27052733302116394, -0.1261405646800995, -0.09551343321800232, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.252619981765747, -0.9868945479393005, 1.3410770893096924, -1.8942090272903442, -0.25072675943374634, 0.5580970644950867, 1.2627874612808228, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186396360397339, -1.36602783203125, -1.6406581401824951, -1.8786499500274658, -0.2705249488353729, -0.1261405646800995, -0.09551439434289932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2526320219039917, -0.9856825470924377, 1.3389393091201782, -1.8980318307876587, -0.2507394552230835, 0.5603610277175903, 1.2602447271347046, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186402320861816, -1.366028070449829, -1.6406638622283936, -1.8786499500274658, -0.2705230116844177, -0.1261410415172577, -0.09551666676998138, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2502286434173584, -0.9855712056159973, 1.3352181911468506, -1.902054786682129, -0.2507036328315735, 0.5727638602256775, 1.2469335794448853, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8186513185501099, -1.366028070449829, -1.6406668424606323, -1.8786506652832031, -0.2705201506614685, -0.1261412799358368, -0.09551798552274704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2450019121170044, -0.9898809790611267, 1.3436522483825684, -1.9125933647155762, -0.24577152729034424, 0.6019567251205444, 1.2179155349731445, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8186596632003784, -1.366028904914856, -1.6406811475753784, -1.8786522150039673, -0.2705130875110626, -0.1261408030986786, -0.0955202654004097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2578752040863037, -1.0119402408599854, 1.386741042137146, -1.9610048532485962, -0.2562437057495117, 0.6187478303909302, 1.1975003480911255, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186630010604858, -1.3660435676574707, -1.6406835317611694, -1.878650188446045, -0.270510196685791, -0.1261419951915741, -0.09551966190338135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3251670598983765, -1.0438077449798584, 1.4433108568191528, -2.0464768409729004, -0.28054362535476685, 0.5844876766204834, 1.1344712972640991, 0.10499999654162064, 0.10499999654162064, 0.10499999654162064, 0.10499999654162064, -0.10499999654162064, -0.10499999654162064, -0.10499999654162064, 0.10499999654162064, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187005519866943, -1.366052269935608, -1.640687346458435, -1.8786386251449585, -0.2705094814300537, -0.1261415183544159, -0.09552229940891266, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4408296346664429, -1.071058750152588, 1.492233395576477, -2.1445417404174805, -0.30150729417800903, 0.4914570152759552, 1.0756155252456665, 0.24360001322987312, 0.24360001322987312, 0.24360001322987312, 0.24360001322987312, -0.24360001322987312, -0.24360001322987312, -0.24360001322987312, 0.24360001322987312, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8186430931091309, -1.3660578727722168, -1.6406898498535156, -1.8786358833312988, -0.2705085277557373, -0.1261408030986786, -0.09552337974309921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5621291399002075, -1.0915006399154663, 1.5222285985946655, -2.229706287384033, -0.34869804978370667, 0.3869997560977936, 1.0456327199935913, 0.5321999998538048, 0.5321999998538048, 0.5321999998538048, 0.5321999998538048, -0.5321999998538048, -0.5321999998538048, -0.5321999998538048, 0.5321999998538048, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187179565429688, -1.3660626411437988, -1.640688419342041, -1.8786320686340332, -0.2705106735229492, -0.12613995373249054, -0.09552589803934097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.659986138343811, -1.1114312410354614, 1.5285967588424683, -2.2843542098999023, -0.41385146975517273, 0.28945258259773254, 1.010690450668335, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187179565429688, -1.3660706281661987, -1.6406902074813843, -1.8786306381225586, -0.27050960063934326, -0.12613935768604279, -0.09552529454231262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.744877576828003, -1.12989342212677, 1.5193407535552979, -2.3134517669677734, -0.5037952661514282, 0.19032303988933563, 0.963636040687561, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187164068222046, -1.3660722970962524, -1.640688180923462, -1.8786300420761108, -0.27051079273223877, -0.12613864243030548, -0.09552505612373352, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8173089027404785, -1.1464301347732544, 1.5023539066314697, -2.3180952072143555, -0.5933974385261536, 0.10900706797838211, 0.9151632189750671, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468535814, -7.571709705221058e-05, -0.0003171115823152354, 0.001753288903273642], [7.574349606857775e-05, 0.9999999936672482, 8.323716900054881e-05, 0.00041820990736596286], [0.00031710527783024284, -8.326118371667978e-05, 0.9999999462559076, -1.0238263712381013e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187099695205688, -1.3660742044448853, -1.640686273574829, -1.8786312341690063, -0.270510196685791, -0.12613780796527863, -0.09552529454231262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8590495586395264, -1.1606991291046143, 1.484436273574829, -2.30564546585083, -0.6724501848220825, 0.05398401990532875, 0.8810515999794006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999516953719, -4.4357746137912166e-05, -0.0003076388209272981, 0.0019623073749244213], [4.43822317068649e-05, 0.9999999958481777, 7.958556458259131e-05, 0.00041615660302340984], [0.00030763528941376645, -7.959921443567264e-05, 0.9999999495122456, 4.201247065793723e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187063932418823, -1.366074562072754, -1.6406854391098022, -1.8786320686340332, -0.2705117464065552, -0.12613672018051147, -0.09552302211523056, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8732273578643799, -1.1732802391052246, 1.4764316082000732, -2.2864627838134766, -0.7129712700843811, 0.027878303080797195, 0.8689116835594177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999505928544, -6.776934371195281e-05, -0.00030695537921601555, 0.0019348911009728909], [6.778958662641182e-05, 0.9999999955284095, 6.593749312191604e-05, 0.00041963750845752656], [0.00030695090930280195, -6.595829824240252e-05, 0.9999999507153199, -1.5382339597636019e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187063932418823, -1.366074800491333, -1.6406842470169067, -1.8786330223083496, -0.27051404118537903, -0.1261349320411682, -0.09552206099033356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8713891506195068, -1.1854251623153687, 1.4733538627624512, -2.2653794288635254, -0.7270703315734863, 0.02202017419040203, 0.8677800297737122, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999447729114, -8.156309725181556e-05, -0.00032218261176073697, 0.001934987842105329], [8.158138832765438e-05, 0.9999999950614095, 5.6759652679734996e-05, 0.0004224494914524257], [0.00032217798067653747, -5.67859336498271e-05, 0.9999999464883518, -6.245027748263965e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187042474746704, -1.3660739660263062, -1.6406837701797485, -1.878635287284851, -0.2705167829990387, -0.1261330097913742, -0.095520980656147, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8621827363967896, -1.1960530281066895, 1.4716402292251587, -2.2454607486724854, -0.7313987016677856, 0.02280118688941002, 0.8711451888084412, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999437762664, -7.257187675811642e-05, -0.0003273847686089986, 0.001917218673042953], [7.259138967699377e-05, 0.9999999955897065, 5.959091397123175e-05, 0.00042576753185130656], [0.0003273804425406711, -5.961467593612048e-05, 0.9999999446340666, -1.957215317816008e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8186872005462646, -1.3660739660263062, -1.640683889389038, -1.8786368370056152, -0.27051836252212524, -0.1261308491230011, -0.09552086144685745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.851405382156372, -1.2054916620254517, 1.4748870134353638, -2.235302209854126, -0.7299989461898804, 0.024701284244656563, 0.8833112120628357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999402197635, -0.00012206054322116047, -0.0003235145950668781, 0.0018990729004144669], [0.00012208679706410293, 0.9999999892560884, 8.113345231652658e-05, 0.0004127208376303315], [0.0003235046883978027, -8.117294432706482e-05, 0.9999999443778333, -4.174696073278028e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818687915802002, -1.3660740852355957, -1.6406831741333008, -1.8786380290985107, -0.27052217721939087, -0.1261291801929474, -0.09551942348480225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.841004729270935, -1.2134507894515991, 1.4809489250183105, -2.2289516925811768, -0.718661367893219, 0.027902750298380852, 0.9016119241714478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999468003627, -5.850882834255408e-05, -0.0003208987203721996, 0.0019086679676547647], [5.853448536163249e-05, 0.9999999950912695, 7.99448257049663e-05, 0.00042164785554632545], [0.00032089404131891027, -7.996360509338074e-05, 0.9999999453164166, -1.2052958027197747e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186885118484497, -1.3660736083984375, -1.6406830549240112, -1.878639817237854, -0.27052685618400574, -0.1261284500360489, -0.09551918506622314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.829421043395996, -1.2202351093292236, 1.487963318824768, -2.226451873779297, -0.700732946395874, 0.0367073230445385, 0.922196626663208, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999402033841, -6.147040634451586e-05, -0.00034031546739109403, 0.0019134688191115856], [6.150030199637581e-05, 0.9999999942511774, 8.783711172945009e-05, 0.0004169148451182991], [0.00034031006605173057, -8.785803598110666e-05, 0.9999999382350103, -1.3417651416602894e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8186979293823242, -1.366073727607727, -1.6406824588775635, -1.8786405324935913, -0.27053093910217285, -0.12612761557102203, -0.09551990777254105, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.812628984451294, -1.2282110452651978, 1.5010486841201782, -2.227351188659668, -0.660302996635437, 0.05805997550487518, 0.9626752734184265, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999479460258, -6.786768874880383e-05, -0.00031543925358587597, 0.0019264384172856808], [6.789217419328983e-05, 0.9999999946834167, 7.761326776687243e-05, 0.00041669674101285636], [0.00031543398447571726, -7.763467958354524e-05, 0.9999999472371276, -1.2465616237022914e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8186949491500854, -1.366073489189148, -1.6406787633895874, -1.8786426782608032, -0.2705349028110504, -0.12612713873386383, -0.0955200269818306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.770215392112732, -1.2359081506729126, 1.5337152481079102, -2.231692314147949, -0.556771993637085, 0.13177050650119781, 1.0562714338302612, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999442665916, -0.00010709803223814146, -0.0003162227461318843, 0.0019485888769850135], [0.00010713105169654974, 0.9999999888114484, 0.00010440326100927265, 0.0004179251263849437], [0.00031621156120999644, -0.00010443713246588653, 0.9999999445515654, -1.28564431634004e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8187403678894043, -1.3660742044448853, -1.6406786441802979, -1.878653645515442, -0.27053597569465637, -0.12612761557102203, -0.09552038460969925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6791433095932007, -1.24317467212677, 1.5794274806976318, -2.205160617828369, -0.4280273914337158, 0.26101163029670715, 1.1693925857543945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999459548888, -6.0676379482993755e-05, -0.00032312319074609885, 0.00200656452216208], [6.070074180672724e-05, 0.9999999953161008, 7.53871218619316e-05, 0.0004177842056378722], [0.0003231186150150082, -7.540673160499946e-05, 0.9999999449540912, -1.3206991980041494e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818751573562622, -1.366080641746521, -1.6406786441802979, -1.8786598443984985, -0.27053824067115784, -0.12612617015838623, -0.09552134573459625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.558748722076416, -1.2476561069488525, 1.6111713647842407, -2.1228206157684326, -0.34180161356925964, 0.40078064799308777, 1.250786304473877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999539936949, -5.210034213411505e-05, -0.0002988279811850367, 0.001987960422411561], [5.212854841464856e-05, 0.9999999941872623, 9.438267803902977e-05, 0.00041934134787879884], [0.00029882306207821066, -9.439825116571634e-05, 0.9999999508968727, -5.015949682274368e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187593221664429, -1.3660881519317627, -1.640678882598877, -1.8786674737930298, -0.27053824067115784, -0.12612666189670563, -0.09552158415317535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.449310064315796, -1.2485202550888062, 1.6352040767669678, -2.022655963897705, -0.27474087476730347, 0.5182905197143555, 1.298780918121338, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, -0.5358000008614509, -0.5358000008614509, -0.5358000008614509, 0.5358000008614509, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999456525989, -7.605351559287056e-05, -0.00032079691712200153, 0.00199001282453537], [7.608112211278072e-05, 0.9999999934039829, 8.604473820015899e-05, 0.0004182860138826072], [0.00032079037100118116, -8.606914011327605e-05, 0.999999944842819, -1.0302693453922984e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187439441680908, -1.3661144971847534, -1.6406774520874023, -1.8786648511886597, -0.2705395519733429, -0.12612654268741608, -0.09552469849586487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3778904676437378, -1.2464654445648193, 1.6420155763626099, -1.919060230255127, -0.2297559231519699, 0.5553625226020813, 1.281773567199707, 0.2633999819283957, 0.2633999819283957, 0.2633999819283957, 0.2633999819283957, -0.2633999819283957, -0.2633999819283957, -0.2633999819283957, 0.2633999819283957, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999456525989, -7.605351559287056e-05, -0.00032079691712200153, 0.00199001282453537], [7.608112211278072e-05, 0.9999999934039829, 8.604473820015899e-05, 0.0004182860138826072], [0.00032079037100118116, -8.606914011327605e-05, 0.999999944842819, -1.0302693453922984e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187365531921387, -1.3661154508590698, -1.6406793594360352, -1.8786630630493164, -0.27053943276405334, -0.12612617015838623, -0.09552649408578873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.341499924659729, -1.232431411743164, 1.639613389968872, -1.8293778896331787, -0.2007802277803421, 0.5545734763145447, 1.2689751386642456, 0.03059999864180014, 0.03059999864180014, 0.03059999864180014, 0.03059999864180014, -0.03059999864180014, -0.03059999864180014, -0.03059999864180014, 0.03059999864180014, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999456525989, -7.605351559287056e-05, -0.00032079691712200153, 0.00199001282453537], [7.608112211278072e-05, 0.9999999934039829, 8.604473820015899e-05, 0.0004182860138826072], [0.00032079037100118116, -8.606914011327605e-05, 0.999999944842819, -1.0302693453922984e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187363147735596, -1.3661160469055176, -1.6406786441802979, -1.8786630630493164, -0.2705378830432892, -0.12612630426883698, -0.09552793204784393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3175336122512817, -1.216184377670288, 1.6315758228302002, -1.7633103132247925, -0.20164991915225983, 0.5544906854629517, 1.2666224241256714, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999436388763, -8.364563810664432e-05, -0.00032515481126307877, 0.0018537973519414663], [8.368038341288918e-05, 0.9999999907908058, 0.00010684559794267149, 0.0004241098358761519], [0.0003251458711004461, -0.00010687280100000858, 0.9999999414291817, -3.841000761894975e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187403678894043, -1.3661164045333862, -1.6406804323196411, -1.8786616325378418, -0.27053597569465637, -0.12612642347812653, -0.09553033113479614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2988905906677246, -1.212428331375122, 1.6282470226287842, -1.7203646898269653, -0.20854432880878448, 0.5571203827857971, 1.262636423110962, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999448782624, -5.5864919536034365e-05, -0.0003272958645009597, 0.0018301282543689013], [5.590672253409477e-05, 0.99999999028171, 0.00012771459657744127, 0.00042246095836162567], [0.0003272887265545422, -0.000127732887576674, 0.9999999382831976, -1.0506327043913188e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187364339828491, -1.366117000579834, -1.6406810283660889, -1.8786602020263672, -0.2705339193344116, -0.12612617015838623, -0.0955316498875618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2884010076522827, -1.2120102643966675, 1.6252833604812622, -1.6937484741210938, -0.21249528229236603, 0.5556566119194031, 1.2571121454238892, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999422608653, -9.872494289317654e-05, -0.0003251640380959324, 0.0018357796361669898], [9.875899056498582e-05, 0.9999999896428277, 0.00010469482499113819, 0.0004139576049055904], [0.00032515369873753393, -0.00010472693181831996, 0.9999999416536692, -1.547640977150877e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187364339828491, -1.3661174774169922, -1.6406818628311157, -1.8786571025848389, -0.27052998542785645, -0.12612630426883698, -0.0955311730504036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2871946096420288, -1.2119899988174438, 1.6239001750946045, -1.6804252862930298, -0.2173992395401001, 0.5551367402076721, 1.2568397521972656, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999510799826, -8.205514307931347e-05, -0.00030183933774092673, 0.0018316530622541904], [8.209645130194983e-05, 0.9999999872667878, 0.00013684515613914076, 0.00041611111373640597], [0.0003018281050486757, -0.00013686992938316517, 0.9999999450832072, 9.996038130566376e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187347650527954, -1.3661175966262817, -1.6406817436218262, -1.878655195236206, -0.2705267369747162, -0.12612642347812653, -0.09553009271621704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2873872518539429, -1.2110979557037354, 1.6197755336761475, -1.6745812892913818, -0.22898486256599426, 0.5548985004425049, 1.2663811445236206, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999454057422, -9.42315848221573e-05, -0.0003167158365077899, 0.0018530464731156826], [9.427199828034869e-05, 0.9999999874169023, 0.00012758912737813994, 0.0004197116068098694], [0.00031670380959684474, -0.00012761897784730085, 0.999999941706045, -1.0933763405773789e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187344074249268, -1.3661177158355713, -1.6406819820404053, -1.8786545991897583, -0.27052170038223267, -0.12612630426883698, -0.09552948921918869, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.288821816444397, -1.2105633020401, 1.6159491539001465, -1.6735341548919678, -0.23749689757823944, 0.5501062273979187, 1.2689266204833984, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999528150005, -7.152832846448002e-05, -0.0002987535689706737, 0.0018485641339793801], [7.156472460543973e-05, 0.9999999900194668, 0.00012181771817645569, 0.0004225819429848343], [0.0002987448525711953, -0.00012183909264537498, 0.9999999479533729, -1.084101540982374e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187352418899536, -1.3661175966262817, -1.6406828165054321, -1.8786535263061523, -0.2705182433128357, -0.12612642347812653, -0.09552817791700363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2897580862045288, -1.2103033065795898, 1.6145671606063843, -1.6771628856658936, -0.24393242597579956, 0.5388410687446594, 1.2800487279891968, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999944769799, -7.064171519224582e-05, -0.000324761677327629, 0.001854041125625372], [7.069190862304836e-05, 0.999999985559128, 0.00015454577958577597, 0.0004171653708908707], [0.0003247507552588415, -0.00015456872907299943, 0.9999999353227254, -1.0073700877910596e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187341690063477, -1.3661171197891235, -1.6406828165054321, -1.8786512613296509, -0.27051666378974915, -0.12612630426883698, -0.09552697837352753, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2987333536148071, -1.2083306312561035, 1.613086223602295, -1.6871205568313599, -0.24402961134910583, 0.5241698622703552, 1.2940073013305664, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999540074138, -8.677414458642319e-05, -0.0002906121439085717, 0.0018260262440890074], [8.681945972730078e-05, 0.9999999840755149, 0.00015592097787188523, 0.0004198876558803022], [0.000290598609371245, -0.00015594620149000056, 0.9999999456166138, 6.89384691554551e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187369108200073, -1.366117000579834, -1.640683889389038, -1.8786475658416748, -0.27051475644111633, -0.12612630426883698, -0.09552529454231262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3120990991592407, -1.201582431793213, 1.6090362071990967, -1.700417160987854, -0.23808376491069794, 0.5037765502929688, 1.3135207891464233, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999520271355, -6.062344698218775e-05, -0.00030376063632924134, 0.0018570133252069354], [6.066376530825963e-05, 0.9999999893522395, 0.00013272312649994437, 0.00042022441630251706], [0.0003037525869614481, -0.000132741547396788, 0.9999999450570223, -2.1925309283687966e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187365531921387, -1.3661165237426758, -1.6406885385513306, -1.8786437511444092, -0.2705141603946686, -0.12612630426883698, -0.09552278369665146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3237245082855225, -1.1947596073150635, 1.6044082641601562, -1.7140566110610962, -0.23049427568912506, 0.49339723587036133, 1.3238052129745483, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999497904456, -9.638283746654655e-05, -0.0003018765555960064, 0.0018590211402624846], [9.643273980764405e-05, 0.9999999816888276, 0.0001652969175988059, 0.0004162465629633516], [0.00030186061828235016, -0.00016532602008266116, 0.9999999407737353, -1.8178275240643416e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187344074249268, -1.3661174774169922, -1.6406865119934082, -1.8786437511444092, -0.27051296830177307, -0.12612605094909668, -0.09552218019962311, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3296589851379395, -1.188601016998291, 1.5969188213348389, -1.7231086492538452, -0.2244381606578827, 0.4923902153968811, 1.3250614404678345, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187336921691895, -1.3661179542541504, -1.6406872272491455, -1.8786444664001465, -0.2705133259296417, -0.12612642347812653, -0.0955217033624649, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.334694266319275, -1.1831105947494507, 1.5879788398742676, -1.7338097095489502, -0.2228490561246872, 0.48744767904281616, 1.329214096069336, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818730115890503, -1.366119146347046, -1.6406865119934082, -1.878644585609436, -0.2705135643482208, -0.12612569332122803, -0.09552158415317535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.342850685119629, -1.1789844036102295, 1.5817347764968872, -1.7464078664779663, -0.2191278338432312, 0.48419469594955444, 1.333030104637146, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187332153320312, -1.366119623184204, -1.6406863927841187, -1.878644585609436, -0.2705134451389313, -0.12612690031528473, -0.09552086144685745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.348145842552185, -1.1746834516525269, 1.575233817100525, -1.7550370693206787, -0.21519508957862854, 0.48095786571502686, 1.3356415033340454, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818735957145691, -1.3661198616027832, -1.640686273574829, -1.8786448240280151, -0.2705146372318268, -0.12612666189670563, -0.09552182257175446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3514986038208008, -1.169137954711914, 1.5679141283035278, -1.7634447813034058, -0.21249516308307648, 0.47854411602020264, 1.338986873626709, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187334537506104, -1.3661197423934937, -1.6406859159469604, -1.8786453008651733, -0.2705143988132477, -0.12612605094909668, -0.095521941781044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3553558588027954, -1.1660714149475098, 1.5637229681015015, -1.7691673040390015, -0.208222433924675, 0.4786823093891144, 1.338819146156311, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187347650527954, -1.3661197423934937, -1.6406855583190918, -1.8786460161209106, -0.27051594853401184, -0.12612642347812653, -0.09552241861820221, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3565436601638794, -1.1622586250305176, 1.5610181093215942, -1.7727607488632202, -0.20519545674324036, 0.4798804819583893, 1.3378088474273682, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187353610992432, -1.3661189079284668, -1.6406853199005127, -1.878646731376648, -0.270518958568573, -0.12612642347812653, -0.09552326053380966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3566880226135254, -1.1579241752624512, 1.5567219257354736, -1.7739155292510986, -0.2011616826057434, 0.48000356554985046, 1.3373481035232544, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187350034713745, -1.366119146347046, -1.6406846046447754, -1.8786474466323853, -0.27052122354507446, -0.12612593173980713, -0.09552326053380966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3558810949325562, -1.1556819677352905, 1.5544873476028442, -1.7751256227493286, -0.1995609551668167, 0.48228582739830017, 1.3354331254959106, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187353610992432, -1.366119384765625, -1.6406846046447754, -1.8786481618881226, -0.2705248296260834, -0.12612654268741608, -0.09552266448736191, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.354407548904419, -1.1530144214630127, 1.5523223876953125, -1.775686502456665, -0.19572731852531433, 0.4904959797859192, 1.328792691230774, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187365531921387, -1.3661189079284668, -1.6406834125518799, -1.8786473274230957, -0.27052876353263855, -0.12612642347812653, -0.09552290290594101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3559026718139648, -1.1548395156860352, 1.560154676437378, -1.7880511283874512, -0.1933239996433258, 0.5099877119064331, 1.2988595962524414, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.818737268447876, -1.3661192655563354, -1.6406807899475098, -1.8786489963531494, -0.2705296277999878, -0.12612701952457428, -0.09552446007728577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3851433992385864, -1.167986273765564, 1.5877059698104858, -1.8462413549423218, -0.1972777247428894, 0.49281901121139526, 1.226128101348877, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187296390533447, -1.3661197423934937, -1.6406795978546143, -1.8786470890045166, -0.2705341577529907, -0.12612666189670563, -0.09552457928657532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.445513129234314, -1.179473638534546, 1.6134142875671387, -1.9338515996932983, -0.19522301852703094, 0.4665815830230713, 1.1630827188491821, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187347650527954, -1.3661199808120728, -1.6406784057617188, -1.878648281097412, -0.2705376446247101, -0.12612713873386383, -0.09552446007728577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5250324010849, -1.1857603788375854, 1.6329574584960938, -2.0315842628479004, -0.23074474930763245, 0.4069828391075134, 1.1298496723175049, 0.13980001774463027, 0.13980001774463027, 0.13980001774463027, 0.13980001774463027, -0.13980001774463027, -0.13980001774463027, -0.13980001774463027, 0.13980001774463027, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187628984451294, -1.366122841835022, -1.6406766176223755, -1.8786498308181763, -0.2705405354499817, -0.12612833082675934, -0.09552398324012756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6146948337554932, -1.1939396858215332, 1.6392593383789062, -2.12372088432312, -0.291817307472229, 0.31744736433029175, 1.0746631622314453, 0.30899999141693113, 0.30899999141693113, 0.30899999141693113, 0.30899999141693113, -0.30899999141693113, -0.30899999141693113, -0.30899999141693113, 0.30899999141693113, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187167644500732, -1.366139531135559, -1.6406751871109009, -1.8786176443099976, -0.2705378830432892, -0.12612593173980713, -0.09552457928657532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7070952653884888, -1.2051079273223877, 1.640035629272461, -2.202486991882324, -0.3454342484474182, 0.22507897019386292, 1.022731065750122, 0.5682000001053233, 0.5682000001053233, 0.5682000001053233, 0.5682000001053233, -0.5682000001053233, -0.5682000001053233, -0.5682000001053233, 0.5682000001053233, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.81874680519104, -1.366145133972168, -1.6406753063201904, -1.878623366355896, -0.27053847908973694, -0.12612749636173248, -0.09552158415317535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7914682626724243, -1.213909387588501, 1.6332035064697266, -2.256486415863037, -0.40894922614097595, 0.1389043629169464, 0.9832133650779724, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187546730041504, -1.366145133972168, -1.640676736831665, -1.878620982170105, -0.2705395519733429, -0.12612678110599518, -0.09552062302827835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.861190915107727, -1.2226662635803223, 1.6083754301071167, -2.2814555168151855, -0.4896572232246399, 0.06475196778774261, 0.9381783604621887, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818755865097046, -1.3661469221115112, -1.6406757831573486, -1.878623127937317, -0.2705383598804474, -0.12612654268741608, -0.09552086144685745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8951927423477173, -1.2307671308517456, 1.577907919883728, -2.2795660495758057, -0.565077543258667, 0.015733249485492706, 0.8997654318809509, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818752646446228, -1.3661470413208008, -1.6406773328781128, -1.8786215782165527, -0.27053728699684143, -0.12612569332122803, -0.0955202654004097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9066835641860962, -1.2372850179672241, 1.5533266067504883, -2.267256021499634, -0.6205255389213562, -0.009850313887000084, 0.8726645112037659, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187572956085205, -1.366147518157959, -1.640677809715271, -1.8786216974258423, -0.27053478360176086, -0.12612630426883698, -0.09551882743835449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9007905721664429, -1.2426358461380005, 1.5433179140090942, -2.2459206581115723, -0.6397046446800232, -0.011592580005526543, 0.8732922673225403, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818761944770813, -1.3661481142044067, -1.6406781673431396, -1.8786228895187378, -0.2705293893814087, -0.12612630426883698, -0.09551882743835449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8885369300842285, -1.2452502250671387, 1.5395022630691528, -2.2303292751312256, -0.6447373032569885, -0.008655366487801075, 0.8808883428573608, 0.5513999986779559, 0.5513999986779559, 0.5513999986779559, 0.5513999986779559, -0.5513999986779559, -0.5513999986779559, -0.5513999986779559, 0.5513999986779559, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187639713287354, -1.366148591041565, -1.6406781673431396, -1.8786200284957886, -0.27052757143974304, -0.12612569332122803, -0.0955193042755127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8779221773147583, -1.2498704195022583, 1.5403441190719604, -2.221086263656616, -0.6428089141845703, -0.0017915217904374003, 0.8924864530563354, 0.3870000050618098, 0.3870000050618098, 0.3870000050618098, 0.3870000050618098, -0.3870000050618098, -0.3870000050618098, -0.3870000050618098, 0.3870000050618098, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187646865844727, -1.3661556243896484, -1.6406804323196411, -1.8786238431930542, -0.2705237567424774, -0.12612654268741608, -0.0955205038189888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8733136653900146, -1.2536306381225586, 1.54208242893219, -2.2131707668304443, -0.6426515579223633, -0.00032417327747680247, 0.8960596323013306, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187625408172607, -1.3661552667617798, -1.6406819820404053, -1.878624439239502, -0.27052241563796997, -0.12612569332122803, -0.0955212265253067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8687061071395874, -1.2560147047042847, 1.5436882972717285, -2.2044246196746826, -0.6456933617591858, 8.88031063368544e-05, 0.8990020155906677, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818764328956604, -1.366155743598938, -1.6406830549240112, -1.8786256313323975, -0.2705206274986267, -0.12612630426883698, -0.09552134573459625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8620043992996216, -1.258842945098877, 1.546808123588562, -2.196964979171753, -0.6465396881103516, 0.0016001337207853794, 0.900534451007843, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -0.2021999893607674, -0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187636137008667, -1.3661552667617798, -1.640683650970459, -1.878627061843872, -0.2705165445804596, -0.12612593173980713, -0.095521941781044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8572572469711304, -1.2623472213745117, 1.550404667854309, -2.1928415298461914, -0.6422329545021057, 0.0046996138989925385, 0.9015519022941589, 0.1439999837141771, 0.1439999837141771, 0.1439999837141771, 0.1439999837141771, -0.1439999837141771, -0.1439999837141771, -0.1439999837141771, 0.1439999837141771, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187633752822876, -1.3661556243896484, -1.6406843662261963, -1.8786295652389526, -0.27051523327827454, -0.12612605094909668, -0.09552290290594101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.852939486503601, -1.2641702890396118, 1.5559401512145996, -2.1918370723724365, -0.6325253248214722, 0.007711129728704691, 0.9071078896522522, 0.04199999610146327, 0.04199999610146327, 0.04199999610146327, 0.04199999610146327, -0.04199999610146327, -0.04199999610146327, -0.04199999610146327, 0.04199999610146327, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187627792358398, -1.3661558628082275, -1.6406855583190918, -1.878632664680481, -0.2705148756504059, -0.12612593173980713, -0.09552254527807236, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.851638913154602, -1.2680532932281494, 1.5594494342803955, -2.191920757293701, -0.6250032186508179, 0.00959109514951706, 0.9162368774414062, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187624216079712, -1.3661550283432007, -1.6406868696212769, -1.8786351680755615, -0.27051475644111633, -0.12612569332122803, -0.09552314132452011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8517251014709473, -1.2683988809585571, 1.5646092891693115, -2.1968002319335938, -0.6218615770339966, 0.009784400463104248, 0.922773003578186, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818762183189392, -1.3661552667617798, -1.6406880617141724, -1.8786375522613525, -0.2705153524875641, -0.12612630426883698, -0.09552314132452011, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8520914316177368, -1.2696208953857422, 1.5674242973327637, -2.2018754482269287, -0.6207451224327087, 0.00909926276654005, 0.9262383580207825, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187601566314697, -1.3661552667617798, -1.6406886577606201, -1.8786396980285645, -0.27051523327827454, -0.12612605094909668, -0.095521941781044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.853538155555725, -1.272107481956482, 1.5689196586608887, -2.208876609802246, -0.6175297498703003, 0.009483356960117817, 0.9306589365005493, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187617063522339, -1.3661550283432007, -1.640688419342041, -1.8786410093307495, -0.270515114068985, -0.12612605094909668, -0.09552206099033356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8528251647949219, -1.2744053602218628, 1.5726630687713623, -2.214776039123535, -0.6021633148193359, 0.014178896322846413, 0.9372522234916687, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187618255615234, -1.3661547899246216, -1.640689492225647, -1.8786413669586182, -0.2705158293247223, -0.12612581253051758, -0.0955214649438858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8484914302825928, -1.274852991104126, 1.5827347040176392, -2.221503734588623, -0.5753197073936462, 0.02721749246120453, 0.953362226486206, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187627792358398, -1.3661540746688843, -1.6406909227371216, -1.878641963005066, -0.27051836252212524, -0.12612545490264893, -0.095520980656147, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8413630723953247, -1.2758936882019043, 1.5928889513015747, -2.227301597595215, -0.5529775619506836, 0.04213521629571915, 0.9665068984031677, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187602758407593, -1.3661540746688843, -1.6406899690628052, -1.8786423206329346, -0.27052074670791626, -0.12612569332122803, -0.09551966190338135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8298063278198242, -1.277376413345337, 1.6034597158432007, -2.2274844646453857, -0.5303040146827698, 0.05932658538222313, 0.9874048829078674, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8187599182128906, -1.3661540746688843, -1.6406898498535156, -1.8786416053771973, -0.2705239951610565, -0.12612605094909668, -0.09551703184843063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7865586280822754, -1.2789431810379028, 1.631422519683838, -2.2134759426116943, -0.45063093304634094, 0.1349707692861557, 1.0898468494415283, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187694549560547, -1.3661534786224365, -1.6406899690628052, -1.8786441087722778, -0.27052363753318787, -0.12612533569335938, -0.09551642835140228, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6978222131729126, -1.274639368057251, 1.6698495149612427, -2.171935796737671, -0.3595677316188812, 0.2621554136276245, 1.2606463432312012, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187763690948486, -1.3661538362503052, -1.6406891345977783, -1.8786511421203613, -0.27052974700927734, -0.12612485885620117, -0.09551654756069183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.608052134513855, -1.270031452178955, 1.6929233074188232, -2.11226224899292, -0.2955823838710785, 0.3741568624973297, 1.374215006828308, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187602758407593, -1.3661530017852783, -1.6406902074813843, -1.8786486387252808, -0.27053284645080566, -0.12612473964691162, -0.09551571309566498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5620564222335815, -1.2671245336532593, 1.702995777130127, -2.0690159797668457, -0.2564646899700165, 0.4207659065723419, 1.392075777053833, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187559843063354, -1.3661538362503052, -1.640689492225647, -1.878648042678833, -0.2705395519733429, -0.12612402439117432, -0.09551439434289932, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5453848838806152, -1.2663365602493286, 1.7162466049194336, -2.0451581478118896, -0.20436279475688934, 0.44463151693344116, 1.3819831609725952, 0.23339999481871887, 0.23339999481871887, 0.23339999481871887, 0.23339999481871887, -0.23339999481871887, -0.23339999481871887, -0.23339999481871887, 0.23339999481871887, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187583684921265, -1.3661547899246216, -1.6406892538070679, -1.8786473274230957, -0.27054113149642944, -0.12612390518188477, -0.09551571309566498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5251332521438599, -1.2611370086669922, 1.7254105806350708, -2.0132758617401123, -0.15471969544887543, 0.4627285301685333, 1.358214020729065, 0.5411999999166845, 0.5411999999166845, 0.5411999999166845, 0.5411999999166845, -0.5411999999166845, -0.5411999999166845, -0.5411999999166845, 0.5411999999166845, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187764883041382, -1.3661569356918335, -1.6406890153884888, -1.8786460161209106, -0.27054014801979065, -0.12612366676330566, -0.09551559388637543, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4862661361694336, -1.252766728401184, 1.7269093990325928, -1.9620697498321533, -0.12397285550832748, 0.4843374192714691, 1.3356971740722656, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187588453292847, -1.366160273551941, -1.6406880617141724, -1.8786457777023315, -0.270539790391922, -0.12612329423427582, -0.09551727026700974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4383149147033691, -1.2414186000823975, 1.7195026874542236, -1.8961564302444458, -0.11366569995880127, 0.49882814288139343, 1.3206562995910645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187683820724487, -1.3661612272262573, -1.640688180923462, -1.878644585609436, -0.27053967118263245, -0.12612305581569672, -0.09551846981048584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3992772102355957, -1.2343355417251587, 1.7060778141021729, -1.8312963247299194, -0.12213363498449326, 0.4931718409061432, 1.3177425861358643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187507390975952, -1.3661625385284424, -1.6406867504119873, -1.8786450624465942, -0.2705402672290802, -0.12612317502498627, -0.0955214649438858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.378364086151123, -1.2326136827468872, 1.6911393404006958, -1.777387022972107, -0.1303865760564804, 0.470946729183197, 1.311845064163208, 0.5094000000220078, 0.5094000000220078, 0.5094000000220078, 0.5094000000220078, -0.5094000000220078, -0.5094000000220078, -0.5094000000220078, 0.5094000000220078, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187593221664429, -1.3661675453186035, -1.64068603515625, -1.87864351272583, -0.27053990960121155, -0.12612293660640717, -0.09552302211523056, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3699498176574707, -1.2285953760147095, 1.6774227619171143, -1.7406400442123413, -0.13487298786640167, 0.44700881838798523, 1.3099902868270874, 0.21900001043801778, 0.21900001043801778, 0.21900001043801778, 0.21900001043801778, -0.21900001043801778, -0.21900001043801778, -0.21900001043801778, 0.21900001043801778, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187614679336548, -1.3661761283874512, -1.640686273574829, -1.8786430358886719, -0.2705371677875519, -0.12612305581569672, -0.09552266448736191, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.365979790687561, -1.2272820472717285, 1.6640465259552002, -1.7220460176467896, -0.14578138291835785, 0.4317474067211151, 1.3098431825637817, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, 0.03839998035640508, -0.03839998035640508, -0.03839998035640508, -0.03839998035640508, 0.03839998035640508, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187639713287354, -1.3661798238754272, -1.6406856775283813, -1.8786442279815674, -0.2705345153808594, -0.12612305581569672, -0.09552385658025742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3645581007003784, -1.2236617803573608, 1.6543079614639282, -1.7127583026885986, -0.16039830446243286, 0.4173237979412079, 1.3149513006210327, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818766713142395, -1.366180658340454, -1.6406855583190918, -1.878644585609436, -0.27053260803222656, -0.12612245976924896, -0.09552469849586487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3645601272583008, -1.2211493253707886, 1.6519477367401123, -1.7098551988601685, -0.17398421466350555, 0.4063035845756531, 1.3228076696395874, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187657594680786, -1.3661805391311646, -1.640684962272644, -1.8786453008651733, -0.27053046226501465, -0.12612317502498627, -0.09552554041147232, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3646316528320312, -1.2196656465530396, 1.651267170906067, -1.7043496370315552, -0.17890818417072296, 0.39983952045440674, 1.3307039737701416, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187651634216309, -1.3661803007125854, -1.6406853199005127, -1.8786457777023315, -0.27052780985832214, -0.12612281739711761, -0.09552589803934097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3646825551986694, -1.215829610824585, 1.6512752771377563, -1.7023409605026245, -0.18434447050094604, 0.3939068615436554, 1.343744158744812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187673091888428, -1.3661800622940063, -1.6406856775283813, -1.8786460161209106, -0.2705228924751282, -0.12612305581569672, -0.09552529454231262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3662269115447998, -1.2151613235473633, 1.6512283086776733, -1.7017117738723755, -0.1925947666168213, 0.38535359501838684, 1.3583507537841797, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187668323516846, -1.3661800622940063, -1.6406867504119873, -1.8786464929580688, -0.27051907777786255, -0.12612329423427582, -0.09552349895238876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3673642873764038, -1.2144583463668823, 1.6491899490356445, -1.702528953552246, -0.19636595249176025, 0.3771820366382599, 1.3677328824996948, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187681436538696, -1.3661799430847168, -1.6406868696212769, -1.8786464929580688, -0.27051737904548645, -0.12612342834472656, -0.09552302211523056, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3673721551895142, -1.2140295505523682, 1.6459118127822876, -1.7047038078308105, -0.19832861423492432, 0.37115228176116943, 1.376055359840393, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187674283981323, -1.3661798238754272, -1.6406868696212769, -1.8786473274230957, -0.2705138027667999, -0.12612329423427582, -0.0955217033624649, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.36763596534729, -1.2138594388961792, 1.6413310766220093, -1.7074857950210571, -0.2002640664577484, 0.3666868507862091, 1.3811845779418945, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818768858909607, -1.366179347038269, -1.6406874656677246, -1.8786468505859375, -0.2705141603946686, -0.1261235475540161, -0.09552158415317535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3695317506790161, -1.2138468027114868, 1.6404719352722168, -1.7116340398788452, -0.20229719579219818, 0.3629549443721771, 1.3862494230270386, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187698125839233, -1.3661792278289795, -1.6406887769699097, -1.8786468505859375, -0.2705148756504059, -0.12612329423427582, -0.09552086144685745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.370906949043274, -1.2138426303863525, 1.640282154083252, -1.7139869928359985, -0.20305435359477997, 0.3625442683696747, 1.3908772468566895, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187710046768188, -1.3661789894104004, -1.6406891345977783, -1.8786468505859375, -0.2705135643482208, -0.12612281739711761, -0.0955212265253067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3739491701126099, -1.2138203382492065, 1.6401355266571045, -1.7207058668136597, -0.20576027035713196, 0.3624344766139984, 1.3955620527267456, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818771243095398, -1.36617910861969, -1.6406902074813843, -1.8786461353302002, -0.2705134451389313, -0.12612281739711761, -0.0955214649438858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3778471946716309, -1.2136898040771484, 1.6395490169525146, -1.727830171585083, -0.20788927376270294, 0.3626941740512848, 1.3995378017425537, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187724351882935, -1.3661787509918213, -1.6406911611557007, -1.8786453008651733, -0.2705139219760895, -0.12612366676330566, -0.09552241861820221, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3800839185714722, -1.2135740518569946, 1.6380126476287842, -1.7319200038909912, -0.20878905057907104, 0.3629416525363922, 1.4035940170288086, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187720775604248, -1.3661786317825317, -1.6406924724578857, -1.8786444664001465, -0.270515114068985, -0.1261235475540161, -0.09552290290594101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3807708024978638, -1.2135738134384155, 1.6355193853378296, -1.734525442123413, -0.20974239706993103, 0.36358246207237244, 1.4036139249801636, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187718391418457, -1.366178274154663, -1.6406939029693604, -1.8786447048187256, -0.27051737904548645, -0.12612317502498627, -0.09552446007728577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.380764126777649, -1.2135961055755615, 1.6347829103469849, -1.7358449697494507, -0.21087273955345154, 0.3635421693325043, 1.403243064880371, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187710046768188, -1.366178274154663, -1.6406943798065186, -1.878644347190857, -0.2705187201499939, -0.12612317502498627, -0.09552493691444397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.381003737449646, -1.2142480611801147, 1.6351865530014038, -1.7381585836410522, -0.20517100393772125, 0.3653852343559265, 1.3788862228393555, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187694549560547, -1.3661785125732422, -1.6406947374343872, -1.8786441087722778, -0.2705227732658386, -0.1261235475540161, -0.09552565962076187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3831409215927124, -1.2176436185836792, 1.6477313041687012, -1.751434564590454, -0.17092308402061462, 0.3823690414428711, 1.322409987449646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187708854675293, -1.3661774396896362, -1.6406984329223633, -1.8786430358886719, -0.27052780985832214, -0.12612366676330566, -0.09552649408578873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3962429761886597, -1.2231824398040771, 1.6681181192398071, -1.7892308235168457, -0.1367252618074417, 0.3916744291782379, 1.2629421949386597, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, 0.025200014323978625, -0.025200014323978625, -0.025200014323978625, -0.025200014323978625, 0.025200014323978625, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187655210494995, -1.3661763668060303, -1.640700101852417, -1.8786405324935913, -0.27053236961364746, -0.12612329423427582, -0.09552685916423798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4355145692825317, -1.2241252660751343, 1.6843723058700562, -1.8627121448516846, -0.13155467808246613, 0.3795407712459564, 1.2211326360702515, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, 0.10259999914483708, -0.10259999914483708, -0.10259999914483708, -0.10259999914483708, 0.10259999914483708, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187607526779175, -1.3661795854568481, -1.6407020092010498, -1.8786417245864868, -0.270537406206131, -0.12612378597259521, -0.09552841633558273, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.502658724784851, -1.2262680530548096, 1.6985552310943604, -1.9601998329162598, -0.14106175303459167, 0.3404240012168884, 1.1920245885849, 0.25500001068953626, 0.25500001068953626, 0.25500001068953626, 0.25500001068953626, -0.25500001068953626, -0.25500001068953626, -0.25500001068953626, 0.25500001068953626, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187497854232788, -1.3661795854568481, -1.6407045125961304, -1.8786317110061646, -0.2705378830432892, -0.12612269818782806, -0.09553105384111404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.600851058959961, -1.2289143800735474, 1.7005237340927124, -2.0786194801330566, -0.1936935931444168, 0.2583805024623871, 1.1445586681365967, 0.48239999983336895, 0.48239999983336895, 0.48239999983336895, 0.48239999983336895, -0.48239999983336895, -0.48239999983336895, -0.48239999983336895, 0.48239999983336895, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187787532806396, -1.3661832809448242, -1.640703797340393, -1.8786263465881348, -0.27054041624069214, -0.12612293660640717, -0.0955311730504036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.701072096824646, -1.2323224544525146, 1.6826239824295044, -2.172600269317627, -0.2888304889202118, 0.15908734500408173, 1.0751374959945679, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8188021183013916, -1.366188883781433, -1.6407036781311035, -1.8786383867263794, -0.2705410122871399, -0.12612485885620117, -0.0955316498875618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7979615926742554, -1.2400089502334595, 1.6559990644454956, -2.2486355304718018, -0.38591697812080383, 0.06746160238981247, 1.0291507244110107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6399688124656677, 0.0, 0.0, 1.8187533617019653, -1.3661906719207764, -1.640702247619629, -1.8786307573318481, -0.2705410122871399, -0.1261235475540161, -0.09553009271621704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8917897939682007, -1.2448208332061768, 1.6247856616973877, -2.3051791191101074, -0.5081176161766052, -0.03165788948535919, 0.9601312875747681, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.8187767267227173, -1.3661926984786987, -1.6407012939453125, -1.8786371946334839, -0.2705402672290802, -0.12612485885620117, -0.0955309271812439, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9680052995681763, -1.249846339225769, 1.5942655801773071, -2.3335063457489014, -0.6192795634269714, -0.11036835610866547, 0.8926889896392822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.8187675476074219, -1.366193175315857, -1.640700101852417, -1.8786368370056152, -0.2705395519733429, -0.12612485885620117, -0.09552973508834839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0101256370544434, -1.2537153959274292, 1.5629876852035522, -2.3346784114837646, -0.7205334305763245, -0.16176043450832367, 0.8297855854034424, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818777084350586, -1.366193175315857, -1.6407018899917603, -1.8786379098892212, -0.2705393135547638, -0.12612438201904297, -0.09552769362926483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.016155242919922, -1.2558295726776123, 1.5338387489318848, -2.3192732334136963, -0.7991482615470886, -0.1763470321893692, 0.776278555393219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187930583953857, -1.3661975860595703, -1.6407009363174438, -1.8786360025405884, -0.27053824067115784, -0.12612305581569672, -0.09552709758281708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.004713773727417, -1.257069706916809, 1.5213208198547363, -2.2936079502105713, -0.843879759311676, -0.17513734102249146, 0.7474134564399719, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, -0.48479999723015244, -0.48479999723015244, -0.48479999723015244, 0.48479999723015244, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187923431396484, -1.3662010431289673, -1.6407020092010498, -1.878653645515442, -0.2705369293689728, -0.12612485885620117, -0.09552565962076187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9891655445098877, -1.2597732543945312, 1.518804907798767, -2.2718241214752197, -0.8759521842002869, -0.17253784835338593, 0.7291591763496399, 0.3756000076021467, 0.3756000076021467, 0.3756000076021467, 0.3756000076021467, -0.3756000076021467, -0.3756000076021467, -0.3756000076021467, 0.3756000076021467, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187849521636963, -1.3662080764770508, -1.6406991481781006, -1.878649115562439, -0.2705329656600952, -0.12612366676330566, -0.09552517533302307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9817684888839722, -1.2604484558105469, 1.5190085172653198, -2.2618813514709473, -0.8917531371116638, -0.17171956598758698, 0.7265453338623047, 0.2622000028798868, 0.2622000028798868, 0.2622000028798868, 0.2622000028798868, -0.2622000028798868, -0.2622000028798868, -0.2622000028798868, 0.2622000028798868, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818789005279541, -1.3662077188491821, -1.6406991481781006, -1.8786495923995972, -0.27053070068359375, -0.12612438201904297, -0.09552385658025742, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9771721363067627, -1.260717511177063, 1.5210505723953247, -2.252254009246826, -0.9027391672134399, -0.1715393215417862, 0.7257969975471497, 0.21900001043801778, 0.21900001043801778, 0.21900001043801778, 0.21900001043801778, -0.21900001043801778, -0.21900001043801778, -0.21900001043801778, 0.21900001043801778, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187841176986694, -1.3662079572677612, -1.640697956085205, -1.878649353981018, -0.2705257833003998, -0.12612402439117432, -0.09552422165870667, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9707951545715332, -1.2612873315811157, 1.5219926834106445, -2.2450695037841797, -0.9092161655426025, -0.17063486576080322, 0.7262808084487915, 0.18359999971075372, 0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -0.18359999971075372, -0.18359999971075372, -0.18359999971075372, 0.18359999971075372, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187830448150635, -1.3662071228027344, -1.6406985521316528, -1.8786486387252808, -0.2705249488353729, -0.12612402439117432, -0.09552457928657532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9638631343841553, -1.2623902559280396, 1.522525429725647, -2.2385330200195312, -0.9150854349136353, -0.1689361035823822, 0.7265833020210266, 0.15299998377705668, 0.15299998377705668, 0.15299998377705668, 0.15299998377705668, -0.15299998377705668, -0.15299998377705668, -0.15299998377705668, 0.15299998377705668, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818786382675171, -1.3662078380584717, -1.6406984329223633, -1.8786485195159912, -0.27052170038223267, -0.1261235475540161, -0.09552469849586487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9605298042297363, -1.264191746711731, 1.5225601196289062, -2.2349536418914795, -0.91982102394104, -0.16778910160064697, 0.7257344722747803, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, -0.12900000980922155, -0.12900000980922155, -0.12900000980922155, 0.12900000980922155, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187799453735352, -1.3662073612213135, -1.640697717666626, -1.878647804260254, -0.2705194354057312, -0.1261235475540161, -0.09552505612373352, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.959686517715454, -1.2672075033187866, 1.5238776206970215, -2.2329699993133545, -0.9243975281715393, -0.16751861572265625, 0.72709721326828, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, -0.08160001209803991, -0.08160001209803991, -0.08160001209803991, 0.08160001209803991, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187825679779053, -1.3662071228027344, -1.640697717666626, -1.8786472082138062, -0.2705180048942566, -0.12612293660640717, -0.09552542120218277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9613654613494873, -1.267245888710022, 1.5271821022033691, -2.2330517768859863, -0.9346729516983032, -0.17003266513347626, 0.728427529335022, 0.040199988228934176, 0.040199988228934176, 0.040199988228934176, 0.040199988228934176, -0.040199988228934176, -0.040199988228934176, -0.040199988228934176, 0.040199988228934176, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818787932395935, -1.3662065267562866, -1.6406986713409424, -1.8786468505859375, -0.2705167829990387, -0.12612329423427582, -0.09552649408578873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.970154047012329, -1.267256736755371, 1.5316855907440186, -2.2418453693389893, -0.9442717432975769, -0.1784348040819168, 0.7276206612586975, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818783164024353, -1.366206407546997, -1.6406985521316528, -1.8786461353302002, -0.27051690220832825, -0.12612281739711761, -0.09552709758281708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9912490844726562, -1.2672895193099976, 1.5464730262756348, -2.266094923019409, -0.940930962562561, -0.18705709278583527, 0.7328572869300842, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8187854290008545, -1.3662058115005493, -1.640699028968811, -1.8786437511444092, -0.2705172598361969, -0.12612317502498627, -0.09552685916423798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.006021499633789, -1.2673345804214478, 1.5585980415344238, -2.289968729019165, -0.9198180437088013, -0.19201892614364624, 0.752152144908905, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187881708145142, -1.3662056922912598, -1.640700101852417, -1.8786442279815674, -0.2705177664756775, -0.12612305581569672, -0.09552721679210663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0082805156707764, -1.2678135633468628, 1.5647919178009033, -2.3029141426086426, -0.9036105871200562, -0.1926863193511963, 0.7636092901229858, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187859058380127, -1.3662055730819702, -1.640700101852417, -1.8786431550979614, -0.27051737904548645, -0.12612293660640717, -0.09552721679210663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0081825256347656, -1.2686063051223755, 1.5669060945510864, -2.3094139099121094, -0.8964108228683472, -0.19233949482440948, 0.7704015970230103, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818786382675171, -1.3662054538726807, -1.6406997442245483, -1.8786423206329346, -0.2705177664756775, -0.12612293660640717, -0.09552709758281708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0080819129943848, -1.269856333732605, 1.5675067901611328, -2.3125102519989014, -0.8901150226593018, -0.19218477606773376, 0.7759066820144653, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187870979309082, -1.3662053346633911, -1.640699863433838, -1.878641963005066, -0.27052050828933716, -0.12612305581569672, -0.09552649408578873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0080885887145996, -1.2718753814697266, 1.5683754682540894, -2.3164517879486084, -0.886123776435852, -0.1921253353357315, 0.7818130850791931, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187870979309082, -1.3662054538726807, -1.6407009363174438, -1.8786418437957764, -0.2705220580101013, -0.12612305581569672, -0.09552529454231262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.007882595062256, -1.2735487222671509, 1.5692155361175537, -2.3170604705810547, -0.8790320158004761, -0.19005398452281952, 0.7902212142944336, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187862634658813, -1.366205096244812, -1.6407008171081543, -1.8786418437957764, -0.2705245912075043, -0.12612245976924896, -0.09552589803934097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9983558654785156, -1.2737364768981934, 1.5773305892944336, -2.318758726119995, -0.8161486983299255, -0.16474905610084534, 0.846368134021759, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187954425811768, -1.3662028312683105, -1.640703797340393, -1.8786368370056152, -0.27052900195121765, -0.1261223405599594, -0.09552361816167831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9369323253631592, -1.2744511365890503, 1.619819164276123, -2.3233814239501953, -0.5977655649185181, -0.04490405321121216, 1.0414910316467285, 0.07799999635298178, 0.07799999635298178, 0.07799999635298178, 0.07799999635298178, -0.07799999635298178, -0.07799999635298178, -0.07799999635298178, 0.07799999635298178, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8188132047653198, -1.3662034273147583, -1.640704870223999, -1.8786365985870361, -0.27053093910217285, -0.1261225789785385, -0.0955193042755127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8077952861785889, -1.2763793468475342, 1.6557172536849976, -2.2643043994903564, -0.3737546503543854, 0.13373257219791412, 1.1978155374526978, 0.2484000080234402, 0.2484000080234402, 0.2484000080234402, 0.2484000080234402, -0.2484000080234402, -0.2484000080234402, -0.2484000080234402, 0.2484000080234402, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999474233389, -7.849907696516701e-05, -0.00031462869306204136, 0.001858429634012282], [7.854943620417591e-05, 0.9999999841069741, 0.0001600501093513839, 0.00041840513586066663], [0.0003146161242757872, -0.00016007481484293722, 0.9999999376963721, -1.0243624046779587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.818845510482788, -1.3662070035934448, -1.6407040357589722, -1.8786468505859375, -0.2705356180667877, -0.1261235475540161, -0.09551762789487839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.675758957862854, -1.281569004058838, 1.681225299835205, -2.172518253326416, -0.2176523357629776, 0.30040472745895386, 1.2634129524230957, 0.5033999967051076, 0.5033999967051076, 0.5033999967051076, 0.5033999967051076, -0.5033999967051076, -0.5033999967051076, -0.5033999967051076, 0.5033999967051076, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999448892226, -8.13524876007695e-05, -0.0003218747030872834, 0.0019872523844242096], [8.14058910434083e-05, 0.9999999829244487, 0.0001659041388566408, 0.00041650960338301957], [0.0003218612008766962, -0.00016593033221054388, 0.9999999344362439, -1.812629079722683e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8188085556030273, -1.366206169128418, -1.6407045125961304, -1.8786426782608032, -0.270537406206131, -0.12612281739711761, -0.09551427513360977, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5834068059921265, -1.2819641828536987, 1.697264552116394, -2.0895795822143555, -0.10375546663999557, 0.41764363646507263, 1.2522072792053223, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999511239649, -4.52553992088893e-05, -0.00030936065775777496, 0.0017996384995058179], [4.530932270458376e-05, 0.9999999837830326, 0.00017430146241144014, 0.00041526727727614343], [0.0003093527646586191, -0.00017431547081415023, 0.9999999369574898, -1.4923455182724865e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187875747680664, -1.3662065267562866, -1.6407047510147095, -1.8786418437957764, -0.2705383598804474, -0.1261225789785385, -0.09551283717155457, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.526149034500122, -1.2819101810455322, 1.694058895111084, -2.013946294784546, -0.06529185175895691, 0.463386595249176, 1.206942081451416, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999488164808, -7.059354442607835e-05, -0.0003120634348488724, 0.0018633054569363594], [7.065073057617235e-05, 0.9999999807149711, 0.0001832444591504304, 0.00042035788646899164], [0.0003120504929548522, -0.00018326649728099228, 0.9999999345189383, -1.020556965158903e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187867403030396, -1.3662066459655762, -1.6407052278518677, -1.8786417245864868, -0.27053871750831604, -0.12612269818782806, -0.09551283717155457, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.488531470298767, -1.279813528060913, 1.6802128553390503, -1.937459945678711, -0.07564910501241684, 0.4503881335258484, 1.1810991764068604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999453564564, -5.45773119886849e-05, -0.0003260496912329599, 0.0018803277052938938], [5.464525590541628e-05, 0.9999999767958595, 0.0002083798849299143, 0.00042053055949509144], [0.0003260383108532651, -0.0002083976906121143, 0.9999999251347084, -1.3634357856062707e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.818784475326538, -1.366207480430603, -1.6407042741775513, -1.8786426782608032, -0.27053728699684143, -0.1261225789785385, -0.09551379084587097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.462742567062378, -1.2726045846939087, 1.6705855131149292, -1.8668802976608276, -0.09128323942422867, 0.4153715670108795, 1.1796936988830566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999439072531, -6.839777571746086e-05, -0.0003278829591248246, 0.0018550076056271791], [6.846613944488132e-05, 0.9999999759213805, 0.00020849370785570295, 0.00041891782893799245], [0.00032786869072398716, -0.00020851614504111923, 0.9999999245115666, -1.46864329053642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187834024429321, -1.3662079572677612, -1.6407026052474976, -1.8786429166793823, -0.27053824067115784, -0.1261218637228012, -0.09551546722650528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4479581117630005, -1.2651989459991455, 1.6694692373275757, -1.8172937631607056, -0.09938985109329224, 0.38191676139831543, 1.195039987564087, 0.5172000013864958, 0.5172000013864958, 0.5172000013864958, 0.5172000013864958, -0.5172000013864958, -0.5172000013864958, -0.5172000013864958, 0.5172000013864958, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999493423996, -7.042146553621384e-05, -0.00031041265353765236, 0.0018666217802092433], [7.049582714027647e-05, 0.9999999688223904, 0.00023955282633844006, 0.00041855467134155333], [0.00031039577419862376, -0.00023957469700003464, 0.999999923129211, -9.079886353902111e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187756538391113, -1.3662102222442627, -1.640700340270996, -1.878651738166809, -0.270539790391922, -0.1261225789785385, -0.09551703184843063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4375567436218262, -1.2597483396530151, 1.6690994501113892, -1.7836190462112427, -0.10057353228330612, 0.36512038111686707, 1.214260220527649, 0.2087999920268635, 0.2087999920268635, 0.2087999920268635, 0.2087999920268635, -0.2087999920268635, -0.2087999920268635, -0.2087999920268635, 0.2087999920268635, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999399990793, -0.00013298504546838165, -0.0003198699975359953, 0.0018860931741073728], [0.0001330662114032909, 0.9999999589550175, 0.0002537387370123992, 0.0004197895177640021], [0.0003198362409494582, -0.000253781285676555, 0.9999999166499155, -1.6317735571647063e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187931776046753, -1.3662110567092896, -1.6407021284103394, -1.8786484003067017, -0.27053943276405334, -0.12612222135066986, -0.09551870822906494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4233468770980835, -1.2546004056930542, 1.6691639423370361, -1.7476872205734253, -0.1031055599451065, 0.35333868861198425, 1.2353260517120361, 0.02820000124501658, 0.02820000124501658, 0.02820000124501658, 0.02820000124501658, -0.02820000124501658, -0.02820000124501658, -0.02820000124501658, 0.02820000124501658, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999449250379, -6.0990266731535395e-05, -0.0003262362771823537, 0.001900666393339634], [6.107135302855005e-05, 0.9999999672474278, 0.00024854664171817875, 0.00041792591218836606], [0.00032622110757130285, -0.0002485665517203364, 0.9999999158972256, -9.83267227638862e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187973499298096, -1.366212010383606, -1.6407006978988647, -1.8786485195159912, -0.27053824067115784, -0.12612222135066986, -0.0955212265253067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4055804014205933, -1.25007963180542, 1.6678870916366577, -1.7090814113616943, -0.11151669174432755, 0.34467387199401855, 1.2454575300216675, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999514048984, -4.1217870984164954e-05, -0.0003090166468613855, 0.0019041530322283506], [4.1296592739236375e-05, 0.9999999666992311, 0.00025474718480589183, 0.0004173451743554324], [0.0003090061364342966, -0.00025475993376104154, 0.9999999198062887, -1.1630488643277204e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187870979309082, -1.3662126064300537, -1.640699028968811, -1.8786476850509644, -0.2705345153808594, -0.1261218637228012, -0.09552337974309921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3927534818649292, -1.245694637298584, 1.6620739698410034, -1.6813092231750488, -0.12555740773677826, 0.3359324336051941, 1.246551752090454, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999453618246, -7.39860638532664e-05, -0.00032218381447427126, 0.001870293403044343], [7.406942252440061e-05, 0.9999999637873092, 0.00025872591857720027, 0.00042114101233892143], [0.000322164660694796, -0.0002587497684099729, 0.9999999146292408, -4.75244462450064e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8187878131866455, -1.3662126064300537, -1.6406991481781006, -1.8786485195159912, -0.27053117752075195, -0.12612150609493256, -0.09552434086799622, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.387407660484314, -1.2414946556091309, 1.656342625617981, -1.6653969287872314, -0.13770689070224762, 0.32900387048721313, 1.2466576099395752, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999508332909, -6.594301705545568e-05, -0.0003065696240306425, 0.001874638139270246], [6.60286164760824e-05, 0.9999999588395556, 0.0002792151659887064, 0.0004205519217066467], [0.0003065511991216476, -0.00027923539462874393, 0.9999999140269746, -1.1081657476097462e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8187904357910156, -1.366212248802185, -1.6406981945037842, -1.8786472082138062, -0.2705298662185669, -0.12612174451351166, -0.09552457928657532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3852574825286865, -1.2407556772232056, 1.6555827856063843, -1.6626948118209839, -0.14096635580062866, 0.3251551389694214, 1.2501970529556274, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554978325, -7.26989337050926e-05, -0.0002893426998872236, 0.0018881008727476], [7.277600404261993e-05, 0.999999961877496, 0.00026636189657741133, 0.0004176675283815712], [0.00028932332463089445, -0.00026638294192922625, 0.9999999226660681, -1.7264280813833466e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818792462348938, -1.366212248802185, -1.6406985521316528, -1.8786470890045166, -0.27052780985832214, -0.12612150609493256, -0.09552505612373352, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3836461305618286, -1.2378391027450562, 1.6545844078063965, -1.664810299873352, -0.146753191947937, 0.31832942366600037, 1.266687035560608, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999941905485, -5.777990182965069e-05, -0.00033593229903198135, 0.001885020756162703], [5.78625553942206e-05, 0.9999999680586588, 0.0002460378144005507, 0.00041751848766580224], [0.0003359180722610907, -0.00024605723800836464, 0.9999999133074384, -7.36696392777958e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187893629074097, -1.366212248802185, -1.6406978368759155, -1.878645896911621, -0.2705249488353729, -0.1261216253042221, -0.09552493691444397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3879098892211914, -1.2339764833450317, 1.6533046960830688, -1.6745396852493286, -0.15160632133483887, 0.3102479875087738, 1.28765869140625, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999493963245, -8.807567670989282e-05, -0.0003056959657607102, 0.0018732433672994375], [8.815621646839627e-05, 0.999999961408622, 0.0002634601220077959, 0.00041765582864172757], [0.0003056727495349498, -0.0002634870576754765, 0.999999918569367, -9.915454484143993e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187897205352783, -1.3662127256393433, -1.6406972408294678, -1.878645420074463, -0.2705230116844177, -0.1261218637228012, -0.09552469849586487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3959156274795532, -1.2323565483093262, 1.6517550945281982, -1.684536337852478, -0.15186960995197296, 0.3042055368423462, 1.3054434061050415, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999538315696, -5.86581478285419e-05, -0.0002981544573799954, 0.0018890465144068003], [5.8741693360401245e-05, 0.9999999590164822, 0.00028020786473880545, 0.0004187938757240772], [0.00029813800868622436, -0.00028022536589975754, 0.9999999162937325, -4.538808582310594e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187910318374634, -1.3662124872207642, -1.6406961679458618, -1.8786449432373047, -0.2705194354057312, -0.12612174451351166, -0.09552361816167831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3996951580047607, -1.2304414510726929, 1.6504660844802856, -1.691343069076538, -0.1529596894979477, 0.3037279546260834, 1.3130348920822144, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187910318374634, -1.366212248802185, -1.6406960487365723, -1.8786447048187256, -0.27051788568496704, -0.12612174451351166, -0.09552326053380966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4028234481811523, -1.22994863986969, 1.649112582206726, -1.6981953382492065, -0.1552208811044693, 0.3036822974681854, 1.3187600374221802, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187912702560425, -1.3662121295928955, -1.6406958103179932, -1.8786442279815674, -0.2705177664756775, -0.1261218637228012, -0.095520980656147, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.406612753868103, -1.2296119928359985, 1.648036003112793, -1.705342173576355, -0.15717263519763947, 0.3049736022949219, 1.3250336647033691, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187922239303589, -1.3662117719650269, -1.6406959295272827, -1.8786429166793823, -0.2705184817314148, -0.12612126767635345, -0.09552062302827835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.408231496810913, -1.2293258905410767, 1.6467664241790771, -1.7096542119979858, -0.15877659618854523, 0.30585289001464844, 1.3278565406799316, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187919855117798, -1.3662115335464478, -1.64069664478302, -1.8786431550979614, -0.27051883935928345, -0.12612174451351166, -0.09552086144685745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4101687669754028, -1.2288254499435425, 1.6445410251617432, -1.7145177125930786, -0.16003626585006714, 0.30791547894477844, 1.3312722444534302, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187925815582275, -1.3662115335464478, -1.6406965255737305, -1.8786430358886719, -0.2705172598361969, -0.126121386885643, -0.0955205038189888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4117320775985718, -1.2283155918121338, 1.6421453952789307, -1.7185866832733154, -0.16003303229808807, 0.3106045126914978, 1.334166169166565, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818792462348938, -1.3662115335464478, -1.640696406364441, -1.8786431550979614, -0.2705180048942566, -0.12612150609493256, -0.0955205038189888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.413137674331665, -1.228145718574524, 1.640560269355774, -1.7211018800735474, -0.16013164818286896, 0.31076064705848694, 1.337013840675354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818793773651123, -1.3662115335464478, -1.6406965255737305, -1.878643274307251, -0.2705182433128357, -0.126121386885643, -0.09552086144685745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.413281798362732, -1.2278897762298584, 1.6391594409942627, -1.7227299213409424, -0.16100099682807922, 0.3115071654319763, 1.3392924070358276, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187934160232544, -1.366211175918579, -1.6406974792480469, -1.8786439895629883, -0.27052026987075806, -0.1261216253042221, -0.09552278369665146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4133120775222778, -1.2276901006698608, 1.6378639936447144, -1.7252051830291748, -0.1634947955608368, 0.3118358850479126, 1.3397083282470703, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187931776046753, -1.3662110567092896, -1.6406973600387573, -1.878644347190857, -0.27052339911460876, -0.1261216253042221, -0.09552361816167831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4134780168533325, -1.2276169061660767, 1.6374609470367432, -1.7262071371078491, -0.16449092328548431, 0.3119105398654938, 1.3375815153121948, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187941312789917, -1.366211175918579, -1.6406980752944946, -1.8786450624465942, -0.27052435278892517, -0.126121386885643, -0.09552457928657532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4145543575286865, -1.2277019023895264, 1.6379272937774658, -1.7264760732650757, -0.15877719223499298, 0.3186742067337036, 1.311069369316101, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8187962770462036, -1.3662117719650269, -1.6406986713409424, -1.8786455392837524, -0.2705272138118744, -0.126121386885643, -0.09552589803934097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4180020093917847, -1.228681206703186, 1.6438186168670654, -1.7366703748703003, -0.14329130947589874, 0.32301560044288635, 1.2706239223480225, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187966346740723, -1.3662115335464478, -1.6406989097595215, -1.8786449432373047, -0.2705305814743042, -0.12612174451351166, -0.09552685916423798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4356156587600708, -1.2314696311950684, 1.655417561531067, -1.781911015510559, -0.13114385306835175, 0.3226020336151123, 1.2059248685836792, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8187987804412842, -1.3662109375, -1.6406999826431274, -1.878644347190857, -0.2705349028110504, -0.126121386885643, -0.09552589803934097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4818174839019775, -1.2365139722824097, 1.6622905731201172, -1.866215705871582, -0.13780803978443146, 0.3015550971031189, 1.1371265649795532, 0.09120000168517395, 0.09120000168517395, 0.09120000168517395, 0.09120000168517395, -0.09120000168517395, -0.09120000168517395, -0.09120000168517395, 0.09120000168517395, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187909126281738, -1.366212248802185, -1.6406995058059692, -1.8786485195159912, -0.27053871750831604, -0.1261216253042221, -0.09552637487649918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5557255744934082, -1.2403390407562256, 1.6655936241149902, -1.9753683805465698, -0.1708686798810959, 0.25708797574043274, 1.082945704460144, 0.20280001818478766, 0.20280001818478766, 0.20280001818478766, 0.20280001818478766, -0.20280001818478766, -0.20280001818478766, -0.20280001818478766, 0.20280001818478766, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187836408615112, -1.366212010383606, -1.640702247619629, -1.8786442279815674, -0.27053728699684143, -0.12612006068229675, -0.09552805125713348, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.647348403930664, -1.2429673671722412, 1.6607029438018799, -2.093273639678955, -0.24693962931632996, 0.18419358134269714, 1.0274930000305176, 0.4121999973779196, 0.4121999973779196, 0.4121999973779196, 0.4121999973779196, -0.4121999973779196, -0.4121999973779196, -0.4121999973779196, 0.4121999973779196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818798542022705, -1.366213083267212, -1.6407032012939453, -1.8786473274230957, -0.27053967118263245, -0.1261204183101654, -0.09552901238203049, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7418023347854614, -1.2460750341415405, 1.6401910781860352, -2.191565990447998, -0.3594576120376587, 0.09224018454551697, 0.9634596705436707, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818793535232544, -1.366214394569397, -1.640702486038208, -1.8786420822143555, -0.2705393135547638, -0.1261201798915863, -0.09553021192550659, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8325024843215942, -1.2501800060272217, 1.6202417612075806, -2.2649543285369873, -0.46863916516304016, 0.0038395060691982508, 0.9223209023475647, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187919855117798, -1.3662148714065552, -1.6407017707824707, -1.8786448240280151, -0.2705410122871399, -0.1261199414730072, -0.09553033113479614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9089233875274658, -1.254883885383606, 1.5973342657089233, -2.307655096054077, -0.5767555832862854, -0.06983471661806107, 0.8706876039505005, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187901973724365, -1.3662164211273193, -1.6407018899917603, -1.8786463737487793, -0.27053990960121155, -0.12612102925777435, -0.09553033113479614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9650226831436157, -1.2562395334243774, 1.5614980459213257, -2.3190791606903076, -0.6998324990272522, -0.13231375813484192, 0.8023492693901062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.818796992301941, -1.3662164211273193, -1.6407033205032349, -1.878643274307251, -0.2705393135547638, -0.1261199414730072, -0.09552817791700363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9895387887954712, -1.2588318586349487, 1.5263816118240356, -2.3042519092559814, -0.8113371729850769, -0.16563265025615692, 0.7483580112457275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8188024759292603, -1.3662158250808716, -1.6407036781311035, -1.8786417245864868, -0.27053824067115784, -0.1261199414730072, -0.09552721679210663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9772019386291504, -1.2611186504364014, 1.505615234375, -2.2742743492126465, -0.8652482032775879, -0.1697644591331482, 0.7327754497528076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.818809986114502, -1.3662158250808716, -1.640702724456787, -1.8786416053771973, -0.270536333322525, -0.12612029910087585, -0.09552529454231262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9504843950271606, -1.2613862752914429, 1.495248794555664, -2.2504703998565674, -0.8774650692939758, -0.16017192602157593, 0.7341936230659485, 0.5807999999477313, 0.5807999999477313, 0.5807999999477313, 0.5807999999477313, -0.5807999999477313, -0.5807999999477313, -0.5807999999477313, 0.5807999999477313, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8188079595565796, -1.3662182092666626, -1.6407012939453125, -1.878640055656433, -0.270532488822937, -0.1261209100484848, -0.09552446007728577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.925798773765564, -1.262112021446228, 1.4927412271499634, -2.2328357696533203, -0.8761548399925232, -0.14479675889015198, 0.7482376098632812, 0.4211999974407992, 0.4211999974407992, 0.4211999974407992, 0.4211999974407992, -0.4211999974407992, -0.4211999974407992, -0.4211999974407992, 0.4211999974407992, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187973499298096, -1.3662189245224, -1.6407005786895752, -1.8786396980285645, -0.2705312967300415, -0.12612006068229675, -0.09552278369665146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9071391820907593, -1.2633916139602661, 1.4926023483276367, -2.212686777114868, -0.8726618885993958, -0.1328151673078537, 0.7628380060195923, 0.3612000035715627, 0.3612000035715627, 0.3612000035715627, 0.3612000035715627, -0.3612000035715627, -0.3612000035715627, -0.3612000035715627, 0.3612000035715627, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187960386276245, -1.366219162940979, -1.6406997442245483, -1.878638744354248, -0.2705291509628296, -0.12612053751945496, -0.09552206099033356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.894190788269043, -1.2661956548690796, 1.49260675907135, -2.199089527130127, -0.8660097122192383, -0.12575742602348328, 0.7741016149520874, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8187952041625977, -1.366219162940979, -1.6406995058059692, -1.8786383867263794, -0.27052542567253113, -0.1261206716299057, -0.09552254527807236, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8889613151550293, -1.2672946453094482, 1.493635892868042, -2.1961350440979004, -0.8583785891532898, -0.12244006991386414, 0.7848242521286011, 0.2682000160217285, 0.2682000160217285, 0.2682000160217285, 0.2682000160217285, -0.2682000160217285, -0.2682000160217285, -0.2682000160217285, 0.2682000160217285, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187955617904663, -1.3662190437316895, -1.640699863433838, -1.8786388635635376, -0.2705239951610565, -0.12612029910087585, -0.09552278369665146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8862556219100952, -1.26736581325531, 1.4979087114334106, -2.1914801597595215, -0.8489904403686523, -0.1226062923669815, 0.7953640222549438, 0.25740000808631985, 0.25740000808631985, 0.25740000808631985, 0.25740000808631985, -0.25740000808631985, -0.25740000808631985, -0.25740000808631985, 0.25740000808631985, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.81879460811615, -1.3662188053131104, -1.6406992673873901, -1.8786383867263794, -0.2705226540565491, -0.1261201798915863, -0.09552373737096786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8857389688491821, -1.2676578760147095, 1.5026017427444458, -2.1887025833129883, -0.8427775502204895, -0.1241486594080925, 0.8025984168052673, 0.23940000796056055, 0.23940000796056055, 0.23940000796056055, 0.23940000796056055, -0.23940000796056055, -0.23940000796056055, -0.23940000796056055, 0.23940000796056055, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187960386276245, -1.3662185668945312, -1.6406991481781006, -1.8786391019821167, -0.270521342754364, -0.12612053751945496, -0.09552446007728577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.885718584060669, -1.2680126428604126, 1.5065350532531738, -2.186490058898926, -0.8380905389785767, -0.12440679967403412, 0.8082605600357056, 0.23339999481871887, 0.23339999481871887, 0.23339999481871887, 0.23339999481871887, -0.23339999481871887, -0.23339999481871887, -0.23339999481871887, 0.23339999481871887, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187958002090454, -1.3662185668945312, -1.640699028968811, -1.8786391019821167, -0.27052098512649536, -0.12612079083919525, -0.09552446007728577, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8844707012176514, -1.2687671184539795, 1.5076353549957275, -2.1853885650634766, -0.8339433670043945, -0.12400652468204498, 0.8093358278274536, 0.19979999196398393, 0.19979999196398393, 0.19979999196398393, 0.19979999196398393, -0.19979999196398393, -0.19979999196398393, -0.19979999196398393, 0.19979999196398393, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.818795919418335, -1.3662184476852417, -1.6406983137130737, -1.878639578819275, -0.2705211043357849, -0.1261209100484848, -0.09552542120218277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.880671501159668, -1.2697715759277344, 1.5096898078918457, -2.1828806400299072, -0.8270252346992493, -0.12242089211940765, 0.8152313232421875, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, 0.17339998129959946, -0.17339998129959946, -0.17339998129959946, -0.17339998129959946, 0.17339998129959946, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187966346740723, -1.3662183284759521, -1.6406974792480469, -1.8786406517028809, -0.2705201506614685, -0.1261209100484848, -0.09552589803934097, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8790850639343262, -1.2713476419448853, 1.5123497247695923, -2.1822781562805176, -0.8259243965148926, -0.12242185324430466, 0.8183492422103882, 0.1319999967302595, 0.1319999967302595, 0.1319999967302595, 0.1319999967302595, -0.1319999967302595, -0.1319999967302595, -0.1319999967302595, 0.1319999967302595, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8187601566314697, -1.3662290573120117, -1.6406807899475098, -1.878644585609436, -0.2705196738243103, -0.12612079083919525, -0.09553105384111404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8799960613250732, -1.2734057903289795, 1.513962745666504, -2.1895196437835693, -0.8243070840835571, -0.12612222135066986, 0.8217958211898804, 0.08820001476413605, 0.08820001476413605, 0.08820001476413605, 0.08820001476413605, -0.08820001476413605, -0.08820001476413605, -0.08820001476413605, 0.08820001476413605, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8188066482543945, -1.3662275075912476, -1.6406853199005127, -1.878643274307251, -0.27051737904548645, -0.12612029910087585, -0.09553176909685135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8899232149124146, -1.2734267711639404, 1.5201354026794434, -2.211879014968872, -0.8163796663284302, -0.1352689415216446, 0.8318720459938049, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.81882643699646, -1.3662281036376953, -1.6406856775283813, -1.87864351272583, -0.27051860094070435, -0.1261204183101654, -0.0955316498875618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9155000448226929, -1.2727010250091553, 1.5441932678222656, -2.246849298477173, -0.7988750338554382, -0.14606408774852753, 0.8670505285263062, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187968730926514, -1.3662290573120117, -1.640685796737671, -1.8786426782608032, -0.27051955461502075, -0.12612029910087585, -0.09553212672472, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.958359956741333, -1.2682898044586182, 1.5691113471984863, -2.292742967605591, -0.7457345724105835, -0.14908771216869354, 0.9170190095901489, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.818799614906311, -1.366228461265564, -1.6406879425048828, -1.8786437511444092, -0.2705226540565491, -0.12612029910087585, -0.0955318883061409, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.964189052581787, -1.2687844038009644, 1.6069198846817017, -2.3369672298431396, -0.6090105175971985, -0.10862813144922256, 0.9917714595794678, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491915937, -6.117763030293208e-05, -0.00031284837792003035, 0.0018920229049399495], [6.126236824713677e-05, 0.9999999614416881, 0.0002708570555197919, 0.0004187235317658633], [0.00031283179546431753, -0.00027087620759051024, 0.9999999143811703, -1.043562292579736e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8187967538833618, -1.3662198781967163, -1.6407430171966553, -1.878953218460083, -0.27049127221107483, -0.12612725794315338, -0.09565029293298721, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9310609102249146, -1.2721790075302124, 1.650132179260254, -2.3509557247161865, -0.41438165307044983, -0.019707219675183296, 1.0747231245040894, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999942634625, -0.00010218153647480328, -0.0003229391279139039, 0.00209726276807487], [0.00010226896295991458, 0.9999999581268617, 0.0002707163348097219, 0.0004182230040896684], [0.00032291145218038943, -0.00027074934592968874, 0.9999999112114889, -6.869307753731846e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8291081190109253, -1.3645129203796387, -1.662630558013916, -1.9260591268539429, -0.26642104983329773, -0.11994004249572754, -0.14924722909927368, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8781793117523193, -1.2789998054504395, 1.6805200576782227, -2.3486239910125732, -0.21746358275413513, 0.11676709353923798, 1.1170127391815186, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999488024186, -3.3324023165726236e-05, -0.000318252525000467, 0.0020088416058570147], [3.341006033770859e-05, 0.999999962899762, 0.00027034097466197666, 0.00042266491800546646], [0.0003182435043443203, -0.0002703515936572355, 0.9999999128155401, 1.6636325881336234e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8466957807540894, -1.352178692817688, -1.7141141891479492, -2.007317304611206, -0.29815492033958435, -0.09552290290594101, -0.27521413564682007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8282641172409058, -1.288758635520935, 1.6992073059082031, -2.3221123218536377, -0.026967382058501244, 0.2719944417476654, 1.1103633642196655, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999444670282, -8.995712972310485e-05, -0.00032089508461127304, 0.0018927418859675527], [9.00386159467209e-05, 0.9999999637066176, 0.00025392875198239367, 0.0004229577025398612], [0.00032087223026322254, -0.0002539576308302579, 0.9999999162732632, -3.2591847229923587e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.854134202003479, -1.3393503427505493, -1.7787742614746094, -2.0788588523864746, -0.4439634084701538, -0.022950030863285065, -0.487673819065094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.777385950088501, -1.3012245893478394, 1.704459309577942, -2.265604257583618, 0.1969325691461563, 0.43559756875038147, 1.0545012950897217, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999951717281, -7.135122502367712e-05, -0.0003024474141900595, 0.0020254033152014017], [7.142629712908657e-05, 0.9999999666445766, 0.0002482118648789753, 0.00042710700654424727], [0.0003024296938811734, -0.0002482334555935035, 0.999999923458213, 1.0276342976567321e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8362675905227661, -1.3286783695220947, -1.8169876337051392, -2.0970566272735596, -0.6324833035469055, 0.0929281935095787, -0.7439888119697571, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7392182350158691, -1.314536213874817, 1.6996023654937744, -2.2054851055145264, 0.41066402196884155, 0.5490443110466003, 0.9713913202285767, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999508690351, -5.509967464617229e-05, -0.00030858702671323165, 0.001967351883649826], [5.518109351289228e-05, 0.9999999636712744, 0.00026384180238479474, 0.00041118814260698855], [0.0003085724779051888, -0.00026385881759157035, 0.9999999175807718, -2.9272225674503716e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7857234477996826, -1.3263100385665894, -1.788355827331543, -2.059907913208008, -0.8096887469291687, 0.2531505823135376, -0.9130513668060303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7249287366867065, -1.324623942375183, 1.6832005977630615, -2.156179189682007, 0.5995973944664001, 0.6031289100646973, 0.8940426111221313, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999622428065, -5.946930356022383e-05, -0.0002682867636959249, 0.001988630974665284], [5.953421064521007e-05, 0.9999999689627163, 0.00024193024662502022, 0.0004132373142056167], [0.00026827236794575563, -0.00024194620973111628, 0.9999999347459819, -1.1294021078356309e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.7327803373336792, -1.325932502746582, -1.7105731964111328, -2.0033891201019287, -0.9455408453941345, 0.389884352684021, -0.9795957207679749, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7235323190689087, -1.3313517570495605, 1.6698163747787476, -2.1253106594085693, 0.7644328474998474, 0.6297559142112732, 0.835919201374054, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999543137831, -0.00010542190059980661, -0.0002832995844872045, 0.0019151209853589535], [0.00010549616962259592, 0.9999999600726474, 0.00026215503429086954, 0.00042305741226300597], [0.0002832719362938353, -0.00026218490933501684, 0.999999925508039, 2.0771994968526997e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.699699878692627, -1.3265705108642578, -1.632466435432434, -1.9525431394577026, -1.044158935546875, 0.44683098793029785, -0.9826042056083679, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7241249084472656, -1.333538293838501, 1.6561123132705688, -2.1069085597991943, 0.8761942386627197, 0.6324268579483032, 0.808728814125061, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999620758383, -2.8040746002786992e-05, -0.0002739745216020644, 0.0018329268787056208], [2.8115281934438297e-05, 0.9999999625980259, 0.0002720541813385001, 0.0004192702763248235], [0.0002739668827526785, -0.0002720618738919911, 0.9999999254622391, -7.944366302581329e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.6821314096450806, -1.3278411626815796, -1.5690665245056152, -1.9134799242019653, -1.0823701620101929, 0.44739341735839844, -0.9813505411148071, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7261314392089844, -1.332339882850647, 1.6429108381271362, -2.0951406955718994, 0.9151054620742798, 0.63131183385849, 0.8157591223716736, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999577119437, -5.819830385733803e-05, -0.00028493695462416017, 0.0018819613615050912], [5.8275366556924896e-05, 0.9999999617291899, 0.0002704544330965022, 0.0004186744918115437], [0.0002849212037301151, -0.0002704710264649863, 0.9999999228326628, -1.0633360716383322e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.667846918106079, -1.3278849124908447, -1.5244674682617188, -1.8906067609786987, -1.0845458507537842, 0.44431981444358826, -0.9713257551193237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7285587787628174, -1.3263388872146606, 1.6247680187225342, -2.094726324081421, 0.9102821946144104, 0.6204203367233276, 0.8163889050483704, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999953776019, -6.42715953605178e-05, -0.000297181967425332, 0.0019016365986317396], [6.435149747709991e-05, 0.999999961785457, 0.00026886422080592845, 0.0004154585476499051], [0.0002971646757362523, -0.00026888333248258084, 0.9999999196974513, -5.99111842802813e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.6602057218551636, -1.3271480798721313, -1.5053327083587646, -1.8873059749603271, -1.0809389352798462, 0.4394104778766632, -0.9679271578788757, 0.4536000015971425, -0.4536000015971425, 0.4536000015971425, 0.4536000015971425, -0.4536000015971425, -0.4536000015971425, 0.4536000015971425, 0.4536000015971425, -1.7335821390151978, -1.3217343091964722, 1.6118786334991455, -2.0994865894317627, 0.9071567058563232, 0.6104990839958191, 0.8153835535049438, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999552738922, -4.116104117671262e-05, -0.00029623973779552444, 0.0018468473572283983], [4.12398448914905e-05, 0.9999999637684122, 0.00026601212314200374, 0.0004183389828540385], [0.00029622877772633423, -0.0002660243281251543, 0.999999920739781, 1.5222287430560755e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.6555707454681396, -1.3226786851882935, -1.490082859992981, -1.8868850469589233, -1.0686801671981812, 0.43556904792785645, -0.9610207676887512, 0.2826000004024296, -0.2826000004024296, 0.2826000004024296, 0.2826000004024296, -0.2826000004024296, -0.2826000004024296, 0.2826000004024296, 0.2826000004024296, -1.73915696144104, -1.3181122541427612, 1.6047970056533813, -2.1059350967407227, 0.9079922437667847, 0.6036815047264099, 0.8211684226989746, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999451012908, -0.00010619516500487116, -0.00031387896121796326, 0.001924304524436593], [0.00010628845638202326, 0.9999999501817745, 0.0002972191323232175, 0.0004163795383647084], [0.0003138473823462707, -0.0002972524777165494, 0.9999999065703882, -1.7610152553970693e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6538121700286865, -1.319471836090088, -1.4750568866729736, -1.8824917078018188, -1.057684302330017, 0.43216997385025024, -0.9559575319290161, 0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -1.741441249847412, -1.3128113746643066, 1.5999701023101807, -2.109095811843872, 0.9084265232086182, 0.5972711443901062, 0.8256338834762573, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999538425224, -6.796458405611973e-05, -0.00029613471311038626, 0.0019070713315159082], [6.805271440522636e-05, 0.9999999534008451, 0.0002976023112303492, 0.0004153221379965544], [0.000296114472893462, -0.000297622450264834, 0.9999999118685441, 1.1398721966315861e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.653227686882019, -1.3159061670303345, -1.4637757539749146, -1.8782758712768555, -1.056355357170105, 0.4293862581253052, -0.95543372631073, 0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -1.7411302328109741, -1.3103749752044678, 1.596750259399414, -2.1082029342651367, 0.9184823632240295, 0.5931124687194824, 0.8256161212921143, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999553656378, -0.00010077424619339096, -0.00028127081924162633, 0.0019025052897632122], [0.00010085530719029639, 0.9999999533855657, 0.0002881962410681849, 0.00042111921356990933], [0.0002812417633713968, -0.00028822459585960776, 0.9999999189148232, 4.5176498986165825e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6517995595932007, -1.3144563436508179, -1.4568430185317993, -1.873645544052124, -1.0574125051498413, 0.42415863275527954, -0.9554163217544556, 0.15479999164958577, -0.15479999164958577, 0.15479999164958577, 0.15479999164958577, -0.15479999164958577, -0.15479999164958577, 0.15479999164958577, 0.15479999164958577, -1.7401641607284546, -1.3066012859344482, 1.594451904296875, -2.1081020832061768, 0.9250213503837585, 0.5928137302398682, 0.8290135264396667, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999561744757, -7.408436513119778e-05, -0.0002866401116368216, 0.0019034288125112653], [7.416959481517623e-05, 0.9999999530435425, 0.0002973411910486234, 0.0004179455281700939], [0.0002866180698438512, -0.00029736243799842764, 0.9999999147128276, -1.1936691635128227e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6509987115859985, -1.3126540184020996, -1.452365756034851, -1.8725218772888184, -1.0580679178237915, 0.42376232147216797, -0.9553953409194946, 0.13679999152382655, -0.13679999152382655, 0.13679999152382655, 0.13679999152382655, -0.13679999152382655, -0.13679999152382655, 0.13679999152382655, 0.13679999152382655, -1.7401752471923828, -1.3044286966323853, 1.594861626625061, -2.1091747283935547, 0.9329422116279602, 0.5924173593521118, 0.8291776180267334, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999550964588, -6.748895295175044e-05, -0.00029198000223125084, 0.001899907598271966], [6.757525343828948e-05, 0.9999999540359538, 0.0002955700855425428, 0.0004184311837889254], [0.00029196004109507143, -0.000295589802893049, 0.9999999136929977, -1.0028215911006555e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6480356454849243, -1.3090139627456665, -1.44905686378479, -1.8697556257247925, -1.0593631267547607, 0.4223908483982086, -0.9595731496810913, 0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -0.057599998830439, -0.057599998830439, 0.057599998830439, 0.057599998830439, -1.740731954574585, -1.2997772693634033, 1.5955790281295776, -2.110522985458374, 0.9371500611305237, 0.5896512866020203, 0.8235960602760315, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6438044309616089, -1.3083962202072144, -1.4453003406524658, -1.8631539344787598, -1.0629522800445557, 0.42366451025009155, -0.970895528793335, 0.012599998516040855, -0.012599998516040855, 0.012599998516040855, 0.012599998516040855, -0.012599998516040855, -0.012599998516040855, 0.012599998516040855, 0.012599998516040855, -1.7412441968917847, -1.2982628345489502, 1.5932923555374146, -2.1106324195861816, 0.9373136758804321, 0.5857691168785095, 0.8149175643920898, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6405974626541138, -1.3069874048233032, -1.4452255964279175, -1.8537300825119019, -1.0717427730560303, 0.4325697720050812, -0.979644238948822, 0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -1.7408275604248047, -1.294600248336792, 1.5873764753341675, -2.110628843307495, 0.937838077545166, 0.5803284049034119, 0.8110379576683044, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6354483366012573, -1.3035085201263428, -1.4452203512191772, -1.8465362787246704, -1.080262303352356, 0.4389025866985321, -0.9847376346588135, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.740626335144043, -1.2940664291381836, 1.5827860832214355, -2.110722541809082, 0.9363611936569214, 0.573445737361908, 0.8075856566429138, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6310795545578003, -1.3013665676116943, -1.4473707675933838, -1.8405379056930542, -1.0846725702285767, 0.43904709815979004, -0.9888696670532227, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.7415838241577148, -1.2935125827789307, 1.575995683670044, -2.1158106327056885, 0.9234489798545837, 0.5557297468185425, 0.7988125681877136, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6294389963150024, -1.2985764741897583, -1.4531223773956299, -1.838897943496704, -1.0843286514282227, 0.4388939440250397, -0.9930384159088135, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.743773341178894, -1.2934837341308594, 1.5697753429412842, -2.1250357627868652, 0.91187584400177, 0.5414456129074097, 0.7862676382064819, 0.14579999158670612, 0.14579999158670612, 0.14579999158670612, 0.14579999158670612, -0.14579999158670612, -0.14579999158670612, -0.14579999158670612, 0.14579999158670612, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6236218214035034, -1.2955164909362793, -1.4711976051330566, -1.8344271183013916, -1.0790867805480957, 0.4316733479499817, -0.9929197430610657, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7500742673873901, -1.2937575578689575, 1.5689233541488647, -2.1313610076904297, 0.8998144268989563, 0.5205472707748413, 0.7617543935775757, 0.2729999911654126, 0.2729999911654126, 0.2729999911654126, 0.2729999911654126, -0.2729999911654126, -0.2729999911654126, -0.2729999911654126, 0.2729999911654126, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6047743558883667, -1.293433666229248, -1.5032974481582642, -1.8284343481063843, -1.0541720390319824, 0.418789803981781, -0.9928164482116699, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7631678581237793, -1.2942235469818115, 1.570487380027771, -2.1403369903564453, 0.8808203935623169, 0.488836407661438, 0.7223356366157532, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, 0.5358000008614509, -0.5358000008614509, -0.5358000008614509, -0.5358000008614509, 0.5358000008614509, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.5725399255752563, -1.2842224836349487, -1.5522091388702393, -1.8253854513168335, -0.9630808234214783, 0.37448641657829285, -1.00269615650177, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7921634912490845, -1.2956587076187134, 1.5685502290725708, -2.1694209575653076, 0.8012998104095459, 0.41700559854507446, 0.6288201808929443, 0.5850000003045731, 0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.5850000003045731, -0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.5228948593139648, -1.2699931859970093, -1.6172417402267456, -1.8121275901794434, -0.8342527151107788, 0.331847608089447, -1.032787799835205, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.8284169435501099, -1.3007290363311768, 1.543619990348816, -2.2065489292144775, 0.6679967641830444, 0.34223687648773193, 0.47980761528015137, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.4490203857421875, -1.25245201587677, -1.6721876859664917, -1.7634894847869873, -0.7015008926391602, 0.31573614478111267, -1.0860577821731567, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.8596805334091187, -1.3055332899093628, 1.4971048831939697, -2.2213616371154785, 0.5083256363868713, 0.2812972068786621, 0.31546974182128906, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.3582422733306885, -1.2353931665420532, -1.699953556060791, -1.6969209909439087, -0.5766474604606628, 0.30458855628967285, -1.130422592163086, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.885323166847229, -1.3104398250579834, 1.4484052658081055, -2.215912103652954, 0.3658757507801056, 0.21585962176322937, 0.15512080490589142, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.258719563484192, -1.220821499824524, -1.701047420501709, -1.6016616821289062, -0.4765993356704712, 0.27223291993141174, -1.2046785354614258, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.9073768854141235, -1.3155436515808105, 1.404015064239502, -2.190293073654175, 0.2487458884716034, 0.1436271071434021, 0.020975150167942047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.1561857461929321, -1.2054356336593628, -1.672178864479065, -1.494091510772705, -0.3853501081466675, 0.27037370204925537, -1.239635705947876, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9271920919418335, -1.3209283351898193, 1.3564928770065308, -2.1596291065216064, 0.1335669457912445, 0.07466363906860352, -0.12113007158041, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.061653733253479, -1.198807954788208, -1.6325727701187134, -1.3967379331588745, -0.32483816146850586, 0.2674611806869507, -1.2641494274139404, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9403291940689087, -1.3211902379989624, 1.3336968421936035, -2.139479875564575, 0.0756615623831749, 0.03506740182638168, -0.20274648070335388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.9758701920509338, -1.1950669288635254, -1.5829851627349854, -1.3161627054214478, -0.27096956968307495, 0.26343628764152527, -1.2958780527114868, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9417965412139893, -1.3204742670059204, 1.3254815340042114, -2.1182103157043457, 0.05058637261390686, 0.015246330760419369, -0.22387287020683289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.9002740979194641, -1.1939945220947266, -1.529393196105957, -1.2531310319900513, -0.22028347849845886, 0.2568613588809967, -1.3187638521194458, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.936549186706543, -1.3182395696640015, 1.3246980905532837, -2.1005375385284424, 0.055458080023527145, 0.009684931486845016, -0.21922563016414642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.8381445407867432, -1.1940027475357056, -1.4846652746200562, -1.20360267162323, -0.17441637814044952, 0.2503424286842346, -1.3332710266113281, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.934003472328186, -1.3147789239883423, 1.3262346982955933, -2.098278760910034, 0.061084192246198654, 0.009386284276843071, -0.21439622342586517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.7953183054924011, -1.1957799196243286, -1.4494644403457642, -1.1680705547332764, -0.1351771503686905, 0.2414763867855072, -1.3385151624679565, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9338592290878296, -1.3147691488265991, 1.3266136646270752, -2.099191665649414, 0.06112062558531761, 0.009419959969818592, -0.21444356441497803, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.7670454978942871, -1.2009819746017456, -1.4244694709777832, -1.1370811462402344, -0.12767453491687775, 0.23710393905639648, -1.342746615409851, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.9339096546173096, -1.314875602722168, 1.3266432285308838, -2.0994961261749268, 0.061118826270103455, 0.009449201636016369, -0.21449556946754456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.7462363243103027, -1.2094967365264893, -1.402099609375, -1.1096217632293701, -0.11877493560314178, 0.23228244483470917, -1.3481401205062866, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339386224746704, -1.3149850368499756, 1.326645016670227, -2.0995829105377197, 0.061114754527807236, 0.009468615986406803, -0.21450383961200714, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.7230476140975952, -1.2187734842300415, -1.3798048496246338, -1.0787955522537231, -0.09744948148727417, 0.2235649973154068, -1.3501039743423462, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339866638183594, -1.31504487991333, 1.3266469240188599, -2.0996391773223877, 0.061109598726034164, 0.009478443302214146, -0.21450024843215942, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.696135401725769, -1.2269278764724731, -1.3646903038024902, -1.0446161031723022, -0.08579961955547333, 0.21812739968299866, -1.356087565422058, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9340144395828247, -1.3150588274002075, 1.3266791105270386, -2.099647045135498, 0.061107560992240906, 0.009481439366936684, -0.21450012922286987, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.6631513833999634, -1.2328615188598633, -1.3497824668884277, -1.0240235328674316, -0.06450149416923523, 0.2400812953710556, -1.3777326345443726, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9340217113494873, -1.3150615692138672, 1.3266973495483398, -2.09965443611145, 0.061107441782951355, 0.009482997469604015, -0.21448826789855957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.6084054708480835, -1.2379884719848633, -1.3249601125717163, -0.9922580122947693, -0.01745586283504963, 0.30752936005592346, -1.417900800704956, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.934013843536377, -1.315076231956482, 1.326716661453247, -2.0996601581573486, 0.06110852211713791, 0.00948287732899189, -0.21446488797664642, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.5408561825752258, -1.2444498538970947, -1.2952017784118652, -0.9476314783096313, 0.042653296142816544, 0.3539693057537079, -1.4568581581115723, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9340026378631592, -1.3150728940963745, 1.32676362991333, -2.0996592044830322, 0.06111091747879982, 0.009481200017035007, -0.21445003151893616, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.4781082570552826, -1.2534888982772827, -1.2610570192337036, -0.8944491147994995, 0.08269798010587692, 0.3605706989765167, -1.4665666818618774, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.93397855758667, -1.3150733709335327, 1.3267654180526733, -2.099658966064453, 0.06111139804124832, 0.009477484971284866, -0.21444344520568848, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.43747490644454956, -1.2573864459991455, -1.209923505783081, -0.8547712564468384, 0.09359200298786163, 0.3512783646583557, -1.4696184396743774, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339599609375, -1.315068244934082, 1.3267719745635986, -2.099656343460083, 0.061112236231565475, 0.009474608115851879, -0.21442654728889465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.4098062217235565, -1.2575691938400269, -1.1564791202545166, -0.8187978267669678, 0.07218841463327408, 0.34459319710731506, -1.4761008024215698, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339256286621094, -1.315069317817688, 1.32679283618927, -2.0996549129486084, 0.06111319363117218, 0.0094678970053792, -0.21442091464996338, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.38318175077438354, -1.257751703262329, -1.1069811582565308, -0.7902419567108154, 0.04845342040061951, 0.3445875644683838, -1.4761250019073486, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339325428009033, -1.315071702003479, 1.3268235921859741, -2.0996577739715576, 0.06111511215567589, 0.009456631727516651, -0.2144157588481903, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.35474893450737, -1.2599880695343018, -1.0636049509048462, -0.7623839974403381, 0.03926319628953934, 0.34470152854919434, -1.4758989810943604, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339261054992676, -1.315065622329712, 1.3268274068832397, -2.0996551513671875, 0.06111571192741394, 0.0094507597386837, -0.2144152820110321, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.3305552303791046, -1.2645838260650635, -1.0291650295257568, -0.7398760914802551, 0.03239719569683075, 0.344778835773468, -1.4757143259048462, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339302778244019, -1.315069317817688, 1.3268250226974487, -2.0996572971343994, 0.06111499294638634, 0.009444168768823147, -0.21441324055194855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.31448453664779663, -1.270399570465088, -1.0115554332733154, -0.7244298458099365, 0.027605781331658363, 0.34560346603393555, -1.4746068716049194, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339245557785034, -1.315070629119873, 1.3268224000930786, -2.0996575355529785, 0.06111271679401398, 0.009436378255486488, -0.21440976858139038, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.30449503660202026, -1.2758777141571045, -0.9943585991859436, -0.7126477956771851, 0.03261207044124603, 0.34589338302612305, -1.4743409156799316, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339274168014526, -1.3150722980499268, 1.3268229961395264, -2.099656581878662, 0.0611061230301857, 0.009433502331376076, -0.21441276371479034, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2972365915775299, -1.2825261354446411, -0.990537166595459, -0.7044147849082947, 0.04016057401895523, 0.34624725580215454, -1.474146842956543, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9339251518249512, -1.315072774887085, 1.326823353767395, -2.099656105041504, 0.06109761446714401, 0.009433142840862274, -0.21441970765590668, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.29258495569229126, -1.2888487577438354, -0.9938058853149414, -0.692743182182312, 0.04623957350850105, 0.3457167148590088, -1.4746955633163452, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339258670806885, -1.3150721788406372, 1.3268229961395264, -2.0996572971343994, 0.061086591333150864, 0.009433142840862274, -0.2144247442483902, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.29103195667266846, -1.2948384284973145, -1.0040937662124634, -0.6825786828994751, 0.05603955313563347, 0.34403401613235474, -1.4774092435836792, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339237213134766, -1.3150721788406372, 1.3268229961395264, -2.0996596813201904, 0.06107712164521217, 0.00943458080291748, -0.21442870795726776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2875944972038269, -1.3010425567626953, -1.0172452926635742, -0.6703425049781799, 0.07059763371944427, 0.342557430267334, -1.4791057109832764, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339256286621094, -1.3150739669799805, 1.326820969581604, -2.0996603965759277, 0.06107628345489502, 0.009435299783945084, -0.21443277597427368, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2868492603302002, -1.3059556484222412, -1.0291399955749512, -0.6612097024917603, 0.08180420100688934, 0.33784356713294983, -1.4822518825531006, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339268207550049, -1.315072774887085, 1.3268221616744995, -2.0996618270874023, 0.06107616424560547, 0.009434700943529606, -0.2144368588924408, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.2867250144481659, -1.3105183839797974, -1.0398612022399902, -0.656926691532135, 0.09474500268697739, 0.3355260491371155, -1.4857635498046875, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339258670806885, -1.3150734901428223, 1.326821208000183, -2.099668025970459, 0.061075326055288315, 0.00943577941507101, -0.21443745493888855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2880919873714447, -1.3146098852157593, -1.0475865602493286, -0.656781792640686, 0.10709738731384277, 0.33465611934661865, -1.4873037338256836, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339256286621094, -1.3150739669799805, 1.326819896697998, -2.0996780395507812, 0.06107568368315697, 0.009436857886612415, -0.2144368588924408, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2947729229927063, -1.3188214302062988, -1.0524260997772217, -0.6567453742027283, 0.11935605108737946, 0.3353458046913147, -1.48464834690094, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339250326156616, -1.315072774887085, 1.326820731163025, -2.099684476852417, 0.06107784062623978, 0.009438655339181423, -0.21444272994995117, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2972208261489868, -1.3263593912124634, -1.056976556777954, -0.649891197681427, 0.1263943910598755, 0.3373822867870331, -1.4824267625808716, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.933925747871399, -1.3150722980499268, 1.326821208000183, -2.0996925830841064, 0.061086349189281464, 0.009441172704100609, -0.2144390046596527, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2982703447341919, -1.334173321723938, -1.0623575448989868, -0.6463558673858643, 0.13596858084201813, 0.33749914169311523, -1.48227059841156, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339227676391602, -1.3150724172592163, 1.326820731163025, -2.0996999740600586, 0.06110348924994469, 0.009445247240364552, -0.21443361043930054, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2975206673145294, -1.3408534526824951, -1.0690549612045288, -0.6382878422737122, 0.1459532380104065, 0.33666253089904785, -1.4834431409835815, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9339195489883423, -1.3150713443756104, 1.3268218040466309, -2.0997045040130615, 0.06112673878669739, 0.009445725940167904, -0.2144349366426468, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2953513264656067, -1.344411849975586, -1.0720494985580444, -0.6278781294822693, 0.152280792593956, 0.33119508624076843, -1.4887020587921143, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.933919072151184, -1.3150694370269775, 1.3268227577209473, -2.0997064113616943, 0.06113872304558754, 0.009446325711905956, -0.2144361287355423, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.293012797832489, -1.3474481105804443, -1.073527216911316, -0.620980978012085, 0.15715885162353516, 0.3274690508842468, -1.4930059909820557, 0.12299999666737986, -0.12299999666737986, 0.12299999666737986, 0.12299999666737986, -0.12299999666737986, -0.12299999666737986, 0.12299999666737986, 0.12299999666737986, -1.9339046478271484, -1.3150689601898193, 1.3268206119537354, -2.09971022605896, 0.06115010753273964, 0.009448482654988766, -0.21443049609661102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.2933101952075958, -1.3493428230285645, -1.0821917057037354, -0.6223855018615723, 0.15430527925491333, 0.3270425498485565, -1.4935208559036255, 0.17939999444144114, -0.17939999444144114, 0.17939999444144114, 0.17939999444144114, -0.17939999444144114, -0.17939999444144114, 0.17939999444144114, 0.17939999444144114, -1.9339008331298828, -1.3150670528411865, 1.3268218040466309, -2.0997116565704346, 0.061158377677202225, 0.009450280107557774, -0.21442151069641113, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.30515745282173157, -1.3489083051681519, -1.1049962043762207, -0.648470938205719, 0.1461729109287262, 0.3362759053707123, -1.4831347465515137, 0.3366000007797073, -0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -0.3366000007797073, -0.3366000007797073, 0.3366000007797073, 0.3366000007797073, -1.933889627456665, -1.3150676488876343, 1.3268210887908936, -2.0997142791748047, 0.061160534620285034, 0.009452437981963158, -0.2144133597612381, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.34637171030044556, -1.344422459602356, -1.1570895910263062, -0.7264615297317505, 0.1409849375486374, 0.3668644428253174, -1.4510211944580078, 0.5465999989719181, -0.5465999989719181, 0.5465999989719181, 0.5465999989719181, -0.5465999989719181, -0.5465999989719181, 0.5465999989719181, 0.5465999989719181, -1.9338828325271606, -1.3150662183761597, 1.3268214464187622, -2.0997142791748047, 0.061160534620285034, 0.009453396312892437, -0.21440090239048004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.4530121982097626, -1.328405499458313, -1.2486287355422974, -0.9092557430267334, 0.13708682358264923, 0.3961414396762848, -1.3777121305465698, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -1.9338620901107788, -1.3150274753570557, 1.3268285989761353, -2.0997121334075928, 0.06116125360131264, 0.009459028951823711, -0.21432383358478546, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.6065220832824707, -1.315436601638794, -1.3465903997421265, -1.1229957342147827, 0.07906951755285263, 0.44645851850509644, -1.2371495962142944, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9337356090545654, -1.3150461912155151, 1.3268184661865234, -2.0997748374938965, 0.061160292476415634, 0.009494142606854439, -0.21429580450057983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.7670002579689026, -1.3136603832244873, -1.4275285005569458, -1.3097398281097412, -0.006623920984566212, 0.4749971628189087, -1.0573452711105347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9337928295135498, -1.315053105354309, 1.3268522024154663, -2.0998079776763916, 0.06115729734301567, 0.009446685202419758, -0.21431294083595276, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.9171335101127625, -1.317059874534607, -1.4858688116073608, -1.477698802947998, -0.0839371532201767, 0.47291550040245056, -0.8788929581642151, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338058233261108, -1.3150705099105835, 1.3268446922302246, -2.099785566329956, 0.061149388551712036, 0.009452317841351032, -0.21433259546756744, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.067339539527893, -1.327439308166504, -1.5278033018112183, -1.625802755355835, -0.1535520702600479, 0.4012385606765747, -0.6350700855255127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338665008544922, -1.3150907754898071, 1.3268823623657227, -2.0997555255889893, 0.061135247349739075, 0.009403661824762821, -0.21433067321777344, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.221192479133606, -1.3302429914474487, -1.559409499168396, -1.7430974245071411, -0.18452219665050507, 0.32376736402511597, -0.45484626293182373, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338936805725098, -1.3150866031646729, 1.326891541481018, -2.099722385406494, 0.061123739928007126, 0.009407256729900837, -0.2143111377954483, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.3788409233093262, -1.3330152034759521, -1.580436110496521, -1.8351328372955322, -0.2001359611749649, 0.24368123710155487, -0.3160025477409363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338548183441162, -1.3150763511657715, 1.32688570022583, -2.0996906757354736, 0.06111583113670349, 0.00940905511379242, -0.21432144939899445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.5161134004592896, -1.3378664255142212, -1.593450903892517, -1.8797650337219238, -0.21900559961795807, 0.15539489686489105, -0.21710561215877533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338446855545044, -1.315081000328064, 1.3268706798553467, -2.0996756553649902, 0.061100732535123825, 0.009412051178514957, -0.21431581676006317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.6318198442459106, -1.3421458005905151, -1.607847809791565, -1.8962606191635132, -0.24574372172355652, 0.07684500515460968, -0.160673588514328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338754415512085, -1.31509530544281, 1.3268616199493408, -2.099647045135498, 0.06109090521931648, 0.009408335201442242, -0.21433810889720917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.7159007787704468, -1.3432289361953735, -1.6160969734191895, -1.8962292671203613, -0.2582467496395111, 0.024617156013846397, -0.1305912584066391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.933845043182373, -1.3151018619537354, 1.3268547058105469, -2.099626302719116, 0.06108731031417847, 0.009406059049069881, -0.21430885791778564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9504122734069824, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.768036961555481, -1.3468530178070068, -1.6230616569519043, -1.8874139785766602, -0.2686200439929962, -0.016994230449199677, -0.10765357315540314, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338629245758057, -1.315101981163025, 1.3268543481826782, -2.0996313095092773, 0.06108826771378517, 0.009403901174664497, -0.21432144939899445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6842236518859863, -0.6399688124656677, 0.0, 0.0, 1.7962520122528076, -1.3480337858200073, -1.6247931718826294, -1.8753962516784668, -0.2727544903755188, -0.04607263207435608, -0.08517643809318542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.933866262435913, -1.3150964975357056, 1.3268581628799438, -2.0996336936950684, 0.06108958646655083, 0.009402822703123093, -0.2143317461013794, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.806439995765686, -1.349682331085205, -1.6234278678894043, -1.8627030849456787, -0.26488563418388367, -0.06855372339487076, -0.06021234020590782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338659048080444, -1.31509530544281, 1.3268561363220215, -2.0996365547180176, 0.06109246239066124, 0.009400545619428158, -0.21433378756046295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8071858882904053, -1.350589632987976, -1.6187719106674194, -1.861120581626892, -0.2605871558189392, -0.07489074021577835, -0.04900996759533882, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338650703430176, -1.3150935173034668, 1.3268548250198364, -2.099644899368286, 0.06109917536377907, 0.009396231733262539, -0.21434073150157928, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8065998554229736, -1.3510799407958984, -1.618487000465393, -1.861151933670044, -0.26120731234550476, -0.07412734627723694, -0.05076457932591438, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9338654279708862, -1.3150925636291504, 1.3268545866012573, -2.099653720855713, 0.06110887974500656, 0.009395153261721134, -0.2143428921699524, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064098358154297, -1.3511152267456055, -1.6185023784637451, -1.861252784729004, -0.2613767981529236, -0.07367098331451416, -0.05117395892739296, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9328242540359497, -1.3146933317184448, 1.328049659729004, -2.101086139678955, 0.0602075457572937, 0.00978356134146452, -0.21357794106006622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8063931465148926, -1.3511343002319336, -1.6185638904571533, -1.8614006042480469, -0.26138192415237427, -0.07364437729120255, -0.05130122974514961, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9161396026611328, -1.3043532371520996, 1.361451268196106, -2.1336891651153564, 0.014583722688257694, 0.08928439021110535, -0.11888471245765686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064112663269043, -1.3512275218963623, -1.6187189817428589, -1.8614706993103027, -0.26138433814048767, -0.07361993193626404, -0.05139362812042236, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8793394565582275, -1.2847435474395752, 1.4157356023788452, -2.167428970336914, -0.04047444090247154, 0.21680325269699097, 0.08399204164743423, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064055442810059, -1.351275086402893, -1.6187978982925415, -1.861487627029419, -0.2613818049430847, -0.07359284907579422, -0.051417358219623566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8235946893692017, -1.2700812816619873, 1.4868934154510498, -2.183607816696167, -0.09011249989271164, 0.3159603774547577, 0.29632601141929626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064159154891968, -1.3513048887252808, -1.6188035011291504, -1.8614927530288696, -0.2613791823387146, -0.07358565926551819, -0.0514376126229763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.747374415397644, -1.258361577987671, 1.551628589630127, -2.184688091278076, -0.14883987605571747, 0.3929280936717987, 0.49392229318618774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.8064218759536743, -1.351355791091919, -1.6188069581985474, -1.8615096807479858, -0.2613758146762848, -0.07358361780643463, -0.05147188529372215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6507152318954468, -1.2448315620422363, 1.5961657762527466, -2.169950246810913, -0.22095495462417603, 0.4858923554420471, 0.7188693881034851, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.806424617767334, -1.351462483406067, -1.6188045740127563, -1.8615386486053467, -0.2613677978515625, -0.07357906550168991, -0.051507480442523956, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5378574132919312, -1.2343214750289917, 1.6151455640792847, -2.1210100650787354, -0.2694709300994873, 0.5780280232429504, 0.911320149898529, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064073324203491, -1.3515328168869019, -1.618806004524231, -1.8615336418151855, -0.2613687515258789, -0.07357630878686905, -0.05152234062552452, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4243522882461548, -1.226802110671997, 1.6185792684555054, -2.0525248050689697, -0.32152703404426575, 0.6458579301834106, 1.0576989650726318, 0.554400000336406, 0.554400000336406, 0.554400000336406, 0.554400000336406, -0.554400000336406, -0.554400000336406, -0.554400000336406, 0.554400000336406, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.806406021118164, -1.351596713066101, -1.6187995672225952, -1.861527681350708, -0.2613663673400879, -0.07357463240623474, -0.05153516307473183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3274662494659424, -1.2193992137908936, 1.6087310314178467, -1.9768425226211548, -0.38407188653945923, 0.6783831119537354, 1.1432652473449707, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, -0.23159998694618983, -0.23159998694618983, -0.23159998694618983, 0.23159998694618983, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064146041870117, -1.351638674736023, -1.6187998056411743, -1.8615241050720215, -0.26136553287506104, -0.07357427477836609, -0.05154211446642876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2613517045974731, -1.2133457660675049, 1.5872106552124023, -1.9069888591766357, -0.4259628653526306, 0.6826959848403931, 1.1513549089431763, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, 0.058199988354693394, -0.058199988354693394, -0.058199988354693394, -0.058199988354693394, 0.058199988354693394, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064159154891968, -1.3516584634780884, -1.6187940835952759, -1.8615164756774902, -0.26136648654937744, -0.07357427477836609, -0.051548946648836136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2174959182739258, -1.2028409242630005, 1.5580134391784668, -1.8462826013565063, -0.44331085681915283, 0.6796748638153076, 1.1439553499221802, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064292669296265, -1.3516732454299927, -1.6187891960144043, -1.8615155220031738, -0.2613663673400879, -0.07357390969991684, -0.051557932049036026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.179665207862854, -1.1934828758239746, 1.5271414518356323, -1.7931451797485352, -0.44387519359588623, 0.6901215314865112, 1.1298086643218994, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.806413173675537, -1.3516901731491089, -1.6187783479690552, -1.8615080118179321, -0.2613663673400879, -0.07357355207204819, -0.05156548321247101, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1435014009475708, -1.184567928314209, 1.4940294027328491, -1.743430733680725, -0.4471355080604553, 0.7011876702308655, 1.1185667514801025, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064236640930176, -1.3517019748687744, -1.6187678575515747, -1.861484169960022, -0.26136815547943115, -0.07357271760702133, -0.05157231539487839, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.117773175239563, -1.1770395040512085, 1.4733778238296509, -1.7042512893676758, -0.4411882162094116, 0.7072263956069946, 1.1118088960647583, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064347505569458, -1.351719856262207, -1.6187268495559692, -1.8614615201950073, -0.2613714039325714, -0.07357271760702133, -0.05157890543341637, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1016396284103394, -1.1648207902908325, 1.4528034925460815, -1.6703777313232422, -0.4378014802932739, 0.7125199437141418, 1.1060895919799805, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064279556274414, -1.3517533540725708, -1.618694543838501, -1.861441731452942, -0.2613755762577057, -0.07357187569141388, -0.05158921331167221, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0927218198776245, -1.1549527645111084, 1.4333734512329102, -1.6492102146148682, -0.4375644326210022, 0.7214149832725525, 1.0981357097625732, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064212799072266, -1.3517897129058838, -1.6186870336532593, -1.8614354133605957, -0.26137906312942505, -0.07356959581375122, -0.051605988293886185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0918868780136108, -1.1487571001052856, 1.4261949062347412, -1.6453721523284912, -0.4158041775226593, 0.7239524126052856, 1.0963834524154663, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064285516738892, -1.3517922163009644, -1.6186878681182861, -1.8614342212677002, -0.26138588786125183, -0.07356492429971695, -0.0516214482486248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.091978669166565, -1.1405659914016724, 1.4154136180877686, -1.645544171333313, -0.3992859721183777, 0.7265913486480713, 1.093083381652832, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064156770706177, -1.351793646812439, -1.6186892986297607, -1.8614355325698853, -0.2613971531391144, -0.07355893403291702, -0.051633432507514954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.093521237373352, -1.1325740814208984, 1.4055730104446411, -1.6499396562576294, -0.3979884386062622, 0.7288689613342285, 1.0902267694473267, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8064240217208862, -1.3517963886260986, -1.6186931133270264, -1.8614343404769897, -0.2614092528820038, -0.07355066388845444, -0.05163942649960518, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0959614515304565, -1.1262929439544678, 1.4002825021743774, -1.6501201391220093, -0.39762136340141296, 0.7242603898048401, 1.0954937934875488, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.806434988975525, -1.3518074750900269, -1.618704915046692, -1.8614342212677002, -0.26142075657844543, -0.0735434740781784, -0.05164481699466705, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0966732501983643, -1.11687171459198, 1.3954524993896484, -1.6553425788879395, -0.39436763525009155, 0.7116786241531372, 1.1074742078781128, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8064303398132324, -1.351824402809143, -1.6187093257904053, -1.8614344596862793, -0.26142460107803345, -0.07353579998016357, -0.05165093019604683, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1017625331878662, -1.1067099571228027, 1.3900455236434937, -1.6652324199676514, -0.38779011368751526, 0.7074580192565918, 1.1128039360046387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064274787902832, -1.351845145225525, -1.6187140941619873, -1.8614345788955688, -0.26142388582229614, -0.07353220880031586, -0.05165308713912964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1041905879974365, -1.0978608131408691, 1.3842682838439941, -1.6707749366760254, -0.3778928220272064, 0.6990369558334351, 1.120294451713562, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.8064390420913696, -1.3518718481063843, -1.6187223196029663, -1.861433744430542, -0.2614235281944275, -0.07352933287620544, -0.051654405891895294, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.109622597694397, -1.0853703022003174, 1.3764668703079224, -1.6816952228546143, -0.3601146936416626, 0.6895439028739929, 1.1306207180023193, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064181804656982, -1.3518931865692139, -1.618733286857605, -1.8614330291748047, -0.2614225745201111, -0.07352705299854279, -0.051654644310474396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.120951533317566, -1.06913423538208, 1.3700077533721924, -1.6986616849899292, -0.3413574695587158, 0.6786811351776123, 1.139861822128296, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064287900924683, -1.3518986701965332, -1.6187388896942139, -1.8614357709884644, -0.2614218592643738, -0.07352561503648758, -0.05165428668260574, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.129988431930542, -1.0514410734176636, 1.3614376783370972, -1.7176238298416138, -0.32774603366851807, 0.6756763458251953, 1.142637848854065, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064264059066772, -1.3519002199172974, -1.6187435388565063, -1.861434817314148, -0.26142221689224243, -0.07352525740861893, -0.05165380612015724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.142619252204895, -1.034613847732544, 1.3532811403274536, -1.7410398721694946, -0.3104135990142822, 0.6758671402931213, 1.1424822807312012, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064237833023071, -1.3519034385681152, -1.6187463998794556, -1.8614401817321777, -0.2614199221134186, -0.07352633774280548, -0.05165392532944679, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1573923826217651, -1.017862319946289, 1.3459149599075317, -1.7656136751174927, -0.29192912578582764, 0.6756460070610046, 1.1425302028656006, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806427240371704, -1.3519052267074585, -1.6187516450881958, -1.8614434003829956, -0.26141825318336487, -0.07352897524833679, -0.05165368691086769, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1759388446807861, -0.9998109340667725, 1.3403351306915283, -1.797031044960022, -0.27906838059425354, 0.6690167188644409, 1.1493293046951294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806422233581543, -1.3519105911254883, -1.618756890296936, -1.8614444732666016, -0.26141273975372314, -0.0735301673412323, -0.05165380612015724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1999855041503906, -0.9816319346427917, 1.339198350906372, -1.833985447883606, -0.2722812294960022, 0.6639430522918701, 1.1540340185165405, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8064227104187012, -1.3519208431243896, -1.6187604665756226, -1.8614423274993896, -0.26140889525413513, -0.07353328913450241, -0.05165368691086769, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2272899150848389, -0.9637353420257568, 1.3405207395553589, -1.8752013444900513, -0.2710868716239929, 0.6539872884750366, 1.163616418838501, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8064197301864624, -1.3519279956817627, -1.6187701225280762, -1.861444115638733, -0.2614053189754486, -0.07353939861059189, -0.05165284872055054, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2589939832687378, -0.9484460353851318, 1.348148226737976, -1.9138147830963135, -0.2622251510620117, 0.6457886695861816, 1.1717398166656494, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064205646514893, -1.351935863494873, -1.6187872886657715, -1.8614500761032104, -0.26139870285987854, -0.07354335486888885, -0.05165416747331619, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2785989046096802, -0.9345006346702576, 1.350534200668335, -1.9393073320388794, -0.24970415234565735, 0.643125057220459, 1.1752097606658936, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064182996749878, -1.3519560098648071, -1.618849515914917, -1.8614479303359985, -0.26139572262763977, -0.07354646921157837, -0.05165392532944679, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2749565839767456, -0.9254817962646484, 1.3419102430343628, -1.9417344331741333, -0.23907078802585602, 0.6518544554710388, 1.1657129526138306, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064156770706177, -1.3519798517227173, -1.6188483238220215, -1.8614470958709717, -0.2613934278488159, -0.07354850322008133, -0.05165428668260574, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2466541528701782, -0.923886239528656, 1.3255811929702759, -1.9258813858032227, -0.22148069739341736, 0.6730289459228516, 1.1467928886413574, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064067363739014, -1.351983666419983, -1.618842601776123, -1.8614442348480225, -0.2613910436630249, -0.07355018705129623, -0.051654525101184845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2026196718215942, -0.9286288022994995, 1.3183611631393433, -1.8993786573410034, -0.18959714472293854, 0.6989157795906067, 1.1208690404891968, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064217567443848, -1.3519943952560425, -1.6188279390335083, -1.861448049545288, -0.26138877868652344, -0.07355234026908875, -0.051656801253557205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.144126296043396, -0.9370458722114563, 1.29356050491333, -1.8553931713104248, -0.17130669951438904, 0.7277690172195435, 1.0916067361831665, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064171075820923, -1.3520327806472778, -1.6187690496444702, -1.8614466190338135, -0.2613867223262787, -0.07355018705129623, -0.05166531354188919, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0910996198654175, -0.9505587816238403, 1.259326696395874, -1.801301121711731, -0.17034952342510223, 0.7480252385139465, 1.0710208415985107, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064086437225342, -1.3520629405975342, -1.6187152862548828, -1.8614461421966553, -0.26138731837272644, -0.07354982197284698, -0.05167609825730324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0575920343399048, -0.9648348093032837, 1.2359163761138916, -1.7520315647125244, -0.17002175748348236, 0.7608206868171692, 1.058239459991455, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064111471176147, -1.3520786762237549, -1.6187047958374023, -1.861440896987915, -0.26138755679130554, -0.07354754954576492, -0.05168388783931732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0448338985443115, -0.9766073226928711, 1.227749228477478, -1.7211147546768188, -0.17238420248031616, 0.7636706233024597, 1.0564173460006714, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064165115356445, -1.3520839214324951, -1.6187111139297485, -1.8614420890808105, -0.2613879442214966, -0.07354503124952316, -0.05168544501066208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0448412895202637, -0.9830555319786072, 1.2228230237960815, -1.7112596035003662, -0.1838829517364502, 0.7619761824607849, 1.0585732460021973, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064156770706177, -1.3520846366882324, -1.6187143325805664, -1.8614420890808105, -0.26138949394226074, -0.07354143261909485, -0.051685087382793427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.050240397453308, -0.9869152903556824, 1.2213658094406128, -1.7128461599349976, -0.19150467216968536, 0.7549023628234863, 1.0669466257095337, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064090013504028, -1.3520865440368652, -1.618713140487671, -1.8614422082901, -0.26139116287231445, -0.07353772222995758, -0.05168568342924118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0620496273040771, -0.9858106970787048, 1.2213146686553955, -1.7280601263046265, -0.1927473247051239, 0.7475374937057495, 1.07472825050354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806411623954773, -1.3520867824554443, -1.6187162399291992, -1.861440658569336, -0.26139357686042786, -0.07353508472442627, -0.05168532580137253, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0746077299118042, -0.9797871708869934, 1.2213387489318848, -1.7459694147109985, -0.19278794527053833, 0.738306999206543, 1.0838929414749146, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064098358154297, -1.35210120677948, -1.6187151670455933, -1.8614428043365479, -0.26139798760414124, -0.07353436201810837, -0.05168652534484863, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0877676010131836, -0.9673271775245667, 1.220918893814087, -1.7662242650985718, -0.19513638317584991, 0.7283254265785217, 1.0925415754318237, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064088821411133, -1.352110505104065, -1.6187257766723633, -1.8614405393600464, -0.26140326261520386, -0.07353197038173676, -0.05168496444821358, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0993132591247559, -0.9558864235877991, 1.2180112600326538, -1.7881346940994263, -0.19416362047195435, 0.7209709882736206, 1.0996843576431274, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064181804656982, -1.3521195650100708, -1.618742823600769, -1.8614387512207031, -0.2614094913005829, -0.0735311284661293, -0.051682330667972565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1091493368148804, -0.9461265206336975, 1.213258981704712, -1.809046745300293, -0.18977583944797516, 0.7181406617164612, 1.1025774478912354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064254522323608, -1.3521233797073364, -1.6187328100204468, -1.8614391088485718, -0.26141250133514404, -0.07353173196315765, -0.05168304964900017, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.113745927810669, -0.9379092454910278, 1.2054717540740967, -1.824363112449646, -0.18278519809246063, 0.7172414660453796, 1.1036874055862427, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806406021118164, -1.3521250486373901, -1.6187349557876587, -1.8614413738250732, -0.2614162266254425, -0.07353304326534271, -0.051682569086551666, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.123655915260315, -0.9271730780601501, 1.2009780406951904, -1.8451124429702759, -0.18051010370254517, 0.7130531072616577, 1.1065818071365356, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806427001953125, -1.3521335124969482, -1.6187314987182617, -1.8614420890808105, -0.26142197847366333, -0.07353352755308151, -0.05168328806757927, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1348642110824585, -0.9176162481307983, 1.200642466545105, -1.8634988069534302, -0.1759665310382843, 0.7116594910621643, 1.1075780391693115, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064241409301758, -1.35214102268219, -1.6187348365783691, -1.861444115638733, -0.2614249587059021, -0.07353664189577103, -0.05168268829584122, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1465232372283936, -0.9084577560424805, 1.199076533317566, -1.8846920728683472, -0.17436495423316956, 0.7103090882301331, 1.109829306602478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806459665298462, -1.35214364528656, -1.6187344789505005, -1.8614463806152344, -0.26142555475234985, -0.073540598154068, -0.05168400704860687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1623846292495728, -0.9010943174362183, 1.1989638805389404, -1.9104844331741333, -0.17429210245609283, 0.70868319272995, 1.1123099327087402, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064366579055786, -1.3521448373794556, -1.6187324523925781, -1.8614470958709717, -0.2614251971244812, -0.07354371249675751, -0.05168376863002777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1763863563537598, -0.8980587124824524, 1.1989721059799194, -1.9299051761627197, -0.17150120437145233, 0.7086674571037292, 1.1122894287109375, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064258098602295, -1.3521463871002197, -1.618729829788208, -1.8614475727081299, -0.2614240050315857, -0.07354611158370972, -0.051684726029634476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1866642236709595, -0.8963949680328369, 1.1990551948547363, -1.9454929828643799, -0.17921821773052216, 0.7063294649124146, 1.112561821937561, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064335584640503, -1.3521462678909302, -1.6187344789505005, -1.8614472150802612, -0.2614251971244812, -0.07354682683944702, -0.051684726029634476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1933821439743042, -0.8964859247207642, 1.2007304430007935, -1.955654501914978, -0.1903180032968521, 0.7024751305580139, 1.1149842739105225, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064346313476562, -1.352146029472351, -1.6187347173690796, -1.8614474534988403, -0.2614249587059021, -0.07354731112718582, -0.051684845238924026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.201009750366211, -0.8967303037643433, 1.2035881280899048, -1.965348720550537, -0.19663403928279877, 0.7000061273574829, 1.1191762685775757, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.8064336776733398, -1.3521463871002197, -1.6187350749969482, -1.8614472150802612, -0.2614228129386902, -0.07354838401079178, -0.051685087382793427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2053091526031494, -0.897499680519104, 1.2054286003112793, -1.9702115058898926, -0.20192088186740875, 0.6983680129051208, 1.1204105615615845, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064345121383667, -1.3521465063095093, -1.6187361478805542, -1.8614473342895508, -0.26142004132270813, -0.07354838401079178, -0.05168532580137253, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2067058086395264, -0.8984796404838562, 1.2053109407424927, -1.9730920791625977, -0.20690417289733887, 0.6984183192253113, 1.1204580068588257, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064337968826294, -1.3521462678909302, -1.6187374591827393, -1.861446738243103, -0.26141583919525146, -0.07354706525802612, -0.05168580636382103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.207961916923523, -0.8999529480934143, 1.2051900625228882, -1.975541353225708, -0.21217171847820282, 0.6984250545501709, 1.1206737756729126, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064335584640503, -1.3521461486816406, -1.618739366531372, -1.8614461421966553, -0.2614119052886963, -0.07354562729597092, -0.05168568342924118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2097599506378174, -0.9008929133415222, 1.2058231830596924, -1.9779045581817627, -0.2160297930240631, 0.6983962655067444, 1.1209394931793213, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064332008361816, -1.3521459102630615, -1.6187433004379272, -1.8614463806152344, -0.2614082992076874, -0.07354430854320526, -0.05168568342924118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2107625007629395, -0.9021349549293518, 1.2078182697296143, -1.9796407222747803, -0.21880845725536346, 0.6998389363288879, 1.1202291250228882, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064202070236206, -1.3521469831466675, -1.6187487840652466, -1.8614459037780762, -0.26140350103378296, -0.0735410749912262, -0.05168580636382103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2134336233139038, -0.9103002548217773, 1.2182350158691406, -1.9929413795471191, -0.21892158687114716, 0.7177454233169556, 1.1013368368148804, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064296245574951, -1.3521482944488525, -1.618781566619873, -1.8614413738250732, -0.2614007592201233, -0.07353616505861282, -0.05168532580137253, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2195624113082886, -0.9297070503234863, 1.2443727254867554, -2.0199203491210938, -0.2199459969997406, 0.7401016354560852, 1.0797652006149292, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064393997192383, -1.3521482944488525, -1.6187907457351685, -1.861431360244751, -0.26139524579048157, -0.07353256642818451, -0.05168364942073822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2492568492889404, -0.9551066756248474, 1.2903344631195068, -2.079883575439453, -0.2456715703010559, 0.7519230842590332, 1.0672909021377563, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806418538093567, -1.3521686792373657, -1.618794560432434, -1.8614223003387451, -0.2613917589187622, -0.07352681457996368, -0.05168364942073822, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3088210821151733, -0.9880049824714661, 1.3333441019058228, -2.162740707397461, -0.3134288191795349, 0.7406852841377258, 1.04683256149292, 0.13439999412704298, 0.13439999412704298, 0.13439999412704298, 0.13439999412704298, -0.13439999412704298, -0.13439999412704298, -0.13439999412704298, 0.13439999412704298, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064345121383667, -1.3521867990493774, -1.6187944412231445, -1.861433506011963, -0.2613944113254547, -0.07352681457996368, -0.05168436840176582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4059789180755615, -1.0213404893875122, 1.3613680601119995, -2.2490179538726807, -0.3956195116043091, 0.6826463937759399, 1.0096780061721802, 0.3150000045587728, 0.3150000045587728, 0.3150000045587728, 0.3150000045587728, -0.3150000045587728, -0.3150000045587728, -0.3150000045587728, 0.3150000045587728, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064440488815308, -1.3522762060165405, -1.6187998056411743, -1.861433744430542, -0.2613946497440338, -0.07352441549301147, -0.05168412625789642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5161110162734985, -1.0466448068618774, 1.3673361539840698, -2.325941801071167, -0.5000956058502197, 0.5995973944664001, 0.9791157245635986, 0.5465999989719181, 0.5465999989719181, 0.5465999989719181, 0.5465999989719181, -0.5465999989719181, -0.5465999989719181, -0.5465999989719181, 0.5465999989719181, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.8063924312591553, -1.3522846698760986, -1.6187962293624878, -1.8614366054534912, -0.2613929510116577, -0.07351543009281158, -0.05168604478240013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6178277730941772, -1.0709502696990967, 1.3700172901153564, -2.3562357425689697, -0.5718268156051636, 0.5000434517860413, 0.9567168354988098, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064513206481934, -1.3522982597351074, -1.6187912225723267, -1.8614177703857422, -0.2613934278488159, -0.07351291179656982, -0.05168400704860687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.702072024345398, -1.0938645601272583, 1.3573074340820312, -2.348659038543701, -0.6445421576499939, 0.3992272615432739, 0.9057316184043884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.806423544883728, -1.3523006439208984, -1.6187875270843506, -1.8614342212677002, -0.26139524579048157, -0.07351267337799072, -0.05168496444821358, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7883836030960083, -1.1133276224136353, 1.3382667303085327, -2.34853196144104, -0.7376658320426941, 0.32488322257995605, 0.8362876176834106, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8063937425613403, -1.3523006439208984, -1.6187845468521118, -1.8614284992218018, -0.26139727234840393, -0.07351159304380417, -0.05168592557311058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8561291694641113, -1.1285324096679688, 1.3229609727859497, -2.348559617996216, -0.8271811604499817, 0.2862153947353363, 0.7875105142593384, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999531361919, -8.65262308624419e-05, -0.0002936678827115023, 0.0019050340633839369], [8.661233233120817e-05, 0.9999999532679976, 0.00029319329213527807, 0.0004190040344838053], [0.00029364250007733153, -0.0002932187136553763, 0.9999999138984303, -8.386861054532346e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064134120941162, -1.3523006439208984, -1.6187800168991089, -1.8614318370819092, -0.2614007592201233, -0.07351231575012207, -0.051687002182006836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8795058727264404, -1.140738844871521, 1.3258112668991089, -2.348562002182007, -0.8668802380561829, 0.2655949890613556, 0.784599781036377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999525621593, -3.5399096170570135e-05, -0.0003059780761794956, 0.002067152177914977], [3.548557901235514e-05, 0.9999999594268225, 0.0002826431088116345, 0.00041998684173449874], [0.000305968058454402, -0.00028265395321285403, 0.9999999132451413, -1.9052681636821944e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064136505126953, -1.352301001548767, -1.6187747716903687, -1.861432433128357, -0.261404812335968, -0.07351207733154297, -0.05168736353516579, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8920170068740845, -1.152538776397705, 1.3395798206329346, -2.3485865592956543, -0.8899522423744202, 0.2508939504623413, 0.7865322232246399, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999533631954, -4.452882192263656e-05, -0.00030214365989679194, 0.0019328800262883306], [4.4605184188679754e-05, 0.9999999670682215, 0.0002527329292275348, 0.00042529639904387295], [0.00030213239604706427, -0.00025274639461447964, 0.9999999224176346, -1.4952039464333211e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.8064125776290894, -1.3523002862930298, -1.6187641620635986, -1.8614360094070435, -0.2614107131958008, -0.07351267337799072, -0.0516904778778553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8954176902770996, -1.163654088973999, 1.3516789674758911, -2.339329242706299, -0.8983637690544128, 0.2410695105791092, 0.788274347782135, 0.49319999794383623, 0.49319999794383623, 0.49319999794383623, 0.49319999794383623, -0.49319999794383623, -0.49319999794383623, -0.49319999794383623, 0.49319999794383623, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999567123953, -5.397808928126718e-05, -0.0002892431043648891, 0.0019511445425450802], [5.4052822303458036e-05, 0.9999999651608829, 0.0002583728420655521, 0.0004262562724761665], [0.0002892291478155778, -0.00025838846528733337, 0.9999999247909477, -5.569725658460811e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8064271211624146, -1.352307915687561, -1.6187527179718018, -1.8614462614059448, -0.26141682267189026, -0.07351315021514893, -0.051693715155124664, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.893004298210144, -1.174289584159851, 1.3611067533493042, -2.324371576309204, -0.9013084173202515, 0.2373615950345993, 0.7958585023880005, 0.31740000195555634, 0.31740000195555634, 0.31740000195555634, 0.31740000195555634, -0.31740000195555634, -0.31740000195555634, -0.31740000195555634, 0.31740000195555634, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999956873944, -0.00010929217243314148, -0.0002725937105580848, 0.0019678454846143723], [0.00010936008099678051, 0.9999999629903952, 0.00024911760469875714, 0.0004091278533451259], [0.00027256647386529045, -0.0002491474048255632, 0.9999999318165417, -7.120685836525809e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064178228378296, -1.3523086309432983, -1.6187496185302734, -1.8614457845687866, -0.26142075657844543, -0.07351326942443848, -0.05169575288891792, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8914642333984375, -1.1845569610595703, 1.3687961101531982, -2.321225643157959, -0.9113035798072815, 0.23417846858501434, 0.8131855130195618, 0.2669999976734539, 0.2669999976734539, 0.2669999976734539, 0.2669999976734539, -0.2669999976734539, -0.2669999976734539, -0.2669999976734539, 0.2669999976734539, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999518462026, -8.249082203104705e-05, -0.0002991702803643255, 0.0019060843624174595], [8.256044308431546e-05, 0.9999999695151658, 0.00023270891849226476, 0.00041983279515989125], [0.00029915107489418867, -0.0002327336069173512, 0.9999999281718487, -9.134967626778234e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8064173460006714, -1.3523086309432983, -1.6187483072280884, -1.8614463806152344, -0.2614244818687439, -0.07351363450288773, -0.05169694870710373, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8896573781967163, -1.1929813623428345, 1.3717676401138306, -2.317441463470459, -0.9204462170600891, 0.22999417781829834, 0.8224771022796631, 0.24299998440585296, 0.24299998440585296, 0.24299998440585296, 0.24299998440585296, -0.24299998440585296, -0.24299998440585296, -0.24299998440585296, 0.24299998440585296, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999951425718, -8.336923299108959e-05, -0.00030033003959613645, 0.0019578016363084316], [8.344237699300614e-05, 0.999999966862548, 0.0002435411106571342, 0.00042398733785375953], [0.00030030972580836693, -0.0002435661590796859, 0.9999999252447945, -6.598131676582852e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806433081626892, -1.3523083925247192, -1.6187456846237183, -1.8614473342895508, -0.26142868399620056, -0.07351446896791458, -0.05169779062271118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8794373273849487, -1.2028355598449707, 1.3712804317474365, -2.307082176208496, -0.928238034248352, 0.2303321361541748, 0.8214317560195923, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, -0.2304000078976809, -0.2304000078976809, -0.2304000078976809, 0.2304000078976809, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999522866468, -6.885498924553496e-05, -0.0003011406557495636, 0.001962571172043681], [6.893044037698487e-05, 0.9999999662371646, 0.0002505479278422794, 0.00041715760016813874], [0.0003011233941073241, -0.0002505686736458139, 0.9999999232700177, -1.6781083331807167e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064181804656982, -1.3523086309432983, -1.6187365055084229, -1.8614466190338135, -0.2614299952983856, -0.07351470738649368, -0.05169958621263504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8729197978973389, -1.2112456560134888, 1.3687756061553955, -2.302438735961914, -0.9326872825622559, 0.230446457862854, 0.8206750750541687, 0.21299999729617616, 0.21299999729617616, 0.21299999729617616, 0.21299999729617616, -0.21299999729617616, -0.21299999729617616, -0.21299999729617616, 0.21299999729617616, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999540185158, -8.516837509779838e-05, -0.0002910486455549981, 0.0019200756214559078], [8.524009000153775e-05, 0.9999999660110124, 0.0002463982573209042, 0.000421211268985644], [0.00029102765032334635, -0.0002464230550038886, 0.9999999272892897, -1.740497054925072e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064188957214355, -1.3523086309432983, -1.618725061416626, -1.8614460229873657, -0.2614292800426483, -0.07351387292146683, -0.051700785756111145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.872894287109375, -1.2179328203201294, 1.3628900051116943, -2.3024094104766846, -0.9444134831428528, 0.23035933077335358, 0.8219759464263916, 0.20639999463008, 0.20639999463008, 0.20639999463008, 0.20639999463008, -0.20639999463008, -0.20639999463008, -0.20639999463008, 0.20639999463008, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999570438882, -6.819156881677095e-05, -0.00028506513589795064, 0.0019451809348538518], [6.825962537677314e-05, 0.999999969172521, 0.00023873747238110235, 0.0004232969367876649], [0.00028504884722733406, -0.00023875692056525314, 0.9999999308711414, 1.3688798539135405e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806424617767334, -1.352308750152588, -1.6187233924865723, -1.861445665359497, -0.2614297568798065, -0.07351279258728027, -0.0517021045088768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8726911544799805, -1.2243304252624512, 1.3552131652832031, -2.2978832721710205, -0.9628669023513794, 0.23150059580802917, 0.8208357691764832, 0.18899998402857518, 0.18899998402857518, 0.18899998402857518, 0.18899998402857518, -0.18899998402857518, -0.18899998402857518, -0.18899998402857518, 0.18899998402857518, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999553077902, -5.441667280211644e-05, -0.00029397830414517874, 0.0019650321919471025], [5.449617914871552e-05, 0.9999999619438956, 0.0002704484678288677, 0.00041715381667017937], [0.00029396357605172596, -0.0002704644764362566, 0.9999999202171883, -1.7587736920177122e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.806419849395752, -1.352309226989746, -1.6187173128128052, -1.8614445924758911, -0.26142892241477966, -0.07351255416870117, -0.051702581346035004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8721529245376587, -1.229766845703125, 1.3529236316680908, -2.294121265411377, -0.9734526872634888, 0.23304618895053864, 0.8213458061218262, 0.14220001514141378, 0.14220001514141378, 0.14220001514141378, 0.14220001514141378, -0.14220001514141378, -0.14220001514141378, -0.14220001514141378, 0.14220001514141378, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064309358596802, -1.3523099422454834, -1.618707537651062, -1.8614413738250732, -0.2614297568798065, -0.07351159304380417, -0.05170605704188347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8750790357589722, -1.2341316938400269, 1.3584017753601074, -2.306223154067993, -0.9787169098854065, 0.2286803424358368, 0.8315973281860352, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, 0.06780001724159328, -0.06780001724159328, -0.06780001724159328, -0.06780001724159328, 0.06780001724159328, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.8064359426498413, -1.3523108959197998, -1.6187058687210083, -1.8614405393600464, -0.26143011450767517, -0.0735093206167221, -0.05170869454741478, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.892886996269226, -1.2362926006317139, 1.3650895357131958, -2.3291471004486084, -0.9926026463508606, 0.21584954857826233, 0.8343995213508606, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064491748809814, -1.3523117303848267, -1.6187070608139038, -1.8614370822906494, -0.26142674684524536, -0.07350548356771469, -0.05170833691954613, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9192651510238647, -1.2368435859680176, 1.3759785890579224, -2.351247549057007, -1.004042148590088, 0.198880136013031, 0.8371309638023376, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.806433081626892, -1.352312445640564, -1.6187077760696411, -1.8614383935928345, -0.2614244818687439, -0.07349961251020432, -0.051707495003938675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.938059687614441, -1.2377357482910156, 1.3835099935531616, -2.359830379486084, -0.9926761388778687, 0.17653721570968628, 0.8348967432975769, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064415454864502, -1.3523167371749878, -1.6187158823013306, -1.8614375591278076, -0.2614194452762604, -0.07349445670843124, -0.051707375794649124, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9366929531097412, -1.2404850721359253, 1.4018064737319946, -2.351179838180542, -0.8998661041259766, 0.1622994840145111, 0.8505774736404419, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8064359426498413, -1.352318525314331, -1.6187186241149902, -1.861435890197754, -0.26141634583473206, -0.07349134236574173, -0.05170617625117302, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9126887321472168, -1.2445874214172363, 1.453869104385376, -2.3476738929748535, -0.6985958218574524, 0.1828029304742813, 0.911459743976593, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8121414184570312, -1.3513461351394653, -1.6360938549041748, -1.8704259395599365, -0.2746608257293701, -0.09199786186218262, -0.07660412788391113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8687292337417603, -1.2579759359359741, 1.5243884325027466, -2.347878932952881, -0.4378262758255005, 0.2687630355358124, 0.9678475856781006, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.8426672220230103, -1.34012770652771, -1.7073510885238647, -1.9326478242874146, -0.2993418574333191, -0.12950824201107025, -0.24961306154727936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.837993860244751, -1.2722479104995728, 1.5965347290039062, -2.3485774993896484, -0.16743507981300354, 0.397672176361084, 0.9858658313751221, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554434285, -6.0632765280773246e-05, -0.0002922957558578177, 0.0019441976910457015], [6.071159091453782e-05, 0.9999999617943905, 0.00026967632473709355, 0.0004188559832982719], [0.0002922793934691807, -0.00026969405846159674, 0.9999999209189324, -9.003375680549652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 1.859824776649475, -1.3265495300292969, -1.7792049646377563, -2.0007212162017822, -0.397271066904068, -0.09274807572364807, -0.463932603597641, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.831864833831787, -1.290007472038269, 1.6625702381134033, -2.349090576171875, 0.10242222249507904, 0.5554461479187012, 0.9490551948547363, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999962973981, -2.9617355842463973e-05, -0.0002705085005243719, 0.001809840090572834], [2.9690442233847007e-05, 0.999999963060223, 0.00027018147666710117, 0.00041597618837840855], [0.0002705004884709117, -0.00027018949818036523, 0.9999999269135578, -1.0523084483793355e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8548738956451416, -1.3210053443908691, -1.840804934501648, -2.057715654373169, -0.5648902058601379, 0.016922205686569214, -0.6662133932113647, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8392819166183472, -1.3093411922454834, 1.6987502574920654, -2.3452351093292236, 0.364236056804657, 0.6931445598602295, 0.8551754951477051, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999599968731, -7.940297892227947e-05, -0.0002714800528804135, 0.0018778594676405191], [7.947756112517429e-05, 0.9999999591048329, 0.0002747246803241688, 0.00041768187656998634], [0.00027145822782019004, -0.0002747462459068197, 0.9999999254124626, -8.933405410971318e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.8129795789718628, -1.3200109004974365, -1.8661800622940063, -2.0590908527374268, -0.791215181350708, 0.2137354165315628, -0.8292140364646912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8335179090499878, -1.324542760848999, 1.7014068365097046, -2.28851580619812, 0.5865548253059387, 0.7371082305908203, 0.7787542343139648, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999639912202, -3.5299920061143336e-05, -0.0002660290849354993, 0.0019893215503543615], [3.537314165662576e-05, 0.999999961496011, 0.0002752393819805111, 0.0004102483799215406], [0.00026601935876413677, -0.00027524878235398305, 0.9999999267359017, -1.3974099601909984e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7492127418518066, -1.315564751625061, -1.826300024986267, -2.011823892593384, -0.9841728210449219, 0.42097094655036926, -0.9345849752426147, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8182252645492554, -1.3331197500228882, 1.6888777017593384, -2.2396738529205322, 0.7627112865447998, 0.7394893765449524, 0.7286263704299927, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999551661477, -3.267059058902464e-05, -0.0002976580843006534, 0.0020952019840478897], [3.275126694231455e-05, 0.9999999627333781, 0.0002710361542389992, 0.0004197689995635301], [0.0002976492182967121, -0.00027104589076678074, 0.9999999189695307, -7.548242706434394e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7016174793243408, -1.3140498399734497, -1.7403620481491089, -1.966159462928772, -1.074922800064087, 0.5780450701713562, -0.970084547996521, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8081883192062378, -1.33714759349823, 1.6656659841537476, -2.2075111865997314, 0.8844964504241943, 0.7321505546569824, 0.6865857243537903, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999534894622, -0.00010042683055236637, -0.00028798528623519683, 0.0018354038475081325], [0.00010050015712153073, 0.9999999625352086, 0.0002546159849929176, 0.00041958122164942324], [0.0002879597051695073, -0.0002546449157171065, 0.9999999261175848, 9.793192248253035e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6752530336380005, -1.3139710426330566, -1.6605786085128784, -1.9299557209014893, -1.1053282022476196, 0.6544205546379089, -0.9770587682723999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.799782633781433, -1.3396199941635132, 1.6440398693084717, -2.178736448287964, 0.963228702545166, 0.7258743047714233, 0.6617881655693054, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999524215767, -4.017097208315704e-05, -0.0003058482259163731, 0.0018516440177336335], [4.023756804995336e-05, 0.9999999754853681, 0.00021773883740322931, 0.00042280659545212984], [0.0003058394716378577, -0.000217751133632362, 0.9999999295233282, -6.179079719004221e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.662581205368042, -1.3140069246292114, -1.5971678495407104, -1.9100146293640137, -1.1158132553100586, 0.6528671383857727, -0.9523240327835083, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7934588193893433, -1.338904619216919, 1.6294605731964111, -2.1668758392333984, 0.9974400997161865, 0.7175025939941406, 0.6547324657440186, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999525493005, -8.011834861044571e-05, -0.0002974599922266839, 0.001893367967568338], [8.017275326823643e-05, 0.9999999800617929, 0.00018288997638464636, 0.00042838233639486134], [0.00029744533345297966, -0.000182913815892953, 0.9999999390344029, -2.150534783140756e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6557414531707764, -1.3140445947647095, -1.5555799007415771, -1.9047118425369263, -1.1081655025482178, 0.6329460144042969, -0.9291881322860718, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7917653322219849, -1.3340955972671509, 1.620476484298706, -2.1656577587127686, 1.0212373733520508, 0.7096553444862366, 0.6578519940376282, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999954741487, -6.82947012666059e-05, -0.00029300658325838837, 0.001860818243585527], [6.83495828745573e-05, 0.999999980123689, 0.00018729910907574335, 0.00041806872468441725], [0.0002929937858977965, -0.00018731912747660937, 0.9999999395330911, 2.671418428690231e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.649412751197815, -1.3138291835784912, -1.537571668624878, -1.902208685874939, -1.1135053634643555, 0.622263491153717, -0.9099335670471191, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -1.7920376062393188, -1.3286192417144775, 1.6175339221954346, -2.16605544090271, 1.0323940515518188, 0.7084728479385376, 0.6684567928314209, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999947630527, -8.050953678219737e-05, -0.00031345997791695416, 0.0019313604570925236], [8.056939069242461e-05, 0.9999999785256274, 0.00019093799514767958, 0.00041597551899030805], [0.0003134445988560543, -0.00019096324042778464, 0.9999999326427599, -1.373973077534174e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6449120044708252, -1.3100478649139404, -1.5278749465942383, -1.90121591091156, -1.1196879148483276, 0.6217688918113708, -0.8986059427261353, 0.4356000014713833, -0.4356000014713833, 0.4356000014713833, 0.4356000014713833, -0.4356000014713833, -0.4356000014713833, 0.4356000014713833, 0.4356000014713833, -1.7940802574157715, -1.3241233825683594, 1.6119401454925537, -2.1684162616729736, 1.0370739698410034, 0.7031148076057434, 0.6709964871406555, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999525471188, -8.048171663516208e-05, -0.00029736922051585164, 0.0019019044702872634], [8.054319427503567e-05, 0.9999999753872915, 0.00020673221873252441, 0.000422692799475044], [0.00029735257503294235, -0.00020675615998938448, 0.999999934416666, 1.3397765030731534e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.6439002752304077, -1.3070496320724487, -1.5171266794204712, -1.9009429216384888, -1.1183466911315918, 0.620474636554718, -0.8936752676963806, 0.3197999993523399, -0.3197999993523399, 0.3197999993523399, 0.3197999993523399, -0.3197999993523399, -0.3197999993523399, 0.3197999993523399, 0.3197999993523399, -1.7960205078125, -1.3195710182189941, 1.606001377105713, -2.173133373260498, 1.0427937507629395, 0.6995678544044495, 0.6711822748184204, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999503489232, -7.331326322169786e-05, -0.0003064756377447519, 0.0018955498235300183], [7.337725478963661e-05, 0.9999999755107993, 0.00020879219155279293, 0.00041836779564619064], [0.0003064603230025105, -0.0002088146695269934, 0.9999999312392498, 3.133941390842665e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6439063549041748, -1.3047126531600952, -1.5076736211776733, -1.9011179208755493, -1.1155176162719727, 0.6199328303337097, -0.892352819442749, 0.22679999215262278, -0.22679999215262278, 0.22679999215262278, 0.22679999215262278, -0.22679999215262278, -0.22679999215262278, 0.22679999215262278, 0.22679999215262278, -1.7981524467468262, -1.3166000843048096, 1.5991767644882202, -2.1792871952056885, 1.0443636178970337, 0.6947654485702515, 0.6695361137390137, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999947764917, -6.213265500627427e-05, -0.0003171903158913148, 0.0019117440097033978], [6.218333411535776e-05, 0.999999985303754, 0.00015976772149002092, 0.0004193146887701005], [0.00031718038443708744, -0.00015978743709593198, 0.9999999369322874, 1.196615130538703e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6437673568725586, -1.3011072874069214, -1.5005520582199097, -1.9011095762252808, -1.113893985748291, 0.6198875308036804, -0.8922986388206482, 0.18359999971075372, -0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -0.18359999971075372, -0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -1.798208475112915, -1.3126955032348633, 1.5936219692230225, -2.18320369720459, 1.0466711521148682, 0.6913362741470337, 0.667853057384491, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999536963249, -8.958877659293928e-05, -0.0002908284705157696, 0.0019240332767367363], [8.96396780683176e-05, 0.9999999806674121, 0.0001750140095445464, 0.0004178062954451889], [0.00029081278560230087, -0.00017504007121122467, 0.9999999423944469, -2.897815193136921e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.643153429031372, -1.2997809648513794, -1.4996877908706665, -1.8999272584915161, -1.1131868362426758, 0.6191359758377075, -0.8953456282615662, 0.10979999133518763, -0.10979999133518763, 0.10979999133518763, 0.10979999133518763, -0.10979999133518763, -0.10979999133518763, 0.10979999133518763, 0.10979999133518763, -1.7976454496383667, -1.3097590208053589, 1.5899617671966553, -2.1843268871307373, 1.0493853092193604, 0.6886691451072693, 0.6634765267372131, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999573393458, -6.611222614672695e-05, -0.00028451797860835497, 0.0019093223381787539], [6.616821529225381e-05, 0.999999978449492, 0.0001967810532516689, 0.00042022569687105715], [0.000284504962843354, -0.00019679987090372348, 0.9999999401633667, 1.4574737861039466e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6409050226211548, -1.2967529296875, -1.498711347579956, -1.9002678394317627, -1.1152557134628296, 0.6184340715408325, -0.9014266729354858, 0.03240000651432917, -0.03240000651432917, 0.03240000651432917, 0.03240000651432917, -0.03240000651432917, -0.03240000651432917, 0.03240000651432917, 0.03240000651432917, -1.7972350120544434, -1.3062669038772583, 1.5855740308761597, -2.1836986541748047, 1.0492846965789795, 0.6794607043266296, 0.6489413380622864, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999554805616, -5.6320789617685524e-05, -0.00029303044799350775, 0.0019144442630931735], [5.6379162690205454e-05, 0.9999999785703039, 0.00019920035575952423, 0.000388729153200984], [0.0002930192225926258, -0.00019921686770253688, 0.9999999372261854, -7.838002602511551e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6376125812530518, -1.2953684329986572, -1.4987164735794067, -1.8985724449157715, -1.116735816001892, 0.6153175830841064, -0.9010673761367798, 0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -1.7966450452804565, -1.3047367334365845, 1.5793288946151733, -2.184540033340454, 1.0460278987884521, 0.6678337454795837, 0.6403775215148926, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999539831474, -7.959804995072412e-05, -0.00029274195698587684, 0.0019087025430053473], [7.966040404038533e-05, 0.999999974143741, 0.00021299468887186687, 0.00040639389771968126], [0.00029272499545478085, -0.00021301799901309477, 0.9999999344677024, -3.101000174865476e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.6344891786575317, -1.294113278388977, -1.4997342824935913, -1.892269492149353, -1.1140669584274292, 0.6110015511512756, -0.9013562202453613, 0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -1.7968493700027466, -1.301604986190796, 1.5743670463562012, -2.191222906112671, 1.0342251062393188, 0.6568335294723511, 0.6257953643798828, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999475763676, -6.251272207379376e-05, -0.0003177096498481236, 0.0019155576592311263], [6.25765407707184e-05, 0.9999999778686816, 0.00020086516086160618, 0.00042169273365288973], [0.000317697086188815, -0.00020088503150238177, 0.9999999293568803, 8.143193497289758e-08], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.6228159666061401, -1.2887431383132935, -1.5034582614898682, -1.8806661367416382, -1.0873936414718628, 0.5969374775886536, -0.9058344960212708, 0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -1.8038016557693481, -1.3011633157730103, 1.569649338722229, -2.207505941390991, 1.0144639015197754, 0.6345377564430237, 0.6003000140190125, 0.21660001304123427, 0.21660001304123427, 0.21660001304123427, 0.21660001304123427, -0.21660001304123427, -0.21660001304123427, -0.21660001304123427, 0.21660001304123427, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999955150651, -3.514072351390704e-05, -0.0002974286898020699, 0.0019102157093584538], [3.5193533716943274e-05, 0.9999999836182666, 0.00017755247595736983, 0.0004223566793370992], [0.00029742244560720547, -0.00017756293556087983, 0.9999999400056446, -3.2564348657615483e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.6044875383377075, -1.284909725189209, -1.5289537906646729, -1.8707358837127686, -1.0233838558197021, 0.5541452765464783, -0.921352744102478, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.8291258811950684, -1.3015567064285278, 1.569165825843811, -2.2327425479888916, 0.9470899105072021, 0.5789483189582825, 0.525452196598053, 0.516000002688104, 0.516000002688104, 0.516000002688104, 0.516000002688104, -0.516000002688104, -0.516000002688104, -0.516000002688104, 0.516000002688104, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.5695579051971436, -1.2740424871444702, -1.5648865699768066, -1.8615480661392212, -0.904241144657135, 0.47476381063461304, -0.9668512940406799, 0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -1.8668947219848633, -1.3034621477127075, 1.548440933227539, -2.259510040283203, 0.8186284899711609, 0.48235365748405457, 0.3786470890045166, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, -0.5898000000106108, -0.5898000000106108, -0.5898000000106108, 0.5898000000106108, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.5144908428192139, -1.2613320350646973, -1.6039241552352905, -1.842677116394043, -0.7584899663925171, 0.39813345670700073, -1.0198416709899902, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.8970189094543457, -1.3096683025360107, 1.5053642988204956, -2.269012689590454, 0.6804257035255432, 0.39143139123916626, 0.20746539533138275, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.4281865358352661, -1.2465591430664062, -1.628294587135315, -1.7949258089065552, -0.603803813457489, 0.35516220331192017, -1.0667924880981445, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.9341496229171753, -1.3137481212615967, 1.4710696935653687, -2.2692039012908936, 0.5574203133583069, 0.29174110293388367, 0.09297876805067062, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.3232446908950806, -1.2333343029022217, -1.6365323066711426, -1.7327775955200195, -0.4561651349067688, 0.3352610766887665, -1.0977389812469482, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.9767080545425415, -1.3142964839935303, 1.4295724630355835, -2.2611711025238037, 0.418609082698822, 0.17135560512542725, -0.011317542754113674, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.2162363529205322, -1.2216084003448486, -1.6292874813079834, -1.6554255485534668, -0.3480317294597626, 0.31856226921081543, -1.136824131011963, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -2.0143439769744873, -1.3145668506622314, 1.3940304517745972, -2.2419981956481934, 0.2933827042579651, 0.06490260362625122, -0.09867918491363525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.1326708793640137, -1.211145281791687, -1.6103758811950684, -1.5986292362213135, -0.2712044417858124, 0.309288889169693, -1.1832305192947388, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -2.033616542816162, -1.3142708539962769, 1.3684808015823364, -2.2134084701538086, 0.1952371597290039, -0.005853814538568258, -0.16139718890190125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.0551806688308716, -1.2027482986450195, -1.5797369480133057, -1.536429762840271, -0.19415906071662903, 0.3083658516407013, -1.2318247556686401, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -2.0448386669158936, -1.3119516372680664, 1.3533357381820679, -2.187952995300293, 0.12457733601331711, -0.05295145884156227, -0.20022045075893402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.9767817258834839, -1.19692862033844, -1.541194200515747, -1.4683353900909424, -0.126279816031456, 0.31361937522888184, -1.2751232385635376, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -2.0496490001678467, -1.3056343793869019, 1.3462193012237549, -2.1686153411865234, 0.08947242796421051, -0.08291202038526535, -0.22544293105602264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.9064257740974426, -1.196189284324646, -1.5022079944610596, -1.4104374647140503, -0.08372862637042999, 0.3123990297317505, -1.309861421585083, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -2.049654960632324, -1.3050695657730103, 1.3461072444915771, -2.1671109199523926, 0.08957740664482117, -0.08354166895151138, -0.22780753672122955, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.8524865508079529, -1.1966545581817627, -1.4605222940444946, -1.3668220043182373, -0.04455602914094925, 0.3085693418979645, -1.3197664022445679, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -2.0495996475219727, -1.305055022239685, 1.346161127090454, -2.1681361198425293, 0.09176512807607651, -0.08229135721921921, -0.2256506085395813, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 0.8099319934844971, -1.1999083757400513, -1.4212144613265991, -1.3203439712524414, 0.0016562198288738728, 0.30369919538497925, -1.3124604225158691, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.049513578414917, -1.3050559759140015, 1.3462733030319214, -2.1683971881866455, 0.09238015860319138, -0.08216444402933121, -0.22532619535923004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 0.7731071710586548, -1.209407925605774, -1.3921626806259155, -1.2686752080917358, 0.03242092207074165, 0.2953045964241028, -1.3102830648422241, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.0494704246520996, -1.3050566911697388, 1.346413016319275, -2.168466806411743, 0.09243900328874588, -0.0821053609251976, -0.2253417819738388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6396812796592712, 0.0, 0.0, 0.7461407780647278, -1.2189936637878418, -1.3727519512176514, -1.232995867729187, 0.0516679473221302, 0.2886976897716522, -1.318904161453247, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.049431800842285, -1.3050556182861328, 1.346435308456421, -2.168499708175659, 0.09246285259723663, -0.08206461369991302, -0.2253623902797699, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.7310612201690674, -1.2261735200881958, -1.3625998497009277, -1.2122375965118408, 0.07012832909822464, 0.280994713306427, -1.3212851285934448, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.049426317214966, -1.3050553798675537, 1.3464431762695312, -2.1685314178466797, 0.09248597919940948, -0.08204928040504456, -0.22538240253925323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.7279165387153625, -1.2306815385818481, -1.3620519638061523, -1.203060269355774, 0.08078542351722717, 0.27507296204566956, -1.3258682489395142, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.049428701400757, -1.305053949356079, 1.3464443683624268, -2.1685433387756348, 0.09250874817371368, -0.08204364776611328, -0.22539487481117249, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.7293463349342346, -1.2335013151168823, -1.3683662414550781, -1.2029231786727905, 0.08748723566532135, 0.2737162113189697, -1.3348497152328491, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.0494296550750732, -1.3050522804260254, 1.3464434146881104, -2.1685450077056885, 0.09252912551164627, -0.08203945308923721, -0.22540289163589478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.7367594242095947, -1.2359416484832764, -1.3789232969284058, -1.2086378335952759, 0.09099070727825165, 0.27288761734962463, -1.3483716249465942, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.0494332313537598, -1.305049180984497, 1.346443772315979, -2.1685452461242676, 0.09254062920808792, -0.08203213661909103, -0.22540505230426788, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.750707745552063, -1.2361266613006592, -1.3899184465408325, -1.224802017211914, 0.08985328674316406, 0.2717655599117279, -1.3646939992904663, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.04943585395813, -1.3050456047058105, 1.3464430570602417, -2.1685452461242676, 0.09255524724721909, -0.08201859891414642, -0.22540350258350372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.7758439779281616, -1.2361325025558472, -1.4012563228607178, -1.2498074769973755, 0.08282189816236496, 0.268755704164505, -1.37724769115448, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.0494444370269775, -1.3050330877304077, 1.346442461013794, -2.168546438217163, 0.09256399422883987, -0.0820111632347107, -0.22540301084518433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8063780069351196, -1.2361558675765991, -1.4124889373779297, -1.2712657451629639, 0.06995180249214172, 0.2665509879589081, -1.3871253728866577, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -2.049448251724243, -1.3050241470336914, 1.3464419841766357, -2.168549060821533, 0.09256698936223984, -0.08201440423727036, -0.22540025413036346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.827959418296814, -1.2361581325531006, -1.4193042516708374, -1.27882719039917, 0.06201177090406418, 0.26524925231933594, -1.3902390003204346, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.049452304840088, -1.305017113685608, 1.3464405536651611, -2.1685497760772705, 0.09256891161203384, -0.08201608061790466, -0.2253989428281784, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8357677459716797, -1.2361886501312256, -1.4202306270599365, -1.2800167798995972, 0.06150268390774727, 0.2609028220176697, -1.3920786380767822, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494513511657715, -1.305012583732605, 1.3464405536651611, -2.1685502529144287, 0.09257478266954422, -0.08201811462640762, -0.22539642453193665, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8343615531921387, -1.2365326881408691, -1.4202489852905273, -1.2721762657165527, 0.06173385679721832, 0.25688713788986206, -1.3920750617980957, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.049452304840088, -1.305009126663208, 1.3464401960372925, -2.168550491333008, 0.09259670972824097, -0.08202015608549118, -0.22539259493350983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8284607529640198, -1.2376097440719604, -1.4180548191070557, -1.2557165622711182, 0.06233522668480873, 0.252425879240036, -1.3884612321853638, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494539737701416, -1.3050071001052856, 1.3464395999908447, -2.1685516834259033, 0.09266693890094757, -0.08202338963747025, -0.2253827601671219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8227558135986328, -1.2394859790802002, -1.4125572443008423, -1.242522954940796, 0.06422381848096848, 0.24912399053573608, -1.3840522766113281, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494587421417236, -1.3050023317337036, 1.346437931060791, -2.1685547828674316, 0.0926985815167427, -0.08202638477087021, -0.2253771275281906, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8192449808120728, -1.2431321144104004, -1.4102038145065308, -1.2361980676651, 0.06437206268310547, 0.24829912185668945, -1.382826566696167, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494604110717773, -1.3049898147583008, 1.3464369773864746, -2.168555736541748, 0.09270504862070084, -0.08202782273292542, -0.22537294030189514, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8165349364280701, -1.244293212890625, -1.407427430152893, -1.2348995208740234, 0.06614705175161362, 0.24701477587223053, -1.3833444118499756, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494601726531982, -1.304983377456665, 1.3464361429214478, -2.1685595512390137, 0.09270960092544556, -0.08202878385782242, -0.22536838054656982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8141616582870483, -1.2450809478759766, -1.4071813821792603, -1.2345398664474487, 0.07083312422037125, 0.2470274716615677, -1.386783242225647, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.049459934234619, -1.3049813508987427, 1.3464351892471313, -2.1685609817504883, 0.09271331876516342, -0.08202818781137466, -0.2253623902797699, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 0.8131697177886963, -1.2459588050842285, -1.4071789979934692, -1.2345389127731323, 0.07336094975471497, 0.24710501730442047, -1.3903940916061401, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494604110717773, -1.3049805164337158, 1.3464348316192627, -2.1685619354248047, 0.09271511435508728, -0.08202674984931946, -0.22535675764083862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8143467307090759, -1.2460880279541016, -1.4075247049331665, -1.2369616031646729, 0.07921009510755539, 0.24944505095481873, -1.3980629444122314, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494601726531982, -1.3049790859222412, 1.3464350700378418, -2.1685640811920166, 0.09271547943353653, -0.0820247083902359, -0.22535328567028046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8165545463562012, -1.2460875511169434, -1.4102834463119507, -1.2378475666046143, 0.0806286633014679, 0.24996361136436462, -1.4033626317977905, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494606494903564, -1.304977536201477, 1.346434235572815, -2.1685662269592285, 0.09271547943353653, -0.0820239931344986, -0.2253512442111969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8172820210456848, -1.2460843324661255, -1.41211998462677, -1.2383906841278076, 0.08389592915773392, 0.2500857412815094, -1.4043327569961548, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494604110717773, -1.3049771785736084, 1.3464326858520508, -2.1685688495635986, 0.09271487593650818, -0.0820239931344986, -0.2253488451242447, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8181368708610535, -1.2460829019546509, -1.4123326539993286, -1.239756464958191, 0.08667434751987457, 0.25091707706451416, -1.4043635129928589, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -2.0494608879089355, -1.3049771785736084, 1.3464316129684448, -2.1685714721679688, 0.09271416068077087, -0.08202267438173294, -0.22534680366516113, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.819506824016571, -1.2460827827453613, -1.4128754138946533, -1.241487741470337, 0.08676890283823013, 0.25230830907821655, -1.4031554460525513, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -2.049461841583252, -1.3049774169921875, 1.3464303016662598, -2.168571710586548, 0.09271116554737091, -0.08202219009399414, -0.22534537315368652, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8220452666282654, -1.2464441061019897, -1.4146722555160522, -1.2417606115341187, 0.07889227569103241, 0.25300413370132446, -1.3994770050048828, 0.2484000080234402, -0.2484000080234402, 0.2484000080234402, 0.2484000080234402, -0.2484000080234402, -0.2484000080234402, 0.2484000080234402, 0.2484000080234402, -2.049483060836792, -1.30497407913208, 1.3464277982711792, -2.1685752868652344, 0.09270372986793518, -0.08201535791158676, -0.22533123195171356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8271924257278442, -1.2483208179473877, -1.420785903930664, -1.243477702140808, 0.06142622232437134, 0.25775131583213806, -1.3882616758346558, 0.4710000023737058, -0.4710000023737058, 0.4710000023737058, 0.4710000023737058, -0.4710000023737058, -0.4710000023737058, 0.4710000023737058, 0.4710000023737058, -2.0495097637176514, -1.304973840713501, 1.3464256525039673, -2.168586254119873, 0.09269773960113525, -0.08198636025190353, -0.225331112742424, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.8472830653190613, -1.2486989498138428, -1.4355841875076294, -1.273796796798706, 0.03398678079247475, 0.2606305181980133, -1.3618212938308716, 0.5867999995802785, -0.5867999995802785, 0.5867999995802785, 0.5867999995802785, -0.5867999995802785, -0.5867999995802785, 0.5867999995802785, 0.5867999995802785, -2.0495123863220215, -1.3049664497375488, 1.346423864364624, -2.1685874462127686, 0.09269019216299057, -0.08198084682226181, -0.22533291578292847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 0.9116702675819397, -1.2514410018920898, -1.4739749431610107, -1.3638724088668823, -0.012050856836140156, 0.27922141551971436, -1.2542668581008911, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -2.0494956970214844, -1.3049368858337402, 1.346421718597412, -2.168586015701294, 0.09267628937959671, -0.08195963501930237, -0.22533567249774933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.0353264808654785, -1.2609838247299194, -1.5150521993637085, -1.5136338472366333, -0.04309730976819992, 0.29930493235588074, -0.9977878928184509, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -2.0495078563690186, -1.3048598766326904, 1.3464159965515137, -2.16859769821167, 0.09265878796577454, -0.08191697299480438, -0.22532139718532562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.1820112466812134, -1.2803171873092651, -1.5527021884918213, -1.6248159408569336, -0.11732868105173111, 0.24738484621047974, -0.7192304730415344, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -2.0494742393493652, -1.30485999584198, 1.3464194536209106, -2.168596029281616, 0.0926489606499672, -0.08179077506065369, -0.22529874742031097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.3166106939315796, -1.296772837638855, -1.5753796100616455, -1.7086025476455688, -0.17502708733081818, 0.20462153851985931, -0.4686029553413391, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -2.0495121479034424, -1.3048924207687378, 1.34641695022583, -2.1685919761657715, 0.09264596551656723, -0.0818071961402893, -0.2253173291683197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.4370602369308472, -1.3081778287887573, -1.5895379781723022, -1.7907662391662598, -0.17984163761138916, 0.167763814330101, -0.25897812843322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0495312213897705, -1.3049256801605225, 1.3464027643203735, -2.1685895919799805, 0.0926496833562851, -0.08179904520511627, -0.22532343864440918, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.5522633790969849, -1.317286729812622, -1.5942882299423218, -1.8636674880981445, -0.17899122834205627, 0.1288752406835556, -0.12330353260040283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.049452304840088, -1.3049288988113403, 1.3464183807373047, -2.16860294342041, 0.09265291690826416, -0.08180335909128189, -0.2253277599811554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.644783616065979, -1.3261224031448364, -1.5947054624557495, -1.895167589187622, -0.18756066262722015, 0.07418426871299744, -0.04670911654829979, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0494792461395264, -1.3049026727676392, 1.3464213609695435, -2.1685945987701416, 0.09265567362308502, -0.08181462436914444, -0.22533099353313446, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.7056370973587036, -1.332744836807251, -1.5881764888763428, -1.8988078832626343, -0.2018861323595047, 0.05321427434682846, 0.006247855722904205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.049492359161377, -1.3049046993255615, 1.3464218378067017, -2.1685941219329834, 0.09266670048236847, -0.08181210607290268, -0.22532859444618225, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9503163695335388, 1.6843196153640747, -0.6399688124656677, 0.0, 0.0, 1.7350211143493652, -1.3373868465423584, -1.584408164024353, -1.900634527206421, -0.2141125649213791, 0.03389618173241615, 0.030462581664323807, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.04948353767395, -1.3049030303955078, 1.346423625946045, -2.168593168258667, 0.0926864743232727, -0.08181078732013702, -0.22532978653907776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999547421973, -4.574396747902023e-05, -0.00029736020731400086, 0.0019247002201154828], [4.579624219420771e-05, 0.999999983500026, 0.0001757915014811126, 0.0004182117118034512], [0.0002973521610068383, -0.00017580511150524854, 0.9999999403371258, -1.2197439218653017e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7317019701004028, -1.337449073791504, -1.5844022035598755, -1.9010266065597534, -0.2142449915409088, 0.03418571874499321, 0.027272500097751617, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0494930744171143, -1.3049052953720093, 1.3464230298995972, -2.168593168258667, 0.09270636737346649, -0.08181103318929672, -0.22532919049263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999524146567, -6.368783892447718e-05, -0.0003018518568877179, 0.0020518966484814882], [6.374441362860209e-05, 0.9999999804052935, 0.0001874194823677024, 0.00041548485751263797], [0.00030183991463121504, -0.00018743871481890202, 0.999999936879695, -1.7225869441972463e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.727639079093933, -1.3374402523040771, -1.5844298601150513, -1.9010218381881714, -0.2136986255645752, 0.03505493700504303, 0.02609505131840706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0494933128356934, -1.304904818534851, 1.3464229106903076, -2.1685924530029297, 0.09273069351911545, -0.08181007206439972, -0.22532740235328674, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999523381331, -5.6666688715086354e-05, -0.0003035006061100764, 0.001923598232679069], [5.672363548159384e-05, 0.9999999807891184, 0.00018762780180253677, 0.0004198412934783846], [0.00030348996803332315, -0.00018764500851759487, 0.999999936341593, -8.214858553401427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6398729681968689, 0.0, 0.0, 1.7274258136749268, -1.3374356031417847, -1.584563970565796, -1.9010138511657715, -0.21365296840667725, 0.03509460389614105, 0.02581402100622654, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.049492597579956, -1.3049037456512451, 1.346422791481018, -2.1685919761657715, 0.0927545428276062, -0.08180983364582062, -0.2253272831439972, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999945442508, -6.238712251152574e-05, -0.00032438068345711716, 0.0019440968753769994], [6.2448776944765e-05, 0.9999999799883907, 0.0001900614857835323, 0.00041811761911958456], [0.00032436881957653935, -0.00019008173259120074, 0.9999999293268994, -1.241724930878263e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7276015281677246, -1.33743417263031, -1.5847059488296509, -1.900999903678894, -0.21365128457546234, 0.035122767090797424, 0.02567308582365513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.049492835998535, -1.3049017190933228, 1.3464229106903076, -2.1685922145843506, 0.09276077896356583, -0.08181354403495789, -0.22532571852207184, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999525608197, -7.656060534736816e-05, -0.0002983568868076907, 0.0019608784932643175], [7.662543631125957e-05, 0.9999999734572409, 0.0002172879656537971, 0.000420598778873682], [0.00029834024319029057, -0.00021731081707246225, 0.9999999318845517, -1.6849666906182392e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7276878356933594, -1.337433934211731, -1.5847610235214233, -1.9009875059127808, -0.2136526107788086, 0.03514889255166054, 0.025603817775845528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.049492597579956, -1.3048996925354004, 1.3464243412017822, -2.1685919761657715, 0.09276077896356583, -0.0818169042468071, -0.22532464563846588, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999955219659, -5.7005658497565246e-05, -0.0002937873973731138, 0.0019471787381917238], [5.7074753467392796e-05, 0.9999999707154884, 0.00023518395956158926, 0.0004183209384791553], [0.0002937739819532105, -0.00023520071687324826, 0.9999999291887326, -6.534834255944588e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7276878356933594, -1.3375494480133057, -1.5847620964050293, -1.9010026454925537, -0.21351322531700134, 0.03516602888703346, 0.02559782564640045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0497312545776367, -1.305000901222229, 1.3462525606155396, -2.1688127517700195, 0.0925808921456337, -0.08185381442308426, -0.22542674839496613, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999499292579, -7.964835355710575e-05, -0.0003062639736211321, 0.0019608200527727604], [7.97249576888229e-05, 0.999999965541844, 0.0002501204547796377, 0.00041911820881068707], [0.0003062440413854262, -0.00025014485913825945, 0.9999999218210652, 2.923286785971868e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6398729681968689, 0.0, 0.0, 1.7277963161468506, -1.3279097080230713, -1.5855075120925903, -1.8958381414413452, -0.22406186163425446, 0.033502981066703796, 0.02436860278248787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -2.0320513248443604, -1.296464204788208, 1.3602606058120728, -2.148463010787964, 0.11063141375780106, -0.07740191370248795, -0.21301493048667908, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999415908583, -6.609693101411817e-05, -0.00033533487095810307, 0.0019756422843784094], [6.615562818211825e-05, 0.999999982493549, 0.0001750323813971548, 0.0004164722340647131], [0.00033532329598434115, -0.00017505455546270324, 0.9999999284570923, -9.67625851444609e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7282174825668335, -1.2934232950210571, -1.58828604221344, -1.8772940635681152, -0.2620770335197449, 0.026919804513454437, 0.01954015903174877, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.9720144271850586, -1.267369031906128, 1.4078606367111206, -2.0792007446289062, 0.17204062640666962, -0.06201285123825073, -0.17068389058113098, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999542508813, -5.775035752230579e-05, -0.00029692277051021274, 0.002140938537195325], [5.780151563782002e-05, 0.999999983487802, 0.00017228865486894752, 0.00041424529626965523], [0.00029691281587594946, -0.00017230580957305623, 0.9999999410767422, -5.690726538887247e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7289628982543945, -1.2346285581588745, -1.593161702156067, -1.8456259965896606, -0.3268142342567444, 0.015781307592988014, 0.011528585106134415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8710213899612427, -1.2183781862258911, 1.4880902767181396, -1.9627325534820557, 0.2756172716617584, -0.03608018532395363, -0.09957908093929291, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999418309297, -4.8015752639382594e-05, -0.00033768717003854, 0.0021278676576912403], [4.80665748780234e-05, 0.9999999875205138, 0.00015049444093171222, 0.00042244826909154654], [0.00033767993972052814, -0.00015051066364323452, 0.9999999316593969, -2.3371624138235347e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9498370885848999, 1.6846071481704712, -0.6395853757858276, 0.0, 0.0, 1.7295855283737183, -1.1819273233413696, -1.5973994731903076, -1.817191481590271, -0.3849334120750427, 0.006117587443441153, 0.004301258362829685, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7823940515518188, -1.1754026412963867, 1.55842924118042, -1.860465407371521, 0.3664059340953827, -0.013405674137175083, -0.036991946399211884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999999943849266, -0.00011794879112485123, -0.00031367108152504096, 0.0019275314407423139], [0.00011800321539320852, 0.9999999779874322, 0.0001734945997613361, 0.00042142794700339437], [0.0003136506111420265, -0.00017353160421568282, 0.9999999357550362, 1.2759065839418327e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9498370885848999, 1.6846071481704712, -0.6395853757858276, 0.0, 0.0, 1.7299364805221558, -1.1545312404632568, -1.5996252298355103, -1.802400827407837, -0.4151883125305176, 0.0008053398923948407, 0.0006654839962720871, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.736950159072876, -1.1533981561660767, 1.594499945640564, -1.8080133199691772, 0.41291454434394836, -0.0018071013037115335, -0.0048708682879805565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999406136714, -0.00010415285329053856, -0.00032851915771497735, 0.001696535386145115], [0.00010422181859541464, 0.9999999725361919, 0.00020991766945516183, 0.0004184358986094594], [0.00032849728516836036, -0.00020995189585298264, 0.9999999240048646, -9.45059525747638e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6395853757858276, 0.0, 0.0, 1.730007290840149, -1.1499409675598145, -1.5999975204467773, -1.7999584674835205, -0.42020562291145325, -1.989381416933611e-05, -4.1225732275051996e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299426794052124, -1.1499820947647095, 1.6000348329544067, -1.7998275756835938, 0.4201773405075073, 8.185225306078792e-05, 0.00015327823348343372, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999383793052, -9.206674242138963e-05, -0.00033876998196459926, 0.0017898937221616507], [9.213041825878992e-05, 0.9999999780931923, 0.00018795105982844168, 0.00041476861224509776], [0.0003387526705014173, -0.0001879822592668987, 0.9999999249546464, 1.0802052941016882e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.730001449584961, -1.1500002145767212, -1.5999985933303833, -1.7999708652496338, -0.4199424684047699, -2.4807344743749127e-05, -4.158525916864164e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300260066986084, -1.1500178575515747, 1.5999729633331299, -1.7999722957611084, 0.4199979603290558, 4.4221789721632376e-05, 1.7976337403524667e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999434839155, -7.805966740641914e-05, -0.00032701506700629434, 0.001906203688122332], [7.812610547395172e-05, 0.9999999763117093, 0.0002031573097205419, 0.0004170058818999678], [0.0003269992008678384, -0.00020318284665250274, 0.999999925894124, -1.7868243276097928e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9499329328536987, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.729907751083374, -1.1500061750411987, -1.5999939441680908, -1.7999696731567383, -0.4189319610595703, 2.744387529673986e-05, 0.00014201307203620672, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300200462341309, -1.1500164270401, 1.5999722480773926, -1.7999635934829712, 0.4198801517486572, -0.00011720571637852117, -6.854976527392864e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491223773, -6.148827530082389e-05, -0.00031300868164476644, 0.0018925440963357687], [6.155040460807142e-05, 0.9999999784076418, 0.00019848492080053347, 0.0004173643246758729], [0.00031299647039071754, -0.00019850417651309365, 0.9999999313146484, -6.484560231001524e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9500288367271423, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7296864986419678, -1.1500048637390137, -1.599957823753357, -1.7999656200408936, -0.41888174414634705, 0.00026581011479720473, 0.000985223101451993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72996187210083, -1.150007724761963, 1.599976658821106, -1.799860954284668, 0.4198642075061798, -0.00018971027748193592, -9.3596798251383e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999491517472, -6.31928951144538e-05, -0.00031257504862408934, 0.0018914868123829365], [6.325311569888301e-05, 0.999999979441842, 0.00019265346838590448, 0.00041871381108649075], [0.000312562867867701, -0.00019267322993552744, 0.9999999325907378, -7.246925406434457e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7296562194824219, -1.150002121925354, -1.5998579263687134, -1.7999567985534668, -0.4188773036003113, 0.0003742673434317112, 0.001078220666386187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298624515533447, -1.1500011682510376, 1.5999993085861206, -1.7995810508728027, 0.4198548495769501, -0.00020816599135287106, -9.99484327621758e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999382945782, -8.942814988479395e-05, -0.00033972554486628304, 0.0019116161856800318], [8.949298125160188e-05, 0.999999977788579, 0.0001908241282167213, 0.0004178386880084872], [0.00033970847227175613, -0.00019085451949365538, 0.9999999240863503, -7.516247251260211e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.729648232460022, -1.149997591972351, -1.5997499227523804, -1.7999334335327148, -0.4188731014728546, 0.00045084653538651764, 0.001101470086723566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298340797424316, -1.149997591972351, 1.6000430583953857, -1.799399733543396, 0.41984790563583374, -0.00021104220650158823, -0.00011145329335704446, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999419984338, -7.897041176532496e-05, -0.00033131073502217103, 0.001890787505544722], [7.90381774625032e-05, 0.9999999759602061, 0.0002045300804033179, 0.0004171769833192229], [0.00033129457523286144, -0.00020455625473692277, 0.9999999242003187, -1.4406689388124505e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6396812796592712, 0.0, 0.0, 1.7296477556228638, -1.1499944925308228, -1.5997169017791748, -1.799877405166626, -0.4188702404499054, 0.00047948883729986846, 0.0011213639518246055, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7298049926757812, -1.14999520778656, 1.6000866889953613, -1.7993375062942505, 0.4198457598686218, -0.0002108025219058618, -0.00012128035450587049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999423806576, -8.330444607240016e-05, -0.0003290882110594307, 0.0018974794074892998], [8.337024499871092e-05, 0.9999999765378047, 0.00019993447004812965, 0.00041819579200819135], [0.0003290715479080206, -0.00019996189469281917, 0.9999999258635758, -1.612251168126022e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296476364135742, -1.1499916315078735, -1.599705696105957, -1.799811601638794, -0.4188630282878876, 0.0004878777835983783, 0.0011462911497801542, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7297664880752563, -1.1499929428100586, 1.6001263856887817, -1.7993032932281494, 0.4198444187641144, -0.00021116204152349383, -0.00012978915765415877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999364719384, -6.843130244053455e-05, -0.00034981891882750264, 0.0018972710240632296], [6.850566276569192e-05, 0.9999999750625065, 0.00021256048666488535, 0.00041837157914415], [0.0003498043643129458, -0.0002125844377382119, 0.9999999162223783, -1.7051355882813368e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729648232460022, -1.1499897241592407, -1.5997010469436646, -1.7997698783874512, -0.41885921359062195, 0.0004948286223225296, 0.001162349944934249, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729690670967102, -1.1499916315078735, 1.600150465965271, -1.799271821975708, 0.4198446571826935, -0.00021128189109731466, -0.0001349423691863194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999421700644, -7.772729048307672e-05, -0.0003310865991269542, 0.0019102266523987055], [7.779801437484329e-05, 0.9999999741604131, 0.00021360393727796242, 0.00041823391802608967], [0.00033106998771653207, -0.00021362968280525866, 0.9999999223775079, -1.5014290966064436e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729648470878601, -1.1499887704849243, -1.5996978282928467, -1.7997405529022217, -0.4188552498817444, 0.000499742163810879, 0.0011733754072338343, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296751737594604, -1.149990439414978, 1.6001681089401245, -1.7992485761642456, 0.4198440611362457, -0.0002116414107149467, -0.0001386574876960367, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999353633923, -8.591481095889097e-05, -0.0003491301427060938, 0.0018971324898302555], [8.599091415691051e-05, 0.9999999725472573, 0.00021797029000675318, 0.0004178884264547378], [0.0003491114062452533, -0.00021800029793802404, 0.9999999152985445, -5.585770850302652e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296488285064697, -1.1499879360198975, -1.5996969938278198, -1.799721598625183, -0.41885215044021606, 0.0005029779276810586, 0.0011891946196556091, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296751737594604, -1.1499888896942139, 1.6001756191253662, -1.7992268800735474, 0.4198412001132965, -0.00021307951828930527, -0.00014213290705811232, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999359460149, -7.609156368738563e-05, -0.00034973996064241187, 0.0019105748506262898], [7.616244135502664e-05, 0.9999999765662635, 0.00020264934013432043, 0.00041812131530605257], [0.00034972453254152676, -0.00020267596420306454, 0.999999918307599, -1.2355162937183195e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296490669250488, -1.1499871015548706, -1.5996968746185303, -1.7997150421142578, -0.4188500940799713, 0.0005056144436821342, 0.0012092082761228085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296749353408813, -1.1499882936477661, 1.6001783609390259, -1.7992109060287476, 0.41983652114868164, -0.0002158358838642016, -0.00014536864182446152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999346183888, -7.056337889926188e-05, -0.00035466044007003876, 0.0018974423874169588], [7.063661330432247e-05, 0.9999999761875523, 0.00020648332528233336, 0.00041686854092404246], [0.00035464586146358726, -0.00020650836379448043, 0.9999999157903008, 1.1420466705658328e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296494245529175, -1.1499862670898438, -1.5996966361999512, -1.7997113466262817, -0.4188460111618042, 0.0005081311101093888, 0.0012330568861216307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296743392944336, -1.1499875783920288, 1.6001811027526855, -1.7992018461227417, 0.4198317229747772, -0.0002205097407568246, -0.0001475258031859994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999377010457, -8.57502660200169e-05, -0.00034241027517730507, 0.001897823647595942], [8.582251161920336e-05, 0.9999999740605012, 0.00021098221078573524, 0.00041771316318772733], [0.00034239217451465377, -0.0002110115841515841, 0.9999999191208518, -1.2866941005995614e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296500205993652, -1.1499851942062378, -1.5996968746185303, -1.7997061014175415, -0.41884100437164307, 0.000509449397213757, 0.0012549880193546414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296727895736694, -1.1499865055084229, 1.6001824140548706, -1.7991942167282104, 0.41982632875442505, -0.00022458437888417393, -0.0001466869143769145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296502590179443, -1.1499844789505005, -1.599696159362793, -1.7997004985809326, -0.4188391864299774, 0.0005098089459352195, 0.0012690095463767648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296704053878784, -1.1499857902526855, 1.6001838445663452, -1.7991905212402344, 0.4198209345340729, -0.00022817964782007039, -0.0001459678605897352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296512126922607, -1.1499840021133423, -1.5996960401535034, -1.799692153930664, -0.41883930563926697, 0.0005114867235533893, 0.0012783572310581803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729666829109192, -1.1499855518341064, 1.600184440612793, -1.799187183380127, 0.4198203384876251, -0.00022961775539442897, -0.00014524880680255592, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296514511108398, -1.1499834060668945, -1.599695086479187, -1.799689531326294, -0.4188403785228729, 0.0005113668739795685, 0.0012826715828850865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729662537574768, -1.1499851942062378, 1.600184679031372, -1.7991836071014404, 0.41981759667396545, -0.0002292582212248817, -0.00014464958803728223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296518087387085, -1.1499825716018677, -1.5996919870376587, -1.7996889352798462, -0.4188396632671356, 0.000511726422701031, 0.0012854279484599829, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296582460403442, -1.149984359741211, 1.6001853942871094, -1.7991821765899658, 0.41981470584869385, -0.00022841933241579682, -0.000142732125823386, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729652762413025, -1.14998197555542, -1.599686622619629, -1.7996885776519775, -0.4188404977321625, 0.0005123256123624742, 0.0012879446148872375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296544313430786, -1.1499841213226318, 1.6001856327056885, -1.7991812229156494, 0.41981303691864014, -0.00022782011365052313, -0.00013769874931313097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729653000831604, -1.1499812602996826, -1.5996736288070679, -1.7996892929077148, -0.4188411235809326, 0.0005114867235533893, 0.0012880645226687193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296503782272339, -1.1499841213226318, 1.600185751914978, -1.7991797924041748, 0.4198124408721924, -0.00022722090943716466, -0.00013218600361142308, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729652762413025, -1.1499806642532349, -1.599657654762268, -1.7996892929077148, -0.4188413619995117, 0.0005119660636410117, 0.0012878248235210776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296470403671265, -1.1499836444854736, 1.6001852750778198, -1.7991786003112793, 0.41981256008148193, -0.00022590263688471168, -0.00012571451952680945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729653000831604, -1.1499804258346558, -1.59964919090271, -1.799688696861267, -0.41884171962738037, 0.0005113668739795685, 0.0012865065364167094, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296438217163086, -1.1499831676483154, 1.600184440612793, -1.7991784811019897, 0.4198136329650879, -0.00022398516011890024, -0.00012032161612296477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296531200408936, -1.1499797105789185, -1.5996389389038086, -1.799689531326294, -0.41884171962738037, 0.0005107676843181252, 0.0012851882493123412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296408414840698, -1.1499834060668945, 1.6001840829849243, -1.799178123474121, 0.4198143482208252, -0.00022038989118300378, -0.00011301124322926626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729653000831604, -1.1499799489974976, -1.5996296405792236, -1.7996890544891357, -0.41884100437164307, 0.0005106478347443044, 0.0012833906803280115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296380996704102, -1.1499831676483154, 1.6001838445663452, -1.7991784811019897, 0.41981446743011475, -0.00021463746088556945, -0.00010450244008097798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296531200408936, -1.1499789953231812, -1.5996228456497192, -1.7996890544891357, -0.41884124279022217, 0.0005095692467875779, 0.0012809938052669168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296347618103027, -1.1499836444854736, 1.6001827716827393, -1.799179196357727, 0.41981446743011475, -0.00021032315271440893, -9.695238259155303e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296528816223145, -1.149978518486023, -1.5996190309524536, -1.7996890544891357, -0.4188408851623535, 0.000508730357978493, 0.0012796755181625485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296327352523804, -1.149983286857605, 1.6001819372177124, -1.7991796731948853, 0.4198160171508789, -0.00020337229943834245, -8.796421025181189e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296528816223145, -1.1499779224395752, -1.5996181964874268, -1.799688458442688, -0.4188404977321625, 0.0005077716195955873, 0.0012783572310581803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729629635810852, -1.1499831676483154, 1.6001806259155273, -1.799179196357727, 0.41981759667396545, -0.0001990579767152667, -8.544752199668437e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.729652762413025, -1.1499778032302856, -1.599618673324585, -1.799687385559082, -0.4188401401042938, 0.0005072922213003039, 0.0012769191525876522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296265363693237, -1.1499826908111572, 1.6001795530319214, -1.7991795539855957, 0.4198189079761505, -0.00019282617722637951, -8.293083374155685e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296526432037354, -1.1499775648117065, -1.599618911743164, -1.7996853590011597, -0.4188400208950043, 0.0005068128812126815, 0.0012762000551447272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296236753463745, -1.1499828100204468, 1.6001794338226318, -1.7991806268692017, 0.4198198616504669, -0.00018887138867285103, -8.08935146778822e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.149977684020996, -1.5996190309524536, -1.7996803522109985, -0.41883954405784607, 0.0005071723717264831, 0.0012765596620738506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296210527420044, -1.1499826908111572, 1.6001794338226318, -1.799180507659912, 0.41981998085975647, -0.00018743328109849244, -7.981494127307087e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6843196153640747, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.1499770879745483, -1.5996195077896118, -1.7996686697006226, -0.41883787512779236, 0.0005075319204479456, 0.0012765596620738506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729617714881897, -1.1499823331832886, 1.6001789569854736, -1.7991812229156494, 0.41981974244117737, -0.0001849165855674073, -7.861651829443872e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.149977207183838, -1.5996205806732178, -1.79965078830719, -0.4188356101512909, 0.0005080113187432289, 0.0012771588517352939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729614019393921, -1.1499817371368408, 1.6001789569854736, -1.7991816997528076, 0.41981831192970276, -0.0001856356393545866, -7.897604518802837e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.149977207183838, -1.5996215343475342, -1.7996324300765991, -0.41883379220962524, 0.0005086105084046721, 0.0012783572310581803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296100854873657, -1.1499824523925781, 1.6001783609390259, -1.7991814613342285, 0.4198179543018341, -0.00018611500854603946, -8.077367238001898e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.1499773263931274, -1.5996237993240356, -1.7996234893798828, -0.41882720589637756, 0.0005089700571261346, 0.0012790763285011053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296063899993896, -1.1499820947647095, 1.6001776456832886, -1.799181342124939, 0.4198174774646759, -0.00018671422731131315, -8.388957212446257e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296524047851562, -1.149977207183838, -1.5996257066726685, -1.799619197845459, -0.41882312297821045, 0.0005095692467875779, 0.0012806343147531152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296028137207031, -1.1499816179275513, 1.6001783609390259, -1.7991814613342285, 0.41981589794158936, -0.00018731343152467161, -8.916263323044404e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.1499770879745483, -1.5996288061141968, -1.7996162176132202, -0.4188196659088135, 0.0005096890963613987, 0.0012806343147531152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295986413955688, -1.1499818563461304, 1.6001789569854736, -1.799181580543518, 0.41981303691864014, -0.00018743328109849244, -9.599364420864731e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.149977207183838, -1.5996335744857788, -1.7996126413345337, -0.41881605982780457, 0.0005102882860228419, 0.0012811135966330767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295944690704346, -1.1499810218811035, 1.6001797914505005, -1.7991809844970703, 0.41981062293052673, -0.00018815233488567173, -0.0001015063826343976, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296526432037354, -1.149977445602417, -1.5996417999267578, -1.7996083498001099, -0.4188130795955658, 0.0005105279851704836, 0.0012812335044145584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295900583267212, -1.149981141090393, 1.60017991065979, -1.7991801500320435, 0.41980883479118347, -0.0001893507578643039, -0.00010594054765533656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296522855758667, -1.1499769687652588, -1.5996479988098145, -1.7996065616607666, -0.41881150007247925, 0.0005102882860228419, 0.0012812335044145584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729585886001587, -1.1499810218811035, 1.6001813411712646, -1.7991807460784912, 0.41980764269828796, -0.00019198728841729462, -0.00011169297795277089, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.149977207183838, -1.5996536016464233, -1.799606204032898, -0.41881150007247925, 0.000511007325258106, 0.0012808740139007568, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295812368392944, -1.1499806642532349, 1.6001830101013184, -1.7991797924041748, 0.4198082387447357, -0.00019450396939646453, -0.00011480887769721448, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.1499769687652588, -1.5996569395065308, -1.7996065616607666, -0.41881126165390015, 0.000511007325258106, 0.001280754106119275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729577660560608, -1.149980902671814, 1.6001859903335571, -1.7991787195205688, 0.41980788111686707, -0.00019797938875854015, -0.00011612713569775224, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729653000831604, -1.1499767303466797, -1.5996601581573486, -1.7996065616607666, -0.41881150007247925, 0.0005101684364490211, 0.0012799152173101902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295749187469482, -1.1499804258346558, 1.6001932621002197, -1.7991788387298584, 0.41980716586112976, -0.00020361198403406888, -0.00011600730067584664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729652762413025, -1.149977207183838, -1.5996648073196411, -1.7996071577072144, -0.4188118577003479, 0.0005102882860228419, 0.0012796755181625485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295722961425781, -1.1499805450439453, 1.6002020835876465, -1.799177885055542, 0.4198070466518402, -0.00020720725296996534, -0.00011612713569775224, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296524047851562, -1.1499768495559692, -1.599668264389038, -1.799607515335083, -0.41881197690963745, 0.0005093295476399362, 0.0012781175319105387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295705080032349, -1.1499804258346558, 1.600207805633545, -1.7991769313812256, 0.4198075234889984, -0.0002126001490978524, -0.00011696603178279474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296525239944458, -1.1499766111373901, -1.5996712446212769, -1.799608588218689, -0.41881221532821655, 0.0005084906588308513, 0.0012771588517352939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295689582824707, -1.1499804258346558, 1.6002122163772583, -1.7991750240325928, 0.41980835795402527, -0.00021691447182092816, -0.00011636682029347867, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729652762413025, -1.1499762535095215, -1.5996729135513306, -1.799609661102295, -0.41881319880485535, 0.0005078914691694081, 0.001277039060369134, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295678853988647, -1.1499806642532349, 1.6002154350280762, -1.7991734743118286, 0.41981109976768494, -0.0002195510023739189, -0.00011444935080362484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296526432037354, -1.1499762535095215, -1.5996739864349365, -1.7996097803115845, -0.4188145101070404, 0.0005078914691694081, 0.0012769191525876522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729567289352417, -1.1499805450439453, 1.6002197265625, -1.7991710901260376, 0.419813871383667, -0.0002196708373958245, -0.00011157313565490767, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296531200408936, -1.1499757766723633, -1.5996743440628052, -1.7996095418930054, -0.4188152253627777, 0.0005077716195955873, 0.0012767993612214923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295665740966797, -1.1499803066253662, 1.6002219915390015, -1.7991667985916138, 0.4198150634765625, -0.00021943115280009806, -0.00010833739361260086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.7296528816223145, -1.149975299835205, -1.5996733903884888, -1.799609899520874, -0.4188154637813568, 0.0005080113187432289, 0.001277039060369134, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295660972595215, -1.1499803066253662, 1.6002228260040283, -1.7991617918014526, 0.4198153018951416, -0.0002189517836086452, -0.00010426275548525155, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296533584594727, -1.149975061416626, -1.5996735095977783, -1.7996107339859009, -0.41881558299064636, 0.0005066930316388607, 0.0012772786431014538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295658588409424, -1.1499806642532349, 1.6002223491668701, -1.799156904220581, 0.41981589794158936, -0.00021775336063001305, -9.934922127285972e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6845113039016724, -0.6397771239280701, 0.0, 0.0, 1.729653239250183, -1.1499751806259155, -1.5996731519699097, -1.79961097240448, -0.4188164174556732, 0.0005069327307865024, 0.0012775183422490954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295653820037842, -1.1499803066253662, 1.6002216339111328, -1.799154281616211, 0.4198170006275177, -0.00021703430684283376, -9.11999522941187e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296537160873413, -1.1499748229980469, -1.5996720790863037, -1.799609661102295, -0.4188161790370941, 0.0005075319204479456, 0.001279316027648747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295644283294678, -1.1499803066253662, 1.6002211570739746, -1.7991523742675781, 0.41981685161590576, -0.00021667478722520173, -8.305067603942007e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296539545059204, -1.1499743461608887, -1.5996708869934082, -1.7996100187301636, -0.41881605982780457, 0.0005081311101093888, 0.0012799152173101902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295637130737305, -1.1499806642532349, 1.6002202033996582, -1.7991533279418945, 0.41981831192970276, -0.00021379857207648456, -7.801730680512264e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729654312133789, -1.1499744653701782, -1.5996694564819336, -1.7996093034744263, -0.4188164174556732, 0.0005082509596832097, 0.0012809938052669168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729562759399414, -1.1499806642532349, 1.6002188920974731, -1.7991523742675781, 0.41981711983680725, -0.00020960409892722964, -7.45418801670894e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296545505523682, -1.1499741077423096, -1.5996673107147217, -1.7996089458465576, -0.418815940618515, 0.0005092096980661154, 0.0012809938052669168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729561448097229, -1.1499803066253662, 1.6002169847488403, -1.7991536855697632, 0.4198170006275177, -0.00020493024203460664, -7.250456110341474e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296547889709473, -1.1499738693237305, -1.5996655225753784, -1.7996083498001099, -0.41881605982780457, 0.0005089700571261346, 0.0012824318837374449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729559063911438, -1.1499806642532349, 1.600215196609497, -1.7991539239883423, 0.4198153018951416, -0.00020025639969389886, -7.094661123119295e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296546697616577, -1.1499738693237305, -1.599663496017456, -1.7996073961257935, -0.4188161790370941, 0.0005098089459352195, 0.0012832707725465298, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729556679725647, -1.1499804258346558, 1.600212574005127, -1.79915452003479, 0.41981375217437744, -0.0001973801845451817, -6.831008067820221e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296546697616577, -1.1499735116958618, -1.5996609926223755, -1.7996065616607666, -0.4188157021999359, 0.0005096890963613987, 0.0012839898699894547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729554295539856, -1.1499804258346558, 1.600211501121521, -1.799155592918396, 0.4198122024536133, -0.00019246665760874748, -6.66322885081172e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296547889709473, -1.149973750114441, -1.5996603965759277, -1.7996057271957397, -0.4188152253627777, 0.0005100485868752003, 0.0012835104716941714, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729551911354065, -1.1499799489974976, 1.6002103090286255, -1.7991557121276855, 0.4198117256164551, -0.0001862348581198603, -6.639260391239077e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296546697616577, -1.1499736309051514, -1.5996594429016113, -1.7996028661727905, -0.4188140332698822, 0.0005100485868752003, 0.0012833906803280115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295491695404053, -1.1499797105789185, 1.6002092361450195, -1.7991559505462646, 0.4198113679885864, -0.000182519739610143, -6.854976527392864e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296549081802368, -1.1499741077423096, -1.599657654762268, -1.7996000051498413, -0.4188142716884613, 0.0005112470244057477, 0.0012824318837374449, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295464277267456, -1.1499793529510498, 1.6002087593078613, -1.7991559505462646, 0.41981014609336853, -0.00017952368943952024, -7.202519191196188e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296550273895264, -1.1499738693237305, -1.5996553897857666, -1.7995983362197876, -0.41881319880485535, 0.000511007325258106, 0.0012818326940760016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729543685913086, -1.1499791145324707, 1.600206971168518, -1.7991564273834229, 0.4198095500469208, -0.00017808558186516166, -7.777762220939621e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296546697616577, -1.1499736309051514, -1.5996540784835815, -1.7995970249176025, -0.4188116192817688, 0.0005105279851704836, 0.0012808740139007568, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729541540145874, -1.1499791145324707, 1.6002066135406494, -1.7991570234298706, 0.4198082387447357, -0.00017964352446142584, -8.388957212446257e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296546697616577, -1.14997398853302, -1.599654197692871, -1.7995963096618652, -0.4188104271888733, 0.0005096890963613987, 0.0012800350086763501, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295392751693726, -1.149978756904602, 1.6002055406570435, -1.799157977104187, 0.4198084771633148, -0.00018096179701387882, -9.335711365565658e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296545505523682, -1.1499738693237305, -1.5996540784835815, -1.7995961904525757, -0.4188063442707062, 0.0005095692467875779, 0.001279316027648747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295377254486084, -1.1499792337417603, 1.6002051830291748, -1.799157977104187, 0.4198087155818939, -0.0001801228936528787, -0.00010018811735790223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296549081802368, -1.1499738693237305, -1.599654197692871, -1.7995970249176025, -0.41880443692207336, 0.000509449397213757, 0.0012796755181625485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295364141464233, -1.1499789953231812, 1.6002060174942017, -1.799156665802002, 0.4198096692562103, -0.00018108163203578442, -0.00010354370169807225, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296549081802368, -1.149973750114441, -1.5996546745300293, -1.7995973825454712, -0.41880467534065247, 0.0005083708092570305, 0.0012789565371349454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295352220535278, -1.149979591369629, 1.6002070903778076, -1.799157738685608, 0.41981014609336853, -0.00018216021999251097, -0.00010677944374037907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296544313430786, -1.149973750114441, -1.5996551513671875, -1.7995973825454712, -0.4188045561313629, 0.0005078914691694081, 0.0012796755181625485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295349836349487, -1.1499791145324707, 1.6002076864242554, -1.799156904220581, 0.4198105037212372, -0.00018299910880159587, -0.00010773818212328479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296545505523682, -1.1499736309051514, -1.599656343460083, -1.7995980978012085, -0.418804794549942, 0.0005069327307865024, 0.0012795557267963886, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295347452163696, -1.1499793529510498, 1.6002085208892822, -1.799156904220581, 0.41981184482574463, -0.00018527611973695457, -0.00010821755131473765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296544313430786, -1.1499736309051514, -1.5996577739715576, -1.799598217010498, -0.41880324482917786, 0.0005066930316388607, 0.0012806343147531152, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729534387588501, -1.1499789953231812, 1.6002089977264404, -1.799155592918396, 0.4198133945465088, -0.00018994996207766235, -0.00010833739361260086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296544313430786, -1.1499738693237305, -1.599658727645874, -1.799598217010498, -0.4188033640384674, 0.0005070525803603232, 0.0012809938052669168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295342683792114, -1.1499794721603394, 1.6002106666564941, -1.799155354499817, 0.41981613636016846, -0.00019390476518310606, -0.00010833739361260086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296544313430786, -1.1499736309051514, -1.5996599197387695, -1.7995983362197876, -0.41880443692207336, 0.0005071723717264831, 0.00128159299492836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295341491699219, -1.1499791145324707, 1.6002132892608643, -1.7991552352905273, 0.41981735825538635, -0.00019690081535372883, -0.00010797786671901122, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296546697616577, -1.1499738693237305, -1.5996601581573486, -1.7995985746383667, -0.41880491375923157, 0.0005075319204479456, 0.0012833906803280115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295339107513428, -1.1499789953231812, 1.6002155542373657, -1.7991541624069214, 0.4198174774646759, -0.0002022937114816159, -0.00010558102076174691, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296545505523682, -1.149972915649414, -1.5996615886688232, -1.7995984554290771, -0.41880491375923157, 0.0005081311101093888, 0.001283750170841813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295341491699219, -1.1499791145324707, 1.6002171039581299, -1.7991530895233154, 0.41981759667396545, -0.0002069675683742389, -0.00010270480561302975, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.95022052526474, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.7296545505523682, -1.1499727964401245, -1.5996630191802979, -1.7995983362197876, -0.41880539059638977, 0.0005082509596832097, 0.0012842295691370964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295345067977905, -1.1499797105789185, 1.6002178192138672, -1.7991536855697632, 0.41981685161590576, -0.00021140172611922026, -9.8390482889954e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9501246809959412, 1.6844154596328735, -0.6397771239280701, 0.0, 0.0, 1.729654312133789, -1.1499723196029663, -1.5996644496917725, -1.7995972633361816, -0.4188055098056793, 0.0005088502075523138, 0.0012847089674323797, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7295342683792114, -1.1499793529510498, 1.600219964981079, -1.7991539239883423, 0.41981661319732666, -0.00021535651467274874, -9.299758676206693e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.2621733844280243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999410470714, -9.108388686056292e-05, -0.0003310733747272412, 0.0019046071683987975], [9.115071529457427e-05, 0.9999999754751999, 0.0002018443623831617, 0.00041806328226812184], [0.0003310549818386661, -0.00020187452805876674, 0.9999999248246342, -9.899325732476427e-07], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000023/gt/hand_left.mp4 b/agibot-challenge-2026/000023/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1441462d3e56e154a517f938a1aebbfe2ecfb884 --- /dev/null +++ b/agibot-challenge-2026/000023/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3576d29dea73bc3ad2a01264b5b94caebb79cd4c803c4360219562b1ee65fdb +size 5653761 diff --git a/agibot-challenge-2026/000023/gt/hand_right.mp4 b/agibot-challenge-2026/000023/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a834685da06629eaffd9bcff0f7a7ab071fe79a --- /dev/null +++ b/agibot-challenge-2026/000023/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50804e4a650d3fac6e59db7615dd88b1aad63c680cf1ff42d2b4862580761a43 +size 8137430 diff --git a/agibot-challenge-2026/000023/gt/head.mp4 b/agibot-challenge-2026/000023/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc6c32e56e63697bab83f6e45586a11e685436e4 --- /dev/null +++ b/agibot-challenge-2026/000023/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:297c03d1e68f7a45f4321b731439c01f12113be6927eab1f2de459af33e59179 +size 6216131 diff --git a/agibot-challenge-2026/000023/meta.json b/agibot-challenge-2026/000023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6bb88bb216bfc7452e7b50abe1e58ca0045f92f --- /dev/null +++ b/agibot-challenge-2026/000023/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Tear tape", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1042, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000023/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000023/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..a6ad9eeac712dbb0cfc7243a242d60fff73783af --- /dev/null +++ b/agibot-challenge-2026/000023/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000023/ref_images/hand_left.png b/agibot-challenge-2026/000023/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..a4a8a33cafba03b803aa276ed115e9643b765ed8 --- /dev/null +++ b/agibot-challenge-2026/000023/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:750467720384875fb2b5c9b34163013121773440c9d7f3afa199400e90717ccb +size 435529 diff --git a/agibot-challenge-2026/000023/ref_images/hand_right.png b/agibot-challenge-2026/000023/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..4bc8219c85dd53c59cdf671a696609a477976291 --- /dev/null +++ b/agibot-challenge-2026/000023/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9e0f92bd6e1e2f5bbd4ae317e0c7a1524b3af7faea815a99bdeec163b1e4d6a +size 422173 diff --git a/agibot-challenge-2026/000023/ref_images/head.png b/agibot-challenge-2026/000023/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..f71d99028ba4d72fca4d86fa78cbf76fa9d688f5 --- /dev/null +++ b/agibot-challenge-2026/000023/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d99cf7bbea48bf9a63f46c45f650765748368c19c660d52b1628d1949dbb3d75 +size 389487 diff --git a/agibot-challenge-2026/000023/temporal.json b/agibot-challenge-2026/000023/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..6a1a7091942930b692d8ddc3e8a907c661d105e6 --- /dev/null +++ b/agibot-challenge-2026/000023/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.7297847270965576, -1.1504547595977783, -1.5997064113616943, -1.7998870611190796, -0.4199824929237366, 6.171876157168299e-05, -0.0002752776490524411, 0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -1.728882074356079, -1.1503612995147705, 1.600143313407898, -1.8005058765411377, 0.420295387506485, -0.00036036563687957823, 0.0006339654792100191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7297848463058472, -1.1504548788070679, -1.599706768989563, -1.79988694190979, -0.4199824929237366, 6.207828846527264e-05, -0.0002781538642011583, 0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -1.7288819551467896, -1.150361180305481, 1.6001434326171875, -1.8005056381225586, 0.42029574513435364, -0.00036072515649721026, 0.0006340853287838399, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7297848463058472, -1.1504548788070679, -1.599706768989563, -1.7998870611190796, -0.419983446598053, 6.123939238023013e-05, -0.0002811499289236963, 0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -1.7288824319839478, -1.15036141872406, 1.6001429557800293, -1.8005057573318481, 0.42029574513435364, -0.00036072515649721026, 0.0006343250279314816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7288880348205566, -1.1510833501815796, -1.600010871887207, -1.8002947568893433, -0.4202306866645813, 0.002037797588855028, -0.0015663382364436984, 0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -0.5208000023941417, -0.5208000023941417, 0.5208000023941417, 0.5208000023941417, -1.7288836240768433, -1.1503610610961914, 1.6001441478729248, -1.8005059957504272, 0.42029550671577454, -0.00036072515649721026, 0.0006326472503133118, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7123379707336426, -1.1699103116989136, -1.6152480840682983, -1.8139383792877197, -0.4404520094394684, 0.06456896662712097, -0.029254091903567314, 0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -1.7288875579833984, -1.1503616571426392, 1.600141167640686, -1.80050790309906, 0.4202951490879059, -0.00036216326407156885, 0.0006320480024442077, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6705459356307983, -1.1906867027282715, -1.6246752738952637, -1.8296244144439697, -0.43568697571754456, 0.15312699973583221, -0.08339426666498184, 0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -1.728891372680664, -1.1503604650497437, 1.6001397371292114, -1.8005074262619019, 0.4202949106693268, -0.00036491965875029564, 0.0006206629914231598, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6231197118759155, -1.2023855447769165, -1.622828722000122, -1.8491219282150269, -0.39013636112213135, 0.223532035946846, -0.1561657190322876, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.7288910150527954, -1.1503605842590332, 1.6001394987106323, -1.8005069494247437, 0.42029598355293274, -0.0003640807408373803, 0.0006200638017617166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.5672868490219116, -1.2139159440994263, -1.6107821464538574, -1.8584202527999878, -0.38139256834983826, 0.29924166202545166, -0.19811145961284637, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288895845413208, -1.1503612995147705, 1.600141167640686, -1.800506353378296, 0.4202958643436432, -0.00036288233241066337, 0.0006173074361868203, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4948135614395142, -1.2242803573608398, -1.5871127843856812, -1.855012059211731, -0.36522728204727173, 0.39751842617988586, -0.24293282628059387, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728885531425476, -1.1503616571426392, 1.6001347303390503, -1.800505518913269, 0.4202956259250641, -0.00036072515649721026, 0.0006157494499348104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4082896709442139, -1.2310879230499268, -1.5542594194412231, -1.8360084295272827, -0.32498762011528015, 0.4770321846008301, -0.29417651891708374, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288877964019775, -1.1503617763519287, 1.600135326385498, -1.8005061149597168, 0.42029574513435364, -0.0003582084900699556, 0.0006159891490824521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3288578987121582, -1.2393540143966675, -1.5224874019622803, -1.80207097530365, -0.29244518280029297, 0.5148913264274597, -0.3300846219062805, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288880348205566, -1.1503607034683228, 1.6001389026641846, -1.8005039691925049, 0.42029646039009094, -0.00035305527853779495, 0.0006133526330813766, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2683699131011963, -1.249236822128296, -1.4814249277114868, -1.7649811506271362, -0.2697366178035736, 0.5235528945922852, -0.3505200147628784, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728892207145691, -1.1503605842590332, 1.6001379489898682, -1.8005024194717407, 0.4202963411808014, -0.00035029888385906816, 0.0006087986403144896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.220349907875061, -1.2628533840179443, -1.439107060432434, -1.7272608280181885, -0.2560856342315674, 0.5367318391799927, -0.36115720868110657, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288835048675537, -1.15036141872406, 1.6001362800598145, -1.8005015850067139, 0.4202961027622223, -0.00034526552190072834, 0.0006113153067417443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1867676973342896, -1.2759844064712524, -1.4043946266174316, -1.6987470388412476, -0.2498108148574829, 0.56382817029953, -0.37841472029685974, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288779020309448, -1.1503618955612183, 1.6001365184783936, -1.800500512123108, 0.42029672861099243, -0.00034226945717819035, 0.0006117947050370276, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.171291708946228, -1.2872432470321655, -1.3719948530197144, -1.6808205842971802, -0.2340090125799179, 0.5623723268508911, -0.3884541392326355, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728881597518921, -1.1503595113754272, 1.6001394987106323, -1.8004990816116333, 0.4202970862388611, -0.0003411908692214638, 0.0006004096940159798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1610381603240967, -1.3014471530914307, -1.346093773841858, -1.6623331308364868, -0.23149316012859344, 0.5602336525917053, -0.39173734188079834, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288864850997925, -1.1503580808639526, 1.6001386642456055, -1.800499439239502, 0.420296847820282, -0.0003409511991776526, 0.0006087986403144896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1556473970413208, -1.3153105974197388, -1.3187090158462524, -1.6532450914382935, -0.23141898214817047, 0.5603222250938416, -0.39263927936553955, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288793325424194, -1.1503583192825317, 1.600138783454895, -1.8005003929138184, 0.4202973246574402, -0.0003410710487514734, 0.0006073605036363006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1581370830535889, -1.3275206089019775, -1.2879379987716675, -1.6555695533752441, -0.21004894375801086, 0.5493457317352295, -0.4009218215942383, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728886604309082, -1.1503583192825317, 1.6001384258270264, -1.800500512123108, 0.4202973246574402, -0.0003411908692214638, 0.0006060422747395933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1793622970581055, -1.3389461040496826, -1.271835446357727, -1.6753300428390503, -0.20015273988246918, 0.539033055305481, -0.40940341353416443, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288777828216553, -1.1503565311431885, 1.60013747215271, -1.8005001544952393, 0.42029720544815063, -0.0003415504179429263, 0.0006101168692111969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1984455585479736, -1.3472059965133667, -1.2592988014221191, -1.6822259426116943, -0.18351539969444275, 0.5391108393669128, -0.41946032643318176, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288792133331299, -1.1503562927246094, 1.6001379489898682, -1.800502896308899, 0.4202973246574402, -0.0003427488263696432, 0.0006129930843599141, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2091253995895386, -1.352420449256897, -1.2513401508331299, -1.6813100576400757, -0.16359654068946838, 0.5377485752105713, -0.43891242146492004, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288774251937866, -1.1503552198410034, 1.6001408100128174, -1.8005026578903198, 0.42029696702957153, -0.0003433480451349169, 0.0006097573786973953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.2131617069244385, -1.3584052324295044, -1.2501914501190186, -1.678113579750061, -0.15038955211639404, 0.5323554277420044, -0.4489070177078247, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288833856582642, -1.1503556966781616, 1.600139856338501, -1.8005023002624512, 0.42029744386672974, -0.00034550519194453955, 0.0006093978299759328, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.214017629623413, -1.3621325492858887, -1.2637341022491455, -1.6774249076843262, -0.13693666458129883, 0.5211880803108215, -0.4653857946395874, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288769483566284, -1.1503560543060303, 1.6001397371292114, -1.8005027770996094, 0.42029720544815063, -0.00034886077628470957, 0.0006089184898883104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.206302285194397, -1.3638917207717896, -1.3014826774597168, -1.674916386604309, -0.13405470550060272, 0.5098398327827454, -0.4811500906944275, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728879690170288, -1.1503556966781616, 1.60014009475708, -1.800502896308899, 0.420296847820282, -0.00035509257577359676, 0.0006087986403144896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1853514909744263, -1.3627665042877197, -1.3450679779052734, -1.6644201278686523, -0.12905092537403107, 0.49885281920433044, -0.5020828247070312, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288717031478882, -1.1503570079803467, 1.6001399755477905, -1.800503134727478, 0.420296847820282, -0.0003590473788790405, 0.0006084390915930271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1635421514511108, -1.359892725944519, -1.3893580436706543, -1.6421996355056763, -0.13093401491641998, 0.49986177682876587, -0.5187795758247375, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288836240768433, -1.1503559350967407, 1.6001412868499756, -1.8005045652389526, 0.4202973246574402, -0.00036288233241066337, 0.0006071208626963198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.155393123626709, -1.3537925481796265, -1.434940218925476, -1.617322564125061, -0.13826295733451843, 0.4992747902870178, -0.5393303632736206, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288812398910522, -1.150356411933899, 1.6001436710357666, -1.800504207611084, 0.42029696702957153, -0.0003665974363684654, 0.000606281915679574, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1557888984680176, -1.3442800045013428, -1.4703489542007446, -1.5966544151306152, -0.1466238796710968, 0.49895602464675903, -0.5624349117279053, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728883981704712, -1.1503559350967407, 1.600144386291504, -1.8005033731460571, 0.42029672861099243, -0.0003663577663246542, 0.0006048438372090459, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1605074405670166, -1.3357785940170288, -1.485527515411377, -1.576324462890625, -0.1361381560564041, 0.4898885190486908, -0.5749644041061401, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288792133331299, -1.1503565311431885, 1.6001431941986084, -1.8005026578903198, 0.4202970862388611, -0.0003664775867946446, 0.0006074803532101214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1688988208770752, -1.3309719562530518, -1.4965215921401978, -1.5570356845855713, -0.13455504179000854, 0.4766525328159332, -0.5877662897109985, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288775444030762, -1.1503572463989258, 1.6001437902450562, -1.800502896308899, 0.420296847820282, -0.00036695695598609746, 0.0006076002027839422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.175342321395874, -1.3267878293991089, -1.4980738162994385, -1.5431357622146606, -0.12589536607265472, 0.46400487422943115, -0.5865519642829895, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728878378868103, -1.1503570079803467, 1.6001442670822144, -1.8005024194717407, 0.420296847820282, -0.00036695695598609746, 0.0006064017652533948, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1757726669311523, -1.3234328031539917, -1.4977467060089111, -1.5236610174179077, -0.12148217111825943, 0.44982632994651794, -0.5862814784049988, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288808822631836, -1.1503568887710571, 1.6001441478729248, -1.8005023002624512, 0.42029720544815063, -0.00036551884841173887, 0.0006053231772966683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1738232374191284, -1.3214576244354248, -1.5027401447296143, -1.50736403465271, -0.13448217511177063, 0.44670575857162476, -0.5887032151222229, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728875994682312, -1.1503572463989258, 1.6001442670822144, -1.800500750541687, 0.42029744386672974, -0.0003638410707935691, 0.00060556287644431, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1652487516403198, -1.320811152458191, -1.5042777061462402, -1.4870647192001343, -0.14704008400440216, 0.4380154013633728, -0.58906489610672, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288790941238403, -1.1503565311431885, 1.6001440286636353, -1.800500512123108, 0.42029744386672974, -0.00036108470521867275, 0.000607001013122499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1542332172393799, -1.320812702178955, -1.5037964582443237, -1.4598807096481323, -0.16327619552612305, 0.4253934919834137, -0.5873827934265137, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288801670074463, -1.1503567695617676, 1.6001431941986084, -1.8004989624023438, 0.42029744386672974, -0.0003582084900699556, 0.0006085589411668479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.147923231124878, -1.320832371711731, -1.5008203983306885, -1.4417530298233032, -0.17108787596225739, 0.40953177213668823, -0.5863823890686035, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288804054260254, -1.1503562927246094, 1.6001447439193726, -1.8004988431930542, 0.4202970862388611, -0.00035389416734687984, 0.000606281915679574, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1462128162384033, -1.3210482597351074, -1.499166488647461, -1.4289740324020386, -0.18493935465812683, 0.39812231063842773, -0.5812625885009766, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288818359375, -1.150356411933899, 1.6001436710357666, -1.8004977703094482, 0.4202975630760193, -0.0003510179521981627, 0.000607001013122499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1470186710357666, -1.3213958740234375, -1.4978935718536377, -1.419822096824646, -0.19545528292655945, 0.38617509603500366, -0.5787021517753601, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288818359375, -1.1503561735153198, 1.6001434326171875, -1.8004982471466064, 0.4202985167503357, -0.0003473028482403606, 0.0006065216148272157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.147390365600586, -1.3216577768325806, -1.4941880702972412, -1.4094266891479492, -0.20577728748321533, 0.3710249066352844, -0.5736815929412842, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288813591003418, -1.1503561735153198, 1.6001427173614502, -1.800498366355896, 0.42029792070388794, -0.0003450258227530867, 0.0006076002027839422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1473761796951294, -1.3218616247177124, -1.490933895111084, -1.3996764421463013, -0.2159332036972046, 0.35470595955848694, -0.5718843340873718, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728882074356079, -1.1503561735153198, 1.6001430749893188, -1.8004987239837646, 0.42029815912246704, -0.0003453853714745492, 0.0006074803532101214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.147615671157837, -1.321863055229187, -1.4902946949005127, -1.3994296789169312, -0.2159372717142105, 0.3538554608821869, -0.5710484385490417, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288817167282104, -1.1503562927246094, 1.6001436710357666, -1.8005002737045288, 0.4202985167503357, -0.0003450258227530867, 0.0006065216148272157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1476585865020752, -1.322200059890747, -1.490257740020752, -1.399441123008728, -0.21573834121227264, 0.35391825437545776, -0.5708751678466797, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288811206817627, -1.1503565311431885, 1.6001434326171875, -1.8005006313323975, 0.4202985167503357, -0.0003453853714745492, 0.0006066414644010365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1476417779922485, -1.3223639726638794, -1.4902552366256714, -1.3994667530059814, -0.21553616225719452, 0.3539431691169739, -0.5705864429473877, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728882074356079, -1.1503570079803467, 1.6001431941986084, -1.8005006313323975, 0.4202989935874939, -0.0003456250415183604, 0.0006068811635486782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1476231813430786, -1.3224701881408691, -1.490233302116394, -1.3994807004928589, -0.21548762917518616, 0.35398152470588684, -0.5705750584602356, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288821935653687, -1.1503568887710571, 1.6001434326171875, -1.8005001544952393, 0.42029982805252075, -0.0003453853714745492, 0.0006068811635486782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1476023197174072, -1.322529911994934, -1.4901745319366455, -1.3994834423065186, -0.2154514342546463, 0.3540063202381134, -0.5705738663673401, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288821935653687, -1.1503570079803467, 1.600143551826477, -1.800500512123108, 0.4202989935874939, -0.0003457448910921812, 0.000607001013122499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475796699523926, -1.3225445747375488, -1.4901224374771118, -1.3994834423065186, -0.21543453633785248, 0.3540150821208954, -0.570573627948761, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288818359375, -1.150356650352478, 1.600143313407898, -1.8005011081695557, 0.420299232006073, -0.0003465837799012661, 0.000607001013122499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475708484649658, -1.322558045387268, -1.490088701248169, -1.399483323097229, -0.2154272347688675, 0.35401928424835205, -0.5705646276473999, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.728882074356079, -1.1503571271896362, 1.6001434326171875, -1.8005014657974243, 0.420299232006073, -0.00034790203790180385, 0.0006066414644010365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.147550106048584, -1.3225948810577393, -1.490064263343811, -1.3994832038879395, -0.2154262661933899, 0.35401976108551025, -0.5704922676086426, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7288819551467896, -1.1503567695617676, 1.600143313407898, -1.8005013465881348, 0.42029935121536255, -0.0003487409558147192, 0.0006071208626963198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475468873977661, -1.322765588760376, -1.4900293350219727, -1.39948308467865, -0.21542327105998993, 0.3540198802947998, -0.5704004764556885, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7284818887710571, -1.1504167318344116, 1.6002237796783447, -1.8004087209701538, 0.42076531052589417, -0.0003457448910921812, 0.0010741461301222444, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475603580474854, -1.322761058807373, -1.4900249242782593, -1.399478554725647, -0.21519869565963745, 0.3540416955947876, -0.570069432258606, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7046902179718018, -1.1683355569839478, 1.6156408786773682, -1.788300633430481, 0.4858577251434326, 0.02543172426521778, 0.05634623020887375, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1475341320037842, -1.3227839469909668, -1.489836573600769, -1.3995591402053833, -0.21535591781139374, 0.3540365397930145, -0.570330798625946, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6671290397644043, -1.1949875354766846, 1.6324156522750854, -1.7863001823425293, 0.5633602142333984, 0.07444240897893906, 0.1421363800764084, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474376916885376, -1.3228387832641602, -1.4898195266723633, -1.3995836973190308, -0.2154611498117447, 0.3540048897266388, -0.5704014301300049, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6364027261734009, -1.214594841003418, 1.6609997749328613, -1.7909228801727295, 0.6923089027404785, 0.16325414180755615, 0.22791311144828796, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474454402923584, -1.3228389024734497, -1.4898205995559692, -1.3995779752731323, -0.2154632955789566, 0.354000449180603, -0.5703744292259216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5987763404846191, -1.2264513969421387, 1.6854479312896729, -1.7904244661331177, 0.8352805972099304, 0.27744799852371216, 0.2933148741722107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474668979644775, -1.3228404521942139, -1.4898196458816528, -1.3995729684829712, -0.21546617150306702, 0.3539990186691284, -0.5703794956207275, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.553683876991272, -1.2357841730117798, 1.6907696723937988, -1.7871297597885132, 0.9403563737869263, 0.3994390070438385, 0.3373171091079712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474695205688477, -1.322868824005127, -1.4898015260696411, -1.3995710611343384, -0.2154739648103714, 0.3539864420890808, -0.5703741908073425, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5007824897766113, -1.244650959968567, 1.6849145889282227, -1.7564510107040405, 1.0540742874145508, 0.5306454300880432, 0.3676949441432953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147428274154663, -1.323056697845459, -1.4897692203521729, -1.3995786905288696, -0.21565601229667664, 0.35391345620155334, -0.5703935027122498, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4475334882736206, -1.251546025276184, 1.6671817302703857, -1.7187492847442627, 1.13916015625, 0.6378839612007141, 0.3686271011829376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147382140159607, -1.3231046199798584, -1.4897526502609253, -1.399593472480774, -0.21574661135673523, 0.3538820445537567, -0.5703975558280945, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4001615047454834, -1.2567980289459229, 1.6433165073394775, -1.6825737953186035, 1.202047348022461, 0.7272298336029053, 0.3721276819705963, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473827362060547, -1.3231041431427002, -1.4897050857543945, -1.3995952606201172, -0.21574744582176208, 0.3538835048675537, -0.5704038143157959, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3531161546707153, -1.2616991996765137, 1.6109998226165771, -1.6403800249099731, 1.259116291999817, 0.8022913932800293, 0.36461514234542847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147348165512085, -1.3231055736541748, -1.4896150827407837, -1.399614691734314, -0.2157527208328247, 0.35388290882110596, -0.5704448819160461, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3070813417434692, -1.2668567895889282, 1.5732662677764893, -1.5947685241699219, 1.2977005243301392, 0.8591732978820801, 0.3639815151691437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1472715139389038, -1.3231157064437866, -1.4895861148834229, -1.3996208906173706, -0.21574625372886658, 0.35388338565826416, -0.5704430937767029, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2620114088058472, -1.27206289768219, 1.5289875268936157, -1.536611557006836, 1.3128514289855957, 0.8913306593894958, 0.39753398299217224, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.147269368171692, -1.3231991529464722, -1.489446759223938, -1.3997217416763306, -0.21576662361621857, 0.35388097167015076, -0.5706977844238281, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.220778226852417, -1.2790472507476807, 1.4954110383987427, -1.4839154481887817, 1.3337008953094482, 0.9257873892784119, 0.40573251247406006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1472671031951904, -1.3231972455978394, -1.4894583225250244, -1.3997199535369873, -0.2157432585954666, 0.35387906432151794, -0.570427656173706, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1843154430389404, -1.2847113609313965, 1.4639118909835815, -1.4472393989562988, 1.348422884941101, 0.9668643474578857, 0.39743441343307495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472841501235962, -1.3232067823410034, -1.4894567728042603, -1.399716854095459, -0.21574409306049347, 0.353877991437912, -0.5705190896987915, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1459723711013794, -1.292911410331726, 1.428018569946289, -1.4040409326553345, 1.3622454404830933, 0.9982336759567261, 0.3808639347553253, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1472758054733276, -1.3232632875442505, -1.489457368850708, -1.3997254371643066, -0.21576985716819763, 0.3538631200790405, -0.5705610513687134, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1192654371261597, -1.3008203506469727, 1.396132230758667, -1.3750131130218506, 1.3743232488632202, 1.0068602561950684, 0.37181344628334045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472700834274292, -1.3233321905136108, -1.4894564151763916, -1.399725079536438, -0.21577320992946625, 0.35384324193000793, -0.5705636739730835, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0972625017166138, -1.3022836446762085, 1.3618561029434204, -1.3518496751785278, 1.382826805114746, 1.0058268308639526, 0.36251214146614075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472723484039307, -1.3233362436294556, -1.4894574880599976, -1.3997162580490112, -0.21575500071048737, 0.35384082794189453, -0.5704663395881653, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0703691244125366, -1.302272081375122, 1.3241063356399536, -1.3248077630996704, 1.3888098001480103, 1.005635380744934, 0.35036540031433105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472736597061157, -1.3233643770217896, -1.4894514083862305, -1.3997182846069336, -0.21575643122196198, 0.35383760929107666, -0.5705828666687012, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0472537279129028, -1.3023382425308228, 1.2855603694915771, -1.3060507774353027, 1.3810701370239258, 1.0054987668991089, 0.3417060971260071, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472736597061157, -1.3233712911605835, -1.4894514083862305, -1.3997163772583008, -0.21574708819389343, 0.3538369834423065, -0.5705060362815857, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0314910411834717, -1.3057587146759033, 1.2556899785995483, -1.2882347106933594, 1.380692958831787, 1.005479097366333, 0.3408810794353485, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472722291946411, -1.323412537574768, -1.4894416332244873, -1.399715781211853, -0.21573929488658905, 0.35383591055870056, -0.57053142786026, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.017654299736023, -1.3112071752548218, 1.2322885990142822, -1.268897294998169, 1.3960399627685547, 1.0054537057876587, 0.3197355270385742, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.147278070449829, -1.3234609365463257, -1.4894065856933594, -1.3997124433517456, -0.21572527289390564, 0.3538367450237274, -0.5705249905586243, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0075149536132812, -1.3164033889770508, 1.218102216720581, -1.2444580793380737, 1.396936058998108, 1.0054227113723755, 0.31823161244392395, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472804546356201, -1.3234646320343018, -1.4893604516983032, -1.3997117280960083, -0.21571987867355347, 0.35383471846580505, -0.5705232620239258, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9985042214393616, -1.3165829181671143, 1.2023643255233765, -1.2234996557235718, 1.396722435951233, 1.005342960357666, 0.3257432281970978, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472753286361694, -1.3234635591506958, -1.489363193511963, -1.3997122049331665, -0.2157021462917328, 0.35382896661758423, -0.5704804062843323, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9965788722038269, -1.3160020112991333, 1.1925861835479736, -1.215208649635315, 1.3980633020401, 1.0053209066390991, 0.32834917306900024, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1472755670547485, -1.3234606981277466, -1.4893651008605957, -1.3997111320495605, -0.21567410230636597, 0.35382571816444397, -0.5704366564750671, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.994753360748291, -1.312621831893921, 1.175000548362732, -1.2064838409423828, 1.409658432006836, 1.0051889419555664, 0.328637033700943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1472784280776978, -1.3234621286392212, -1.489363670349121, -1.399711012840271, -0.2156609147787094, 0.35382547974586487, -0.5704651474952698, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9925759434700012, -1.3066431283950806, 1.1573033332824707, -1.2042088508605957, 1.4226360321044922, 1.0051549673080444, 0.3283865749835968, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.147282600402832, -1.323461890220642, -1.4893625974655151, -1.3996957540512085, -0.21565109491348267, 0.353828489780426, -0.5704405903816223, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9909892678260803, -1.3046804666519165, 1.1534534692764282, -1.200735092163086, 1.4273481369018555, 1.0051506757736206, 0.32599693536758423, 0.4884000031502692, 0.4884000031502692, 0.4884000031502692, 0.4884000031502692, -0.4884000031502692, -0.4884000031502692, -0.4884000031502692, 0.4884000031502692, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.147304654121399, -1.323461890220642, -1.4893600940704346, -1.3996855020523071, -0.21563179790973663, 0.3538309931755066, -0.5704358220100403, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9867404103279114, -1.3032052516937256, 1.1519521474838257, -1.189044713973999, 1.427605390548706, 1.0050415992736816, 0.3260504901409149, 0.393600007727906, 0.393600007727906, 0.393600007727906, 0.393600007727906, -0.393600007727906, -0.393600007727906, -0.393600007727906, 0.393600007727906, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473065614700317, -1.323465347290039, -1.4893529415130615, -1.3996784687042236, -0.21561922132968903, 0.35383832454681396, -0.5704280138015747, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9836927652359009, -1.3021905422210693, 1.151594877243042, -1.175735592842102, 1.4284718036651611, 1.0049517154693604, 0.32756662368774414, 0.32579999284429867, 0.32579999284429867, 0.32579999284429867, 0.32579999284429867, -0.32579999284429867, -0.32579999284429867, -0.32579999284429867, 0.32579999284429867, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1473027467727661, -1.3234708309173584, -1.4893338680267334, -1.399679183959961, -0.2156212478876114, 0.35384395718574524, -0.5704337954521179, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9823617935180664, -1.2992591857910156, 1.1505632400512695, -1.1694846153259277, 1.428653597831726, 1.0049117803573608, 0.3282400071620941, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.28320000957656694, -0.28320000957656694, -0.28320000957656694, 0.28320000957656694, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473051309585571, -1.323476791381836, -1.4893039464950562, -1.3996763229370117, -0.21561934053897858, 0.3538549840450287, -0.5704017877578735, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9843345284461975, -1.2969787120819092, 1.1551309823989868, -1.1695932149887085, 1.4264293909072876, 1.004900336265564, 0.3306303918361664, 0.22499998428009368, 0.22499998428009368, 0.22499998428009368, 0.22499998428009368, -0.22499998428009368, -0.22499998428009368, -0.22499998428009368, 0.22499998428009368, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473009586334229, -1.3234814405441284, -1.4892991781234741, -1.3996598720550537, -0.2156137079000473, 0.35386624932289124, -0.5702555775642395, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9855599403381348, -1.2956140041351318, 1.156538486480713, -1.1657824516296387, 1.4203869104385376, 1.0048270225524902, 0.33473294973373413, 0.18300001018649928, 0.18300001018649928, 0.18300001018649928, 0.18300001018649928, -0.18300001018649928, -0.18300001018649928, -0.18300001018649928, 0.18300001018649928, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1472983360290527, -1.3235180377960205, -1.489197850227356, -1.399665117263794, -0.21561694145202637, 0.3538708984851837, -0.5702682733535767, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9877859950065613, -1.2946386337280273, 1.1635072231292725, -1.1602184772491455, 1.418813943862915, 1.0047818422317505, 0.34033387899398804, 0.095999996478741, 0.095999996478741, 0.095999996478741, 0.095999996478741, -0.095999996478741, -0.095999996478741, -0.095999996478741, 0.095999996478741, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473010778427124, -1.3235256671905518, -1.489194631576538, -1.3996620178222656, -0.2156035155057907, 0.35387176275253296, -0.5702162384986877, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9894155263900757, -1.2911350727081299, 1.1655519008636475, -1.1566392183303833, 1.4144539833068848, 1.0047026872634888, 0.34519410133361816, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147301435470581, -1.3235267400741577, -1.4891948699951172, -1.3996607065200806, -0.21559728682041168, 0.35387152433395386, -0.5702047348022461, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9888938069343567, -1.2878190279006958, 1.1648012399673462, -1.1439393758773804, 1.4141713380813599, 1.0046924352645874, 0.35612741112709045, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473002433776855, -1.3235257863998413, -1.4891998767852783, -1.3996607065200806, -0.21559524536132812, 0.35387006402015686, -0.5701947808265686, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9868692755699158, -1.2836389541625977, 1.1635996103286743, -1.139185905456543, 1.41038978099823, 1.004692792892456, 0.3597865700721741, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473008394241333, -1.323527216911316, -1.4891988039016724, -1.3996609449386597, -0.2155989557504654, 0.35386922955513, -0.5702230930328369, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9871063232421875, -1.2800953388214111, 1.1690986156463623, -1.1370307207107544, 1.4038623571395874, 1.0046942234039307, 0.3680621385574341, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147306203842163, -1.3235262632369995, -1.4892008304595947, -1.3996601104736328, -0.21559225022792816, 0.3538687527179718, -0.5702127814292908, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9871201515197754, -1.275769591331482, 1.1739165782928467, -1.1374692916870117, 1.4025572538375854, 1.0046956539154053, 0.3713367283344269, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473133563995361, -1.3235269784927368, -1.4892008304595947, -1.3996598720550537, -0.2155923694372177, 0.35386863350868225, -0.5702242851257324, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9891905188560486, -1.2702932357788086, 1.1740957498550415, -1.1510982513427734, 1.4064075946807861, 1.0046974420547485, 0.3674601912498474, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473400592803955, -1.323527455329895, -1.4892034530639648, -1.3996587991714478, -0.2155885398387909, 0.35386648774147034, -0.5702241659164429, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.995288074016571, -1.266033411026001, 1.178797960281372, -1.1794252395629883, 1.4180806875228882, 1.004702091217041, 0.3599221110343933, 0.42540000271011186, 0.42540000271011186, 0.42540000271011186, 0.42540000271011186, -0.42540000271011186, -0.42540000271011186, -0.42540000271011186, 0.42540000271011186, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.147339940071106, -1.323529839515686, -1.489203929901123, -1.3996425867080688, -0.2155570238828659, 0.35386624932289124, -0.5702024698257446, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9990454912185669, -1.261696696281433, 1.184590458869934, -1.202554702758789, 1.429811716079712, 1.0047072172164917, 0.35283833742141724, 0.5652000009031086, 0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.5652000009031086, -0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147343397140503, -1.3235304355621338, -1.489203929901123, -1.3996198177337646, -0.21550177037715912, 0.35386577248573303, -0.5701943039894104, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9943258762359619, -1.2594640254974365, 1.1834297180175781, -1.2054712772369385, 1.443748116493225, 1.0047136545181274, 0.34125906229019165, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473435163497925, -1.3235324621200562, -1.48920476436615, -1.3996230363845825, -0.21550212800502777, 0.353866845369339, -0.5701932311058044, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9826701283454895, -1.257039189338684, 1.1701452732086182, -1.2052065134048462, 1.4576780796051025, 1.0047153234481812, 0.3364943861961365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473358869552612, -1.3235390186309814, -1.489205241203308, -1.3996331691741943, -0.21550896763801575, 0.3538658916950226, -0.5701956152915955, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9682830572128296, -1.2570197582244873, 1.153693437576294, -1.208362340927124, 1.4596481323242188, 1.0047190189361572, 0.33183467388153076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473346948623657, -1.3235670328140259, -1.4892040491104126, -1.3996373414993286, -0.21551471948623657, 0.3538646697998047, -0.5702130198478699, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9557234644889832, -1.2576946020126343, 1.1369438171386719, -1.2082581520080566, 1.4596672058105469, 1.0047218799591064, 0.3323116600513458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473348140716553, -1.3235830068588257, -1.4892027378082275, -1.399638295173645, -0.21552753448486328, 0.3538651466369629, -0.5702535510063171, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9428727626800537, -1.2612199783325195, 1.1216273307800293, -1.2025957107543945, 1.4609423875808716, 1.0047274827957153, 0.3334398567676544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147334337234497, -1.323600172996521, -1.4891997575759888, -1.3996434211730957, -0.21555522084236145, 0.353865385055542, -0.5703521370887756, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.931466817855835, -1.2631967067718506, 1.1052557229995728, -1.199432611465454, 1.4640803337097168, 1.0047318935394287, 0.33125728368759155, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473219394683838, -1.3236035108566284, -1.4892011880874634, -1.3996459245681763, -0.21556097269058228, 0.35386550426483154, -0.5702706575393677, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9249864816665649, -1.264575719833374, 1.0955811738967896, -1.198757290840149, 1.4664688110351562, 1.0047355890274048, 0.327422559261322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473239660263062, -1.3236035108566284, -1.4891992807388306, -1.399644374847412, -0.21555761992931366, 0.3538680374622345, -0.5702558159828186, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9154075384140015, -1.2646793127059937, 1.0763887166976929, -1.1882730722427368, 1.469346523284912, 1.0047352313995361, 0.3282231092453003, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473252773284912, -1.3236041069030762, -1.489194393157959, -1.3996442556381226, -0.2155579775571823, 0.35387030243873596, -0.570324718952179, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9126271605491638, -1.2650192975997925, 1.0601505041122437, -1.182971477508545, 1.4656870365142822, 1.0047342777252197, 0.33543652296066284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473267078399658, -1.323602318763733, -1.4891921281814575, -1.3996431827545166, -0.2155541479587555, 0.35387054085731506, -0.5703127384185791, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.907060444355011, -1.2691692113876343, 1.0488300323486328, -1.1695921421051025, 1.4586470127105713, 1.004734754562378, 0.35415756702423096, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147325873374939, -1.323602557182312, -1.489192008972168, -1.3996422290802002, -0.21555174887180328, 0.3538701832294464, -0.570293664932251, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8965479135513306, -1.2767260074615479, 1.040168046951294, -1.1568856239318848, 1.4528234004974365, 1.0047351121902466, 0.36280515789985657, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147325038909912, -1.3236078023910522, -1.4891694784164429, -1.3996431827545166, -0.21555952727794647, 0.3538687527179718, -0.5703499913215637, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8904878497123718, -1.2805325984954834, 1.0354046821594238, -1.152474045753479, 1.4512912034988403, 1.0047348737716675, 0.3686476945877075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473444700241089, -1.3236078023910522, -1.4891465902328491, -1.3996435403823853, -0.21556301414966583, 0.35386958718299866, -0.570415198802948, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8841935992240906, -1.2792606353759766, 1.020263433456421, -1.1418184041976929, 1.4550188779830933, 1.003187894821167, 0.37051698565483093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473699808120728, -1.3235974311828613, -1.4891035556793213, -1.3996456861495972, -0.21558493375778198, 0.35386815667152405, -0.5705195665359497, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8772392868995667, -1.2761058807373047, 1.0117931365966797, -1.130631923675537, 1.4555706977844238, 1.0017327070236206, 0.37844276428222656, 0.5375999989090384, 0.5375999989090384, 0.5375999989090384, 0.5375999989090384, -0.5375999989090384, -0.5375999989090384, -0.5375999989090384, 0.5375999989090384, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473801136016846, -1.3235777616500854, -1.489112138748169, -1.399664044380188, -0.2156360000371933, 0.3538625240325928, -0.5704630017280579, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8736531138420105, -1.2726995944976807, 1.0051987171173096, -1.126890778541565, 1.45774507522583, 1.0014909505844116, 0.38110387325286865, 0.4055999947118235, 0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473809480667114, -1.3235729932785034, -1.4891165494918823, -1.3996734619140625, -0.2156827300786972, 0.35386180877685547, -0.5704411864280701, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.87218177318573, -1.2688567638397217, 0.9955787062644958, -1.1205394268035889, 1.4644412994384766, 1.001461148262024, 0.38009360432624817, 0.3107999992894602, 0.3107999992894602, 0.3107999992894602, 0.3107999992894602, -0.3107999992894602, -0.3107999992894602, -0.3107999992894602, 0.3107999992894602, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473932266235352, -1.3235753774642944, -1.489126443862915, -1.3996747732162476, -0.21568500995635986, 0.3538609743118286, -0.5705118775367737, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.866910994052887, -1.2650833129882812, 0.9867666959762573, -1.1123063564300537, 1.4693900346755981, 1.000481367111206, 0.3803214132785797, 0.265800018624945, 0.265800018624945, 0.265800018624945, 0.265800018624945, -0.265800018624945, -0.265800018624945, -0.265800018624945, 0.265800018624945, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474319696426392, -1.3235846757888794, -1.489123821258545, -1.3996741771697998, -0.21569795906543732, 0.35386157035827637, -0.5705633163452148, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8650763630867004, -1.263351321220398, 0.9834551215171814, -1.103347659111023, 1.4720288515090942, 1.0001238584518433, 0.38117146492004395, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474558115005493, -1.3236045837402344, -1.4891191720962524, -1.3996745347976685, -0.21571269631385803, 0.35386228561401367, -0.5705782771110535, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8624571561813354, -1.2633005380630493, 0.9800666570663452, -1.0926368236541748, 1.4733773469924927, 0.9996188282966614, 0.38186725974082947, 0.193800018121908, 0.193800018121908, 0.193800018121908, 0.193800018121908, -0.193800018121908, -0.193800018121908, -0.193800018121908, 0.193800018121908, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474329233169556, -1.323599934577942, -1.4891234636306763, -1.3996778726577759, -0.21573449671268463, 0.3538597524166107, -0.5705184936523438, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8608456254005432, -1.2624523639678955, 0.9777466654777527, -1.0824823379516602, 1.4734580516815186, 0.9994896054267883, 0.3850152790546417, 0.14040000726888469, 0.14040000726888469, 0.14040000726888469, 0.14040000726888469, -0.14040000726888469, -0.14040000726888469, -0.14040000726888469, 0.14040000726888469, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474058628082275, -1.323714017868042, -1.4891148805618286, -1.3996692895889282, -0.21577931940555573, 0.35385653376579285, -0.5705243945121765, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8603774905204773, -1.2615725994110107, 0.9739171862602234, -1.0739341974258423, 1.4771437644958496, 0.9992629885673523, 0.3871113061904907, 0.09060001216091955, 0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.09060001216091955, -0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474336385726929, -1.3237371444702148, -1.4890486001968384, -1.3996354341506958, -0.21572372317314148, 0.353861927986145, -0.5705308318138123, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8525145053863525, -1.2611631155014038, 0.9638849496841431, -1.05812406539917, 1.4780889749526978, 0.998993456363678, 0.39741870760917664, 0.05280000403687195, 0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474322080612183, -1.3237147331237793, -1.489048957824707, -1.3996520042419434, -0.21572192013263702, 0.3538621664047241, -0.5705059170722961, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8507172465324402, -1.260794758796692, 0.9626993536949158, -1.0561037063598633, 1.4747049808502197, 0.9993209838867188, 0.4047588109970093, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1472934484481812, -1.3237980604171753, -1.488711953163147, -1.3997297286987305, -0.21577537059783936, 0.35385701060295105, -0.5706440806388855, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8547818660736084, -1.2609401941299438, 0.9695057272911072, -1.0638023614883423, 1.4727981090545654, 0.9993158578872681, 0.4137287735939026, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147247314453125, -1.323835015296936, -1.488673448562622, -1.3997306823730469, -0.2157890349626541, 0.35385653376579285, -0.5706596970558167, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8596755266189575, -1.2582978010177612, 0.9717308282852173, -1.0787270069122314, 1.481960654258728, 0.9990505576133728, 0.41924330592155457, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.147315263748169, -1.323833703994751, -1.4886800050735474, -1.3997201919555664, -0.215784952044487, 0.3538568913936615, -0.5707506537437439, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8637192845344543, -1.2477248907089233, 0.9713907241821289, -1.0985243320465088, 1.495887279510498, 0.9989659190177917, 0.41737425327301025, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473160982131958, -1.3238279819488525, -1.4887566566467285, -1.399715781211853, -0.21578243374824524, 0.3538495898246765, -0.5706558227539062, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8733850717544556, -1.232444405555725, 0.9722210764884949, -1.1302443742752075, 1.5089768171310425, 0.9991218447685242, 0.413114458322525, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147310495376587, -1.323840618133545, -1.488774299621582, -1.399697184562683, -0.21574504673480988, 0.35384443402290344, -0.5705679655075073, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8884297013282776, -1.2210941314697266, 0.9834585785865784, -1.1600450277328491, 1.5169613361358643, 0.9998478293418884, 0.39965423941612244, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147299885749817, -1.3239600658416748, -1.488744854927063, -1.3996773958206177, -0.21573582291603088, 0.35383927822113037, -0.570611834526062, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.91043621301651, -1.2099791765213013, 0.998576819896698, -1.196157693862915, 1.5233980417251587, 1.0003403425216675, 0.3885400891304016, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147307276725769, -1.3241028785705566, -1.4886350631713867, -1.3996466398239136, -0.21570825576782227, 0.3538409471511841, -0.5706806182861328, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9398850202560425, -1.196589469909668, 1.016890048980713, -1.2419145107269287, 1.5306984186172485, 1.0006643533706665, 0.3900986313819885, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147336483001709, -1.3240938186645508, -1.4886258840560913, -1.3995729684829712, -0.21553508937358856, 0.3538511395454407, -0.5705544352531433, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9622091054916382, -1.1812052726745605, 1.039470911026001, -1.2890442609786987, 1.5437066555023193, 1.0006687641143799, 0.39154043793678284, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147332787513733, -1.324079155921936, -1.4886285066604614, -1.3995832204818726, -0.2155555784702301, 0.3538537621498108, -0.5704264640808105, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9861313104629517, -1.1625311374664307, 1.0585432052612305, -1.3430578708648682, 1.5477136373519897, 1.0006455183029175, 0.3866952359676361, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.147351622581482, -1.3240787982940674, -1.4886014461517334, -1.3995890617370605, -0.2155989557504654, 0.3538612127304077, -0.5705485939979553, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0171102285385132, -1.1426589488983154, 1.0764652490615845, -1.39219331741333, 1.5503478050231934, 1.0005725622177124, 0.3790128529071808, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147375464439392, -1.3240858316421509, -1.4885196685791016, -1.3996151685714722, -0.215633362531662, 0.3538694679737091, -0.5707041025161743, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0588618516921997, -1.1181316375732422, 1.0978926420211792, -1.4502785205841064, 1.5423476696014404, 1.0005545616149902, 0.3746933937072754, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1474107503890991, -1.3240509033203125, -1.4885201454162598, -1.399594783782959, -0.215544193983078, 0.35390254855155945, -0.570433497428894, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1009196043014526, -1.0908206701278687, 1.11903977394104, -1.5067702531814575, 1.5297532081604004, 1.0006211996078491, 0.3898226320743561, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1474193334579468, -1.3240606784820557, -1.4885081052780151, -1.3995980024337769, -0.21556468307971954, 0.3539079427719116, -0.570522665977478, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1392979621887207, -1.0600749254226685, 1.1376875638961792, -1.5565298795700073, 1.5107537508010864, 1.0006638765335083, 0.411393404006958, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1474194526672363, -1.3240752220153809, -1.4884921312332153, -1.399573564529419, -0.21550896763801575, 0.3539147675037384, -0.5703880786895752, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.175866961479187, -1.031738042831421, 1.1535694599151611, -1.594237208366394, 1.4914591312408447, 1.0007177591323853, 0.43464794754981995, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1474381685256958, -1.3240760564804077, -1.488469123840332, -1.3995826244354248, -0.2155771553516388, 0.35391393303871155, -0.5706209540367126, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2166738510131836, -1.0064618587493896, 1.167838454246521, -1.6251258850097656, 1.4642809629440308, 1.00067138671875, 0.467538058757782, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474896669387817, -1.3240712881088257, -1.4884670972824097, -1.3995535373687744, -0.21554479002952576, 0.3539261519908905, -0.5704909563064575, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2572325468063354, -0.9845754504203796, 1.179566740989685, -1.6509929895401, 1.4411349296569824, 1.0006475448608398, 0.5027243494987488, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475011110305786, -1.324053406715393, -1.4884693622589111, -1.3995451927185059, -0.21554934978485107, 0.35392099618911743, -0.5704495906829834, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.284607172012329, -0.967444658279419, 1.189752221107483, -1.6568195819854736, 1.4271804094314575, 1.0006664991378784, 0.5274459719657898, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474919319152832, -1.3240858316421509, -1.4884657859802246, -1.3995472192764282, -0.21554262936115265, 0.3539204001426697, -0.5704377293586731, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2998716831207275, -0.957663893699646, 1.1944538354873657, -1.656815767288208, 1.4205235242843628, 1.0005567073822021, 0.5378772020339966, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474902629852295, -1.3240922689437866, -1.4884629249572754, -1.3995469808578491, -0.21554407477378845, 0.3539199233055115, -0.5705283284187317, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3125026226043701, -0.9538318514823914, 1.1949121952056885, -1.6496565341949463, 1.4121695756912231, 1.000496506690979, 0.5487276911735535, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474930047988892, -1.3240923881530762, -1.4884601831436157, -1.399545431137085, -0.21554119884967804, 0.3539204001426697, -0.5705146789550781, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3132261037826538, -0.9521661400794983, 1.178791880607605, -1.6245365142822266, 1.40302312374115, 1.0003315210342407, 0.5622945427894592, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474928855895996, -1.3240922689437866, -1.4884588718414307, -1.3995448350906372, -0.21553927659988403, 0.3539198040962219, -0.5705053210258484, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.307413101196289, -0.9546799659729004, 1.1543623208999634, -1.5874218940734863, 1.391844391822815, 1.0000054836273193, 0.569645345211029, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474988460540771, -1.3240922689437866, -1.4884512424468994, -1.399543046951294, -0.2155340015888214, 0.3539199233055115, -0.5705053210258484, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2968910932540894, -0.9651284217834473, 1.1314120292663574, -1.539768099784851, 1.3874733448028564, 0.9991242289543152, 0.5691219568252563, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475319862365723, -1.3240965604782104, -1.4883204698562622, -1.399545431137085, -0.21554839611053467, 0.35391944646835327, -0.5707299113273621, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2809805870056152, -0.9854475855827332, 1.1095740795135498, -1.500550389289856, 1.3671400547027588, 0.9955769181251526, 0.5651096701622009, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475321054458618, -1.3241033554077148, -1.4882820844650269, -1.3995534181594849, -0.21561501920223236, 0.35391658544540405, -0.5708115100860596, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2688010931015015, -1.00690758228302, 1.1022088527679443, -1.4606926441192627, 1.35003662109375, 0.9953241348266602, 0.5719310641288757, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147528886795044, -1.3241052627563477, -1.488285779953003, -1.3995659351348877, -0.21569328010082245, 0.35390567779541016, -0.5708418488502502, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2663991451263428, -1.020935297012329, 1.1079992055892944, -1.4376237392425537, 1.3239848613739014, 0.9949833154678345, 0.5893035531044006, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474944353103638, -1.324116587638855, -1.4882903099060059, -1.3995676040649414, -0.21569207310676575, 0.35389405488967896, -0.5707646608352661, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2699345350265503, -1.0261883735656738, 1.1207128763198853, -1.4266082048416138, 1.3054291009902954, 0.994986891746521, 0.6055015325546265, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474905014038086, -1.3242266178131104, -1.488288164138794, -1.3995672464370728, -0.21568284928798676, 0.35389429330825806, -0.5707331299781799, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.274562954902649, -1.0276250839233398, 1.1328403949737549, -1.4203242063522339, 1.2938350439071655, 0.9949816465377808, 0.6172620058059692, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475043296813965, -1.3243942260742188, -1.4881312847137451, -1.3995667695999146, -0.21567434072494507, 0.3538990616798401, -0.5708330869674683, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.284521222114563, -1.0275747776031494, 1.147971510887146, -1.4244695901870728, 1.2855184078216553, 0.9949593544006348, 0.6233453154563904, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.147502064704895, -1.3244247436523438, -1.4881030321121216, -1.3995659351348877, -0.21566930413246155, 0.35390135645866394, -0.5708080530166626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3042705059051514, -1.0244908332824707, 1.1679662466049194, -1.4433835744857788, 1.2822922468185425, 0.9946653842926025, 0.6269586682319641, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475000381469727, -1.324531078338623, -1.4878407716751099, -1.3995652198791504, -0.21565768122673035, 0.3539074659347534, -0.570816159248352, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3143894672393799, -1.0224859714508057, 1.1806880235671997, -1.4453802108764648, 1.2840403318405151, 0.9931599497795105, 0.6292903423309326, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1474910974502563, -1.3246805667877197, -1.4878095388412476, -1.3995662927627563, -0.21566739678382874, 0.3539074659347534, -0.570877194404602, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.316348910331726, -1.0191341638565063, 1.1858288049697876, -1.4425320625305176, 1.2840793132781982, 0.9929755926132202, 0.6384903788566589, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474756002426147, -1.324733018875122, -1.4876723289489746, -1.3995683193206787, -0.21568931639194489, 0.35390686988830566, -0.5710184574127197, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3167270421981812, -1.0181738138198853, 1.187406301498413, -1.436650276184082, 1.2864738702774048, 0.9923761487007141, 0.6410587430000305, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147415041923523, -1.3247342109680176, -1.48768150806427, -1.399568796157837, -0.21568669378757477, 0.35390663146972656, -0.5708888173103333, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3128042221069336, -1.0190244913101196, 1.1809279918670654, -1.4341765642166138, 1.2954177856445312, 0.9923216104507446, 0.6344777941703796, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474303007125854, -1.324569821357727, -1.4879698753356934, -1.3995662927627563, -0.21558637917041779, 0.35390961170196533, -0.5705936551094055, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3011258840560913, -1.0264346599578857, 1.1574198007583618, -1.4319965839385986, 1.311397671699524, 0.992841362953186, 0.6068325042724609, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147481918334961, -1.3242418766021729, -1.4881927967071533, -1.3995620012283325, -0.2155071645975113, 0.35391825437545776, -0.5705111622810364, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.276118516921997, -1.0415037870407104, 1.1256394386291504, -1.4114353656768799, 1.324641466140747, 0.9947503209114075, 0.5842989087104797, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474857330322266, -1.3242350816726685, -1.4883469343185425, -1.3995620012283325, -0.21550488471984863, 0.3539178967475891, -0.5704882740974426, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2457218170166016, -1.0599756240844727, 1.094312071800232, -1.3882747888565063, 1.3295001983642578, 0.996881365776062, 0.569679856300354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474789381027222, -1.3242378234863281, -1.4884291887283325, -1.3995627164840698, -0.21550799906253815, 0.3539130985736847, -0.5704108476638794, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2270337343215942, -1.0754278898239136, 1.0720936059951782, -1.382344126701355, 1.3294869661331177, 0.9985936880111694, 0.5602412819862366, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474796533584595, -1.3242435455322266, -1.4884278774261475, -1.3995640277862549, -0.21551410853862762, 0.3539069890975952, -0.5704378485679626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2144639492034912, -1.092787265777588, 1.0564008951187134, -1.3720077276229858, 1.3331427574157715, 0.9986363649368286, 0.5548179745674133, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474870443344116, -1.3242422342300415, -1.4884265661239624, -1.399565577507019, -0.2155231088399887, 0.35390639305114746, -0.570612907409668, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.199914574623108, -1.1077505350112915, 1.0421197414398193, -1.361981987953186, 1.3365957736968994, 0.998634934425354, 0.549943745136261, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474881172180176, -1.324234962463379, -1.4884332418441772, -1.3995680809020996, -0.21554875373840332, 0.35390254855155945, -0.5706309080123901, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1886582374572754, -1.1244049072265625, 1.0310542583465576, -1.3523486852645874, 1.3407090902328491, 0.9986211061477661, 0.5403369665145874, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474846601486206, -1.3242310285568237, -1.4884607791900635, -1.3995860815048218, -0.21564581990242004, 0.3538857698440552, -0.5706411004066467, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1840587854385376, -1.1350089311599731, 1.0245107412338257, -1.3504886627197266, 1.3395261764526367, 0.9985139966011047, 0.5398116707801819, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474854946136475, -1.324222445487976, -1.4885210990905762, -1.3995882272720337, -0.2156718224287033, 0.3538762927055359, -0.570633053779602, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.183992624282837, -1.1407526731491089, 1.017167329788208, -1.35029137134552, 1.3379067182540894, 0.9987043142318726, 0.5387491583824158, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474854946136475, -1.32421875, -1.4885201454162598, -1.3995881080627441, -0.2156722992658615, 0.3538762927055359, -0.5706447958946228, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.185319423675537, -1.1429768800735474, 1.0165046453475952, -1.3525842428207397, 1.335343599319458, 0.9988314509391785, 0.5415606498718262, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474703550338745, -1.3242321014404297, -1.4885131120681763, -1.3996078968048096, -0.2157299518585205, 0.3538728356361389, -0.5708070993423462, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2042896747589111, -1.1375024318695068, 1.0248584747314453, -1.3807177543640137, 1.3339776992797852, 0.9996206164360046, 0.5426626205444336, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474100351333618, -1.3242454528808594, -1.488505482673645, -1.3996092081069946, -0.2157251536846161, 0.35387128591537476, -0.5706487894058228, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2379028797149658, -1.121511459350586, 1.0376486778259277, -1.4187859296798706, 1.3376796245574951, 1.000946044921875, 0.5477058291435242, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474157571792603, -1.324249267578125, -1.4884908199310303, -1.3995882272720337, -0.2156682312488556, 0.353877991437912, -0.570512592792511, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2732090950012207, -1.1023359298706055, 1.0576260089874268, -1.454747200012207, 1.3553746938705444, 1.001784086227417, 0.5545724034309387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147424340248108, -1.3242769241333008, -1.4883097410202026, -1.3995805978775024, -0.21561694145202637, 0.3538922369480133, -0.570439875125885, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3087399005889893, -1.0844892263412476, 1.092278242111206, -1.4939483404159546, 1.3895856142044067, 1.0019304752349854, 0.5551081895828247, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474239826202393, -1.3242888450622559, -1.4883171319961548, -1.3995749950408936, -0.21553879976272583, 0.35389643907546997, -0.5703038573265076, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.349810242652893, -1.0689257383346558, 1.1396586894989014, -1.5356934070587158, 1.4384559392929077, 1.0019755363464355, 0.5455329418182373, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474173069000244, -1.3242974281311035, -1.4883222579956055, -1.399574875831604, -0.2155211865901947, 0.3538978695869446, -0.5703134536743164, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.395279884338379, -1.0548744201660156, 1.1978861093521118, -1.5827525854110718, 1.4876898527145386, 1.0019993782043457, 0.5150455832481384, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474230289459229, -1.3243006467819214, -1.4883450269699097, -1.3995698690414429, -0.21551579236984253, 0.35389992594718933, -0.570294976234436, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4451414346694946, -1.0455756187438965, 1.270444393157959, -1.6371906995773315, 1.558220624923706, 1.0021426677703857, 0.4462833106517792, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474469900131226, -1.3242967128753662, -1.4883612394332886, -1.3995611667633057, -0.21551159024238586, 0.3539060354232788, -0.5703299641609192, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4880414009094238, -1.0384275913238525, 1.342274785041809, -1.6852045059204102, 1.6731399297714233, 1.0021982192993164, 0.3444841504096985, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475000381469727, -1.3242801427841187, -1.4884779453277588, -1.399544358253479, -0.21542015671730042, 0.35391825437545776, -0.5702530145645142, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5197694301605225, -1.0392948389053345, 1.408618688583374, -1.7285186052322388, 1.8083457946777344, 1.0021952390670776, 0.19382314383983612, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147499918937683, -1.324281096458435, -1.4884783029556274, -1.3995437622070312, -0.21541979908943176, 0.3539181351661682, -0.57025545835495, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5404232740402222, -1.0579547882080078, 1.4732064008712769, -1.7600493431091309, 1.9134485721588135, 1.0012346506118774, 0.05603703856468201, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474984884262085, -1.3242907524108887, -1.4884737730026245, -1.3995442390441895, -0.21542783081531525, 0.35391706228256226, -0.5703403949737549, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5509380102157593, -1.0853910446166992, 1.5239722728729248, -1.7814717292785645, 1.9673247337341309, 0.9904845356941223, -0.02160504087805748, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474963426589966, -1.3243061304092407, -1.4884674549102783, -1.399544358253479, -0.21543094515800476, 0.35391584038734436, -0.5703518986701965, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5500526428222656, -1.1084513664245605, 1.5711406469345093, -1.7972255945205688, 1.986213207244873, 0.9621554017066956, -0.06986095756292343, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474961042404175, -1.3243061304092407, -1.4884625673294067, -1.3995440006256104, -0.21543142199516296, 0.35391536355018616, -0.5703362226486206, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5268663167953491, -1.1271144151687622, 1.6057884693145752, -1.789029836654663, 1.9751651287078857, 0.960331916809082, -0.07607574015855789, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474850177764893, -1.3243505954742432, -1.4884378910064697, -1.3995546102523804, -0.21556265652179718, 0.3539057970046997, -0.5704779624938965, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5175327062606812, -1.1421451568603516, 1.6262613534927368, -1.789476990699768, 1.9543561935424805, 0.9718127846717834, -0.08973919600248337, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474500894546509, -1.3243563175201416, -1.4884365797042847, -1.3995589017868042, -0.21556349098682404, 0.3538967967033386, -0.5704457759857178, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.538838267326355, -1.1565828323364258, 1.6365195512771606, -1.7893677949905396, 1.9344969987869263, 0.9942529797554016, -0.09454954415559769, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474518775939941, -1.3243560791015625, -1.4883348941802979, -1.3995599746704102, -0.21556133031845093, 0.3538965582847595, -0.5704479217529297, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5834242105484009, -1.167228102684021, 1.6373692750930786, -1.7889026403427124, 1.9223811626434326, 1.0029222965240479, -0.11130180954933167, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474609375, -1.324334740638733, -1.48833429813385, -1.3995590209960938, -0.21553437411785126, 0.353898823261261, -0.5704219937324524, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6324578523635864, -1.1679915189743042, 1.637221097946167, -1.7923189401626587, 1.8939385414123535, 1.0026620626449585, -0.11813030391931534, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474635601043701, -1.3242591619491577, -1.4883480072021484, -1.3995575904846191, -0.21547049283981323, 0.3539012372493744, -0.5703197717666626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.680433988571167, -1.1654220819473267, 1.636601209640503, -1.8098981380462646, 1.8684687614440918, 1.0024603605270386, -0.1084963008761406, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474690437316895, -1.324236512184143, -1.488345742225647, -1.3995530605316162, -0.21541620790958405, 0.3539086580276489, -0.5702334046363831, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7224925756454468, -1.1587408781051636, 1.635878324508667, -1.8237274885177612, 1.8621045351028442, 1.0024383068084717, -0.09736847132444382, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474891901016235, -1.3242411613464355, -1.488344669342041, -1.3995444774627686, -0.21540242433547974, 0.35392099618911743, -0.5702417492866516, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7567784786224365, -1.1498510837554932, 1.633201003074646, -1.8263658285140991, 1.872482419013977, 1.0024281740188599, -0.09912379831075668, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475036144256592, -1.3242508172988892, -1.488342523574829, -1.3995410203933716, -0.2153824120759964, 0.353931188583374, -0.5703436732292175, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7856136560440063, -1.1443408727645874, 1.6287554502487183, -1.827264428138733, 1.8841629028320312, 1.0023014545440674, -0.10165738314390182, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475046873092651, -1.3242534399032593, -1.4883443117141724, -1.399539589881897, -0.2153814435005188, 0.35393455624580383, -0.5703377723693848, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8134828805923462, -1.141834020614624, 1.628603458404541, -1.8389708995819092, 1.8936996459960938, 1.002160906791687, -0.10604121536016464, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475021839141846, -1.324257493019104, -1.4883462190628052, -1.3995281457901, -0.2153695821762085, 0.3539351522922516, -0.5702283382415771, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.83528470993042, -1.14127516746521, 1.6299676895141602, -1.8421789407730103, 1.9023711681365967, 1.0021127462387085, -0.11980617791414261, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.147503137588501, -1.3242679834365845, -1.4883450269699097, -1.399522066116333, -0.21536023914813995, 0.353936105966568, -0.5702296495437622, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8506296873092651, -1.1419014930725098, 1.6305558681488037, -1.8367748260498047, 1.9061671495437622, 1.001983642578125, -0.13523826003074646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.147505283355713, -1.3242788314819336, -1.4883437156677246, -1.399521827697754, -0.21535712480545044, 0.35393765568733215, -0.5702398419380188, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8625402450561523, -1.1435679197311401, 1.6301723718643188, -1.8343124389648438, 1.9032959938049316, 1.0017939805984497, -0.1409268081188202, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475045680999756, -1.324284553527832, -1.4883441925048828, -1.399521827697754, -0.21535004675388336, 0.3539382517337799, -0.5702345967292786, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8715837001800537, -1.143585443496704, 1.627459168434143, -1.8344123363494873, 1.9025166034698486, 1.001755714416504, -0.1442497968673706, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475051641464233, -1.3242907524108887, -1.4883437156677246, -1.399521827697754, -0.2153397500514984, 0.35393789410591125, -0.5702318549156189, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8794947862625122, -1.1435234546661377, 1.6244380474090576, -1.8354953527450562, 1.9044885635375977, 1.0007944107055664, -0.1443069726228714, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475167274475098, -1.3243005275726318, -1.4883430004119873, -1.3995217084884644, -0.21533818542957306, 0.35393837094306946, -0.5702579617500305, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8845821619033813, -1.142189860343933, 1.6169848442077637, -1.8362314701080322, 1.90483820438385, 1.000124454498291, -0.14333432912826538, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475366353988647, -1.324306607246399, -1.4883434772491455, -1.3995217084884644, -0.2153363823890686, 0.35393860936164856, -0.5702558159828186, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8886568546295166, -1.142219066619873, 1.612149715423584, -1.8353654146194458, 1.9056897163391113, 1.0002602338790894, -0.1416204571723938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147528886795044, -1.3243175745010376, -1.4883462190628052, -1.3995221853256226, -0.21533747017383575, 0.3539368212223053, -0.5702183842658997, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8912540674209595, -1.1431092023849487, 1.6118172407150269, -1.8343818187713623, 1.906842827796936, 1.0003160238265991, -0.14039039611816406, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474745273590088, -1.3243669271469116, -1.4883501529693604, -1.3995258808135986, -0.2153594046831131, 0.3539276123046875, -0.570213258266449, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8950917720794678, -1.144851803779602, 1.613464593887329, -1.834375023841858, 1.9064851999282837, 1.000317096710205, -0.1360299438238144, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147467851638794, -1.324432611465454, -1.488358736038208, -1.3995277881622314, -0.215361550450325, 0.35392388701438904, -0.5702114701271057, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.897134780883789, -1.1459343433380127, 1.6153843402862549, -1.8343323469161987, 1.9061317443847656, 1.0003175735473633, -0.1361566185951233, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147469162940979, -1.3244235515594482, -1.4883630275726318, -1.399529218673706, -0.2153702974319458, 0.3539237678050995, -0.570222020149231, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8992605209350586, -1.1459355354309082, 1.6162902116775513, -1.8326247930526733, 1.9074848890304565, 1.0003172159194946, -0.13683432340621948, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474685668945312, -1.32440185546875, -1.4883782863616943, -1.3995295763015747, -0.21537604928016663, 0.35392412543296814, -0.57021564245224, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9026548862457275, -1.1459290981292725, 1.6173571348190308, -1.8325040340423584, 1.9069346189498901, 1.0003167390823364, -0.13645310699939728, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147469401359558, -1.3243868350982666, -1.4884051084518433, -1.3995293378829956, -0.21537832915782928, 0.3539240062236786, -0.5702124238014221, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.904162883758545, -1.1459481716156006, 1.6192463636398315, -1.8327045440673828, 1.9022350311279297, 1.0003163814544678, -0.13565759360790253, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474802494049072, -1.3243818283081055, -1.4884036779403687, -1.3995295763015747, -0.2153947502374649, 0.3539251983165741, -0.5702422857284546, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.905508279800415, -1.1500815153121948, 1.6238093376159668, -1.8333755731582642, 1.8876298666000366, 1.0003154277801514, -0.1303827315568924, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474851369857788, -1.3243725299835205, -1.488403081893921, -1.399529218673706, -0.21539762616157532, 0.3539254367351532, -0.570242166519165, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9056397676467896, -1.1560035943984985, 1.6247973442077637, -1.8334239721298218, 1.8838269710540771, 1.0003153085708618, -0.12870590388774872, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474839448928833, -1.3243639469146729, -1.4884029626846313, -1.3995294570922852, -0.21540026366710663, 0.3539256751537323, -0.5702386498451233, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9049081802368164, -1.1593412160873413, 1.6234195232391357, -1.8362692594528198, 1.8797067403793335, 1.0003160238265991, -0.1276153326034546, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474844217300415, -1.3243539333343506, -1.4883989095687866, -1.3995299339294434, -0.21540458500385284, 0.3539256751537323, -0.5702530145645142, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9013147354125977, -1.162596583366394, 1.621780514717102, -1.8362576961517334, 1.8760422468185425, 1.0003162622451782, -0.12690646946430206, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147484302520752, -1.324352741241455, -1.4883877038955688, -1.399530053138733, -0.21542374789714813, 0.35392460227012634, -0.5702910423278809, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9001681804656982, -1.1662096977233887, 1.6217480897903442, -1.83697509765625, 1.8652998208999634, 1.0003167390823364, -0.12649552524089813, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474828720092773, -1.324350357055664, -1.4883863925933838, -1.3995306491851807, -0.21543334424495697, 0.3539235293865204, -0.5702890157699585, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9008123874664307, -1.1691598892211914, 1.6232150793075562, -1.839556097984314, 1.8585987091064453, 1.0003172159194946, -0.12590758502483368, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474794149398804, -1.3243495225906372, -1.4883836507797241, -1.3995307683944702, -0.2154390960931778, 0.3539220988750458, -0.5702813267707825, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9041036367416382, -1.1708707809448242, 1.6271778345108032, -1.8419479131698608, 1.858560562133789, 1.000318169593811, -0.13243970274925232, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474779844284058, -1.3243473768234253, -1.4883825778961182, -1.3995307683944702, -0.21543824672698975, 0.35392123460769653, -0.5702753067016602, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.907778024673462, -1.1719905138015747, 1.6306753158569336, -1.8414500951766968, 1.856564998626709, 1.000320553779602, -0.13287976384162903, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147478699684143, -1.324342131614685, -1.4883782863616943, -1.3995305299758911, -0.21543669700622559, 0.353921115398407, -0.5702791810035706, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9091598987579346, -1.1724876165390015, 1.6326793432235718, -1.8400384187698364, 1.8548465967178345, 1.0003242492675781, -0.1339827924966812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474782228469849, -1.3243365287780762, -1.4883748292922974, -1.3995305299758911, -0.21543501317501068, 0.35392051935195923, -0.5702798962593079, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9104315042495728, -1.1725988388061523, 1.6331658363342285, -1.8400405645370483, 1.854284644126892, 1.0003279447555542, -0.13309991359710693, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474725008010864, -1.3241117000579834, -1.4883623123168945, -1.3995311260223389, -0.21543550491333008, 0.3539181351661682, -0.5702933073043823, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9103336334228516, -1.1728956699371338, 1.6328368186950684, -1.837586522102356, 1.8543007373809814, 1.0003305673599243, -0.1309245377779007, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474701166152954, -1.3241350650787354, -1.4883450269699097, -1.3995325565338135, -0.21543669700622559, 0.3539164662361145, -0.5703950524330139, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9063031673431396, -1.1740747690200806, 1.6291685104370117, -1.830665111541748, 1.8533012866973877, 1.0003191232681274, -0.13088954985141754, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474697589874268, -1.3241572380065918, -1.4883390665054321, -1.3995343446731567, -0.2154374122619629, 0.35391607880592346, -0.5704143643379211, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.901647686958313, -1.1753817796707153, 1.626826524734497, -1.8276567459106445, 1.852779746055603, 1.0002659559249878, -0.13333193957805634, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474568843841553, -1.3241742849349976, -1.4883450269699097, -1.3995336294174194, -0.2154260277748108, 0.353916198015213, -0.5702035427093506, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8976784944534302, -1.175901174545288, 1.6218101978302002, -1.8232449293136597, 1.855345368385315, 1.0002962350845337, -0.13584646582603455, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147443413734436, -1.324257731437683, -1.4883474111557007, -1.3995325565338135, -0.21540746092796326, 0.3539178967475891, -0.5701006054878235, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8951560258865356, -1.1765086650848389, 1.6178722381591797, -1.821239948272705, 1.8577797412872314, 1.0003869533538818, -0.1367148458957672, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147445797920227, -1.3242815732955933, -1.488345980644226, -1.3995325565338135, -0.2154078185558319, 0.3539196848869324, -0.5701507925987244, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8941965103149414, -1.1768276691436768, 1.6166046857833862, -1.8211636543273926, 1.8585339784622192, 1.0003814697265625, -0.13822461664676666, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474623680114746, -1.3242809772491455, -1.4883480072021484, -1.3995310068130493, -0.21540194749832153, 0.3539268672466278, -0.5701951384544373, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8932231664657593, -1.1767901182174683, 1.6155500411987305, -1.8211512565612793, 1.8587321043014526, 1.000369668006897, -0.13918167352676392, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474729776382446, -1.3242732286453247, -1.4883661270141602, -1.3995293378829956, -0.21532763540744781, 0.3539314270019531, -0.5701234936714172, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.891796350479126, -1.1758960485458374, 1.6146045923233032, -1.8212260007858276, 1.858834981918335, 1.0003695487976074, -0.1408514380455017, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474683284759521, -1.3242701292037964, -1.4884752035140991, -1.399528980255127, -0.2153019905090332, 0.3539315462112427, -0.5700392723083496, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.89058256149292, -1.1744788885116577, 1.6134910583496094, -1.8214162588119507, 1.8599010705947876, 1.0003812313079834, -0.14218001067638397, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474727392196655, -1.3242759704589844, -1.4885473251342773, -1.399527668952942, -0.21530258655548096, 0.35393309593200684, -0.5700862407684326, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8893951177597046, -1.1732829809188843, 1.6125942468643188, -1.8214141130447388, 1.8612918853759766, 1.0004314184188843, -0.14461903274059296, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475112438201904, -1.3242790699005127, -1.4885116815567017, -1.3995263576507568, -0.21530355513095856, 0.35393789410591125, -0.5701305866241455, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.88791823387146, -1.1724098920822144, 1.61170494556427, -1.8208320140838623, 1.868918776512146, 1.0006041526794434, -0.15134313702583313, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475099325180054, -1.324280023574829, -1.4885014295578003, -1.3995252847671509, -0.2153041511774063, 0.35393837094306946, -0.57010817527771, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.886629581451416, -1.1716893911361694, 1.6109542846679688, -1.8186408281326294, 1.8730268478393555, 1.0009082555770874, -0.1523040384054184, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474922895431519, -1.3242822885513306, -1.4884973764419556, -1.3995251655578613, -0.2153043895959854, 0.35393622517585754, -0.5700511336326599, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8863242864608765, -1.1716625690460205, 1.6107470989227295, -1.818284273147583, 1.8736391067504883, 1.0010350942611694, -0.15252730250358582, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147478699684143, -1.3242899179458618, -1.4882200956344604, -1.3995264768600464, -0.2153112143278122, 0.35393384099006653, -0.5700621604919434, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8855642080307007, -1.171325922012329, 1.610074758529663, -1.8181663751602173, 1.8769327402114868, 1.0010429620742798, -0.15579228103160858, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474566459655762, -1.3244569301605225, -1.4882111549377441, -1.3995317220687866, -0.21539223194122314, 0.3539259135723114, -0.5702524185180664, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8846684694290161, -1.1712292432785034, 1.6091103553771973, -1.8180476427078247, 1.8765463829040527, 1.000931739807129, -0.1552211195230484, 0.08820001476413605, 0.08820001476413605, 0.08820001476413605, 0.08820001476413605, -0.08820001476413605, -0.08820001476413605, -0.08820001476413605, 0.08820001476413605, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474615335464478, -1.324475884437561, -1.4882279634475708, -1.399532437324524, -0.21540133655071259, 0.35392293334007263, -0.5702517032623291, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8839755058288574, -1.1714863777160645, 1.6090543270111084, -1.8193057775497437, 1.877219319343567, 1.0005877017974854, -0.15462850034236908, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, 0.1661999891092489, -0.1661999891092489, -0.1661999891092489, -0.1661999891092489, 0.1661999891092489, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147465467453003, -1.3244081735610962, -1.4883450269699097, -1.3995342254638672, -0.21540817618370056, 0.353920042514801, -0.5702404379844666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8834537267684937, -1.1716221570968628, 1.6091117858886719, -1.8200715780258179, 1.8772203922271729, 1.0004602670669556, -0.1558758169412613, 0.22560001310411393, 0.22560001310411393, 0.22560001310411393, 0.22560001310411393, -0.22560001310411393, -0.22560001310411393, -0.22560001310411393, 0.22560001310411393, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147471308708191, -1.3243792057037354, -1.488364577293396, -1.3995356559753418, -0.2154168039560318, 0.353916198015213, -0.5702404379844666, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.88471519947052, -1.17177152633667, 1.609757900238037, -1.820773959159851, 1.8757479190826416, 1.0004628896713257, -0.16074907779693604, 0.35819999700064187, 0.35819999700064187, 0.35819999700064187, 0.35819999700064187, -0.35819999700064187, -0.35819999700064187, -0.35819999700064187, 0.35819999700064187, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474847793579102, -1.3243706226348877, -1.488360047340393, -1.3995518684387207, -0.21543118357658386, 0.3539171814918518, -0.5702724456787109, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8890538215637207, -1.1720033884048462, 1.612057089805603, -1.8229035139083862, 1.87165105342865, 1.0004770755767822, -0.16774535179138184, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, -0.5423999986150763, -0.5423999986150763, -0.5423999986150763, 0.5423999986150763, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147484540939331, -1.3243708610534668, -1.4883581399917603, -1.3995522260665894, -0.21544292569160461, 0.3539178967475891, -0.5704290866851807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8996024131774902, -1.1720311641693115, 1.6230789422988892, -1.8316158056259155, 1.8644177913665771, 1.0004990100860596, -0.17402832210063934, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474835872650146, -1.3243687152862549, -1.4883577823638916, -1.3995516300201416, -0.21545839309692383, 0.3539181351661682, -0.5704167485237122, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9227536916732788, -1.1696614027023315, 1.6433247327804565, -1.8464367389678955, 1.861266851425171, 1.0005154609680176, -0.17500287294387817, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474820375442505, -1.324365258216858, -1.4883577823638916, -1.3995494842529297, -0.21545754373073578, 0.35391944646835327, -0.5703733563423157, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9537800550460815, -1.1612240076065063, 1.6737918853759766, -1.8681995868682861, 1.8654272556304932, 1.0005611181259155, -0.17652882635593414, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474839448928833, -1.3243560791015625, -1.4883579015731812, -1.3995424509048462, -0.2154502421617508, 0.3539235293865204, -0.570239245891571, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9898781776428223, -1.1455585956573486, 1.716354489326477, -1.9101592302322388, 1.8894479274749756, 1.0005818605422974, -0.18205595016479492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.147513747215271, -1.3241314888000488, -1.488356590270996, -1.3995106220245361, -0.2153802514076233, 0.3539394736289978, -0.5701016783714294, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0102057456970215, -1.1298481225967407, 1.762528419494629, -1.946534514427185, 1.924311637878418, 1.000706434249878, -0.1832035630941391, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147529125213623, -1.324144959449768, -1.488344430923462, -1.399510383605957, -0.21538683772087097, 0.35394570231437683, -0.5702462196350098, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0059003829956055, -1.1252564191818237, 1.7986493110656738, -1.977015495300293, 1.9504345655441284, 1.0007203817367554, -0.16562426090240479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475275754928589, -1.3241510391235352, -1.4883486032485962, -1.3995028734207153, -0.21534070372581482, 0.3539462983608246, -0.570054829120636, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.962033987045288, -1.1281230449676514, 1.8147045373916626, -2.0020546913146973, 1.9692984819412231, 1.000818133354187, -0.1672385334968567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475274562835693, -1.3242689371109009, -1.4883451461791992, -1.3995015621185303, -0.21533291041851044, 0.35394594073295593, -0.570252537727356, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8686611652374268, -1.135512351989746, 1.7890827655792236, -1.9941893815994263, 1.9601500034332275, 1.0010076761245728, -0.18313010036945343, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475025415420532, -1.324398398399353, -1.4883466958999634, -1.3995295763015747, -0.2154964953660965, 0.35392674803733826, -0.5704487562179565, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7600107192993164, -1.141261100769043, 1.7374166250228882, -1.9607683420181274, 1.9443116188049316, 1.0011248588562012, -0.19395150244235992, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474231481552124, -1.3243874311447144, -1.4883571863174438, -1.3995405435562134, -0.21550069749355316, 0.35391178727149963, -0.5704155564308167, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6411798000335693, -1.145725965499878, 1.6668277978897095, -1.900275468826294, 1.9202558994293213, 1.001473069190979, -0.1898307204246521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.37578243017196655, 0.0, 0.0, 1.1473768949508667, -1.324384331703186, -1.4883605241775513, -1.3997995853424072, -0.21583673357963562, 0.35383039712905884, -0.5709009170532227, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.533425211906433, -1.1496201753616333, 1.597360610961914, -1.8377461433410645, 1.8899520635604858, 1.0015491247177124, -0.17000091075897217, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.37578243017196655, 0.0, 0.0, 1.147447943687439, -1.3241630792617798, -1.488616943359375, -1.3996684551239014, -0.2157863974571228, 0.35383304953575134, -0.5707412958145142, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4184893369674683, -1.1546379327774048, 1.5064595937728882, -1.7507860660552979, 1.8459343910217285, 1.001760482788086, -0.13206245005130768, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0327683687210083, -0.37578243017196655, 0.0, 0.0, 1.1473788022994995, -1.32430899143219, -1.4885098934173584, -1.4000316858291626, -0.2161080539226532, 0.353822261095047, -0.571452796459198, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.307631492614746, -1.1672022342681885, 1.4198899269104004, -1.6602662801742554, 1.8185265064239502, 1.0020267963409424, -0.10715299099683762, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.37578243017196655, 0.0, 0.0, 1.147369146347046, -1.3243193626403809, -1.488505244255066, -1.399991512298584, -0.21613885462284088, 0.3538089394569397, -0.5712883472442627, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2281161546707153, -1.1783742904663086, 1.3568154573440552, -1.602464199066162, 1.799133539199829, 1.0020726919174194, -0.07792922109365463, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.37578243017196655, 0.0, 0.0, 1.1473740339279175, -1.3243114948272705, -1.4885034561157227, -1.3999049663543701, -0.21605508029460907, 0.3538099229335785, -0.5710171461105347, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1628450155258179, -1.1897491216659546, 1.295864462852478, -1.5371228456497192, 1.7783682346343994, 1.0021374225616455, -0.051576029509305954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.37578243017196655, 0.0, 0.0, 1.1473710536956787, -1.3243298530578613, -1.4884791374206543, -1.3999272584915161, -0.21608000993728638, 0.3538063168525696, -0.5712769627571106, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1106321811676025, -1.2010897397994995, 1.2422536611557007, -1.4787850379943848, 1.7506506443023682, 1.0022096633911133, -0.0174725204706192, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1473654508590698, -1.3243240118026733, -1.4884817600250244, -1.3999273777008057, -0.2160762995481491, 0.353802353143692, -0.5711512565612793, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.068971872329712, -1.2132116556167603, 1.2015725374221802, -1.4309360980987549, 1.7229909896850586, 1.0023168325424194, 0.007431897334754467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1473556756973267, -1.3243284225463867, -1.4884804487228394, -1.399929404258728, -0.21607761085033417, 0.3537992537021637, -0.5711361765861511, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.033561110496521, -1.2259725332260132, 1.1734404563903809, -1.3790496587753296, 1.6933541297912598, 1.002492904663086, 0.04474777728319168, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1473479270935059, -1.3243215084075928, -1.4884824752807617, -1.3999282121658325, -0.21607233583927155, 0.35379961133003235, -0.5711040496826172, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9987072348594666, -1.2371333837509155, 1.1472623348236084, -1.3267556428909302, 1.6659725904464722, 1.0025174617767334, 0.08637713640928268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1473469734191895, -1.3243266344070435, -1.4884766340255737, -1.3999325037002563, -0.21607185900211334, 0.353799968957901, -0.5711700916290283, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9654603600502014, -1.2416108846664429, 1.1131075620651245, -1.2847340106964111, 1.6295629739761353, 1.0025280714035034, 0.12480096518993378, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1473411321640015, -1.3243368864059448, -1.4884703159332275, -1.3999483585357666, -0.21607521176338196, 0.3537994921207428, -0.5711469650268555, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9542891383171082, -1.244911551475525, 1.099411129951477, -1.2701258659362793, 1.6177475452423096, 1.0025405883789062, 0.15547111630439758, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.147351622581482, -1.3243277072906494, -1.4884699583053589, -1.3999035358428955, -0.21594123542308807, 0.3538103997707367, -0.5708820819854736, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.938671350479126, -1.2455222606658936, 1.0723044872283936, -1.246189832687378, 1.614881992340088, 1.0025497674942017, 0.16964389383792877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1473664045333862, -1.324333667755127, -1.4882652759552002, -1.3999061584472656, -0.21594902873039246, 0.3538151979446411, -0.5710278153419495, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.929452121257782, -1.245840072631836, 1.0526269674301147, -1.2282613515853882, 1.6101893186569214, 1.002609133720398, 0.18884681165218353, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1473664045333862, -1.324318766593933, -1.4883074760437012, -1.3999085426330566, -0.21594470739364624, 0.3538146913051605, -0.5709644556045532, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9281964302062988, -1.2442313432693481, 1.0469173192977905, -1.2324459552764893, 1.608323335647583, 1.0024000406265259, 0.19987086951732635, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1474063396453857, -1.3243038654327393, -1.4883755445480347, -1.3999078273773193, -0.21593883633613586, 0.3538156747817993, -0.5709320902824402, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9250409603118896, -1.2406225204467773, 1.0402495861053467, -1.2340534925460815, 1.611304521560669, 1.001508355140686, 0.20313644409179688, 0.5604000011970709, 0.5604000011970709, 0.5604000011970709, 0.5604000011970709, -0.5604000011970709, -0.5604000011970709, -0.5604000011970709, 0.5604000011970709, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1474637985229492, -1.3242963552474976, -1.4884084463119507, -1.399907112121582, -0.2159382402896881, 0.3538169860839844, -0.5709736347198486, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9208165407180786, -1.2373696565628052, 1.0350905656814575, -1.2288422584533691, 1.6126681566238403, 1.0008702278137207, 0.20492245256900787, 0.5226000004417294, 0.5226000004417294, 0.5226000004417294, 0.5226000004417294, -0.5226000004417294, -0.5226000004417294, -0.5226000004417294, 0.5226000004417294, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1474677324295044, -1.3242896795272827, -1.4885179996490479, -1.399907112121582, -0.21593032777309418, 0.3538171052932739, -0.5710472464561462, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.919506311416626, -1.23733651638031, 1.031553030014038, -1.217625617980957, 1.6204317808151245, 1.0009492635726929, 0.20323999226093292, 0.47280000042129344, 0.47280000042129344, 0.47280000042129344, 0.47280000042129344, -0.47280000042129344, -0.47280000042129344, -0.47280000042129344, 0.47280000042129344, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1475199460983276, -1.3241571187973022, -1.488556981086731, -1.3999207019805908, -0.2159477025270462, 0.3538171052932739, -0.5712929368019104, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9155337810516357, -1.233506441116333, 1.0194482803344727, -1.217407464981079, 1.6326816082000732, 0.9979796409606934, 0.19581373035907745, 0.36839999576191323, 0.36839999576191323, 0.36839999576191323, 0.36839999576191323, -0.36839999576191323, -0.36839999576191323, -0.36839999576191323, 0.36839999576191323, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1475392580032349, -1.3241846561431885, -1.4885470867156982, -1.3998891115188599, -0.21595261991024017, 0.35382142663002014, -0.5711708068847656, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9078986644744873, -1.2306129932403564, 1.0092132091522217, -1.2117611169815063, 1.648508071899414, 0.9975261092185974, 0.18279850482940674, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, -0.30659999402014765, -0.30659999402014765, -0.30659999402014765, 0.30659999402014765, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1475427150726318, -1.3242205381393433, -1.4885153770446777, -1.3998897075653076, -0.2159612476825714, 0.3538248836994171, -0.5712241530418396, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.902363121509552, -1.2291345596313477, 0.9994425177574158, -1.2006562948226929, 1.665968656539917, 0.9976228475570679, 0.17514896392822266, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, 0.2508000054202237, -0.2508000054202237, -0.2508000054202237, -0.2508000054202237, 0.2508000054202237, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1475422382354736, -1.3242155313491821, -1.4885046482086182, -1.399896502494812, -0.21597634255886078, 0.35382524132728577, -0.5711965560913086, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8964588046073914, -1.2230945825576782, 0.9873844981193542, -1.2007509469985962, 1.6823067665100098, 0.9963175058364868, 0.16476008296012878, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, -0.21959999996227222, -0.21959999996227222, -0.21959999996227222, 0.21959999996227222, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1475603580474854, -1.3241721391677856, -1.4885034561157227, -1.3998990058898926, -0.21596747636795044, 0.3538293242454529, -0.5711474418640137, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8914504647254944, -1.2186229228973389, 0.9773567914962769, -1.2018734216690063, 1.6961334943771362, 0.9952443242073059, 0.15219666063785553, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, -0.15659999952211487, -0.15659999952211487, -0.15659999952211487, 0.15659999952211487, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475961208343506, -1.3241456747055054, -1.4885023832321167, -1.3998914957046509, -0.21598976850509644, 0.3538503050804138, -0.5712036490440369, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8912084102630615, -1.2145394086837769, 0.9693385362625122, -1.2046948671340942, 1.721795678138733, 0.9947500824928284, 0.12585294246673584, 0.08220000162229436, 0.08220000162229436, 0.08220000162229436, 0.08220000162229436, -0.08220000162229436, -0.08220000162229436, -0.08220000162229436, 0.08220000162229436, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147640585899353, -1.324273943901062, -1.4882639646530151, -1.3999202251434326, -0.21610254049301147, 0.3538559377193451, -0.5716190338134766, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.891363799571991, -1.2091697454452515, 0.961372971534729, -1.204555630683899, 1.7494338750839233, 0.9939139485359192, 0.10220219194889069, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1476057767868042, -1.3243446350097656, -1.4882588386535645, -1.3999216556549072, -0.216118723154068, 0.35385316610336304, -0.5715978145599365, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8929357528686523, -1.207899808883667, 0.9621931910514832, -1.2081611156463623, 1.7556958198547363, 0.9930488467216492, 0.09577277302742004, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1475095748901367, -1.3244843482971191, -1.4881904125213623, -1.3999170064926147, -0.21615993976593018, 0.3538505434989929, -0.5714753270149231, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9051724672317505, -1.2056472301483154, 0.9781143069267273, -1.2285661697387695, 1.7588403224945068, 0.9934993386268616, 0.08741617202758789, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474958658218384, -1.324497103691101, -1.4881521463394165, -1.399871826171875, -0.2160845696926117, 0.3538513779640198, -0.5710581541061401, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9224458336830139, -1.2032843828201294, 0.9973859190940857, -1.253551721572876, 1.7674957513809204, 0.9950929880142212, 0.06999194622039795, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473207473754883, -1.3246139287948608, -1.4879297018051147, -1.3998591899871826, -0.21605424582958221, 0.35385018587112427, -0.5710486769676208, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9405235648155212, -1.1982862949371338, 1.015528917312622, -1.285908818244934, 1.7802855968475342, 0.9967545866966248, 0.050280895084142685, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1473177671432495, -1.3246698379516602, -1.4878714084625244, -1.3997732400894165, -0.21595321595668793, 0.353851854801178, -0.5710523724555969, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9633408784866333, -1.1910845041275024, 1.0418331623077393, -1.3327171802520752, 1.7962911128997803, 0.9979888200759888, 0.03574127331376076, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473523378372192, -1.3246644735336304, -1.4878723621368408, -1.3997186422348022, -0.2158309817314148, 0.3538547456264496, -0.5710447430610657, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9802074432373047, -1.1824461221694946, 1.0680564641952515, -1.3777368068695068, 1.818556308746338, 0.9980913400650024, 0.019223295152187347, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1473681926727295, -1.324689269065857, -1.4878627061843872, -1.399774193763733, -0.21593548357486725, 0.3538517355918884, -0.5712627172470093, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0114593505859375, -1.169081211090088, 1.0947445631027222, -1.4371092319488525, 1.8386266231536865, 0.9980449080467224, 0.0011781691573560238, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473660469055176, -1.3246744871139526, -1.4878910779953003, -1.3997608423233032, -0.2159099578857422, 0.35384562611579895, -0.5710235238075256, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0576781034469604, -1.1509491205215454, 1.1249419450759888, -1.5042927265167236, 1.854201316833496, 0.9980267286300659, -0.0210102628916502, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1473822593688965, -1.3246623277664185, -1.4879050254821777, -1.3997522592544556, -0.21595920622348785, 0.3538433611392975, -0.5711564421653748, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.112099289894104, -1.1273006200790405, 1.1559549570083618, -1.57418692111969, 1.8680628538131714, 0.9980499744415283, -0.031875401735305786, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474952697753906, -1.3246618509292603, -1.487914800643921, -1.3996753692626953, -0.21581515669822693, 0.353861927986145, -0.5709369778633118, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1687471866607666, -1.100092887878418, 1.1859338283538818, -1.6408469676971436, 1.8773995637893677, 0.9983222484588623, -0.03258786350488663, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1475166082382202, -1.3246601819992065, -1.4879270792007446, -1.399600625038147, -0.21571125090122223, 0.353891521692276, -0.5707786679267883, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.22223699092865, -1.0720373392105103, 1.2096080780029297, -1.691776990890503, 1.8791379928588867, 0.9986752867698669, -0.018854301422834396, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1475212574005127, -1.3246562480926514, -1.4879719018936157, -1.3995945453643799, -0.21568860113620758, 0.353898823261261, -0.5707169771194458, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.272871494293213, -1.0445760488510132, 1.2246884107589722, -1.7343192100524902, 1.8629112243652344, 0.9987668395042419, 0.008965518325567245, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1475307941436768, -1.324662685394287, -1.487912893295288, -1.3995786905288696, -0.2156125009059906, 0.3539086580276489, -0.5707370638847351, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3170485496520996, -1.0190211534500122, 1.2319095134735107, -1.763915777206421, 1.8399821519851685, 0.9988099932670593, 0.044538531452417374, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475520133972168, -1.3246570825576782, -1.4879058599472046, -1.3995585441589355, -0.21560819447040558, 0.3539247214794159, -0.5707647800445557, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.350816249847412, -0.9989967942237854, 1.2403428554534912, -1.7760435342788696, 1.8209466934204102, 0.998809278011322, 0.07489661127328873, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475830078125, -1.324676513671875, -1.4878987073898315, -1.399575114250183, -0.21568068861961365, 0.353927344083786, -0.5709772706031799, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.380387306213379, -0.9836658239364624, 1.2487280368804932, -1.7848435640335083, 1.8068612813949585, 0.9983962178230286, 0.09756776690483093, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475855112075806, -1.3246455192565918, -1.4879039525985718, -1.3995673656463623, -0.2156277298927307, 0.3539263904094696, -0.570750892162323, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4133929014205933, -0.9716091752052307, 1.257363200187683, -1.7901004552841187, 1.7911444902420044, 0.9982402920722961, 0.12412960827350616, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475838422775269, -1.324650526046753, -1.4879088401794434, -1.3995610475540161, -0.2156229317188263, 0.35392746329307556, -0.5706847310066223, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4401673078536987, -0.9630386233329773, 1.2594733238220215, -1.7903884649276733, 1.774429202079773, 0.9981048703193665, 0.1478889286518097, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.147605538368225, -1.3246468305587769, -1.4879093170166016, -1.399549126625061, -0.21560555696487427, 0.3539292812347412, -0.5706992149353027, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4538201093673706, -0.9606969356536865, 1.2595597505569458, -1.7853381633758545, 1.7593371868133545, 0.9980790615081787, 0.16194558143615723, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1476149559020996, -1.3246523141860962, -1.4879006147384644, -1.3995534181594849, -0.21562963724136353, 0.35392916202545166, -0.5709554553031921, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.461927890777588, -0.9607912302017212, 1.2596020698547363, -1.7762525081634521, 1.7514790296554565, 0.9973863959312439, 0.17015394568443298, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1476136445999146, -1.3246569633483887, -1.4878947734832764, -1.3995592594146729, -0.2156592458486557, 0.353927344083786, -0.5709642171859741, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4674100875854492, -0.9624307751655579, 1.259559154510498, -1.766098141670227, 1.744510531425476, 0.9964838624000549, 0.1769205927848816, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1476129293441772, -1.3246725797653198, -1.4878569841384888, -1.3995623588562012, -0.21570897102355957, 0.3539237678050995, -0.571000874042511, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4709080457687378, -0.9644820094108582, 1.2577706575393677, -1.753985047340393, 1.7286889553070068, 0.9962771534919739, 0.18334820866584778, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1476107835769653, -1.3246856927871704, -1.4877854585647583, -1.399567723274231, -0.21578064560890198, 0.3539195656776428, -0.5710899233818054, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4755825996398926, -0.9685760140419006, 1.2556307315826416, -1.740170955657959, 1.7169612646102905, 0.9947406649589539, 0.19254671037197113, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.14761221408844, -1.3246939182281494, -1.4876686334609985, -1.3995704650878906, -0.21580220758914948, 0.3539169430732727, -0.5711886286735535, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4719610214233398, -0.9752650260925293, 1.246277928352356, -1.7113544940948486, 1.7053349018096924, 0.9926005005836487, 0.19237521290779114, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1476109027862549, -1.3246990442276, -1.48765230178833, -1.3995803594589233, -0.21584764122962952, 0.3539107143878937, -0.5712763667106628, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4646990299224854, -0.9874314665794373, 1.2423431873321533, -1.679047703742981, 1.7010351419448853, 0.9924481511116028, 0.18871738016605377, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475746631622314, -1.3246997594833374, -1.4876556396484375, -1.3995808362960815, -0.2158454805612564, 0.3538998067378998, -0.5711044073104858, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4601589441299438, -0.9964848756790161, 1.242324709892273, -1.6523473262786865, 1.7005596160888672, 0.992960512638092, 0.19023291766643524, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147531509399414, -1.3247579336166382, -1.487652063369751, -1.3995798826217651, -0.21584151685237885, 0.3538936674594879, -0.5710452198982239, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.456179141998291, -1.000519871711731, 1.2437490224838257, -1.6354601383209229, 1.693721055984497, 0.9931613802909851, 0.199733167886734, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475353240966797, -1.3249377012252808, -1.4876351356506348, -1.3995766639709473, -0.21582114696502686, 0.3538948893547058, -0.5710449814796448, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4568982124328613, -1.0010873079299927, 1.2504276037216187, -1.6294846534729004, 1.6916258335113525, 0.9936070442199707, 0.20656129717826843, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475496292114258, -1.3249367475509644, -1.4875212907791138, -1.3995661735534668, -0.2157723754644394, 0.3539000451564789, -0.5710338354110718, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4572123289108276, -1.0018343925476074, 1.2555506229400635, -1.6232452392578125, 1.6922932863235474, 0.9937200546264648, 0.20693376660346985, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475484371185303, -1.3249372243881226, -1.487467646598816, -1.3995630741119385, -0.21576566994190216, 0.3539033830165863, -0.5710340738296509, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4568736553192139, -1.0041874647140503, 1.2580440044403076, -1.6146470308303833, 1.6923224925994873, 0.9937191009521484, 0.20906229317188263, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147534966468811, -1.324945330619812, -1.4874374866485596, -1.399563193321228, -0.21576541662216187, 0.3539031445980072, -0.5710333585739136, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.455622673034668, -1.0069342851638794, 1.2594261169433594, -1.607306718826294, 1.6895556449890137, 0.9937174320220947, 0.2120966911315918, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475013494491577, -1.3249698877334595, -1.487423300743103, -1.399562954902649, -0.2157638669013977, 0.35390302538871765, -0.5710257887840271, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4551600217819214, -1.0069916248321533, 1.2636798620224, -1.604580283164978, 1.686659336090088, 0.9937252402305603, 0.21425528824329376, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475001573562622, -1.3250187635421753, -1.4873462915420532, -1.3995627164840698, -0.21576470136642456, 0.35390350222587585, -0.5710300803184509, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4540700912475586, -1.0068005323410034, 1.2666174173355103, -1.6015372276306152, 1.6862940788269043, 0.9937883615493774, 0.21431796252727509, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147480845451355, -1.3251008987426758, -1.4873359203338623, -1.399562120437622, -0.2157605141401291, 0.3539043366909027, -0.5709892511367798, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4541376829147339, -1.0062280893325806, 1.2699967622756958, -1.6004419326782227, 1.6848211288452148, 0.993905246257782, 0.21624623239040375, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474534273147583, -1.3251054286956787, -1.4873358011245728, -1.3995609283447266, -0.21574492752552032, 0.353906512260437, -0.5709298849105835, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4557079076766968, -1.0055906772613525, 1.2750214338302612, -1.6002843379974365, 1.6841317415237427, 0.9940707087516785, 0.21745580434799194, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474565267562866, -1.32515287399292, -1.4872467517852783, -1.3995578289031982, -0.2157261222600937, 0.3539130985736847, -0.5709537863731384, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4574041366577148, -1.0055623054504395, 1.279239535331726, -1.6011840105056763, 1.681813359260559, 0.9940890669822693, 0.21750816702842712, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474578380584717, -1.3252136707305908, -1.4871870279312134, -1.3995567560195923, -0.21571844816207886, 0.35391607880592346, -0.5709584355354309, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4585330486297607, -1.0055655241012573, 1.282120943069458, -1.601440668106079, 1.678836703300476, 0.9940935969352722, 0.21898677945137024, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1474573612213135, -1.3252116441726685, -1.4871963262557983, -1.3995565176010132, -0.21569807827472687, 0.35391536355018616, -0.5709368586540222, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4586918354034424, -1.0056874752044678, 1.2796812057495117, -1.602325201034546, 1.679137110710144, 0.9940950274467468, 0.21664051711559296, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474735736846924, -1.3251821994781494, -1.4873780012130737, -1.3995543718338013, -0.21561382710933685, 0.3539150059223175, -0.5707982182502747, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4513311386108398, -1.007449984550476, 1.2555558681488037, -1.6033488512039185, 1.6815050840377808, 0.9940762519836426, 0.20722295343875885, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147526502609253, -1.324938416481018, -1.4876517057418823, -1.3995500802993774, -0.21556660532951355, 0.3539157211780548, -0.5707805752754211, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4348647594451904, -1.0167127847671509, 1.2283382415771484, -1.598580241203308, 1.6818653345108032, 0.9941525459289551, 0.19158580899238586, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475422382354736, -1.3248651027679443, -1.4877817630767822, -1.3995494842529297, -0.21555089950561523, 0.3539142906665802, -0.5706979036331177, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4155054092407227, -1.030880093574524, 1.202989935874939, -1.5849710702896118, 1.6784372329711914, 0.9953222274780273, 0.1814894676208496, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475389003753662, -1.3248512744903564, -1.4878054857254028, -1.3995531797409058, -0.2155582159757614, 0.3539092540740967, -0.5706825852394104, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3982855081558228, -1.0447875261306763, 1.1803380250930786, -1.5737330913543701, 1.6775330305099487, 0.9962642192840576, 0.1748352199792862, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147535800933838, -1.3248497247695923, -1.487811803817749, -1.3995589017868042, -0.21558697521686554, 0.35390207171440125, -0.5706764459609985, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3816267251968384, -1.0587998628616333, 1.1624637842178345, -1.5582075119018555, 1.6802340745925903, 0.9967004060745239, 0.16920563578605652, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475341320037842, -1.3248186111450195, -1.4878817796707153, -1.3995602130889893, -0.21558961272239685, 0.35389894247055054, -0.5706649422645569, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3681881427764893, -1.068682074546814, 1.1465115547180176, -1.549443244934082, 1.684664011001587, 0.9979484677314758, 0.16522027552127838, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475334167480469, -1.3248103857040405, -1.4878897666931152, -1.3995612859725952, -0.21559788286685944, 0.3538970351219177, -0.5706662535667419, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3588030338287354, -1.079330325126648, 1.1349800825119019, -1.545398235321045, 1.6892621517181396, 0.9981646537780762, 0.15833641588687897, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475275754928589, -1.32480788230896, -1.4878911972045898, -1.399563193321228, -0.2156032770872116, 0.353895366191864, -0.5706645846366882, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.351352334022522, -1.0893477201461792, 1.1244750022888184, -1.5405858755111694, 1.6931958198547363, 0.998159646987915, 0.15217232704162598, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475340127944946, -1.3247947692871094, -1.4878902435302734, -1.3995649814605713, -0.2156137079000473, 0.3538973927497864, -0.570704996585846, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.34187650680542, -1.0963188409805298, 1.1142765283584595, -1.5336178541183472, 1.6982159614562988, 0.9981074929237366, 0.14892256259918213, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147557258605957, -1.3247302770614624, -1.4878902435302734, -1.3995674848556519, -0.2156502604484558, 0.35389870405197144, -0.5708529949188232, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.334470272064209, -1.1029387712478638, 1.1055153608322144, -1.5293914079666138, 1.7031614780426025, 0.9979194402694702, 0.14733514189720154, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475552320480347, -1.324609637260437, -1.4878919124603271, -1.3995745182037354, -0.21570083498954773, 0.3538985848426819, -0.5708439946174622, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3296698331832886, -1.1093300580978394, 1.0985509157180786, -1.5290614366531372, 1.7065348625183105, 0.9976164698600769, 0.14365777373313904, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475549936294556, -1.3246052265167236, -1.487905740737915, -1.3995791673660278, -0.21573582291603088, 0.35389775037765503, -0.5708383321762085, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3239805698394775, -1.1140179634094238, 1.0903613567352295, -1.5285395383834839, 1.7112534046173096, 0.9970958828926086, 0.1402759552001953, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475802659988403, -1.3246055841445923, -1.4879062175750732, -1.3995815515518188, -0.21577009558677673, 0.35389870405197144, -0.5709161162376404, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3186500072479248, -1.1176505088806152, 1.0843466520309448, -1.5285371541976929, 1.711974024772644, 0.9968659281730652, 0.1370079666376114, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1476043462753296, -1.3246043920516968, -1.4879506826400757, -1.399585247039795, -0.2157977819442749, 0.35389894247055054, -0.5709556937217712, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3163262605667114, -1.1208795309066772, 1.0802571773529053, -1.5285913944244385, 1.7130012512207031, 0.9963061213493347, 0.13605941832065582, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1476150751113892, -1.3246006965637207, -1.4880598783493042, -1.3995875120162964, -0.21581023931503296, 0.3538981080055237, -0.5709587931632996, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3152215480804443, -1.1219855546951294, 1.0794912576675415, -1.5306320190429688, 1.7134437561035156, 0.9959395527839661, 0.13372297585010529, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1476374864578247, -1.324592113494873, -1.4880653619766235, -1.3995885848999023, -0.21581599116325378, 0.3538981080055237, -0.5709622502326965, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3136836290359497, -1.122706651687622, 1.0770795345306396, -1.5309633016586304, 1.7138882875442505, 0.9958568811416626, 0.1334371566772461, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1476720571517944, -1.3245803117752075, -1.4880696535110474, -1.3995956182479858, -0.21583540737628937, 0.35389775037765503, -0.5710664391517639, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3107026815414429, -1.1238878965377808, 1.0731650590896606, -1.5324242115020752, 1.7146060466766357, 0.9951179027557373, 0.129695326089859, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1476466655731201, -1.3245855569839478, -1.4880692958831787, -1.3996100425720215, -0.21585386991500854, 0.3538905680179596, -0.5710327625274658, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3145992755889893, -1.1233924627304077, 1.0734893083572388, -1.5417782068252563, 1.711143970489502, 0.9966751337051392, 0.11613744497299194, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475176811218262, -1.3247286081314087, -1.4880218505859375, -1.399606466293335, -0.2158457189798355, 0.3538791835308075, -0.5708354711532593, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3335764408111572, -1.1188989877700806, 1.0937480926513672, -1.5470435619354248, 1.7014031410217285, 0.9996632933616638, 0.10282788425683975, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147512674331665, -1.324791669845581, -1.48785400390625, -1.3995635509490967, -0.2156798541545868, 0.3538835048675537, -0.5704153180122375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3517653942108154, -1.111460566520691, 1.1266882419586182, -1.5510276556015015, 1.7031750679016113, 1.0010294914245605, 0.08389664441347122, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475121974945068, -1.324907898902893, -1.4878132343292236, -1.3995603322982788, -0.21566787362098694, 0.3538867235183716, -0.5704596638679504, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3648353815078735, -1.0941413640975952, 1.149332046508789, -1.5657788515090942, 1.6919450759887695, 1.0010322332382202, 0.10726408660411835, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475132703781128, -1.3248820304870605, -1.4878231287002563, -1.3995598554611206, -0.2156461775302887, 0.3538893759250641, -0.5704583525657654, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3856325149536133, -1.0772900581359863, 1.1715223789215088, -1.590793251991272, 1.7025868892669678, 1.0010274648666382, 0.09920217841863632, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147511601448059, -1.324864149093628, -1.4878427982330322, -1.3995600938796997, -0.21562999486923218, 0.3538893759250641, -0.570472002029419, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4156947135925293, -1.0600452423095703, 1.187089204788208, -1.6235716342926025, 1.712762475013733, 1.0010212659835815, 0.09731346368789673, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147512435913086, -1.3248326778411865, -1.4878746271133423, -1.399550437927246, -0.21544016897678375, 0.3538934290409088, -0.5704556703567505, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.443395733833313, -1.0454996824264526, 1.1970638036727905, -1.6476446390151978, 1.720194697380066, 1.0010216236114502, 0.1075870618224144, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475110054016113, -1.324831485748291, -1.4878753423690796, -1.3995516300201416, -0.21545107662677765, 0.3538948893547058, -0.5705788731575012, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4715960025787354, -1.0285305976867676, 1.2098888158798218, -1.6711136102676392, 1.732109785079956, 1.0010273456573486, 0.12605270743370056, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475121974945068, -1.3248257637023926, -1.487883448600769, -1.3995510339736938, -0.21546341478824615, 0.3539014756679535, -0.5705660581588745, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5007363557815552, -1.0109130144119263, 1.2284098863601685, -1.6989384889602661, 1.751333475112915, 1.0010336637496948, 0.14166109263896942, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475120782852173, -1.3248220682144165, -1.4878860712051392, -1.3995444774627686, -0.21547120809555054, 0.35390913486480713, -0.570487916469574, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.53404700756073, -0.9967004060745239, 1.2516804933547974, -1.7335636615753174, 1.769162893295288, 1.001046895980835, 0.15505309402942657, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475127935409546, -1.3248183727264404, -1.4878861904144287, -1.3995288610458374, -0.215473011136055, 0.353922575712204, -0.5704268217086792, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5675413608551025, -0.9868246912956238, 1.2801730632781982, -1.761597752571106, 1.7903627157211304, 1.001085877418518, 0.169211745262146, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475193500518799, -1.3248205184936523, -1.4878817796707153, -1.3995258808135986, -0.21547192335128784, 0.3539356291294098, -0.5704302787780762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.599948763847351, -0.9768605828285217, 1.3165363073349, -1.7933361530303955, 1.8145253658294678, 1.0011308193206787, 0.1768878847360611, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475294828414917, -1.324821949005127, -1.4878727197647095, -1.399521827697754, -0.21547120809555054, 0.35395097732543945, -0.570438802242279, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.629145622253418, -0.9681183695793152, 1.356642723083496, -1.8226752281188965, 1.8461698293685913, 1.0011446475982666, 0.1793428510427475, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475337743759155, -1.3248217105865479, -1.4878709316253662, -1.3995126485824585, -0.21546714007854462, 0.3539557456970215, -0.5704292058944702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6557400226593018, -0.9654993414878845, 1.4078269004821777, -1.8464215993881226, 1.874272346496582, 1.0011764764785767, 0.17613551020622253, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147533655166626, -1.3248238563537598, -1.4878695011138916, -1.3995110988616943, -0.21546725928783417, 0.35395383834838867, -0.5704264640808105, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6819595098495483, -0.9669814705848694, 1.467570185661316, -1.8696657419204712, 1.8929928541183472, 1.0012036561965942, 0.16847878694534302, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475348472595215, -1.324832797050476, -1.4878591299057007, -1.3995107412338257, -0.21546761691570282, 0.353951096534729, -0.5704280138015747, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.709421992301941, -0.9746801853179932, 1.5412348508834839, -1.8917354345321655, 1.91349196434021, 1.0012881755828857, 0.1604156792163849, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475377082824707, -1.3248306512832642, -1.4878586530685425, -1.3995100259780884, -0.21546438336372375, 0.35394665598869324, -0.5704166293144226, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7346551418304443, -0.9855976700782776, 1.6196414232254028, -1.9091994762420654, 1.9266053438186646, 1.001491665840149, 0.15124067664146423, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475467681884766, -1.3248285055160522, -1.4878572225570679, -1.3994816541671753, -0.21544328331947327, 0.3539441227912903, -0.5703647136688232, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7501732110977173, -0.9961478114128113, 1.69346022605896, -1.9118348360061646, 1.9370110034942627, 1.0015945434570312, 0.14259226620197296, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475492715835571, -1.3248276710510254, -1.4878573417663574, -1.399479866027832, -0.2154383808374405, 0.35394054651260376, -0.5703622102737427, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7576807737350464, -1.005270004272461, 1.7553894519805908, -1.9063268899917603, 1.9431132078170776, 1.0016353130340576, 0.1344066709280014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475516557693481, -1.324824333190918, -1.4878568649291992, -1.3994790315628052, -0.21543298661708832, 0.3539375364780426, -0.570343554019928, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.763043999671936, -1.0140608549118042, 1.802438735961914, -1.8804259300231934, 1.9362941980361938, 1.001654028892517, 0.13120581209659576, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.14756441116333, -1.3248207569122314, -1.487856388092041, -1.399477243423462, -0.21541860699653625, 0.3539363443851471, -0.5702323317527771, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7628289461135864, -1.0191596746444702, 1.8169924020767212, -1.8379324674606323, 1.9202675819396973, 1.0016529560089111, 0.132483571767807, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475772857666016, -1.3248189687728882, -1.4878562688827515, -1.399478554725647, -0.21542243659496307, 0.3539280891418457, -0.5702499151229858, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.759318232536316, -1.0220407247543335, 1.8094674348831177, -1.7933727502822876, 1.9047034978866577, 1.0016491413116455, 0.13204781711101532, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475648880004883, -1.3248192071914673, -1.4878566265106201, -1.3994975090026855, -0.21548128128051758, 0.35389944911003113, -0.5704487562179565, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7639312744140625, -1.021304726600647, 1.7905851602554321, -1.7754521369934082, 1.8862175941467285, 1.0016357898712158, 0.1391884982585907, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475396156311035, -1.3248205184936523, -1.4878568649291992, -1.399506688117981, -0.21554407477378845, 0.3538818061351776, -0.5705819129943848, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7844281196594238, -1.0165538787841797, 1.7761616706848145, -1.7698285579681396, 1.877817153930664, 1.0016340017318726, 0.15315347909927368, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475344896316528, -1.3248175382614136, -1.4878586530685425, -1.399505853652954, -0.21554359793663025, 0.35388386249542236, -0.570561408996582, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8162518739700317, -1.006487250328064, 1.754098653793335, -1.7656046152114868, 1.865710973739624, 1.001596212387085, 0.1619524210691452, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.147537112236023, -1.3248038291931152, -1.4878623485565186, -1.3995000123977661, -0.21552658081054688, 0.3538973927497864, -0.5704143643379211, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8488763570785522, -0.994476318359375, 1.731067419052124, -1.7655837535858154, 1.850334882736206, 1.001584768295288, 0.17415079474449158, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475417613983154, -1.3247971534729004, -1.4878617525100708, -1.399492859840393, -0.2155105173587799, 0.35391777753829956, -0.5704190135002136, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.872414469718933, -0.985508143901825, 1.7163196802139282, -1.7657928466796875, 1.8444006443023682, 1.0015877485275269, 0.18627871572971344, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.1475422382354736, -1.3247885704040527, -1.4878621101379395, -1.3994837999343872, -0.21545670926570892, 0.3539314270019531, -0.5704028606414795, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.890132188796997, -0.9747782349586487, 1.6970102787017822, -1.7658109664916992, 1.8400202989578247, 1.0015860795974731, 0.18889498710632324, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475423574447632, -1.3247934579849243, -1.4878584146499634, -1.3994845151901245, -0.21545802056789398, 0.35393455624580383, -0.5704272985458374, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.907447338104248, -0.9680472016334534, 1.6868051290512085, -1.7644834518432617, 1.8387855291366577, 1.0015792846679688, 0.18793852627277374, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475459337234497, -1.3247956037521362, -1.4878565073013306, -1.399484634399414, -0.21545875072479248, 0.35393860936164856, -0.570435106754303, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9218428134918213, -0.9646698236465454, 1.681975245475769, -1.7597848176956177, 1.8410613536834717, 1.0015177726745605, 0.18141324818134308, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 1.1475447416305542, -1.3247958421707153, -1.4878581762313843, -1.3994842767715454, -0.21545718610286713, 0.35393837094306946, -0.5704198479652405, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.931550145149231, -0.9643660187721252, 1.6805044412612915, -1.7547813653945923, 1.8472641706466675, 1.0014779567718506, 0.17157839238643646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475133895874023, -1.3248076438903809, -1.4878590106964111, -1.399495005607605, -0.21548499166965485, 0.35392892360687256, -0.5704455375671387, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9412500858306885, -0.9645357131958008, 1.6814014911651611, -1.7533817291259766, 1.854570746421814, 1.0014022588729858, 0.1628379374742508, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474668979644775, -1.3248093128204346, -1.48786199092865, -1.3995016813278198, -0.21550968289375305, 0.3539147675037384, -0.5704634785652161, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9530078172683716, -0.9660113453865051, 1.6865782737731934, -1.7535837888717651, 1.8605300188064575, 1.0013798475265503, 0.1549426019191742, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474673748016357, -1.3248096704483032, -1.48786461353302, -1.3995026350021362, -0.21551015973091125, 0.3539102077484131, -0.5704716444015503, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9653376340866089, -0.9663202166557312, 1.6910697221755981, -1.7588666677474976, 1.8652740716934204, 1.001268982887268, 0.15083561837673187, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474703550338745, -1.3248093128204346, -1.4878686666488647, -1.3995027542114258, -0.2155088484287262, 0.35390913486480713, -0.5704794526100159, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9795012474060059, -0.9670871496200562, 1.6973323822021484, -1.768530011177063, 1.8676010370254517, 1.0012251138687134, 0.15083321928977966, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474835872650146, -1.3248072862625122, -1.487870216369629, -1.3995020389556885, -0.21550405025482178, 0.3539090156555176, -0.5704694986343384, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9870072603225708, -0.9693098664283752, 1.70171058177948, -1.7690401077270508, 1.877974510192871, 1.0012205839157104, 0.14243383705615997, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474909782409668, -1.3248059749603271, -1.4878759384155273, -1.3995012044906616, -0.21549758315086365, 0.35391032695770264, -0.570444643497467, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9890987873077393, -0.9733780026435852, 1.706774353981018, -1.7699432373046875, 1.8852840662002563, 1.001219630241394, 0.1302807480096817, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474931240081787, -1.3248157501220703, -1.4878731966018677, -1.3995028734207153, -0.21550393104553223, 0.35390937328338623, -0.570518970489502, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9973464012145996, -0.9777699112892151, 1.7201488018035889, -1.7744101285934448, 1.8949763774871826, 1.0012177228927612, 0.12381226569414139, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1474955081939697, -1.3248112201690674, -1.4878772497177124, -1.3995026350021362, -0.21550272405147552, 0.3539092540740967, -0.5704312324523926, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.008683681488037, -0.9838326573371887, 1.7372617721557617, -1.7753372192382812, 1.9103405475616455, 1.0011647939682007, 0.10653844475746155, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147497296333313, -1.3248114585876465, -1.4878792762756348, -1.3995022773742676, -0.21550260484218597, 0.3539092540740967, -0.5704313516616821, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.016730785369873, -0.9906940460205078, 1.7446259260177612, -1.7750201225280762, 1.9207890033721924, 1.0010759830474854, 0.08947493880987167, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475058794021606, -1.3248118162155151, -1.4878790378570557, -1.3995022773742676, -0.21550704538822174, 0.35390985012054443, -0.5704472064971924, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0276389122009277, -0.9954086542129517, 1.7478010654449463, -1.7768322229385376, 1.9211829900741577, 1.0010402202606201, 0.08832529187202454, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.147506833076477, -1.3248108625411987, -1.4878824949264526, -1.399501919746399, -0.21550488471984863, 0.35391032695770264, -0.5704198479652405, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0350475311279297, -0.9977158904075623, 1.7480721473693848, -1.7812236547470093, 1.9212960004806519, 1.0010368824005127, 0.08639487624168396, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147507667541504, -1.3248121738433838, -1.4878818988800049, -1.399501085281372, -0.215506449341774, 0.3539108335971832, -0.5704264640808105, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.035400867462158, -1.00001060962677, 1.7451359033584595, -1.7812250852584839, 1.9246511459350586, 1.0010356903076172, 0.07815644145011902, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475094556808472, -1.3248131275177002, -1.4878811836242676, -1.3995020389556885, -0.2155090868473053, 0.35391107201576233, -0.5704331398010254, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0350770950317383, -1.0017235279083252, 1.7435652017593384, -1.7797625064849854, 1.9334005117416382, 1.0010353326797485, 0.06975621730089188, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475094556808472, -1.3248144388198853, -1.4878809452056885, -1.3995018005371094, -0.21551662683486938, 0.3539111912250519, -0.5704397559165955, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0328152179718018, -1.0023777484893799, 1.7387008666992188, -1.7738432884216309, 1.9411258697509766, 1.001025915145874, 0.06108527258038521, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475085020065308, -1.324816346168518, -1.4878809452056885, -1.3995015621185303, -0.2155437171459198, 0.3539108335971832, -0.5704450011253357, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.032712936401367, -1.0024746656417847, 1.7352266311645508, -1.7729793787002563, 1.9481618404388428, 1.0010019540786743, 0.054732076823711395, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475067138671875, -1.3248203992843628, -1.4878793954849243, -1.3995018005371094, -0.21557271480560303, 0.353909969329834, -0.5704517364501953, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0335729122161865, -1.0023220777511597, 1.73453950881958, -1.7713391780853271, 1.9572792053222656, 1.0009924173355103, 0.05071915686130524, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475067138671875, -1.324823021888733, -1.4878778457641602, -1.399501919746399, -0.2156001627445221, 0.353909969329834, -0.5704663395881653, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0367298126220703, -1.0022780895233154, 1.7394883632659912, -1.7653156518936157, 1.974241018295288, 1.0009890794754028, 0.04648980498313904, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475069522857666, -1.3248205184936523, -1.4878791570663452, -1.399501919746399, -0.21559512615203857, 0.353908896446228, -0.5704488754272461, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0356667041778564, -1.0022846460342407, 1.7402867078781128, -1.7635092735290527, 1.9822934865951538, 1.0009088516235352, 0.0386444516479969, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475069522857666, -1.3248202800750732, -1.4878790378570557, -1.399502158164978, -0.2155883014202118, 0.3539083003997803, -0.5704482793807983, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.03187894821167, -1.0026143789291382, 1.7346327304840088, -1.7604578733444214, 1.9850614070892334, 1.0007840394973755, 0.030961964279413223, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475054025650024, -1.3248200416564941, -1.4878791570663452, -1.3995025157928467, -0.21558673679828644, 0.35390543937683105, -0.5704518556594849, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0321860313415527, -1.0043617486953735, 1.734438419342041, -1.7606359720230103, 1.9929475784301758, 1.000777006149292, 0.026357145980000496, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147501826286316, -1.324819803237915, -1.4878792762756348, -1.3995026350021362, -0.21558614075183868, 0.35390278697013855, -0.570464551448822, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0363259315490723, -1.0068182945251465, 1.7391012907028198, -1.7706106901168823, 2.002434730529785, 1.0007665157318115, 0.02417949214577675, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147501826286316, -1.324816346168518, -1.487881064414978, -1.3995025157928467, -0.21557176113128662, 0.35390207171440125, -0.5704584717750549, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0405330657958984, -1.0082483291625977, 1.742405652999878, -1.7878553867340088, 2.017139434814453, 1.0006427764892578, 0.011994531378149986, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475012302398682, -1.3248153924942017, -1.4878798723220825, -1.399503231048584, -0.21557199954986572, 0.35390040278434753, -0.5705708861351013, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0438995361328125, -1.0136079788208008, 1.7484655380249023, -1.8020656108856201, 2.033693790435791, 1.0004653930664062, -0.006435169372707605, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475003957748413, -1.324808955192566, -1.4878824949264526, -1.3995037078857422, -0.21556444466114044, 0.35390016436576843, -0.5705622434616089, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0493905544281006, -1.0222225189208984, 1.7546006441116333, -1.8157655000686646, 2.049480438232422, 0.9999576210975647, -0.030052240937948227, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474984884262085, -1.324805498123169, -1.48788321018219, -1.3995048999786377, -0.2155582159757614, 0.35390111804008484, -0.5705543160438538, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.052535057067871, -1.031511902809143, 1.7578151226043701, -1.820921540260315, 2.064761161804199, 0.999925971031189, -0.056174974888563156, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147497296333313, -1.3247973918914795, -1.487889051437378, -1.3995050191879272, -0.2155449092388153, 0.35390135645866394, -0.5705328583717346, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.056062698364258, -1.0428458452224731, 1.7657928466796875, -1.8292579650878906, 2.081277847290039, 0.9999313950538635, -0.07923310250043869, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474965810775757, -1.324796199798584, -1.4878917932510376, -1.3995047807693481, -0.21552634239196777, 0.3539031445980072, -0.5704296827316284, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.057415246963501, -1.0541077852249146, 1.7708823680877686, -1.832421898841858, 2.087034225463867, 0.9999425411224365, -0.09313959628343582, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474964618682861, -1.3247984647750854, -1.4878901243209839, -1.3995054960250854, -0.2155228555202484, 0.3539050817489624, -0.5704460144042969, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0573348999023438, -1.0635796785354614, 1.7724734544754028, -1.831545114517212, 2.0936830043792725, 0.9999534487724304, -0.10949171334505081, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474977731704712, -1.3248004913330078, -1.4878888130187988, -1.399505615234375, -0.2155207097530365, 0.3539077043533325, -0.5704553127288818, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0573477745056152, -1.0712664127349854, 1.7780717611312866, -1.8336517810821533, 2.095930576324463, 0.9999584555625916, -0.1186179369688034, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474974155426025, -1.3248059749603271, -1.4878883361816406, -1.3995057344436646, -0.2155195027589798, 0.353909969329834, -0.5705616474151611, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.055817127227783, -1.0774016380310059, 1.780364751815796, -1.8276044130325317, 2.0952117443084717, 0.9999693632125854, -0.12611611187458038, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474971771240234, -1.3248069286346436, -1.4878894090652466, -1.3995062112808228, -0.21551866829395294, 0.35391056537628174, -0.5705555081367493, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0537869930267334, -1.0824655294418335, 1.7803164720535278, -1.8119724988937378, 2.0879392623901367, 0.9999711513519287, -0.1280563622713089, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474976539611816, -1.324806571006775, -1.4878901243209839, -1.3995063304901123, -0.21551495790481567, 0.353911429643631, -0.5704261064529419, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.053826332092285, -1.0851223468780518, 1.7801148891448975, -1.805121898651123, 2.07694411277771, 0.9999715089797974, -0.1270417720079422, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475024223327637, -1.3248337507247925, -1.4878621101379395, -1.399506688117981, -0.21552430093288422, 0.35391178727149963, -0.570654034614563, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.049318790435791, -1.0875047445297241, 1.7777888774871826, -1.794033169746399, 2.068769693374634, 0.9999721050262451, -0.12388824671506882, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147515892982483, -1.3248456716537476, -1.4878474473953247, -1.3995070457458496, -0.215531125664711, 0.35391297936439514, -0.5706637501716614, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0437119007110596, -1.0883841514587402, 1.7767465114593506, -1.7871432304382324, 2.061399221420288, 0.9999786019325256, -0.1183970719575882, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475191116333008, -1.3248443603515625, -1.4878495931625366, -1.3995072841644287, -0.21553316712379456, 0.35391274094581604, -0.570597231388092, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.038224458694458, -1.0883824825286865, 1.7704288959503174, -1.7818166017532349, 2.0577142238616943, 0.9999887943267822, -0.11759652197360992, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475152969360352, -1.3248419761657715, -1.4878592491149902, -1.3995070457458496, -0.21553388237953186, 0.3539104461669922, -0.570414125919342, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.030985116958618, -1.0883445739746094, 1.7587515115737915, -1.7765716314315796, 2.051384210586548, 0.9999877214431763, -0.11794178932905197, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475106477737427, -1.324840784072876, -1.4878605604171753, -1.3995075225830078, -0.21554024517536163, 0.35390615463256836, -0.5704179406166077, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.025485038757324, -1.0880409479141235, 1.7552989721298218, -1.7743834257125854, 2.046365261077881, 0.999983012676239, -0.11725006252527237, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475061178207397, -1.324840784072876, -1.4878621101379395, -1.3995089530944824, -0.21556001901626587, 0.3539017140865326, -0.5704307556152344, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0249409675598145, -1.0866928100585938, 1.7540925741195679, -1.7744224071502686, 2.0466864109039307, 0.9999811053276062, -0.1156882792711258, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475058794021606, -1.3248409032821655, -1.487862229347229, -1.3995099067687988, -0.21556515991687775, 0.35390064120292664, -0.5704439282417297, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.02494478225708, -1.0855547189712524, 1.7540479898452759, -1.7758336067199707, 2.049565553665161, 0.9999793171882629, -0.11517379432916641, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1475024223327637, -1.3248387575149536, -1.48786461353302, -1.3995091915130615, -0.21556779742240906, 0.353900283575058, -0.5704427361488342, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0252628326416016, -1.0840197801589966, 1.7545143365859985, -1.7781153917312622, 2.053156614303589, 0.9999786019325256, -0.11544643342494965, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474860906600952, -1.3248350620269775, -1.4878679513931274, -1.399509310722351, -0.21556971967220306, 0.3538998067378998, -0.5704448819160461, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.027204990386963, -1.082153081893921, 1.758427381515503, -1.7840497493743896, 2.060189962387085, 0.9999784827232361, -0.11798517405986786, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474825143814087, -1.3248238563537598, -1.4878671169281006, -1.3995083570480347, -0.2155686467885971, 0.3539017140865326, -0.570448637008667, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.028329849243164, -1.080640196800232, 1.761440396308899, -1.7887734174728394, 2.0642213821411133, 0.9999762177467346, -0.11911217123270035, 0.09899998339977896, 0.09899998339977896, 0.09899998339977896, 0.09899998339977896, -0.09899998339977896, -0.09899998339977896, -0.09899998339977896, 0.09899998339977896, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474932432174683, -1.3248226642608643, -1.4878648519515991, -1.399511694908142, -0.21556995809078217, 0.35390591621398926, -0.5704888701438904, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.028857946395874, -1.0805808305740356, 1.7625802755355835, -1.7932060956954956, 2.066012382507324, 0.9999635815620422, -0.11956936866044998, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, 0.1865999866317917, -0.1865999866317917, -0.1865999866317917, -0.1865999866317917, 0.1865999866317917, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474956274032593, -1.3248190879821777, -1.4878664016723633, -1.3995113372802734, -0.21556852757930756, 0.3539084196090698, -0.5705609321594238, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.029733896255493, -1.0810024738311768, 1.763810157775879, -1.7977256774902344, 2.069788694381714, 0.9999457597732544, -0.12203164398670197, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, 0.35039999563615404, -0.35039999563615404, -0.35039999563615404, -0.35039999563615404, 0.35039999563615404, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474837064743042, -1.324814796447754, -1.4878664016723633, -1.3995097875595093, -0.21555845439434052, 0.35391297936439514, -0.570532500743866, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0304510593414307, -1.0823873281478882, 1.7649483680725098, -1.797899603843689, 2.0656683444976807, 0.9999454021453857, -0.1262224167585373, 0.49319999794383623, 0.49319999794383623, 0.49319999794383623, 0.49319999794383623, -0.49319999794383623, -0.49319999794383623, -0.49319999794383623, 0.49319999794383623, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474921703338623, -1.324811577796936, -1.4878681898117065, -1.3995097875595093, -0.21555833518505096, 0.35391369462013245, -0.5705247521400452, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0343897342681885, -1.085654616355896, 1.7703557014465332, -1.799953818321228, 2.0495810508728027, 0.9999452829360962, -0.1283656656742096, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.147491455078125, -1.3248130083084106, -1.487866759300232, -1.399510383605957, -0.21556037664413452, 0.3539135754108429, -0.5705298781394958, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0445315837860107, -1.0886166095733643, 1.7837419509887695, -1.801309585571289, 2.037449359893799, 0.9999489784240723, -0.1273745745420456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.1474871635437012, -1.3248144388198853, -1.4878665208816528, -1.3995119333267212, -0.21556900441646576, 0.3539108335971832, -0.5705520510673523, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.068566083908081, -1.0902711153030396, 1.8183975219726562, -1.8285303115844727, 2.0164783000946045, 0.9999656677246094, -0.11934993416070938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.1471540927886963, -1.3248029947280884, -1.4879419803619385, -1.3996856212615967, -0.2155916541814804, 0.3538886606693268, -0.5702521800994873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0913212299346924, -1.0951396226882935, 1.885072946548462, -1.8774714469909668, 1.9983727931976318, 1.0002236366271973, -0.0914764255285263, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.1528220176696777, -1.3248404264450073, -1.4888490438461304, -1.4073050022125244, -0.22312098741531372, 0.33868616819381714, -0.5334405303001404, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.069652557373047, -1.110383152961731, 1.944193959236145, -1.9129408597946167, 1.9508899450302124, 1.0004633665084839, -0.05262356996536255, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.37568655610084534, 0.0, 0.0, 1.1651349067687988, -1.324849009513855, -1.5059068202972412, -1.4330284595489502, -0.22954261302947998, 0.29216307401657104, -0.4684995412826538, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9881080389022827, -1.1392641067504883, 1.9772893190383911, -1.9187533855438232, 1.8696532249450684, 1.000648021697998, -0.003297699149698019, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.37568655610084534, 0.0, 0.0, 1.1486966609954834, -1.3239233493804932, -1.5428040027618408, -1.4729007482528687, -0.252162367105484, 0.2732897102832794, -0.4247119426727295, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.888337254524231, -1.1679307222366333, 1.9848942756652832, -1.9413316249847412, 1.7460088729858398, 0.9663295149803162, 0.056117452681064606, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.37578243017196655, 0.0, 0.0, 1.1212728023529053, -1.3175846338272095, -1.5773755311965942, -1.4967914819717407, -0.25987371802330017, 0.26410427689552307, -0.40933355689048767, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7861759662628174, -1.1875807046890259, 1.9590388536453247, -1.939085841178894, 1.585092306137085, 0.8891153931617737, 0.1419888585805893, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5631433725357056, 1.0329601764678955, -0.37568655610084534, 0.0, 0.0, 1.1187586784362793, -1.3109114170074463, -1.5985692739486694, -1.505185604095459, -0.2686816453933716, 0.2465917319059372, -0.409756600856781, 0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -1.7374695539474487, -1.1914230585098267, 1.9431169033050537, -1.9460432529449463, 1.457102656364441, 0.8544328212738037, 0.12546883523464203, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.1258773803710938, -1.3088735342025757, -1.5956993103027344, -1.5032821893692017, -0.2679745852947235, 0.2494945377111435, -0.41160598397254944, 0.27540000821207905, -0.27540000821207905, 0.27540000821207905, 0.27540000821207905, -0.27540000821207905, -0.27540000821207905, 0.27540000821207905, 0.27540000821207905, -1.7639528512954712, -1.1895437240600586, 1.9475915431976318, -1.9433308839797974, 1.5091980695724487, 0.8678286671638489, 0.11378709971904755, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.1308783292770386, -1.3095242977142334, -1.5918753147125244, -1.502380609512329, -0.2674812972545624, 0.2510308027267456, -0.41230514645576477, 0.5693999988037151, -0.5693999988037151, 0.5693999988037151, 0.5693999988037151, -0.5693999988037151, -0.5693999988037151, 0.5693999988037151, 0.5693999988037151, -1.7733479738235474, -1.1895853281021118, 1.9477241039276123, -1.941773533821106, 1.5361288785934448, 0.8699365854263306, 0.1140870675444603, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 1.1307402849197388, -1.309388279914856, -1.592024326324463, -1.5025030374526978, -0.26748982071876526, 0.2508768141269684, -0.41229161620140076, 0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -1.773378610610962, -1.1895818710327148, 1.947656512260437, -1.9418127536773682, 1.5359646081924438, 0.8697654008865356, 0.11407184600830078, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.1447662115097046, -1.3057188987731934, -1.5921590328216553, -1.5094131231307983, -0.2710294723510742, 0.2451726794242859, -0.4027738571166992, 0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -1.7723335027694702, -1.188614010810852, 1.9391403198242188, -1.9383660554885864, 1.508482575416565, 0.8484863638877869, 0.11127244681119919, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3759741485118866, 0.0, 0.0, 1.1822346448898315, -1.295688509941101, -1.592682123184204, -1.5280282497406006, -0.2805563509464264, 0.2293637990951538, -0.3769168257713318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7695971727371216, -1.1860945224761963, 1.916932225227356, -1.9293164014816284, 1.4374371767044067, 0.7929193377494812, 0.10402235388755798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.2430249452590942, -1.279533863067627, -1.5934890508651733, -1.558297872543335, -0.29609736800193787, 0.20391985774040222, -0.33504238724708557, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7650946378707886, -1.1820470094680786, 1.8812143802642822, -1.9146734476089478, 1.322892427444458, 0.7036842107772827, 0.09222017228603363, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.3272532224655151, -1.257125973701477, -1.5946245193481445, -1.6000885963439941, -0.31756624579429626, 0.16851821541786194, -0.2770967185497284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.75897216796875, -1.1764498949050903, 1.8319127559661865, -1.8945832252502441, 1.1646828651428223, 0.5804297924041748, 0.07604026794433594, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.434892177581787, -1.2284674644470215, -1.5961143970489502, -1.653442621231079, -0.34490299224853516, 0.12352176755666733, -0.20300701260566711, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.751157283782959, -1.169285535812378, 1.7692275047302246, -1.8689900636672974, 0.9631978273391724, 0.42343345284461975, 0.05550242215394974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.5408154726028442, -1.2003064155578613, -1.5974810123443604, -1.70609712600708, -0.3718873858451843, 0.07923238724470139, -0.1300746202468872, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.743538737297058, -1.1623497009277344, 1.7080676555633545, -1.8440724611282349, 0.7670981287956238, 0.2704871892929077, 0.03552351891994476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6231729984283447, -1.1783603429794312, -1.5986218452453613, -1.747076153755188, -0.392841100692749, 0.04460025206208229, -0.07338108867406845, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.737573266029358, -1.156935453414917, 1.6607037782669067, -1.8248183727264404, 0.6149007678031921, 0.15185163915157318, 0.01998477429151535, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.6821941137313843, -1.162700891494751, -1.5993611812591553, -1.7763636112213135, -0.4078120291233063, 0.019900524988770485, -0.03287848085165024, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7333590984344482, -1.1530916690826416, 1.6268242597579956, -1.8110109567642212, 0.5062588453292847, 0.06740071624517441, 0.008904758840799332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7178829908370972, -1.1532018184661865, -1.5998622179031372, -1.7939289808273315, -0.4169284403324127, 0.004940137267112732, -0.00829332321882248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7308688163757324, -1.1507664918899536, 1.6066147089004517, -1.8027303218841553, 0.4412652850151062, 0.016588564962148666, 0.0022018617019057274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7300037145614624, -1.1500279903411865, -1.600001335144043, -1.7999800443649292, -0.41999709606170654, -4.8775797040434554e-05, 6.195844616740942e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299962043762207, -1.1499965190887451, 1.5999923944473267, -1.7999913692474365, 0.4199977219104767, -4.4221789721632376e-05, -2.3608923584106378e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.729872226715088, -1.1499865055084229, -1.6000125408172607, -1.800052523612976, -0.42003390192985535, -0.00010725881293183193, 8.688562957104295e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729978084564209, -1.1499775648117065, 1.5999854803085327, -1.7999764680862427, 0.4199258089065552, -8.796421025181189e-05, -1.1504856047395151e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7297592163085938, -1.1500632762908936, -1.60000479221344, -1.7999805212020874, -0.4200296998023987, -1.5100123164302204e-05, -0.00016034893633332103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73004150390625, -1.149999737739563, 1.6000308990478516, -1.7999879121780396, 0.4201699197292328, -7.382282637991011e-05, 0.0002576608385425061, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7297499179840088, -1.1501675844192505, -1.5999643802642822, -1.799916386604309, -0.4200185537338257, 3.151850978611037e-05, -0.0003123088972643018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301338911056519, -1.1501305103302002, 1.6001098155975342, -1.8000560998916626, 0.4202826917171478, -7.310377259273082e-05, 0.00043742419802583754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7297483682632446, -1.1502430438995361, -1.5998172760009766, -1.7998943328857422, -0.420004665851593, 4.51805281045381e-05, -0.00033843450364656746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302292585372925, -1.1502928733825684, 1.6001602411270142, -1.8002052307128906, 0.42030641436576843, -7.322361489059404e-05, 0.00046966178342700005, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7297486066818237, -1.1502623558044434, -1.5997563600540161, -1.7998898029327393, -0.41999316215515137, 5.320995842339471e-05, -0.00034059167956002057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302422523498535, -1.1503369808197021, 1.6001696586608887, -1.8002794981002808, 0.42031529545783997, -7.346329948632047e-05, 0.00048164601321332157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7297484874725342, -1.1502711772918701, -1.5997381210327148, -1.7998881340026855, -0.4199877679347992, 5.848301589139737e-05, -0.0003401123103685677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730244755744934, -1.1503546237945557, 1.6001721620559692, -1.8003159761428833, 0.4203200936317444, -7.394266867777333e-05, 0.0004869190452154726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7297483682632446, -1.1502765417099, -1.599729061126709, -1.7998875379562378, -0.41998499631881714, 6.207828846527264e-05, -0.0003393932420294732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302464246749878, -1.1503645181655884, 1.600173830986023, -1.8003393411636353, 0.42032450437545776, -7.418235327349976e-05, 0.0004901547799818218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.729748249053955, -1.1502799987792969, -1.5997231006622314, -1.7998876571655273, -0.41998225450515747, 6.459496944444254e-05, -0.00033735594479367137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302459478378296, -1.150368571281433, 1.6001750230789185, -1.8003475666046143, 0.4203265607357025, -7.406251097563654e-05, 0.00049147306708619, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7297476530075073, -1.1502820253372192, -1.5997179746627808, -1.7998876571655273, -0.41997650265693665, 6.627276161452755e-05, -0.0003338805108796805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302457094192505, -1.1503714323043823, 1.600175142288208, -1.8003501892089844, 0.420327752828598, -7.346329948632047e-05, 0.0004919524071738124, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 1.7297474145889282, -1.1502835750579834, -1.5997132062911987, -1.7998871803283691, -0.41996821761131287, 6.711165769957006e-05, -0.000328247930156067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302452325820923, -1.1503734588623047, 1.600175380706787, -1.8003506660461426, 0.4203282296657562, -7.286408799700439e-05, 0.0004919524071738124, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7297470569610596, -1.1502848863601685, -1.5997098684310913, -1.799888014793396, -0.4199645221233368, 6.854976527392864e-05, -0.0003251320158597082, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730244755744934, -1.1503746509552002, 1.6001756191253662, -1.8003504276275635, 0.42032918334007263, -7.202519191196188e-05, 0.0004923119558952749, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7297455072402954, -1.1502859592437744, -1.5997074842453003, -1.7998878955841064, -0.4199606776237488, 6.890929216751829e-05, -0.000324892345815897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302438020706177, -1.150376558303833, 1.6001758575439453, -1.800350546836853, 0.4203297793865204, -6.962834595469758e-05, 0.0004933905438520014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7297435998916626, -1.150286316871643, -1.5997047424316406, -1.799887776374817, -0.4199593663215637, 6.771086918888614e-05, -0.000324892345815897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302427291870117, -1.1503785848617554, 1.6001754999160767, -1.800351619720459, 0.42033159732818604, -6.711165769957006e-05, 0.000494469131808728, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.729741096496582, -1.1502869129180908, -1.5997021198272705, -1.799888014793396, -0.4199557602405548, 6.651244621025398e-05, -0.0003242931270506233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730241298675537, -1.150380253791809, 1.6001760959625244, -1.8003513813018799, 0.42033278942108154, -6.603307701880112e-05, 0.0004959072102792561, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7297378778457642, -1.150287389755249, -1.5996999740600586, -1.7998878955841064, -0.4199528992176056, 6.375607335940003e-05, -0.0003221359511371702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302395105361938, -1.150382161140442, 1.6001757383346558, -1.800350546836853, 0.42033469676971436, -6.639260391239077e-05, 0.0004972254973836243, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.729735255241394, -1.1502875089645386, -1.5996993780136108, -1.799888014793396, -0.41995227336883545, 6.279733497649431e-05, -0.0003224954998586327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302368879318237, -1.1503832340240479, 1.6001759767532349, -1.8003509044647217, 0.4203355312347412, -6.627276161452755e-05, 0.0004986635758541524, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.5104098054584116, 0.8599311638208545, -0.000473266961425544, 17.419198989868164], [-0.8596688933565031, -0.510267575851606, -0.024421196320630244, 14.941213607788086], [-0.021242040559034406, -0.01205796517808367, 0.9997016460867975, 1.0226998329162598], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000024/gt/hand_left.mp4 b/agibot-challenge-2026/000024/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4dfb2050256b7bf43424ea5214cee462fb367b6d --- /dev/null +++ b/agibot-challenge-2026/000024/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d068913dfe82809f4cccbcdf0f4f674db8bd3b1896049316eb55327339e40eaf +size 15938186 diff --git a/agibot-challenge-2026/000024/gt/hand_right.mp4 b/agibot-challenge-2026/000024/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1449c9349bc9e69340bbde61a8e0f4c657733b96 --- /dev/null +++ b/agibot-challenge-2026/000024/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f01e6bfa23bf795611da2951b37aed8166080267507add6227b7a336b8c0054b +size 17455559 diff --git a/agibot-challenge-2026/000024/gt/head.mp4 b/agibot-challenge-2026/000024/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..30981198feae4b2b21044710409e563f342aea39 --- /dev/null +++ b/agibot-challenge-2026/000024/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b8786090be967867f059da2e5040f926251886bd3e5c468aee917bf3e8dbcf8 +size 11508968 diff --git a/agibot-challenge-2026/000024/meta.json b/agibot-challenge-2026/000024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65842887395b14db49309bb9531470ad40eae618 --- /dev/null +++ b/agibot-challenge-2026/000024/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Refrigerated section", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 59, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000024/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000024/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..360ab7f27f055337fffbf19afd23bfe170aae748 --- /dev/null +++ b/agibot-challenge-2026/000024/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000024/ref_images/hand_left.png b/agibot-challenge-2026/000024/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..667363eaea31768f7e2cdc196c4ac0bd0e15824d --- /dev/null +++ b/agibot-challenge-2026/000024/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8838917061f47a4f3668f1d62f195318a4382621e681e8f2b84c4ce5f8ba4ed3 +size 510096 diff --git a/agibot-challenge-2026/000024/ref_images/hand_right.png b/agibot-challenge-2026/000024/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..895e0af67caf2c7f1d81d673cf1e6b817d793aa9 --- /dev/null +++ b/agibot-challenge-2026/000024/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:303b4abd03eac9d9ac32992b84166f8d3fe01a7cb5597db6015bb33c5faf8a59 +size 567434 diff --git a/agibot-challenge-2026/000024/ref_images/head.png b/agibot-challenge-2026/000024/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..2f74e7d4247b192b888c772aa6ab18b582f64183 --- /dev/null +++ b/agibot-challenge-2026/000024/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63c3776eb959479c1899321a84530d901d97f8d3fee2d459d580a66c874279ba +size 439211 diff --git a/agibot-challenge-2026/000024/temporal.json b/agibot-challenge-2026/000024/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..59eddfa348a16bebaf9bc0b399d8f9dd63e67d6f --- /dev/null +++ b/agibot-challenge-2026/000024/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7480000257492065, -0.3810000419616699, -1.251699686050415, -1.6390000581741333, -1.2400003671646118, 0.32799962162971497, -1.275999903678894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000853538513, -0.3809998333454132, 1.2517000436782837, -1.6390000581741333, 1.2399998903274536, 0.3279997408390045, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7480000257492065, -0.3810000717639923, -1.2516999244689941, -1.638999581336975, -1.2400002479553223, 0.32799986004829407, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38099998235702515, 1.2516999244689941, -1.6390000581741333, 1.2400000095367432, 0.3279997408390045, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7479999661445618, -0.38100019097328186, -1.2516999244689941, -1.6389998197555542, -1.2400003671646118, 0.3279999792575836, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003237724304, -0.3810000419616699, 1.251699447631836, -1.638999581336975, 1.2400000095367432, 0.3280002176761627, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7480002045631409, -0.38099992275238037, -1.2516999244689941, -1.6390001773834229, -1.2400000095367432, 0.32799986004829407, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.380999892950058, 1.2517002820968628, -1.6389998197555542, 1.2399996519088745, 0.3279997408390045, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7480000257492065, -0.38099977374076843, -1.251699686050415, -1.6390000581741333, -1.2399998903274536, 0.3280002176761627, -1.275999903678894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.747999906539917, -0.380999892950058, 1.2517001628875732, -1.6390001773834229, 1.2400001287460327, 0.3279997408390045, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7479999661445618, -0.3810000419616699, -1.2517000436782837, -1.6389999389648438, -1.2400003671646118, 0.32800009846687317, -1.275999903678894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000853538513, -0.3810001313686371, 1.2516999244689941, -1.6389998197555542, 1.2399998903274536, 0.32800033688545227, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7480000257492065, -0.38100019097328186, -1.2516999244689941, -1.6390000581741333, -1.2400002479553223, 0.3279999792575836, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38099998235702515, 1.2517000436782837, -1.6390001773834229, 1.2400001287460327, 0.32800009846687317, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6039791107177734, 1.2340714931488037, -0.622905969619751, 0.0, 0.0, 0.7479999661445618, -0.38099998235702515, -1.2516995668411255, -1.638999581336975, -1.2399998903274536, 0.32799986004829407, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38100048899650574, 1.2516998052597046, -1.6389999389648438, 1.2399998903274536, 0.32800009846687317, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.603691577911377, 1.2333046197891235, -0.622905969619751, 0.0, -0.0024923246819525957, 0.7480002641677856, -0.38099998235702515, -1.2516998052597046, -1.6389997005462646, -1.239999771118164, 0.32800009846687317, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002641677856, -0.38100042939186096, 1.2516993284225464, -1.6389999389648438, 1.2399998903274536, 0.3279999792575836, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6019660830497742, 1.23042893409729, -0.6232894062995911, 0.0, -0.004888790659606457, 0.7480001449584961, -0.380999892950058, -1.2517000436782837, -1.6389999389648438, -1.2400003671646118, 0.32799986004829407, -1.275999903678894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002045631409, -0.3809996247291565, 1.2517000436782837, -1.6389998197555542, 1.2400001287460327, 0.32800009846687317, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5980358719825745, 1.2256360054016113, -0.6244397163391113, -0.0023006072733551264, -0.0071893977001309395, 0.7480002045631409, -0.3809996247291565, -1.2516998052597046, -1.6390002965927124, -1.2400003671646118, 0.3279999792575836, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.38099974393844604, 1.2517000436782837, -1.6390000581741333, 1.2399996519088745, 0.3279999792575836, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5919009447097778, 1.2181589603424072, -0.6262610554695129, -0.003546769730746746, -0.009873439557850361, 0.7480003833770752, -0.380999892950058, -1.2516998052597046, -1.6389999389648438, -1.2400001287460327, 0.3279997408390045, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480005025863647, -0.38100093603134155, 1.251699447631836, -1.6389999389648438, 1.239999771118164, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5838488340377808, 1.2075186967849731, -0.6291368007659912, -0.004313638899475336, -0.012653340585529804, 0.7480006217956543, -0.3810001313686371, -1.2516990900039673, -1.6389999389648438, -1.2400002479553223, 0.3279997408390045, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002045631409, -0.38100042939186096, 1.2516999244689941, -1.6390000581741333, 1.239999532699585, 0.32800009846687317, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5720582008361816, 1.1915103197097778, -0.6336421370506287, -0.004217780195176601, -0.014953947626054287, 0.7479999661445618, -0.3809988796710968, -1.251699447631836, -1.6390002965927124, -1.239999771118164, 0.32799986004829407, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479994297027588, -0.3809962868690491, 1.251700520515442, -1.6390001773834229, 1.2400000095367432, 0.3280002176761627, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5556663870811462, 1.1724344491958618, -0.6392019391059875, -0.0029716177377849817, -0.0170628372579813, 0.7479995489120483, -0.3809982240200043, -1.2517001628875732, -1.6389998197555542, -1.2400003671646118, 0.32800009846687317, -1.2760001420974731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479991912841797, -0.38099634647369385, 1.2517011165618896, -1.6390002965927124, 1.2400004863739014, 0.3279997408390045, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5372615456581116, 1.1501952409744263, -0.645336925983429, -0.0013420209288597107, -0.01878829300403595, 0.7480002641677856, -0.38099947571754456, -1.2516993284225464, -1.6389999389648438, -1.2400002479553223, 0.3279999792575836, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003833770752, -0.38099613785743713, 1.2517001628875732, -1.6389999389648438, 1.2400001287460327, 0.3279997408390045, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5173228979110718, 1.1246968507766724, -0.6512801647186279, 0.0, -0.02003445476293564, 0.7479999661445618, -0.38099828362464905, -1.2516992092132568, -1.6390001773834229, -1.2399996519088745, 0.32799962162971497, -1.2760003805160522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480008006095886, -0.38099774718284607, 1.2517013549804688, -1.6390000581741333, 1.240000605583191, 0.32799986004829407, 1.2760008573532104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.49661746621131897, 1.0971853733062744, -0.6545393466949463, 0.0013420209288597107, -0.02271849662065506, 0.7479981184005737, -0.380994975566864, -1.2517019510269165, -1.6390005350112915, -1.2400009632110596, 0.3279999792575836, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480009198188782, -0.3809957504272461, 1.2517014741897583, -1.6390001773834229, 1.2400009632110596, 0.3279997408390045, 1.276000738143921, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.47485753893852234, 1.068811297416687, -0.6557855010032654, 0.0019171728054061532, -0.02626526728272438, 0.7479978203773499, -0.3809976279735565, -1.2517067193984985, -1.6390007734298706, -1.2400012016296387, 0.3279997408390045, -1.2760003805160522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479978799819946, -0.380994588136673, 1.251703143119812, -1.6389998197555542, 1.2400017976760864, 0.32800009846687317, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.4540562331676483, 1.038424015045166, -0.6557855010032654, 0.002013031393289566, -0.030387189239263535, 0.7479981780052185, -0.38100022077560425, -1.251704216003418, -1.6390005350112915, -1.2400007247924805, 0.3279997408390045, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480007410049438, -0.38100287318229675, 1.2517006397247314, -1.6390000581741333, 1.2400007247924805, 0.3279997408390045, 1.2760006189346313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.43383005261421204, 1.0082285404205322, -0.6548269391059875, 0.0018213141011074185, -0.036522142589092255, 0.7479977607727051, -0.3809957504272461, -1.2517058849334717, -1.6390008926391602, -1.2400013208389282, 0.32799962162971497, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.74799644947052, -0.38098785281181335, 1.251707911491394, -1.639000415802002, 1.240003228187561, 0.32800033688545227, 1.276001214981079, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.41446661949157715, 0.978128969669342, -0.6520470380783081, 0.0, -0.0436156801879406, 0.7479976415634155, -0.3809966742992401, -1.2517045736312866, -1.6390013694763184, -1.2400017976760864, 0.32799962162971497, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479990124702454, -0.3809944987297058, 1.2517051696777344, -1.6390007734298706, 1.240002155303955, 0.3279999792575836, 1.2760013341903687, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3939528465270996, 0.9489879608154297, -0.6480209827423096, 0.0, -0.05032578483223915, 0.7479991316795349, -0.3809986710548401, -1.251702070236206, -1.6390012502670288, -1.2400014400482178, 0.32799986004829407, -1.2760003805160522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479965686798096, -0.38099467754364014, 1.2517058849334717, -1.6390005350112915, 1.2400034666061401, 0.32799986004829407, 1.2760014533996582, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.37430185079574585, 0.919175922870636, -0.6434197425842285, 0.0, -0.057131748646497726, 0.7479990720748901, -0.3810010254383087, -1.251700758934021, -1.6390011310577393, -1.2400012016296387, 0.3279997408390045, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480008602142334, -0.3810005784034729, 1.2517008781433105, -1.6390002965927124, 1.2400012016296387, 0.3279999792575836, 1.2760016918182373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.35350051522254944, 0.8898431658744812, -0.6374765038490295, 0.0019171728054061532, -0.06202054023742676, 0.7480005621910095, -0.38099852204322815, -1.2517002820968628, -1.6390007734298706, -1.2400017976760864, 0.3279997408390045, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479983568191528, -0.38099637627601624, 1.2517035007476807, -1.6390008926391602, 1.240001916885376, 0.32799962162971497, 1.2760018110275269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3335619270801544, 0.8595518469810486, -0.6303829550743103, 0.005368083715438843, -0.06432114541530609, 0.7480005621910095, -0.3810017704963684, -1.2516980171203613, -1.6390008926391602, -1.2400007247924805, 0.3279999792575836, -1.2760000228881836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480022311210632, -0.381003737449646, 1.2516988515853882, -1.6390001773834229, 1.2400002479553223, 0.3279997408390045, 1.2760010957717896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.3132398724555969, 0.8279184699058533, -0.6239604353904724, 0.008914853446185589, -0.0648004412651062, 0.748001217842102, -0.3810010850429535, -1.2516976594924927, -1.6390010118484497, -1.2400002479553223, 0.3279999792575836, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480021119117737, -0.380999892950058, 1.2516992092132568, -1.6389997005462646, 1.2400003671646118, 0.32800009846687317, 1.2760013341903687, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.2940681576728821, 0.7959017157554626, -0.6177296042442322, 0.01179061271250248, -0.06317084282636642, 0.7479997277259827, -0.3810000717639923, -1.251699686050415, -1.6390012502670288, -1.2400013208389282, 0.3279999792575836, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479993104934692, -0.38099604845046997, 1.251700520515442, -1.6390002965927124, 1.2400010824203491, 0.32799986004829407, 1.2760015726089478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.273746132850647, 0.7632139325141907, -0.6118822693824768, 0.01466637197881937, -0.05895306169986725, 0.7480005621910095, -0.38100114464759827, -1.2516989707946777, -1.6390013694763184, -1.2400001287460327, 0.3279999792575836, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480018734931946, -0.3809964954853058, 1.2517000436782837, -1.639000415802002, 1.2399998903274536, 0.3279999792575836, 1.2760010957717896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.2540951073169708, 0.730909526348114, -0.6073768734931946, 0.0170628372579813, -0.052242957055568695, 0.7480011582374573, -0.381000280380249, -1.25169837474823, -1.6390011310577393, -1.2399998903274536, 0.32800009846687317, -1.2760003805160522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.38099798560142517, 1.2517012357711792, -1.6390000581741333, 1.2400007247924805, 0.32799986004829407, 1.2760009765625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.2340606451034546, 0.6985093355178833, -0.6039260029792786, 0.01888415217399597, -0.0444784089922905, 0.7479995489120483, -0.38099974393844604, -1.2516999244689941, -1.6390008926391602, -1.2400013208389282, 0.3279997408390045, -1.2760003805160522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003237724304, -0.3809974789619446, 1.2517006397247314, -1.6390001773834229, 1.240000605583191, 0.32799986004829407, 1.276001214981079, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.21498477458953857, 0.6657256484031677, -0.6015295386314392, 0.020322030410170555, -0.03460496664047241, 0.7479998469352722, -0.38099703192710876, -1.2517004013061523, -1.6390011310577393, -1.2400001287460327, 0.3279997408390045, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480013370513916, -0.3809995949268341, 1.2516999244689941, -1.6390000581741333, 1.2400001287460327, 0.3279999792575836, 1.2760014533996582, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.19466274976730347, 0.6330378651618958, -0.5995165109634399, 0.020705465227365494, -0.025210822001099586, 0.7480001449584961, -0.38099637627601624, -1.251700758934021, -1.6390011310577393, -1.2400012016296387, 0.3279999792575836, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479991316795349, -0.38099679350852966, 1.2517014741897583, -1.6390001773834229, 1.2400017976760864, 0.32800009846687317, 1.2760015726089478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.1723276823759079, 0.5972825884819031, -0.5969282984733582, 0.02060960792005062, -0.014091219753026962, 0.7479991316795349, -0.38099414110183716, -1.2517026662826538, -1.6390008926391602, -1.2400014400482178, 0.32800009846687317, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479976415634155, -0.38099658489227295, 1.2517027854919434, -1.6390007734298706, 1.2400026321411133, 0.32799962162971497, 1.2760018110275269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.15095120668411255, 0.5646906495094299, -0.5928063988685608, 0.0205137487500906, -0.006901822052896023, 0.7479990720748901, -0.3809944987297058, -1.2517027854919434, -1.6390008926391602, -1.2400009632110596, 0.32799986004829407, -1.276000738143921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.747999370098114, -0.38099992275238037, 1.2517009973526, -1.6390005350112915, 1.2400012016296387, 0.3279999792575836, 1.2760010957717896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.13024574518203735, 0.5322904586791992, -0.5866714119911194, 0.02013031393289566, -0.0038343456108123064, 0.7479996085166931, -0.38099542260169983, -1.2517019510269165, -1.6390010118484497, -1.2400012016296387, 0.32800009846687317, -1.2760009765625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479987740516663, -0.38099992275238037, 1.2517012357711792, -1.6390007734298706, 1.2400017976760864, 0.32799986004829407, 1.2760015726089478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.11049886047840118, 0.5015197992324829, -0.5769897103309631, 0.02060960792005062, -0.004313638899475336, 0.7479995489120483, -0.38100072741508484, -1.2517014741897583, -1.639000654220581, -1.24000084400177, 0.32800009846687317, -1.2760008573532104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479988932609558, -0.38099944591522217, 1.2517009973526, -1.6390010118484497, 1.2400016784667969, 0.3279999792575836, 1.2760010957717896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.09238158166408539, 0.4714202284812927, -0.5649115443229675, 0.02233506180346012, -0.0069976807571947575, 0.7479998469352722, -0.381002277135849, -1.2517000436782837, -1.6390010118484497, -1.24000084400177, 0.32800009846687317, -1.276000738143921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480014562606812, -0.38100093603134155, 1.2517001628875732, -1.639000415802002, 1.240000605583191, 0.3279997408390045, 1.2760008573532104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07522288709878922, 0.44256675243377686, -0.5514913201332092, 0.023485366255044937, -0.011311319656670094, 0.7479993104934692, -0.3810018301010132, -1.251700758934021, -1.639000654220581, -1.2400007247924805, 0.3279997408390045, -1.2760008573532104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003237724304, -0.3810001313686371, 1.2517001628875732, -1.6390002965927124, 1.24000084400177, 0.32800009846687317, 1.2760015726089478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06285712122917175, 0.4155346155166626, -0.5370166301727295, 0.024156376719474792, -0.016391826793551445, 0.7480001449584961, -0.3810035288333893, -1.2516982555389404, -1.6390000581741333, -1.240000605583191, 0.32799986004829407, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480001449584961, -0.381000280380249, 1.2516999244689941, -1.6390001773834229, 1.2400004863739014, 0.32799986004829407, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05653044953942299, 0.3940622806549072, -0.5201455354690552, 0.026840418577194214, -0.01888415217399597, 0.747999906539917, -0.3810034394264221, -1.2516990900039673, -1.6390000581741333, -1.2400001287460327, 0.3279999792575836, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3809993267059326, 1.2516998052597046, -1.6390000581741333, 1.2400003671646118, 0.3280002176761627, 1.276000738143921, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05413398519158363, 0.37642431259155273, -0.5031785368919373, 0.030483046546578407, -0.018213141709566116, 0.7479994297027588, -0.38100093603134155, -1.2517002820968628, -1.6390012502670288, -1.2400010824203491, 0.3279997408390045, -1.2760010957717896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479991316795349, -0.3809916377067566, 1.251702070236206, -1.6390002965927124, 1.2400013208389282, 0.3279997408390045, 1.2760013341903687, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05192923545837402, 0.3637709617614746, -0.4860198497772217, 0.03364638239145279, -0.012557481415569782, 0.7479995489120483, -0.38100022077560425, -1.251700520515442, -1.6390011310577393, -1.2400012016296387, 0.3279999792575836, -1.2760009765625, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479994893074036, -0.3809945285320282, 1.2517023086547852, -1.6390002965927124, 1.2400010824203491, 0.3279999792575836, 1.2760006189346313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.35322651267051697, -0.47039490938186646, 0.03546769544482231, -0.004697073251008987, 0.7480002045631409, -0.38100382685661316, -1.2516978979110718, -1.6390007734298706, -1.2400001287460327, 0.3279999792575836, -1.276000738143921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480016946792603, -0.3810036778450012, 1.251699686050415, -1.6389994621276855, 1.2399996519088745, 0.32799986004829407, 1.276000738143921, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.34402409195899963, -0.4568788409233093, 0.03556355461478233, 0.007093539461493492, 0.7480002045631409, -0.38100358843803406, -1.2516984939575195, -1.639000415802002, -1.2400002479553223, 0.3279999792575836, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480008006095886, -0.3810056746006012, 1.2516987323760986, -1.638999581336975, 1.2399998903274536, 0.3279997408390045, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.3355885148048401, -0.4459509551525116, 0.03460496664047241, 0.0196510199457407, 0.7479994893074036, -0.38099998235702515, -1.2517004013061523, -1.6390008926391602, -1.2400004863739014, 0.3279997408390045, -1.276000738143921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480005025863647, -0.3809995949268341, 1.2516993284225464, -1.638999581336975, 1.2400000095367432, 0.32799962162971497, 1.276000738143921, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.32983699440956116, -0.43626922369003296, 0.03230436146259308, 0.0324002206325531, 0.7480002641677856, -0.38099852204322815, -1.2517000436782837, -1.6389999389648438, -1.240000605583191, 0.32799986004829407, -1.2760003805160522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480001449584961, -0.3810027241706848, 1.2516993284225464, -1.6389998197555542, 1.239999532699585, 0.3279999792575836, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3249482214450836, -0.42850467562675476, 0.030003754422068596, 0.04294466972351074, 0.7479999661445618, -0.38099879026412964, -1.2517004013061523, -1.638999581336975, -1.2400004863739014, 0.32800009846687317, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002045631409, -0.38100501894950867, 1.2516984939575195, -1.6389999389648438, 1.2399991750717163, 0.32799986004829407, 1.2760006189346313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.32073044776916504, -0.4216987192630768, 0.027894863858819008, 0.048792045563459396, 0.7479998469352722, -0.38099807500839233, -1.251700520515442, -1.638999581336975, -1.2400003671646118, 0.32799986004829407, -1.2760008573532104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3810034394264221, 1.251698613166809, -1.6389999389648438, 1.239999532699585, 0.32799986004829407, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3178546726703644, -0.4152761995792389, 0.026456983759999275, 0.050996795296669006, 0.7480003237724304, -0.38099849224090576, -1.2517001628875732, -1.6389994621276855, -1.240000605583191, 0.32800009846687317, -1.2760008573532104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002045631409, -0.38100361824035645, 1.251698613166809, -1.6390001773834229, 1.2399994134902954, 0.32799962162971497, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.315458208322525, -0.40990811586380005, 0.02540253847837448, 0.05070921778678894, 0.7480002045631409, -0.38100123405456543, -1.251699686050415, -1.6389997005462646, -1.2400003671646118, 0.3279999792575836, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480005025863647, -0.381002277135849, 1.2516984939575195, -1.6389999389648438, 1.239999532699585, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31306174397468567, -0.40549859404563904, 0.024635670706629753, 0.048792045563459396, 0.7480001449584961, -0.3810008764266968, -1.251699447631836, -1.638999342918396, -1.2400004863739014, 0.3279997408390045, -1.276000738143921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002641677856, -0.38100114464759827, 1.2516988515853882, -1.6389998197555542, 1.2399992942810059, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3110487163066864, -0.4014725387096405, 0.02358122542500496, 0.04582042992115021, 0.7479999661445618, -0.3810007870197296, -1.2516999244689941, -1.6389994621276855, -1.2400001287460327, 0.3279999792575836, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.74800044298172, -0.381000280380249, 1.2516990900039673, -1.6389998197555542, 1.2399990558624268, 0.32799962162971497, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30951496958732605, -0.3981174826622009, 0.022526780143380165, 0.04227365925908089, 0.7479999661445618, -0.3810008764266968, -1.251699686050415, -1.638999342918396, -1.2400000095367432, 0.32799986004829407, -1.2760008573532104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003237724304, -0.38099998235702515, 1.2516993284225464, -1.6389998197555542, 1.239999532699585, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3083646595478058, -0.39514586329460144, 0.02185576967895031, 0.038247596472501755, 0.7480000853538513, -0.380999892950058, -1.2516999244689941, -1.638999104499817, -1.2399998903274536, 0.32799986004829407, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.38100093603134155, 1.2516993284225464, -1.639000415802002, 1.239999532699585, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30788537859916687, -0.3932287096977234, 0.022047486156225204, 0.03374224156141281, 0.7479999661445618, -0.381002277135849, -1.2516990900039673, -1.6389999389648438, -1.2400003671646118, 0.32799986004829407, -1.2760006189346313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002641677856, -0.3809966742992401, 1.2516998052597046, -1.6389998197555542, 1.239999532699585, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.307597815990448, -0.3920783996582031, 0.02223920449614525, 0.032112643122673035, 0.7480000853538513, -0.3810015320777893, -1.2516993284225464, -1.638999342918396, -1.2399996519088745, 0.3279999792575836, -1.276000738143921, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.3809985816478729, 1.251699447631836, -1.6389999389648438, 1.239999532699585, 0.3280002176761627, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3915991187095642, 0.022814355790615082, 0.031249916180968285, 0.7480001449584961, -0.3810010850429535, -1.2516995668411255, -1.638999581336975, -1.2400002479553223, 0.32800009846687317, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480001449584961, -0.3809985816478729, 1.251699447631836, -1.6389998197555542, 1.2399994134902954, 0.327999472618103, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3912156820297241, 0.022910214960575104, 0.03105819970369339, 0.7480000853538513, -0.381000816822052, -1.2516995668411255, -1.6389994621276855, -1.2400002479553223, 0.3279999792575836, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480001449584961, -0.38099929690361023, 1.251699686050415, -1.6389998197555542, 1.2399994134902954, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3911198079586029, 0.023006072267889977, 0.03057890571653843, 0.7480000853538513, -0.38100072741508484, -1.2516995668411255, -1.638999581336975, -1.2400000095367432, 0.3279997408390045, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38099947571754456, 1.251699686050415, -1.6389998197555542, 1.2399994134902954, 0.32799986004829407, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030483046546578407, 0.7479998469352722, -0.3810005784034729, -1.2516995668411255, -1.638999581336975, -1.2400002479553223, 0.32799986004829407, -1.2760004997253418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002045631409, -0.38099968433380127, 1.2516998052597046, -1.6389997005462646, 1.239999532699585, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030483046546578407, 0.747999906539917, -0.3810003399848938, -1.2516992092132568, -1.638999581336975, -1.2400002479553223, 0.32799986004829407, -1.2760002613067627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3809998333454132, 1.2516995668411255, -1.6389997005462646, 1.239999532699585, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.747994601726532, -0.3811030089855194, -1.2524237632751465, -1.6379444599151611, -1.2407089471817017, 0.3280024826526642, -1.2753781080245972, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.38099968433380127, 1.251699686050415, -1.6389998197555542, 1.2400000095367432, 0.32800009846687317, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 0.7511189579963684, -0.3834553360939026, -1.2674148082733154, -1.6369562149047852, -1.2736825942993164, 0.3371620178222656, -1.195369839668274, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38098829984664917, 1.2517026662826538, -1.63898766040802, 1.2400001287460327, 0.3279997408390045, 1.275998592376709, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.03057890571653843, 0.7471579909324646, -0.38462480902671814, -1.2954802513122559, -1.6445716619491577, -1.2975060939788818, 0.34488874673843384, -1.05413818359375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479978203773499, -0.381008118391037, 1.2516982555389404, -1.638990044593811, 1.2399998903274536, 0.3280002176761627, 1.2759993076324463, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02319779060781002, 0.030483046546578407, 0.7368318438529968, -0.38493600487709045, -1.3212944269180298, -1.65123450756073, -1.3074923753738403, 0.37827247381210327, -0.8993467092514038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480010986328125, -0.3810419738292694, 1.2516928911209106, -1.639013409614563, 1.2399996519088745, 0.3280002176761627, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02319779060781002, 0.030483046546578407, 0.7213002443313599, -0.3864248991012573, -1.3421502113342285, -1.65056312084198, -1.3443207740783691, 0.4373473823070526, -0.7448416352272034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480039000511169, -0.380987286567688, 1.2517015933990479, -1.6389590501785278, 1.239998698234558, 0.3279999792575836, 1.2759984731674194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 0.6963082551956177, -0.3872565031051636, -1.367974877357483, -1.6486386060714722, -1.3745075464248657, 0.49285125732421875, -0.6101301908493042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479985356330872, -0.3810083568096161, 1.2516964673995972, -1.6390092372894287, 1.240001916885376, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.023006072267889977, 0.03057890571653843, 0.6804466843605042, -0.38683485984802246, -1.3950260877609253, -1.6450822353363037, -1.3697038888931274, 0.514977216720581, -0.45410552620887756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479948401451111, -0.3810572624206543, 1.2516944408416748, -1.6390405893325806, 1.24000084400177, 0.32799986004829407, 1.2760010957717896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02319779060781002, 0.030291330069303513, 0.6885090470314026, -0.38779717683792114, -1.4034383296966553, -1.6797876358032227, -1.36367928981781, 0.5166020393371582, -0.3699367344379425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480042576789856, -0.3809971213340759, 1.251697301864624, -1.6389814615249634, 1.2399961948394775, 0.32799986004829407, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 0.6903151869773865, -0.38788026571273804, -1.404248833656311, -1.6836719512939453, -1.3622161149978638, 0.516693651676178, -0.36106085777282715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480022311210632, -0.38100627064704895, 1.2516989707946777, -1.6390084028244019, 1.2399992942810059, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.690491795539856, -0.3879004418849945, -1.404268503189087, -1.6840115785598755, -1.3620661497116089, 0.5166956782341003, -0.36031457781791687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002045631409, -0.38100582361221313, 1.2516990900039673, -1.6390037536621094, 1.2399991750717163, 0.3280002176761627, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 0.690521776676178, -0.38789689540863037, -1.404271125793457, -1.6840506792068481, -1.362042784690857, 0.5166952013969421, -0.36024269461631775, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.3810000717639923, 1.2516998052597046, -1.6390019655227661, 1.2400001287460327, 0.3279997408390045, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.6901701092720032, -0.38802069425582886, -1.4049029350280762, -1.6829551458358765, -1.362617015838623, 0.5164918303489685, -0.359418660402298, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.38100096583366394, 1.2516998052597046, -1.6390013694763184, 1.239999532699585, 0.32799962162971497, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.39092808961868286, 0.023006072267889977, 0.030483046546578407, 0.6711645126342773, -0.392000287771225, -1.4113935232162476, -1.662255048751831, -1.3992266654968262, 0.5404027104377747, -0.29746201634407043, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479990720748901, -0.38103577494621277, 1.2516963481903076, -1.6390002965927124, 1.2400001287460327, 0.3279997408390045, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.023293649777770042, 0.030387189239263535, 0.6314775347709656, -0.3966040015220642, -1.4086110591888428, -1.6611560583114624, -1.4124661684036255, 0.5845915675163269, -0.20856517553329468, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480026483535767, -0.3809957802295685, 1.2516998052597046, -1.6389750242233276, 1.239998459815979, 0.32800009846687317, 1.2759989500045776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 0.5860706567764282, -0.4027876555919647, -1.3905746936798096, -1.6460866928100586, -1.3985000848770142, 0.6237226724624634, -0.13349731266498566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479971647262573, -0.380996972322464, 1.2517013549804688, -1.639001488685608, 1.2400010824203491, 0.32800033688545227, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, 0.5415245890617371, -0.4121963679790497, -1.3613104820251465, -1.6231552362442017, -1.3947899341583252, 0.6529197692871094, -0.08721376210451126, 0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.7480002641677856, -0.3809920847415924, 1.2517006397247314, -1.6389968395233154, 1.239999532699585, 0.32799962162971497, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02319779060781002, 0.030291330069303513, 0.49900999665260315, -0.4219461977481842, -1.3267889022827148, -1.599352478981018, -1.386130452156067, 0.6881265044212341, -0.051062144339084625, 0.09480001743023214, -0.09480001743023214, 0.09480001743023214, 0.09480001743023214, -0.09480001743023214, -0.09480001743023214, 0.09480001743023214, 0.09480001743023214, -0.7479997873306274, -0.3809724748134613, 1.2517033815383911, -1.6389999389648438, 1.2400003671646118, 0.32800009846687317, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030291330069303513, 0.4577708840370178, -0.4321206510066986, -1.2926651239395142, -1.5738115310668945, -1.375725269317627, 0.7232091426849365, -0.02164171263575554, 0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.7479959726333618, -0.38099128007888794, 1.2517030239105225, -1.639005184173584, 1.240002155303955, 0.32800009846687317, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030291330069303513, 0.4152616858482361, -0.4432543218135834, -1.2587652206420898, -1.5518611669540405, -1.3575716018676758, 0.7432000041007996, 0.00015076155250426382, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480000257492065, -0.38097432255744934, 1.2517009973526, -1.6389966011047363, 1.2400004863739014, 0.32799986004829407, 1.2760008573532104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, 0.3693774938583374, -0.4563574492931366, -1.2207804918289185, -1.530951976776123, -1.330110788345337, 0.7537649869918823, 0.021341867744922638, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7479997277259827, -0.3809965252876282, 1.2516992092132568, -1.639002799987793, 1.240000605583191, 0.32799986004829407, 1.2760009765625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.3214542269706726, -0.47262316942214966, -1.1766431331634521, -1.5033633708953857, -1.3070660829544067, 0.7620081901550293, 0.03274725377559662, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7479994297027588, -0.38099953532218933, 1.2516999244689941, -1.6389999389648438, 1.240000605583191, 0.32799962162971497, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.2697094678878784, -0.49184247851371765, -1.127611756324768, -1.462242841720581, -1.2754334211349487, 0.7592467665672302, 0.03532170504331589, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480018138885498, -0.38101375102996826, 1.2516971826553345, -1.638999342918396, 1.239999532699585, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.2079291045665741, -0.5167587995529175, -1.0691221952438354, -1.4008910655975342, -1.2462847232818604, 0.7642509341239929, 0.02357332967221737, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480018734931946, -0.38099804520606995, 1.2517000436782837, -1.638998031616211, 1.2399994134902954, 0.3279999792575836, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.1541317105293274, -0.5405035018920898, -1.015838861465454, -1.3529365062713623, -1.2259080410003662, 0.778255820274353, 0.004683075472712517, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480029463768005, -0.3809957504272461, 1.2516998052597046, -1.6389997005462646, 1.2399988174438477, 0.3280004560947418, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 0.10801751166582108, -0.5627149939537048, -0.9687668681144714, -1.3083714246749878, -1.2071967124938965, 0.7922117710113525, -0.010800662450492382, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.747999370098114, -0.38099753856658936, 1.2517013549804688, -1.6390013694763184, 1.2400002479553223, 0.32799962162971497, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030291330069303513, 0.06818579882383347, -0.583416759967804, -0.930056631565094, -1.2632946968078613, -1.1963881254196167, 0.8017100095748901, -0.02374889887869358, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7479981184005737, -0.380997896194458, 1.2517008781433105, -1.639001488685608, 1.2400007247924805, 0.3279999792575836, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030291330069303513, 0.03235645964741707, -0.6016642451286316, -0.8983571529388428, -1.2218468189239502, -1.181960105895996, 0.8059434294700623, -0.033974677324295044, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480003833770752, -0.3809908330440521, 1.2516999244689941, -1.6389985084533691, 1.2400000095367432, 0.32800009846687317, 1.2759995460510254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 0.0010282464791089296, -0.6185933947563171, -0.8707868456840515, -1.1828309297561646, -1.1726073026657104, 0.8135823011398315, -0.04647865891456604, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.747998058795929, -0.3810006380081177, 1.2516999244689941, -1.6390011310577393, 1.2400001287460327, 0.3279999792575836, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.02258736826479435, -0.6341825127601624, -0.8447175621986389, -1.1467633247375488, -1.1631624698638916, 0.8171944618225098, -0.06090838462114334, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7479996681213379, -0.38100162148475647, 1.2516999244689941, -1.639000415802002, 1.239999771118164, 0.3279997408390045, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030291330069303513, -0.04104537144303322, -0.649150013923645, -0.8199955224990845, -1.1129142045974731, -1.1502830982208252, 0.8089377880096436, -0.0740140900015831, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480001449584961, -0.38099542260169983, 1.2517000436782837, -1.6389999389648438, 1.2399998903274536, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.05806516855955124, -0.663635790348053, -0.797105073928833, -1.0811946392059326, -1.1371653079986572, 0.8009092211723328, -0.08699121326208115, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7479986548423767, -0.3809974789619446, 1.251700520515442, -1.639000415802002, 1.2400004863739014, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.07435017824172974, -0.677460789680481, -0.7757599949836731, -1.0542681217193604, -1.1195950508117676, 0.7895111441612244, -0.09523611515760422, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7480002045631409, -0.3810005784034729, 1.2516995668411255, -1.6390001773834229, 1.2400002479553223, 0.3280002176761627, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.08825632929801941, -0.6908292174339294, -0.7578816413879395, -1.0261150598526, -1.1097042560577393, 0.7785344123840332, -0.10717995464801788, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7479999661445618, -0.38100114464759827, 1.2516998052597046, -1.6390000581741333, 1.2400002479553223, 0.3280002176761627, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.10253682732582092, -0.7047145962715149, -0.7417442798614502, -1.0028927326202393, -1.1041206121444702, 0.7694689631462097, -0.11719265580177307, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480002641677856, -0.3810023367404938, 1.251699686050415, -1.6389999389648438, 1.2400000095367432, 0.32800033688545227, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.11657720059156418, -0.7189725041389465, -0.7268363833427429, -0.9812614917755127, -1.1010510921478271, 0.7597340941429138, -0.12457853555679321, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479999661445618, -0.3810005784034729, 1.2516999244689941, -1.6390000581741333, 1.2400003671646118, 0.3279997408390045, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.12724849581718445, -0.7337462306022644, -0.7093331813812256, -0.9566290378570557, -1.0929566621780396, 0.7467979192733765, -0.13198670744895935, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480000853538513, -0.38099977374076843, 1.2517000436782837, -1.638999581336975, 1.2400002479553223, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.13606858253479004, -0.7487632036209106, -0.6885205507278442, -0.9344556927680969, -1.0782196521759033, 0.7359476685523987, -0.14400316774845123, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479997873306274, -0.38100042939186096, 1.2516999244689941, -1.6390005350112915, 1.2400003671646118, 0.3280004560947418, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.023006072267889977, 0.030387189239263535, -0.14650654792785645, -0.7630311846733093, -0.671670138835907, -0.9099207520484924, -1.066415548324585, 0.7226541638374329, -0.1601320207118988, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479999661445618, -0.38100212812423706, 1.251699686050415, -1.6390001773834229, 1.2400001287460327, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, -0.1585741639137268, -0.7763373851776123, -0.659702718257904, -0.887876570224762, -1.0600367784500122, 0.7151749134063721, -0.17230439186096191, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480008006095886, -0.38099902868270874, 1.2516999244689941, -1.6389985084533691, 1.2400002479553223, 0.3279997408390045, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.16690285503864288, -0.7879435420036316, -0.6505781412124634, -0.8690692782402039, -1.057145357131958, 0.7087343335151672, -0.18309858441352844, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479996681213379, -0.3810015916824341, 1.2516995668411255, -1.6390001773834229, 1.2400002479553223, 0.32800009846687317, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.17223457992076874, -0.7987136244773865, -0.6430912613868713, -0.8538738489151001, -1.0565208196640015, 0.7015151977539062, -0.19409531354904175, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479999661445618, -0.38099944591522217, 1.2516995668411255, -1.6389998197555542, 1.2399998903274536, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, -0.1755041778087616, -0.808224618434906, -0.6376088261604309, -0.8415367007255554, -1.0581878423690796, 0.6957951188087463, -0.2042151540517807, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480000853538513, -0.38099777698516846, 1.2517001628875732, -1.6389994621276855, 1.2400004863739014, 0.3279999792575836, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.17926818132400513, -0.8156363368034363, -0.6342189908027649, -0.8326586484909058, -1.0566731691360474, 0.6889789700508118, -0.2160762995481491, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479996681213379, -0.38100019097328186, 1.2516999244689941, -1.6389999389648438, 1.2400003671646118, 0.32799962162971497, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.1843336522579193, -0.8211637735366821, -0.6318258047103882, -0.8261083364486694, -1.0504382848739624, 0.6865859627723694, -0.22819869220256805, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479998469352722, -0.38099852204322815, 1.251699686050415, -1.6389998197555542, 1.2400003671646118, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.19492916762828827, -0.8233463168144226, -0.6354619860649109, -0.8178261518478394, -1.0427770614624023, 0.6891390681266785, -0.2331397980451584, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479999661445618, -0.3809993267059326, 1.251699686050415, -1.638999342918396, 1.2400001287460327, 0.32799986004829407, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.20102852582931519, -0.8221153616905212, -0.641535222530365, -0.8149197697639465, -1.0354387760162354, 0.6978273987770081, -0.2386852502822876, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479997277259827, -0.38099807500839233, 1.2517001628875732, -1.6390002965927124, 1.2400002479553223, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.20084352791309357, -0.8181039094924927, -0.6508253812789917, -0.8183777928352356, -1.0374184846878052, 0.7179534435272217, -0.2457062155008316, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480002641677856, -0.3810000717639923, 1.251699686050415, -1.6390001773834229, 1.2400001287460327, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.19474481046199799, -0.8106433749198914, -0.6658324003219604, -0.833813488483429, -1.0445497035980225, 0.7395980358123779, -0.24493694305419922, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480000257492065, -0.38099977374076843, 1.2516999244689941, -1.6389994621276855, 1.2400003671646118, 0.3279997408390045, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.18851086497306824, -0.8022096157073975, -0.6825479865074158, -0.8560311198234558, -1.0535144805908203, 0.7590463161468506, -0.23884788155555725, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.747999906539917, -0.3810047209262848, 1.2516995668411255, -1.6390002965927124, 1.239999771118164, 0.32800033688545227, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.17815294861793518, -0.7912798523902893, -0.7026243209838867, -0.8847023248672485, -1.0617952346801758, 0.7778196930885315, -0.228891983628273, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479999661445618, -0.3810008764266968, 1.251699447631836, -1.6389998197555542, 1.2400000095367432, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.16706643998622894, -0.7807490229606628, -0.7241187691688538, -0.9079834818840027, -1.0721402168273926, 0.7914096713066101, -0.21273940801620483, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479999661445618, -0.3810005187988281, 1.251699686050415, -1.6389998197555542, 1.2400003671646118, 0.32799962162971497, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.155085951089859, -0.7698991298675537, -0.74457848072052, -0.933664858341217, -1.0793062448501587, 0.8069329857826233, -0.19760596752166748, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479997277259827, -0.38099968433380127, 1.2517001628875732, -1.6390000581741333, 1.2400003671646118, 0.32800033688545227, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.1408543437719345, -0.7585894465446472, -0.7663547396659851, -0.9680584669113159, -1.0902749300003052, 0.824200451374054, -0.18520230054855347, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7480000257492065, -0.38099849224090576, 1.2516995668411255, -1.6389994621276855, 1.2400000095367432, 0.3279997408390045, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.12208669632673264, -0.7468258142471313, -0.791456937789917, -1.0064520835876465, -1.114253044128418, 0.8511722683906555, -0.1721404492855072, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479995489120483, -0.38099974393844604, 1.2516998052597046, -1.639000415802002, 1.2400002479553223, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.10236135870218277, -0.7347065806388855, -0.8183178901672363, -1.045780062675476, -1.1363072395324707, 0.87776780128479, -0.14634189009666443, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479996681213379, -0.38099774718284607, 1.2517004013061523, -1.6390001773834229, 1.2400002479553223, 0.3279997408390045, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.08086880296468735, -0.7235201597213745, -0.8454512357711792, -1.0808895826339722, -1.16268789768219, 0.9014995098114014, -0.11769120395183563, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479997873306274, -0.3809926509857178, 1.251700758934021, -1.6390000581741333, 1.2400004863739014, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, -0.057693906128406525, -0.7131854891777039, -0.8708507418632507, -1.1143780946731567, -1.1858692169189453, 0.9149233102798462, -0.08892858028411865, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.7479997873306274, -0.38099467754364014, 1.2517006397247314, -1.6390000581741333, 1.2400002479553223, 0.32799962162971497, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.039459358900785446, -0.7047279477119446, -0.8954020738601685, -1.1413260698318481, -1.2079533338546753, 0.9194854497909546, -0.06105507165193558, 0.29160000046530926, -0.29160000046530926, 0.29160000046530926, 0.29160000046530926, -0.29160000046530926, -0.29160000046530926, 0.29160000046530926, 0.29160000046530926, -0.7480000257492065, -0.3810006380081177, 1.2516998052597046, -1.6390002965927124, 1.2399998903274536, 0.3279999792575836, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.026488132774829865, -0.7004922032356262, -0.9104681611061096, -1.1671558618545532, -1.2246499061584473, 0.9172974824905396, -0.03819384425878525, 0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.5628000010500896, -0.5628000010500896, 0.5628000010500896, 0.5628000010500896, -0.7480002045631409, -0.38100072741508484, 1.2516998052597046, -1.6390002965927124, 1.2399998903274536, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.0195502657443285, -0.7018470168113708, -0.9129678606987, -1.1795297861099243, -1.2356951236724854, 0.9052624702453613, -0.01785673387348652, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3810003399848938, 1.251700520515442, -1.6390000581741333, 1.2400001287460327, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.018791263923048973, -0.7104880213737488, -0.9004616737365723, -1.1713340282440186, -1.242482304573059, 0.8855505585670471, 0.005047276150435209, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.380999892950058, 1.251699447631836, -1.6390002965927124, 1.2400000095367432, 0.3279999792575836, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.02675897628068924, -0.7258517742156982, -0.8754696846008301, -1.1548078060150146, -1.2468551397323608, 0.8595640063285828, 0.022535135969519615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002641677856, -0.3809993267059326, 1.2517000436782837, -1.6390001773834229, 1.239999771118164, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.045779190957546234, -0.7454716563224792, -0.8457105755805969, -1.1344188451766968, -1.2500540018081665, 0.836372435092926, 0.033949270844459534, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38099944591522217, 1.2516999244689941, -1.6390000581741333, 1.2399998903274536, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.06584242731332779, -0.7665733695030212, -0.812709629535675, -1.1101999282836914, -1.2495505809783936, 0.8185710906982422, 0.03930969536304474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.380997896194458, 1.2517002820968628, -1.6390000581741333, 1.2399998903274536, 0.3279999792575836, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.08496131002902985, -0.7869699597358704, -0.7832775712013245, -1.0783530473709106, -1.2509969472885132, 0.8057023286819458, 0.04023200273513794, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480006217956543, -0.38100117444992065, 1.2516995668411255, -1.638999342918396, 1.2399996519088745, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.10257213562726974, -0.8074901103973389, -0.7523425817489624, -1.047318935394287, -1.2389698028564453, 0.7866145372390747, 0.04627840220928192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.38099828362464905, 1.2517004013061523, -1.6389986276626587, 1.2399998903274536, 0.32799986004829407, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.11437259614467621, -0.8281471729278564, -0.7225497961044312, -1.0118918418884277, -1.2308871746063232, 0.7679974436759949, 0.042339667677879333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479997277259827, -0.3809974789619446, 1.2517002820968628, -1.6389998197555542, 1.2400000095367432, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.1288972795009613, -0.8480944633483887, -0.6980160474777222, -0.9783437252044678, -1.2253689765930176, 0.7538298964500427, 0.03736681491136551, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3809986710548401, 1.2516998052597046, -1.638999581336975, 1.2400000095367432, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.14342100918293, -0.8670006990432739, -0.6761799454689026, -0.9480273127555847, -1.2166763544082642, 0.7411941289901733, 0.032903049141168594, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3809947371482849, 1.2517002820968628, -1.6389997005462646, 1.2399998903274536, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.1576033979654312, -0.8848943710327148, -0.6564047336578369, -0.9153933525085449, -1.2055082321166992, 0.7298162579536438, 0.0245827604085207, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480006814002991, -0.3810010850429535, 1.2516998052597046, -1.6389994621276855, 1.239999771118164, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.17200757563114166, -0.9024898409843445, -0.6370089054107666, -0.8810780644416809, -1.189530611038208, 0.7180283665657043, 0.015313682146370411, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002641677856, -0.38100093603134155, 1.2516998052597046, -1.6389997005462646, 1.239999532699585, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.1894395798444748, -0.9217329621315002, -0.6206126809120178, -0.8398486375808716, -1.1799219846725464, 0.7069352865219116, 0.002684706123545766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003237724304, -0.38101035356521606, 1.2516989707946777, -1.6389998197555542, 1.2399996519088745, 0.3280002176761627, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, -0.20167048275470734, -0.9386492967605591, -0.6050621867179871, -0.8083027601242065, -1.1675708293914795, 0.6996278762817383, -0.007967831566929817, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480001449584961, -0.38100582361221313, 1.2516995668411255, -1.6389994621276855, 1.239999771118164, 0.32799962162971497, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.21150998771190643, -0.9539659023284912, -0.593111515045166, -0.7758629322052002, -1.159654974937439, 0.6943506598472595, -0.019296040758490562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479996085166931, -0.38100242614746094, 1.2517001628875732, -1.6390000581741333, 1.239999771118164, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.22151805460453033, -0.9684266448020935, -0.583340048789978, -0.7450224757194519, -1.150897741317749, 0.6874122619628906, -0.028667105361819267, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.3809996247291565, 1.2516999244689941, -1.6389998197555542, 1.2400002479553223, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, -0.23069223761558533, -0.9813075065612793, -0.574691653251648, -0.7167810201644897, -1.1400465965270996, 0.6830663084983826, -0.03760470077395439, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480003833770752, -0.3810003399848938, 1.2517001628875732, -1.6389998197555542, 1.2399998903274536, 0.3279993534088135, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.23938314616680145, -0.9898492097854614, -0.5688501596450806, -0.6873652935028076, -1.1226418018341064, 0.676174521446228, -0.04962212219834328, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.3810005187988281, 1.251699686050415, -1.6390000581741333, 1.2400000095367432, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030291330069303513, -0.2465912103652954, -0.9944627285003662, -0.5648619532585144, -0.6658835411071777, -1.1012389659881592, 0.6747756004333496, -0.06354239583015442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.38099923729896545, 1.2517001628875732, -1.638999581336975, 1.2399994134902954, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2528388202190399, -0.9945958852767944, -0.5649144053459167, -0.6456931233406067, -1.079291582107544, 0.6757239103317261, -0.07660844177007675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38100042939186096, 1.2517000436782837, -1.6390001773834229, 1.2400002479553223, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, -0.2573354244232178, -0.9926888346672058, -0.5681087970733643, -0.6354138851165771, -1.0622748136520386, 0.6807124614715576, -0.0896671712398529, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38099974393844604, 1.2517000436782837, -1.6389997005462646, 1.239999771118164, 0.32799986004829407, 1.2759995460510254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2612575888633728, -0.988060712814331, -0.5738067030906677, -0.6288302540779114, -1.0445457696914673, 0.683941662311554, -0.09817333519458771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479997873306274, -0.38099953532218933, 1.2517001628875732, -1.6389998197555542, 1.2399996519088745, 0.3279999792575836, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2620278000831604, -0.982893168926239, -0.5807923078536987, -0.6267049908638, -1.0297406911849976, 0.6863650679588318, -0.10153982043266296, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3809952437877655, 1.2517002820968628, -1.6389999389648438, 1.2400000095367432, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.26134753227233887, -0.9777117371559143, -0.5897641777992249, -0.6271796822547913, -1.0211899280548096, 0.6905738115310669, -0.10148648917675018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479994297027588, -0.38099902868270874, 1.2517000436782837, -1.6390001773834229, 1.2399998903274536, 0.32800009846687317, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.25883519649505615, -0.974367082118988, -0.600458562374115, -0.6370359659194946, -1.0234960317611694, 0.6971785426139832, -0.10124561190605164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480000257492065, -0.38100072741508484, 1.2516999244689941, -1.639000415802002, 1.2399998903274536, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.25168585777282715, -0.9747225046157837, -0.6084104776382446, -0.6533408761024475, -1.0303621292114258, 0.6982089877128601, -0.09292292594909668, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480001449584961, -0.38099953532218933, 1.2516999244689941, -1.6389994621276855, 1.2399998903274536, 0.32800009846687317, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.24063853919506073, -0.9790210723876953, -0.6112101078033447, -0.6596097946166992, -1.0356866121292114, 0.6899398565292358, -0.08231424540281296, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.38099977374076843, 1.251699686050415, -1.6390000581741333, 1.2399998903274536, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.23457153141498566, -0.9857631921768188, -0.6108511686325073, -0.6537841558456421, -1.0355280637741089, 0.6758896708488464, -0.07459868490695953, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.3810003697872162, 1.2516998052597046, -1.6390000581741333, 1.239999771118164, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.23261216282844543, -0.9937200546264648, -0.609770655632019, -0.6411392688751221, -1.0351142883300781, 0.6637901663780212, -0.07298345118761063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.74800044298172, -0.3810005187988281, 1.2516998052597046, -1.6389999389648438, 1.2400000095367432, 0.32800033688545227, 1.2759995460510254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.23162929713726044, -1.0024534463882446, -0.608398973941803, -0.6294130682945251, -1.037751317024231, 0.6594322323799133, -0.07510777562856674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7480002641677856, -0.38100212812423706, 1.2516995668411255, -1.6390000581741333, 1.2399998903274536, 0.3279999792575836, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.23260222375392914, -1.0111740827560425, -0.6067343354225159, -0.6183046102523804, -1.037270188331604, 0.6516165733337402, -0.07622183114290237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479998469352722, -0.381000280380249, 1.251699686050415, -1.6390002965927124, 1.2399998903274536, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.23585104942321777, -1.0194753408432007, -0.6048488616943359, -0.604182779788971, -1.0335516929626465, 0.6450554728507996, -0.0778655856847763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479997277259827, -0.3809998333454132, 1.2516998052597046, -1.6390000581741333, 1.2399998903274536, 0.32800009846687317, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.24183546006679535, -1.027174711227417, -0.6048204898834229, -0.5832964181900024, -1.0305020809173584, 0.6369847059249878, -0.07988600432872772, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479999661445618, -0.381000280380249, 1.2516995668411255, -1.6390001773834229, 1.2400000095367432, 0.32799962162971497, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.24730676412582397, -1.0347851514816284, -0.602135419845581, -0.5675606727600098, -1.0210118293762207, 0.6286113262176514, -0.08516301959753036, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7479994893074036, -0.38099658489227295, 1.2517002820968628, -1.6390000581741333, 1.2400003671646118, 0.3280002176761627, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2516678273677826, -1.0415655374526978, -0.6009910106658936, -0.5528796315193176, -1.0153652429580688, 0.6229907274246216, -0.09326435625553131, 0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.7479999661445618, -0.38099923729896545, 1.2516998052597046, -1.6389997005462646, 1.2399998903274536, 0.3279997408390045, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.25202569365501404, -1.0479918718338013, -0.5982096195220947, -0.5392990112304688, -1.0076109170913696, 0.6198117733001709, -0.10114182531833649, 0.475199997818077, -0.475199997818077, 0.475199997818077, 0.475199997818077, -0.475199997818077, -0.475199997818077, 0.475199997818077, 0.475199997818077, -0.747999370098114, -0.38099944591522217, 1.2517002820968628, -1.638999581336975, 1.2400000095367432, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2506517171859741, -1.053430438041687, -0.5950871109962463, -0.5329468846321106, -0.9971458911895752, 0.6140477061271667, -0.111194908618927, 0.34499999166844963, -0.34499999166844963, 0.34499999166844963, 0.34499999166844963, -0.34499999166844963, -0.34499999166844963, 0.34499999166844963, 0.34499999166844963, -0.748001217842102, -0.38100892305374146, 1.2516982555389404, -1.639000415802002, 1.2399988174438477, 0.32800009846687317, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.25261273980140686, -1.0576750040054321, -0.5962213277816772, -0.5256364941596985, -0.9928540587425232, 0.615753173828125, -0.11670573800802231, 0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.7479984164237976, -0.38100144267082214, 1.2517001628875732, -1.6390033960342407, 1.2400009632110596, 0.3280002176761627, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.25563788414001465, -1.060380458831787, -0.5996832847595215, -0.5182462930679321, -0.9897544980049133, 0.6185199618339539, -0.11879973858594894, 0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.7480010986328125, -0.3810015916824341, 1.2516995668411255, -1.6390002965927124, 1.2399998903274536, 0.32799962162971497, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2569250166416168, -1.0616207122802734, -0.603827714920044, -0.5099741816520691, -0.9868488907814026, 0.6219858527183533, -0.12217426300048828, 0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.7479999661445618, -0.38099798560142517, 1.2517001628875732, -1.639000654220581, 1.2400000095367432, 0.3279999792575836, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2582436203956604, -1.062440037727356, -0.607372522354126, -0.5059418678283691, -0.9818277359008789, 0.6245889067649841, -0.1269480586051941, 0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.7480003833770752, -0.38100022077560425, 1.2517001628875732, -1.6390002965927124, 1.2400003671646118, 0.32799962162971497, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.2640557587146759, -1.0619534254074097, -0.6131892800331116, -0.5034641027450562, -0.977999746799469, 0.6311252117156982, -0.13113750517368317, 0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.7480001449584961, -0.3810000717639923, 1.2516998052597046, -1.6390002965927124, 1.2400003671646118, 0.3279999792575836, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.27008622884750366, -1.060793399810791, -0.6198963522911072, -0.5087383985519409, -0.9758193492889404, 0.6407830715179443, -0.1362522542476654, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479999661445618, -0.3809988796710968, 1.2516999244689941, -1.6390001773834229, 1.2400003671646118, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.27362367510795593, -1.0583256483078003, -0.6280130743980408, -0.5148749947547913, -0.9756781458854675, 0.6525449752807617, -0.14028289914131165, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479998469352722, -0.38099923729896545, 1.2517004013061523, -1.6390002965927124, 1.2400003671646118, 0.3279999792575836, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.27571406960487366, -1.0544227361679077, -0.6383727192878723, -0.5235801339149475, -0.9792782068252563, 0.6667876243591309, -0.14259155094623566, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480002641677856, -0.38100147247314453, 1.2516998052597046, -1.6390000581741333, 1.2400002479553223, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2754276990890503, -1.0484240055084229, -0.6494945287704468, -0.5412587523460388, -0.9802896976470947, 0.6801910400390625, -0.14265123009681702, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480005025863647, -0.3810005187988281, 1.251699686050415, -1.6389998197555542, 1.2400003671646118, 0.3279999792575836, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2693622410297394, -1.0401233434677124, -0.6614174246788025, -0.5597661137580872, -0.97865229845047, 0.6894031763076782, -0.13959045708179474, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479996681213379, -0.3810000717639923, 1.2517000436782837, -1.6390000581741333, 1.2400000095367432, 0.3280002176761627, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2623112201690674, -1.0300664901733398, -0.675569474697113, -0.5800136923789978, -0.9772144556045532, 0.6987608671188354, -0.13592639565467834, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480003237724304, -0.38099974393844604, 1.251699686050415, -1.6389998197555542, 1.2400003671646118, 0.3279997408390045, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.253995418548584, -1.019261121749878, -0.6916080713272095, -0.603589653968811, -0.9781554341316223, 0.7101107239723206, -0.13069744408130646, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479989528656006, -0.38099634647369385, 1.2517009973526, -1.6389999389648438, 1.2400003671646118, 0.32800009846687317, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.2431335151195526, -1.0080530643463135, -0.7084415555000305, -0.6331241130828857, -0.9805331230163574, 0.7242838740348816, -0.12413331866264343, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480005621910095, -0.3810044825077057, 1.2516992092132568, -1.6390000581741333, 1.2400001287460327, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, -0.230118989944458, -0.9959690570831299, -0.7276269793510437, -0.6624506711959839, -0.9849629402160645, 0.7385500073432922, -0.11464912444353104, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480005025863647, -0.3810003399848938, 1.251700520515442, -1.6389992237091064, 1.2400004863739014, 0.32799986004829407, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.2149706780910492, -0.9838045239448547, -0.7472007274627686, -0.6945319771766663, -0.9883565306663513, 0.7517825365066528, -0.10119707137346268, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479999661445618, -0.38099974393844604, 1.2517001628875732, -1.638999342918396, 1.2400001287460327, 0.3280002176761627, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.19827860593795776, -0.9718577861785889, -0.768682062625885, -0.7320473790168762, -0.9951010346412659, 0.7642239332199097, -0.08403254300355911, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.74800044298172, -0.38100847601890564, 1.2516992092132568, -1.6389999389648438, 1.239999532699585, 0.3279997408390045, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.17769964039325714, -0.960412859916687, -0.7903753519058228, -0.7711260318756104, -1.003473162651062, 0.7767223119735718, -0.06463835388422012, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480007410049438, -0.3810022175312042, 1.2516995668411255, -1.6389992237091064, 1.2399998903274536, 0.32799962162971497, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.15623080730438232, -0.9490068554878235, -0.8129430413246155, -0.8038676381111145, -1.0119584798812866, 0.7871289253234863, -0.04520437493920326, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480002045631409, -0.3809961974620819, 1.2517001628875732, -1.6389999389648438, 1.2400001287460327, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.1357259452342987, -0.9387608170509338, -0.8322486877441406, -0.8359552025794983, -1.0151057243347168, 0.7952591180801392, -0.028593281283974648, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479997873306274, -0.3809957504272461, 1.2517000436782837, -1.6389999389648438, 1.2400003671646118, 0.3280002176761627, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.117693230509758, -0.9297692179679871, -0.8508239984512329, -0.8653396368026733, -1.0181039571762085, 0.7978533506393433, -0.01532494742423296, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480000853538513, -0.38099953532218933, 1.2517002820968628, -1.6389994621276855, 1.2400000095367432, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.10244180262088776, -0.921735942363739, -0.8680204153060913, -0.8925023674964905, -1.0193387269973755, 0.7987765073776245, -0.004837072920054197, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479999661445618, -0.38099944591522217, 1.251699686050415, -1.6389997005462646, 1.239999771118164, 0.3279997408390045, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.08786468952894211, -0.9145972728729248, -0.8834016919136047, -0.9173526167869568, -1.0197478532791138, 0.8003064393997192, 0.0045675477012991905, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479996085166931, -0.3810003697872162, 1.2516998052597046, -1.6390000581741333, 1.2400001287460327, 0.32799962162971497, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.07383985072374344, -0.9082973599433899, -0.8980274796485901, -0.939486026763916, -1.0209271907806396, 0.7981641292572021, 0.009691043756902218, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479997277259827, -0.3810012936592102, 1.2516998052597046, -1.6390001773834229, 1.2400000095367432, 0.3279999792575836, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.05997615307569504, -0.9023497104644775, -0.9106106758117676, -0.9606084823608398, -1.02054762840271, 0.7964944839477539, 0.010314223356544971, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479996681213379, -0.3809991776943207, 1.2516998052597046, -1.6389998197555542, 1.239999771118164, 0.3279997408390045, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.04661104455590248, -0.896317183971405, -0.9229455590248108, -0.9783323407173157, -1.0166350603103638, 0.7939482927322388, 0.012624661438167095, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480002045631409, -0.38100066781044006, 1.2516998052597046, -1.6390000581741333, 1.2400002479553223, 0.32799986004829407, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, -0.033149365335702896, -0.8901320695877075, -0.9375184774398804, -0.9952178597450256, -1.0134046077728271, 0.7826330661773682, 0.01608462817966938, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479998469352722, -0.3810037672519684, 1.2516999244689941, -1.639000415802002, 1.2400000095367432, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.019151540473103523, -0.8831878900527954, -0.9543425440788269, -1.0193039178848267, -1.0112380981445312, 0.7781065106391907, 0.01972855068743229, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479999661445618, -0.38100019097328186, 1.251699686050415, -1.6389999389648438, 1.2400003671646118, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, -0.005871670786291361, -0.8759912848472595, -0.9729220271110535, -1.0420012474060059, -1.0127121210098267, 0.7767231464385986, 0.01992928609251976, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479996681213379, -0.381000280380249, 1.2516998052597046, -1.6390007734298706, 1.2400001287460327, 0.3279999792575836, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 0.010039584711194038, -0.8684413433074951, -0.9899361729621887, -1.0691944360733032, -1.0133389234542847, 0.7854228615760803, 0.021423960104584694, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479994297027588, -0.38099998235702515, 1.2517000436782837, -1.639000654220581, 1.2400002479553223, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.029104039072990417, -0.8601964712142944, -1.0093251466751099, -1.0913329124450684, -1.0153084993362427, 0.7948224544525146, 0.025040678679943085, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479994893074036, -0.3809996247291565, 1.2516998052597046, -1.6390002965927124, 1.2400001287460327, 0.32799986004829407, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.04602891206741333, -0.8518550395965576, -1.035310983657837, -1.1218845844268799, -1.0274760723114014, 0.8049011826515198, 0.03317653015255928, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480005621910095, -0.38100698590278625, 1.2516990900039673, -1.6389998197555542, 1.2399998903274536, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 0.06642910838127136, -0.8427804112434387, -1.0645065307617188, -1.1656826734542847, -1.040886402130127, 0.813644289970398, 0.044029682874679565, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480009198188782, -0.38100191950798035, 1.2516999244689941, -1.6389989852905273, 1.2399998903274536, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.09525496512651443, -0.8334264159202576, -1.0950227975845337, -1.1995043754577637, -1.0612239837646484, 0.8312493562698364, 0.05784282088279724, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480000257492065, -0.38099732995033264, 1.251700758934021, -1.6390000581741333, 1.2399998903274536, 0.3279997408390045, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.12627218663692474, -0.8238891959190369, -1.126960039138794, -1.232770562171936, -1.0822149515151978, 0.8471391201019287, 0.06770775467157364, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479998469352722, -0.3809988796710968, 1.251699447631836, -1.639000654220581, 1.239999771118164, 0.32799962162971497, 1.2760003805160522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.1578654944896698, -0.8129187822341919, -1.1654114723205566, -1.2738945484161377, -1.1014622449874878, 0.8565552234649658, 0.07633435726165771, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479994893074036, -0.3810000419616699, 1.2516998052597046, -1.6390000581741333, 1.2400001287460327, 0.3280004560947418, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030483046546578407, 0.19487199187278748, -0.8001136183738708, -1.2085154056549072, -1.3205790519714355, -1.1175384521484375, 0.8727477192878723, 0.08448147773742676, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480007410049438, -0.3810000717639923, 1.251699686050415, -1.6389987468719482, 1.239999771118164, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030483046546578407, 0.23660600185394287, -0.786148726940155, -1.2544689178466797, -1.3728421926498413, -1.125378131866455, 0.8927569389343262, 0.08976244181394577, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480024695396423, -0.38104403018951416, 1.2516926527023315, -1.6390005350112915, 1.239998459815979, 0.3280002176761627, 1.2759991884231567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.022910214960575104, 0.030387189239263535, 0.2843424677848816, -0.7724093794822693, -1.3055977821350098, -1.416509985923767, -1.1447386741638184, 0.9110930562019348, 0.08618742972612381, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479977011680603, -0.38099434971809387, 1.2516998052597046, -1.6390001773834229, 1.240000605583191, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030291330069303513, 0.3336113691329956, -0.7589421272277832, -1.3607569932937622, -1.4706681966781616, -1.1639792919158936, 0.9274652600288391, 0.07641381770372391, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.747999906539917, -0.380991131067276, 1.2516984939575195, -1.6389985084533691, 1.2400000095367432, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030291330069303513, 0.3848135471343994, -0.7451868653297424, -1.4220185279846191, -1.5273826122283936, -1.1838442087173462, 0.9463778138160706, 0.061466969549655914, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479990720748901, -0.3810073137283325, 1.2516988515853882, -1.6390072107315063, 1.2400015592575073, 0.32799986004829407, 1.2760009765625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.023006072267889977, 0.030483046546578407, 0.43818509578704834, -0.7324531674385071, -1.4854021072387695, -1.5700044631958008, -1.203991174697876, 0.9623579382896423, 0.04303906857967377, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480006217956543, -0.3810265064239502, 1.2516981363296509, -1.638999104499817, 1.239999532699585, 0.327999472618103, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.4872143566608429, -0.7213262319564819, -1.5397435426712036, -1.6042593717575073, -1.2292654514312744, 0.9755957126617432, -0.003150772536173463, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7480015754699707, -0.38100647926330566, 1.2516992092132568, -1.638998031616211, 1.2399985790252686, 0.3279999792575836, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 0.5347756147384644, -0.7077717781066895, -1.5793380737304688, -1.6240193843841553, -1.2602447271347046, 0.9772828817367554, -0.08609011769294739, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479987144470215, -0.3809819519519806, 1.2517035007476807, -1.638999581336975, 1.2400003671646118, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.03019547089934349, 0.581974446773529, -0.6869708895683289, -1.6044797897338867, -1.6377054452896118, -1.3001842498779297, 0.9774762988090515, -0.2035706341266632, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479947209358215, -0.3809735178947449, 1.2517077922821045, -1.639001488685608, 1.240000605583191, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.3072143793106079, -0.3911198079586029, 0.02310193143785, 0.03019547089934349, 0.6340015530586243, -0.6580407619476318, -1.6175611019134521, -1.6246551275253296, -1.3245410919189453, 0.9774535298347473, -0.3071609437465668, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479959726333618, -0.3809701204299927, 1.251706600189209, -1.6390047073364258, 1.2400001287460327, 0.32800009846687317, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030291330069303513, 0.6565238833427429, -0.6458927392959595, -1.620073676109314, -1.6096456050872803, -1.3480068445205688, 0.9774012565612793, -0.33278048038482666, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479972243309021, -0.3809760510921478, 1.2517069578170776, -1.6390128135681152, 1.2400016784667969, 0.32800009846687317, 1.2760010957717896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 0.6583545804023743, -0.6448524594306946, -1.6203184127807617, -1.60847806930542, -1.3479690551757812, 0.9774030447006226, -0.3346385061740875, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.748001217842102, -0.38099339604377747, 1.2516945600509644, -1.6389961242675781, 1.2399983406066895, 0.32800009846687317, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 0.658549964427948, -0.644773542881012, -1.6202982664108276, -1.6083729267120361, -1.3479584455490112, 0.9774049520492554, -0.3348606824874878, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.747999906539917, -0.38098660111427307, 1.2516980171203613, -1.6390016078948975, 1.2400000095367432, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 0.6590790748596191, -0.6448569297790527, -1.6199085712432861, -1.6089915037155151, -1.3479543924331665, 0.9769179224967957, -0.3351344168186188, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479998469352722, -0.3810062110424042, 1.2516990900039673, -1.6390020847320557, 1.239999532699585, 0.32799986004829407, 1.2759997844696045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.03009961172938347, 0.6828485727310181, -0.6423137784004211, -1.616650938987732, -1.6484031677246094, -1.3308106660842896, 0.9525832533836365, -0.39419806003570557, 0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.24959998707194905, -0.24959998707194905, 0.24959998707194905, 0.24959998707194905, -0.7479979991912842, -0.38097572326660156, 1.2517080307006836, -1.6390187740325928, 1.2400017976760864, 0.32799986004829407, 1.2760009765625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.03019547089934349, 0.7331312894821167, -0.6299912333488464, -1.6462068557739258, -1.660886526107788, -1.2721033096313477, 0.9403624534606934, -0.5136783719062805, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479956746101379, -0.3809205889701843, 1.2517296075820923, -1.6389976739883423, 1.2400028705596924, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.023293649777770042, 0.03019547089934349, 0.811244010925293, -0.6128631234169006, -1.6990163326263428, -1.6687214374542236, -1.1991578340530396, 0.9297433495521545, -0.6788357496261597, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480013370513916, -0.38096362352371216, 1.25169837474823, -1.6389884948730469, 1.239999532699585, 0.32799986004829407, 1.2760009765625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3911198079586029, 0.02319779060781002, 0.030291330069303513, 0.9157906174659729, -0.5948975086212158, -1.7551360130310059, -1.6749160289764404, -1.1282951831817627, 0.8952744603157043, -0.8823739290237427, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479974031448364, -0.38095608353614807, 1.2517081499099731, -1.6390005350112915, 1.2400027513504028, 0.3279997408390045, 1.276001214981079, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766900864486, 0.0068230922933114, -0.0002543527229055375, -0.09442471712827682], [-0.006823191130477772, 0.9999766458014856, -0.00038976198777760827, -0.05819970741868019], [0.000251687400686523, 0.00039148839970230956, 0.9999998916951367, -0.00013357495481614023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3911198079586029, 0.023293649777770042, 0.03019547089934349, 1.0413563251495361, -0.5750582218170166, -1.7935889959335327, -1.686926007270813, -1.1321415901184082, 0.7615236639976501, -1.0535516738891602, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480008602142334, -0.3809274137020111, 1.25171959400177, -1.6389689445495605, 1.240005373954773, 0.32799986004829407, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999784415816414, 0.006558923686568164, -0.000311274839320895, -0.09443195164203644], [-0.006559038908006278, 0.999978420601542, -0.0003705939138741142, -0.058278702199459076], [0.0003088374249973004, 0.00037262758823766696, 0.9999998828840558, -0.0001424961956217885], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.022910214960575104, 0.030387189239263535, 1.1529589891433716, -0.5523762702941895, -1.826395034790039, -1.6993240118026733, -1.1548123359680176, 0.654634952545166, -1.165024757385254, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479996681213379, -0.3809816539287567, 1.2516999244689941, -1.6390056610107422, 1.2400010824203491, 0.3279997408390045, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999783256084744, 0.0065730628861131405, -0.00037836168823956795, -0.09433633089065552], [-0.006573236830349329, 0.9999782900879761, -0.00046033715869138616, -0.05824248865246773], [0.00037532764894771, 0.00046281424214790435, 0.9999998224660508, -0.00016257326933555305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.2407437562942505, -0.5319026708602905, -1.8446649312973022, -1.7332179546356201, -1.169497013092041, 0.596058189868927, -1.2241110801696777, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479943633079529, -0.3809642195701599, 1.2517125606536865, -1.6389929056167603, 1.2400051355361938, 0.32800009846687317, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999769850681158, 0.006774018052502601, -0.0003768467933944816, -0.09428462386131287], [-0.006774162562715883, 0.9999769815495843, -0.0003835264742050544, -0.058056026697158813], [0.0003742401037053757, 0.0003860704688090671, 0.9999998554469585, -0.00019129358406644315], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3041820526123047, -0.5186890959739685, -1.854442834854126, -1.7625612020492554, -1.1864060163497925, 0.5663370490074158, -1.2537970542907715, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479994893074036, -0.3809809982776642, 1.2517011165618896, -1.638993501663208, 1.2400022745132446, 0.3279999792575836, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999769676359818, 0.006774356244750715, -0.00041508434784398574, -0.09438112378120422], [-0.006774515290865801, 0.9999769793750786, -0.0003829653608494379, -0.05804845690727234], [0.0004124804485591096, 0.0003857685355133086, 0.9999998405212456, -0.0001881153875729069], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3482187986373901, -0.5120323300361633, -1.8506194353103638, -1.7881098985671997, -1.176788330078125, 0.5496437549591064, -1.270511269569397, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.747998833656311, -0.38099798560142517, 1.2516999244689941, -1.6389981508255005, 1.2400014400482178, 0.32799986004829407, 1.275999665260315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999769994967902, 0.006763586576536926, -0.0005043550516941127, -0.09449723362922668], [-0.006763788465804524, 0.9999770454527004, -0.0003996664583589029, -0.05809151753783226], [0.0005016402957593744, 0.00040306861671056345, 0.9999997929463305, -0.0001911471044877544], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.374953269958496, -0.5079875588417053, -1.8350173234939575, -1.7996175289154053, -1.1526634693145752, 0.5309773683547974, -1.2889739274978638, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479991912841797, -0.3809863030910492, 1.2517013549804688, -1.6390000581741333, 1.2400010824203491, 0.3279999792575836, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999771150643911, 0.00674259393899124, -0.0005538722517599417, -0.09459935873746872], [-0.006742814070622219, 0.9999771883470506, -0.00039653995550046066, -0.05805504694581032], [0.000551185909117831, 0.00040026553832160687, 0.9999997679907693, -0.0001985377457458526], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3806699514389038, -0.5046154260635376, -1.8170510530471802, -1.793439507484436, -1.1460816860198975, 0.5156092643737793, -1.3045178651809692, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480002641677856, -0.3809981346130371, 1.2517000436782837, -1.6390011310577393, 1.240000605583191, 0.32800033688545227, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999772780182131, 0.0067205681286284045, -0.0005266985036152288, -0.09473203867673874], [-0.006720770151028446, 0.9999773421238088, -0.0003827369591615968, -0.05806363746523857], [0.0005241143599363542, 0.0003862680822010701, 0.9999997880505307, -0.00019533635349944234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3735249042510986, -0.5005620121955872, -1.7935197353363037, -1.786704659461975, -1.1545846462249756, 0.4994630515575409, -1.3205991983413696, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479996085166931, -0.38099777698516846, 1.2517001628875732, -1.6390012502670288, 1.2400009632110596, 0.32800009846687317, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3765398263931274, -0.49382516741752625, -1.7559758424758911, -1.7890030145645142, -1.1570582389831543, 0.480776309967041, -1.339439034461975, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480002641677856, -0.38100096583366394, 1.2516998052597046, -1.6390025615692139, 1.2400000095367432, 0.3279999792575836, 1.2760004997253418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.386640191078186, -0.484981894493103, -1.7196208238601685, -1.7828881740570068, -1.1510449647903442, 0.45968201756477356, -1.3604862689971924, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7479994893074036, -0.3809921443462372, 1.2517006397247314, -1.6390019655227661, 1.2400003671646118, 0.3279997408390045, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3848363161087036, -0.4809366464614868, -1.7007695436477661, -1.760832667350769, -1.1787290573120117, 0.45012927055358887, -1.370022177696228, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480005621910095, -0.381003737449646, 1.251699686050415, -1.6390025615692139, 1.2400000095367432, 0.3279997408390045, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3833422660827637, -0.4803726375102997, -1.6970696449279785, -1.7567354440689087, -1.1874843835830688, 0.44940614700317383, -1.3706847429275513, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.747999906539917, -0.3809989392757416, 1.251699686050415, -1.6389994621276855, 1.2400002479553223, 0.32800009846687317, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832216262817383, -0.48033156991004944, -1.6967487335205078, -1.7563724517822266, -1.1882127523422241, 0.44932347536087036, -1.3707531690597534, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480001449584961, -0.3810001313686371, 1.2516998052597046, -1.6390000581741333, 1.2400002479553223, 0.3279999792575836, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383208155632019, -0.480327844619751, -1.6967239379882812, -1.7563295364379883, -1.18828547000885, 0.4493114948272705, -1.370759129524231, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.747999906539917, -0.38100019097328186, 1.2516999244689941, -1.6389999389648438, 1.2400004863739014, 0.32799986004829407, 1.275999903678894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832083940505981, -0.4803277254104614, -1.696721076965332, -1.7563279867172241, -1.1882964372634888, 0.4493102729320526, -1.3707594871520996, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480000853538513, -0.3810000717639923, 1.2516999244689941, -1.6390001773834229, 1.2400001287460327, 0.3279997408390045, 1.2760001420974731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832087516784668, -0.48032817244529724, -1.696721076965332, -1.7563285827636719, -1.188296914100647, 0.44931086897850037, -1.3707590103149414, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480002045631409, -0.38099947571754456, 1.2516999244689941, -1.6389999389648438, 1.2400002479553223, 0.3279997408390045, 1.2760002613067627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383209228515625, -0.4803294241428375, -1.6967213153839111, -1.75632905960083, -1.1882967948913574, 0.4493114948272705, -1.370758295059204, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7480000853538513, -0.3809996247291565, 1.2516999244689941, -1.6390001773834229, 1.2400001287460327, 0.3279999792575836, 1.2760000228881836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832097053527832, -0.4803312420845032, -1.6967215538024902, -1.7563297748565674, -1.1882960796356201, 0.44931185245513916, -1.3707575798034668, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7478141188621521, -0.38100433349609375, 1.2520747184753418, -1.6394853591918945, 1.2397199869155884, 0.32783830165863037, 1.2757383584976196, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.3832120895385742, -0.48033687472343445, -1.6967216730117798, -1.7563307285308838, -1.1882939338684082, 0.44931256771087646, -1.3707562685012817, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7384502291679382, -0.3785913586616516, 1.2893142700195312, -1.6618927717208862, 1.2420772314071655, 0.31899213790893555, 1.2489811182022095, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.30740609765052795, -0.3911198079586029, 0.02319779060781002, 0.030387189239263535, 1.3832100629806519, -0.4803358316421509, -1.6967220306396484, -1.756351351737976, -1.188294768333435, 0.4493131637573242, -1.3707572221755981, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7354934811592102, -0.3739233911037445, 1.3445611000061035, -1.6810235977172852, 1.2766914367675781, 0.34289732575416565, 1.2124123573303223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832119703292847, -0.4803362190723419, -1.6967233419418335, -1.7563267946243286, -1.1882922649383545, 0.4493139982223511, -1.3707542419433594, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7306104898452759, -0.3695691227912903, 1.3988139629364014, -1.7140599489212036, 1.3017020225524902, 0.3912070393562317, 1.1141124963760376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803364872932434, -1.6967241764068604, -1.7563259601593018, -1.1882903575897217, 0.44931459426879883, -1.3707531690597534, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7213858962059021, -0.3672475218772888, 1.442892074584961, -1.753670334815979, 1.3167427778244019, 0.44810935854911804, 0.9796262383460999, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832124471664429, -0.4803343117237091, -1.6967252492904663, -1.756333827972412, -1.1882905960083008, 0.4493151903152466, -1.3707530498504639, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.701470136642456, -0.36984631419181824, 1.4765654802322388, -1.8065489530563354, 1.3660591840744019, 0.5138410329818726, 0.7880604863166809, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030483046546578407, 1.3832128047943115, -0.4803312420845032, -1.6967288255691528, -1.7563332319259644, -1.1882895231246948, 0.4493159055709839, -1.3707524538040161, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6825649738311768, -0.37375667691230774, 1.487612247467041, -1.858251929283142, 1.4004545211791992, 0.5690332651138306, 0.5929442048072815, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030483046546578407, 1.3832149505615234, -0.4803348779678345, -1.6967265605926514, -1.7563334703445435, -1.1882888078689575, 0.44931724667549133, -1.370751976966858, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6536267399787903, -0.3791906237602234, 1.4816503524780273, -1.9186010360717773, 1.4156486988067627, 0.6166614890098572, 0.3852619230747223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803345799446106, -1.6967264413833618, -1.7563382387161255, -1.1882882118225098, 0.44931843876838684, -1.3707513809204102, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6148842573165894, -0.3865981101989746, 1.4588578939437866, -1.9628751277923584, 1.4251116514205933, 0.6526872515678406, 0.20585602521896362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803345799446106, -1.6967264413833618, -1.7563365697860718, -1.1882867813110352, 0.4493195116519928, -1.3707506656646729, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5673158764839172, -0.3956511318683624, 1.424643874168396, -1.9823551177978516, 1.4233583211898804, 0.6882848143577576, 0.07129798829555511, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030483046546578407, 1.3832149505615234, -0.4803341329097748, -1.696726679801941, -1.7563328742980957, -1.1882859468460083, 0.44932082295417786, -1.370750069618225, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5167478919029236, -0.4084794521331787, 1.377376675605774, -1.971284031867981, 1.4431637525558472, 0.7168808579444885, -0.011340072378516197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.023006072267889977, 0.030483046546578407, 1.3832134008407593, -0.48033446073532104, -1.6967267990112305, -1.7563371658325195, -1.188284993171692, 0.44932129979133606, -1.370750069618225, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.47318288683891296, -0.4182099401950836, 1.3230688571929932, -1.9685267210006714, 1.4365510940551758, 0.7742127776145935, -0.04482543468475342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 1.3832125663757324, -0.4803348779678345, -1.6967257261276245, -1.7563323974609375, -1.188283085823059, 0.4493231177330017, -1.3707479238510132, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4692297875881195, -0.41920050978660583, 1.3213350772857666, -1.9685109853744507, 1.4353581666946411, 0.7746860384941101, -0.047931864857673645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832134008407593, -0.48033371567726135, -1.696727991104126, -1.756333589553833, -1.188283085823059, 0.44932371377944946, -1.3707482814788818, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4688296616077423, -0.41929876804351807, 1.3211805820465088, -1.9685349464416504, 1.4352904558181763, 0.7743270397186279, -0.04815381392836571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.3832138776779175, -0.48033562302589417, -1.6967264413833618, -1.756333827972412, -1.1882823705673218, 0.44932442903518677, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4702274799346924, -0.4194532036781311, 1.3209784030914307, -1.9672313928604126, 1.4346494674682617, 0.772796630859375, -0.04970553144812584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 1.3832112550735474, -0.4803330898284912, -1.6967298984527588, -1.756351113319397, -1.1882842779159546, 0.4493250250816345, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4868735671043396, -0.42022770643234253, 1.3197585344314575, -1.9770957231521606, 1.432213544845581, 0.7834508419036865, -0.08434353768825531, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832136392593384, -0.48033878207206726, -1.696726679801941, -1.7563326358795166, -1.1882822513580322, 0.44932490587234497, -1.3707455396652222, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4754081666469574, -0.42575231194496155, 1.3221205472946167, -1.9706248044967651, 1.4851570129394531, 0.8162237405776978, -0.1615016907453537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832114934921265, -0.48033592104911804, -1.6967267990112305, -1.7563364505767822, -1.18828284740448, 0.4493258595466614, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4371130168437958, -0.43714073300361633, 1.3023549318313599, -1.9663126468658447, 1.5512748956680298, 0.841012179851532, -0.2747535705566406, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 1.3832128047943115, -0.48033377528190613, -1.6967275142669678, -1.7563353776931763, -1.1882836818695068, 0.4493256211280823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.391462504863739, -0.45594602823257446, 1.254913091659546, -1.959104299545288, 1.5684666633605957, 0.8494518995285034, -0.3509325087070465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.48033571243286133, -1.6967260837554932, -1.7563315629959106, -1.1882823705673218, 0.4493260979652405, -1.3707456588745117, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.33609089255332947, -0.4795377254486084, 1.1942757368087769, -1.946794867515564, 1.5699281692504883, 0.8552255630493164, -0.40115898847579956, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832125663757324, -0.48033493757247925, -1.6967259645462036, -1.756334662437439, -1.188283085823059, 0.4493260979652405, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2756327688694, -0.5062158107757568, 1.132520079612732, -1.9296547174453735, 1.5700538158416748, 0.8481115102767944, -0.436359167098999, 0.1079999834626586, 0.1079999834626586, 0.1079999834626586, 0.1079999834626586, -0.1079999834626586, -0.1079999834626586, -0.1079999834626586, 0.1079999834626586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832124471664429, -0.4803350865840912, -1.6967260837554932, -1.7563350200653076, -1.188283085823059, 0.4493260979652405, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.22209051251411438, -0.5322365760803223, 1.075799822807312, -1.9011764526367188, 1.5700455904006958, 0.8612943887710571, -0.4514767825603485, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832130432128906, -0.4803335666656494, -1.6967271566390991, -1.7563341856002808, -1.18828284740448, 0.44932621717453003, -1.3707455396652222, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.17940814793109894, -0.5567873120307922, 1.0299487113952637, -1.861628770828247, 1.5700201988220215, 0.8858779668807983, -0.46030759811401367, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803350269794464, -1.6967267990112305, -1.7563360929489136, -1.1882833242416382, 0.4493265748023987, -1.3707454204559326, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.15335588157176971, -0.5842270851135254, 1.0055612325668335, -1.8004534244537354, 1.569989562034607, 0.883411169052124, -0.43954145908355713, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030291330069303513, 1.3832125663757324, -0.480337917804718, -1.6967251300811768, -1.7563354969024658, -1.1882826089859009, 0.44932645559310913, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.13698044419288635, -0.6123012900352478, 0.9969024658203125, -1.743967056274414, 1.5699793100357056, 0.8891592621803284, -0.4138879179954529, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832125663757324, -0.48033443093299866, -1.6967270374298096, -1.7563353776931763, -1.1882832050323486, 0.44932645559310913, -1.3707457780838013, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.1275106519460678, -0.6398609280586243, 0.9911428689956665, -1.700757622718811, 1.5699822902679443, 0.9176592826843262, -0.4093681871891022, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.48033615946769714, -1.6967263221740723, -1.756334900856018, -1.18828284740448, 0.44932669401168823, -1.3707454204559326, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.11527231335639954, -0.6669384837150574, 0.9891902804374695, -1.6726055145263672, 1.5699923038482666, 0.9429075717926025, -0.41395431756973267, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, 1.3832130432128906, -0.4803374707698822, -1.6967251300811768, -1.7563351392745972, -1.18828284740448, 0.44932645559310913, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.10125915706157684, -0.6923623085021973, 0.9919143915176392, -1.6474145650863647, 1.5699938535690308, 0.9622690081596375, -0.4258636236190796, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030291330069303513, 1.3832122087478638, -0.48033687472343445, -1.6967257261276245, -1.7563362121582031, -1.188283085823059, 0.4493265748023987, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08658137917518616, -0.7151258587837219, 0.9845482707023621, -1.6285417079925537, 1.5699970722198486, 0.9760700464248657, -0.45323944091796875, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.023006072267889977, 0.030291330069303513, 1.383213758468628, -0.4803362786769867, -1.6967260837554932, -1.756332516670227, -1.188283085823059, 0.4493268132209778, -1.370745062828064, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.06957202404737473, -0.7346439957618713, 0.9697100520133972, -1.6064698696136475, 1.5700006484985352, 0.9772813320159912, -0.47935977578163147, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033615946769714, -1.6967262029647827, -1.7563350200653076, -1.18828284740448, 0.4493265748023987, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.05337204411625862, -0.7516873478889465, 0.9567259550094604, -1.578100562095642, 1.570002794265747, 0.9774143099784851, -0.4924286901950836, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033568263053894, -1.6967264413833618, -1.7563358545303345, -1.1882835626602173, 0.4493263363838196, -1.3707456588745117, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.03933187574148178, -0.7652890086174011, 0.9439882636070251, -1.5574085712432861, 1.5700039863586426, 0.9774206876754761, -0.5074629187583923, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212685585022, -0.48033541440963745, -1.6967262029647827, -1.756335973739624, -1.1882838010787964, 0.4493265748023987, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.029740652069449425, -0.7764893174171448, 0.9320329427719116, -1.5350761413574219, 1.570003628730774, 0.9774208068847656, -0.5189971327781677, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803353250026703, -1.6967267990112305, -1.756335973739624, -1.188284158706665, 0.44932645559310913, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.023487932980060577, -0.7878226041793823, 0.9201698899269104, -1.5118308067321777, 1.5700029134750366, 0.9774199724197388, -0.5240791440010071, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832135200500488, -0.48033541440963745, -1.696726679801941, -1.7563352584838867, -1.188284158706665, 0.44932621717453003, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.01610400155186653, -0.8001186847686768, 0.9059489369392395, -1.4892303943634033, 1.5700023174285889, 0.9774197340011597, -0.5265276432037354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832123279571533, -0.48033562302589417, -1.6967264413833618, -1.7563364505767822, -1.1882846355438232, 0.44932645559310913, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.0036859980318695307, -0.8122994899749756, 0.891108512878418, -1.4703623056411743, 1.56999671459198, 0.9774188995361328, -0.5477340817451477, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803354740142822, -1.6967270374298096, -1.756334662437439, -1.188283920288086, 0.4493265748023987, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.009255866520106792, -0.8235549330711365, 0.8776703476905823, -1.4577624797821045, 1.5699952840805054, 0.9774175882339478, -0.5568842887878418, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.383212924003601, -0.4803352653980255, -1.6967265605926514, -1.7563351392745972, -1.1882840394973755, 0.44932645559310913, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.02048703283071518, -0.8336904644966125, 0.8634522557258606, -1.4490394592285156, 1.5700076818466187, 0.9774171113967896, -0.5671608448028564, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.3832131624221802, -0.48033496737480164, -1.696726679801941, -1.7563351392745972, -1.188283920288086, 0.44932621717453003, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.031712207943201065, -0.842879593372345, 0.8543180227279663, -1.4339576959609985, 1.5700052976608276, 0.9774159789085388, -0.5748307704925537, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803351163864136, -1.6967265605926514, -1.7563354969024658, -1.188284158706665, 0.44932645559310913, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03963532671332359, -0.8516690731048584, 0.8482425808906555, -1.416260838508606, 1.5700018405914307, 0.9774150252342224, -0.5789244771003723, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967264413833618, -1.756334900856018, -1.1882840394973755, 0.44932621717453003, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.045802757143974304, -0.8606846332550049, 0.8409317135810852, -1.4040172100067139, 1.5699998140335083, 0.9774126410484314, -0.581167459487915, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967267990112305, -1.7563352584838867, -1.1882836818695068, 0.4493265748023987, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.053366802632808685, -0.8699905872344971, 0.834425151348114, -1.3930751085281372, 1.5699998140335083, 0.9774104952812195, -0.5835667848587036, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803350865840912, -1.696726679801941, -1.7563345432281494, -1.188284158706665, 0.4493263363838196, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06074908375740051, -0.879514217376709, 0.8254707455635071, -1.3828680515289307, 1.5699992179870605, 0.9774079918861389, -0.5882575511932373, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033541440963745, -1.6967265605926514, -1.7563352584838867, -1.1882842779159546, 0.44932669401168823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06897026300430298, -0.8890538215637207, 0.8141090273857117, -1.3744807243347168, 1.5700013637542725, 0.9774056077003479, -0.5956161022186279, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.480335533618927, -1.6967267990112305, -1.7563352584838867, -1.1882843971252441, 0.4493263363838196, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.07670412957668304, -0.8983632326126099, 0.80283522605896, -1.3575772047042847, 1.5700026750564575, 0.977402925491333, -0.605728030204773, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.3832136392593384, -0.48033568263053894, -1.6967262029647827, -1.7563345432281494, -1.1882838010787964, 0.44932669401168823, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.08376683294773102, -0.9082284569740295, 0.7956988215446472, -1.338997721672058, 1.5700018405914307, 0.9774011373519897, -0.6130422353744507, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967264413833618, -1.7563354969024658, -1.1882842779159546, 0.44932621717453003, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.08845946192741394, -0.9182412624359131, 0.7895335555076599, -1.3251322507858276, 1.5700010061264038, 0.9774001836776733, -0.615898072719574, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033568263053894, -1.6967264413833618, -1.7563352584838867, -1.188284158706665, 0.44932621717453003, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.09201722592115402, -0.9280570149421692, 0.783502995967865, -1.3118019104003906, 1.5700013637542725, 0.9773995876312256, -0.6166565418243408, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.3832136392593384, -0.4803353250026703, -1.6967265605926514, -1.7563347816467285, -1.1882843971252441, 0.4493260979652405, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.09672712534666061, -0.9376831650733948, 0.7775857448577881, -1.299622893333435, 1.570001244544983, 0.9773988723754883, -0.6235582828521729, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803352355957031, -1.6967265605926514, -1.756334900856018, -1.1882842779159546, 0.44932621717453003, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10132667422294617, -0.9472282528877258, 0.7711050510406494, -1.2893779277801514, 1.570000171661377, 0.9773988723754883, -0.6339810490608215, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, 1.383212685585022, -0.4803357720375061, -1.6967260837554932, -1.7563356161117554, -1.188284158706665, 0.44932645559310913, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1056813895702362, -0.9569399952888489, 0.7698431015014648, -1.2761549949645996, 1.56999933719635, 0.9773986339569092, -0.643921971321106, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030387189239263535, 1.3832134008407593, -0.48033592104911804, -1.6967262029647827, -1.756334900856018, -1.1882840394973755, 0.4493263363838196, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1100492924451828, -0.9665212631225586, 0.7684929966926575, -1.266389012336731, 1.5700010061264038, 0.9773985147476196, -0.6562100052833557, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.480335533618927, -1.6967263221740723, -1.7563351392745972, -1.188283920288086, 0.4493263363838196, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11184882372617722, -0.9756120443344116, 0.7685259580612183, -1.2564752101898193, 1.5699996948242188, 0.9763826131820679, -0.6673687696456909, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, 1.3832128047943115, -0.4803357720375061, -1.6967263221740723, -1.7563351392745972, -1.1882842779159546, 0.44932621717453003, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11186904460191727, -0.9840734004974365, 0.7680935263633728, -1.2458513975143433, 1.5699998140335083, 0.9691346883773804, -0.6786582469940186, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803355634212494, -1.6967263221740723, -1.7563347816467285, -1.188284158706665, 0.44932621717453003, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11229388415813446, -0.991958498954773, 0.7682527899742126, -1.2378844022750854, 1.5692299604415894, 0.9593245983123779, -0.6856249570846558, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803357720375061, -1.6967263221740723, -1.7563356161117554, -1.188283920288086, 0.44932621717453003, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11247654259204865, -0.999120831489563, 0.7661559581756592, -1.229920744895935, 1.5683315992355347, 0.9467953443527222, -0.6945340037345886, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033571243286133, -1.6967263221740723, -1.7563353776931763, -1.188283920288086, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11524440348148346, -1.0063339471817017, 0.7627527713775635, -1.2202074527740479, 1.5620139837265015, 0.9422537088394165, -0.7010244131088257, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.48033562302589417, -1.6967264413833618, -1.7563352584838867, -1.188284158706665, 0.44932621717453003, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1170998066663742, -1.012217402458191, 0.7630712985992432, -1.2105834484100342, 1.5561902523040771, 0.9319006204605103, -0.7043817043304443, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803351163864136, -1.6967264413833618, -1.7563360929489136, -1.1882843971252441, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11795498430728912, -1.0175261497497559, 0.7659364938735962, -1.2010241746902466, 1.5537573099136353, 0.9225398898124695, -0.7077481746673584, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803350865840912, -1.6967267990112305, -1.7563351392745972, -1.1882840394973755, 0.44932621717453003, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11629711836576462, -1.021668553352356, 0.7724577188491821, -1.1921203136444092, 1.561872124671936, 0.9188708066940308, -0.7010052800178528, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030483046546578407, 1.3832132816314697, -0.4803352653980255, -1.6967265605926514, -1.756334900856018, -1.188284158706665, 0.44932669401168823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11069688946008682, -1.0234078168869019, 0.7836512327194214, -1.1922247409820557, 1.5643171072006226, 0.9063102602958679, -0.6845459938049316, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832130432128906, -0.48033443093299866, -1.6967273950576782, -1.7563350200653076, -1.1882845163345337, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10322742164134979, -1.0202734470367432, 0.8016050457954407, -1.203831434249878, 1.5558604001998901, 0.9019254446029663, -0.6658600568771362, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.48033517599105835, -1.6967265605926514, -1.7563353776931763, -1.188284158706665, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.0895223617553711, -1.014127254486084, 0.823041558265686, -1.222011685371399, 1.5471470355987549, 0.9072914123535156, -0.6461471319198608, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803350865840912, -1.6967270374298096, -1.7563354969024658, -1.188284158706665, 0.4493263363838196, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.07002422213554382, -1.0064738988876343, 0.8475971221923828, -1.244072675704956, 1.5446630716323853, 0.9176703095436096, -0.6356185078620911, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803351163864136, -1.6967267990112305, -1.756335735321045, -1.1882843971252441, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.047286756336688995, -0.9982166886329651, 0.8755941987037659, -1.270352840423584, 1.5486427545547485, 0.9248886704444885, -0.6400018334388733, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803352355957031, -1.6967263221740723, -1.7563351392745972, -1.1882842779159546, 0.4493256211280823, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.02208787575364113, -0.9891965985298157, 0.9073641300201416, -1.3049702644348145, 1.5520014762878418, 0.9234892725944519, -0.6462224721908569, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212685585022, -0.48033517599105835, -1.6967263221740723, -1.7563358545303345, -1.1882842779159546, 0.44932621717453003, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.006499444600194693, -0.9782223701477051, 0.944027841091156, -1.3437154293060303, 1.55386221408844, 0.9245330691337585, -0.6487351059913635, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832135200500488, -0.4803355634212494, -1.6967265605926514, -1.756334662437439, -1.1882843971252441, 0.4493263363838196, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.03639020025730133, -0.9656489491462708, 0.985218346118927, -1.3901827335357666, 1.5571197271347046, 0.9364614486694336, -0.6551394462585449, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803360104560852, -1.6967264413833618, -1.7563352584838867, -1.1882843971252441, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.06536755710840225, -0.9519436955451965, 1.0301893949508667, -1.4477890729904175, 1.5667510032653809, 0.9666962623596191, -0.6631700992584229, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803348779678345, -1.6967272758483887, -1.7563358545303345, -1.1882847547531128, 0.44932621717453003, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.10378668457269669, -0.938138484954834, 1.077775239944458, -1.5057573318481445, 1.5697314739227295, 0.9765671491622925, -0.653411328792572, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803360104560852, -1.6967260837554932, -1.7563347816467285, -1.1882840394973755, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.14377489686012268, -0.9212375283241272, 1.1229627132415771, -1.5646448135375977, 1.5699882507324219, 0.9773384928703308, -0.6537516713142395, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803351163864136, -1.6967267990112305, -1.7563352584838867, -1.1882848739624023, 0.4493257403373718, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.18446004390716553, -0.9015944600105286, 1.1647346019744873, -1.616361379623413, 1.5700030326843262, 0.9774067997932434, -0.6667491793632507, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02319779060781002, 0.030387189239263535, 1.3832124471664429, -0.4803352355957031, -1.6967265605926514, -1.7563356161117554, -1.1882843971252441, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.22489552199840546, -0.8797805905342102, 1.202818512916565, -1.6578524112701416, 1.5700241327285767, 0.9774163365364075, -0.6751945614814758, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030291330069303513, 1.3832136392593384, -0.48033636808395386, -1.6967263221740723, -1.7563344240188599, -1.1882846355438232, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2611127495765686, -0.8582178354263306, 1.231308937072754, -1.6898877620697021, 1.5700204372406006, 0.9774175882339478, -0.6756212115287781, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803358316421509, -1.6967260837554932, -1.7563356161117554, -1.1882845163345337, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.27968648076057434, -0.8384235501289368, 1.2482439279556274, -1.7122071981430054, 1.5700193643569946, 0.9774172306060791, -0.6747414469718933, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832136392593384, -0.4803352355957031, -1.69672691822052, -1.7563341856002808, -1.1882847547531128, 0.4493263363838196, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2825012803077698, -0.820527970790863, 1.2491557598114014, -1.7231128215789795, 1.5700093507766724, 0.9774169921875, -0.6705788373947144, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033607006073, -1.696725606918335, -1.7563375234603882, -1.1882845163345337, 0.4493259787559509, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.26498183608055115, -0.80808424949646, 1.2252732515335083, -1.7079650163650513, 1.5700041055679321, 0.977416455745697, -0.6782186627388, 0.5369999995598426, 0.5369999995598426, 0.5369999995598426, 0.5369999995598426, -0.5369999995598426, -0.5369999995598426, -0.5369999995598426, 0.5369999995598426, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803357720375061, -1.6967263221740723, -1.7563351392745972, -1.1882843971252441, 0.4493260979652405, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.23050227761268616, -0.803696870803833, 1.191933035850525, -1.6716008186340332, 1.5700020790100098, 0.9774156212806702, -0.654704213142395, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033607006073, -1.696726679801941, -1.756335735321045, -1.1882847547531128, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.1880340427160263, -0.8046016097068787, 1.1484904289245605, -1.6290768384933472, 1.570002555847168, 0.9774152636528015, -0.6354290246963501, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.480335533618927, -1.6967265605926514, -1.7563356161117554, -1.1882843971252441, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.14576098322868347, -0.8097956776618958, 1.1002533435821533, -1.57821524143219, 1.5659091472625732, 0.9774150252342224, -0.628032922744751, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832135200500488, -0.48033517599105835, -1.6967263221740723, -1.7563343048095703, -1.188283920288086, 0.44932621717453003, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.11081168800592422, -0.8189870715141296, 1.0580897331237793, -1.5296937227249146, 1.5474976301193237, 0.9748628735542297, -0.6382569074630737, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030387189239263535, 1.3832124471664429, -0.4803352355957031, -1.6967263221740723, -1.7563362121582031, -1.1882847547531128, 0.4493259787559509, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.0920550748705864, -0.8293527364730835, 1.0336493253707886, -1.4843034744262695, 1.55538809299469, 0.960479199886322, -0.6575733423233032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033541440963745, -1.6967267990112305, -1.7563351392745972, -1.1882848739624023, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08271097391843796, -0.8391058444976807, 1.0126299858093262, -1.458768606185913, 1.5609071254730225, 0.9419384002685547, -0.6701543927192688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803355634212494, -1.6967265605926514, -1.756334900856018, -1.1882848739624023, 0.4493257403373718, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.07241532951593399, -0.847494900226593, 0.9952217936515808, -1.4404988288879395, 1.5615894794464111, 0.9342637062072754, -0.6661319732666016, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967263221740723, -1.7563354969024658, -1.1882845163345337, 0.44932621717453003, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.06097039207816124, -0.8539021015167236, 0.9792837500572205, -1.427294373512268, 1.5400830507278442, 0.9299253821372986, -0.6689806580543518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030291330069303513, 1.3832125663757324, -0.4803362190723419, -1.6967263221740723, -1.7563358545303345, -1.1882842779159546, 0.44932621717453003, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.05200239643454552, -0.8611133694648743, 0.9654479622840881, -1.405321717262268, 1.52680242061615, 0.9198253154754639, -0.6661330461502075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.48033586144447327, -1.6967264413833618, -1.7563347816467285, -1.188284158706665, 0.44932621717453003, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.042614057660102844, -0.8682343363761902, 0.9532455205917358, -1.3823182582855225, 1.5177028179168701, 0.9166183471679688, -0.6580309271812439, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803350865840912, -1.696726679801941, -1.7563352584838867, -1.1882848739624023, 0.44932621717453003, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.033194903284311295, -0.8761626482009888, 0.937728226184845, -1.3552342653274536, 1.5009633302688599, 0.9087561964988708, -0.6407573223114014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.480335533618927, -1.6967267990112305, -1.756335735321045, -1.1882846355438232, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.020488180220127106, -0.8854875564575195, 0.9198734164237976, -1.3247534036636353, 1.484650731086731, 0.9054888486862183, -0.6152104139328003, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803353250026703, -1.6967264413833618, -1.7563350200653076, -1.1882851123809814, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.005565773695707321, -0.8951097726821899, 0.9021621346473694, -1.2963541746139526, 1.466301441192627, 0.9031248092651367, -0.5849146842956543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803345203399658, -1.696726679801941, -1.7563353776931763, -1.1882846355438232, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.008810552768409252, -0.9057547450065613, 0.8841468691825867, -1.2700010538101196, 1.4471592903137207, 0.8940639495849609, -0.5577702522277832, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.48033541440963745, -1.6967264413833618, -1.756334900856018, -1.188283920288086, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.02125861681997776, -0.9165301322937012, 0.8694264888763428, -1.2410582304000854, 1.437072992324829, 0.8868883848190308, -0.534317135810852, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803352653980255, -1.6967265605926514, -1.756334900856018, -1.1882846355438232, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03168728947639465, -0.9253008961677551, 0.8627171516418457, -1.225028157234192, 1.4344563484191895, 0.8855793476104736, -0.5201787352561951, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803360104560852, -1.6967262029647827, -1.7563350200653076, -1.188283920288086, 0.4493256211280823, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.033413466066122055, -0.9301295280456543, 0.8665445446968079, -1.2304463386535645, 1.4423041343688965, 0.8904356956481934, -0.5160149335861206, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803352653980255, -1.6967264413833618, -1.7563354969024658, -1.1882843971252441, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.029414230957627296, -0.9316374659538269, 0.8768033981323242, -1.2414896488189697, 1.4499199390411377, 0.898597776889801, -0.5200607180595398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02319779060781002, 0.030291330069303513, 1.3832124471664429, -0.48033562302589417, -1.6967264413833618, -1.7563366889953613, -1.188284158706665, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.02344249188899994, -0.9315757155418396, 0.8921114802360535, -1.2479304075241089, 1.4635437726974487, 0.9058784246444702, -0.5260761976242065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033541440963745, -1.6967267990112305, -1.7563344240188599, -1.1882843971252441, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.016485299915075302, -0.9319294095039368, 0.9007335305213928, -1.2530711889266968, 1.4648988246917725, 0.9130747318267822, -0.5266720652580261, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.48033571243286133, -1.6967263221740723, -1.7563351392745972, -1.1882842779159546, 0.44932621717453003, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.010614827275276184, -0.9331616163253784, 0.9063130021095276, -1.2547506093978882, 1.4601999521255493, 0.9136030077934265, -0.5248194336891174, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803353250026703, -1.6967262029647827, -1.7563356161117554, -1.188284158706665, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.010454637929797173, -0.9368051290512085, 0.9051881432533264, -1.2456965446472168, 1.4449033737182617, 0.904720664024353, -0.530674397945404, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.48033541440963745, -1.696726679801941, -1.7563352584838867, -1.188284158706665, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.020156417042016983, -0.9442915320396423, 0.8951848149299622, -1.225111961364746, 1.4290579557418823, 0.8990528583526611, -0.5224958062171936, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803350865840912, -1.6967265605926514, -1.7563345432281494, -1.1882842779159546, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03675322234630585, -0.9535624980926514, 0.8784254789352417, -1.1966935396194458, 1.402187466621399, 0.8952116370201111, -0.5010074973106384, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.48033538460731506, -1.6967264413833618, -1.7563351392745972, -1.1882846355438232, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.05427505820989609, -0.964794397354126, 0.8602940440177917, -1.1579687595367432, 1.380118489265442, 0.8868253231048584, -0.471984326839447, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.480335533618927, -1.6967265605926514, -1.7563345432281494, -1.188284158706665, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.07061484456062317, -0.9758340120315552, 0.8441333174705505, -1.126753568649292, 1.3611644506454468, 0.8835964202880859, -0.44768378138542175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967267990112305, -1.756334900856018, -1.1882846355438232, 0.4493260979652405, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.08221862465143204, -0.9867857098579407, 0.8296526670455933, -1.0945839881896973, 1.3473199605941772, 0.8805573582649231, -0.42424240708351135, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.480335533618927, -1.6967263221740723, -1.7563353776931763, -1.1882845163345337, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.08979380130767822, -0.9981182813644409, 0.8136894702911377, -1.065833568572998, 1.3316123485565186, 0.87531977891922, -0.40324196219444275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023006072267889977, 0.030483046546578407, 1.383213758468628, -0.4803352355957031, -1.69672691822052, -1.7563340663909912, -1.1882843971252441, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.09767287969589233, -1.0076121091842651, 0.8022764921188354, -1.0448130369186401, 1.3132647275924683, 0.8715707063674927, -0.37857747077941895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967264413833618, -1.7563353776931763, -1.1882840394973755, 0.44932621717453003, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10621324181556702, -1.016222357749939, 0.7971711158752441, -1.023461103439331, 1.301801323890686, 0.8667337894439697, -0.3609392046928406, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967265605926514, -1.7563350200653076, -1.188284158706665, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1115877628326416, -1.0246336460113525, 0.7937509417533875, -1.0062531232833862, 1.2908693552017212, 0.863612949848175, -0.3479985296726227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803353250026703, -1.6967265605926514, -1.7563350200653076, -1.1882845163345337, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11402206122875214, -1.0308603048324585, 0.7932873964309692, -0.9911530613899231, 1.2814663648605347, 0.8634914755821228, -0.3403981328010559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832147121429443, -0.48033517599105835, -1.6967271566390991, -1.756332516670227, -1.1882848739624023, 0.4493258595466614, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11584306508302689, -1.0366016626358032, 0.7946564555168152, -0.9808940887451172, 1.2755671739578247, 0.8656654953956604, -0.3327829837799072, 0.4974000032131488, 0.4974000032131488, 0.4974000032131488, 0.4974000032131488, -0.4974000032131488, -0.4974000032131488, -0.4974000032131488, 0.4974000032131488, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033538460731506, -1.6967264413833618, -1.7563369274139404, -1.188284158706665, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11513344943523407, -1.0420169830322266, 0.7962213754653931, -0.9760409593582153, 1.269591212272644, 0.8675651550292969, -0.3274329900741577, 0.4235999948375828, 0.4235999948375828, 0.4235999948375828, 0.4235999948375828, -0.4235999948375828, -0.4235999948375828, -0.4235999948375828, 0.4235999948375828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803350865840912, -1.6967265605926514, -1.756334900856018, -1.1882843971252441, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11478281021118164, -1.046586513519287, 0.799960196018219, -0.9706577658653259, 1.2638264894485474, 0.8688995838165283, -0.3240046799182892, 0.42599999223436624, 0.42599999223436624, 0.42599999223436624, 0.42599999223436624, -0.42599999223436624, -0.42599999223436624, -0.42599999223436624, 0.42599999223436624, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.4803352653980255, -1.6967260837554932, -1.7563351392745972, -1.1882842779159546, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.114191934466362, -1.0507066249847412, 0.8043885827064514, -0.9665663242340088, 1.2574936151504517, 0.8698745965957642, -0.3208940327167511, 0.45899999573990535, 0.45899999573990535, 0.45899999573990535, 0.45899999573990535, -0.45899999573990535, -0.45899999573990535, -0.45899999573990535, 0.45899999573990535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.48033538460731506, -1.6967267990112305, -1.7563351392745972, -1.188284158706665, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11341606080532074, -1.054612636566162, 0.8083486557006836, -0.9642311930656433, 1.2496750354766846, 0.871924877166748, -0.3193279504776001, 0.47280000042129344, 0.47280000042129344, 0.47280000042129344, 0.47280000042129344, -0.47280000042129344, -0.47280000042129344, -0.47280000042129344, 0.47280000042129344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803350865840912, -1.69672691822052, -1.7563351392745972, -1.1882843971252441, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11287222057580948, -1.058178186416626, 0.8131675124168396, -0.9616211652755737, 1.2424055337905884, 0.8738192319869995, -0.3160867989063263, 0.4446000015342628, 0.4446000015342628, 0.4446000015342628, 0.4446000015342628, -0.4446000015342628, -0.4446000015342628, -0.4446000015342628, 0.4446000015342628, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803353250026703, -1.6967263221740723, -1.7563352584838867, -1.1882843971252441, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11202353984117508, -1.0616499185562134, 0.8184241652488708, -0.9591199159622192, 1.2352648973464966, 0.8732548952102661, -0.3124929666519165, 0.48599999592854426, 0.48599999592854426, 0.48599999592854426, 0.48599999592854426, -0.48599999592854426, -0.48599999592854426, -0.48599999592854426, 0.48599999592854426, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832119703292847, -0.4803353250026703, -1.6967265605926514, -1.7563352584838867, -1.1882827281951904, 0.4493260979652405, -1.3707443475723267, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11139791458845139, -1.0654115676879883, 0.8234154582023621, -0.9561763405799866, 1.2279748916625977, 0.8718026280403137, -0.3127918541431427, 0.47399999911968527, 0.47399999911968527, 0.47399999911968527, 0.47399999911968527, -0.47399999911968527, -0.47399999911968527, -0.47399999911968527, 0.47399999911968527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050299640744924545, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030291330069303513, 1.3832131624221802, -0.4803357720375061, -1.6967271566390991, -1.7563397884368896, -1.1882954835891724, 0.44932621717453003, -1.3707568645477295, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1102159172296524, -1.0690479278564453, 0.8288524746894836, -0.9538816213607788, 1.2223972082138062, 0.8705897331237793, -0.3136240541934967, 0.24299998440585296, 0.24299998440585296, 0.24299998440585296, 0.24299998440585296, -0.24299998440585296, -0.24299998440585296, -0.24299998440585296, 0.24299998440585296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050299640744924545, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033615946769714, -1.6967273950576782, -1.7563376426696777, -1.1882914304733276, 0.4493253827095032, -1.3707553148269653, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10911871492862701, -1.0718364715576172, 0.8346366882324219, -0.9522685408592224, 1.2144081592559814, 0.8720816373825073, -0.31240981817245483, 0.24299998440585296, 0.24299998440585296, 0.24299998440585296, 0.24299998440585296, -0.24299998440585296, -0.24299998440585296, -0.24299998440585296, 0.24299998440585296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050299640744924545, 0.3072143793106079, -0.3911198079586029, 0.02310193143785, 0.030291330069303513, 1.3832124471664429, -0.48033562302589417, -1.6967273950576782, -1.7563369274139404, -1.1882909536361694, 0.4493256211280823, -1.3707544803619385, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10747802257537842, -1.0732876062393188, 0.8429932594299316, -0.9488430023193359, 1.2065709829330444, 0.8746312856674194, -0.31191569566726685, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.2423999948815985, -0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050299640744924545, 0.3072143793106079, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.48033568263053894, -1.69672691822052, -1.7563364505767822, -1.1882895231246948, 0.4493257403373718, -1.3707541227340698, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10421546548604965, -1.0746240615844727, 0.8501532673835754, -0.9483480453491211, 1.1981277465820312, 0.880007266998291, -0.30982840061187744, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.2423999948815985, -0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050299640744924545, 0.3072143793106079, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033538460731506, -1.6967272758483887, -1.7563366889953613, -1.1882896423339844, 0.4493257403373718, -1.3707536458969116, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10122934728860855, -1.0751736164093018, 0.858774721622467, -0.9484858512878418, 1.1890747547149658, 0.8843938708305359, -0.3078937828540802, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.2423999948815985, -0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803354740142822, -1.69672691822052, -1.7563362121582031, -1.1882888078689575, 0.4493259787559509, -1.3707529306411743, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.09702213853597641, -1.0748018026351929, 0.8689042329788208, -0.9531024098396301, 1.1799218654632568, 0.8886785507202148, -0.3035743236541748, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.2423999948815985, -0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803355634212494, -1.6967270374298096, -1.756335973739624, -1.1882879734039307, 0.4493257403373718, -1.3707520961761475, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.09130566567182541, -1.072731852531433, 0.8817301392555237, -0.9616192579269409, 1.1708983182907104, 0.8959603309631348, -0.29956284165382385, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, 0.2423999948815985, -0.2423999948815985, -0.2423999948815985, -0.2423999948815985, 0.2423999948815985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049820344895124435, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803353250026703, -1.6967271566390991, -1.7563353776931763, -1.1882869005203247, 0.4493257403373718, -1.370751142501831, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.08413954824209213, -1.0692272186279297, 0.8960399031639099, -0.9787279367446899, 1.1608444452285767, 0.9068997502326965, -0.29188573360443115, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, 0.23999999748481501, -0.23999999748481501, -0.23999999748481501, -0.23999999748481501, 0.23999999748481501, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04962863028049469, 0.307597815990448, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803359806537628, -1.69672691822052, -1.7563347816467285, -1.1882845163345337, 0.4493258595466614, -1.3707486391067505, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.0741637796163559, -1.0637760162353516, 0.9126294255256653, -1.002899408340454, 1.1455426216125488, 0.9121868014335632, -0.28322115540504456, 0.23880001843630616, 0.23880001843630616, 0.23880001843630616, 0.23880001843630616, -0.23880001843630616, -0.23880001843630616, -0.23880001843630616, 0.23880001843630616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04972448572516441, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033538460731506, -1.696726679801941, -1.7563351392745972, -1.1882838010787964, 0.4493257403373718, -1.3707479238510132, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.060534268617630005, -1.0569815635681152, 0.9340124726295471, -1.024466872215271, 1.1316572427749634, 0.9089864492416382, -0.27448907494544983, 0.23880001843630616, 0.23880001843630616, 0.23880001843630616, 0.23880001843630616, -0.23880001843630616, -0.23880001843630616, -0.23880001843630616, 0.23880001843630616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04972448572516441, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.480335533618927, -1.6967265605926514, -1.7563341856002808, -1.188283085823059, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.044638343155384064, -1.0504729747772217, 0.9538052678108215, -1.0434496402740479, 1.1154696941375732, 0.9007771015167236, -0.2648508846759796, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04972448572516441, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803355634212494, -1.6967263221740723, -1.7563347816467285, -1.188283085823059, 0.4493257403373718, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03189142048358917, -1.0453402996063232, 0.9700193405151367, -1.0596503019332886, 1.1030772924423218, 0.9083970785140991, -0.2578512728214264, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04972448572516441, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803355634212494, -1.6967262029647827, -1.7563347816467285, -1.1882821321487427, 0.4493258595466614, -1.3707456588745117, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.020416025072336197, -1.0417479276657104, 0.9848902225494385, -1.0737273693084717, 1.095354437828064, 0.9155577421188354, -0.25435367226600647, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049820344895124435, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803353250026703, -1.6967263221740723, -1.756334662437439, -1.1882826089859009, 0.4493257403373718, -1.3707454204559326, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.009905410930514336, -1.039528250694275, 0.9973165392875671, -1.0857491493225098, 1.0896916389465332, 0.9205371737480164, -0.2521521747112274, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049820344895124435, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033538460731506, -1.696726679801941, -1.7563345432281494, -1.1882827281951904, 0.4493263363838196, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.000998186063952744, -1.0379822254180908, 1.008808970451355, -1.0960613489151, 1.0848435163497925, 0.9232096672058105, -0.25044190883636475, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.39092808961868286, 0.02310193143785, 0.030387189239263535, 1.383212685585022, -0.4803353250026703, -1.6967263221740723, -1.7563350200653076, -1.1882823705673218, 0.4493256211280823, -1.3707455396652222, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.007471215445548296, -1.0372625589370728, 1.0190067291259766, -1.106555700302124, 1.0817967653274536, 0.9217437505722046, -0.24684268236160278, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803355634212494, -1.6967263221740723, -1.756334900856018, -1.1882827281951904, 0.4493258595466614, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.015056431293487549, -1.0366953611373901, 1.030002474784851, -1.1175601482391357, 1.0788719654083252, 0.9139360189437866, -0.2431495040655136, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033568263053894, -1.696726679801941, -1.756334900856018, -1.1882829666137695, 0.4493257403373718, -1.3707455396652222, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.02125607058405876, -1.0361971855163574, 1.0386544466018677, -1.1264926195144653, 1.0741229057312012, 0.9156801104545593, -0.2419114112854004, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803352355957031, -1.6967265605926514, -1.756334900856018, -1.188283085823059, 0.4493258595466614, -1.3707455396652222, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.02775975875556469, -1.0358402729034424, 1.0457892417907715, -1.1352317333221436, 1.06647527217865, 0.9162223935127258, -0.24261295795440674, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033541440963745, -1.6967265605926514, -1.756334662437439, -1.1882834434509277, 0.4493260979652405, -1.3707457780838013, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.037307191640138626, -1.0347760915756226, 1.054945468902588, -1.1444346904754639, 1.056634545326233, 0.9048470854759216, -0.2407977133989334, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3075019419193268, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.48033607006073, -1.6967260837554932, -1.7563350200653076, -1.1882832050323486, 0.4493256211280823, -1.3707455396652222, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.044050466269254684, -1.0327014923095703, 1.068178653717041, -1.156909704208374, 1.0506772994995117, 0.9013424515724182, -0.23469966650009155, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803355634212494, -1.6967264413833618, -1.7563353776931763, -1.1882833242416382, 0.4493256211280823, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.05251557379961014, -1.0304228067398071, 1.080277919769287, -1.1745332479476929, 1.0446507930755615, 0.9065485000610352, -0.23106005787849426, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.480335533618927, -1.6967265605926514, -1.7563353776931763, -1.1882833242416382, 0.4493258595466614, -1.3707457780838013, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.06146818771958351, -1.0282069444656372, 1.0944690704345703, -1.194368600845337, 1.0435911417007446, 0.9102023839950562, -0.22730131447315216, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.480335533618927, -1.6967265605926514, -1.756335735321045, -1.1882835626602173, 0.4493256211280823, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.07162996381521225, -1.0250322818756104, 1.1113994121551514, -1.2180310487747192, 1.0411840677261353, 0.9167526960372925, -0.22880485653877258, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033562302589417, -1.696726679801941, -1.7563354969024658, -1.1882836818695068, 0.4493257403373718, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08574053645133972, -1.0206366777420044, 1.1300057172775269, -1.2466157674789429, 1.034345030784607, 0.9221236705780029, -0.23182380199432373, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033496737480164, -1.6967270374298096, -1.7563356161117554, -1.1882838010787964, 0.4493258595466614, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.10793427377939224, -1.0148454904556274, 1.1531150341033936, -1.2737149000167847, 1.0331315994262695, 0.9294381141662598, -0.22860951721668243, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.4803352653980255, -1.6967264413833618, -1.7563350200653076, -1.1882833242416382, 0.4493258595466614, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.13760001957416534, -1.007148027420044, 1.187362551689148, -1.3108302354812622, 1.0383846759796143, 0.9324069619178772, -0.22642575204372406, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033562302589417, -1.6967262029647827, -1.7563351392745972, -1.1882836818695068, 0.4493257403373718, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.1747158169746399, -0.9976392984390259, 1.230891227722168, -1.3577855825424194, 1.0473591089248657, 0.9405506253242493, -0.22895753383636475, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.48033538460731506, -1.6967262029647827, -1.7563352584838867, -1.1882833242416382, 0.4493257403373718, -1.3707456588745117, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.215641051530838, -0.9877302050590515, 1.2801066637039185, -1.4094394445419312, 1.059358835220337, 0.9472944736480713, -0.2315431386232376, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030483046546578407, 1.3832130432128906, -0.4803353250026703, -1.6967264413833618, -1.7563352584838867, -1.188284158706665, 0.4493258595466614, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.26101911067962646, -0.9772905111312866, 1.3296763896942139, -1.4727734327316284, 1.0700647830963135, 0.9522852301597595, -0.2155577391386032, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803351163864136, -1.6967264413833618, -1.7563358545303345, -1.1882840394973755, 0.4493259787559509, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.31497353315353394, -0.9649277329444885, 1.3881217241287231, -1.544689416885376, 1.0814203023910522, 0.9597858786582947, -0.18835942447185516, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803352653980255, -1.6967263221740723, -1.7563356161117554, -1.1882836818695068, 0.4493256211280823, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3807145059108734, -0.9507833123207092, 1.4530473947525024, -1.6248445510864258, 1.0908657312393188, 0.9747517704963684, -0.14892783761024475, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832142353057861, -0.4803333878517151, -1.6967271566390991, -1.7563331127166748, -1.1882814168930054, 0.4493258595466614, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4496421217918396, -0.9352627396583557, 1.506977915763855, -1.6937509775161743, 1.0974774360656738, 0.9771847128868103, -0.10855814069509506, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3911198079586029, 0.02319779060781002, 0.030387189239263535, 1.3832130432128906, -0.48033607006073, -1.6967264413833618, -1.7563351392745972, -1.1882847547531128, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5115551352500916, -0.9184394478797913, 1.5538376569747925, -1.748573899269104, 1.1193946599960327, 0.977418065071106, -0.07038838416337967, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.48033517599105835, -1.6967265605926514, -1.7563337087631226, -1.18828284740448, 0.4493253827095032, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5738915205001831, -0.8989356160163879, 1.601552963256836, -1.8103587627410889, 1.161374568939209, 0.9774371981620789, -0.004134317860007286, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.48033392429351807, -1.6967273950576782, -1.7563303709030151, -1.1882835626602173, 0.4493257403373718, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6387205719947815, -0.8763609528541565, 1.6570459604263306, -1.8680061101913452, 1.2000759840011597, 0.9774368405342102, 0.08337724953889847, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02319779060781002, 0.030387189239263535, 1.3832125663757324, -0.4803369641304016, -1.6967257261276245, -1.756335735321045, -1.1882835626602173, 0.4493257403373718, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7013953328132629, -0.852785050868988, 1.7109469175338745, -1.9111844301223755, 1.218239426612854, 0.977435290813446, 0.1678403913974762, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030291330069303513, 1.383213996887207, -0.4803362190723419, -1.6967260837554932, -1.7563319206237793, -1.188283085823059, 0.4493260979652405, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7596263289451599, -0.8299821019172668, 1.7527333498001099, -1.943074345588684, 1.24116051197052, 0.977430522441864, 0.2601653039455414, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3911198079586029, 0.02310193143785, 0.030291330069303513, 1.3832125663757324, -0.4803363084793091, -1.6967257261276245, -1.7563345432281494, -1.18828284740448, 0.4493255019187927, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.8164196014404297, -0.8081782460212708, 1.78330659866333, -1.9734880924224854, 1.271695852279663, 0.9774286150932312, 0.35750705003738403, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.3072143793106079, -0.3911198079586029, 0.02319779060781002, 0.030291330069303513, 1.3832128047943115, -0.4803363084793091, -1.696725606918335, -1.7563366889953613, -1.188284158706665, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.8753656148910522, -0.7889515161514282, 1.7967069149017334, -1.999860405921936, 1.3054847717285156, 0.9774218797683716, 0.45415717363357544, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832124471664429, -0.4803374111652374, -1.6967250108718872, -1.756335973739624, -1.1882838010787964, 0.4493263363838196, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9218648672103882, -0.7756215929985046, 1.7777106761932373, -2.022087574005127, 1.3256393671035767, 0.9773985147476196, 0.5421873331069946, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.48033586144447327, -1.6967246532440186, -1.7563344240188599, -1.1882836818695068, 0.4493257403373718, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9580011367797852, -0.7639356255531311, 1.745582103729248, -2.042809009552002, 1.3194819688796997, 0.9773973226547241, 0.639488160610199, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.383212924003601, -0.4803358316421509, -1.696725606918335, -1.756335735321045, -1.1882838010787964, 0.4493255019187927, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9827531576156616, -0.7567746639251709, 1.7167288064956665, -2.053445339202881, 1.311797857284546, 0.9773885607719421, 0.7203052639961243, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.480335533618927, -1.696725845336914, -1.7563345432281494, -1.1882838010787964, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9998852610588074, -0.7535977959632874, 1.6960656642913818, -2.059776544570923, 1.2958934307098389, 0.9603338241577148, 0.7750638127326965, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832135200500488, -0.4803350865840912, -1.6967260837554932, -1.7563343048095703, -1.188283920288086, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.0218045711517334, -0.7519790530204773, 1.6726104021072388, -2.0673329830169678, 1.2747139930725098, 0.9366455674171448, 0.8118543028831482, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30731022357940674, -0.3910239636898041, 0.02310193143785, 0.030483046546578407, 1.3832132816314697, -0.4803352355957031, -1.6967262029647827, -1.7563353776931763, -1.1882840394973755, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.0565015077590942, -0.7495604157447815, 1.6470338106155396, -2.0796453952789307, 1.2417570352554321, 0.923932671546936, 0.8460714221000671, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.4803350865840912, -1.6967260837554932, -1.7563352584838867, -1.188283920288086, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.0958166122436523, -0.745529055595398, 1.6316723823547363, -2.099762201309204, 1.20134699344635, 0.9138438701629639, 0.887975811958313, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.4803352653980255, -1.6967262029647827, -1.756334900856018, -1.1882836818695068, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.1319743394851685, -0.7391343116760254, 1.6270666122436523, -2.1103243827819824, 1.1643093824386597, 0.8970776200294495, 0.9211826920509338, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803350865840912, -1.6967264413833618, -1.7563352584838867, -1.188283920288086, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.1644457578659058, -0.7281085848808289, 1.6284867525100708, -2.120035409927368, 1.1450263261795044, 0.8869174718856812, 0.9328338503837585, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803355634212494, -1.6967260837554932, -1.756335973739624, -1.188284158706665, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.1937663555145264, -0.7116445302963257, 1.6427195072174072, -2.130359172821045, 1.1331984996795654, 0.8769039511680603, 0.9430143237113953, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.4803352653980255, -1.696725845336914, -1.7563351392745972, -1.1882845163345337, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2261090278625488, -0.691435694694519, 1.662405014038086, -2.1345226764678955, 1.1156013011932373, 0.8599115014076233, 0.9599420428276062, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.4803357720375061, -1.6967262029647827, -1.7563351392745972, -1.188284158706665, 0.4493259787559509, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2576278448104858, -0.6709650158882141, 1.687434434890747, -2.1228041648864746, 1.0989710092544556, 0.83385169506073, 0.9858493208885193, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.480335533618927, -1.6967260837554932, -1.756334662437439, -1.1882836818695068, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2860618829727173, -0.6509497165679932, 1.705370306968689, -2.120640754699707, 1.0834335088729858, 0.801243007183075, 1.0183470249176025, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3911198079586029, 0.02319779060781002, 0.030291330069303513, 1.3832132816314697, -0.48033562302589417, -1.6967260837554932, -1.7563351392745972, -1.1882843971252441, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.308717966079712, -0.6367688179016113, 1.7241286039352417, -2.1078033447265625, 1.0732648372650146, 0.7846999764442444, 1.0352798700332642, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832130432128906, -0.48033586144447327, -1.6967262029647827, -1.7563345432281494, -1.1882842779159546, 0.4493260979652405, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3128328323364258, -0.6347289681434631, 1.727259874343872, -2.104487657546997, 1.0748382806777954, 0.7829203009605408, 1.037156343460083, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832136392593384, -0.480335533618927, -1.6967259645462036, -1.7563352584838867, -1.188283920288086, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3131966590881348, -0.6345452070236206, 1.7275402545928955, -2.104184627532959, 1.074971079826355, 0.7827746868133545, 1.0373164415359497, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832128047943115, -0.48033538460731506, -1.6967263221740723, -1.7563353776931763, -1.1882845163345337, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132328987121582, -0.6345312595367432, 1.7275550365447998, -2.1041486263275146, 1.0749841928482056, 0.7827526330947876, 1.0373327732086182, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832134008407593, -0.4803354740142822, -1.6967264413833618, -1.7563351392745972, -1.188284158706665, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313236117362976, -0.6345311403274536, 1.7275563478469849, -2.1041455268859863, 1.074984073638916, 0.7827502489089966, 1.0373321771621704, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803352653980255, -1.6967265605926514, -1.7563350200653076, -1.1882843971252441, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313236117362976, -0.6345311999320984, 1.7275561094284058, -2.104146718978882, 1.0749843120574951, 0.7827507257461548, 1.0373308658599854, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.4803354740142822, -1.6967264413833618, -1.7563356161117554, -1.1882843971252441, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132357597351074, -0.6345318555831909, 1.7275551557540894, -2.104147434234619, 1.0749822854995728, 0.7827513217926025, 1.0373289585113525, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.48033541440963745, -1.6967262029647827, -1.756334900856018, -1.1882845163345337, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132350444793701, -0.6345325112342834, 1.727554440498352, -2.10414981842041, 1.0749821662902832, 0.7827516794204712, 1.0373278856277466, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832132816314697, -0.48033538460731506, -1.6967264413833618, -1.756334900856018, -1.1882847547531128, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132343292236328, -0.6345330476760864, 1.7275540828704834, -2.1041507720947266, 1.0749796628952026, 0.7827529907226562, 1.0373262166976929, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.02310193143785, 0.030387189239263535, 1.3832131624221802, -0.4803352653980255, -1.6967265605926514, -1.7563351392745972, -1.1882840394973755, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132332563400269, -0.634533166885376, 1.7275539636611938, -2.1041524410247803, 1.0749789476394653, 0.782753586769104, 1.03732430934906, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30740609765052795, -0.3910239636898041, 0.023485366255044937, 0.0315374918282032, 1.3832130432128906, -0.48033615946769714, -1.696725845336914, -1.7563347816467285, -1.188284158706665, 0.4493258595466614, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132327795028687, -0.634532630443573, 1.7275538444519043, -2.1041548252105713, 1.0749781131744385, 0.7827544212341309, 1.0373226404190063, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3072143793106079, -0.39092808961868286, 0.02799072302877903, 0.041794367134571075, 1.3832134008407593, -0.4803370237350464, -1.6967259645462036, -1.7563344240188599, -1.188283920288086, 0.4493256211280823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132320642471313, -0.6345331072807312, 1.727553129196167, -2.104156970977783, 1.0749762058258057, 0.7827556133270264, 1.0373203754425049, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049820344895124435, 0.30443447828292847, -0.39294111728668213, 0.03556355461478233, 0.06278740614652634, 1.383212685585022, -0.4803365170955658, -1.6967253684997559, -1.7563350200653076, -1.188283920288086, 0.4493259787559509, -1.3707458972930908, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132320642471313, -0.6345345377922058, 1.7275519371032715, -2.104153871536255, 1.074968934059143, 0.7827573418617249, 1.0373138189315796, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050299640744924545, 0.3009835481643677, -0.3975423276424408, 0.040931638330221176, 0.08953196555376053, 1.3832130432128906, -0.4803342819213867, -1.69672691822052, -1.7563362121582031, -1.1882847547531128, 0.4493256211280823, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313231348991394, -0.6345340013504028, 1.7275521755218506, -2.1041579246520996, 1.074974775314331, 0.7827581763267517, 1.0373140573501587, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05058721452951431, 0.2998332381248474, -0.4023352861404419, 0.044765982776880264, 0.11915228515863419, 1.383212685585022, -0.4803326725959778, -1.6967285871505737, -1.756335973739624, -1.1882853507995605, 0.4493255019187927, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313230276107788, -0.6345338821411133, 1.7275522947311401, -2.1041598320007324, 1.0749772787094116, 0.7827597260475159, 1.037315011024475, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.29992911219596863, -0.4078950583934784, 0.04773760214447975, 0.15049806237220764, 1.3832131624221802, -0.4803348183631897, -1.6967272758483887, -1.756335735321045, -1.1882847547531128, 0.4493256211280823, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132305145263672, -0.6345351934432983, 1.7275511026382446, -2.104156970977783, 1.0749742984771729, 0.7827619910240173, 1.03731369972229, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.29964154958724976, -0.4148927628993988, 0.048696186393499374, 0.18634919822216034, 1.3832143545150757, -0.48033538460731506, -1.6967270374298096, -1.7563356161117554, -1.188284993171692, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313230276107788, -0.6345336437225342, 1.7275511026382446, -2.1041574478149414, 1.0749746561050415, 0.7827635407447815, 1.0373140573501587, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.29925811290740967, -0.4229448735713959, 0.048696186393499374, 0.22641810774803162, 1.3832142353057861, -0.48033416271209717, -1.6967281103134155, -1.7563356161117554, -1.188285231590271, 0.4493253827095032, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132295608520508, -0.6345326900482178, 1.7275511026382446, -2.104158878326416, 1.0749768018722534, 0.7827649712562561, 1.0373148918151855, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.29992911219596863, -0.4311887323856354, 0.050038207322359085, 0.27108824253082275, 1.3832151889801025, -0.4803345203399658, -1.6967275142669678, -1.7563345432281494, -1.1882846355438232, 0.4493259787559509, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132290840148926, -0.6345346570014954, 1.7275500297546387, -2.104158401489258, 1.0749770402908325, 0.7827661633491516, 1.0373144149780273, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30136698484420776, -0.4398159980773926, 0.05377669632434845, 0.32064715027809143, 1.3832134008407593, -0.4803343713283539, -1.696727991104126, -1.7563343048095703, -1.18828547000885, 0.4493257403373718, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132295608520508, -0.63453608751297, 1.72754967212677, -2.104159116744995, 1.0749791860580444, 0.7827675342559814, 1.0373151302337646, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.30299657583236694, -0.4486349821090698, 0.060966093093156815, 0.37461555004119873, 1.3832145929336548, -0.48033416271209717, -1.6967277526855469, -1.7563339471817017, -1.1882838010787964, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132295608520508, -0.634531557559967, 1.7275502681732178, -2.104158878326416, 1.0749801397323608, 0.7827686071395874, 1.037315845489502, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3053930401802063, -0.45707055926322937, 0.07055195420980453, 0.4345272183418274, 1.3832132816314697, -0.4803338348865509, -1.6967278718948364, -1.7563339471817017, -1.1882847547531128, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132301568984985, -0.6345313787460327, 1.7275500297546387, -2.104158878326416, 1.074979543685913, 0.7827696800231934, 1.0373152494430542, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3076936602592468, -0.46425995230674744, 0.08013781905174255, 0.5014365315437317, 1.383212685585022, -0.480331689119339, -1.6967283487319946, -1.7563354969024658, -1.1882858276367188, 0.4493258595466614, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313230276107788, -0.6345339417457581, 1.7275506258010864, -2.104158401489258, 1.074981927871704, 0.7827697992324829, 1.0373154878616333, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3098025619983673, -0.46991559863090515, 0.08818994462490082, 0.5735222101211548, 1.3832131624221802, -0.4803324341773987, -1.6967287063598633, -1.7563340663909912, -1.1882853507995605, 0.4493259787559509, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132297992706299, -0.634535014629364, 1.7275497913360596, -2.104158639907837, 1.0749797821044922, 0.782770037651062, 1.0373156070709229, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3120073080062866, -0.4736540913581848, 0.09566692262887955, 0.645512044429779, 1.3832138776779175, -0.48033297061920166, -1.6967287063598633, -1.7563340663909912, -1.1882858276367188, 0.4493258595466614, -1.3707480430603027, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132296800613403, -0.634535014629364, 1.7275497913360596, -2.104158639907837, 1.074978232383728, 0.7827703952789307, 1.0373152494430542, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31382861733436584, -0.47557127475738525, 0.10132258385419846, 0.7152971625328064, 1.383213758468628, -0.4803329408168793, -1.6967289447784424, -1.756333589553833, -1.1882859468460083, 0.4493256211280823, -1.3707478046417236, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345353722572327, 1.727549433708191, -2.104158401489258, 1.074978232383728, 0.7827703952789307, 1.0373153686523438, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31517064571380615, -0.4756671190261841, 0.10621137171983719, 0.780768632888794, 1.3832130432128906, -0.4803329408168793, -1.6967294216156006, -1.7563339471817017, -1.1882859468460083, 0.4493255019187927, -1.3707482814788818, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345359086990356, 1.727548599243164, -2.104158401489258, 1.0749766826629639, 0.7827707529067993, 1.0373153686523438, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.3167043626308441, -0.474420964717865, 0.10937470942735672, 0.8407761454582214, 1.383213996887207, -0.480333536863327, -1.6967294216156006, -1.7563332319259644, -1.1882861852645874, 0.4493259787559509, -1.3707479238510132, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132294416427612, -0.6345362663269043, 1.7275481224060059, -2.104158401489258, 1.0749763250350952, 0.7827705144882202, 1.0373153686523438, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31775882840156555, -0.4710659086704254, 0.11071673035621643, 0.8938817977905273, 1.383213758468628, -0.48033371567726135, -1.6967287063598633, -1.7563334703445435, -1.1882858276367188, 0.4493258595466614, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132295608520508, -0.6345363259315491, 1.727548360824585, -2.1041581630706787, 1.074974536895752, 0.7827709913253784, 1.0373154878616333, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3183339834213257, -0.46742329001426697, 0.11129187792539597, 0.9383602142333984, 1.383213996887207, -0.48033463954925537, -1.6967285871505737, -1.7563337087631226, -1.18828547000885, 0.4493259787559509, -1.3707479238510132, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132296800613403, -0.6345375180244446, 1.7275476455688477, -2.1041576862335205, 1.0749733448028564, 0.7827706336975098, 1.0373151302337646, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3180463910102844, -0.4637806713581085, 0.1118670329451561, 0.9715272784233093, 1.3832138776779175, -0.4803342819213867, -1.6967283487319946, -1.756333589553833, -1.1882853507995605, 0.4493259787559509, -1.370747685432434, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132297992706299, -0.6345376372337341, 1.7275468111038208, -2.1041576862335205, 1.0749727487564087, 0.782771110534668, 1.0373151302337646, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31766295433044434, -0.46138420701026917, 0.11234632134437561, 0.991082489490509, 1.3832135200500488, -0.48033446073532104, -1.696728229522705, -1.756333589553833, -1.1882855892181396, 0.4493255019187927, -1.3707478046417236, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132295608520508, -0.634536623954773, 1.7275471687316895, -2.1041574478149414, 1.0749726295471191, 0.7827708721160889, 1.0373152494430542, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3171836733818054, -0.4605214595794678, 0.11244218051433563, 1.0011476278305054, 1.3832131624221802, -0.4803350865840912, -1.696727991104126, -1.7563341856002808, -1.1882851123809814, 0.4493257403373718, -1.370747685432434, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132296800613403, -0.6345358490943909, 1.727547287940979, -2.1041572093963623, 1.0749729871749878, 0.7827709913253784, 1.0373152494430542, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3170877993106842, -0.45994630455970764, 0.11244218051433563, 1.0056530237197876, 1.3832128047943115, -0.4803351163864136, -1.6967275142669678, -1.7563341856002808, -1.1882853507995605, 0.4493258595466614, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.634535014629364, 1.7275478839874268, -2.1041574478149414, 1.074973225593567, 0.7827707529067993, 1.0373151302337646, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.4598504602909088, 0.11244218051433563, 1.0081453323364258, 1.3832131624221802, -0.480335533618927, -1.6967272758483887, -1.7563339471817017, -1.1882857084274292, 0.4493259787559509, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132297992706299, -0.6345347166061401, 1.727548360824585, -2.104156970977783, 1.0749731063842773, 0.7827706336975098, 1.0373153686523438, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.45965874195098877, 0.11244218051433563, 1.009774923324585, 1.3832130432128906, -0.4803355634212494, -1.6967267990112305, -1.7563340663909912, -1.188285231590271, 0.4493253827095032, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132297992706299, -0.6345338821411133, 1.7275487184524536, -2.104156732559204, 1.0749735832214355, 0.7827708721160889, 1.0373153686523438, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.010254144668579, 1.3832130432128906, -0.48033568263053894, -1.6967270374298096, -1.756334662437439, -1.1882847547531128, 0.4493256211280823, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313230037689209, -0.6345338225364685, 1.7275488376617432, -2.104156494140625, 1.0749744176864624, 0.7827706336975098, 1.037315011024475, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.010349988937378, 1.3832128047943115, -0.48033568263053894, -1.6967265605926514, -1.7563344240188599, -1.188284993171692, 0.4493258595466614, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132295608520508, -0.6345340609550476, 1.7275495529174805, -2.104156732559204, 1.0749741792678833, 0.782771110534668, 1.0373152494430542, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.383212924003601, -0.48033568263053894, -1.6967267990112305, -1.756334662437439, -1.188284993171692, 0.4493258595466614, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345340609550476, 1.7275493144989014, -2.104156255722046, 1.0749742984771729, 0.7827705144882202, 1.0373153686523438, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803354740142822, -1.696726679801941, -1.756334900856018, -1.188284993171692, 0.4493257403373718, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345341205596924, 1.727549433708191, -2.104156255722046, 1.0749744176864624, 0.7827707529067993, 1.037315011024475, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033541440963745, -1.696726679801941, -1.7563345432281494, -1.1882847547531128, 0.4493257403373718, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345341205596924, 1.7275500297546387, -2.104156255722046, 1.0749740600585938, 0.7827708721160889, 1.0373153686523438, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033568263053894, -1.6967265605926514, -1.7563350200653076, -1.1882848739624023, 0.4493258595466614, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132301568984985, -0.6345341801643372, 1.7275499105453491, -2.104156017303467, 1.074974775314331, 0.7827707529067993, 1.0373154878616333, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803354740142822, -1.6967263221740723, -1.7563350200653076, -1.188284993171692, 0.4493260979652405, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132301568984985, -0.6345341205596924, 1.7275497913360596, -2.1041557788848877, 1.074974536895752, 0.7827708721160889, 1.037315011024475, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033562302589417, -1.6967260837554932, -1.756334900856018, -1.1882846355438232, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345341205596924, 1.7275501489639282, -2.1041557788848877, 1.0749741792678833, 0.7827708721160889, 1.0373153686523438, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803357720375061, -1.6967262029647827, -1.7563352584838867, -1.188284993171692, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132299184799194, -0.6345344185829163, 1.7275502681732178, -2.1041557788848877, 1.0749742984771729, 0.7827708721160889, 1.0373156070709229, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803354740142822, -1.6967264413833618, -1.7563351392745972, -1.188284993171692, 0.4493259787559509, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313230037689209, -0.6345341801643372, 1.7275505065917969, -2.1041557788848877, 1.0749742984771729, 0.7827712297439575, 1.037314772605896, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803355634212494, -1.6967265605926514, -1.756334900856018, -1.1882842779159546, 0.44932621717453003, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.313230276107788, -0.6345340013504028, 1.7275499105453491, -2.1041557788848877, 1.0749741792678833, 0.7827707529067993, 1.0373152494430542, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.4803354740142822, -1.6967265605926514, -1.7563353776931763, -1.1882847547531128, 0.4493256211280823, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3132301568984985, -0.6345344185829163, 1.7275502681732178, -2.1041557788848877, 1.074974536895752, 0.7827709913253784, 1.037315011024475, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.480335533618927, -1.6967263221740723, -1.7563350200653076, -1.1882845163345337, 0.4493259787559509, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3144859075546265, -0.6349167227745056, 1.7275899648666382, -2.105685234069824, 1.074290156364441, 0.7807518839836121, 1.033542513847351, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.4594670236110687, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033708333969116, -1.6967248916625977, -1.7563353776931763, -1.1882842779159546, 0.4493255019187927, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3117434978485107, -0.6369668245315552, 1.756098747253418, -2.1320159435272217, 1.09515380859375, 0.7787147760391235, 0.9763431549072266, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.4803355634212494, -1.6967260837554932, -1.756334900856018, -1.1882845163345337, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3062041997909546, -0.6378804445266724, 1.809240460395813, -2.1669280529022217, 1.1355029344558716, 0.8100618124008179, 0.9151372313499451, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033592104911804, -1.6967254877090454, -1.7563354969024658, -1.1882835626602173, 0.44932621717453003, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2980470657348633, -0.6387219429016113, 1.8585492372512817, -2.2037441730499268, 1.1637592315673828, 0.8408997654914856, 0.8447762727737427, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033568263053894, -1.6967259645462036, -1.7563351392745972, -1.188283920288086, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2839305400848389, -0.6409270763397217, 1.8951534032821655, -2.236009359359741, 1.1998419761657715, 0.8700392842292786, 0.7479239702224731, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033562302589417, -1.6967260837554932, -1.7563354969024658, -1.1882840394973755, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2647351026535034, -0.6438601016998291, 1.9136693477630615, -2.2780539989471436, 1.2337696552276611, 0.8975074887275696, 0.6124016642570496, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832135200500488, -0.4803354740142822, -1.696725845336914, -1.756334662437439, -1.1882836818695068, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.242470622062683, -0.6476897597312927, 1.9095304012298584, -2.327702283859253, 1.2689168453216553, 0.9190654158592224, 0.4383198022842407, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, 0.23760000008803145, -0.23760000008803145, -0.23760000008803145, -0.23760000008803145, 0.23760000008803145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.3832120895385742, -0.4803354740142822, -1.696725845336914, -1.7563365697860718, -1.1882840394973755, 0.4493258595466614, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2037506103515625, -0.6505089998245239, 1.88334321975708, -2.348247766494751, 1.3081083297729492, 0.9336813688278198, 0.24640944600105286, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.4594670236110687, 0.11253803968429565, 1.0108293294906616, 1.3832120895385742, -0.480335533618927, -1.6967260837554932, -1.7563358545303345, -1.1882835626602173, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.1292437314987183, -0.6487315893173218, 1.839303970336914, -2.349755048751831, 1.3269765377044678, 0.9578977823257446, 0.07014390826225281, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0109251737594604, 1.383212685585022, -0.48033496737480164, -1.6967265605926514, -1.756335735321045, -1.1882836818695068, 0.4493258595466614, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.0494840145111084, -0.648296058177948, 1.7882304191589355, -2.350024700164795, 1.373464822769165, 0.9750613570213318, -0.09171335399150848, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832128047943115, -0.48033493757247925, -1.696726679801941, -1.7563350200653076, -1.1882840394973755, 0.4493258595466614, -1.3707478046417236, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9844984412193298, -0.6468830108642578, 1.7331267595291138, -2.3500092029571533, 1.425445556640625, 0.9772824048995972, -0.2642744481563568, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832130432128906, -0.4803352355957031, -1.6967263221740723, -1.7563354969024658, -1.1882833242416382, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9236025214195251, -0.6461301445960999, 1.6815621852874756, -2.350008964538574, 1.4948114156723022, 0.9774044752120972, -0.44234684109687805, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832132816314697, -0.4803338348865509, -1.6967289447784424, -1.756334662437439, -1.188283920288086, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.867753267288208, -0.6457714438438416, 1.6267112493515015, -2.3477487564086914, 1.5599621534347534, 0.9774079918861389, -0.6318145394325256, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.3832130432128906, -0.4803348779678345, -1.6967260837554932, -1.7563347816467285, -1.1882840394973755, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.8207638263702393, -0.6501170992851257, 1.556990385055542, -2.3370888233184814, 1.5695009231567383, 0.9774031639099121, -0.7903519868850708, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.383212685585022, -0.4803348779678345, -1.6967257261276245, -1.7563350200653076, -1.1882832050323486, 0.4493258595466614, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7633583545684814, -0.6588425636291504, 1.4871201515197754, -2.2982563972473145, 1.5700795650482178, 0.9638201594352722, -0.8518812656402588, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832134008407593, -0.4803341329097748, -1.696728229522705, -1.7563352584838867, -1.188284158706665, 0.4493257403373718, -1.3707478046417236, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6973401308059692, -0.6608036756515503, 1.4171143770217896, -2.2429704666137695, 1.5700796842575073, 0.9439061880111694, -0.8757962584495544, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.4594670236110687, 0.11253803968429565, 1.0109251737594604, 1.3832134008407593, -0.48033368587493896, -1.6967264413833618, -1.7563375234603882, -1.1882843971252441, 0.4493260979652405, -1.3707480430603027, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.621885359287262, -0.6598895192146301, 1.3437303304672241, -2.1760239601135254, 1.5700068473815918, 0.9371462464332581, -0.883135974407196, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832125663757324, -0.480328768491745, -1.696728229522705, -1.7563326358795166, -1.1882827281951904, 0.4493257403373718, -1.370745301246643, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5365321040153503, -0.6580473780632019, 1.2607966661453247, -2.100065231323242, 1.570016622543335, 0.9458298087120056, -0.8744861483573914, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.383213996887207, -0.4803341329097748, -1.696728229522705, -1.7563351392745972, -1.1882835626602173, 0.4493260979652405, -1.3707479238510132, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4495517909526825, -0.6590367555618286, 1.1783965826034546, -2.0252525806427, 1.5700156688690186, 0.9457758665084839, -0.8747594952583313, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803382158279419, -1.6967259645462036, -1.7563396692276, -1.1882836818695068, 0.4493257403373718, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3792678713798523, -0.6636220216751099, 1.106852412223816, -1.9645847082138062, 1.56999933719635, 0.9458491802215576, -0.8742887377738953, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11244218051433563, 1.0109251737594604, 1.3832134008407593, -0.48033607006073, -1.6967259645462036, -1.7563376426696777, -1.1882843971252441, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3480975031852722, -0.6645416617393494, 1.0732598304748535, -1.937483549118042, 1.5700453519821167, 0.9459468722343445, -0.8746194243431091, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033323884010315, -1.6967283487319946, -1.7563356161117554, -1.1882840394973755, 0.44932621717453003, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.34535714983940125, -0.6645764112472534, 1.070927381515503, -1.9350101947784424, 1.5699958801269531, 0.9456712603569031, -0.8748698830604553, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803347885608673, -1.6967267990112305, -1.7563353776931763, -1.188283920288086, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.34510648250579834, -0.6645827293395996, 1.0707372426986694, -1.9348125457763672, 1.5700013637542725, 0.9456409215927124, -0.8748794794082642, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350865840912, -1.6967271566390991, -1.7563353776931763, -1.1882838010787964, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.34509170055389404, -0.6645837426185608, 1.0707097053527832, -1.934791922569275, 1.5700018405914307, 0.9456351399421692, -0.8748775124549866, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033493757247925, -1.696726679801941, -1.756334900856018, -1.1882838010787964, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3450923562049866, -0.6645780205726624, 1.0707080364227295, -1.9347853660583496, 1.5700018405914307, 0.9456340670585632, -0.8748764395713806, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803350865840912, -1.6967271566390991, -1.7563350200653076, -1.1882835626602173, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.34509044885635376, -0.6645771861076355, 1.0707086324691772, -1.934786319732666, 1.5700006484985352, 0.9456341862678528, -0.8748729825019836, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350269794464, -1.69672691822052, -1.7563352584838867, -1.1882835626602173, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3450920879840851, -0.6645768284797668, 1.0707093477249146, -1.9347862005233765, 1.5700008869171143, 0.9456345438957214, -0.8748697638511658, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803351163864136, -1.696726679801941, -1.7563352584838867, -1.1882833242416382, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3450925946235657, -0.664577305316925, 1.0707101821899414, -1.9347869157791138, 1.5700005292892456, 0.9456352591514587, -0.8748655319213867, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803352653980255, -1.6967267990112305, -1.7563354969024658, -1.188283085823059, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3450935482978821, -0.6645768284797668, 1.070711612701416, -1.9347870349884033, 1.5700005292892456, 0.9456350207328796, -0.8748623132705688, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350865840912, -1.6967271566390991, -1.7563351392745972, -1.1882836818695068, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3450939357280731, -0.6645766496658325, 1.070712924003601, -1.934787631034851, 1.570000410079956, 0.9456357359886169, -0.8748598098754883, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.4803352653980255, -1.6967270374298096, -1.7563351392745972, -1.1882835626602173, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.34509438276290894, -0.6645765900611877, 1.0707135200500488, -1.9347882270812988, 1.5700006484985352, 0.9456363320350647, -0.8748583793640137, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033517599105835, -1.6967267990112305, -1.7563350200653076, -1.1882838010787964, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3450950086116791, -0.6645766496658325, 1.070713996887207, -1.9347885847091675, 1.5700005292892456, 0.9456362128257751, -0.8748575448989868, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.4594670236110687, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.4803354740142822, -1.6967260837554932, -1.7563376426696777, -1.1882835626602173, 0.4493253827095032, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3561943769454956, -0.6643280982971191, 1.068129301071167, -1.9438443183898926, 1.5469964742660522, 0.9399828910827637, -0.8576105237007141, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033493757247925, -1.6967270374298096, -1.7563344240188599, -1.188284158706665, 0.4493255019187927, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3587024211883545, -0.6661681532859802, 1.0639753341674805, -1.9465786218643188, 1.5324475765228271, 0.9553839564323425, -0.8470019698143005, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803358316421509, -1.6967264413833618, -1.7563340663909912, -1.1882838010787964, 0.4493256211280823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3448929190635681, -0.672188937664032, 1.0483602285385132, -1.938681960105896, 1.5282832384109497, 0.9747236371040344, -0.8437948822975159, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832128047943115, -0.4803363084793091, -1.6967263221740723, -1.7563353776931763, -1.1882845163345337, 0.4493260979652405, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3238738179206848, -0.680975079536438, 1.0163941383361816, -1.9066791534423828, 1.5445449352264404, 0.9772116541862488, -0.8425058722496033, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.383212685585022, -0.480337530374527, -1.6967248916625977, -1.7563365697860718, -1.1882840394973755, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2890585660934448, -0.6949256062507629, 0.9772093892097473, -1.8402537107467651, 1.5683358907699585, 0.977423906326294, -0.8413251638412476, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.4594670236110687, 0.11244218051433563, 1.0107334852218628, 1.3832135200500488, -0.4803381562232971, -1.69672429561615, -1.7563351392745972, -1.1882833242416382, 0.44932621717453003, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24571670591831207, -0.7131682634353638, 0.9376053810119629, -1.7859145402908325, 1.569807767868042, 0.9774434566497803, -0.8416500687599182, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11244218051433563, 1.0108293294906616, 1.3832132816314697, -0.4803365170955658, -1.6967259645462036, -1.756334900856018, -1.1882846355438232, 0.4493257403373718, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.20029255747795105, -0.7295998334884644, 0.9038002490997314, -1.7436569929122925, 1.5700438022613525, 0.9774415493011475, -0.8425108790397644, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832136392593384, -0.48033586144447327, -1.6967260837554932, -1.7563356161117554, -1.1882843971252441, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.1504397690296173, -0.7489563226699829, 0.8691601157188416, -1.6898599863052368, 1.570020318031311, 0.9774371981620789, -0.8426520824432373, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033562302589417, -1.6967262029647827, -1.7563354969024658, -1.1882845163345337, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.11374687403440475, -0.7666738629341125, 0.8383702635765076, -1.6364467144012451, 1.570009469985962, 0.9774360060691833, -0.8427190780639648, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832131624221802, -0.4803350269794464, -1.6967265605926514, -1.7563353776931763, -1.1882847547531128, 0.44932621717453003, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08400891721248627, -0.7868708372116089, 0.8130583763122559, -1.5898923873901367, 1.5699996948242188, 0.9774300456047058, -0.8427097201347351, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832134008407593, -0.48033541440963745, -1.6967265605926514, -1.7563350200653076, -1.1882845163345337, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.05743574723601341, -0.8079298734664917, 0.7895993590354919, -1.5423986911773682, 1.5699989795684814, 0.9774212837219238, -0.8427013158798218, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832131624221802, -0.4803345799446106, -1.6967273950576782, -1.7563347816467285, -1.1882847547531128, 0.4493259787559509, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.03708658367395401, -0.8286654949188232, 0.7674576640129089, -1.4929765462875366, 1.5699998140335083, 0.9774122834205627, -0.8426975011825562, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.4594670236110687, 0.11244218051433563, 1.0108293294906616, 1.3832128047943115, -0.48033323884010315, -1.6967287063598633, -1.7563344240188599, -1.1882847547531128, 0.4493257403373718, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.02346665970981121, -0.8486205339431763, 0.7545385360717773, -1.4376953840255737, 1.570001244544983, 0.9774065613746643, -0.8426973819732666, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.4594670236110687, 0.11244218051433563, 1.0108293294906616, 1.3832132816314697, -0.4803331196308136, -1.6967284679412842, -1.756331205368042, -1.1882843971252441, 0.4493260979652405, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.01230420358479023, -0.8675301671028137, 0.7570357918739319, -1.3911550045013428, 1.5699914693832397, 0.9774022102355957, -0.8427242040634155, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803345799446106, -1.6967270374298096, -1.7563358545303345, -1.1882845163345337, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.004130463115870953, -0.8852590322494507, 0.7634164690971375, -1.3577749729156494, 1.5699915885925293, 0.9773973226547241, -0.8427464962005615, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803350269794464, -1.6967264413833618, -1.7563356161117554, -1.1882843971252441, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.003756605088710785, -0.9005347490310669, 0.7643331289291382, -1.326607584953308, 1.570003628730774, 0.9773958921432495, -0.8427584767341614, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803352653980255, -1.696726679801941, -1.756334662437439, -1.188283920288086, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.014184028841555119, -0.9147552847862244, 0.7657920718193054, -1.288914442062378, 1.5700008869171143, 0.9773951768875122, -0.8428469300270081, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832130432128906, -0.4803353250026703, -1.6967259645462036, -1.7563352584838867, -1.1882840394973755, 0.44932621717453003, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.022605443373322487, -0.929234504699707, 0.7662258148193359, -1.2495269775390625, 1.5699979066848755, 0.9773954153060913, -0.8429009914398193, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.4594670236110687, 0.11253803968429565, 1.0107334852218628, 1.3832124471664429, -0.4803354740142822, -1.6967257261276245, -1.7563353776931763, -1.188284158706665, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03133795037865639, -0.9426879286766052, 0.7652871012687683, -1.2134803533554077, 1.5699787139892578, 0.97739577293396, -0.8430041670799255, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.45956286787986755, 0.11244218051433563, 1.0107334852218628, 1.3832122087478638, -0.4803394079208374, -1.6967240571975708, -1.7563353776931763, -1.188284158706665, 0.4493257403373718, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.04088388383388519, -0.9547553062438965, 0.7634928226470947, -1.1904549598693848, 1.569995403289795, 0.9773935675621033, -0.8429815173149109, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0107334852218628, 1.3832125663757324, -0.4803394675254822, -1.6967233419418335, -1.756335735321045, -1.1882842779159546, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.049176666885614395, -0.9640935659408569, 0.7613359689712524, -1.172383427619934, 1.5700019598007202, 0.9773913025856018, -0.8429681062698364, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803372323513031, -1.6967250108718872, -1.7563364505767822, -1.188284158706665, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.05725238844752312, -0.9712240695953369, 0.7595824599266052, -1.1558527946472168, 1.5700187683105469, 0.9745497107505798, -0.845827043056488, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0109251737594604, 1.3832135200500488, -0.4803360104560852, -1.6967260837554932, -1.7563356161117554, -1.1882843971252441, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06418471038341522, -0.9762019515037537, 0.7552250027656555, -1.1454335451126099, 1.5699998140335083, 0.9740206599235535, -0.8463899493217468, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.4597545862197876, 0.11253803968429565, 1.0108293294906616, 1.3832135200500488, -0.48033761978149414, -1.6967248916625977, -1.7563363313674927, -1.1882846355438232, 0.4493258595466614, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06737770885229111, -0.9800565242767334, 0.7520703673362732, -1.1337356567382812, 1.5699987411499023, 0.9747856855392456, -0.8456289768218994, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832145929336548, -0.4803386330604553, -1.6967239379882812, -1.7563339471817017, -1.188284158706665, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.068423330783844, -0.9842963218688965, 0.7513490915298462, -1.1151047945022583, 1.5699714422225952, 0.9703221917152405, -0.8501259088516235, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832134008407593, -0.4803299903869629, -1.6967294216156006, -1.75632905960083, -1.1882835626602173, 0.4493256211280823, -1.3707456588745117, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06819158792495728, -0.987994909286499, 0.7526670694351196, -1.10268235206604, 1.5699806213378906, 0.9641373753547668, -0.8562418222427368, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832107782363892, -0.48033231496810913, -1.6967276334762573, -1.7563368082046509, -1.1882851123809814, 0.4493256211280823, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.0680522695183754, -0.9884204864501953, 0.7530224323272705, -1.100982904434204, 1.569987416267395, 0.9632272720336914, -0.8571768403053284, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033493757247925, -1.6967264413833618, -1.7563347816467285, -1.1882842779159546, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06802790611982346, -0.9884210824966431, 0.7530679702758789, -1.1008024215698242, 1.5699878931045532, 0.9631252884864807, -0.8572826385498047, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350269794464, -1.6967264413833618, -1.7563350200653076, -1.1882845163345337, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06802680343389511, -0.9884239435195923, 0.7530685663223267, -1.1007903814315796, 1.5699902772903442, 0.9631171226501465, -0.8572899699211121, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803351163864136, -1.6967263221740723, -1.7563353776931763, -1.1882845163345337, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.068026602268219, -0.9884257316589355, 0.7530678510665894, -1.1007909774780273, 1.5699950456619263, 0.9631166458129883, -0.8572892546653748, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.4803351163864136, -1.6967264413833618, -1.7563353776931763, -1.1882843971252441, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06802725791931152, -0.9884252548217773, 0.7530664205551147, -1.1007912158966064, 1.5699955224990845, 0.9631171226501465, -0.8572885394096375, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350865840912, -1.6967264413833618, -1.7563358545303345, -1.1882845163345337, 0.4493258595466614, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.05747739225625992, -0.9865618348121643, 0.7567611336708069, -1.1023532152175903, 1.5545318126678467, 0.946828305721283, -0.841020405292511, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.4594670236110687, 0.11253803968429565, 1.0108293294906616, 1.3832123279571533, -0.4803347885608673, -1.6967276334762573, -1.7563339471817017, -1.188284993171692, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.04641814902424812, -0.9815888404846191, 0.7737738490104675, -1.0990663766860962, 1.5323532819747925, 0.9325536489486694, -0.8080604672431946, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832141160964966, -0.48033738136291504, -1.6967252492904663, -1.756334900856018, -1.1882840394973755, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.04041584953665733, -0.978282630443573, 0.791107714176178, -1.0977567434310913, 1.5198403596878052, 0.9314897060394287, -0.7908392548561096, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803357720375061, -1.6967265605926514, -1.756334900856018, -1.1882846355438232, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03489741310477257, -0.9767955541610718, 0.8060514330863953, -1.0969302654266357, 1.5142990350723267, 0.9327777624130249, -0.7845935225486755, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.4594670236110687, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033568263053894, -1.6967267990112305, -1.7563350200653076, -1.188284158706665, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03173617646098137, -0.9773750305175781, 0.8164563775062561, -1.0970419645309448, 1.506658911705017, 0.9321458339691162, -0.7878470420837402, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033568263053894, -1.69672691822052, -1.7563351392745972, -1.1882846355438232, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03016059845685959, -0.9814043045043945, 0.8201906681060791, -1.0900096893310547, 1.4996432065963745, 0.9262862801551819, -0.7955092787742615, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.4594670236110687, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803355634212494, -1.6967264413833618, -1.756334662437439, -1.188284158706665, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.03456689789891243, -0.9895333647727966, 0.8181919455528259, -1.077695608139038, 1.4971109628677368, 0.9161487221717834, -0.7984094619750977, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033571243286133, -1.6967264413833618, -1.7563352584838867, -1.1882843971252441, 0.4493255019187927, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.04184132441878319, -0.999912679195404, 0.8104873895645142, -1.0598336458206177, 1.4875973463058472, 0.9013293385505676, -0.7976750135421753, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803352653980255, -1.69672691822052, -1.756334900856018, -1.188284158706665, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.05017924681305885, -1.0118389129638672, 0.7994998693466187, -1.0343201160430908, 1.4757423400878906, 0.8876795768737793, -0.7972050309181213, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.480335533618927, -1.6967265605926514, -1.7563352584838867, -1.1882845163345337, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.058036256581544876, -1.0249143838882446, 0.7868428826332092, -1.0063673257827759, 1.462727665901184, 0.8726417422294617, -0.7979757189750671, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803350865840912, -1.6967271566390991, -1.7563341856002808, -1.1882845163345337, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.06582784652709961, -1.039588451385498, 0.7737067341804504, -0.97220778465271, 1.4554829597473145, 0.8579186797142029, -0.7899943590164185, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832131624221802, -0.48033615946769714, -1.696725845336914, -1.7563354969024658, -1.1882840394973755, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.07760094851255417, -1.0547348260879517, 0.7577382326126099, -0.9403785467147827, 1.432200312614441, 0.8404706120491028, -0.7818681001663208, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803365170955658, -1.6967257261276245, -1.7563351392745972, -1.1882843971252441, 0.4493257403373718, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.08986026793718338, -1.069394826889038, 0.7460503578186035, -0.906342625617981, 1.4141238927841187, 0.8276201486587524, -0.7731414437294006, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.4803360104560852, -1.6967263221740723, -1.7563353776931763, -1.1882842779159546, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.0996236652135849, -1.0842514038085938, 0.7314174771308899, -0.8757699131965637, 1.3879491090774536, 0.8154473900794983, -0.7708620429039001, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832131624221802, -0.4803357720375061, -1.6967260837554932, -1.7563344240188599, -1.188283920288086, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.10648413002490997, -1.0998533964157104, 0.7192401885986328, -0.8441980481147766, 1.3710178136825562, 0.8053061366081238, -0.7665560841560364, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11244218051433563, 1.0107334852218628, 1.3832130432128906, -0.4803377091884613, -1.696724534034729, -1.7563353776931763, -1.1882832050323486, 0.44932621717453003, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11185815930366516, -1.1156303882598877, 0.7052566409111023, -0.8189749717712402, 1.350657343864441, 0.8014156818389893, -0.7580893635749817, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033538460731506, -1.6967264413833618, -1.7563354969024658, -1.1882840394973755, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.11759325861930847, -1.1305551528930664, 0.6973689794540405, -0.7880834937095642, 1.3362982273101807, 0.7928822040557861, -0.7463287711143494, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.480335533618927, -1.6967265605926514, -1.7563351392745972, -1.188284158706665, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.12363016605377197, -1.1454747915267944, 0.693568229675293, -0.7538121938705444, 1.3290365934371948, 0.7857610583305359, -0.7426329255104065, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11244218051433563, 1.0108293294906616, 1.3832130432128906, -0.48033592104911804, -1.6967259645462036, -1.7563352584838867, -1.1882840394973755, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1300695836544037, -1.1598186492919922, 0.6917504072189331, -0.722838819026947, 1.3238500356674194, 0.7842519879341125, -0.7386499643325806, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803348779678345, -1.6967270374298096, -1.7563351392745972, -1.1882842779159546, 0.4493256211280823, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.13603557646274567, -1.172800898551941, 0.6895136833190918, -0.6962507367134094, 1.3126461505889893, 0.7827057838439941, -0.7328506708145142, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803355634212494, -1.6967262029647827, -1.7563356161117554, -1.1882845163345337, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1427551954984665, -1.1846522092819214, 0.688150942325592, -0.6729751229286194, 1.298710584640503, 0.7845124006271362, -0.7313194870948792, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832134008407593, -0.4803351163864136, -1.6967267990112305, -1.7563347816467285, -1.1882846355438232, 0.4493256211280823, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.14677414298057556, -1.1951578855514526, 0.6894780993461609, -0.6508573889732361, 1.2879998683929443, 0.7872926592826843, -0.7268911600112915, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033472895622253, -1.6967271566390991, -1.7563354969024658, -1.1882843971252441, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.15200340747833252, -1.2040456533432007, 0.692321240901947, -0.6319514513015747, 1.2764500379562378, 0.7944227457046509, -0.7192565202713013, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.480335533618927, -1.6967263221740723, -1.7563347816467285, -1.1882838010787964, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1568441390991211, -1.2117079496383667, 0.69621741771698, -0.6139417886734009, 1.2627453804016113, 0.7977561950683594, -0.7111977338790894, 0.23639998173975682, 0.23639998173975682, 0.23639998173975682, 0.23639998173975682, -0.23639998173975682, -0.23639998173975682, -0.23639998173975682, 0.23639998173975682, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.480335533618927, -1.6967264413833618, -1.7563350200653076, -1.188284158706665, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.16223660111427307, -1.2196227312088013, 0.7020214200019836, -0.5954604148864746, 1.250343680381775, 0.8028456568717957, -0.701625645160675, 0.23639998173975682, 0.23639998173975682, 0.23639998173975682, 0.23639998173975682, -0.23639998173975682, -0.23639998173975682, -0.23639998173975682, 0.23639998173975682, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.480335533618927, -1.696726679801941, -1.7563351392745972, -1.1882840394973755, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.16604083776474, -1.226250410079956, 0.7082852125167847, -0.5806115865707397, 1.2399497032165527, 0.8047059774398804, -0.6928521394729614, 0.2357999922155024, 0.2357999922155024, 0.2357999922155024, 0.2357999922155024, -0.2357999922155024, -0.2357999922155024, -0.2357999922155024, 0.2357999922155024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033538460731506, -1.6967265605926514, -1.7563352584838867, -1.1882840394973755, 0.4493256211280823, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.16873104870319366, -1.233166217803955, 0.7147231101989746, -0.5657622218132019, 1.2311484813690186, 0.805586040019989, -0.6880489587783813, 0.2357999922155024, 0.2357999922155024, 0.2357999922155024, 0.2357999922155024, -0.2357999922155024, -0.2357999922155024, -0.2357999922155024, 0.2357999922155024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.480335533618927, -1.6967264413833618, -1.7563352584838867, -1.1882843971252441, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.17179381847381592, -1.240387201309204, 0.7211965322494507, -0.5557146072387695, 1.2230085134506226, 0.8065820932388306, -0.6860443949699402, 0.28920000306852567, 0.28920000306852567, 0.28920000306852567, 0.28920000306852567, -0.28920000306852567, -0.28920000306852567, -0.28920000306852567, 0.28920000306852567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803354740142822, -1.6967263221740723, -1.7563352584838867, -1.1882840394973755, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1756645143032074, -1.2467328310012817, 0.7278235554695129, -0.54660564661026, 1.2128244638442993, 0.8056361675262451, -0.6806882619857788, 0.3719999918570885, 0.3719999918570885, 0.3719999918570885, 0.3719999918570885, -0.3719999918570885, -0.3719999918570885, -0.3719999918570885, 0.3719999918570885, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.480335533618927, -1.6967265605926514, -1.7563352584838867, -1.1882842779159546, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.17747528851032257, -1.2518824338912964, 0.73485267162323, -0.5372644066810608, 1.2016053199768066, 0.8034117817878723, -0.6734326481819153, 0.4188000000440157, 0.4188000000440157, 0.4188000000440157, 0.4188000000440157, -0.4188000000440157, -0.4188000000440157, -0.4188000000440157, 0.4188000000440157, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033538460731506, -1.6967263221740723, -1.7563353776931763, -1.1882840394973755, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.17992515861988068, -1.2560111284255981, 0.7434494495391846, -0.5267937183380127, 1.1918764114379883, 0.804726779460907, -0.6668419241905212, 0.4055999947118235, 0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352355957031, -1.696726679801941, -1.7563350200653076, -1.188284158706665, 0.4493253827095032, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.18296276032924652, -1.259194254875183, 0.7536254525184631, -0.5167163014411926, 1.1828802824020386, 0.8043647408485413, -0.6614601612091064, 0.4235999948375828, 0.4235999948375828, 0.4235999948375828, 0.4235999948375828, -0.4235999948375828, -0.4235999948375828, -0.4235999948375828, 0.4235999948375828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033541440963745, -1.696726679801941, -1.7563353776931763, -1.1882843971252441, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.18510673940181732, -1.2614480257034302, 0.7644820809364319, -0.508453369140625, 1.1734966039657593, 0.8021190166473389, -0.6550751328468323, 0.44220000413747934, 0.44220000413747934, 0.44220000413747934, 0.44220000413747934, -0.44220000413747934, -0.44220000413747934, -0.44220000413747934, 0.44220000413747934, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.480335533618927, -1.6967265605926514, -1.7563352584838867, -1.1882842779159546, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1849166452884674, -1.262906551361084, 0.7756460905075073, -0.5015380382537842, 1.1637870073318481, 0.7989442944526672, -0.6531517505645752, 0.4524000028987507, 0.4524000028987507, 0.4524000028987507, 0.4524000028987507, -0.4524000028987507, -0.4524000028987507, -0.4524000028987507, 0.4524000028987507, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.480335533618927, -1.696726679801941, -1.7563350200653076, -1.1882843971252441, 0.4493256211280823, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.18503853678703308, -1.2631981372833252, 0.7875314950942993, -0.49543553590774536, 1.1525964736938477, 0.7963941693305969, -0.6524353623390198, 0.4890000024994651, 0.4890000024994651, 0.4890000024994651, 0.4890000024994651, -0.4890000024994651, -0.4890000024994651, -0.4890000024994651, 0.4890000024994651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033541440963745, -1.69672691822052, -1.7563353776931763, -1.188284158706665, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.18302567303180695, -1.2624280452728271, 0.7996631264686584, -0.49218469858169556, 1.1402069330215454, 0.790677547454834, -0.6481097340583801, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803351163864136, -1.69672691822052, -1.7563351392745972, -1.1882843971252441, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.17774547636508942, -1.2602641582489014, 0.8137293457984924, -0.4904104173183441, 1.12833571434021, 0.7772133946418762, -0.6452144980430603, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033568263053894, -1.6967262029647827, -1.756334662437439, -1.1882846355438232, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.17337268590927124, -1.2584236860275269, 0.8278288841247559, -0.49149632453918457, 1.1193088293075562, 0.7744485139846802, -0.6441314816474915, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803354740142822, -1.6967263221740723, -1.756334900856018, -1.188284158706665, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.16881732642650604, -1.25644850730896, 0.8408405184745789, -0.4968833327293396, 1.1076468229293823, 0.7722289562225342, -0.6421158313751221, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803354740142822, -1.6967267990112305, -1.7563354969024658, -1.188284158706665, 0.4493256211280823, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.16417084634304047, -1.2537014484405518, 0.8551565408706665, -0.5054891109466553, 1.0973706245422363, 0.7682532668113708, -0.637029767036438, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350269794464, -1.696726679801941, -1.7563350200653076, -1.188284158706665, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.15761367976665497, -1.2505193948745728, 0.8697521090507507, -0.5146920084953308, 1.0870344638824463, 0.7669585347175598, -0.6342859268188477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350865840912, -1.6967271566390991, -1.7563352584838867, -1.1882845163345337, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.14985813200473785, -1.2474607229232788, 0.8840358853340149, -0.525952160358429, 1.0771487951278687, 0.7711766958236694, -0.6359331607818604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803353250026703, -1.6967264413833618, -1.7563353776931763, -1.1882840394973755, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.14025737345218658, -1.243735909461975, 0.8995926976203918, -0.5402265787124634, 1.0687875747680664, 0.7754393815994263, -0.6363993883132935, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.4594670236110687, 0.11253803968429565, 1.0109251737594604, 1.383212924003601, -0.48033466935157776, -1.6967270374298096, -1.756334900856018, -1.1882843971252441, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1306205540895462, -1.2389227151870728, 0.9200838208198547, -0.5542466640472412, 1.06886887550354, 0.7847723364830017, -0.6352483034133911, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.383212685585022, -0.4803326725959778, -1.6967284679412842, -1.7563353776931763, -1.1882847547531128, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.1171664223074913, -1.2322118282318115, 0.938754677772522, -0.5810710787773132, 1.0554534196853638, 0.7780795097351074, -0.634950578212738, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803350269794464, -1.6967265605926514, -1.7563347816467285, -1.1882843971252441, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.09764177352190018, -1.225380301475525, 0.9560818076133728, -0.6120734214782715, 1.0401554107666016, 0.7778781652450562, -0.6398220658302307, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832132816314697, -0.48033466935157776, -1.6967270374298096, -1.7563354969024658, -1.188284158706665, 0.4493256211280823, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.07613902539014816, -1.2190055847167969, 0.9767962098121643, -0.6449333429336548, 1.0343736410140991, 0.7846052646636963, -0.6458055377006531, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.383212924003601, -0.48033377528190613, -1.6967272758483887, -1.7563354969024658, -1.1882847547531128, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.0555434376001358, -1.2121111154556274, 1.0009779930114746, -0.6791337728500366, 1.0313056707382202, 0.7913414835929871, -0.653235673904419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832131624221802, -0.4803348779678345, -1.6967273950576782, -1.7563343048095703, -1.1882843971252441, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.0336543507874012, -1.2047239542007446, 1.0275330543518066, -0.712666392326355, 1.0318177938461304, 0.7997063398361206, -0.6535332202911377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033562302589417, -1.6967264413833618, -1.7563352584838867, -1.1882842779159546, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, 0.01266088429838419, -1.1971991062164307, 1.0521055459976196, -0.7469208836555481, 1.0242815017700195, 0.8073846697807312, -0.6570641398429871, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.3832130432128906, -0.4803351163864136, -1.696726679801941, -1.7563353776931763, -1.1882845163345337, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.010130065493285656, -1.1905443668365479, 1.0730572938919067, -0.7879703640937805, 1.0135457515716553, 0.8160229921340942, -0.6591764688491821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803354740142822, -1.6967264413833618, -1.7563347816467285, -1.1882843971252441, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.034466180950403214, -1.1838480234146118, 1.0951793193817139, -0.832755982875824, 1.0026400089263916, 0.8206554055213928, -0.6604931950569153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033517599105835, -1.6967267990112305, -1.756334900856018, -1.188284158706665, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.05961222946643829, -1.1777774095535278, 1.1108851432800293, -0.8806273341178894, 0.9805164337158203, 0.8272825479507446, -0.6625419855117798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803353250026703, -1.69672691822052, -1.7563350200653076, -1.1882845163345337, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08531080186367035, -1.173278570175171, 1.1265294551849365, -0.9226592183113098, 0.9669434428215027, 0.8379162549972534, -0.6624800562858582, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.4594670236110687, 0.11244218051433563, 1.0109251737594604, 1.3832134008407593, -0.4803350269794464, -1.69672691822052, -1.756334900856018, -1.188283920288086, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.10524101555347443, -1.1698589324951172, 1.1458520889282227, -0.9604977369308472, 0.962372899055481, 0.8530535697937012, -0.6678018569946289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033568263053894, -1.6967263221740723, -1.7563352584838867, -1.1882840394973755, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.12335732579231262, -1.1666854619979858, 1.1669644117355347, -1.0007365942001343, 0.9608623385429382, 0.8687726855278015, -0.6732543110847473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033607006073, -1.696725845336914, -1.7563351392745972, -1.1882836818695068, 0.4493258595466614, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.1408270299434662, -1.1634162664413452, 1.1882061958312988, -1.0415114164352417, 0.9575589895248413, 0.8846745491027832, -0.6807807683944702, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033607006073, -1.6967260837554932, -1.7563344240188599, -1.1882843971252441, 0.4493258595466614, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.16098348796367645, -1.160702109336853, 1.2062345743179321, -1.0794531106948853, 0.9514883756637573, 0.9011258482933044, -0.6887289881706238, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803352653980255, -1.696726679801941, -1.7563351392745972, -1.1882843971252441, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.18101222813129425, -1.1583013534545898, 1.2259738445281982, -1.1107627153396606, 0.9502637982368469, 0.9185724854469299, -0.6956082582473755, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033568263053894, -1.6967262029647827, -1.7563350200653076, -1.188283920288086, 0.4493256211280823, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.19772562384605408, -1.1564501523971558, 1.246516227722168, -1.1395845413208008, 0.9516197443008423, 0.935681164264679, -0.7051714658737183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803353250026703, -1.696726679801941, -1.7563353776931763, -1.188284158706665, 0.44932621717453003, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2162942886352539, -1.1551954746246338, 1.2639338970184326, -1.1681259870529175, 0.9524734616279602, 0.9510514140129089, -0.7098904848098755, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352653980255, -1.696726679801941, -1.7563351392745972, -1.188284158706665, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.23564507067203522, -1.1538516283035278, 1.2785382270812988, -1.1939769983291626, 0.9516132473945618, 0.9677109122276306, -0.7100200057029724, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.480335533618927, -1.6967263221740723, -1.7563351392745972, -1.1882842779159546, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24936285614967346, -1.152516484260559, 1.2901017665863037, -1.2157031297683716, 0.9453974962234497, 0.9765530228614807, -0.7055375576019287, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803353250026703, -1.6967267990112305, -1.7563350200653076, -1.1882843971252441, 0.4493258595466614, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2566317021846771, -1.1514164209365845, 1.2944167852401733, -1.2353304624557495, 0.935173511505127, 0.977325975894928, -0.6937812566757202, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803355634212494, -1.6967265605926514, -1.7563356161117554, -1.1882846355438232, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.26372459530830383, -1.1503279209136963, 1.292061686515808, -1.253567099571228, 0.9254212379455566, 0.9773995876312256, -0.6737833023071289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803354740142822, -1.6967267990112305, -1.7563353776931763, -1.1882843971252441, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2694670855998993, -1.1484136581420898, 1.2933616638183594, -1.2624037265777588, 0.9183236956596375, 0.9774214029312134, -0.661869466304779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033571243286133, -1.6967260837554932, -1.7563352584838867, -1.188284158706665, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.273703008890152, -1.146586298942566, 1.2954132556915283, -1.2741750478744507, 0.9174089431762695, 0.9774229526519775, -0.6541231870651245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033538460731506, -1.6967265605926514, -1.7563347816467285, -1.1882842779159546, 0.4493255019187927, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2794368267059326, -1.1445484161376953, 1.2951680421829224, -1.2869335412979126, 0.9181994199752808, 0.9774223566055298, -0.6526640057563782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832131624221802, -0.4803354740142822, -1.6967263221740723, -1.7563347816467285, -1.1882843971252441, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.28507155179977417, -1.1420156955718994, 1.296252727508545, -1.2979587316513062, 0.9203700423240662, 0.9774218797683716, -0.6534938216209412, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033538460731506, -1.6967263221740723, -1.7563350200653076, -1.188284158706665, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2888221740722656, -1.1392555236816406, 1.2954803705215454, -1.3074054718017578, 0.9169600009918213, 0.9774210453033447, -0.6529368758201599, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803352653980255, -1.6967267990112305, -1.7563352584838867, -1.1882842779159546, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.28710976243019104, -1.1370388269424438, 1.2914369106292725, -1.3138659000396729, 0.9097548723220825, 0.9774202108383179, -0.6480233669281006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.383212924003601, -0.48033517599105835, -1.69672691822052, -1.7563350200653076, -1.1882843971252441, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2829500436782837, -1.1356521844863892, 1.2859110832214355, -1.315140962600708, 0.9016231894493103, 0.9774190187454224, -0.639910876750946, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352653980255, -1.6967264413833618, -1.7563350200653076, -1.188284158706665, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.280693918466568, -1.134977102279663, 1.281973123550415, -1.3153038024902344, 0.8959594964981079, 0.9774174690246582, -0.6297845840454102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033538460731506, -1.6967264413833618, -1.756334900856018, -1.1882843971252441, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.27952516078948975, -1.134395718574524, 1.279487133026123, -1.3160865306854248, 0.8935266733169556, 0.9774166345596313, -0.6178028583526611, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352355957031, -1.6967265605926514, -1.7563350200653076, -1.188284158706665, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2793871760368347, -1.1332148313522339, 1.2783855199813843, -1.317833423614502, 0.8855538964271545, 0.9774134755134583, -0.608483076095581, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803351163864136, -1.6967265605926514, -1.7563350200653076, -1.188284158706665, 0.4493256211280823, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2807600796222687, -1.1321308612823486, 1.2795946598052979, -1.3218928575515747, 0.8822069764137268, 0.9774104952812195, -0.6008146405220032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033538460731506, -1.6967267990112305, -1.7563350200653076, -1.188284158706665, 0.4493256211280823, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2838844060897827, -1.1305667161941528, 1.2814559936523438, -1.3276768922805786, 0.880046546459198, 0.9774078726768494, -0.5974976420402527, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.48033538460731506, -1.6967265605926514, -1.7563350200653076, -1.1882842779159546, 0.4493260979652405, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2894386649131775, -1.1281574964523315, 1.2815394401550293, -1.3398067951202393, 0.8791651129722595, 0.9774053692817688, -0.5925908088684082, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803354740142822, -1.6967267990112305, -1.756334900856018, -1.1882842779159546, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2958284914493561, -1.12477707862854, 1.2832586765289307, -1.354797601699829, 0.8810921907424927, 0.9774032831192017, -0.5912758708000183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803355634212494, -1.696726679801941, -1.7563352584838867, -1.188283920288086, 0.4493258595466614, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.30328312516212463, -1.120593786239624, 1.282464861869812, -1.3677688837051392, 0.8840005397796631, 0.9774014949798584, -0.5911125540733337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803353250026703, -1.6967267990112305, -1.7563347816467285, -1.1882843971252441, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.31056705117225647, -1.1153626441955566, 1.2798607349395752, -1.3787422180175781, 0.8902816772460938, 0.9774008989334106, -0.5875765085220337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033571243286133, -1.696726679801941, -1.7563351392745972, -1.1882843971252441, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.31656619906425476, -1.10914945602417, 1.2753105163574219, -1.394956350326538, 0.8984876871109009, 0.9774000644683838, -0.5827758312225342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352653980255, -1.6967264413833618, -1.7563353776931763, -1.1882840394973755, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.318393349647522, -1.101312518119812, 1.2739075422286987, -1.4154698848724365, 0.9109539985656738, 0.9773998260498047, -0.5721805691719055, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11263389885425568, 1.0108293294906616, 1.3832131624221802, -0.48033538460731506, -1.696726679801941, -1.7563353776931763, -1.1882843971252441, 0.44932621717453003, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.31861644983291626, -1.092224359512329, 1.2743688821792603, -1.4321833848953247, 0.9276543855667114, 0.9773988723754883, -0.5681235790252686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803355634212494, -1.6967262029647827, -1.7563358545303345, -1.1882843971252441, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3218495845794678, -1.0826529264450073, 1.2654869556427002, -1.4461641311645508, 0.942865252494812, 0.9773987531661987, -0.5688120722770691, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033517599105835, -1.6967272758483887, -1.756334900856018, -1.1882843971252441, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3251250386238098, -1.0713545083999634, 1.2549588680267334, -1.4582085609436035, 0.9584619998931885, 0.9773986339569092, -0.5686191320419312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.48033612966537476, -1.6967259645462036, -1.7563353776931763, -1.188283920288086, 0.4493259787559509, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3267246186733246, -1.0592188835144043, 1.2471492290496826, -1.4677400588989258, 0.9774323105812073, 0.9773986339569092, -0.5685030817985535, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.3832130432128906, -0.48033562302589417, -1.6967264413833618, -1.7563351392745972, -1.188284158706665, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.32712945342063904, -1.0466831922531128, 1.2377249002456665, -1.4763010740280151, 0.9957904815673828, 0.9773982763290405, -0.566149890422821, 0.10499999654162064, 0.10499999654162064, 0.10499999654162064, 0.10499999654162064, -0.10499999654162064, -0.10499999654162064, -0.10499999654162064, 0.10499999654162064, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.480335533618927, -1.6967263221740723, -1.7563354969024658, -1.188283920288086, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.32539406418800354, -1.0336965322494507, 1.227116584777832, -1.4795693159103394, 1.0118902921676636, 0.9773983955383301, -0.5624802112579346, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832134008407593, -0.48033568263053894, -1.6967262029647827, -1.7563351392745972, -1.188284158706665, 0.4493255019187927, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.32206830382347107, -1.0222514867782593, 1.2145663499832153, -1.4815871715545654, 1.0297399759292603, 0.9773979187011719, -0.5626270174980164, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0107334852218628, 1.3832131624221802, -0.48033562302589417, -1.6967267990112305, -1.756334662437439, -1.1882836818695068, 0.4493260979652405, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.30705851316452026, -1.0154669284820557, 1.1833001375198364, -1.4719856977462769, 1.047327995300293, 0.9773980379104614, -0.5630794167518616, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033612966537476, -1.6967257261276245, -1.7563354969024658, -1.1882840394973755, 0.44932621717453003, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.27268949151039124, -1.0138322114944458, 1.1344401836395264, -1.4418854713439941, 1.0586148500442505, 0.9773982763290405, -0.5641176104545593, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352653980255, -1.69672691822052, -1.756334662437439, -1.1882845163345337, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2338969111442566, -1.0174915790557861, 1.0878729820251465, -1.400058388710022, 1.0629537105560303, 0.977398157119751, -0.571540892124176, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352653980255, -1.696726679801941, -1.7563352584838867, -1.1882845163345337, 0.4493256211280823, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.19727587699890137, -1.0277307033538818, 1.050302267074585, -1.3429429531097412, 1.0710688829421997, 0.9773985147476196, -0.5943710803985596, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033496737480164, -1.6967270374298096, -1.7563353776931763, -1.1882845163345337, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.1639944314956665, -1.04204523563385, 1.0213075876235962, -1.2897909879684448, 1.0876858234405518, 0.9773985147476196, -0.621343731880188, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803353250026703, -1.696726679801941, -1.7563351392745972, -1.188284158706665, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.13806426525115967, -1.0552586317062378, 1.0007123947143555, -1.2545109987258911, 1.0942264795303345, 0.9773979187011719, -0.6441053748130798, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803367853164673, -1.696725845336914, -1.756334662437439, -1.188284158706665, 0.4493257403373718, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.12183871865272522, -1.0669915676116943, 0.986740231513977, -1.2249504327774048, 1.0919378995895386, 0.9773890376091003, -0.6631981134414673, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.48033568263053894, -1.6967259645462036, -1.7563352584838867, -1.188284158706665, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.11005683243274689, -1.0779285430908203, 0.9747614860534668, -1.1912648677825928, 1.0880423784255981, 0.9773882031440735, -0.6797342300415039, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803354740142822, -1.6967264413833618, -1.756334662437439, -1.188284158706665, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.09837175905704498, -1.0880752801895142, 0.9645577669143677, -1.162878155708313, 1.0809584856033325, 0.9773849844932556, -0.6906588077545166, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033517599105835, -1.6967264413833618, -1.7563351392745972, -1.1882845163345337, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08936946094036102, -1.0969877243041992, 0.9593809247016907, -1.1388336420059204, 1.0715960264205933, 0.9757387042045593, -0.699763834476471, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803354740142822, -1.6967265605926514, -1.7563353776931763, -1.1882845163345337, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08204460144042969, -1.1048593521118164, 0.9579027891159058, -1.1187974214553833, 1.0621405839920044, 0.9748278856277466, -0.7078462243080139, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803350269794464, -1.6967271566390991, -1.7563350200653076, -1.1882846355438232, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.0765770971775055, -1.1115097999572754, 0.9590336680412292, -1.1013656854629517, 1.0519897937774658, 0.9748255014419556, -0.713817834854126, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352355957031, -1.6967265605926514, -1.7563352584838867, -1.1882842779159546, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.0736144483089447, -1.117653250694275, 0.9618386626243591, -1.0869923830032349, 1.043692708015442, 0.976455807685852, -0.7187300324440002, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.480335533618927, -1.696726679801941, -1.7563350200653076, -1.1882843971252441, 0.4493255019187927, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.07107783854007721, -1.1233713626861572, 0.9681796431541443, -1.0746030807495117, 1.0384668111801147, 0.977110743522644, -0.7269117832183838, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803352653980255, -1.6967264413833618, -1.7563350200653076, -1.188284158706665, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.07106375694274902, -1.128333330154419, 0.973217785358429, -1.0716356039047241, 1.0284826755523682, 0.9769929647445679, -0.7334277629852295, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033568263053894, -1.6967264413833618, -1.7563352584838867, -1.1882843971252441, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.0726979523897171, -1.1311557292938232, 0.9819333553314209, -1.0723921060562134, 1.0161564350128174, 0.9771867394447327, -0.7387436032295227, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.48033541440963745, -1.6967265605926514, -1.756334900856018, -1.1882842779159546, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.07551264762878418, -1.1319456100463867, 0.9940133094787598, -1.0722804069519043, 1.0050712823867798, 0.9773962497711182, -0.7441202998161316, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803353250026703, -1.6967265605926514, -1.7563354969024658, -1.1882840394973755, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.07841872423887253, -1.1309289932250977, 1.0051606893539429, -1.0756654739379883, 0.9959411025047302, 0.9774208068847656, -0.7478453516960144, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803353250026703, -1.6967264413833618, -1.7563351392745972, -1.1882845163345337, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08238290995359421, -1.1277146339416504, 1.0148952007293701, -1.0827428102493286, 0.9850404858589172, 0.9774230718612671, -0.7531794309616089, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803353250026703, -1.6967263221740723, -1.756334900856018, -1.1882843971252441, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.08790748566389084, -1.1230218410491943, 1.0236386060714722, -1.0909558534622192, 0.9755367636680603, 0.9774224758148193, -0.7576526403427124, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803351163864136, -1.6967265605926514, -1.7563352584838867, -1.1882842779159546, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.09408619999885559, -1.1179406642913818, 1.030091404914856, -1.0974488258361816, 0.9690787196159363, 0.9774216413497925, -0.7605084776878357, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803353250026703, -1.6967267990112305, -1.7563352584838867, -1.1882845163345337, 0.4493258595466614, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.09868220239877701, -1.1128830909729004, 1.0349010229110718, -1.1036865711212158, 0.9676926136016846, 0.9774214029312134, -0.762712836265564, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803351163864136, -1.69672691822052, -1.7563351392745972, -1.188284158706665, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.10416194051504135, -1.1077433824539185, 1.0378578901290894, -1.1082481145858765, 0.9652979373931885, 0.9774200916290283, -0.7679783701896667, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.480335533618927, -1.6967263221740723, -1.7563351392745972, -1.1882840394973755, 0.4493255019187927, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.10821940004825592, -1.1027520895004272, 1.0413366556167603, -1.1128133535385132, 0.9670220613479614, 0.9774188995361328, -0.772534191608429, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.480335533618927, -1.6967264413833618, -1.7563351392745972, -1.1882842779159546, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.11196926236152649, -1.0975291728973389, 1.044598937034607, -1.119203805923462, 0.9689226746559143, 0.9774177074432373, -0.7787882685661316, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033562302589417, -1.6967262029647827, -1.7563351392745972, -1.1882843971252441, 0.4493263363838196, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.11958283931016922, -1.0905396938323975, 1.0559940338134766, -1.137713074684143, 0.9782642722129822, 0.9774156212806702, -0.7731176614761353, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803355634212494, -1.6967264413833618, -1.7563350200653076, -1.1882840394973755, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.14038141071796417, -1.0807117223739624, 1.0705939531326294, -1.1652389764785767, 0.9855769276618958, 0.9774129986763, -0.760903000831604, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803355634212494, -1.6967265605926514, -1.7563350200653076, -1.1882845163345337, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.16782549023628235, -1.0693732500076294, 1.0804810523986816, -1.2017157077789307, 0.9885438680648804, 0.9774109721183777, -0.7513582706451416, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212685585022, -0.48033562302589417, -1.6967262029647827, -1.7563356161117554, -1.1882840394973755, 0.4493260979652405, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.20009110867977142, -1.0551024675369263, 1.095908522605896, -1.2579786777496338, 0.9904380440711975, 0.9774095416069031, -0.7222809791564941, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803353250026703, -1.69672691822052, -1.7563345432281494, -1.1882843971252441, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.23676559329032898, -1.0387609004974365, 1.127314805984497, -1.316433310508728, 0.9991803169250488, 0.9774073958396912, -0.6880625486373901, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352653980255, -1.6967267990112305, -1.7563351392745972, -1.1882845163345337, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2710774838924408, -1.023013710975647, 1.153059482574463, -1.3633476495742798, 1.0114809274673462, 0.9774041175842285, -0.6570816040039062, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11244218051433563, 1.0108293294906616, 1.3832138776779175, -0.4803358316421509, -1.6967262029647827, -1.7563344240188599, -1.188284158706665, 0.4493260979652405, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.2981645166873932, -1.00527024269104, 1.1638340950012207, -1.4099918603897095, 1.0373419523239136, 0.9774030447006226, -0.6004826426506042, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45965874195098877, 0.11253803968429565, 1.0108293294906616, 1.3832136392593384, -0.4803363084793091, -1.6967265605926514, -1.7563352584838867, -1.1882838010787964, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3199090361595154, -0.9828082919120789, 1.1813089847564697, -1.4438035488128662, 1.073279857635498, 0.9774028062820435, -0.5427148342132568, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.4594670236110687, 0.11263389885425568, 1.0108293294906616, 1.3832125663757324, -0.4803348779678345, -1.696727991104126, -1.7563356161117554, -1.1882846355438232, 0.4493255019187927, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3342015743255615, -0.960016131401062, 1.1992552280426025, -1.46113920211792, 1.116396188735962, 0.9774026870727539, -0.5064913630485535, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033496737480164, -1.6967267990112305, -1.7563351392745972, -1.1882836818695068, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.34272292256355286, -0.9357513189315796, 1.2033071517944336, -1.4934017658233643, 1.1697924137115479, 0.9774022102355957, -0.4589647650718689, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11253803968429565, 1.0109251737594604, 1.3832134008407593, -0.48033466935157776, -1.6967273950576782, -1.7563358545303345, -1.1882843971252441, 0.4493257403373718, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3502732217311859, -0.9098154902458191, 1.187676191329956, -1.5330405235290527, 1.2005372047424316, 0.9774014949798584, -0.4041692912578583, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803352355957031, -1.6967270374298096, -1.7563352584838867, -1.1882842779159546, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.35802221298217773, -0.8772534132003784, 1.1698390245437622, -1.5595570802688599, 1.2237584590911865, 0.9774011373519897, -0.3252316117286682, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033538460731506, -1.6967265605926514, -1.756334900856018, -1.1882846355438232, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3656754493713379, -0.8395822644233704, 1.1528960466384888, -1.5859650373458862, 1.2464954853057861, 0.977401852607727, -0.22731269896030426, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832130432128906, -0.48033371567726135, -1.696728229522705, -1.7563352584838867, -1.1882847547531128, 0.4493258595466614, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3747096657752991, -0.7977007627487183, 1.145650863647461, -1.6128195524215698, 1.2714141607284546, 0.977401852607727, -0.11932692676782608, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0109251737594604, 1.3832131624221802, -0.4803348779678345, -1.6967271566390991, -1.7563350200653076, -1.1882843971252441, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.3863873779773712, -0.7552865743637085, 1.1398361921310425, -1.6432795524597168, 1.2675540447235107, 0.9774019718170166, -0.04036754369735718, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803354740142822, -1.6967264413833618, -1.7563351392745972, -1.1882846355438232, 0.4493256211280823, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.39609086513519287, -0.7152739763259888, 1.1435651779174805, -1.664921760559082, 1.2812296152114868, 0.9774017333984375, 0.040025871247053146, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45965874195098877, 0.11263389885425568, 1.0109251737594604, 1.3832130432128906, -0.48033443093299866, -1.6967276334762573, -1.7563358545303345, -1.1882853507995605, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4161338210105896, -0.6718348264694214, 1.1538249254226685, -1.6931169033050537, 1.2854180335998535, 0.9774012565612793, 0.1638060212135315, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.3832136392593384, -0.48033422231674194, -1.6967278718948364, -1.7563345432281494, -1.1882847547531128, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.45031824707984924, -0.6264623403549194, 1.1655726432800293, -1.7093626260757446, 1.2577381134033203, 0.9774008989334106, 0.2906464636325836, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803352653980255, -1.69672691822052, -1.756334662437439, -1.1882847547531128, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.4861428439617157, -0.5847457647323608, 1.1754122972488403, -1.7270597219467163, 1.2201588153839111, 0.9774006605148315, 0.40854689478874207, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832136392593384, -0.4803352653980255, -1.6967271566390991, -1.756333827972412, -1.188284158706665, 0.4493257403373718, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5187717080116272, -0.5505715608596802, 1.1924320459365845, -1.7329912185668945, 1.2152106761932373, 0.9774003028869629, 0.526500940322876, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.4594670236110687, 0.11263389885425568, 1.0108293294906616, 1.383212685585022, -0.48033517599105835, -1.696726679801941, -1.7563353776931763, -1.1882845163345337, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5480068325996399, -0.5238549113273621, 1.2111573219299316, -1.7357155084609985, 1.214796543121338, 0.9773989915847778, 0.6304141879081726, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3169919550418854, -0.45956286787986755, 0.11263389885425568, 1.0107334852218628, 1.3832132816314697, -0.48033562302589417, -1.6967251300811768, -1.7563363313674927, -1.1882838010787964, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.5786274671554565, -0.5029024481773376, 1.2340136766433716, -1.76416015625, 1.2149337530136108, 0.9773983955383301, 0.7229186296463013, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.383212924003601, -0.4803348779678345, -1.69672691822052, -1.756334662437439, -1.1882845163345337, 0.44932621717453003, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6068786978721619, -0.48920878767967224, 1.2514435052871704, -1.7843749523162842, 1.200770378112793, 0.97739577293396, 0.776829183101654, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.3169919550418854, -0.45956286787986755, 0.11263389885425568, 1.0108293294906616, 1.3832134008407593, -0.4803360104560852, -1.6967260837554932, -1.7563353776931763, -1.1882840394973755, 0.4493256211280823, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6101911664009094, -0.4875272512435913, 1.2536571025848389, -1.7865303754806519, 1.198999047279358, 0.9773941040039062, 0.7832298278808594, 0.47639999651646875, 0.47639999651646875, 0.47639999651646875, 0.47639999651646875, -0.47639999651646875, -0.47639999651646875, -0.47639999651646875, 0.47639999651646875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832135200500488, -0.4803359806537628, -1.6967259645462036, -1.756334662437439, -1.1882836818695068, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6104820370674133, -0.48738664388656616, 1.2538397312164307, -1.7867366075515747, 1.198847770690918, 0.9773939847946167, 0.7838078737258911, 0.5886000000841015, 0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.4803355634212494, -1.696726679801941, -1.7563350200653076, -1.1882842779159546, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6105107069015503, -0.487374871969223, 1.2538526058197021, -1.7867509126663208, 1.198826789855957, 0.9773941040039062, 0.7838659882545471, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803354740142822, -1.6967265605926514, -1.7563352584838867, -1.188284158706665, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6105192303657532, -0.4873747229576111, 1.2538515329360962, -1.786750316619873, 1.19882071018219, 0.9773941040039062, 0.7838677763938904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803354740142822, -1.6967265605926514, -1.756334900856018, -1.188284158706665, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6105183959007263, -0.48737600445747375, 1.2538509368896484, -1.786750078201294, 1.198820948600769, 0.9773943424224854, 0.7838672995567322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803354740142822, -1.6967265605926514, -1.7563353776931763, -1.1882840394973755, 0.4493259787559509, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6105175018310547, -0.48737645149230957, 1.2538503408432007, -1.7867496013641357, 1.1988211870193481, 0.9773941040039062, 0.7838670611381531, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033571243286133, -1.6967262029647827, -1.7563351392745972, -1.1882842779159546, 0.4493260979652405, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6186076402664185, -0.4882320165634155, 1.2527714967727661, -1.7905235290527344, 1.1986370086669922, 0.9654549360275269, 0.7735036015510559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803365170955658, -1.696725606918335, -1.7563343048095703, -1.1882835626602173, 0.44932645559310913, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.6420368552207947, -0.4887426197528839, 1.2531193494796753, -1.8102965354919434, 1.2147103548049927, 0.9555997848510742, 0.7669534683227539, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033586144447327, -1.6967262029647827, -1.756334662437439, -1.1882840394973755, 0.4493260979652405, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.67409747838974, -0.48415154218673706, 1.2636146545410156, -1.8369126319885254, 1.2235171794891357, 0.9684019684791565, 0.7806484699249268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033571243286133, -1.6967267990112305, -1.756334900856018, -1.1882840394973755, 0.44932621717453003, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7211302518844604, -0.4739406406879425, 1.293043613433838, -1.8672794103622437, 1.226877212524414, 0.9764710664749146, 0.7982337474822998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803357720375061, -1.6967264413833618, -1.7563358545303345, -1.188283920288086, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.7846315503120422, -0.4575871229171753, 1.3375561237335205, -1.8980993032455444, 1.2382200956344604, 0.9773505926132202, 0.8119826316833496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832135200500488, -0.48033568263053894, -1.69672691822052, -1.7563351392745972, -1.1882842779159546, 0.4493255019187927, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.8581514358520508, -0.4368021786212921, 1.3935441970825195, -1.9365373849868774, 1.2515227794647217, 0.9774104952812195, 0.8197812438011169, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832128047943115, -0.48033571243286133, -1.696726679801941, -1.756334900856018, -1.1882842779159546, 0.4493256211280823, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.9346450567245483, -0.41562214493751526, 1.4558688402175903, -1.9690378904342651, 1.275289535522461, 0.977416455745697, 0.8218579888343811, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803358316421509, -1.6967264413833618, -1.7563351392745972, -1.1882843971252441, 0.4493258595466614, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.015366792678833, -0.39598414301872253, 1.5170142650604248, -2.00887393951416, 1.3028156757354736, 0.9774179458618164, 0.814264178276062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31680023670196533, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033562302589417, -1.69672691822052, -1.756334662437439, -1.1882845163345337, 0.4493255019187927, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.0993537902832031, -0.3778010904788971, 1.5802762508392334, -2.0438358783721924, 1.3248695135116577, 0.9774175882339478, 0.8054421544075012, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832125663757324, -0.48033586144447327, -1.696725845336914, -1.7563350200653076, -1.188283920288086, 0.4493260979652405, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.1886368989944458, -0.36083653569221497, 1.6452454328536987, -2.075824499130249, 1.340427041053772, 0.9774168729782104, 0.7974595427513123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033517599105835, -1.6967270374298096, -1.756334900856018, -1.1882842779159546, 0.44932621717453003, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.2805181741714478, -0.3469727635383606, 1.716809868812561, -2.0960896015167236, 1.3577399253845215, 0.977416455745697, 0.790372908115387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832136392593384, -0.48033568263053894, -1.6967262029647827, -1.7563352584838867, -1.1882840394973755, 0.4493258595466614, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.3724968433380127, -0.3380216658115387, 1.7937253713607788, -2.119959592819214, 1.3766084909439087, 0.9774156212806702, 0.7765865325927734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832125663757324, -0.48033472895622253, -1.6967270374298096, -1.7563347816467285, -1.1882848739624023, 0.4493256211280823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.4630637168884277, -0.3345840871334076, 1.8737901449203491, -2.1399412155151367, 1.3982467651367188, 0.9774153828620911, 0.7593534588813782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832135200500488, -0.4803352355957031, -1.6967263221740723, -1.7563351392745972, -1.188283920288086, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5465587377548218, -0.33707714080810547, 1.956860899925232, -2.1616110801696777, 1.4164831638336182, 0.9774146676063538, 0.7367781400680542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31680023670196533, -0.45965874195098877, 0.11263389885425568, 1.0108293294906616, 1.3832124471664429, -0.4803355634212494, -1.696726679801941, -1.7563365697860718, -1.1882846355438232, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.588391661643982, -0.34093621373176575, 2.0076041221618652, -2.171701192855835, 1.4286631345748901, 0.9774135947227478, 0.7259396314620972, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.48033568263053894, -1.6967263221740723, -1.756334900856018, -1.1882843971252441, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.590815544128418, -0.3413028419017792, 2.0107524394989014, -2.172471284866333, 1.4296131134033203, 0.9774128794670105, 0.7250296473503113, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033517599105835, -1.69672691822052, -1.7563351392745972, -1.1882840394973755, 0.4493253827095032, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591033697128296, -0.3413364887237549, 2.0110208988189697, -2.1725521087646484, 1.4297075271606445, 0.9774114489555359, 0.7249480485916138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832134008407593, -0.4803354740142822, -1.6967265605926514, -1.7563352584838867, -1.1882845163345337, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910532474517822, -0.3413389027118683, 2.0110535621643066, -2.1725645065307617, 1.429718017578125, 0.9774101376533508, 0.7249383330345154, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.48033496737480164, -1.6967265605926514, -1.756334900856018, -1.1882847547531128, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591054916381836, -0.3413390517234802, 2.0110530853271484, -2.1725659370422363, 1.429718017578125, 0.977408230304718, 0.7249377369880676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.4803354740142822, -1.6967263221740723, -1.7563351392745972, -1.1882842779159546, 0.4493256211280823, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910545587539673, -0.34133872389793396, 2.0110526084899902, -2.172565221786499, 1.4297175407409668, 0.977405846118927, 0.7249384522438049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832132816314697, -0.48033538460731506, -1.6967265605926514, -1.7563350200653076, -1.1882845163345337, 0.4493257403373718, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910542011260986, -0.34133827686309814, 2.011052131652832, -2.172565221786499, 1.4297170639038086, 0.9774045944213867, 0.7249389290809631, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033538460731506, -1.6967264413833618, -1.7563353776931763, -1.1882846355438232, 0.4493257403373718, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910534858703613, -0.3413379490375519, 2.0110514163970947, -2.172564744949341, 1.4297165870666504, 0.9774031639099121, 0.7249391674995422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.4803353250026703, -1.6967260837554932, -1.756334900856018, -1.1882845163345337, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910528898239136, -0.3413376808166504, 2.0110509395599365, -2.1725637912750244, 1.4297150373458862, 0.977401852607727, 0.7249400019645691, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.383212924003601, -0.480335533618927, -1.6967264413833618, -1.7563353776931763, -1.1882845163345337, 0.4493258595466614, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910522937774658, -0.3413373827934265, 2.01104998588562, -2.1725635528564453, 1.4297139644622803, 0.9774010181427002, 0.724940836429596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033538460731506, -1.6967263221740723, -1.7563351392745972, -1.188284158706665, 0.4493255019187927, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591051459312439, -0.34133729338645935, 2.0110490322113037, -2.172562599182129, 1.4297128915786743, 0.9774004220962524, 0.7249413728713989, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832131624221802, -0.4803355634212494, -1.6967264413833618, -1.7563352584838867, -1.188284158706665, 0.4493257403373718, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910508632659912, -0.34133708477020264, 2.0110485553741455, -2.1725621223449707, 1.4297120571136475, 0.9774000644683838, 0.7249422073364258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.31689608097076416, -0.45956286787986755, 0.11253803968429565, 1.0108293294906616, 1.3832130432128906, -0.48033541440963745, -1.69672691822052, -1.7563351392745972, -1.1882843971252441, 0.4493260979652405, -1.3707469701766968, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910508632659912, -0.34133684635162354, 2.0110480785369873, -2.1725614070892334, 1.4297109842300415, 0.9773993492126465, 0.7249431610107422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.31689608097076416, -0.45956286787986755, 0.11263389885425568, 1.010349988937378, 1.3832131624221802, -0.48033538460731506, -1.69672691822052, -1.7563353776931763, -1.1882842779159546, 0.4493263363838196, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910505056381226, -0.3413366973400116, 2.011047124862671, -2.172560930252075, 1.4297102689743042, 0.9773993492126465, 0.7249432802200317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.050683073699474335, 0.31689608097076416, -0.4593711495399475, 0.11378420144319534, 1.0075701475143433, 1.3832132816314697, -0.48033538460731506, -1.6967265605926514, -1.7563350200653076, -1.188284158706665, 0.4493260979652405, -1.3707468509674072, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.341336727142334, 2.0110464096069336, -2.172560453414917, 1.42970871925354, 0.9773987531661987, 0.7249441146850586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05212095379829407, 0.31632092595100403, -0.4588918685913086, 0.11579723656177521, 1.001722812652588, 1.3832134008407593, -0.4803353250026703, -1.6967265605926514, -1.7563350200653076, -1.1882842779159546, 0.4493259787559509, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050386428833, -0.3413369357585907, 2.0110461711883545, -2.1725597381591797, 1.42970871925354, 0.977398157119751, 0.7249448299407959, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05394226685166359, 0.31507477164268494, -0.4586043059825897, 0.11867299675941467, 0.9905073046684265, 1.3832132816314697, -0.480335533618927, -1.6967265605926514, -1.7563350200653076, -1.1882843971252441, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133633971214294, 2.011046886444092, -2.172559976577759, 1.4297088384628296, 0.9773985147476196, 0.7249466180801392, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05518842861056328, 0.31478720903396606, -0.45745399594306946, 0.12126117944717407, 0.9774705171585083, 1.3832130432128906, -0.4803351163864136, -1.69672691822052, -1.7563352584838867, -1.1882843971252441, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910494327545166, -0.34133610129356384, 2.0110461711883545, -2.1725594997406006, 1.4297089576721191, 0.9773983955383301, 0.7249481678009033, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05624287575483322, 0.3149789273738861, -0.45515337586402893, 0.1239452213048935, 0.9618455767631531, 1.3832131624221802, -0.4803352653980255, -1.696726679801941, -1.7563356161117554, -1.1882840394973755, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.3413364291191101, 2.0110461711883545, -2.172558307647705, 1.42970871925354, 0.9773985147476196, 0.7249486446380615, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05825590714812279, 0.314595490694046, -0.4529486298561096, 0.1261499673128128, 0.9434407353401184, 1.3832130432128906, -0.4803353250026703, -1.69672691822052, -1.7563362121582031, -1.188284158706665, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133678674697876, 2.0110461711883545, -2.1725573539733887, 1.4297081232070923, 0.977398157119751, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06141924113035202, 0.31373274326324463, -0.4511273205280304, 0.12816299498081207, 0.9216808080673218, 1.3832132816314697, -0.48033538460731506, -1.6967270374298096, -1.7563352584838867, -1.1882842779159546, 0.4493258595466614, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.34133589267730713, 2.0110466480255127, -2.1725573539733887, 1.4297080039978027, 0.9773983955383301, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06448671966791153, 0.31306174397468567, -0.44930601119995117, 0.13113461434841156, 0.8944569826126099, 1.3832135200500488, -0.48033472895622253, -1.69672691822052, -1.7563354969024658, -1.188284158706665, 0.4493259787559509, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591049313545227, -0.34133583307266235, 2.011047124862671, -2.1725575923919678, 1.4297081232070923, 0.9773980379104614, 0.7249505519866943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06669146567583084, 0.31258246302604675, -0.44825154542922974, 0.13506482541561127, 0.8619608879089355, 1.3832138776779175, -0.4803351163864136, -1.6967265605926514, -1.756335735321045, -1.188284158706665, 0.4493257403373718, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413363993167877, 2.011046886444092, -2.1725571155548096, 1.429708480834961, 0.9773982763290405, 0.724950909614563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06880035996437073, 0.31124043464660645, -0.44882670044898987, 0.13803644478321075, 0.8213168382644653, 1.383213996887207, -0.48033496737480164, -1.6967264413833618, -1.756335973739624, -1.1882846355438232, 0.44932621717453003, -1.3707473278045654, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.011046886444092, -2.1725568771362305, 1.4297080039978027, 0.9773983955383301, 0.7249512672424316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0699506625533104, 0.309323251247406, -0.4517024755477905, 0.14052876830101013, 0.7725247740745544, 1.3832138776779175, -0.4803350269794464, -1.696726679801941, -1.756335735321045, -1.188283920288086, 0.4493259787559509, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.341335654258728, 2.011047124862671, -2.1725568771362305, 1.4297081232070923, 0.9773988723754883, 0.7249515056610107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0699506625533104, 0.3072143793106079, -0.4559202492237091, 0.1437879502773285, 0.7175018787384033, 1.3832132816314697, -0.4803351163864136, -1.696726679801941, -1.7563362121582031, -1.188284158706665, 0.4493253827095032, -1.3707475662231445, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413362503051758, 2.0110480785369873, -2.1725571155548096, 1.4297086000442505, 0.9773982763290405, 0.7249517440795898, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06918378919363022, 0.30472204089164734, -0.461480051279068, 0.1455134153366089, 0.6588364243507385, 1.383212924003601, -0.48033517599105835, -1.696726679801941, -1.7563380002975464, -1.188284993171692, 0.4493258595466614, -1.3707481622695923, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413357436656952, 2.0110483169555664, -2.1725566387176514, 1.4297086000442505, 0.9773986339569092, 0.7249513864517212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06688318401575089, 0.3009835481643677, -0.4689570367336273, 0.14417138695716858, 0.5939401388168335, 1.3832128047943115, -0.4803343713283539, -1.6967270374298096, -1.7563380002975464, -1.1882851123809814, 0.4493253827095032, -1.3707480430603027, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.341336727142334, 2.0110480785369873, -2.1725564002990723, 1.4297082424163818, 0.977398157119751, 0.7249513864517212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06276126205921173, 0.2964782118797302, -0.47892633080482483, 0.13813230395317078, 0.5214709639549255, 1.3832132816314697, -0.48033493757247925, -1.6967270374298096, -1.7563387155532837, -1.1882853507995605, 0.4493255019187927, -1.3707481622695923, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133610129356384, 2.0110485553741455, -2.172556161880493, 1.4297088384628296, 0.9773985147476196, 0.724952220916748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.057297319173812866, 0.2928355634212494, -0.4899500608444214, 0.12682098150253296, 0.44171661138534546, 1.3832134008407593, -0.4803352355957031, -1.6967270374298096, -1.7563382387161255, -1.188284993171692, 0.4493258595466614, -1.3707480430603027, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413352370262146, 2.011049270629883, -2.172556161880493, 1.4297083616256714, 0.9773985147476196, 0.724951982498169, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05317539721727371, 0.29226040840148926, -0.49924835562705994, 0.11301733553409576, 0.355827271938324, 1.3832124471664429, -0.4803354740142822, -1.6967265605926514, -1.7563388347625732, -1.1882845163345337, 0.4493258595466614, -1.370747447013855, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910507440567017, -0.3413386940956116, 2.011047840118408, -2.1725544929504395, 1.4297081232070923, 0.9773983955383301, 0.7249512672424316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05144994333386421, 0.29360243678092957, -0.5065336227416992, 0.09835096448659897, 0.26677459478378296, 1.3832149505615234, -0.48033952713012695, -1.6967248916625977, -1.756335735321045, -1.188284158706665, 0.4493260979652405, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910494327545166, -0.3413318395614624, 2.011049747467041, -2.1725547313690186, 1.429707646369934, 0.9773986339569092, 0.7249513864517212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05087479203939438, 0.29705336689949036, -0.5119016766548157, 0.08502661436796188, 0.18040595948696136, 1.3832128047943115, -0.4803376793861389, -1.6967254877090454, -1.756337285041809, -1.1882840394973755, 0.4493259787559509, -1.370747685432434, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413363993167877, 2.011050224304199, -2.1725547313690186, 1.4297091960906982, 0.9773983955383301, 0.7249516248703003, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3010794222354889, -0.5156401991844177, 0.07563246786594391, 0.10007641464471817, 1.3832122087478638, -0.4803382158279419, -1.6967248916625977, -1.7563387155532837, -1.1882836818695068, 0.4493255019187927, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.34133657813072205, 2.011049509048462, -2.172553777694702, 1.4297081232070923, 0.9773986339569092, 0.7249507904052734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049820344895124435, 0.30472204089164734, -0.5183241963386536, 0.06901822239160538, 0.02751142904162407, 1.3832143545150757, -0.48034021258354187, -1.6967226266860962, -1.7563365697860718, -1.1882832050323486, 0.4493258595466614, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.3413359522819519, 2.011049270629883, -2.1725542545318604, 1.4297081232070923, 0.9773991107940674, 0.7249510288238525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.30702266097068787, -0.5198579430580139, 0.0656631663441658, -0.038631029427051544, 1.3832130432128906, -0.48033806681632996, -1.6967229843139648, -1.7563380002975464, -1.188283920288086, 0.44932621717453003, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133559465408325, 2.0110490322113037, -2.1725542545318604, 1.4297081232070923, 0.9773986339569092, 0.724950909614563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.308460533618927, -0.5205289721488953, 0.063937708735466, -0.09710480272769928, 1.3832125663757324, -0.4803372323513031, -1.696723222732544, -1.7563380002975464, -1.1882848739624023, 0.4493257403373718, -1.3707472085952759, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133633971214294, 2.0110483169555664, -2.172553777694702, 1.4297080039978027, 0.9773986339569092, 0.7249510288238525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.30989840626716614, -0.5196662545204163, 0.06384184956550598, -0.1490601897239685, 1.3832124471664429, -0.48033657670021057, -1.696723222732544, -1.7563385963439941, -1.1882829666137695, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413368761539459, 2.0110483169555664, -2.1725544929504395, 1.4297083616256714, 0.9773986339569092, 0.7249505519866943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05135408416390419, 0.3113362789154053, -0.5162153244018555, 0.06384184956550598, -0.19708536565303802, 1.3832120895385742, -0.4803380072116852, -1.696723461151123, -1.7563377618789673, -1.18828284740448, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.01104736328125, -2.1725540161132812, 1.4297062158584595, 0.9773992300033569, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05413398519158363, 0.3126783072948456, -0.5111348032951355, 0.06374599784612656, -0.24070103466510773, 1.383212685585022, -0.48033708333969116, -1.6967236995697021, -1.7563380002975464, -1.1882835626602173, 0.4493263363838196, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413366377353668, 2.011047601699829, -2.1725542545318604, 1.4297059774398804, 0.9773991107940674, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.057680755853652954, 0.3148830533027649, -0.5048081278800964, 0.06297912448644638, -0.2785651981830597, 1.3832125663757324, -0.48033732175827026, -1.6967238187789917, -1.7563382387161255, -1.1882838010787964, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133633971214294, 2.01104736328125, -2.1725547313690186, 1.4297066926956177, 0.9773991107940674, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06084408983588219, 0.31766295433044434, -0.4973311722278595, 0.06297912448644638, -0.306651771068573, 1.383212685585022, -0.4803379774093628, -1.6967233419418335, -1.756339192390442, -1.1882836818695068, 0.4493257403373718, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413366377353668, 2.0110483169555664, -2.1725542545318604, 1.4297064542770386, 0.9773988723754883, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.061706818640232086, 0.3196759819984436, -0.4929216802120209, 0.06297912448644638, -0.3213181495666504, 1.3832131624221802, -0.48033761978149414, -1.6967235803604126, -1.7563368082046509, -1.1882836818695068, 0.4493259787559509, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413363993167877, 2.0110466480255127, -2.1725544929504395, 1.4297068119049072, 0.977399468421936, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.062473684549331665, 0.32034701108932495, -0.4911962151527405, 0.06297912448644638, -0.3287951350212097, 1.3832131624221802, -0.48033756017684937, -1.696723461151123, -1.7563365697860718, -1.1882835626602173, 0.4493259787559509, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413366377353668, 2.0110464096069336, -2.1725549697875977, 1.4297068119049072, 0.9773992300033569, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06343227624893188, 0.320538729429245, -0.49071693420410156, 0.0630749836564064, -0.3327253460884094, 1.3832130432128906, -0.4803364872932434, -1.69672429561615, -1.7563369274139404, -1.1882838010787964, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133657813072205, 2.0110461711883545, -2.1725549697875977, 1.4297069311141968, 0.9773992300033569, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06352812796831131, 0.3209221661090851, -0.4900459349155426, 0.0630749836564064, -0.33675140142440796, 1.3832130432128906, -0.4803350269794464, -1.6967259645462036, -1.7563368082046509, -1.188284158706665, 0.4493258595466614, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133633971214294, 2.0110464096069336, -2.1725552082061768, 1.4297069311141968, 0.9773995876312256, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.062473684549331665, 0.3218807280063629, -0.4892790615558624, 0.06211639940738678, -0.3506509065628052, 1.3832134008407593, -0.48033472895622253, -1.6967265605926514, -1.756335735321045, -1.1882838010787964, 0.4493258595466614, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413371443748474, 2.011042833328247, -2.1725549697875977, 1.4297068119049072, 0.9773991107940674, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.061994392424821854, 0.32197660207748413, -0.48889562487602234, 0.05646073818206787, -0.3793126344680786, 1.3832134008407593, -0.4803350865840912, -1.6967264413833618, -1.7563340663909912, -1.1882833242416382, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.3413366377353668, 2.011042833328247, -2.1725552082061768, 1.4297066926956177, 0.977399468421936, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0621861107647419, 0.32120972871780396, -0.4892790615558624, 0.048696186393499374, -0.4182312488555908, 1.3832132816314697, -0.48033541440963745, -1.6967262029647827, -1.7563344240188599, -1.1882838010787964, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050624847412, -0.341336190700531, 2.011044502258301, -2.172555923461914, 1.4297077655792236, 0.977399468421936, 0.7249488830566406, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06189853325486183, 0.31996357440948486, -0.49110037088394165, 0.041315071284770966, -0.45973801612854004, 1.3832132816314697, -0.4803354740142822, -1.6967262029647827, -1.7563343048095703, -1.1882836818695068, 0.4493258595466614, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910509824752808, -0.34133708477020264, 2.0110461711883545, -2.1725566387176514, 1.4297086000442505, 0.9773992300033569, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.060748230665922165, 0.3184298276901245, -0.49320927262306213, 0.03441325202584267, -0.4993276596069336, 1.3832132816314697, -0.4803359806537628, -1.6967259645462036, -1.7563352584838867, -1.1882838010787964, 0.4493257403373718, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050386428833, -0.34133654832839966, 2.0110485553741455, -2.1725568771362305, 1.429710030555725, 0.9773995876312256, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05892691761255264, 0.3165126442909241, -0.49589329957962036, 0.03009961172938347, -0.5350829362869263, 1.3832128047943115, -0.48033592104911804, -1.696725845336914, -1.7563353776931763, -1.1882840394973755, 0.4493256211280823, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050624847412, -0.341336727142334, 2.011047840118408, -2.1725568771362305, 1.4297093152999878, 0.9773991107940674, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05691388621926308, 0.3144996166229248, -0.49848148226737976, 0.02712799422442913, -0.5645115375518799, 1.3832131624221802, -0.48033615946769714, -1.6967259645462036, -1.7563350200653076, -1.1882840394973755, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413364887237549, 2.011047840118408, -2.1725568771362305, 1.4297089576721191, 0.9773993492126465, 0.7249487638473511, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05480499565601349, 0.31258246302604675, -0.5010696649551392, 0.024348093196749687, -0.5887637734413147, 1.3832128047943115, -0.48033592104911804, -1.6967259645462036, -1.7563358545303345, -1.1882842779159546, 0.4493256211280823, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910505056381226, -0.3413366973400116, 2.0110480785369873, -2.1725568771362305, 1.4297089576721191, 0.977399468421936, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05231267213821411, 0.31076112389564514, -0.5028910040855408, 0.019075868651270866, -0.6068810224533081, 1.3832123279571533, -0.48033562302589417, -1.6967259645462036, -1.7563358545303345, -1.1882836818695068, 0.4493255019187927, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050624847412, -0.3413371443748474, 2.0110466480255127, -2.1725568771362305, 1.4297090768814087, 0.9773991107940674, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05077893286943436, 0.30989840626716614, -0.5032744407653809, 0.011311319656670094, -0.6226977109909058, 1.3832130432128906, -0.48033541440963745, -1.6967263221740723, -1.7563352584838867, -1.1882836818695068, 0.4493258595466614, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.3413364887237549, 2.011046886444092, -2.1725568771362305, 1.4297091960906982, 0.977399468421936, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05049135535955429, 0.3097066879272461, -0.5028910040855408, 0.004217780195176601, -0.6393771171569824, 1.3832130432128906, -0.4803354740142822, -1.6967265605926514, -1.756334900856018, -1.1882840394973755, 0.4493252635002136, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.34133628010749817, 2.011047124862671, -2.1725571155548096, 1.4297093152999878, 0.977399468421936, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05049135535955429, 0.30961084365844727, -0.500302791595459, -0.0022047485690563917, -0.6583571434020996, 1.3832131624221802, -0.48033466935157776, -1.696726679801941, -1.756335735321045, -1.1882843971252441, 0.4493259787559509, -1.3707470893859863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133657813072205, 2.011046886444092, -2.1725575923919678, 1.4297091960906982, 0.9773993492126465, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.3102818429470062, -0.49627673625946045, -0.007285256404429674, -0.6803087592124939, 1.3832130432128906, -0.4803348779678345, -1.6967265605926514, -1.7563353776931763, -1.188283920288086, 0.4493259787559509, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.34133610129356384, 2.01104736328125, -2.172557830810547, 1.4297094345092773, 0.9773997068405151, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.3109528422355652, -0.4917713701725006, -0.011023743078112602, -0.7030272483825684, 1.3832135200500488, -0.4803353250026703, -1.6967264413833618, -1.7563344240188599, -1.1882840394973755, 0.4493260979652405, -1.3707466125488281, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910495519638062, -0.3413359522819519, 2.0110466480255127, -2.172558307647705, 1.4297090768814087, 0.9773995876312256, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.31124043464660645, -0.486499160528183, -0.012845057062804699, -0.7252664566040039, 1.3832131624221802, -0.4803354740142822, -1.6967260837554932, -1.7563343048095703, -1.188283920288086, 0.4493259787559509, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133610129356384, 2.0110464096069336, -2.172558069229126, 1.4297088384628296, 0.9773989915847778, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.051545802503824234, 0.31171971559524536, -0.4799807667732239, -0.012940916232764721, -0.7426168918609619, 1.3832128047943115, -0.4803355634212494, -1.6967260837554932, -1.756334662437439, -1.1882840394973755, 0.44932621717453003, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133633971214294, 2.011047124862671, -2.172558069229126, 1.4297089576721191, 0.9773997068405151, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05346297472715378, 0.31258246302604675, -0.47259965538978577, -0.011886470951139927, -0.7505731582641602, 1.3832130432128906, -0.4803358316421509, -1.6967263221740723, -1.7563345432281494, -1.1882840394973755, 0.4493257403373718, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413366377353668, 2.011047124862671, -2.172558546066284, 1.4297086000442505, 0.9773997068405151, 0.7249490022659302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05576357990503311, 0.31306174397468567, -0.46512266993522644, -0.010448591783642769, -0.7509565949440002, 1.3832130432128906, -0.4803360104560852, -1.6967262029647827, -1.7563344240188599, -1.1882834434509277, 0.4493256211280823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413368761539459, 2.0110461711883545, -2.172558307647705, 1.4297088384628296, 0.9773995876312256, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0587351992726326, 0.3132534623146057, -0.45697468519210815, -0.0102568743750453, -0.7465471029281616, 1.3832130432128906, -0.4803357720375061, -1.6967260837554932, -1.7563343048095703, -1.1882838010787964, 0.44932621717453003, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413369357585907, 2.0110464096069336, -2.172558069229126, 1.429708480834961, 0.9773995876312256, 0.7249487638473511, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.062090251594781876, 0.3131576180458069, -0.44930601119995117, -0.011119602248072624, -0.7382073998451233, 1.383212685585022, -0.4803353250026703, -1.6967264413833618, -1.7563341856002808, -1.1882836818695068, 0.4493258595466614, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413368761539459, 2.0110461711883545, -2.172557830810547, 1.429708480834961, 0.977399468421936, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06506186723709106, 0.3131576180458069, -0.44144558906555176, -0.013228491879999638, -0.7306345701217651, 1.3832130432128906, -0.48033538460731506, -1.6967267990112305, -1.7563345432281494, -1.1882838010787964, 0.44932621717453003, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133684635162354, 2.0110459327697754, -2.172558307647705, 1.4297083616256714, 0.9773998260498047, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06851278245449066, 0.31306174397468567, -0.4321472942829132, -0.016775261610746384, -0.7235410213470459, 1.3832130432128906, -0.4803352355957031, -1.6967265605926514, -1.7563340663909912, -1.188284158706665, 0.4493260979652405, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.341336727142334, 2.0110464096069336, -2.172557830810547, 1.42970871925354, 0.9773997068405151, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07205954939126968, 0.3128700256347656, -0.42332831025123596, -0.020897183567285538, -0.7187480926513672, 1.3832134008407593, -0.48033517599105835, -1.6967264413833618, -1.7563339471817017, -1.188284158706665, 0.4493258595466614, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.3413364887237549, 2.0110461711883545, -2.172558069229126, 1.4297083616256714, 0.9773997068405151, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07551046460866928, 0.3126783072948456, -0.4136465787887573, -0.024827387183904648, -0.7160640358924866, 1.3832132816314697, -0.4803352653980255, -1.6967267990112305, -1.7563343048095703, -1.188283920288086, 0.4493257403373718, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.34133654832839966, 2.0110464096069336, -2.172557830810547, 1.4297086000442505, 0.977399468421936, 0.7249490022659302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07876965403556824, 0.3126783072948456, -0.4041565954685211, -0.02799072302877903, -0.7141468524932861, 1.383213758468628, -0.48033517599105835, -1.6967267990112305, -1.756333589553833, -1.188283920288086, 0.44932621717453003, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.0110464096069336, -2.172558307647705, 1.4297086000442505, 0.9773995876312256, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08241228014230728, 0.3122948706150055, -0.39514586329460144, -0.030003754422068596, -0.7131882905960083, 1.3832136392593384, -0.4803354740142822, -1.6967267990112305, -1.7563329935073853, -1.1882840394973755, 0.4493256211280823, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133657813072205, 2.0110464096069336, -2.172558546066284, 1.4297086000442505, 0.9773998260498047, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08490461111068726, 0.3120073080062866, -0.38958606123924255, -0.031154057011008263, -0.7128048539161682, 1.3832135200500488, -0.48033541440963745, -1.6967264413833618, -1.7563329935073853, -1.1882838010787964, 0.4493258595466614, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133633971214294, 2.011046886444092, -2.172558307647705, 1.4297083616256714, 0.9773995876312256, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08576733618974686, 0.3118155896663666, -0.3867103159427643, -0.031729210168123245, -0.7123255133628845, 1.3832134008407593, -0.4803353250026703, -1.6967265605926514, -1.7563337087631226, -1.1882838010787964, 0.4493258595466614, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.341336727142334, 2.0110464096069336, -2.172558546066284, 1.42970871925354, 0.9773995876312256, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08615077286958694, 0.3118155896663666, -0.3849848508834839, -0.032112643122673035, -0.7122296690940857, 1.3832134008407593, -0.4803352653980255, -1.6967264413833618, -1.756333351135254, -1.1882835626602173, 0.4493258595466614, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413363993167877, 2.0110459327697754, -2.1725587844848633, 1.4297082424163818, 0.977399468421936, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08643834292888641, 0.31171971559524536, -0.38440969586372375, -0.03230436146259308, -0.7122296690940857, 1.3832131624221802, -0.4803353250026703, -1.6967265605926514, -1.756333827972412, -1.188283920288086, 0.4493258595466614, -1.37074613571167, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133628010749817, 2.0110466480255127, -2.172558307647705, 1.4297083616256714, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7123255133628845, 1.3832134008407593, -0.4803352355957031, -1.6967263221740723, -1.7563339471817017, -1.188284158706665, 0.4493257403373718, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413364291191101, 2.0110466480255127, -2.172558546066284, 1.429708480834961, 0.9773995876312256, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7122296690940857, 1.3832130432128906, -0.48033541440963745, -1.6967265605926514, -1.756333589553833, -1.1882840394973755, 0.4493258595466614, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133628010749817, 2.0110466480255127, -2.172558546066284, 1.4297086000442505, 0.9773998260498047, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832131624221802, -0.48033541440963745, -1.6967265605926514, -1.7563340663909912, -1.1882840394973755, 0.44932621717453003, -1.3707460165023804, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413366973400116, 2.011046886444092, -2.172558546066284, 1.42970871925354, 0.9773997068405151, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832130432128906, -0.48033538460731506, -1.696726679801941, -1.7563341856002808, -1.188284158706665, 0.4493258595466614, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413363993167877, 2.011047124862671, -2.172558069229126, 1.4297088384628296, 0.9773999452590942, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832131624221802, -0.48033562302589417, -1.696726679801941, -1.7563343048095703, -1.188283920288086, 0.4493258595466614, -1.370746374130249, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133633971214294, 2.0110464096069336, -2.172558069229126, 1.42970871925354, 0.9774000644683838, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832131624221802, -0.48033538460731506, -1.6967270374298096, -1.7563345432281494, -1.1882843971252441, 0.4493259787559509, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413364887237549, 2.0110466480255127, -2.172558069229126, 1.42970871925354, 0.9773995876312256, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832130432128906, -0.48033538460731506, -1.6967267990112305, -1.7563343048095703, -1.1882838010787964, 0.4493257403373718, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.0110466480255127, -2.172558546066284, 1.4297086000442505, 0.9773997068405151, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832131624221802, -0.4803352653980255, -1.69672691822052, -1.756334662437439, -1.188284158706665, 0.4493258595466614, -1.3707464933395386, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413366377353668, 2.0110466480255127, -2.172558307647705, 1.4297086000442505, 0.977399468421936, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832130432128906, -0.48033568263053894, -1.696726679801941, -1.756334662437439, -1.188284158706665, 0.44932621717453003, -1.3707462549209595, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413364291191101, 2.011046886444092, -2.172558307647705, 1.42970871925354, 0.9773993492126465, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.3832134008407593, -0.4803352653980255, -1.696726679801941, -1.7563350200653076, -1.188283920288086, 0.4493260979652405, -1.3707467317581177, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133654832839966, 2.011046886444092, -2.172557830810547, 1.42970871925354, 0.9773999452590942, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.712037980556488, 1.3799569606781006, -0.48262694478034973, -1.6949831247329712, -1.7601242065429688, -1.1964722871780396, 0.44120511412620544, -1.3622795343399048, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413363993167877, 2.011047124862671, -2.172558069229126, 1.4297088384628296, 0.9773998260498047, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.712037980556488, 1.3556164503097534, -0.49260032176971436, -1.6768488883972168, -1.777483582496643, -1.2448070049285889, 0.39726781845092773, -1.3160533905029297, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.3413364887237549, 2.0110466480255127, -2.172558069229126, 1.4297089576721191, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.712037980556488, 1.2993966341018677, -0.5038419961929321, -1.64457368850708, -1.784238338470459, -1.3140443563461304, 0.3695002496242523, -1.2669180631637573, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.341336190700531, 2.011046886444092, -2.172558546066284, 1.4297091960906982, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.712037980556488, 1.2171196937561035, -0.5130793452262878, -1.59670090675354, -1.7925926446914673, -1.3302761316299438, 0.35943159461021423, -1.2244311571121216, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.3413359820842743, 2.011047124862671, -2.1725587844848633, 1.4297093152999878, 0.9773997068405151, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.712037980556488, 1.1126846075057983, -0.5238081812858582, -1.5359327793121338, -1.796665072441101, -1.3210188150405884, 0.3538614511489868, -1.1921157836914062, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910505056381226, -0.34133657813072205, 2.0110411643981934, -2.172560930252075, 1.4297096729278564, 0.9774001836776733, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.9957888126373291, -0.5394531488418579, -1.4643479585647583, -1.7885596752166748, -1.3249582052230835, 0.3475986123085022, -1.1529502868652344, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910505056381226, -0.34133657813072205, 2.0110480785369873, -2.1725597381591797, 1.4297099113464355, 0.9773998260498047, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.8786250948905945, -0.5587586164474487, -1.3854076862335205, -1.771960973739624, -1.3220771551132202, 0.3504762649536133, -1.1044422388076782, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050386428833, -0.34133654832839966, 2.0110483169555664, -2.1725597381591797, 1.4297091960906982, 0.9773998260498047, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.7669981718063354, -0.5808849334716797, -1.3049615621566772, -1.7485593557357788, -1.317678451538086, 0.36585095524787903, -1.0512752532958984, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.341336190700531, 2.011046886444092, -2.1725594997406006, 1.4297093152999878, 0.9773999452590942, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.663944661617279, -0.6058759689331055, -1.2246469259262085, -1.7183966636657715, -1.3061344623565674, 0.37571612000465393, -0.9938473105430603, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133538603782654, 2.0110485553741455, -2.1725594997406006, 1.4297091960906982, 0.9773998260498047, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.5685166716575623, -0.6340863108634949, -1.1481456756591797, -1.6805702447891235, -1.307786226272583, 0.38237059116363525, -0.9325957298278809, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413363993167877, 2.011047601699829, -2.1725594997406006, 1.4297088384628296, 0.9774001836776733, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.4810226559638977, -0.6646325588226318, -1.07453453540802, -1.647125482559204, -1.3131455183029175, 0.3787514865398407, -0.8915127515792847, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413369357585907, 2.011047124862671, -2.1725594997406006, 1.429709553718567, 0.9773999452590942, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7122296690940857, 0.4081040918827057, -0.6948406100273132, -1.0044608116149902, -1.609104037284851, -1.3140039443969727, 0.3782307803630829, -0.8575687408447266, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.3413376808166504, 2.0110483169555664, -2.1725587844848633, 1.4297106266021729, 0.9774000644683838, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.3462888300418854, -0.7235514521598816, -0.9429920315742493, -1.5656439065933228, -1.3123812675476074, 0.38695719838142395, -0.8219179511070251, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050624847412, -0.3413366377353668, 2.0110466480255127, -2.1725575923919678, 1.4297051429748535, 0.9774000644683838, 0.7249488830566406, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.2933065593242645, -0.7512845396995544, -0.8927070498466492, -1.523347020149231, -1.3116167783737183, 0.3831113278865814, -0.7778205275535583, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133589267730713, 2.0110440254211426, -2.1725594997406006, 1.4297094345092773, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.24946416914463043, -0.7763676643371582, -0.8555073142051697, -1.485111117362976, -1.307822346687317, 0.3619305491447449, -0.7248983383178711, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413364887237549, 2.0110466480255127, -2.172558069229126, 1.4297093152999878, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.22046230733394623, -0.7967318296432495, -0.8290955424308777, -1.4627939462661743, -1.3108375072479248, 0.3412613570690155, -0.7138335108757019, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413366377353668, 2.011047124862671, -2.172557830810547, 1.4297089576721191, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.21402856707572937, -0.8020315766334534, -0.8229185938835144, -1.4610998630523682, -1.3137109279632568, 0.32988375425338745, -0.734670877456665, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.3413363993167877, 2.0110466480255127, -2.172558307647705, 1.4297090768814087, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.03230436146259308, -0.7121338248252869, 0.2134018987417221, -0.802509605884552, -0.8224283456802368, -1.4609953165054321, -1.3140194416046143, 0.3292791545391083, -0.7328519821166992, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413364291191101, 2.011046886444092, -2.172558069229126, 1.4297088384628296, 0.9773998260498047, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.21334731578826904, -0.8025318384170532, -0.8224077224731445, -1.4610005617141724, -1.314034104347229, 0.32920342683792114, -0.7327293157577515, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133628010749817, 2.0110461711883545, -2.172558307647705, 1.4297091960906982, 0.9773998260498047, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.21974539756774902, -0.8029943108558655, -0.8270910382270813, -1.4698505401611328, -1.3190643787384033, 0.3218270242214203, -0.7156563401222229, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.34133654832839966, 2.011047601699829, -2.172558307647705, 1.4297094345092773, 0.9773998260498047, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.22435887157917023, -0.8011722564697266, -0.8435396552085876, -1.5002326965332031, -1.3006514310836792, 0.3313053250312805, -0.6334196329116821, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133589267730713, 2.0110466480255127, -2.172558546066284, 1.4297094345092773, 0.9774001836776733, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2261754274368286, -0.7999686598777771, -0.8527097105979919, -1.5478744506835938, -1.2924120426177979, 0.3933185338973999, -0.5199983716011047, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413364887237549, 2.0110464096069336, -2.172558069229126, 1.42970871925354, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, 0.2183690071105957, -0.8027077317237854, -0.8547869324684143, -1.5976587533950806, -1.3060575723648071, 0.4857464134693146, -0.37517574429512024, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133705496788025, 2.0110485553741455, -2.1725575923919678, 1.4297090768814087, 0.9774000644683838, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3836428225040436, -0.03230436146259308, -0.712037980556488, 0.20382340252399445, -0.8095009922981262, -0.8549774885177612, -1.6254628896713257, -1.3087348937988281, 0.5474933385848999, -0.22638991475105286, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910509824752808, -0.34133803844451904, 2.011052131652832, -2.1725552082061768, 1.4297069311141968, 0.9773999452590942, 0.7249486446380615, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.3118155896663666, -0.3834511339664459, -0.03230436146259308, -0.7121338248252869, 0.18872007727622986, -0.8215830326080322, -0.8485012054443359, -1.633947491645813, -1.3457229137420654, 0.5801215767860413, -0.09463462978601456, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910522937774658, -0.341338187456131, 2.011054515838623, -2.172555685043335, 1.429710030555725, 0.9774001836776733, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.3118155896663666, -0.3834511339664459, -0.0324002206325531, -0.712037980556488, 0.16819584369659424, -0.8352739810943604, -0.8328750133514404, -1.6323680877685547, -1.3581410646438599, 0.602533757686615, 0.01742865890264511, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050386428833, -0.3413357436656952, 2.01104736328125, -2.172558546066284, 1.429712176322937, 0.9774000644683838, 0.7249506711959839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999765852255191, 0.00682299377772895, -0.0005251253365076451, -0.09480155259370804], [-0.006823189207476678, 0.9999766528509287, -0.00037127091473400766, -0.05797712877392769], [0.0005225798971870508, 0.0003748452510378994, 0.999999793200623, -0.00019753283413592726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.38354697823524475, -0.0324002206325531, -0.7121338248252869, 0.14788028597831726, -0.8499464392662048, -0.8164490461349487, -1.6210390329360962, -1.3708800077438354, 0.6128121614456177, 0.10400425642728806, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.3413344919681549, 2.0110509395599365, -2.172558307647705, 1.42970871925354, 0.9774000644683838, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999976298614072, 0.006865656284797499, -0.0005147561358140996, -0.09619825333356857], [-0.006865848168689769, 0.9999763606188067, -0.00037193076068224785, -0.05791803449392319], [0.0005121904185329957, 0.0003754561828801515, 0.9999997983467946, -0.00015324837295338511], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.1302754133939743, -0.8649616241455078, -0.8011355996131897, -1.6136465072631836, -1.378373622894287, 0.6033266186714172, 0.17565134167671204, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910508632659912, -0.3413363993167877, 2.011047840118408, -2.1725575923919678, 1.4297089576721191, 0.9773999452590942, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754443986841, 0.006989400844623929, -0.0005087980811584411, -0.09741436690092087], [-0.006989581856793951, 0.9999755096101395, -0.00035485970337686284, -0.05785128474235535], [0.000506305363784568, 0.0003584072754203002, 0.9999998075995332, -0.000154082226799801], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3837386965751648, -0.03230436146259308, -0.7122296690940857, 0.1258392482995987, -0.8738240003585815, -0.7964903116226196, -1.6105257272720337, -1.39517343044281, 0.5792315006256104, 0.17600607872009277, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910505056381226, -0.3413372337818146, 2.011047840118408, -2.1725571155548096, 1.4297080039978027, 0.9774001836776733, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999756879718027, 0.0069587913832939345, -0.0004457441010951984, -0.09839112311601639], [-0.006958915433442888, 0.9999757479909442, -0.00027735526292930085, -0.05791987478733063], [0.00044380323349143836, 0.00028045041536480534, 0.9999998621931178, -0.00013676179514732212], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.12555357813835144, -0.8746419548988342, -0.7960532307624817, -1.6101529598236084, -1.396500825881958, 0.5773801803588867, 0.17547494173049927, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133654832839966, 2.011047840118408, -2.1725575923919678, 1.4297088384628296, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754182408305, 0.0070037949385364385, -0.0003313163669599218, -0.0991540253162384], [-0.007003905716505938, 0.9999754164428963, -0.00033438685737215444, -0.057925671339035034], [0.0003289662450459191, 0.0003366991461514797, 0.9999998892074412, -0.0001222875143866986], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.12555217742919922, -0.8746710419654846, -0.7960072159767151, -1.6101025342941284, -1.3965989351272583, 0.577194094657898, 0.17544737458229065, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.011047840118408, -2.1725575923919678, 1.4297083616256714, 0.9774001836776733, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999749755254137, 0.007067870016103463, -0.00030583718488202857, -0.09978409111499786], [-0.007067977416483308, 0.999974959749455, -0.0003515242748343159, -0.05783453583717346], [0.00030334499876025916, 0.0003536771284399009, 0.9999998914471444, -0.00011738915782188997], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.12554748356342316, -0.8747014999389648, -0.7960088849067688, -1.6101070642471313, -1.396620512008667, 0.5771687626838684, 0.17544066905975342, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413363993167877, 2.01104736328125, -2.1725571155548096, 1.4297081232070923, 0.9774001836776733, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999747807447666, 0.007100836588032107, -0.00012646820119435853, -0.10014078766107559], [-0.00710088230738541, 0.9999747218744012, -0.0003648049763102015, -0.05788271501660347], [0.0001238745837920048, 0.00036569381201270143, 0.9999999254615589, -9.768116433406249e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.12554064393043518, -0.8746938705444336, -0.7960130572319031, -1.610108733177185, -1.3966208696365356, 0.5771648287773132, 0.17544043064117432, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050386428833, -0.34133657813072205, 2.01104736328125, -2.1725573539733887, 1.429708480834961, 0.9773999452590942, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.999975071672407, 0.007060501892153577, -7.312178452026449e-05, -0.10036656260490417], [-0.007060529806136113, 0.9999749985657321, -0.0003887959886353385, -0.057891182601451874], [7.03748615573537e-05, 0.0003893025751406502, 0.9999999217454388, -9.493398829363286e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.12652850151062012, -0.8746358156204224, -0.7960333228111267, -1.6102913618087769, -1.3957159519195557, 0.5760110020637512, 0.17523202300071716, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050386428833, -0.3413364887237549, 2.01104736328125, -2.1725571155548096, 1.4297083616256714, 0.9773998260498047, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999751922198028, 0.007043499419478319, -6.37251617278671e-05, -0.1005389541387558], [-0.00704352340630009, 0.9999751202131933, -0.00038436003234733617, -0.05792367458343506], [6.101633659471996e-05, 0.0003847993468963376, 0.9999999241032318, -9.547842637402937e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.13923941552639008, -0.8739933371543884, -0.7980524301528931, -1.6149710416793823, -1.3696677684783936, 0.5685473084449768, 0.1762768030166626, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413363993167877, 2.011047124862671, -2.172558069229126, 1.42970871925354, 0.9774001836776733, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999754949915867, 0.007000181595195234, 8.290938191969054e-05, -0.10067462176084518], [-0.007000149988285475, 0.9999754281228331, -0.0003755671685385922, -0.05790529400110245], [-8.553638306150546e-05, 0.0003749775871530934, 0.9999999260376654, -8.955301746027544e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7122296690940857, 0.14274495840072632, -0.8762661814689636, -0.8018226623535156, -1.6083358526229858, -1.3546984195709229, 0.5742440223693848, 0.20465388894081116, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133613109588623, 2.011047601699829, -2.1725575923919678, 1.4297083616256714, 0.9773999452590942, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999755926386974, 0.006986338054359638, 7.216284459339715e-05, -0.10078579187393188], [-0.006986308898367454, 0.9999755167685818, -0.000396675414457545, -0.05790410563349724], [-7.493238635702678e-05, 0.00039616158073407, 0.9999999187205664, -8.924774010665715e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7122296690940857, 0.1379418671131134, -0.8822141885757446, -0.8016132712364197, -1.6019270420074463, -1.3482688665390015, 0.5869153141975403, 0.26192471385002136, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.3413362503051758, 2.011046886444092, -2.172558546066284, 1.4297093152999878, 0.9774000644683838, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999745047578803, 0.0071389703702261715, 0.00015791227046044255, -0.10082598030567169], [-0.007138912349163937, 0.9999744510308707, -0.0003649876433080653, -0.057870686054229736], [-0.00016051387193579433, 0.0003638510160020539, 0.9999999209238644, -7.405266660498455e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7122296690940857, 0.128435879945755, -0.891904890537262, -0.7939081788063049, -1.5939263105392456, -1.3566198348999023, 0.6084927916526794, 0.3277876079082489, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910505056381226, -0.3413373529911041, 2.0110442638397217, -2.172560453414917, 1.429711103439331, 0.9774001836776733, 0.7249510288238525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999757956652756, 0.006956050146350985, 0.00014645804963101411, -0.10084713250398636], [-0.0069559957430229205, 0.9999757387792697, -0.00036874934149804645, -0.057999834418296814], [-0.0001490195352908386, 0.00036772165459579077, 0.9999999212869783, -6.0087379097240046e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08653420209884644, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7122296690940857, 0.11200801283121109, -0.9047083854675293, -0.7830653190612793, -1.5851799249649048, -1.3674415349960327, 0.6205102205276489, 0.3922152817249298, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413374423980713, 2.01104474067688, -2.1725587844848633, 1.4297086000442505, 0.977399468421936, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999766824308198, 0.006828776371074266, -4.907061367915556e-05, -0.1008855327963829], [-0.0068287919316615785, 0.9999766309543285, -0.000324262215866996, -0.058019302785396576], [4.6855152787998634e-05, 0.00032458974787111884, 0.9999999462230437, -8.058774983510375e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31162387132644653, -0.38393041491508484, -0.0324002206325531, -0.7122296690940857, 0.09268689155578613, -0.9185737371444702, -0.768469512462616, -1.5740976333618164, -1.368807315826416, 0.6274107098579407, 0.44444540143013, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.34133705496788025, 2.0110442638397217, -2.1725597381591797, 1.4297106266021729, 0.9774001836776733, 0.7249506711959839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7123255133628845, 0.06880118697881699, -0.9337048530578613, -0.7498483061790466, -1.5570467710494995, -1.364259958267212, 0.6416253447532654, 0.4938018321990967, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413372039794922, 2.01104736328125, -2.172558069229126, 1.4297094345092773, 0.9774001836776733, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7122296690940857, 0.040922634303569794, -0.9507412910461426, -0.7300876379013062, -1.5273388624191284, -1.3601605892181396, 0.6595097780227661, 0.5447407960891724, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.34133678674697876, 2.0110456943511963, -2.1725590229034424, 1.4297093152999878, 0.9774000644683838, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7122296690940857, 0.012983559630811214, -0.9698571562767029, -0.71184903383255, -1.4871876239776611, -1.3841959238052368, 0.6857907772064209, 0.5961251854896545, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591049313545227, -0.3413364887237549, 2.01104998588562, -2.1725592613220215, 1.4297109842300415, 0.9774001836776733, 0.7249507904052734, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7122296690940857, -0.010304535739123821, -0.9897587299346924, -0.6950057148933411, -1.44247305393219, -1.437413215637207, 0.7189107537269592, 0.6373628973960876, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910497903823853, -0.3413368761539459, 2.0110490322113037, -2.1725590229034424, 1.4297112226486206, 0.9773999452590942, 0.724950909614563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.032656215131282806, -1.0082722902297974, -0.6823621392250061, -1.3989810943603516, -1.4772225618362427, 0.7303726077079773, 0.6665728688240051, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.34133604168891907, 2.0110459327697754, -2.172558069229126, 1.4297083616256714, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, -0.05158814415335655, -1.0232269763946533, -0.6714224219322205, -1.3657312393188477, -1.4915354251861572, 0.732902467250824, 0.6812438368797302, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413364887237549, 2.01104736328125, -2.172557830810547, 1.4297089576721191, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, -0.0635853037238121, -1.033828616142273, -0.6673154234886169, -1.3412619829177856, -1.4987163543701172, 0.7311708927154541, 0.6813226938247681, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133657813072205, 2.011045455932617, -2.1725575923919678, 1.42970871925354, 0.9773998260498047, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.06704963743686676, -1.0403642654418945, -0.6695029139518738, -1.3282651901245117, -1.5066161155700684, 0.7285797595977783, 0.682064414024353, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.3413362503051758, 2.0110466480255127, -2.172558069229126, 1.4297088384628296, 0.977400541305542, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.06471841037273407, -1.0435309410095215, -0.6756106615066528, -1.3237042427062988, -1.5102002620697021, 0.7282222509384155, 0.6867693066596985, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.34133613109588623, 2.011046886444092, -2.172557830810547, 1.4297088384628296, 0.9773998260498047, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.059384580701589584, -1.0438231229782104, -0.6872138977050781, -1.317106008529663, -1.5135825872421265, 0.7276971340179443, 0.6986852288246155, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910495519638062, -0.34133633971214294, 2.011047124862671, -2.172557830810547, 1.4297089576721191, 0.9773999452590942, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.05303843319416046, -1.0438411235809326, -0.6958833336830139, -1.3168264627456665, -1.513687014579773, 0.7343766689300537, 0.7063788771629333, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413362503051758, 2.0110459327697754, -2.172557830810547, 1.4297083616256714, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.047926612198352814, -1.044535756111145, -0.7042647004127502, -1.313374400138855, -1.512639045715332, 0.7342804074287415, 0.7107506990432739, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133613109588623, 2.011047124862671, -2.172558069229126, 1.4297093152999878, 0.9774003028869629, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.04416925832629204, -1.047029733657837, -0.7109267711639404, -1.3037617206573486, -1.511678695678711, 0.7239919304847717, 0.7129248976707458, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.0110466480255127, -2.1725575923919678, 1.4297088384628296, 0.9774000644683838, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.043966926634311676, -1.05222487449646, -0.7135274410247803, -1.2890797853469849, -1.5151418447494507, 0.7125007510185242, 0.7106979489326477, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133633971214294, 2.0110466480255127, -2.172558069229126, 1.4297091960906982, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.05076422914862633, -1.0598251819610596, -0.7084664106369019, -1.268341302871704, -1.5080208778381348, 0.7050813436508179, 0.7035388350486755, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133633971214294, 2.011047124862671, -2.1725573539733887, 1.4297086000442505, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.0645780935883522, -1.0698624849319458, -0.6989602446556091, -1.2374476194381714, -1.4975254535675049, 0.7019418478012085, 0.6927869319915771, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.3413364291191101, 2.011046886444092, -2.1725573539733887, 1.42970871925354, 0.9773998260498047, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.08393371850252151, -1.0810519456863403, -0.688646137714386, -1.2005705833435059, -1.4819024801254272, 0.6965314149856567, 0.6799551844596863, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133633971214294, 2.011047840118408, -2.172557830810547, 1.4297089576721191, 0.9774001836776733, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.09912727028131485, -1.0917208194732666, -0.6794453859329224, -1.1698402166366577, -1.4694695472717285, 0.6927537322044373, 0.6674093008041382, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910502672195435, -0.34133628010749817, 2.0110466480255127, -2.1725575923919678, 1.4297089576721191, 0.9774003028869629, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.10764510184526443, -1.100725769996643, -0.6716896891593933, -1.1442853212356567, -1.455717921257019, 0.6883180141448975, 0.6619998216629028, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413362503051758, 2.0110466480255127, -2.172558546066284, 1.4297089576721191, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11149868369102478, -1.1087599992752075, -0.6666682958602905, -1.122187614440918, -1.4453846216201782, 0.6816018223762512, 0.6610890626907349, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413362503051758, 2.0110464096069336, -2.172557830810547, 1.4297090768814087, 0.9774003028869629, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11232834309339523, -1.115861177444458, -0.6626655459403992, -1.1050359010696411, -1.4359304904937744, 0.6774114370346069, 0.6562719941139221, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133633971214294, 2.011046886444092, -2.172557830810547, 1.42970871925354, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11268152296543121, -1.1221346855163574, -0.6604412794113159, -1.0905027389526367, -1.4247398376464844, 0.6720331311225891, 0.654576301574707, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910496711730957, -0.34133628010749817, 2.011046886444092, -2.172557830810547, 1.4297090768814087, 0.9774001836776733, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11136095970869064, -1.128007411956787, -0.659906804561615, -1.0773729085922241, -1.4152973890304565, 0.6642699837684631, 0.6531941890716553, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.34133628010749817, 2.01104736328125, -2.172557830810547, 1.4297090768814087, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11049425601959229, -1.1342036724090576, -0.6572973728179932, -1.0681411027908325, -1.4027750492095947, 0.6602362394332886, 0.651119589805603, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.341336190700531, 2.011047124862671, -2.1725575923919678, 1.4297089576721191, 0.9773999452590942, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, -0.11102709919214249, -1.1411174535751343, -0.6534355282783508, -1.0565998554229736, -1.3890718221664429, 0.6577656865119934, 0.6475952863693237, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413363993167877, 2.011046886444092, -2.172557830810547, 1.4297086000442505, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11245626956224442, -1.148117184638977, -0.6490070223808289, -1.0403850078582764, -1.3751002550125122, 0.659968376159668, 0.6463333368301392, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910499095916748, -0.3413363993167877, 2.011047601699829, -2.172558069229126, 1.4297089576721191, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11374672502279282, -1.1556869745254517, -0.6466056108474731, -1.0264748334884644, -1.3667572736740112, 0.6602120399475098, 0.6467069983482361, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.34133633971214294, 2.01104736328125, -2.172557830810547, 1.42970871925354, 0.9774001836776733, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11414260417222977, -1.1629410982131958, -0.6450923681259155, -1.0143907070159912, -1.359856128692627, 0.6602634191513062, 0.6453884840011597, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.591050148010254, -0.3413362503051758, 2.011047124862671, -2.172557830810547, 1.4297090768814087, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.11358608305454254, -1.1691405773162842, -0.6457034349441528, -1.0000241994857788, -1.353871464729309, 0.660729169845581, 0.644973635673523, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133613109588623, 2.01104736328125, -2.172557830810547, 1.4297088384628296, 0.9774000644683838, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.1128002181649208, -1.1741710901260376, -0.6485841870307922, -0.9896752834320068, -1.3483588695526123, 0.6646999716758728, 0.6440386176109314, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.3413364291191101, 2.0110466480255127, -2.172558069229126, 1.4297086000442505, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.11137884110212326, -1.1783225536346436, -0.6524568200111389, -0.9823569655418396, -1.3424428701400757, 0.6690701842308044, 0.6448700428009033, 0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -0.24899999754769458, -0.24899999754769458, 0.24899999754769458, 0.24899999754769458, -1.5910500288009644, -0.34133613109588623, 2.011046886444092, -2.172557830810547, 1.4297088384628296, 0.9774003028869629, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.10981639474630356, -1.1809368133544922, -0.657988965511322, -0.977360188961029, -1.3337254524230957, 0.6743698120117188, 0.6486859321594238, 0.2484000080234402, -0.2484000080234402, 0.2484000080234402, 0.2484000080234402, -0.2484000080234402, -0.2484000080234402, 0.2484000080234402, 0.2484000080234402, -1.591050148010254, -0.3413362503051758, 2.011047124862671, -2.1725573539733887, 1.4297090768814087, 0.9773998260498047, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.10912974923849106, -1.1822501420974731, -0.6663245558738708, -0.9712367057800293, -1.321730613708496, 0.6753833293914795, 0.6555427312850952, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.591050148010254, -0.34133613109588623, 2.0110464096069336, -2.172557830810547, 1.4297090768814087, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.1077364832162857, -1.1833345890045166, -0.6765623688697815, -0.9685166478157043, -1.312617301940918, 0.6687220335006714, 0.6531462669372559, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910499095916748, -0.34133633971214294, 2.011046886444092, -2.172557830810547, 1.42970871925354, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.10473548620939255, -1.185423493385315, -0.6803545355796814, -0.9700544476509094, -1.2982194423675537, 0.6690285801887512, 0.6472636461257935, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910497903823853, -0.3413363993167877, 2.01104736328125, -2.172557830810547, 1.4297089576721191, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.10139123350381851, -1.1879514455795288, -0.6840329766273499, -0.9674032926559448, -1.2872912883758545, 0.6744325160980225, 0.6477792263031006, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910499095916748, -0.34133628010749817, 2.011046886444092, -2.172558069229126, 1.4297089576721191, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.09638682752847672, -1.1908320188522339, -0.6869909167289734, -0.9633005261421204, -1.2774602174758911, 0.6786760091781616, 0.644942581653595, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910499095916748, -0.3413364291191101, 2.011047124862671, -2.172558069229126, 1.4297090768814087, 0.9774001836776733, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.09323402494192123, -1.1934778690338135, -0.6916400790214539, -0.9590699672698975, -1.2677805423736572, 0.6809324026107788, 0.6458990573883057, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910500288009644, -0.34133633971214294, 2.01104736328125, -2.172558307647705, 1.4297089576721191, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.08974286913871765, -1.1960246562957764, -0.6946184039115906, -0.9560597538948059, -1.2538120746612549, 0.6845291256904602, 0.6516159772872925, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910502672195435, -0.34133633971214294, 2.011046886444092, -2.172557830810547, 1.42970871925354, 0.9774001836776733, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.08475098758935928, -1.1985764503479004, -0.7005875110626221, -0.9563829898834229, -1.249866008758545, 0.6901053786277771, 0.6506025791168213, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910500288009644, -0.3413363993167877, 2.011047124862671, -2.172558069229126, 1.42970871925354, 0.9774000644683838, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, -0.08012767881155014, -1.1998250484466553, -0.7095165848731995, -0.9608201384544373, -1.2461109161376953, 0.6944206357002258, 0.6489620804786682, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910502672195435, -0.3413362503051758, 2.0110466480255127, -2.172557830810547, 1.4297086000442505, 0.9773998260498047, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.07626760751008987, -1.1999140977859497, -0.7221623063087463, -0.9691663980484009, -1.2400811910629272, 0.6989947557449341, 0.652653694152832, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910500288009644, -0.34133610129356384, 2.0110466480255127, -2.172558307647705, 1.4297086000442505, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.06970714032649994, -1.1995009183883667, -0.7327325344085693, -0.9768379926681519, -1.234971284866333, 0.7064048647880554, 0.6551702618598938, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910497903823853, -0.34133633971214294, 2.011047124862671, -2.172557830810547, 1.429708480834961, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.06316056102514267, -1.199038028717041, -0.743956446647644, -0.9853675365447998, -1.2332862615585327, 0.7208174467086792, 0.6623154878616333, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910502672195435, -0.34133628010749817, 2.0110464096069336, -2.172558069229126, 1.4297082424163818, 0.9774001836776733, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.054271962493658066, -1.1985785961151123, -0.7558051347732544, -0.9967823028564453, -1.2351055145263672, 0.7332313060760498, 0.6695339679718018, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.591050148010254, -0.3413363993167877, 2.011047124862671, -2.172557830810547, 1.4297086000442505, 0.9773998260498047, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.04660210758447647, -1.1984260082244873, -0.7661653757095337, -1.009278655052185, -1.2321785688400269, 0.7408370971679688, 0.6763826012611389, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.5910497903823853, -0.3413362503051758, 2.011046886444092, -2.172558069229126, 1.4297086000442505, 0.9773998260498047, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, -0.0405513197183609, -1.1986302137374878, -0.778222382068634, -1.0155858993530273, -1.2352635860443115, 0.7470407485961914, 0.6800543069839478, 0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -0.24780001849918573, -0.24780001849918573, 0.24780001849918573, 0.24780001849918573, -1.591050148010254, -0.34133628010749817, 2.011047124862671, -2.172557830810547, 1.4297086000442505, 0.9773997068405151, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.03585610166192055, -1.1991386413574219, -0.7856022715568542, -1.0213398933410645, -1.2263611555099487, 0.7518369555473328, 0.6841565370559692, 0.25560000021379076, -0.25560000021379076, 0.25560000021379076, 0.25560000021379076, -0.25560000021379076, -0.25560000021379076, 0.25560000021379076, 0.25560000021379076, -1.5910500288009644, -0.3413364291191101, 2.011047124862671, -2.172557830810547, 1.4297088384628296, 0.9774000644683838, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.3118155896663666, -0.3837386965751648, -0.03230436146259308, -0.7121338248252869, -0.03381049633026123, -1.1994305849075317, -0.7953347563743591, -1.0225787162780762, -1.2185419797897339, 0.7512367963790894, 0.6851678490638733, 0.5099999993712038, -0.5099999993712038, 0.5099999993712038, 0.5099999993712038, -0.5099999993712038, -0.5099999993712038, 0.5099999993712038, 0.5099999993712038, -1.5910499095916748, -0.3413368761539459, 2.0110461711883545, -2.1725547313690186, 1.4297075271606445, 0.9773998260498047, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.03216446191072464, -1.2000128030776978, -0.8053642511367798, -1.025748372077942, -1.2135837078094482, 0.7497369647026062, 0.6821253299713135, 0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -0.5783999988665948, -0.5783999988665948, 0.5783999988665948, 0.5783999988665948, -1.5910500288009644, -0.3413362503051758, 2.011049270629883, -2.172558307647705, 1.4297083616256714, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.02999291941523552, -1.2008280754089355, -0.8150095343589783, -1.032305359840393, -1.2101949453353882, 0.7481228113174438, 0.6784637570381165, 0.591599999900375, -0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.591599999900375, -1.5910502672195435, -0.34133604168891907, 2.0110485553741455, -2.172558069229126, 1.4297081232070923, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.026659058406949043, -1.2016786336898804, -0.8230511546134949, -1.0380135774612427, -1.2043818235397339, 0.7455751895904541, 0.6742822527885437, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -1.5910500288009644, -0.34133633971214294, 2.0110483169555664, -2.172558307647705, 1.4297078847885132, 0.9774003028869629, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.023721124976873398, -1.2026610374450684, -0.8323347568511963, -1.0426652431488037, -1.2016047239303589, 0.7421433925628662, 0.6700661778450012, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -1.5910500288009644, -0.34133628010749817, 2.011047124862671, -2.172558069229126, 1.4297080039978027, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.02110651694238186, -1.2037606239318848, -0.8403733968734741, -1.0497939586639404, -1.1974025964736938, 0.7397706508636475, 0.6660134792327881, 0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -1.5910500288009644, -0.34133633971214294, 2.011047840118408, -2.172558069229126, 1.4297083616256714, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.01860201358795166, -1.2043399810791016, -0.8491623997688293, -1.0577622652053833, -1.1891721487045288, 0.7299997806549072, 0.6622099280357361, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.591050148010254, -0.34133604168891907, 2.011047601699829, -2.172558307647705, 1.4297081232070923, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.013835138641297817, -1.204660177230835, -0.8564150929450989, -1.066699743270874, -1.1799458265304565, 0.7249565720558167, 0.6535367965698242, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.5910502672195435, -0.34133628010749817, 2.011047601699829, -2.172557830810547, 1.4297080039978027, 0.9773998260498047, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, -0.0043828305788338184, -1.2042932510375977, -0.8677303791046143, -1.0819233655929565, -1.1711502075195312, 0.7031970620155334, 0.6482868790626526, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.5910502672195435, -0.34133628010749817, 2.01104736328125, -2.172558069229126, 1.4297082424163818, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.010628409683704376, -1.2016180753707886, -0.8803058862686157, -1.1079334020614624, -1.1527471542358398, 0.6734602451324463, 0.631255030632019, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.5910499095916748, -0.34133604168891907, 2.011047601699829, -2.172557830810547, 1.4297077655792236, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.029401147738099098, -1.1981199979782104, -0.8989202976226807, -1.12726891040802, -1.144408941268921, 0.647293746471405, 0.6195391416549683, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5910497903823853, -0.34133654832839966, 2.01104736328125, -2.172558307647705, 1.4297083616256714, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.04331543296575546, -1.1946334838867188, -0.9121440649032593, -1.145787000656128, -1.1291002035140991, 0.6496483087539673, 0.6185448169708252, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5910500288009644, -0.34133654832839966, 2.0110464096069336, -2.172558307647705, 1.4297083616256714, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.05633499473333359, -1.191095232963562, -0.9253227114677429, -1.165212631225586, -1.1094881296157837, 0.6482222676277161, 0.6204565167427063, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5910497903823853, -0.34133633971214294, 2.011047124862671, -2.172558069229126, 1.4297082424163818, 0.9773998260498047, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08653420209884644, 0.3119114339351654, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.06839237362146378, -1.1872355937957764, -0.9337968826293945, -1.1875849962234497, -1.0784013271331787, 0.6422110199928284, 0.6094813942909241, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5910502672195435, -0.34133657813072205, 2.011046886444092, -2.172558069229126, 1.4297083616256714, 0.9774004220962524, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08634248375892639, 0.3120073080062866, -0.38354697823524475, -0.03230436146259308, -0.7121338248252869, 0.07750368118286133, -1.1842626333236694, -0.939611554145813, -1.2012253999710083, -1.0478625297546387, 0.6434472799301147, 0.5932927131652832, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5910499095916748, -0.34133657813072205, 2.0110464096069336, -2.172558307647705, 1.4297086000442505, 0.9773997068405151, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08643834292888641, 0.3120073080062866, -0.38354697823524475, -0.03230436146259308, -0.7121338248252869, 0.08567812293767929, -1.1823418140411377, -0.9434266090393066, -1.2094060182571411, -1.0178468227386475, 0.6410243511199951, 0.5777007341384888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.34133654832839966, 2.01104736328125, -2.172557830810547, 1.429708480834961, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08643834292888641, 0.3120073080062866, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.09124234318733215, -1.1823961734771729, -0.945862889289856, -1.2135530710220337, -0.9989303350448608, 0.6434064507484436, 0.5638651847839355, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.34133633971214294, 2.0110464096069336, -2.172558307647705, 1.4297086000442505, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.09522685408592224, -1.184232473373413, -0.9509102702140808, -1.2146258354187012, -0.9920721054077148, 0.6428520679473877, 0.558800458908081, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910505056381226, -0.34133633971214294, 2.01104736328125, -2.172558307647705, 1.4297086000442505, 0.9774004220962524, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.09867730736732483, -1.186378836631775, -0.9553847908973694, -1.2153834104537964, -0.9848530292510986, 0.6410683989524841, 0.5579563975334167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.34133657813072205, 2.011046886444092, -2.172558069229126, 1.4297088384628296, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.10157299786806107, -1.1885000467300415, -0.9590919017791748, -1.2177684307098389, -0.9772591590881348, 0.6413003206253052, 0.556711733341217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.341336190700531, 2.011047124862671, -2.172558069229126, 1.4297081232070923, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.10758843272924423, -1.1899632215499878, -0.9616299271583557, -1.2291309833526611, -0.9634436964988708, 0.6394490003585815, 0.5534661412239075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.3413364291191101, 2.011047124862671, -2.172558069229126, 1.42970871925354, 0.9773998260498047, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.11684339493513107, -1.1903197765350342, -0.9671686291694641, -1.24022376537323, -0.9500389099121094, 0.6371544003486633, 0.5496808290481567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.341336190700531, 2.011047124862671, -2.1725575923919678, 1.42970871925354, 0.9773998260498047, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08701349794864655, 0.3115279972553253, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.12984752655029297, -1.1900582313537598, -0.9765129685401917, -1.248185157775879, -0.944253146648407, 0.6432734131813049, 0.5490367412567139, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.3413363993167877, 2.011047840118408, -2.172557830810547, 1.4297086000442505, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08691763877868652, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.14237983524799347, -1.1894611120224, -0.9892781376838684, -1.2617852687835693, -0.9406106472015381, 0.6465688347816467, 0.5522293448448181, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910497903823853, -0.34133628010749817, 2.011046886444092, -2.172558069229126, 1.42970871925354, 0.9773998260498047, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08691763877868652, 0.3115279972553253, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.155472993850708, -1.188348650932312, -0.9983022212982178, -1.2809797525405884, -0.926021158695221, 0.6521275639533997, 0.5555288791656494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.3413364291191101, 2.011047124862671, -2.172558069229126, 1.429708480834961, 0.9774001836776733, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08691763877868652, 0.3115279972553253, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.1683613359928131, -1.187338948249817, -1.010887861251831, -1.2981637716293335, -0.9213921427726746, 0.6610428690910339, 0.5563302636146545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.3413364887237549, 2.011047840118408, -2.1725587844848633, 1.4297086000442505, 0.9774001836776733, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.18194490671157837, -1.1860116720199585, -1.0235209465026855, -1.3202815055847168, -0.9123684167861938, 0.6640046834945679, 0.5553297996520996, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413364887237549, 2.0110464096069336, -2.172558546066284, 1.4297086000442505, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.3115279972553253, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.19541572034358978, -1.1844167709350586, -1.0350877046585083, -1.3435273170471191, -0.9006451964378357, 0.6698358654975891, 0.5538473725318909, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.34133628010749817, 2.0110466480255127, -2.172558069229126, 1.429708480834961, 0.9773995876312256, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.20917744934558868, -1.181889533996582, -1.0479401350021362, -1.373998999595642, -0.8840256929397583, 0.6753209233283997, 0.5498368144035339, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910497903823853, -0.34133628010749817, 2.01104736328125, -2.172558069229126, 1.4297086000442505, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.22619755566120148, -1.1778044700622559, -1.0595608949661255, -1.4126944541931152, -0.8576593399047852, 0.6817343831062317, 0.5360400080680847, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050386428833, -0.3413364887237549, 2.011046886444092, -2.172558069229126, 1.4297086000442505, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.24156507849693298, -1.175028681755066, -1.0743290185928345, -1.4360675811767578, -0.847966730594635, 0.6948047280311584, 0.5261300206184387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.34133628010749817, 2.011047124862671, -2.172557830810547, 1.4297088384628296, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.25594383478164673, -1.1733084917068481, -1.0865602493286133, -1.457476258277893, -0.8440777063369751, 0.7143346071243286, 0.518345296382904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413364291191101, 2.0110466480255127, -2.172557830810547, 1.4297088384628296, 0.9774000644683838, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.27335986495018005, -1.172400951385498, -1.100355863571167, -1.4909491539001465, -0.851249098777771, 0.7350083589553833, 0.5110514760017395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.34133613109588623, 2.0110466480255127, -2.172558069229126, 1.4297090768814087, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.03249607980251312, -0.7119420766830444, 0.2892160415649414, -1.1729228496551514, -1.1199172735214233, -1.5330678224563599, -0.8885045647621155, 0.7516165375709534, 0.5116976499557495, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910496711730957, -0.3413362503051758, 2.011045455932617, -2.1725587844848633, 1.4297096729278564, 0.9774000644683838, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3838345408439636, -0.03249607980251312, -0.712037980556488, 0.30176281929016113, -1.1721605062484741, -1.1271312236785889, -1.5661072731018066, -0.8710510730743408, 0.7712677121162415, 0.5167703032493591, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.34133654832839966, 2.0110442638397217, -2.1725566387176514, 1.42970871925354, 0.9773997068405151, 0.7249490022659302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.03249607980251312, -0.7121338248252869, 0.3124008774757385, -1.172835111618042, -1.1384413242340088, -1.5721222162246704, -0.8784723281860352, 0.7889399528503418, 0.5231782793998718, 0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -1.5910499095916748, -0.3413364291191101, 2.011047124862671, -2.1725575923919678, 1.429709792137146, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08643834292888641, 0.3119114339351654, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 0.31490933895111084, -1.1751556396484375, -1.1418734788894653, -1.5705296993255615, -0.8865219950675964, 0.805198609828949, 0.5243104100227356, 0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -0.03480000391111273, -0.03480000391111273, 0.03480000391111273, 0.03480000391111273, -1.591050148010254, -0.34133628010749817, 2.0110466480255127, -2.172557830810547, 1.4297094345092773, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3838345408439636, -0.03249607980251312, -0.7121338248252869, 0.30329322814941406, -1.1805634498596191, -1.1354573965072632, -1.56067955493927, -0.8952698707580566, 0.8060929775238037, 0.5188354253768921, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -1.5910499095916748, -0.3413364887237549, 2.011046886444092, -2.172557830810547, 1.429709792137146, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.3118155896663666, -0.3838345408439636, -0.03249607980251312, -0.7121338248252869, 0.2820928692817688, -1.1885448694229126, -1.1161738634109497, -1.5373814105987549, -0.9082755446434021, 0.8144633769989014, 0.5072342157363892, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.34133628010749817, 2.011047124862671, -2.172557830810547, 1.429709792137146, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3838345408439636, -0.03249607980251312, -0.7121338248252869, 0.2508046627044678, -1.1986757516860962, -1.086281418800354, -1.500962495803833, -0.9141899943351746, 0.8371976017951965, 0.505237877368927, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.34133610129356384, 2.0110466480255127, -2.1725575923919678, 1.4297093152999878, 0.9774003028869629, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.712037980556488, 0.21877112984657288, -1.2103983163833618, -1.0595479011535645, -1.453982949256897, -0.9294206500053406, 0.8508536219596863, 0.5115767121315002, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910502672195435, -0.341336727142334, 2.011042356491089, -2.172557830810547, 1.4297096729278564, 0.9773997068405151, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.19411402940750122, -1.2211872339248657, -1.037226676940918, -1.4111859798431396, -0.9271264672279358, 0.8513364195823669, 0.522300660610199, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910500288009644, -0.34133684635162354, 2.011046886444092, -2.1725573539733887, 1.4297086000442505, 0.9774001836776733, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.18076595664024353, -1.229556918144226, -1.0284780263900757, -1.3760671615600586, -0.9296553730964661, 0.8557876348495483, 0.5464438796043396, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.3413363993167877, 2.0110483169555664, -2.1725571155548096, 1.4297090768814087, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.17937098443508148, -1.2340338230133057, -1.0317902565002441, -1.361251711845398, -0.9360461235046387, 0.8662945628166199, 0.5691044926643372, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910500288009644, -0.34133654832839966, 2.01104736328125, -2.1725575923919678, 1.4297088384628296, 0.9773997068405151, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.18339523673057556, -1.2364133596420288, -1.0370479822158813, -1.357986569404602, -0.9359322786331177, 0.8805860877037048, 0.5861254334449768, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.34133610129356384, 2.011047124862671, -2.172557830810547, 1.4297089576721191, 0.9773999452590942, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.1889086812734604, -1.2375088930130005, -1.0461211204528809, -1.3599915504455566, -0.9348029494285583, 0.8945291638374329, 0.59881192445755, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.341336190700531, 2.011047124862671, -2.172558069229126, 1.4297090768814087, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.19606336951255798, -1.2373149394989014, -1.0576746463775635, -1.368926763534546, -0.9304782152175903, 0.9069551229476929, 0.6061116456985474, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.3413363993167877, 2.011046886444092, -2.172557830810547, 1.4297088384628296, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.20538026094436646, -1.2364895343780518, -1.0699902772903442, -1.380131721496582, -0.9251493215560913, 0.9213076829910278, 0.6146236658096313, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.3413362503051758, 2.01104736328125, -2.172558069229126, 1.4297088384628296, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2148139923810959, -1.235245704650879, -1.0835399627685547, -1.3902289867401123, -0.9175936579704285, 0.9322590827941895, 0.621207594871521, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.591050148010254, -0.34133633971214294, 2.01104736328125, -2.172557830810547, 1.4297089576721191, 0.9773999452590942, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.22311964631080627, -1.2340500354766846, -1.097465991973877, -1.3965226411819458, -0.9100289344787598, 0.942964494228363, 0.626694917678833, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910499095916748, -0.3413359820842743, 2.011046886444092, -2.1725575923919678, 1.42970871925354, 0.9773997068405151, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2308676540851593, -1.233337163925171, -1.10883367061615, -1.405140995979309, -0.9022991061210632, 0.950872004032135, 0.6289083957672119, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910502672195435, -0.3413364291191101, 2.0110466480255127, -2.172557830810547, 1.42970871925354, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.23810572922229767, -1.2321354150772095, -1.1191354990005493, -1.412401795387268, -0.889167308807373, 0.9599289894104004, 0.6312370300292969, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910500288009644, -0.3413364887237549, 2.011047124862671, -2.172557830810547, 1.4297088384628296, 0.977399468421936, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.24611572921276093, -1.2304832935333252, -1.1316754817962646, -1.4177929162979126, -0.8767809867858887, 0.9696007370948792, 0.6323803663253784, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910502672195435, -0.3413362503051758, 2.011047124862671, -2.172558069229126, 1.4297089576721191, 0.9773998260498047, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2528306543827057, -1.2294549942016602, -1.1428370475769043, -1.4249489307403564, -0.8651449084281921, 0.9752917885780334, 0.6325121521949768, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5910500288009644, -0.34133628010749817, 2.011047124862671, -2.1725575923919678, 1.4297088384628296, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2559739649295807, -1.2292795181274414, -1.1506189107894897, -1.4303767681121826, -0.8539837598800659, 0.9772066473960876, 0.6300181150436401, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.591050148010254, -0.3413362503051758, 2.011047124862671, -2.172557830810547, 1.4297088384628296, 0.9773997068405151, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.25860264897346497, -1.229567527770996, -1.1552646160125732, -1.432863473892212, -0.8426852822303772, 0.9773840308189392, 0.6273449063301086, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.34133657813072205, 2.011046886444092, -2.1725575923919678, 1.4297088384628296, 0.9774000644683838, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2609059512615204, -1.2297331094741821, -1.1570298671722412, -1.4317975044250488, -0.8311281800270081, 0.9774114489555359, 0.6257142424583435, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.34133628010749817, 2.01104736328125, -2.1725575923919678, 1.429708480834961, 0.9773998260498047, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.26067107915878296, -1.2290871143341064, -1.1579886674880981, -1.4313898086547852, -0.8198776245117188, 0.9774153828620911, 0.6215136647224426, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.34133654832839966, 2.0110466480255127, -2.172557830810547, 1.4297088384628296, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2616935670375824, -1.2281625270843506, -1.161395788192749, -1.4325237274169922, -0.8131519556045532, 0.9774158596992493, 0.6172447204589844, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910497903823853, -0.341336190700531, 2.0110466480255127, -2.172557830810547, 1.4297090768814087, 0.9773997068405151, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2649196684360504, -1.227493405342102, -1.163981556892395, -1.4343329668045044, -0.8078670501708984, 0.9774152636528015, 0.6170381307601929, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910499095916748, -0.3413364291191101, 2.0110466480255127, -2.172558069229126, 1.4297086000442505, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.26965248584747314, -1.2266690731048584, -1.1662262678146362, -1.4368301630020142, -0.8049463629722595, 0.9774152636528015, 0.6198344230651855, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910499095916748, -0.3413363993167877, 2.011047124862671, -2.172558069229126, 1.42970871925354, 0.9773998260498047, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.27322834730148315, -1.2254233360290527, -1.1682215929031372, -1.4436213970184326, -0.8043162226676941, 0.9774149060249329, 0.6184664368629456, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.591050148010254, -0.3413364291191101, 2.0110466480255127, -2.172557830810547, 1.4297088384628296, 0.9773997068405151, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.27719905972480774, -1.2237449884414673, -1.167601466178894, -1.4548660516738892, -0.8039635419845581, 0.9774139523506165, 0.6113113760948181, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910497903823853, -0.3413363993167877, 2.011047124862671, -2.172557830810547, 1.4297086000442505, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.28318318724632263, -1.221584677696228, -1.1696850061416626, -1.4624817371368408, -0.8043556213378906, 0.9774135947227478, 0.6098490357398987, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.3413366377353668, 2.01104736328125, -2.172557830810547, 1.4297088384628296, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.28768157958984375, -1.2196301221847534, -1.1776912212371826, -1.4806032180786133, -0.8155868053436279, 0.9774128794670105, 0.6035265326499939, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.3413364887237549, 2.011047124862671, -2.172557830810547, 1.4297088384628296, 0.9773999452590942, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.2948130667209625, -1.2171123027801514, -1.189355731010437, -1.5158780813217163, -0.8248752951622009, 0.9774104952812195, 0.5854290127754211, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910497903823853, -0.34133633971214294, 2.011046886444092, -2.172558307647705, 1.4297094345092773, 0.9773998260498047, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 0.30417880415916443, -1.2112829685211182, -1.199905276298523, -1.549944281578064, -0.8224644064903259, 0.9774008989334106, 0.5576474070549011, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910499095916748, -0.3413364291191101, 2.0110480785369873, -2.172557830810547, 1.4297086000442505, 0.9774000644683838, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.31316542625427246, -1.2022736072540283, -1.2046277523040771, -1.5803619623184204, -0.8251933455467224, 0.977401614189148, 0.5145202875137329, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.34133654832839966, 2.0110466480255127, -2.172557830810547, 1.4297083616256714, 0.9773999452590942, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.32747408747673035, -1.189348816871643, -1.2135934829711914, -1.6120846271514893, -0.8410067558288574, 0.9774031639099121, 0.45843255519866943, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910502672195435, -0.3413363993167877, 2.011047840118408, -2.172556161880493, 1.4297081232070923, 0.9774001836776733, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.3465561270713806, -1.1730294227600098, -1.235343098640442, -1.6511783599853516, -0.8625563383102417, 0.9774032831192017, 0.4018659293651581, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910497903823853, -0.34133628010749817, 2.0110480785369873, -2.1725573539733887, 1.429708480834961, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7122296690940857, 0.37097376585006714, -1.1533138751983643, -1.2608267068862915, -1.6928132772445679, -0.8907322883605957, 0.9774101376533508, 0.3293490409851074, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.591050386428833, -0.3413359820842743, 2.0110509395599365, -2.1725566387176514, 1.4297071695327759, 0.9773999452590942, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7122296690940857, 0.40067148208618164, -1.1292284727096558, -1.2931692600250244, -1.7318569421768188, -0.9243268370628357, 0.9774278998374939, 0.23866847157478333, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910502672195435, -0.3413378894329071, 2.011051654815674, -2.172555923461914, 1.4297068119049072, 0.9774003028869629, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.4374291002750397, -1.1028932332992554, -1.3277459144592285, -1.7742373943328857, -0.9626350402832031, 0.97737056016922, 0.13247518241405487, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910513401031494, -0.3413422405719757, 2.011042594909668, -2.1725575923919678, 1.4297086000442505, 0.9774000644683838, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08691763877868652, 0.3115279972553253, -0.3838345408439636, -0.03249607980251312, -0.712037980556488, 0.48961061239242554, -1.0734236240386963, -1.3643218278884888, -1.811560869216919, -1.016757845878601, 0.9774083495140076, 0.016963191330432892, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.591050386428833, -0.3413390815258026, 2.0110466480255127, -2.172558307647705, 1.4297086000442505, 0.9774001836776733, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.03249607980251312, -0.7119420766830444, 0.5500838756561279, -1.0409703254699707, -1.3870139122009277, -1.8500818014144897, -1.0502921342849731, 0.9774087071418762, -0.07452857494354248, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910500288009644, -0.34133628010749817, 2.01104474067688, -2.1725564002990723, 1.4297072887420654, 0.9773997068405151, 0.7249491214752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3836428225040436, -0.0324002206325531, -0.7119420766830444, 0.6088940501213074, -1.0039981603622437, -1.403678059577942, -1.8821768760681152, -1.0615986585617065, 0.977408230304718, -0.13478969037532806, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910496711730957, -0.34133678674697876, 2.01104474067688, -2.1725564002990723, 1.4297078847885132, 0.9774001836776733, 0.7249492406845093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.712037980556488, 0.6722055077552795, -0.96480393409729, -1.4187265634536743, -1.907494068145752, -1.1098941564559937, 0.9774089455604553, -0.201690673828125, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.591050148010254, -0.34133657813072205, 2.011042833328247, -2.1725592613220215, 1.4297089576721191, 0.9774000644683838, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 0.7336089611053467, -0.9260714650154114, -1.4455069303512573, -1.9261590242385864, -1.143730640411377, 0.9774076342582703, -0.24024835228919983, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910496711730957, -0.3413357436656952, 2.0110480785369873, -2.172558069229126, 1.4297090768814087, 0.9773999452590942, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7122296690940857, 0.7887683510780334, -0.8948792815208435, -1.4801453351974487, -1.9425742626190186, -1.254565954208374, 0.9774075150489807, -0.2982303202152252, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910502672195435, -0.3413364291191101, 2.011044502258301, -2.172558069229126, 1.4297082424163818, 0.9773997068405151, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.0324002206325531, -0.7122296690940857, 0.8423044085502625, -0.8676474690437317, -1.5144044160842896, -1.9583723545074463, -1.338324785232544, 0.9773956537246704, -0.3281194567680359, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910505056381226, -0.3413368761539459, 2.0110490322113037, -2.172558546066284, 1.4297089576721191, 0.9773998260498047, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 0.8884990215301514, -0.843018114566803, -1.5386035442352295, -1.9767647981643677, -1.3832720518112183, 0.9773960113525391, -0.36734142899513245, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.591050148010254, -0.3413364291191101, 2.0110485553741455, -2.172558069229126, 1.429708480834961, 0.9773995876312256, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7122296690940857, 0.9327720999717712, -0.8175978064537048, -1.5398588180541992, -1.9995789527893066, -1.3789024353027344, 0.9773948192596436, -0.4129345715045929, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5910499095916748, -0.34133633971214294, 2.011049270629883, -2.1725575923919678, 1.4297086000442505, 0.9773999452590942, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3836428225040436, -0.03249607980251312, -0.7121338248252869, 0.9680495858192444, -0.7980746626853943, -1.5297218561172485, -1.9928011894226074, -1.336997151374817, 0.9774543642997742, -0.4261932075023651, 0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -0.06180000409975159, -0.06180000409975159, 0.06180000409975159, 0.06180000409975159, -1.591049075126648, -0.34133410453796387, 2.0110483169555664, -2.172558546066284, 1.4297086000442505, 0.9774000644683838, 0.7249493598937988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999770641152746, 0.006772765950187063, 2.974524990640039e-05, -0.10085227340459824], [-0.006772755603663245, 0.9999770084610732, -0.0003351578373022815, -0.05795309320092201], [-3.2014511605748504e-05, 0.00033494869285277445, 0.9999999433922205, -6.938415026525036e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08643834292888641, 0.3119114339351654, -0.3836428225040436, -0.0324002206325531, -0.7121338248252869, 0.9710729122161865, -0.7960237264633179, -1.5288052558898926, -1.9916040897369385, -1.3338760137557983, 0.9773690104484558, -0.42692291736602783, 0.515400003338908, -0.515400003338908, 0.515400003338908, 0.515400003338908, -0.515400003338908, -0.515400003338908, 0.515400003338908, 0.515400003338908, -1.5910488367080688, -0.3413356840610504, 2.0110514163970947, -2.1725587844848633, 1.4297101497650146, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999769252482472, 0.0067928828505579575, -7.55886235840421e-05, -0.10035540163516998], [-0.006792905985477535, 0.9999768798547578, -0.0003101358020466911, -0.057926006615161896], [7.348015979301918e-05, 0.0003106421121536273, 0.9999999490510708, -9.265833796234801e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 0.9713846445083618, -0.7958601713180542, -1.5286834239959717, -1.9914875030517578, -1.3335615396499634, 0.9773700833320618, -0.42698991298675537, 0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -1.5910502672195435, -0.3413366973400116, 2.0110466480255127, -2.172557830810547, 1.4297088384628296, 0.9774000644683838, 0.7249494791030884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999769093567619, 0.006795281806878731, -6.99890250420537e-05, -0.09969064593315125], [-0.006795302300821567, 0.9999768676017126, -0.000296863785896291, -0.057925596833229065], [6.797013294462847e-05, 0.00029733252770342103, 0.9999999534867134, -0.0001002592543954961], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.971422016620636, -0.7958462834358215, -1.528674602508545, -1.9914658069610596, -1.3335241079330444, 0.9773728847503662, -0.42699506878852844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591049313545227, -0.34133604168891907, 2.0110483169555664, -2.172558546066284, 1.4297091960906982, 0.9773998260498047, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.9714334607124329, -0.795845091342926, -1.5286710262298584, -1.9914557933807373, -1.3335150480270386, 0.9773854613304138, -0.4269939661026001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413364291191101, 2.0110466480255127, -2.172558307647705, 1.42970871925354, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.9714312553405762, -0.7958453893661499, -1.5286707878112793, -1.9914580583572388, -1.3335155248641968, 0.9773942232131958, -0.42699337005615234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.341336190700531, 2.011047124862671, -2.172558069229126, 1.4297093152999878, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08653420209884644, 0.3118155896663666, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 0.994176983833313, -0.7946624755859375, -1.5441536903381348, -2.0266547203063965, -1.3444403409957886, 0.9477117657661438, -0.47619497776031494, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.34133708477020264, 2.0110456943511963, -2.172558069229126, 1.4297090768814087, 0.9773999452590942, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08701349794864655, 0.3115279972553253, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 1.0608032941818237, -0.7873224020004272, -1.603943943977356, -2.0546302795410156, -1.3398634195327759, 0.9303304553031921, -0.5839879512786865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910507440567017, -0.34133678674697876, 2.0110464096069336, -2.1725592613220215, 1.429709553718567, 0.9773999452590942, 0.7249506711959839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.136379599571228, -0.7771366834640503, -1.6922407150268555, -2.0890567302703857, -1.3259166479110718, 0.9493649005889893, -0.6956444978713989, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.341335654258728, 2.0110487937927246, -2.1725575923919678, 1.4297081232070923, 0.9774000644683838, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.2216230630874634, -0.7656797170639038, -1.7935606241226196, -2.12428617477417, -1.2899765968322754, 0.9746631383895874, -0.7969940900802612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910505056381226, -0.34133657813072205, 2.0110466480255127, -2.172557830810547, 1.4297080039978027, 0.9773995876312256, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08691763877868652, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 1.321676254272461, -0.7544683814048767, -1.8901089429855347, -2.1578030586242676, -1.2601981163024902, 0.9729132652282715, -0.8435312509536743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.3413374423980713, 2.0110480785369873, -2.1725575923919678, 1.4297089576721191, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 1.4277925491333008, -0.7444882988929749, -1.9776016473770142, -2.1923723220825195, -1.2526240348815918, 0.9516099095344543, -0.8683404922485352, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.341336190700531, 2.011047601699829, -2.172557830810547, 1.4297081232070923, 0.9774004220962524, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3838345408439636, -0.03249607980251312, -0.7121338248252869, 1.5088160037994385, -0.7340899109840393, -2.027350425720215, -2.221465587615967, -1.2390878200531006, 0.9113997220993042, -0.9086897373199463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.34133628010749817, 2.011046886444092, -2.172557830810547, 1.429708480834961, 0.9774000644683838, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0868217796087265, 0.31162387132644653, -0.3837386965751648, -0.03249607980251312, -0.712037980556488, 1.5797483921051025, -0.7221689224243164, -2.0596940517425537, -2.235389232635498, -1.2459203004837036, 0.8741130828857422, -0.946053147315979, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910497903823853, -0.34133684635162354, 2.01104736328125, -2.1725566387176514, 1.4297088384628296, 0.9774003028869629, 0.7249495983123779, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 1.6365915536880493, -0.7098674774169922, -2.0887930393218994, -2.255225419998169, -1.2494808435440063, 0.8447191119194031, -0.9753819108009338, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910496711730957, -0.34133628010749817, 2.0110461711883545, -2.172558307647705, 1.42970871925354, 0.9774000644683838, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08691763877868652, 0.31162387132644653, -0.3838345408439636, -0.03249607980251312, -0.7121338248252869, 1.664109230041504, -0.7023173570632935, -2.1071243286132812, -2.267930030822754, -1.2379546165466309, 0.8350406289100647, -0.9851942658424377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910494327545166, -0.34133604168891907, 2.011049270629883, -2.1725573539733887, 1.4297091960906982, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7122296690940857, 1.6666890382766724, -0.7016275525093079, -2.1087491512298584, -2.26896333694458, -1.2368606328964233, 0.8341233730316162, -0.9860215187072754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910497903823853, -0.3413363993167877, 2.011047840118408, -2.1725573539733887, 1.4297091960906982, 0.9774001836776733, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.0324002206325531, -0.7121338248252869, 1.6669068336486816, -0.7015740871429443, -2.108889102935791, -2.269047737121582, -1.2367643117904663, 0.8340343236923218, -0.9861067533493042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.3413363993167877, 2.0110466480255127, -2.172557830810547, 1.4297090768814087, 0.9774003028869629, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08672592043876648, 0.31162387132644653, -0.3838345408439636, -0.0324002206325531, -0.7121338248252869, 1.6669116020202637, -0.7015727162361145, -2.1088955402374268, -2.269057512283325, -1.236761212348938, 0.8340269327163696, -0.9861160516738892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910496711730957, -0.3413362503051758, 2.011047601699829, -2.172557830810547, 1.4297086000442505, 0.9773998260498047, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08663006126880646, 0.31171971559524536, -0.3837386965751648, -0.03249607980251312, -0.7121338248252869, 1.6669113636016846, -0.7015733122825623, -2.1088945865631104, -2.2690563201904297, -1.236761212348938, 0.8340262174606323, -0.9861153364181519, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910497903823853, -0.3413364887237549, 2.011047124862671, -2.1725575923919678, 1.4297089576721191, 0.9774000644683838, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08653420209884644, 0.31162387132644653, -0.3838345408439636, -0.03192092478275299, -0.711175262928009, 1.6669100522994995, -0.7015754580497742, -2.1088919639587402, -2.269054412841797, -1.2367613315582275, 0.8340266942977905, -0.9861146211624146, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910496711730957, -0.34133628010749817, 2.011047840118408, -2.172557830810547, 1.4297089576721191, 0.9774001836776733, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.08480875194072723, 0.31076112389564514, -0.38565587997436523, -0.029141025617718697, -0.7015893459320068, 1.666907548904419, -0.7015787363052368, -2.108888626098633, -2.2690529823303223, -1.236762285232544, 0.8340271711349487, -0.9861133098602295, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.34133628010749817, 2.0110487937927246, -2.1725573539733887, 1.4297089576721191, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0807826891541481, 0.3083646595478058, -0.3898736536502838, -0.024731528013944626, -0.6751323938369751, 1.6669062376022339, -0.7015811204910278, -2.1088860034942627, -2.2690482139587402, -1.2367618083953857, 0.8340275287628174, -0.9861117601394653, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413363993167877, 2.0110480785369873, -2.172557830810547, 1.42970871925354, 0.9773999452590942, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07627733051776886, 0.30472204089164734, -0.39524173736572266, -0.02013031393289566, -0.6300788521766663, 1.6669052839279175, -0.7015820741653442, -2.1088855266571045, -2.2690470218658447, -1.2367637157440186, 0.8340281248092651, -0.9861102104187012, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.3413359522819519, 2.0110490322113037, -2.1725575923919678, 1.4297089576721191, 0.9773997068405151, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.07062166929244995, 0.3006001114845276, -0.4009932577610016, -0.016008391976356506, -0.5709340572357178, 1.6669056415557861, -0.7015838027000427, -2.108886957168579, -2.2690467834472656, -1.2367653846740723, 0.8340288400650024, -0.9861093759536743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050386428833, -0.3413347899913788, 2.0110480785369873, -2.1725575923919678, 1.4297088384628296, 0.9774003028869629, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.06381570547819138, 0.2959030568599701, -0.4074157774448395, -0.011119602248072624, -0.5031619668006897, 1.6669058799743652, -0.7015851140022278, -2.108886241912842, -2.2690417766571045, -1.2367662191390991, 0.8340297937393188, -0.9861068725585938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910505056381226, -0.34133604168891907, 2.0110466480255127, -2.1725575923919678, 1.4297083616256714, 0.9773999452590942, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05739317834377289, 0.2907266914844513, -0.4135507345199585, -0.0077645499259233475, -0.42954257130622864, 1.6669056415557861, -0.7015851736068726, -2.10888671875, -2.2690412998199463, -1.236767053604126, 0.8340305089950562, -0.9861045479774475, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910507440567017, -0.34133750200271606, 2.0110459327697754, -2.1725573539733887, 1.429708480834961, 0.9773999452590942, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05403812602162361, 0.2865088880062103, -0.4174809455871582, -0.0071893977001309395, -0.3542935252189636, 1.6669065952301025, -0.7015848755836487, -2.108888626098633, -2.269042491912842, -1.2367695569992065, 0.8340322971343994, -0.9861040711402893, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.34133654832839966, 2.0110464096069336, -2.172557830810547, 1.4297086000442505, 0.9774001836776733, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05212095379829407, 0.28401657938957214, -0.41939809918403625, -0.007572832517325878, -0.2803865075111389, 1.6669073104858398, -0.7015846967697144, -2.108888864517212, -2.269042730331421, -1.2367724180221558, 0.834033727645874, -0.9861031174659729, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.34133604168891907, 2.01104736328125, -2.1725587844848633, 1.4297090768814087, 0.9774000644683838, 0.7249497175216675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05077893286943436, 0.2829621434211731, -0.42016497254371643, -0.007956267334520817, -0.2094511240720749, 1.6669065952301025, -0.7015847563743591, -2.108888626098633, -2.2690422534942627, -1.2367730140686035, 0.8340349197387695, -0.9861014485359192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910497903823853, -0.3413363993167877, 2.0110464096069336, -2.172558546066284, 1.429709792137146, 0.9774000644683838, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.2829621434211731, -0.42026084661483765, -0.008435560390353203, -0.14522583782672882, 1.6669070720672607, -0.701585054397583, -2.1088879108428955, -2.2690422534942627, -1.2367748022079468, 0.8340363502502441, -0.9861006140708923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.3413366377353668, 2.0110459327697754, -2.172558546066284, 1.4297091960906982, 0.9774001836776733, 0.724949836730957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05020378157496452, 0.2828662693500519, -0.4200691282749176, -0.00853141862899065, -0.08828580379486084, 1.6669069528579712, -0.7015849351882935, -2.1088883876800537, -2.2690422534942627, -1.2367759943008423, 0.8340371251106262, -0.9860988259315491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.341336190700531, 2.0110464096069336, -2.1725590229034424, 1.4297090768814087, 0.9774000644683838, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.0501079224050045, 0.2828662693500519, -0.4199732542037964, -0.007572832517325878, -0.04121921584010124, 1.6669079065322876, -0.7015846371650696, -2.10888671875, -2.2690422534942627, -1.2367769479751587, 0.8340379595756531, -0.986097514629364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910488367080688, -0.34133589267730713, 2.011047124862671, -2.172559976577759, 1.4297114610671997, 0.9773999452590942, 0.7249510288238525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.2828662693500519, -0.4199732542037964, -0.004984649363905191, 0.0, 1.6669052839279175, -0.7015846371650696, -2.1088876724243164, -2.2690422534942627, -1.2367773056030273, 0.8340389132499695, -0.9860966801643372, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910494327545166, -0.3413363993167877, 2.0110461711883545, -2.172559976577759, 1.4297103881835938, 0.9774000644683838, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.28324970602989197, -0.4204525649547577, 0.0, 0.03422153368592262, 1.6669057607650757, -0.7015844583511353, -2.1088876724243164, -2.269043207168579, -1.236777424812317, 0.8340392708778381, -0.986096203327179, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.3413364291191101, 2.0110459327697754, -2.172559976577759, 1.429710030555725, 0.9774000644683838, 0.7249505519866943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.28411242365837097, -0.4217945635318756, 0.0030674764420837164, 0.06374599784612656, 1.6669059991836548, -0.70158451795578, -2.108886241912842, -2.26904296875, -1.2367777824401855, 0.8340403437614441, -0.9860959649085999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910496711730957, -0.3413363993167877, 2.0110459327697754, -2.1725597381591797, 1.4297105073928833, 0.9773997068405151, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.2851668894290924, -0.42380762100219727, 0.006134952884167433, 0.08627277612686157, 1.6669059991836548, -0.7015845775604248, -2.108886957168579, -2.269043445587158, -1.2367770671844482, 0.8340402245521545, -0.9860954880714417, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.34133633971214294, 2.0110461711883545, -2.172559976577759, 1.4297099113464355, 0.9773995876312256, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.28622132539749146, -0.42591649293899536, 0.008818994276225567, 0.10132258385419846, 1.6669058799743652, -0.7015846371650696, -2.10888671875, -2.2690436840057373, -1.2367773056030273, 0.834040105342865, -0.9860959649085999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413363993167877, 2.0110459327697754, -2.1725597381591797, 1.429710030555725, 0.9774000644683838, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.2871799170970917, -0.4283129572868347, 0.011023743078112602, 0.10678652673959732, 1.6669057607650757, -0.7015848159790039, -2.108886241912842, -2.2690436840057373, -1.2367773056030273, 0.8340407013893127, -0.9860959649085999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.34133633971214294, 2.0110461711883545, -2.1725594997406006, 1.4297101497650146, 0.9773999452590942, 0.7249504327774048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.2877550721168518, -0.43157216906547546, 0.014570512808859348, 0.10477349162101746, 1.6669058799743652, -0.7015844583511353, -2.108886241912842, -2.2690436840057373, -1.2367771863937378, 0.8340403437614441, -0.9860956072807312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.591050148010254, -0.34133657813072205, 2.0110461711883545, -2.1725594997406006, 1.4297099113464355, 0.9774000644683838, 0.7249506711959839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.05001206323504448, 0.28880950808525085, -0.4346396327018738, 0.017829706892371178, 0.0972006618976593, 1.6669056415557861, -0.7015843987464905, -2.1088855266571045, -2.269044876098633, -1.2367775440216064, 0.8340409398078918, -0.986096203327179, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910495519638062, -0.34133628010749817, 2.0110480785369873, -2.1725597381591797, 1.4297102689743042, 0.9773997068405151, 0.724950909614563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.2908225357532501, -0.43674853444099426, 0.02003445476293564, 0.08972368389368057, 1.6669052839279175, -0.7015847563743591, -2.108884572982788, -2.2690446376800537, -1.2367768287658691, 0.8340409398078918, -0.9860960841178894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413364887237549, 2.0110480785369873, -2.1725592613220215, 1.4297096729278564, 0.9774003028869629, 0.7249500751495361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.049820344895124435, 0.2923562824726105, -0.43751537799835205, 0.021184759214520454, 0.08531418442726135, 1.666905164718628, -0.7015846967697144, -2.1088831424713135, -2.2690446376800537, -1.23677659034729, 0.8340407013893127, -0.9860959649085999, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.3413364887237549, 2.011047601699829, -2.1725590229034424, 1.4297091960906982, 0.9773999452590942, 0.7249501943588257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.29264384508132935, -0.4381864070892334, 0.021759910508990288, 0.08272600173950195, 1.666905403137207, -0.7015845775604248, -2.108884334564209, -2.2690443992614746, -1.2367768287658691, 0.8340407013893127, -0.9860958456993103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910500288009644, -0.3413364887237549, 2.011047601699829, -2.1725587844848633, 1.4297091960906982, 0.9773999452590942, 0.7249505519866943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.2929314374923706, -0.4386656880378723, 0.02223920449614525, 0.08147983998060226, 1.666905403137207, -0.7015846371650696, -2.108884334564209, -2.2690446376800537, -1.2367773056030273, 0.8340404629707336, -0.9860964417457581, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910499095916748, -0.341336190700531, 2.011047601699829, -2.1725587844848633, 1.429709553718567, 0.9773999452590942, 0.7249503135681152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.04991620406508446, 0.29312315583229065, -0.4386656880378723, 0.02233506180346012, 0.0811922699213028, 1.6669055223464966, -0.7015846371650696, -2.10888409614563, -2.2690443992614746, -1.2367767095565796, 0.8340407013893127, -0.9860960841178894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5910502672195435, -0.34133628010749817, 2.011047124862671, -2.172558546066284, 1.4297090768814087, 0.9774000644683838, 0.7249499559402466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999764042709843, 0.00686942274901384, -4.395870984154279e-05, -0.09916213899850845], [-0.0068694363557938055, 0.9999763548167244, -0.0003172563792670573, -0.05790848657488823], [4.1778302240785146e-05, 0.0003175508649310429, 0.9999999487080095, -0.00010041649511549622], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000025/gt/hand_left.mp4 b/agibot-challenge-2026/000025/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa8b02852ade2f117683e29f6b23689c3469a552 --- /dev/null +++ b/agibot-challenge-2026/000025/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e3b3f8f44ade3897836accf23fac91f6ba6e1e1808f518312f697653d13972 +size 4150983 diff --git a/agibot-challenge-2026/000025/gt/hand_right.mp4 b/agibot-challenge-2026/000025/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3b586f126bc41ffb7afe51fbf770d31f79ab23b --- /dev/null +++ b/agibot-challenge-2026/000025/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:813651fd7c93a2f1a7060c0c479a82f6905263d11b668a20ffafdf7d94338773 +size 5039572 diff --git a/agibot-challenge-2026/000025/gt/head.mp4 b/agibot-challenge-2026/000025/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3755cbf30586f9d868b86271cea094bbc3a00150 --- /dev/null +++ b/agibot-challenge-2026/000025/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3874c3e521012bd0d713e9a0590118576f67afb4de84b8f26b677a784c29b63 +size 3947272 diff --git a/agibot-challenge-2026/000025/meta.json b/agibot-challenge-2026/000025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a211871af95e93170f82d7517ccb659c9f7ff5e --- /dev/null +++ b/agibot-challenge-2026/000025/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Tear tape", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1057, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000025/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000025/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..cc2d3848ed69cd8e084248ab0e014618d9e7f400 --- /dev/null +++ b/agibot-challenge-2026/000025/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000025/ref_images/hand_left.png b/agibot-challenge-2026/000025/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..7bb68070dfc75cbfb5690d2f7fc8c1fde37e364c --- /dev/null +++ b/agibot-challenge-2026/000025/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc0b6ff31e6bf9973a9908eb9914b8ca1057db8c61b9ece2b2946516a440666 +size 443406 diff --git a/agibot-challenge-2026/000025/ref_images/hand_right.png b/agibot-challenge-2026/000025/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..a51a848212b461778ed79c0153b1370a2f4ec483 --- /dev/null +++ b/agibot-challenge-2026/000025/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6798d0a7bc8b54e51c94788acafffed04c4ca99523fd728b82b17742a83b408f +size 438783 diff --git a/agibot-challenge-2026/000025/ref_images/head.png b/agibot-challenge-2026/000025/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..f9cffe90f43465cbca63bcbdd071786a658e496f --- /dev/null +++ b/agibot-challenge-2026/000025/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cc2eded41e7074bd5036d371efb1f011a54ddc88420931bb97907f5c0e2b718 +size 378991 diff --git a/agibot-challenge-2026/000025/temporal.json b/agibot-challenge-2026/000025/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..487f973f1ad503fac7d0b121717e8c170ea8f979 --- /dev/null +++ b/agibot-challenge-2026/000025/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7309482097625732, -1.1501461267471313, -1.6003458499908447, -1.7999008893966675, -0.4202316403388977, -0.00010845723591046408, 8.616657578386366e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7310504913330078, -1.1505104303359985, 1.5995131731033325, -1.8000271320343018, 0.41951581835746765, 0.0009628126281313598, 0.00044197821989655495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7309482097625732, -1.1501457691192627, -1.6003464460372925, -1.7999011278152466, -0.42023199796676636, -0.00010570086305961013, 8.149272616719827e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731050729751587, -1.1505107879638672, 1.5995116233825684, -1.8000260591506958, 0.41951653361320496, 0.0009631721768528223, 0.0004417385207489133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7309483289718628, -1.1501460075378418, -1.6003470420837402, -1.7999005317687988, -0.42023152112960815, -0.00010354370169807225, 7.442203786922619e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731050968170166, -1.1505104303359985, 1.5995110273361206, -1.8000251054763794, 0.41951772570610046, 0.0009636515169404447, 0.0004416187002789229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7257053852081299, -1.1573584079742432, -1.6109545230865479, -1.8037689924240112, -0.4319480061531067, 0.03533405065536499, -0.016199316829442978, 0.436800000169775, -0.436800000169775, 0.436800000169775, 0.436800000169775, -0.436800000169775, -0.436800000169775, 0.436800000169775, 0.436800000169775, -1.7310587167739868, -1.1505099534988403, 1.5995079278945923, -1.800019383430481, 0.4195202589035034, 0.0009673666208982468, 0.0004394615243654698, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.6994965076446533, -1.180506944656372, -1.6270995140075684, -1.8178385496139526, -0.42313769459724426, 0.12541048228740692, -0.05671558529138565, 0.07139999368688563, -0.07139999368688563, 0.07139999368688563, 0.07139999368688563, -0.07139999368688563, -0.07139999368688563, 0.07139999368688563, 0.07139999368688563, -1.7310682535171509, -1.1505110263824463, 1.5995055437088013, -1.8000215291976929, 0.4195195436477661, 0.0009683253592811525, 0.0004406599618960172, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.655709147453308, -1.197646975517273, -1.629911184310913, -1.8474643230438232, -0.43301868438720703, 0.20566990971565247, -0.13685721158981323, 0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -1.731073021888733, -1.1505130529403687, 1.599505066871643, -1.8000214099884033, 0.4195210933685303, 0.0009698833455331624, 0.0004417385207489133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.5845606327056885, -1.208016276359558, -1.6161164045333862, -1.864759922027588, -0.4383743107318878, 0.2884310483932495, -0.23069752752780914, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7310919761657715, -1.150512456893921, 1.5995036363601685, -1.8000202178955078, 0.41952335834503174, 0.0009734785999171436, 0.0004471314314287156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.4870659112930298, -1.2194974422454834, -1.5735785961151123, -1.8562607765197754, -0.46779942512512207, 0.41737866401672363, -0.27942875027656555, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731201410293579, -1.150515079498291, 1.5995041131973267, -1.8000152111053467, 0.4195251762866974, 0.0009771937038749456, 0.00044677191181108356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 1.3903591632843018, -1.2312906980514526, -1.5091779232025146, -1.8178813457489014, -0.42951053380966187, 0.49784567952156067, -0.30863526463508606, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311890125274658, -1.1505165100097656, 1.599503755569458, -1.8000096082687378, 0.41952815651893616, 0.0009815080557018518, 0.0004410194815136492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.3035038709640503, -1.2440910339355469, -1.447355031967163, -1.7618969678878784, -0.37139376997947693, 0.5421258211135864, -0.3392063081264496, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731192708015442, -1.1505143642425537, 1.5995097160339355, -1.8000086545944214, 0.4195311665534973, 0.0009914549300447106, 0.00043634563917294145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.2312138080596924, -1.2624362707138062, -1.406049132347107, -1.711194634437561, -0.39626044034957886, 0.5876684188842773, -0.34159737825393677, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311668395996094, -1.1505146026611328, 1.5995104312896729, -1.8000065088272095, 0.4195311665534973, 0.0009980462491512299, 0.0004355067212600261, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1735172271728516, -1.2785470485687256, -1.3605254888534546, -1.6636056900024414, -0.380816251039505, 0.6002217531204224, -0.344469279050827, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311633825302124, -1.1505142450332642, 1.599509835243225, -1.8000117540359497, 0.41953045129776, 0.0009985256474465132, 0.00044605284347198904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1372160911560059, -1.2922049760818481, -1.320012092590332, -1.6263349056243896, -0.35373547673225403, 0.6134354472160339, -0.36506369709968567, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310848236083984, -1.1505153179168701, 1.599519968032837, -1.8000150918960571, 0.41953080892562866, 0.00099792645778507, 0.00044221788994036615, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.1021946668624878, -1.3115919828414917, -1.2838656902313232, -1.5737268924713135, -0.34642714262008667, 0.6167274117469788, -0.3679232597351074, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310411930084229, -1.1505142450332642, 1.5995205640792847, -1.800017237663269, 0.41953080892562866, 0.0009976867586374283, 0.0004466520622372627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0700310468673706, -1.3301148414611816, -1.253806233406067, -1.5366536378860474, -0.3421006202697754, 0.6214382648468018, -0.37341490387916565, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310417890548706, -1.1505162715911865, 1.5995197296142578, -1.8000199794769287, 0.4195306897163391, 0.00099648826289922, 0.0004497679474297911, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.053800106048584, -1.3494045734405518, -1.2269823551177979, -1.5295066833496094, -0.34268495440483093, 0.621451199054718, -0.37931784987449646, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731044888496399, -1.1505149602890015, 1.5995216369628906, -1.8000173568725586, 0.41953057050704956, 0.0009968478698283434, 0.00043574642040766776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0507152080535889, -1.3703134059906006, -1.2075178623199463, -1.5315556526184082, -0.35121652483940125, 0.6182946562767029, -0.374782532453537, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310599088668823, -1.1505149602890015, 1.5995209217071533, -1.8000223636627197, 0.4195299744606018, 0.0009957692818716168, 0.00044054011232219636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.0501291751861572, -1.387367844581604, -1.1923463344573975, -1.5405347347259521, -0.35285523533821106, 0.610794723033905, -0.3667321503162384, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310662269592285, -1.1505138874053955, 1.5995208024978638, -1.800022006034851, 0.41952863335609436, 0.0009950501844286919, 0.00044018059270456433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.0411032438278198, -1.4014875888824463, -1.181847333908081, -1.5468015670776367, -0.35195139050483704, 0.6221535801887512, -0.37266290187835693, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310702800750732, -1.1505157947540283, 1.5995173454284668, -1.8000255823135376, 0.41952744126319885, 0.0009922938188537955, 0.00044353617704473436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.0326720476150513, -1.4130823612213135, -1.1731195449829102, -1.5458924770355225, -0.3357583284378052, 0.62610924243927, -0.3892129957675934, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310823202133179, -1.1505151987075806, 1.5995160341262817, -1.8000270128250122, 0.41952553391456604, 0.0009867810877040029, 0.0004417385207489133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.0327270030975342, -1.421567440032959, -1.177862286567688, -1.5446453094482422, -0.320365309715271, 0.6236647963523865, -0.4026452600955963, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310981750488281, -1.1505146026611328, 1.599516749382019, -1.800025463104248, 0.4195237457752228, 0.0009819873375818133, 0.00044077978236600757, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0314314365386963, -1.4282360076904297, -1.1932741403579712, -1.5336995124816895, -0.30936306715011597, 0.6156471371650696, -0.4134785234928131, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311278581619263, -1.1505142450332642, 1.5995174646377563, -1.8000246286392212, 0.41952335834503174, 0.000979230972006917, 0.00043742419802583754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.0149226188659668, -1.432918667793274, -1.1968696117401123, -1.5076693296432495, -0.2933988869190216, 0.6075202822685242, -0.42383432388305664, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312052249908447, -1.1505146026611328, 1.5995110273361206, -1.8000235557556152, 0.4195212125778198, 0.000975396076682955, 0.00043898215517401695, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9764906764030457, -1.443114161491394, -1.1971619129180908, -1.4540609121322632, -0.28940069675445557, 0.5916459560394287, -0.432023286819458, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312015295028687, -1.1505135297775269, 1.5995092391967773, -1.8000235557556152, 0.4195200204849243, 0.0009715611231513321, 0.0004406599618960172, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.929190456867218, -1.456559658050537, -1.1961966753005981, -1.3818029165267944, -0.2882832884788513, 0.5669753551483154, -0.4341040849685669, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311944961547852, -1.1505135297775269, 1.599501371383667, -1.8000192642211914, 0.4195183515548706, 0.0009691642480902374, 0.0004408996319398284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8793408274650574, -1.469799518585205, -1.1918644905090332, -1.3020546436309814, -0.2892695963382721, 0.5561711192131042, -0.4380461871623993, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731183648109436, -1.150514006614685, 1.5995007753372192, -1.8000214099884033, 0.41951701045036316, 0.000965688843280077, 0.00044293695827946067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.842070460319519, -1.4840242862701416, -1.1896497011184692, -1.2152208089828491, -0.289004385471344, 0.5358290672302246, -0.4356344938278198, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311805486679077, -1.1505135297775269, 1.5995018482208252, -1.800018072128296, 0.41951653361320496, 0.0009642507648095489, 0.0004400607431307435, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8219300508499146, -1.4950953722000122, -1.189271330833435, -1.1262214183807373, -0.275455504655838, 0.5113859176635742, -0.43184927105903625, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311768531799316, -1.1505112648010254, 1.5995032787322998, -1.800014615058899, 0.4195173680782318, 0.0009648499544709921, 0.000442337739514187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.7957524657249451, -1.5076323747634888, -1.1972781419754028, -1.0626088380813599, -0.26217806339263916, 0.48770174384117126, -0.4469132125377655, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7309770584106445, -1.1505192518234253, 1.5994929075241089, -1.7999778985977173, 0.41951677203178406, 0.0009599364129826427, 0.0004812864644918591, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.7911166548728943, -1.5131938457489014, -1.2119349241256714, -1.0424299240112305, -0.2389175146818161, 0.476625919342041, -0.4639086127281189, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7310627698898315, -1.1505132913589478, 1.5994939804077148, -1.799973487854004, 0.41951653361320496, 0.0009619737393222749, 0.0004718189302366227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.032384991645813, -0.37616586685180664, 0.0, 0.0, 0.795811653137207, -1.5159062147140503, -1.2272605895996094, -1.0287128686904907, -0.21387982368469238, 0.45347923040390015, -0.4670987129211426, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7310551404953003, -1.1505125761032104, 1.5994969606399536, -1.7999756336212158, 0.41951653361320496, 0.0009630523272790015, 0.0004567188152577728, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 0.7955729365348816, -1.51256263256073, -1.2469860315322876, -0.9782653450965881, -0.20491263270378113, 0.4447203278541565, -0.45264932513237, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -1.731188178062439, -1.1504696607589722, 1.5995123386383057, -1.80007004737854, 0.4195171296596527, 0.0009624530794098973, 0.0004903944791294634, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 0.8369085788726807, -1.501495361328125, -1.2550889253616333, -0.9325852990150452, -0.19347812235355377, 0.4536905288696289, -0.4555756449699402, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731227159500122, -1.1505013704299927, 1.599528431892395, -1.8000506162643433, 0.41951748728752136, 0.0010033192811533809, 0.0003891277883667499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8578011393547058, -1.499193549156189, -1.2692946195602417, -0.9455949068069458, -0.1808207482099533, 0.4437238276004791, -0.4655565917491913, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7310258150100708, -1.150519847869873, 1.5996131896972656, -1.7999730110168457, 0.41951990127563477, 0.0010996725177392364, 0.0004949484718963504, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21567849591062482, 0.9763600390543858, -0.014277973926607712, 12.320899963378906], [-0.976328154315938, -0.2158696239152027, -0.013551404382679863, 13.921435356140137], [-0.01631323057412296, 0.011017241416402953, 0.9998062306766288, 0.582172155380249], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 0.8630517721176147, -1.498520016670227, -1.275177001953125, -0.9668567180633545, -0.17715559899806976, 0.4710960388183594, -0.46791914105415344, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312079668045044, -1.1505213975906372, 1.5996105670928955, -1.8000116348266602, 0.41952061653137207, 0.0010981145314872265, 0.00048799763317219913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559103429712279, 0.9763789604299604, -0.014304948808241192, 12.319595336914062], [-0.9763464182501583, -0.21578326176436913, -0.013610860090999117, 13.922496795654297], [-0.016376125939421966, 0.011032206127486227, 0.9998050374583921, 0.5833297967910767], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3758782744407654, 0.0, 0.0, 0.8751131892204285, -1.495854377746582, -1.2809585332870483, -0.9858853816986084, -0.17734147608280182, 0.48480457067489624, -0.4680687189102173, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731184482574463, -1.1505218744277954, 1.5995888710021973, -1.8000143766403198, 0.4195212125778198, 0.001097755040973425, 0.0004780507297255099, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2156298136087511, 0.9763710231665504, -0.014262138821321138, 12.31997299194336], [-0.9763381856763242, -0.2158212154256116, -0.013599638321475375, 13.922240257263184], [-0.01635636491762027, 0.010992183264266384, 0.9998058017604051, 0.5826440453529358], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 0.8822517991065979, -1.4932588338851929, -1.2892258167266846, -0.9984145164489746, -0.18303914368152618, 0.4865380823612213, -0.46808919310569763, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731188416481018, -1.1505216360092163, 1.5995837450027466, -1.8000141382217407, 0.4195225238800049, 0.0010964367538690567, 0.00047109989100135863, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2156369775996696, 0.9763690934524116, -0.01428591063234711, 12.320143699645996], [-0.9763363380487621, -0.2158288879474033, -0.013610515527358369, 13.922046661376953], [-0.016372198911962326, 0.011012923240584721, 0.9998053143609931, 0.5830919742584229], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 0.8857829570770264, -1.488197684288025, -1.297461748123169, -1.0394686460494995, -0.19079725444316864, 0.4954787790775299, -0.469423770904541, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311756610870361, -1.150522232055664, 1.5995620489120483, -1.8000167608261108, 0.4195232391357422, 0.0010957176564261317, 0.0004679839767049998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21561684513251334, 0.976373728401082, -0.014273001901213424, 12.31992244720459], [-0.9763409029813801, -0.2158084990258795, -0.013606355636257979, 13.922308921813965], [-0.016365123299418673, 0.011001556088444733, 0.9998055553471523, 0.5828741788864136], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8854861855506897, -1.4863028526306152, -1.2997334003448486, -1.084875464439392, -0.19603794813156128, 0.5095769166946411, -0.47241324186325073, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311758995056152, -1.150521993637085, 1.5995216369628906, -1.8000162839889526, 0.41952553391456604, 0.0010943993693217635, 0.0004649879119824618, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559603530700766, 0.9763783525036905, -0.014271030869520659, 12.319639205932617], [-0.9763451765013494, -0.21578788128825344, -0.013626687479928595, 13.9225435256958], [-0.01638431818686847, 0.01099559235811811, 0.9998053065803589, 0.5831323862075806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3758782744407654, 0.0, 0.0, 0.8809139728546143, -1.4860621690750122, -1.299126386642456, -1.1159225702285767, -0.2011002004146576, 0.519206702709198, -0.47619569301605225, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311770915985107, -1.1505215167999268, 1.5994715690612793, -1.8000167608261108, 0.4195273220539093, 0.0010942795779556036, 0.00046486809151247144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21558843069203992, 0.9763800584245075, -0.014269199791820853, 12.319439888000488], [-0.9763464233595522, -0.21578054214850684, -0.013653542511252843, 13.922633171081543], [-0.016410062301943012, 0.010988136377559105, 0.9998049663380326, 0.5834808945655823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8746065497398376, -1.485438585281372, -1.298994779586792, -1.1502825021743774, -0.2135494202375412, 0.5346819758415222, -0.47770461440086365, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731175422668457, -1.1505218744277954, 1.5994596481323242, -1.8000178337097168, 0.4195282757282257, 0.0010941597865894437, 0.00046522761113010347, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559216939416803, 0.9763792546294011, -0.014267712684643398, 12.319571495056152], [-0.976345383025788, -0.21578440317252157, -0.013666908637508243, 13.922586441040039], [-0.016422835934871212, 0.010983736923917757, 0.9998048049409657, 0.5836514830589294], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8679682016372681, -1.4848814010620117, -1.2958831787109375, -1.1856553554534912, -0.2251654863357544, 0.5552605390548706, -0.48345693945884705, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311722040176392, -1.1505215167999268, 1.5994597673416138, -1.8000195026397705, 0.41952815651893616, 0.001093200989998877, 0.00046510776155628264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21562059205215967, 0.976372962359474, -0.014268800105856972, 12.319893836975098], [-0.976338973713923, -0.21581292520688833, -0.013674418484507834, 13.922215461730957], [-0.01643072397429942, 0.010982699441882937, 0.9998046867376896, 0.5837671160697937], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8599382638931274, -1.4848544597625732, -1.2804477214813232, -1.20611572265625, -0.22873595356941223, 0.5701059699058533, -0.49326351284980774, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311712503433228, -1.1505218744277954, 1.5994596481323242, -1.8000240325927734, 0.4195287525653839, 0.0010922423098236322, 0.0004670252383220941, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559027150907206, 0.9763795969946821, -0.01427296055997943, 12.319461822509766], [-0.9763450729976544, -0.2157830660675506, -0.013710099623713674, 13.922574043273926], [-0.016466124736852085, 0.0109795706195329, 0.9998041387017564, 0.5843153595924377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8583435416221619, -1.4864778518676758, -1.2681599855422974, -1.2179996967315674, -0.23894482851028442, 0.5807749629020691, -0.4978761076927185, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311679124832153, -1.1505204439163208, 1.5994627475738525, -1.8000246286392212, 0.41952791810035706, 0.0010914033045992255, 0.0004621117259375751, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21560486031280424, 0.9763763911046307, -0.014271899067505452, 12.319674491882324], [-0.9763416365997081, -0.2157977807943623, -0.013723208299503324, 13.922408103942871], [-0.01647886074033498, 0.010975458884496192, 0.9998039740123937, 0.5844867825508118], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8583318591117859, -1.489307165145874, -1.2500100135803223, -1.2148991823196411, -0.23625963926315308, 0.5753822922706604, -0.49783727526664734, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731162190437317, -1.150521993637085, 1.5994632244110107, -1.8000240325927734, 0.41952815651893616, 0.001090204925276339, 0.0004622315464075655, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21560505836822008, 0.9763765583449676, -0.014257458415599339, 12.319692611694336], [-0.9763418221750692, -0.21579762322007645, -0.013712479149735078, 13.922381401062012], [-0.016465268837840875, 0.010963673061619897, 0.9998043272536359, 0.5841558575630188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8560535907745361, -1.4937282800674438, -1.2356082201004028, -1.1850465536117554, -0.22288165986537933, 0.5565705299377441, -0.5025253891944885, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7311608791351318, -1.150519609451294, 1.5994654893875122, -1.8000237941741943, 0.41952815651893616, 0.0010898454347625375, 0.0004621117259375751, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559057663229075, 0.9763796096171942, -0.01426748720454571, 12.31946849822998], [-0.9763445896073049, -0.21578357126229153, -0.01373654679441483, 13.922568321228027], [-0.016490773538554993, 0.010968513895105315, 0.9998038538088523, 0.5846167802810669], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8376303315162659, -1.499993085861206, -1.235264539718628, -1.1521046161651611, -0.2245008498430252, 0.5476294755935669, -0.5074766874313354, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.730979084968567, -1.150519609451294, 1.599482536315918, -1.8000322580337524, 0.4195282757282257, 0.0010882874485105276, 0.0004567188152577728, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21557185158500802, 0.9763838638466735, -0.014259285537921664, 12.319317817687988], [-0.9763487370452527, -0.21576472529653068, -0.013737794140727741, 13.922755241394043], [-0.016490011350868403, 0.0109605537065071, 0.9998039536769671, 0.5845340490341187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8271228671073914, -1.5018662214279175, -1.2357836961746216, -1.13974928855896, -0.22012193500995636, 0.5532948970794678, -0.515125036239624, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310452461242676, -1.1505177021026611, 1.599481225013733, -1.8000293970108032, 0.41952815651893616, 0.0010867294622585177, 0.0004489290586207062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21556436608024176, 0.9763852575079521, -0.01427700940510097, 12.319100379943848], [-0.9763502311147204, -0.21575759593582933, -0.013743580254912027, 13.92288589477539], [-0.0164994023726713, 0.010976735266974331, 0.999803621219799, 0.5848326086997986], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8255189657211304, -1.5021530389785767, -1.2362964153289795, -1.1397746801376343, -0.2106926143169403, 0.5608625411987305, -0.5289976000785828, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7310482263565063, -1.150516390800476, 1.5994826555252075, -1.8000271320343018, 0.41952767968177795, 0.0010830144165083766, 0.0004474909510463476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8259651064872742, -1.5033119916915894, -1.2388828992843628, -1.138368010520935, -0.20593295991420746, 0.55875563621521, -0.5346527099609375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731078028678894, -1.1505177021026611, 1.5994822978973389, -1.8000258207321167, 0.41952672600746155, 0.0010783405741676688, 0.0004512060550041497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.830297589302063, -1.5047134160995483, -1.243908166885376, -1.1366901397705078, -0.1996256709098816, 0.549429714679718, -0.541431725025177, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7310861349105835, -1.150516390800476, 1.5994845628738403, -1.8000247478485107, 0.4195263683795929, 0.0010758239077404141, 0.00045000764657743275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.37616586685180664, 0.0, 0.0, 0.8309069871902466, -1.5066691637039185, -1.2485284805297852, -1.1294546127319336, -0.1929992288351059, 0.5396326184272766, -0.5507834553718567, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7310975790023804, -1.1505160331726074, 1.5994856357574463, -1.8000229597091675, 0.4195244610309601, 0.0010754643008112907, 0.0004504870157688856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8275513052940369, -1.507373571395874, -1.2540228366851807, -1.1211750507354736, -0.1908082813024521, 0.537189781665802, -0.5644548535346985, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312147617340088, -1.1505154371261597, 1.5994882583618164, -1.800022006034851, 0.4195237457752228, 0.0010751048102974892, 0.00045180527376942337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8266478180885315, -1.5073463916778564, -1.256410837173462, -1.1195646524429321, -0.19216716289520264, 0.5400737524032593, -0.5697991847991943, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312498092651367, -1.1505157947540283, 1.599489450454712, -1.8000153303146362, 0.41952264308929443, 0.0010741461301222444, 0.00045300371129997075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8266735672950745, -1.50732421875, -1.256401777267456, -1.1195635795593262, -0.192525252699852, 0.5405157208442688, -0.5697579979896545, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312443256378174, -1.1505149602890015, 1.5994949340820312, -1.800012469291687, 0.4195218086242676, 0.0010735468240454793, 0.00045180527376942337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8267568349838257, -1.507325530052185, -1.2562025785446167, -1.1195697784423828, -0.19289268553256989, 0.5405670404434204, -0.5697516202926636, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731237530708313, -1.1505149602890015, 1.5994985103607178, -1.8000128269195557, 0.4195209741592407, 0.0010730675421655178, 0.000452044972917065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8268358707427979, -1.5073294639587402, -1.2559794187545776, -1.1196041107177734, -0.19328421354293823, 0.5405827164649963, -0.5697628855705261, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731231689453125, -1.1505153179168701, 1.599506139755249, -1.8000131845474243, 0.4195197820663452, 0.0010733071248978376, 0.0004521647933870554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8269898891448975, -1.5073325634002686, -1.255945086479187, -1.1196606159210205, -0.19359232485294342, 0.5406327247619629, -0.5700839757919312, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312275171279907, -1.1505151987075806, 1.5995111465454102, -1.8000133037567139, 0.4195197820663452, 0.0010734270326793194, 0.00045264416257850826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8270052671432495, -1.5073333978652954, -1.2559489011764526, -1.119678020477295, -0.19368700683116913, 0.5406706929206848, -0.5702672004699707, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731223464012146, -1.1505151987075806, 1.5995146036148071, -1.800013780593872, 0.41951942443847656, 0.001073786523193121, 0.0004531235317699611, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269813060760498, -1.507340669631958, -1.2559682130813599, -1.119768500328064, -0.19374573230743408, 0.5406621694564819, -0.5702658891677856, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.730977177619934, -1.153661847114563, 1.6080306768417358, -1.8064072132110596, 0.4216325879096985, 0.014354345388710499, 0.012602131813764572, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269116282463074, -1.5073593854904175, -1.255977749824524, -1.1197892427444458, -0.19395820796489716, 0.5406480431556702, -0.5703325271606445, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7302868366241455, -1.177101969718933, 1.653461217880249, -1.850864052772522, 0.4800458550453186, 0.09919702261686325, 0.08912931382656097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269123435020447, -1.507413387298584, -1.2559696435928345, -1.1197761297225952, -0.19399093091487885, 0.5406510233879089, -0.5704752206802368, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7270501852035522, -1.1956487894058228, 1.7080447673797607, -1.9026761054992676, 0.6068682074546814, 0.22073312103748322, 0.19827480614185333, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269459009170532, -1.5074330568313599, -1.2559382915496826, -1.1196709871292114, -0.19398193061351776, 0.5406831502914429, -0.5704823136329651, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7017403841018677, -1.2058582305908203, 1.764336347579956, -1.9206160306930542, 0.7433598041534424, 0.38857507705688477, 0.31480616331100464, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269752264022827, -1.50743567943573, -1.2559401988983154, -1.1196709871292114, -0.19397246837615967, 0.5407218933105469, -0.5705012083053589, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6463241577148438, -1.2111048698425293, 1.7941776514053345, -1.9039983749389648, 0.8704234957695007, 0.5832747220993042, 0.4158068299293518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269703984260559, -1.507495641708374, -1.2559423446655273, -1.1196997165679932, -0.19397187232971191, 0.540716826915741, -0.5704958438873291, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5666297674179077, -1.2153828144073486, 1.7967619895935059, -1.8501484394073486, 0.9960315823554993, 0.79005366563797, 0.47082626819610596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8269628286361694, -1.5076326131820679, -1.2559372186660767, -1.1197482347488403, -0.1939893662929535, 0.5407167077064514, -0.5706077814102173, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4804764986038208, -1.2184925079345703, 1.781745195388794, -1.7751106023788452, 1.121224045753479, 0.9726628065109253, 0.4825397729873657, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8269652724266052, -1.5076478719711304, -1.2558538913726807, -1.11978018283844, -0.19424499571323395, 0.5407174229621887, -0.5710764527320862, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4152824878692627, -1.2074096202850342, 1.7123448848724365, -1.7077133655548096, 1.2333033084869385, 1.0210576057434082, 0.4401574432849884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8269409537315369, -1.5076905488967896, -1.2558318376541138, -1.1197673082351685, -0.1943279206752777, 0.5407161116600037, -0.5710532069206238, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3596447706222534, -1.1677614450454712, 1.6059404611587524, -1.6316399574279785, 1.3564409017562866, 1.009821891784668, 0.3747462332248688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269269466400146, -1.507757544517517, -1.2558228969573975, -1.1197563409805298, -0.19432300329208374, 0.5407170653343201, -0.5710115432739258, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2909681797027588, -1.1249558925628662, 1.4967206716537476, -1.5407425165176392, 1.4811744689941406, 1.008972406387329, 0.30288606882095337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269279599189758, -1.5078670978546143, -1.2558043003082275, -1.1198078393936157, -0.19433283805847168, 0.5407194495201111, -0.5710859298706055, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.215410828590393, -1.0975351333618164, 1.3953094482421875, -1.452003836631775, 1.5657222270965576, 1.008903980255127, 0.26868176460266113, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269274830818176, -1.507922649383545, -1.2557990550994873, -1.1198127269744873, -0.19439204037189484, 0.5407249927520752, -0.5713209509849548, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1507190465927124, -1.085598111152649, 1.3147964477539062, -1.3796970844268799, 1.6189813613891602, 1.008312463760376, 0.2615675628185272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269267082214355, -1.5079271793365479, -1.2558035850524902, -1.1198134422302246, -0.19449977576732635, 0.5407412648200989, -0.5713793039321899, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1108847856521606, -1.0817991495132446, 1.260696530342102, -1.3461682796478271, 1.6301199197769165, 1.0080829858779907, 0.27025744318962097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269266486167908, -1.507927656173706, -1.255802869796753, -1.1197937726974487, -0.19446441531181335, 0.5407882928848267, -0.5712682008743286, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0756804943084717, -1.0868113040924072, 1.2222874164581299, -1.3011298179626465, 1.632089376449585, 1.0080815553665161, 0.28384697437286377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.826927900314331, -1.507965087890625, -1.2557991743087769, -1.119794487953186, -0.19446814060211182, 0.5408167839050293, -0.5713188052177429, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.049628734588623, -1.1003328561782837, 1.200346827507019, -1.2637029886245728, 1.6273423433303833, 1.0079458951950073, 0.3010185658931732, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269258141517639, -1.508041262626648, -1.2557963132858276, -1.1198005676269531, -0.19447700679302216, 0.5408190488815308, -0.5713812112808228, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0369871854782104, -1.110659122467041, 1.1865811347961426, -1.2552025318145752, 1.6162073612213135, 1.007752537727356, 0.3202509582042694, 0.5742000009659882, 0.5742000009659882, 0.5742000009659882, 0.5742000009659882, -0.5742000009659882, -0.5742000009659882, -0.5742000009659882, 0.5742000009659882, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269221782684326, -1.5080504417419434, -1.255796194076538, -1.119789481163025, -0.19446226954460144, 0.5408178567886353, -0.5713489055633545, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0348910093307495, -1.1139283180236816, 1.1782622337341309, -1.2541019916534424, 1.6063441038131714, 1.0077074766159058, 0.3361593186855316, 0.4937999972930321, 0.4937999972930321, 0.4937999972930321, 0.4937999972930321, -0.4937999972930321, -0.4937999972930321, -0.4937999972930321, 0.4937999972930321, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269294500350952, -1.5080559253692627, -1.2557873725891113, -1.1197302341461182, -0.19436854124069214, 0.5408217310905457, -0.571307897567749, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.028780460357666, -1.1151783466339111, 1.1706582307815552, -1.2389960289001465, 1.5984729528427124, 1.007707118988037, 0.3321748971939087, 0.3401999968748826, 0.3401999968748826, 0.3401999968748826, 0.3401999968748826, -0.3401999968748826, -0.3401999968748826, -0.3401999968748826, 0.3401999968748826, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269287347793579, -1.508089303970337, -1.2557412385940552, -1.119746446609497, -0.1943693906068802, 0.5408209562301636, -0.5713232159614563, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.023396611213684, -1.115130066871643, 1.1612025499343872, -1.2217966318130493, 1.5899728536605835, 1.0077019929885864, 0.350504070520401, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269265294075012, -1.5080986022949219, -1.255740761756897, -1.1197587251663208, -0.19434793293476105, 0.5408178567886353, -0.5712807178497314, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0232958793640137, -1.1120092868804932, 1.1567208766937256, -1.2214818000793457, 1.5809547901153564, 1.0076842308044434, 0.36173388361930847, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269311785697937, -1.508098840713501, -1.2557411193847656, -1.1197433471679688, -0.19421598315238953, 0.5408151149749756, -0.5711727142333984, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0171390771865845, -1.105582356452942, 1.1395962238311768, -1.206040859222412, 1.5813199281692505, 1.0076357126235962, 0.3855057954788208, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, 0.20100001031225856, -0.20100001031225856, -0.20100001031225856, -0.20100001031225856, 0.20100001031225856, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269417881965637, -1.5081193447113037, -1.2556921243667603, -1.1197534799575806, -0.19422893226146698, 0.5408141613006592, -0.5713204741477966, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0109326839447021, -1.0975959300994873, 1.1269475221633911, -1.1990195512771606, 1.5765836238861084, 1.0076321363449097, 0.4010317027568817, 0.15299998377705668, 0.15299998377705668, 0.15299998377705668, 0.15299998377705668, -0.15299998377705668, -0.15299998377705668, -0.15299998377705668, 0.15299998377705668, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8269571661949158, -1.5081310272216797, -1.255668044090271, -1.119749903678894, -0.19422605633735657, 0.540814995765686, -0.5713170170783997, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.008937954902649, -1.0911282300949097, 1.123344898223877, -1.2001614570617676, 1.5690913200378418, 1.0076311826705933, 0.4057815372943878, 0.12720000193669245, 0.12720000193669245, 0.12720000193669245, 0.12720000193669245, -0.12720000193669245, -0.12720000193669245, -0.12720000193669245, 0.12720000193669245, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8269733786582947, -1.508131742477417, -1.2556806802749634, -1.1197410821914673, -0.19421550631523132, 0.5408121347427368, -0.5712366104125977, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0095881223678589, -1.086448311805725, 1.1209276914596558, -1.2008392810821533, 1.569126009941101, 1.0075490474700928, 0.4141044616699219, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8269729614257812, -1.508132815361023, -1.2556833028793335, -1.1197494268417358, -0.1942325234413147, 0.5408115386962891, -0.5713039636611938, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0097131729125977, -1.0830305814743042, 1.1132293939590454, -1.197519063949585, 1.5808000564575195, 1.006300449371338, 0.422828733921051, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8269739151000977, -1.5081359148025513, -1.2556886672973633, -1.1197892427444458, -0.19430011510849, 0.5408122539520264, -0.5715341567993164, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0119836330413818, -1.0772912502288818, 1.1113468408584595, -1.2085144519805908, 1.587761640548706, 1.00533127784729, 0.4217725694179535, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269715905189514, -1.508150577545166, -1.2557400465011597, -1.1198081970214844, -0.1944054663181305, 0.5408084988594055, -0.5715978145599365, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.020711064338684, -1.0697017908096313, 1.1148780584335327, -1.2248494625091553, 1.6021220684051514, 1.0051488876342773, 0.41570326685905457, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269606828689575, -1.508370280265808, -1.2557365894317627, -1.1198372840881348, -0.19465352594852448, 0.5407887697219849, -0.5717136859893799, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0460518598556519, -1.0604889392852783, 1.1286758184432983, -1.2630189657211304, 1.6209123134613037, 1.005094289779663, 0.39850616455078125, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8269675970077515, -1.5083906650543213, -1.255672812461853, -1.1198240518569946, -0.19466780126094818, 0.5407973527908325, -0.5719782710075378, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0753977298736572, -1.0472649335861206, 1.1423864364624023, -1.3060013055801392, 1.6428337097167969, 1.0045710802078247, 0.3903576135635376, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8271439075469971, -1.5083731412887573, -1.2556803226470947, -1.1196209192276, -0.19433055818080902, 0.5411139726638794, -0.5717721581459045, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0968239307403564, -1.0342295169830322, 1.1645268201828003, -1.3579875230789185, 1.6559983491897583, 1.0036343336105347, 0.40365901589393616, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8271758556365967, -1.5083750486373901, -1.2556756734848022, -1.1196398735046387, -0.19417835772037506, 0.5411264896392822, -0.5715579986572266, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1143509149551392, -1.019511342048645, 1.1731127500534058, -1.3972479104995728, 1.659879446029663, 1.0030444860458374, 0.40567055344581604, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8271721005439758, -1.5083808898925781, -1.2556689977645874, -1.1196752786636353, -0.19435392320156097, 0.5411013960838318, -0.5717465281486511, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1386611461639404, -1.0068421363830566, 1.1803059577941895, -1.4224729537963867, 1.6674890518188477, 1.0024346113204956, 0.3949022591114044, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8271623849868774, -1.5083884000778198, -1.2556427717208862, -1.1196988821029663, -0.19439779222011566, 0.5410739779472351, -0.5717549324035645, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.1762388944625854, -0.9932234287261963, 1.1909745931625366, -1.464612364768982, 1.6707710027694702, 1.0019530057907104, 0.3885900378227234, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8271689414978027, -1.5083943605422974, -1.2555854320526123, -1.119638442993164, -0.1943589597940445, 0.5410786271095276, -0.5716743469238281, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.216536045074463, -0.9763203263282776, 1.2017968893051147, -1.5101301670074463, 1.6622966527938843, 1.001842737197876, 0.39008161425590515, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8271905183792114, -1.5084130764007568, -1.2555136680603027, -1.1196244955062866, -0.19432397186756134, 0.5410979390144348, -0.5716296434402466, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2539702653884888, -0.9588391184806824, 1.2116929292678833, -1.5474525690078735, 1.6473559141159058, 1.0016851425170898, 0.398407518863678, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8272198438644409, -1.508423089981079, -1.255505084991455, -1.1196181774139404, -0.1942930519580841, 0.5411070585250854, -0.5715686678886414, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.2879718542099, -0.9440616965293884, 1.217471718788147, -1.57671058177948, 1.6239134073257446, 1.0015358924865723, 0.4171378016471863, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8272687196731567, -1.5084471702575684, -1.2554939985275269, -1.1196045875549316, -0.19426536560058594, 0.5411105155944824, -0.5715711712837219, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3127654790878296, -0.9368334412574768, 1.2200335264205933, -1.5885835886001587, 1.6054381132125854, 1.001344919204712, 0.43149489164352417, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8272864818572998, -1.5084601640701294, -1.2554912567138672, -1.119612693786621, -0.194397434592247, 0.5411058664321899, -0.5717960000038147, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3334739208221436, -0.9318705797195435, 1.224426507949829, -1.6048929691314697, 1.5813202857971191, 1.0008907318115234, 0.45087912678718567, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8272905945777893, -1.508469820022583, -1.255484700202942, -1.1196123361587524, -0.19433079659938812, 0.5411078929901123, -0.5716501474380493, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3462527990341187, -0.9282395243644714, 1.2244099378585815, -1.6146081686019897, 1.565924882888794, 1.0009254217147827, 0.46534398198127747, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8272998332977295, -1.5084911584854126, -1.2554821968078613, -1.1196132898330688, -0.19434864819049835, 0.5411083698272705, -0.5717009902000427, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3518552780151367, -0.9255768656730652, 1.2197213172912598, -1.6165205240249634, 1.5489286184310913, 1.0008273124694824, 0.4841901361942291, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273034691810608, -1.508495569229126, -1.2554798126220703, -1.1196173429489136, -0.19435392320156097, 0.5411077737808228, -0.57173091173172, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3570337295532227, -0.9231165051460266, 1.2166060209274292, -1.6213411092758179, 1.5333963632583618, 1.0007131099700928, 0.49629372358322144, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273065686225891, -1.5085022449493408, -1.2554603815078735, -1.119623064994812, -0.1943373829126358, 0.5411081314086914, -0.5717515349388123, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3674423694610596, -0.9204068779945374, 1.2173842191696167, -1.6306060552597046, 1.5207712650299072, 1.0002375841140747, 0.5023438334465027, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8273106217384338, -1.5085091590881348, -1.2554596662521362, -1.1196256875991821, -0.1943858116865158, 0.5411099195480347, -0.5718812346458435, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.38021719455719, -0.9172877669334412, 1.218599796295166, -1.6359150409698486, 1.5070387125015259, 0.9991345405578613, 0.5053852200508118, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273307085037231, -1.508508563041687, -1.2554576396942139, -1.1196184158325195, -0.1943567991256714, 0.5411228537559509, -0.5718418955802917, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3821065425872803, -0.9169415831565857, 1.2070069313049316, -1.618751049041748, 1.5036123991012573, 0.9989534616470337, 0.48570865392684937, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273378014564514, -1.508518934249878, -1.2554295063018799, -1.1196211576461792, -0.1943623125553131, 0.5411297082901001, -0.571846604347229, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3841403722763062, -0.9192101359367371, 1.2010468244552612, -1.606853723526001, 1.5427076816558838, 0.9990494251251221, 0.3875387907028198, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273327350616455, -1.5086005926132202, -1.2553939819335938, -1.119624376296997, -0.1943701058626175, 0.5411276817321777, -0.5718193650245667, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.392322301864624, -0.9200454950332642, 1.2083806991577148, -1.6070448160171509, 1.5782355070114136, 0.9990907907485962, 0.3322867155075073, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273318409919739, -1.508622169494629, -1.2552335262298584, -1.1196233034133911, -0.19436603784561157, 0.5411281585693359, -0.5717401504516602, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3985227346420288, -0.9174805283546448, 1.2151397466659546, -1.6024703979492188, 1.586219072341919, 0.9990451335906982, 0.32363376021385193, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273324370384216, -1.5087220668792725, -1.2550195455551147, -1.1196249723434448, -0.19439035654067993, 0.5411295890808105, -0.5719394683837891, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.3996169567108154, -0.9133848547935486, 1.2188564538955688, -1.5900708436965942, 1.5958707332611084, 0.9971669912338257, 0.31138575077056885, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272935748100281, -1.5087366104125977, -1.2551772594451904, -1.1196352243423462, -0.19438940286636353, 0.5411287546157837, -0.5717200040817261, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4154497385025024, -0.9025567173957825, 1.2219263315200806, -1.5825055837631226, 1.5938082933425903, 1.0001579523086548, 0.31270307302474976, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272344470024109, -1.5087157487869263, -1.2554149627685547, -1.1196091175079346, -0.19406306743621826, 0.5411297082901001, -0.5710263848304749, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4387027025222778, -0.8940631747245789, 1.2272037267684937, -1.5737767219543457, 1.5813634395599365, 1.0036088228225708, 0.3283941149711609, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827233612537384, -1.5087251663208008, -1.255380630493164, -1.1195999383926392, -0.1940358728170395, 0.5411297082901001, -0.571185290813446, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.451636552810669, -0.8882771730422974, 1.2367405891418457, -1.5765324831008911, 1.5756489038467407, 1.0041600465774536, 0.3550935387611389, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272351622581482, -1.5087498426437378, -1.2552380561828613, -1.1196064949035645, -0.19414983689785004, 0.5411348342895508, -0.5718405842781067, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4810781478881836, -0.8702679872512817, 1.2656092643737793, -1.6111503839492798, 1.5631778240203857, 1.0042238235473633, 0.4008501470088959, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272477984428406, -1.5087438821792603, -1.255248785018921, -1.1195826530456543, -0.19412191212177277, 0.5412084460258484, -0.5716900825500488, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5188013315200806, -0.8463654518127441, 1.298893928527832, -1.6418548822402954, 1.5719555616378784, 1.0043898820877075, 0.4446845054626465, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272508382797241, -1.5087413787841797, -1.255269169807434, -1.119568109512329, -0.19409531354904175, 0.5412136912345886, -0.5714768767356873, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5509450435638428, -0.827997088432312, 1.333498477935791, -1.6689651012420654, 1.6052607297897339, 1.004599690437317, 0.4541521370410919, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272497653961182, -1.5087417364120483, -1.255314826965332, -1.1195679903030396, -0.1940755397081375, 0.5412043333053589, -0.5712777972221375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5778201818466187, -0.814771831035614, 1.3668540716171265, -1.6936490535736084, 1.6584439277648926, 1.0046474933624268, 0.44451552629470825, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272565007209778, -1.5087460279464722, -1.2553013563156128, -1.119570016860962, -0.19409315288066864, 0.5411927103996277, -0.5714943408966064, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6079790592193604, -0.8040528297424316, 1.4028282165527344, -1.7158664464950562, 1.7062795162200928, 1.0046577453613281, 0.4293220341205597, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273319602012634, -1.50874924659729, -1.2552846670150757, -1.1195732355117798, -0.19411687552928925, 0.5411927103996277, -0.5717528462409973, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6505327224731445, -0.7909852266311646, 1.4380571842193604, -1.7457594871520996, 1.720491886138916, 1.0046555995941162, 0.4258500933647156, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8273365497589111, -1.508749008178711, -1.2552918195724487, -1.1195716857910156, -0.19410933554172516, 0.5411859154701233, -0.5715673565864563, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6951042413711548, -0.7811128497123718, 1.4596076011657715, -1.7639105319976807, 1.6980161666870117, 1.0046545267105103, 0.44530466198921204, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273363709449768, -1.5087486505508423, -1.25529944896698, -1.119570255279541, -0.1941048949956894, 0.5411738157272339, -0.5714768767356873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7349251508712769, -0.7767204642295837, 1.468220829963684, -1.7665550708770752, 1.646511435508728, 1.0046521425247192, 0.48297733068466187, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8273521065711975, -1.5087488889694214, -1.2553000450134277, -1.119507074356079, -0.19408583641052246, 0.541174054145813, -0.5714393854141235, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7586414813995361, -0.7753003239631653, 1.4552383422851562, -1.7582908868789673, 1.5842903852462769, 1.0046522617340088, 0.5222089886665344, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8273985981941223, -1.5087759494781494, -1.2552865743637085, -1.119504690170288, -0.19412899017333984, 0.5411734580993652, -0.5715962648391724, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7685269117355347, -0.7772599458694458, 1.4263067245483398, -1.7430797815322876, 1.5170332193374634, 1.004653811454773, 0.5321343541145325, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.827398419380188, -1.508787989616394, -1.2552902698516846, -1.119513750076294, -0.1941537857055664, 0.5411732196807861, -0.5715917944908142, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7730703353881836, -0.7915252447128296, 1.4088693857192993, -1.7156070470809937, 1.479419469833374, 1.0046871900558472, 0.5354888439178467, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273923397064209, -1.5087950229644775, -1.255294919013977, -1.119535207748413, -0.19421443343162537, 0.5411667227745056, -0.5715849995613098, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.772985577583313, -0.8072342872619629, 1.4021735191345215, -1.700050950050354, 1.4710170030593872, 1.0047340393066406, 0.5083488821983337, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827383279800415, -1.508813738822937, -1.255294919013977, -1.119552493095398, -0.19438940286636353, 0.5411643385887146, -0.57160884141922, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7739288806915283, -0.8170071244239807, 1.4046955108642578, -1.6992231607437134, 1.466644048690796, 1.004745364189148, 0.485914409160614, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273820281028748, -1.5088167190551758, -1.2552918195724487, -1.119552731513977, -0.1943964660167694, 0.5411680340766907, -0.5716487169265747, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7802835702896118, -0.8248921632766724, 1.4196927547454834, -1.6987905502319336, 1.4623252153396606, 1.0047471523284912, 0.46174031496047974, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273815512657166, -1.5088163614273071, -1.2552913427352905, -1.1195517778396606, -0.19439958035945892, 0.5411781072616577, -0.5717833042144775, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.79316246509552, -0.8273120522499084, 1.4359780550003052, -1.7018766403198242, 1.4447033405303955, 1.0047461986541748, 0.46326446533203125, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273732662200928, -1.5088154077529907, -1.255295753479004, -1.1195499897003174, -0.1943841278553009, 0.5411847233772278, -0.5717371702194214, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8125957250595093, -0.8276561498641968, 1.4566887617111206, -1.7123167514801025, 1.4305351972579956, 1.0047451257705688, 0.468243807554245, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8273673057556152, -1.5088144540786743, -1.2552975416183472, -1.119544506072998, -0.19435128569602966, 0.5412037372589111, -0.5717057585716248, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8322365283966064, -0.8276145458221436, 1.4766424894332886, -1.7231042385101318, 1.41664457321167, 1.0047448873519897, 0.4869328439235687, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273694515228271, -1.5088146924972534, -1.2552894353866577, -1.1195344924926758, -0.1943117380142212, 0.5412449836730957, -0.5716909170150757, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8413267135620117, -0.8262496590614319, 1.4834487438201904, -1.7274903059005737, 1.4086060523986816, 1.0047433376312256, 0.49764373898506165, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273693919181824, -1.508814811706543, -1.2552827596664429, -1.1195334196090698, -0.19430874288082123, 0.5412721633911133, -0.5716984868049622, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8417967557907104, -0.8256680965423584, 1.4830728769302368, -1.727514386177063, 1.4079742431640625, 1.004742980003357, 0.4927540719509125, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273680210113525, -1.5088149309158325, -1.2552821636199951, -1.1195341348648071, -0.19430766999721527, 0.5412688255310059, -0.5716995596885681, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8418188095092773, -0.8240880370140076, 1.4801465272903442, -1.727944254875183, 1.406449794769287, 1.0047414302825928, 0.49268490076065063, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.827364981174469, -1.5088157653808594, -1.2552752494812012, -1.1195366382598877, -0.19430862367153168, 0.5412546992301941, -0.5717020630836487, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8423815965652466, -0.8224096298217773, 1.4788169860839844, -1.7287710905075073, 1.4061613082885742, 1.0047403573989868, 0.49195122718811035, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273641467094421, -1.508815884590149, -1.2552464008331299, -1.1195400953292847, -0.19431401789188385, 0.5412418842315674, -0.5717522501945496, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8442490100860596, -0.8209177851676941, 1.477346420288086, -1.729836106300354, 1.407588243484497, 1.004737377166748, 0.4851033389568329, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273638486862183, -1.5088156461715698, -1.2552233934402466, -1.1195427179336548, -0.19431786239147186, 0.5412281155586243, -0.5717612504959106, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.847254753112793, -0.819513738155365, 1.4765987396240234, -1.7298504114151, 1.409460186958313, 1.004729151725769, 0.4834252893924713, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273577094078064, -1.5088157653808594, -1.2552136182785034, -1.119545817375183, -0.19432121515274048, 0.5412073731422424, -0.5717599391937256, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8535656929016113, -0.8193657994270325, 1.4799684286117554, -1.7330710887908936, 1.4095555543899536, 1.004705548286438, 0.4823673367500305, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273499608039856, -1.5088155269622803, -1.2552111148834229, -1.1195470094680786, -0.19431822001934052, 0.5411977767944336, -0.5717562437057495, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8611078262329102, -0.8193811178207397, 1.490294098854065, -1.7356173992156982, 1.409806489944458, 1.0046672821044922, 0.48334428668022156, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273519277572632, -1.5088154077529907, -1.2552051544189453, -1.1195461750030518, -0.1943119764328003, 0.5412027835845947, -0.5717594623565674, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.86356520652771, -0.8204255104064941, 1.4975169897079468, -1.737164855003357, 1.4143046140670776, 1.0046250820159912, 0.4772011637687683, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273518681526184, -1.5088149309158325, -1.2551960945129395, -1.1195456981658936, -0.19430287182331085, 0.5412092804908752, -0.5717594623565674, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8635698556900024, -0.8215849995613098, 1.4979592561721802, -1.7379209995269775, 1.4159201383590698, 1.0046261548995972, 0.47490403056144714, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273505568504333, -1.5088151693344116, -1.255203127861023, -1.1195446252822876, -0.1942415088415146, 0.5412086844444275, -0.5717210173606873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8631813526153564, -0.8215391635894775, 1.4957700967788696, -1.7377630472183228, 1.4198182821273804, 1.0046292543411255, 0.47616130113601685, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273500204086304, -1.5088151693344116, -1.2552073001861572, -1.1195446252822876, -0.19421526789665222, 0.5412102341651917, -0.5717080235481262, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8595246076583862, -0.8209294676780701, 1.4884852170944214, -1.7362252473831177, 1.428399682044983, 1.0046380758285522, 0.476296603679657, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827350914478302, -1.508815884590149, -1.2552024126052856, -1.1195449829101562, -0.1942235380411148, 0.5412181615829468, -0.5717476010322571, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8542863130569458, -0.8200419545173645, 1.4816945791244507, -1.736566185951233, 1.4324085712432861, 1.0046539306640625, 0.4740477502346039, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273506164550781, -1.5088162422180176, -1.2552039623260498, -1.119545340538025, -0.19422701001167297, 0.5412301421165466, -0.5717594623565674, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8511004447937012, -0.8195192217826843, 1.4786568880081177, -1.7390892505645752, 1.4365663528442383, 1.0046635866165161, 0.4692854583263397, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827347993850708, -1.5088173151016235, -1.2552071809768677, -1.1195462942123413, -0.19423024356365204, 0.5412343144416809, -0.5717556476593018, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.850106954574585, -0.8194465041160583, 1.4784871339797974, -1.7417927980422974, 1.4430373907089233, 1.0046666860580444, 0.4617691934108734, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, 0.005999995849944773, -0.005999995849944773, -0.005999995849944773, -0.005999995849944773, 0.005999995849944773, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273231983184814, -1.5088268518447876, -1.25520920753479, -1.1195837259292603, -0.19426847994327545, 0.5412421226501465, -0.5717636346817017, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.854212760925293, -0.8194031119346619, 1.486067295074463, -1.7540130615234375, 1.448891282081604, 1.0047082901000977, 0.45091795921325684, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, -0.12900000980922155, -0.12900000980922155, -0.12900000980922155, 0.12900000980922155, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273281455039978, -1.508838176727295, -1.2552059888839722, -1.119571566581726, -0.19426752626895905, 0.5412838459014893, -0.571772038936615, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8614115715026855, -0.8193337917327881, 1.4991850852966309, -1.7685461044311523, 1.4658639430999756, 1.0047210454940796, 0.42994174361228943, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, -0.23159998694618983, -0.23159998694618983, -0.23159998694618983, 0.23159998694618983, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273369669914246, -1.508865237236023, -1.2552071809768677, -1.1195513010025024, -0.19427447021007538, 0.5413143634796143, -0.5718926191329956, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.875460147857666, -0.8168526291847229, 1.5096265077590942, -1.7918751239776611, 1.504146933555603, 1.004703164100647, 0.37532782554626465, 0.3929999985537686, 0.3929999985537686, 0.3929999985537686, 0.3929999985537686, -0.3929999985537686, -0.3929999985537686, -0.3929999985537686, 0.3929999985537686, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273379802703857, -1.5088664293289185, -1.2552247047424316, -1.119526982307434, -0.19425314664840698, 0.541312575340271, -0.5717629194259644, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.887110948562622, -0.8128983974456787, 1.5122195482254028, -1.8104432821273804, 1.5492196083068848, 1.0046950578689575, 0.31680381298065186, 0.49499999599142386, 0.49499999599142386, 0.49499999599142386, 0.49499999599142386, -0.49499999599142386, -0.49499999599142386, -0.49499999599142386, 0.49499999599142386, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273453116416931, -1.5088664293289185, -1.2552334070205688, -1.119524598121643, -0.19424714148044586, 0.5413093566894531, -0.5717492699623108, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8902145624160767, -0.8102163672447205, 1.5126023292541504, -1.8206862211227417, 1.5769323110580444, 1.004697322845459, 0.29137688875198364, 0.5850000003045731, 0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.5850000003045731, -0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273546099662781, -1.5088694095611572, -1.2552298307418823, -1.1195273399353027, -0.19426308572292328, 0.5413028597831726, -0.5718032121658325, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8918277025222778, -0.8043421506881714, 1.5125586986541748, -1.8284075260162354, 1.592840313911438, 1.0046974420547485, 0.2758800983428955, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273558616638184, -1.5089071989059448, -1.2552253007888794, -1.1195447444915771, -0.19434985518455505, 0.5412676334381104, -0.5719139575958252, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9136680364608765, -0.792959988117218, 1.533563256263733, -1.8518983125686646, 1.6098811626434326, 1.0047029256820679, 0.2670007348060608, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273559808731079, -1.5089085102081299, -1.25523042678833, -1.119545578956604, -0.19435572624206543, 0.5412278771400452, -0.571867823600769, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9598219394683838, -0.772399365901947, 1.5864951610565186, -1.8852345943450928, 1.6188387870788574, 1.0047134160995483, 0.28509607911109924, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827366292476654, -1.5089068412780762, -1.2552316188812256, -1.1195311546325684, -0.19432803988456726, 0.5412295460700989, -0.5718058347702026, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.007683038711548, -0.7492527961730957, 1.6532981395721436, -1.9061094522476196, 1.6251775026321411, 1.0048035383224487, 0.3432480990886688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274343013763428, -1.508899211883545, -1.2552393674850464, -1.1195136308670044, -0.19422629475593567, 0.5412418842315674, -0.5716169476509094, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.024568557739258, -0.7409077882766724, 1.7157679796218872, -1.9085279703140259, 1.6314435005187988, 1.0051389932632446, 0.4217562675476074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274628520011902, -1.5088891983032227, -1.2552701234817505, -1.1195122003555298, -0.19418662786483765, 0.5412639379501343, -0.5715915560722351, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9869331121444702, -0.7561215758323669, 1.7364054918289185, -1.8960187435150146, 1.6253827810287476, 1.0051617622375488, 0.46862441301345825, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274580240249634, -1.5088914632797241, -1.2553046941757202, -1.119526982307434, -0.19421622157096863, 0.5412631034851074, -0.5716276168823242, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9085516929626465, -0.7961589097976685, 1.7355186939239502, -1.8776671886444092, 1.6428546905517578, 1.0052334070205688, 0.4562641382217407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827448844909668, -1.5088988542556763, -1.2553181648254395, -1.119537591934204, -0.19428525865077972, 0.5412629842758179, -0.5717669129371643, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.812239646911621, -0.8359299302101135, 1.7057788372039795, -1.8621714115142822, 1.6726601123809814, 1.0052391290664673, 0.39667412638664246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274207711219788, -1.5089062452316284, -1.2553130388259888, -1.1195513010025024, -0.1943928748369217, 0.5412619113922119, -0.5719200372695923, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.706477165222168, -0.8812808394432068, 1.6590898036956787, -1.8363903760910034, 1.6894809007644653, 1.0053653717041016, 0.32569360733032227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273858428001404, -1.5089318752288818, -1.2552995681762695, -1.1196143627166748, -0.1944388896226883, 0.5412620306015015, -0.5719725489616394, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5931761264801025, -0.9260991811752319, 1.5995497703552246, -1.791245698928833, 1.702579140663147, 1.0055561065673828, 0.26349321007728577, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8273324966430664, -1.5089972019195557, -1.2552757263183594, -1.119663119316101, -0.19452254474163055, 0.541263222694397, -0.5721325278282166, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4895004034042358, -0.9673717021942139, 1.5442084074020386, -1.7395637035369873, 1.7060426473617554, 1.0057607889175415, 0.21878041326999664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8272994756698608, -1.5089975595474243, -1.2552711963653564, -1.1196554899215698, -0.19454027712345123, 0.5412672758102417, -0.5721525549888611, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4011024236679077, -1.0074228048324585, 1.4963476657867432, -1.6776108741760254, 1.7022253274917603, 1.0058038234710693, 0.18676072359085083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272935748100281, -1.508998990058899, -1.2552582025527954, -1.119661808013916, -0.194604754447937, 0.5412748456001282, -0.5723757147789001, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3237972259521484, -1.044193983078003, 1.4480116367340088, -1.6046760082244873, 1.7155978679656982, 1.0058015584945679, 0.15209263563156128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272334337234497, -1.5090168714523315, -1.2552547454833984, -1.1196826696395874, -0.19483676552772522, 0.5412747263908386, -0.5726013779640198, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.268926739692688, -1.073489785194397, 1.4082590341567993, -1.5542594194412231, 1.7068127393722534, 1.0058053731918335, 0.1355576366186142, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272133469581604, -1.5090142488479614, -1.2552670240402222, -1.1196738481521606, -0.19475360214710236, 0.5412748456001282, -0.572370171546936, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2227399349212646, -1.1014243364334106, 1.3840522766113281, -1.4977049827575684, 1.6882822513580322, 1.0058231353759766, 0.13689257204532623, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272138833999634, -1.5090160369873047, -1.255263328552246, -1.119674801826477, -0.19474461674690247, 0.5412755608558655, -0.5724285244941711, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1826268434524536, -1.1237215995788574, 1.3548603057861328, -1.4509927034378052, 1.6679654121398926, 1.0058250427246094, 0.1379677951335907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272125720977783, -1.509019136428833, -1.255261778831482, -1.119678020477295, -0.19474437832832336, 0.5412720441818237, -0.5724865198135376, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1531857252120972, -1.1389027833938599, 1.3293519020080566, -1.4131255149841309, 1.6513978242874146, 1.0058326721191406, 0.15154676139354706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272108435630798, -1.5090214014053345, -1.255261778831482, -1.1196787357330322, -0.19471010565757751, 0.5412676334381104, -0.5724732279777527, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1293365955352783, -1.1511954069137573, 1.307190179824829, -1.3810449838638306, 1.6396090984344482, 1.0058341026306152, 0.1551508903503418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.827210009098053, -1.5090293884277344, -1.2552621364593506, -1.119680643081665, -0.19470027089118958, 0.5412582755088806, -0.572472870349884, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1091169118881226, -1.1619997024536133, 1.2877575159072876, -1.3491995334625244, 1.6362539529800415, 1.0058335065841675, 0.1618933379650116, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272022604942322, -1.5090737342834473, -1.2552568912506104, -1.1197195053100586, -0.19470350444316864, 0.5412173271179199, -0.5725711584091187, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0957841873168945, -1.165389895439148, 1.2682934999465942, -1.327694296836853, 1.635905146598816, 1.0058295726776123, 0.18052688241004944, 0.5526000022888183, 0.5526000022888183, 0.5526000022888183, 0.5526000022888183, -0.5526000022888183, -0.5526000022888183, -0.5526000022888183, 0.5526000022888183, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8271939754486084, -1.509084701538086, -1.2552626132965088, -1.1196914911270142, -0.19455310702323914, 0.5412123799324036, -0.5724464058876038, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0926390886306763, -1.1640064716339111, 1.2582099437713623, -1.3279162645339966, 1.62698233127594, 1.0058200359344482, 0.18437525629997253, 0.3785999945231846, 0.3785999945231846, 0.3785999945231846, 0.3785999945231846, -0.3785999945231846, -0.3785999945231846, -0.3785999945231846, 0.3785999945231846, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272015452384949, -1.5090656280517578, -1.2552694082260132, -1.1196603775024414, -0.19443026185035706, 0.5412135720252991, -0.5723583102226257, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0847536325454712, -1.1584380865097046, 1.237282395362854, -1.316349744796753, 1.6419854164123535, 1.0056592226028442, 0.17480574548244476, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272033333778381, -1.509078025817871, -1.2552566528320312, -1.119667410850525, -0.19449283182621002, 0.5412173271179199, -0.5724919438362122, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0826765298843384, -1.153407335281372, 1.2247036695480347, -1.308709740638733, 1.6495649814605713, 1.0056278705596924, 0.17320680618286133, 0.2298000183734265, 0.2298000183734265, 0.2298000183734265, 0.2298000183734265, -0.2298000183734265, -0.2298000183734265, -0.2298000183734265, 0.2298000183734265, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272305727005005, -1.509092926979065, -1.2552498579025269, -1.1196666955947876, -0.19454626739025116, 0.5412235260009766, -0.5724766254425049, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.083670735359192, -1.1474405527114868, 1.2231063842773438, -1.3064087629318237, 1.653099775314331, 1.005539894104004, 0.18130825459957123, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, -0.15479999164958577, -0.15479999164958577, -0.15479999164958577, 0.15479999164958577, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272334933280945, -1.5090994834899902, -1.2552462816238403, -1.1196545362472534, -0.19457419216632843, 0.5412275195121765, -0.5724561214447021, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.087891936302185, -1.1409435272216797, 1.2243092060089111, -1.3060307502746582, 1.659583330154419, 1.0054576396942139, 0.1865832358598709, 0.04919998829181382, 0.04919998829181382, 0.04919998829181382, 0.04919998829181382, -0.04919998829181382, -0.04919998829181382, -0.04919998829181382, 0.04919998829181382, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272408246994019, -1.5093224048614502, -1.255121111869812, -1.1196783781051636, -0.1948118507862091, 0.541226863861084, -0.5726450681686401, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0989668369293213, -1.1345187425613403, 1.2277241945266724, -1.3174307346343994, 1.6732697486877441, 1.0047355890274048, 0.18481053411960602, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272427320480347, -1.5094023942947388, -1.2549935579299927, -1.1196669340133667, -0.1948573887348175, 0.5412263870239258, -0.5726453065872192, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1125919818878174, -1.1279429197311401, 1.2334738969802856, -1.3380298614501953, 1.6931390762329102, 1.0045126676559448, 0.17884813249111176, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8272432088851929, -1.5096200704574585, -1.2547918558120728, -1.1196770668029785, -0.19492246210575104, 0.5412319302558899, -0.57278972864151, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.131003737449646, -1.1187647581100464, 1.2421396970748901, -1.3644171953201294, 1.7180899381637573, 1.0044407844543457, 0.16875562071800232, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8273864388465881, -1.5095643997192383, -1.2548668384552002, -1.1196668148040771, -0.19485127925872803, 0.5413087606430054, -0.5728297829627991, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.159305214881897, -1.1056417226791382, 1.2657256126403809, -1.4220070838928223, 1.7409831285476685, 1.003928780555725, 0.1578369140625, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3760699927806854, 0.0, 0.0, 0.8274471759796143, -1.5094786882400513, -1.2550864219665527, -1.1196260452270508, -0.19462549686431885, 0.5413634181022644, -0.5726476311683655, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.1957155466079712, -1.0868772268295288, 1.2917871475219727, -1.4965462684631348, 1.7601566314697266, 1.0035208463668823, 0.15079569816589355, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8275593519210815, -1.5094542503356934, -1.2551684379577637, -1.119553565979004, -0.194419726729393, 0.5414322018623352, -0.5724563598632812, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2327711582183838, -1.0676130056381226, 1.3048360347747803, -1.543109655380249, 1.7681090831756592, 1.0033246278762817, 0.1487797200679779, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8275719285011292, -1.5094765424728394, -1.2550691366195679, -1.119618535041809, -0.19477805495262146, 0.5414284467697144, -0.5729494690895081, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.2812730073928833, -1.0461907386779785, 1.3195399045944214, -1.5946065187454224, 1.767102837562561, 1.0026733875274658, 0.15531867742538452, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8275746703147888, -1.5094720125198364, -1.2550593614578247, -1.1195634603500366, -0.19459588825702667, 0.5414373278617859, -0.5725033283233643, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.337760090827942, -1.0142831802368164, 1.3237496614456177, -1.6559234857559204, 1.739400029182434, 1.0024504661560059, 0.1842890977859497, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8275734186172485, -1.5094724893569946, -1.2550723552703857, -1.1195138692855835, -0.19449390470981598, 0.5414318442344666, -0.5722257494926453, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3904932737350464, -0.9828861951828003, 1.3315002918243408, -1.7017017602920532, 1.695270299911499, 1.002486228942871, 0.22665657103061676, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8275755047798157, -1.509480595588684, -1.255025029182434, -1.1194819211959839, -0.19437730312347412, 0.5414354205131531, -0.5722731947898865, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4284974336624146, -0.9624393582344055, 1.3425061702728271, -1.7261120080947876, 1.6545137166976929, 1.0023324489593506, 0.2616795003414154, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8275928497314453, -1.509494662284851, -1.254962682723999, -1.1194891929626465, -0.19450947642326355, 0.5414348244667053, -0.5725916624069214, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.454882025718689, -0.9486685991287231, 1.3465620279312134, -1.7457114458084106, 1.6236767768859863, 1.0020031929016113, 0.2958184778690338, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276003003120422, -1.5094902515411377, -1.2550216913223267, -1.119497537612915, -0.19447292387485504, 0.5414412617683411, -0.5724403858184814, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4781631231307983, -0.9362539052963257, 1.3518080711364746, -1.7604531049728394, 1.5938618183135986, 1.0017023086547852, 0.3295803368091583, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276031017303467, -1.509480595588684, -1.2550272941589355, -1.119493842124939, -0.19449007511138916, 0.5414433479309082, -0.5724169015884399, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4903215169906616, -0.9281194806098938, 1.3505679368972778, -1.762244701385498, 1.5722806453704834, 1.0015283823013306, 0.3529638350009918, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276094198226929, -1.5094821453094482, -1.2550166845321655, -1.1194950342178345, -0.19448323547840118, 0.5414482355117798, -0.5724517703056335, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4891494512557983, -0.9247767925262451, 1.3341866731643677, -1.754019856452942, 1.5625828504562378, 1.001457691192627, 0.36643072962760925, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276180624961853, -1.5094830989837646, -1.2550145387649536, -1.119505763053894, -0.1945018172264099, 0.5414559245109558, -0.572631299495697, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4831418991088867, -0.9240366816520691, 1.3143960237503052, -1.7415841817855835, 1.5441166162490845, 0.9991483092308044, 0.3772808909416199, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276564478874207, -1.509480595588684, -1.2550197839736938, -1.119533896446228, -0.19455453753471375, 0.5414775013923645, -0.572839617729187, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4676645994186401, -0.9242971539497375, 1.288632869720459, -1.7240015268325806, 1.5246578454971313, 0.996616542339325, 0.3854042887687683, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8276799917221069, -1.5094704627990723, -1.255038857460022, -1.119645357131958, -0.19461806118488312, 0.5414965152740479, -0.5729714035987854, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4548757076263428, -0.9259684085845947, 1.2669687271118164, -1.7031556367874146, 1.5115195512771606, 0.9942044615745544, 0.3857031762599945, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276880383491516, -1.5094527006149292, -1.255076289176941, -1.1196261644363403, -0.1946144700050354, 0.5415063500404358, -0.5729261040687561, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4478342533111572, -0.9299522042274475, 1.2523435354232788, -1.6724604368209839, 1.5240052938461304, 0.9932999014854431, 0.34653201699256897, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8277042508125305, -1.5094577074050903, -1.255059003829956, -1.1196168661117554, -0.19471141695976257, 0.5415090918540955, -0.5729706883430481, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4469780921936035, -0.9309983253479004, 1.2516018152236938, -1.656528115272522, 1.5371975898742676, 0.9923341870307922, 0.3193851113319397, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8277069926261902, -1.5094906091690063, -1.254991888999939, -1.1195183992385864, -0.19471046328544617, 0.5415059924125671, -0.5729547739028931, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4513403177261353, -0.9286250472068787, 1.2592705488204956, -1.64488685131073, 1.539031982421875, 0.9923787713050842, 0.3211671710014343, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.827698826789856, -1.5095990896224976, -1.2548710107803345, -1.1195294857025146, -0.19470949470996857, 0.5414905548095703, -0.5729263424873352, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.461646556854248, -0.9199907779693604, 1.274194359779358, -1.6356456279754639, 1.538175106048584, 0.9924296140670776, 0.33893999457359314, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8276586532592773, -1.5096906423568726, -1.2547115087509155, -1.1195636987686157, -0.19471322000026703, 0.5414474010467529, -0.5727064609527588, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.4792624711990356, -0.9082058072090149, 1.2957512140274048, -1.6433228254318237, 1.5334880352020264, 0.9941182732582092, 0.35664957761764526, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8275629878044128, -1.5096646547317505, -1.2547703981399536, -1.119520664215088, -0.19438892602920532, 0.5414372086524963, -0.5717739462852478, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5066611766815186, -0.8957250714302063, 1.303343653678894, -1.6466337442398071, 1.5288503170013428, 1.0024640560150146, 0.3582301735877991, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274699449539185, -1.5096575021743774, -1.2548712491989136, -1.1195045709609985, -0.1942088007926941, 0.5414338707923889, -0.5715931057929993, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5248080492019653, -0.8915309309959412, 1.3128525018692017, -1.644118309020996, 1.5294654369354248, 1.004629373550415, 0.3705503046512604, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274551033973694, -1.5096721649169922, -1.2548528909683228, -1.1195048093795776, -0.19424811005592346, 0.5414343476295471, -0.5719606876373291, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5527530908584595, -0.8767330050468445, 1.3425548076629639, -1.675792932510376, 1.5253187417984009, 1.0047379732131958, 0.40368837118148804, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274715542793274, -1.5096886157989502, -1.254773736000061, -1.1194640398025513, -0.19425445795059204, 0.5414462089538574, -0.5720990896224976, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5936155319213867, -0.8503755927085876, 1.3821817636489868, -1.7050650119781494, 1.529589056968689, 1.004770278930664, 0.44523170590400696, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8275396227836609, -1.5096861124038696, -1.254775047302246, -1.119449496269226, -0.1942567378282547, 0.5414755344390869, -0.5721725821495056, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6501617431640625, -0.8195942044258118, 1.4365477561950684, -1.7294906377792358, 1.5536911487579346, 1.0048941373825073, 0.48428982496261597, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8275386691093445, -1.5096837282180786, -1.2547954320907593, -1.1194082498550415, -0.19424283504486084, 0.5414748191833496, -0.5719364881515503, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7039729356765747, -0.7908694744110107, 1.4978673458099365, -1.7429744005203247, 1.5773227214813232, 1.005159616470337, 0.5125182271003723, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8275386095046997, -1.5096830129623413, -1.254856824874878, -1.1194041967391968, -0.19423708319664001, 0.5414704084396362, -0.5717921853065491, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7442837953567505, -0.771399974822998, 1.563821792602539, -1.7414743900299072, 1.6209006309509277, 1.0052615404129028, 0.5254059433937073, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.827597439289093, -1.509679913520813, -1.2548619508743286, -1.1194019317626953, -0.19424211978912354, 0.5414727926254272, -0.5720533132553101, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7713285684585571, -0.7575953602790833, 1.615441083908081, -1.7420343160629272, 1.661046028137207, 1.0052613019943237, 0.5230534076690674, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0325766801834106, -0.3759741485118866, 0.0, 0.0, 0.8276383876800537, -1.509679913520813, -1.254860520362854, -1.1194071769714355, -0.19426141679286957, 0.5414724349975586, -0.5721973776817322, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7964941263198853, -0.753409743309021, 1.6522796154022217, -1.750314474105835, 1.6811017990112305, 1.0052516460418701, 0.5154702663421631, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276318311691284, -1.5096797943115234, -1.2549246549606323, -1.1194148063659668, -0.19427399337291718, 0.5414600968360901, -0.5721302628517151, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8191548585891724, -0.7542542219161987, 1.6762442588806152, -1.74785578250885, 1.6727641820907593, 1.0052331686019897, 0.5237040519714355, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276231288909912, -1.509680151939392, -1.2549527883529663, -1.1194275617599487, -0.1943388283252716, 0.5414429903030396, -0.5721431970596313, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8452719449996948, -0.7570179104804993, 1.6874862909317017, -1.7369542121887207, 1.6294214725494385, 1.0051734447479248, 0.5489670038223267, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276243805885315, -1.5096826553344727, -1.254942536354065, -1.119431495666504, -0.19445015490055084, 0.5414438247680664, -0.5722146034240723, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8788491487503052, -0.7580857872962952, 1.6857877969741821, -1.7213550806045532, 1.5775879621505737, 1.005147933959961, 0.575415849685669, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276256918907166, -1.509682297706604, -1.2549394369125366, -1.1194299459457397, -0.19444908201694489, 0.5414469242095947, -0.5722150802612305, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9136347770690918, -0.759267270565033, 1.6824142932891846, -1.718565821647644, 1.5344961881637573, 1.0051480531692505, 0.5857022404670715, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 0.8276263475418091, -1.5096759796142578, -1.254941701889038, -1.119417667388916, -0.19440066814422607, 0.5414556860923767, -0.5721516013145447, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9444047212600708, -0.7599051594734192, 1.681362509727478, -1.7256382703781128, 1.515891671180725, 1.0051566362380981, 0.5868179798126221, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8276285529136658, -1.5096752643585205, -1.2549322843551636, -1.1193982362747192, -0.1943470984697342, 0.5414654016494751, -0.5720377564430237, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.951439619064331, -0.7598299980163574, 1.670390248298645, -1.7214857339859009, 1.521474003791809, 1.005181074142456, 0.5770424604415894, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8276292681694031, -1.5096824169158936, -1.2549080848693848, -1.1194016933441162, -0.19436927139759064, 0.5414772629737854, -0.5721863508224487, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9566454887390137, -0.7591692209243774, 1.6652789115905762, -1.7159700393676758, 1.5281442403793335, 1.0051878690719604, 0.5640116333961487, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3760699927806854, 0.0, 0.0, 0.8276280760765076, -1.509686827659607, -1.2549006938934326, -1.1194077730178833, -0.19438436627388, 0.5414869785308838, -0.5721957087516785, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9635732173919678, -0.7594674825668335, 1.6652241945266724, -1.7102599143981934, 1.5256128311157227, 1.0051887035369873, 0.5519965291023254, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276284337043762, -1.509687066078186, -1.254902958869934, -1.1194123029708862, -0.19438616931438446, 0.5414899587631226, -0.5721848011016846, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9642101526260376, -0.7612442374229431, 1.661630392074585, -1.7013413906097412, 1.5255368947982788, 1.0051878690719604, 0.5452849864959717, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276275992393494, -1.5096874237060547, -1.2549046277999878, -1.119421362876892, -0.19439814984798431, 0.5414919853210449, -0.5721838474273682, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9642646312713623, -0.7633058428764343, 1.6589350700378418, -1.701202392578125, 1.525521159172058, 1.0051867961883545, 0.5433266758918762, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827627956867218, -1.5096874237060547, -1.2549058198928833, -1.1194243431091309, -0.19440749287605286, 0.54149329662323, -0.5721884965896606, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9660536050796509, -0.7633660435676575, 1.6574947834014893, -1.705610990524292, 1.5217899084091187, 1.0051860809326172, 0.5416634678840637, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827627956867218, -1.509687900543213, -1.2549060583114624, -1.1194251775741577, -0.19441673159599304, 0.5414942502975464, -0.5721921920776367, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9655709266662598, -0.7639139294624329, 1.6509056091308594, -1.7087409496307373, 1.520553469657898, 1.0051848888397217, 0.5373342037200928, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276273608207703, -1.5096874237060547, -1.2549116611480713, -1.1194242238998413, -0.1944092959165573, 0.5414938926696777, -0.5721449851989746, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9563114643096924, -0.7678040266036987, 1.6400924921035767, -1.7065104246139526, 1.5225393772125244, 1.0051846504211426, 0.5257524847984314, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276275396347046, -1.5096914768218994, -1.2549073696136475, -1.1194267272949219, -0.194417804479599, 0.5414937734603882, -0.5721896886825562, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9440594911575317, -0.7714264988899231, 1.6277837753295898, -1.70816969871521, 1.5227543115615845, 1.0051828622817993, 0.5092347860336304, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276268243789673, -1.5096967220306396, -1.2549039125442505, -1.1194289922714233, -0.1944187581539154, 0.5414917469024658, -0.5721985697746277, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9336535930633545, -0.7722598910331726, 1.6178981065750122, -1.7056238651275635, 1.5250213146209717, 1.005181074142456, 0.49714866280555725, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276247382164001, -1.5096981525421143, -1.2549026012420654, -1.1194360256195068, -0.19443194568157196, 0.5414854884147644, -0.5722189545631409, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9262644052505493, -0.7723483443260193, 1.6122641563415527, -1.7018320560455322, 1.531249761581421, 1.005179762840271, 0.48785993456840515, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276227712631226, -1.5096982717514038, -1.2549023628234863, -1.1194387674331665, -0.19444333016872406, 0.5414772629737854, -0.5722478032112122, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9245705604553223, -0.7713921666145325, 1.6117937564849854, -1.7023745775222778, 1.5299489498138428, 1.0051783323287964, 0.481607049703598, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276200294494629, -1.5096977949142456, -1.2549008131027222, -1.1194390058517456, -0.19444237649440765, 0.5414673089981079, -0.5722478032112122, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9244942665100098, -0.7699562311172485, 1.6117140054702759, -1.7022465467453003, 1.532336711883545, 1.0051782131195068, 0.46947386860847473, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276186585426331, -1.5096980333328247, -1.2548925876617432, -1.1194392442703247, -0.1944429725408554, 0.5414631962776184, -0.5722630620002747, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9284859895706177, -0.767342746257782, 1.615870475769043, -1.7027150392532349, 1.5337382555007935, 1.005178451538086, 0.4692854583263397, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276159167289734, -1.5096977949142456, -1.254889726638794, -1.1194382905960083, -0.19443278014659882, 0.5414614081382751, -0.5722658038139343, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9377623796463013, -0.7632431983947754, 1.6288903951644897, -1.7096797227859497, 1.5289838314056396, 1.0051766633987427, 0.4747203290462494, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276119828224182, -1.509697437286377, -1.254891276359558, -1.1194376945495605, -0.19441288709640503, 0.5414609313011169, -0.5722493529319763, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9400105476379395, -0.7620776891708374, 1.6315033435821533, -1.7110015153884888, 1.527122974395752, 1.005171537399292, 0.47587618231773376, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276091814041138, -1.5096973180770874, -1.2548918724060059, -1.1194367408752441, -0.19440233707427979, 0.5414609313011169, -0.572243869304657, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9399603605270386, -0.7623244524002075, 1.6312373876571655, -1.710991382598877, 1.528873085975647, 1.0051661729812622, 0.46990206837654114, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276092410087585, -1.5096970796585083, -1.2548915147781372, -1.1194343566894531, -0.1943940818309784, 0.5414626002311707, -0.5722455382347107, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9390017986297607, -0.7628260850906372, 1.6279616355895996, -1.7099641561508179, 1.530055284500122, 1.0051623582839966, 0.46776753664016724, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276087641716003, -1.5096975564956665, -1.2548916339874268, -1.1194331645965576, -0.19437873363494873, 0.5414652824401855, -0.5722444653511047, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9352864027023315, -0.7628024816513062, 1.6195591688156128, -1.7073500156402588, 1.529118299484253, 1.0051331520080566, 0.468597948551178, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827609121799469, -1.5096973180770874, -1.2548903226852417, -1.119431972503662, -0.19436879456043243, 0.5414727926254272, -0.5722483992576599, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9340686798095703, -0.7622981667518616, 1.6155884265899658, -1.7073897123336792, 1.5287717580795288, 1.0048558712005615, 0.4699643850326538, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276105523109436, -1.5096971988677979, -1.2548867464065552, -1.1194300651550293, -0.19436411559581757, 0.5414927005767822, -0.5722680687904358, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.933577537536621, -0.7615039944648743, 1.613978385925293, -1.7083675861358643, 1.53107488155365, 1.004616141319275, 0.4681859314441681, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827610433101654, -1.5096973180770874, -1.2548855543136597, -1.1194283962249756, -0.19436447322368622, 0.5415114164352417, -0.5722793340682983, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9338834285736084, -0.7605675458908081, 1.6131290197372437, -1.7085314989089966, 1.5335724353790283, 1.0045472383499146, 0.4662252962589264, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276112675666809, -1.5096971988677979, -1.254886507987976, -1.1194278001785278, -0.19436459243297577, 0.5415184497833252, -0.5722780227661133, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9352138042449951, -0.7605599164962769, 1.6140990257263184, -1.7087575197219849, 1.5377827882766724, 1.0043578147888184, 0.46159687638282776, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276128172874451, -1.5096973180770874, -1.2548853158950806, -1.1194276809692383, -0.19436927139759064, 0.541520893573761, -0.5722962617874146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9368574619293213, -0.7605587840080261, 1.6152586936950684, -1.7089896202087402, 1.5395703315734863, 1.0043456554412842, 0.45972806215286255, 0.008399993246728266, 0.008399993246728266, 0.008399993246728266, 0.008399993246728266, -0.008399993246728266, -0.008399993246728266, -0.008399993246728266, 0.008399993246728266, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276162147521973, -1.5096973180770874, -1.254883050918579, -1.1194270849227905, -0.19437262415885925, 0.5415223240852356, -0.5723257064819336, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9408100843429565, -0.7603256702423096, 1.6188690662384033, -1.7103266716003418, 1.5395903587341309, 1.0043445825576782, 0.4604865312576294, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276196122169495, -1.5096979141235352, -1.254882574081421, -1.1194255352020264, -0.19438305497169495, 0.5415214896202087, -0.5723268985748291, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9429547786712646, -0.759637713432312, 1.6196247339248657, -1.7109055519104004, 1.538301706314087, 1.0042641162872314, 0.46239790320396423, 0.1103999808594421, 0.1103999808594421, 0.1103999808594421, 0.1103999808594421, -0.1103999808594421, -0.1103999808594421, -0.1103999808594421, 0.1103999808594421, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276264667510986, -1.5097057819366455, -1.254855751991272, -1.1194285154342651, -0.1944265514612198, 0.5415185689926147, -0.5724549293518066, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9437050819396973, -0.7597127556800842, 1.6223863363265991, -1.7122091054916382, 1.53830885887146, 1.0037922859191895, 0.46272963285446167, 0.17939999444144114, 0.17939999444144114, 0.17939999444144114, 0.17939999444144114, -0.17939999444144114, -0.17939999444144114, -0.17939999444144114, 0.17939999444144114, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276248574256897, -1.5097051858901978, -1.2548719644546509, -1.119428277015686, -0.19444140791893005, 0.5415075421333313, -0.5724185705184937, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.950157880783081, -0.7597084045410156, 1.6254138946533203, -1.7123218774795532, 1.5392956733703613, 1.0040189027786255, 0.4581688940525055, 0.25199998446873256, 0.25199998446873256, 0.25199998446873256, 0.25199998446873256, -0.25199998446873256, -0.25199998446873256, -0.25199998446873256, 0.25199998446873256, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276218771934509, -1.509699821472168, -1.2549041509628296, -1.1194303035736084, -0.19443301856517792, 0.5414777398109436, -0.5722547769546509, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9561477899551392, -0.759728193283081, 1.6269750595092773, -1.7144159078598022, 1.5396450757980347, 1.0043845176696777, 0.45249462127685547, 0.3515999943345458, 0.3515999943345458, 0.3515999943345458, 0.3515999943345458, -0.3515999943345458, -0.3515999943345458, -0.3515999943345458, 0.3515999943345458, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276200890541077, -1.509700059890747, -1.254919171333313, -1.1194332838058472, -0.19443289935588837, 0.5414501428604126, -0.5722208619117737, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9643170833587646, -0.7586421370506287, 1.6330872774124146, -1.7182490825653076, 1.5429604053497314, 1.0046411752700806, 0.45188137888908386, 0.49439999664222795, 0.49439999664222795, 0.49439999664222795, 0.49439999664222795, -0.49439999664222795, -0.49439999664222795, -0.49439999664222795, 0.49439999664222795, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276185393333435, -1.5097038745880127, -1.254911184310913, -1.119433045387268, -0.19444069266319275, 0.541443943977356, -0.5722538232803345, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9795987606048584, -0.7525898218154907, 1.6463422775268555, -1.7185404300689697, 1.5456504821777344, 1.004684329032898, 0.4529145359992981, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, -0.5729999998113611, -0.5729999998113611, -0.5729999998113611, 0.5729999998113611, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276199102401733, -1.5097088813781738, -1.2549009323120117, -1.1194348335266113, -0.1944730579853058, 0.5414475202560425, -0.5723711252212524, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0139458179473877, -0.7394671440124512, 1.6795718669891357, -1.7249083518981934, 1.5521348714828491, 1.00468909740448, 0.46597936749458313, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276199698448181, -1.5097076892852783, -1.254903793334961, -1.1194334030151367, -0.19446729123592377, 0.5414525270462036, -0.5723119378089905, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.066715717315674, -0.7183117270469666, 1.731797456741333, -1.7499500513076782, 1.559434175491333, 1.00469970703125, 0.49242761731147766, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8276205062866211, -1.5097037553787231, -1.2549136877059937, -1.119420051574707, -0.19441300630569458, 0.5414602160453796, -0.5720092058181763, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.112118721008301, -0.7002478241920471, 1.794062614440918, -1.777327537536621, 1.5766453742980957, 1.00486159324646, 0.5176283717155457, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.827634334564209, -1.5096988677978516, -1.2549107074737549, -1.1194062232971191, -0.19435477256774902, 0.5414978265762329, -0.572045624256134, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.118629217147827, -0.6978877782821655, 1.8496686220169067, -1.7983680963516235, 1.5960214138031006, 1.0050557851791382, 0.5414235591888428, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 0.8274207711219788, -1.5096999406814575, -1.25491201877594, -1.1207654476165771, -0.19278459250926971, 0.5417448282241821, -0.5706910490989685, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0737786293029785, -0.7272324562072754, 1.8915046453475952, -1.8028051853179932, 1.619310975074768, 1.0053645372390747, 0.5451526641845703, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 0.8270651698112488, -1.510866641998291, -1.257509469985962, -1.1285417079925537, -0.19122041761875153, 0.5394425392150879, -0.5326616168022156, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9863653182983398, -0.7909461259841919, 1.9162678718566895, -1.8220038414001465, 1.5778473615646362, 0.998877227306366, 0.5003705024719238, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0328642129898071, -0.37578243017196655, 0.0, 0.0, 0.8395259380340576, -1.5061147212982178, -1.273301601409912, -1.1527533531188965, -0.1699850857257843, 0.488009512424469, -0.47822892665863037, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8879258632659912, -0.8595151901245117, 1.907311201095581, -1.823814034461975, 1.5407421588897705, 0.9985707998275757, 0.4585459232330322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0328642129898071, -0.37578243017196655, 0.0, 0.0, 0.8436709642410278, -1.5029315948486328, -1.3013250827789307, -1.1821751594543457, -0.2033473700284958, 0.4228014051914215, -0.4405384361743927, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8018269538879395, -0.9057995080947876, 1.884426474571228, -1.8225972652435303, 1.4843673706054688, 1.0059479475021362, 0.43590593338012695, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.563430905342102, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.8420413732528687, -1.50259268283844, -1.3257248401641846, -1.2206891775131226, -0.21581503748893738, 0.36648324131965637, -0.38042688369750977, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7399712800979614, -0.9427686333656311, 1.877062201499939, -1.8202697038650513, 1.4587280750274658, 1.0067052841186523, 0.41745129227638245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 0.8397624492645264, -1.497375249862671, -1.3558375835418701, -1.2502387762069702, -0.20229971408843994, 0.36855217814445496, -0.33122095465660095, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6855124235153198, -0.9852119088172913, 1.8767184019088745, -1.8407448530197144, 1.424465298652649, 0.9684575796127319, 0.33449530601501465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5633350610733032, 1.0328642129898071, -0.37578243017196655, 0.0, 0.0, 0.8567887544631958, -1.483925700187683, -1.3978896141052246, -1.2778862714767456, -0.20043376088142395, 0.3767071068286896, -0.2960820198059082, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.660892367362976, -1.0310758352279663, 1.8717718124389648, -1.9058952331542969, 1.3158310651779175, 0.8241257667541504, 0.22646793723106384, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 0.8896106481552124, -1.4676382541656494, -1.4347740411758423, -1.31356680393219, -0.21227189898490906, 0.3884304165840149, -0.28430211544036865, 0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -1.6554173231124878, -1.063181757926941, 1.846034049987793, -1.956898808479309, 1.1891834735870361, 0.6612148880958557, 0.11708419770002365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155943204123023, 0.9763789211025721, -0.014258030457777219, 12.319583892822266], [-0.9763438331824247, -0.21578713468050492, -0.013734333366696072, 13.922542572021484], [-0.01648661313330888, 0.010959695842269123, 0.9998040191229667, 0.5844710469245911], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 0.8984333872795105, -1.4613395929336548, -1.4342398643493652, -1.3130643367767334, -0.21016915142536163, 0.38928622007369995, -0.2856787443161011, 0.49620000451475704, -0.49620000451475704, 0.49620000451475704, 0.49620000451475704, -0.49620000451475704, -0.49620000451475704, 0.49620000451475704, 0.49620000451475704, -1.653322458267212, -1.0637389421463013, 1.8435827493667603, -1.961389183998108, 1.1377644538879395, 0.6615452766418457, 0.09533882141113281, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559480566325329, 0.9763786578816965, -0.014268714173356211, 12.319706916809082], [-0.9763449918917363, -0.21578692522287501, -0.013655025111022656, 13.92231559753418], [-0.01641147704959376, 0.010987235138753201, 0.9998049530208661, 0.5834974646568298], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 0.8977272510528564, -1.4644348621368408, -1.4287543296813965, -1.3117634057998657, -0.2100715935230255, 0.3892911374568939, -0.28721392154693604, 0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -1.6555609703063965, -1.059780478477478, 1.8446966409683228, -1.957024335861206, 1.1507573127746582, 0.7100555896759033, 0.11080098897218704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21558361229558076, 0.9763810836108694, -0.014271849090203062, 12.31944465637207], [-0.9763470664200972, -0.21577604318353227, -0.01367863593086212, 13.922590255737305], [-0.016435084498090235, 0.010985388246358713, 0.9998045855279007, 0.5838637948036194], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 0.8976200819015503, -1.4643155336380005, -1.4288946390151978, -1.3116397857666016, -0.21004991233348846, 0.38934996724128723, -0.287272185087204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6554354429244995, -1.0598034858703613, 1.844739317893982, -1.95707106590271, 1.1506998538970947, 0.709948718547821, 0.11068258434534073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.215743821571309, 0.9763460244265805, -0.01424935227364009, 12.321587562561035], [-0.97631139282803, -0.21593610105427263, -0.01369906915346074, 13.920747756958008], [-0.01645198127884487, 0.010956315434037552, 0.9998046266466816, 0.5838773250579834], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 0.9116067290306091, -1.4590307474136353, -1.431767225265503, -1.3197994232177734, -0.21340201795101166, 0.38286733627319336, -0.2824673354625702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.656766653060913, -1.0613923072814941, 1.8403513431549072, -1.9542856216430664, 1.1374691724777222, 0.6973587870597839, 0.10870243608951569, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21554539419552343, 0.9763900337114761, -0.014236752087424035, 12.318835258483887], [-0.9763557584002297, -0.21573717009971682, -0.013671374330262998, 13.923176765441895], [-0.0164199902499598, 0.010953333112261848, 0.9998051852305644, 0.583331286907196], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0328642129898071, -0.3758782744407654, 0.0, 0.0, 0.9683178067207336, -1.4376431703567505, -1.4433859586715698, -1.3530173301696777, -0.2277926653623581, 0.35637274384498596, -0.26284879446029663, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6619716882705688, -1.0677199363708496, 1.8232845067977905, -1.9432892799377441, 1.0866751670837402, 0.6477670073509216, 0.10090537369251251, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21548638707520706, 0.9764026690898238, -0.014263407010320039, 12.317898750305176], [-0.9763683287982206, -0.21567884923116076, -0.01369381298587455, 13.924012184143066], [-0.016446990759526298, 0.01097550858002534, 0.9998044982427143, 0.5839705467224121], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0327683687210083, -0.3758782744407654, 0.0, 0.0, 1.068529725074768, -1.3998507261276245, -1.4638901948928833, -1.4119032621383667, -0.25318700075149536, 0.3094121813774109, -0.22854527831077576, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6710742712020874, -1.0787138938903809, 1.793450951576233, -1.9241405725479126, 0.9974114298820496, 0.5612090229988098, 0.0874423012137413, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21548225163650114, 0.9764039994016877, -0.01423478774175173, 12.317831993103027], [-0.9763690944543226, -0.21567441081217464, -0.013709117960951984, 13.92408561706543], [-0.0164557170645817, 0.010944335210987295, 0.9998046963795879, 0.583831787109375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0327683687210083, -0.3759741485118866, 0.0, 0.0, 1.212562084197998, -1.3454989194869995, -1.4935301542282104, -1.4964348077774048, -0.2895042300224304, 0.24208086729049683, -0.17862607538700104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6841094493865967, -1.0945496559143066, 1.750548243522644, -1.8968170881271362, 0.8698923587799072, 0.43725594878196716, 0.06823589652776718, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21562760246605106, 0.9763713698662093, -0.014271831008122049, 12.319869995117188], [-0.9763358803138883, -0.21582100621739464, -0.013767428482319887, 13.922225952148438], [-0.01652228393555525, 0.010965463095240428, 0.9998033670440702, 0.5851016640663147], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.3916610479354858, -1.2777609825134277, -1.530462384223938, -1.6012929677963257, -0.33465853333473206, 0.15827050805091858, -0.1167621836066246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7001832723617554, -1.1139150857925415, 1.6979259252548218, -1.8628830909729004, 0.7125289440155029, 0.28431254625320435, 0.04432329535484314, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.215942775020733, 0.9763023932988018, -0.014225145179471774, 12.324420928955078], [-0.976266036176677, -0.21613559042978392, -0.013785251446679548, 13.918251037597656], [-0.016533134131933535, 0.010910700646646116, 0.9998037867937762, 0.5847867131233215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0322891473770142, -0.37616586685180664, 0.0, 0.0, 1.5418256521224976, -1.2210798263549805, -1.5612897872924805, -1.6896132230758667, -0.372524231672287, 0.08800435811281204, -0.06495461612939835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7135090827941895, -1.1300644874572754, 1.6541738510131836, -1.8347903490066528, 0.581882894039154, 0.1573496311903, 0.02459486573934555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21564924684659625, 0.9763675041385432, -0.014209123715682956, 12.320364952087402], [-0.9763318783747549, -0.21584124780860026, -0.01373386375529732, 13.921769142150879], [-0.01647621326999823, 0.010911123072268386, 0.9998047218280094, 0.5838676691055298], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0322891473770142, -0.37626171112060547, 0.0, 0.0, 1.648123025894165, -1.180954933166504, -1.583128571510315, -1.7520005702972412, -0.3993450403213501, 0.0382641926407814, -0.028265872970223427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.722905158996582, -1.1413919925689697, 1.623319149017334, -1.814934253692627, 0.4896756708621979, 0.06777738034725189, 0.01060088537633419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21571720479972112, 0.9763516650261369, -0.014265824689981436, 12.321431159973145], [-0.9763166452698148, -0.21591013853127516, -0.013733908711666874, 13.92075252532959], [-0.016489260823029695, 0.010965321705074652, 0.9998039137738031, 0.5845639109611511], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0322891473770142, -0.37626171112060547, 0.0, 0.0, 1.7108912467956543, -1.1571999788284302, -1.5960603952407837, -1.78871488571167, -0.41514912247657776, 0.009000272490084171, -0.0064924536272883415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7283799648284912, -1.1480293273925781, 1.6053168773651123, -1.8034085035324097, 0.43573635816574097, 0.015254839323461056, 0.002361251739785075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21566823392139622, 0.9763627320272805, -0.014248802947991407, 12.32066535949707], [-0.9763281314192382, -0.21586049231084936, -0.013697724582427772, 13.92148494720459], [-0.01644970141505013, 0.010957343087739496, 0.9998046528976614, 0.5838538408279419], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5639102458953857, 1.0322891473770142, -0.37626171112060547, 0.0, 0.0, 1.7301535606384277, -1.1499731540679932, -1.6000168323516846, -1.800095796585083, -0.4200406074523926, -0.0001529187138658017, 9.99484327621758e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299968004226685, -1.150011658668518, 1.5999747514724731, -1.799981713294983, 0.4198676645755768, -0.00020421118824742734, -6.0400492657208815e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21561741518455446, 0.9763739089784358, -0.014252022147770759, 12.319951057434082], [-0.9763392323618272, -0.2158098091377305, -0.013705095076441484, 13.922118186950684], [-0.016457023432243402, 0.010959751188117386, 0.9998045060078721, 0.5839905142784119], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.032384991645813, -0.3760699927806854, 0.0, 0.0, 1.7299013137817383, -1.1500061750411987, -1.6000210046768188, -1.7999571561813354, -0.42004743218421936, -9.563411731505767e-05, 7.741809531580657e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300186157226562, -1.1500166654586792, 1.5999674797058105, -1.799970030784607, 0.419914186000824, 0.00011325092782499269, -8.988168701762334e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21562590214694977, 0.9763720504054758, -0.014250947699043014, 12.320056915283203], [-0.9763374584940192, -0.2158182127397963, -0.013699131039564837, 13.922026634216309], [-0.016451062724129, 0.010959846568579396, 0.9998046030592378, 0.5838950872421265], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.7298908233642578, -1.1500440835952759, -1.6000183820724487, -1.7997560501098633, -0.41997087001800537, -7.430219284287887e-06, 3.607251710491255e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300198078155518, -1.1500118970870972, 1.5999717712402344, -1.7999763488769531, 0.4199645221233368, 0.0006401973078027368, 0.00036527917836792767, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559708956781454, 0.9763785537037696, -0.01424130742673778, 12.31956672668457], [-0.9763436397560702, -0.21578939036813827, -0.013712626021880331, 13.922491073608398], [-0.016461837010385182, 0.01094800766725704, 0.9998045554258899, 0.5839641690254211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0324808359146118, -0.3760699927806854, 0.0, 0.0, 1.7301113605499268, -1.1500637531280518, -1.60001802444458, -1.7996888160705566, -0.41988876461982727, 2.996056309712003e-06, 5.63258572583436e-06, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300721406936646, -1.1500084400177002, 1.5999699831008911, -1.7999922037124634, 0.41999566555023193, 0.0007641142001375556, 0.0004869190452154726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21558735375895655, 0.976380441407342, -0.014259261425972777, 12.319445610046387], [-0.9763456012527134, -0.21578003364923481, -0.013720203818179382, 13.922574996948242], [-0.01647300257050233, 0.010964064736166188, 0.9998041955656984, 0.5842885971069336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5638143420219421, 1.0325766801834106, -0.3760699927806854, 0.0, 0.0, 1.7303801774978638, -1.1500697135925293, -1.6000195741653442, -1.7996658086776733, -0.4198397696018219, 1.917476083690417e-06, -8.269114914583042e-06, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302615642547607, -1.1500067710876465, 1.5999655723571777, -1.8000304698944092, 0.42000970244407654, 0.0008176836417987943, 0.0005013001500628889, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155791238278113, 0.9763825434320645, -0.014239741948710211, 12.31933879852295], [-0.9763475673162891, -0.2157714317917374, -0.013715575748327368, 13.922689437866211], [-0.01646417824240508, 0.010946145608216539, 0.9998045372627222, 0.5839820504188538], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5637184977531433, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.730482578277588, -1.1500756740570068, -1.6000206470489502, -1.7996532917022705, -0.41982346773147583, 1.1984225238848012e-06, -1.4021543393027969e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302964925765991, -1.1500059366226196, 1.5999583005905151, -1.8000651597976685, 0.4200180768966675, 0.0008735301671549678, 0.0005021390388719738, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21556677430033777, 0.9763852402415624, -0.01424178556830477, 12.3191499710083], [-0.9763501061908623, -0.2157592378198312, -0.01372666880555173, 13.922846794128418], [-0.016475313618835898, 0.010945955135659992, 0.9998043559153607, 0.5841622948646545], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7305371761322021, -1.1500775814056396, -1.6000219583511353, -1.799646019935608, -0.41981208324432373, -1.078580226021586e-06, -1.6058860637713224e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7303192615509033, -1.15000581741333, 1.5999367237091064, -1.8000940084457397, 0.42002156376838684, 0.0008909073076210916, 0.0005003414116799831, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.2155878463382188, 0.976380682115412, -0.014235311836822799, 12.319533348083496], [-0.9763452013406988, -0.21578038275322364, -0.013743152399025632, 13.922563552856445], [-0.01649024955053782, 0.010935721773866527, 0.9998042216649445, 0.5843138694763184], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7305490970611572, -1.1500781774520874, -1.6000230312347412, -1.7996419668197632, -0.41980645060539246, -4.0746363083599135e-06, -1.5579493265249766e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730338215827942, -1.1500059366226196, 1.5998965501785278, -1.8001083135604858, 0.42002180218696594, 0.0009014533716253936, 0.0004989032750017941, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21558687324879622, 0.9763809237226558, -0.014233477203431728, 12.319440841674805], [-0.9763454436637794, -0.21577936579225843, -0.013741904353771586, 13.92258358001709], [-0.016488623950618956, 0.010934216422949204, 0.9998042649396086, 0.5842722058296204], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5636226534843445, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7305588722229004, -1.150078535079956, -1.6000245809555054, -1.7996394634246826, -0.41980546712875366, -7.190535143308807e-06, -1.4860438568575773e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7303653955459595, -1.1500061750411987, 1.5998722314834595, -1.800118327140808, 0.4200214445590973, 0.0009104415657930076, 0.0004991429741494358, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21558742634932515, 0.9763808160943084, -0.014232482674732332, 12.319526672363281], [-0.9763454494742281, -0.21577981994560846, -0.013734358201549052, 13.922574996948242], [-0.016481046418292754, 0.010934864756963997, 0.9998043827878056, 0.5841565132141113], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7305705547332764, -1.1500786542892456, -1.6000258922576904, -1.7996381521224976, -0.4198063313961029, -1.2583435818669386e-05, -1.4860438568575773e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7305216789245605, -1.1500067710876465, 1.5998550653457642, -1.8001290559768677, 0.4200223982334137, 0.0009182313224300742, 0.0004993826732970774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21558653473845113, 0.9763810407766701, -0.014230574525749847, 12.319515228271484], [-0.9763452195070952, -0.21577918450072842, -0.013760664295098157, 13.92257022857666], [-0.016506313492369445, 0.01092733947797597, 0.9998040482348652, 0.5844992995262146], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5635268092155457, 1.0326725244522095, -0.3759741485118866, 0.0, 0.0, 1.7305837869644165, -1.1500788927078247, -1.6000267267227173, -1.7996373176574707, -0.4198053479194641, -1.941444497788325e-05, -1.3542174201575108e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730570912361145, -1.1500073671340942, 1.5998293161392212, -1.8001328706741333, 0.42002180218696594, 0.0009316536597907543, 0.0004978246870450675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.21559158326414218, 0.9763803196554516, -0.014203542346152558, 12.319517135620117], [-0.9763444244995684, -0.2157836398335884, -0.013747200761429108, 13.922531127929688], [-0.01648738833979512, 0.010903768600203045, 0.999804617840929, 0.5839793086051941], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000026/gt/hand_left.mp4 b/agibot-challenge-2026/000026/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d858fba08036673e94cf9b52996e6c3f1bd5277 --- /dev/null +++ b/agibot-challenge-2026/000026/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75a88a024241b8b678a5553733410ff8a9d8f14c2ee8d49615c87e33f4839060 +size 3854808 diff --git a/agibot-challenge-2026/000026/gt/hand_right.mp4 b/agibot-challenge-2026/000026/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01cdcac53832caa5c073b4a944ac387c1515e9b5 --- /dev/null +++ b/agibot-challenge-2026/000026/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b62fef29ec0f8415eb28528b598713adf7039566d29f84d5372c33cfd84fb860 +size 4942308 diff --git a/agibot-challenge-2026/000026/gt/head.mp4 b/agibot-challenge-2026/000026/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..870e1e34469d6a9b65bbaea525fa780f1d2bfc59 --- /dev/null +++ b/agibot-challenge-2026/000026/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163314108ee8eefc71e9a75071f1938c80e09592967f7b534a52b6ab74257242 +size 3437720 diff --git a/agibot-challenge-2026/000026/meta.json b/agibot-challenge-2026/000026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1b5d71e831d117c06996f3a7b8656926125f864 --- /dev/null +++ b/agibot-challenge-2026/000026/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Router_connecting_network_cable_", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1351, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000026/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000026/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..8ce58a50a6978df39df325e6fd4b5b0ba5b363d1 --- /dev/null +++ b/agibot-challenge-2026/000026/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000026/ref_images/hand_left.png b/agibot-challenge-2026/000026/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..ab1d0f49c8c37017cf973fe4b2a1f39bf13121d6 --- /dev/null +++ b/agibot-challenge-2026/000026/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4935f4528e432b7419596dfbbdedbb2d34dc49d1fb76235fe46dc689855c22fc +size 376738 diff --git a/agibot-challenge-2026/000026/ref_images/hand_right.png b/agibot-challenge-2026/000026/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..3bb58f80109d5327da4bfb253abec5f7d57f639c --- /dev/null +++ b/agibot-challenge-2026/000026/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d62dd3a64b9ebbc2593ce834ad497bb29be898bfec7a69179bbf9f09fc4c8ffd +size 420561 diff --git a/agibot-challenge-2026/000026/ref_images/head.png b/agibot-challenge-2026/000026/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..91006e4ba83c76688f4ee0fc4449943cee7fa56e --- /dev/null +++ b/agibot-challenge-2026/000026/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f182c1a2831b9ee512245893365654bd1c3486a2223a135f66963b22aae1a89 +size 317381 diff --git a/agibot-challenge-2026/000026/temporal.json b/agibot-challenge-2026/000026/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..0a7ecc38cee9e85f01196132327752a1284ad979 --- /dev/null +++ b/agibot-challenge-2026/000026/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729614019393921, -1.1503496170043945, -1.5996830463409424, -1.7997643947601318, -0.41972771286964417, 7.430219284287887e-06, -0.0006720753153786063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293411493301392, -1.150133728981018, 1.6000818014144897, -1.8003424406051636, 0.41992101073265076, -0.00013062804646324366, -6.8310082497191615e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960786363431721, -0.08847197637610264, -0.00024416558555559557, -0.0271732360124588], [0.0884720663083921, 0.996078583475519, 0.00038603695030222187, 0.0027427906170487404], [0.0002090546586462474, -0.00040612499291061603, 0.9999998956793145, -7.929692401376087e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296142578125, -1.150349736213684, -1.599683403968811, -1.7997645139694214, -0.41972675919532776, 7.430219284287887e-06, -0.0006668022833764553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293413877487183, -1.1501338481903076, 1.6000820398330688, -1.8003425598144531, 0.41992101073265076, -0.0001307478960370645, -4.793690095539205e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960786363431721, -0.08847197637610264, -0.00024416558555559557, -0.0271732360124588], [0.0884720663083921, 0.996078583475519, 0.00038603695030222187, 0.0027427906170487404], [0.0002090546586462474, -0.00040612499291061603, 0.9999998956793145, -7.929692401376087e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729614019393921, -1.1503496170043945, -1.5996836423873901, -1.7997641563415527, -0.4197256565093994, 7.789746632624883e-06, -0.0006616490427404642, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293413877487183, -1.1501338481903076, 1.6000820398330688, -1.8003432750701904, 0.4199211299419403, -0.00013110741565469652, -3.235740678064758e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960786363431721, -0.08847197637610264, -0.00024416558555559557, -0.0271732360124588], [0.0884720663083921, 0.996078583475519, 0.00038603695030222187, 0.0027427906170487404], [0.0002090546586462474, -0.00040612499291061603, 0.9999998956793145, -7.929692401376087e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.72505784034729, -1.151465654373169, -1.6026012897491455, -1.8034038543701172, -0.425537645816803, 0.006686118897050619, 0.0014838867355138063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293404340744019, -1.150133490562439, 1.6000821590423584, -1.8003432750701904, 0.4199208915233612, -0.00013062804646324366, -2.277002749906387e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960786363431721, -0.08847197637610264, -0.00024416558555559557, -0.0271732360124588], [0.0884720663083921, 0.996078583475519, 0.00038603695030222187, 0.0027427906170487404], [0.0002090546586462474, -0.00040612499291061603, 0.9999998956793145, -7.929692401376087e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.6645160913467407, -1.1734678745269775, -1.6367849111557007, -1.8080852031707764, -0.49837955832481384, 0.13550563156604767, -0.014660662040114403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293369770050049, -1.1501317024230957, 1.6000832319259644, -1.8003439903259277, 0.41992029547691345, -0.00013026852684561163, -1.1984225238848012e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960786363431721, -0.08847197637610264, -0.00024416558555559557, -0.0271732360124588], [0.0884720663083921, 0.996078583475519, 0.00038603695030222187, 0.0027427906170487404], [0.0002090546586462474, -0.00040612499291061603, 0.9999998956793145, -7.929692401376087e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.5677515268325806, -1.1923032999038696, -1.635798692703247, -1.778843641281128, -0.5023892521858215, 0.2955440580844879, -0.05415719002485275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7294225692749023, -1.1501332521438599, 1.6000821590423584, -1.8003439903259277, 0.41992005705833435, -0.00012918993888888508, -2.157160452043172e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960812605315259, -0.08844241482961666, -0.00024834861062293114, -0.026817550882697105], [0.08844251012212066, 0.9960812014017654, 0.0004032583715975666, 0.002741484437137842], [0.0002117102382514008, -0.00042364268160962785, 0.9999998878528203, -7.728983291599434e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.464843988418579, -1.208824634552002, -1.6067441701889038, -1.7410626411437988, -0.5127682089805603, 0.40115514397621155, -0.08648547530174255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293893098831177, -1.1501340866088867, 1.6000779867172241, -1.800346851348877, 0.41991958022117615, -0.00012883041927125305, 3.235740678064758e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996084090508437, -0.0884105127110104, -0.00025666740375090535, -0.02724905125796795], [0.08841061317602457, 0.9960840299748918, 0.0004107393556846172, 0.0027436993550509214], [0.00021934862486472736, -0.0004318230600910492, 0.9999998827075058, -8.068981514952611e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.3464858531951904, -1.2251535654067993, -1.556657075881958, -1.6841933727264404, -0.5241342782974243, 0.4909204840660095, -0.10871034115552902, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729333519935608, -1.150134563446045, 1.6000696420669556, -1.8003506660461426, 0.41991886496543884, -0.00012751214671880007, 1.2463593520806171e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960866974036989, -0.088381188952125, -0.00023810670038032012, -0.027190133929252625], [0.0883812799225017, 0.9960866361458764, 0.00040329995375329084, 0.002745050936937332], [0.00020153077280857427, -0.0004227658939349163, 0.9999998903271673, -9.097171641769819e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2305198907852173, -1.242143988609314, -1.4979760646820068, -1.6109857559204102, -0.5273600816726685, 0.5425946712493896, -0.13196848332881927, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293248176574707, -1.1501283645629883, 1.600062608718872, -1.800351619720459, 0.4199192225933075, -0.0001269129425054416, 1.0905644558079075e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960831783339943, -0.08842081379102815, -0.00024804955222164707, -0.027190901339054108], [0.08842090690757104, 0.9960831231966322, 0.00039357907144086534, 0.002743916818872094], [0.00021227739089654585, -0.00041397025877201434, 0.9999998917834613, -7.659661605430301e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.1304627656936646, -1.2618062496185303, -1.4484091997146606, -1.5329481363296509, -0.5536009669303894, 0.5993495583534241, -0.1424630731344223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293349504470825, -1.150127649307251, 1.6000652313232422, -1.8003491163253784, 0.4199187457561493, -0.00012595420412253588, 2.277002749906387e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960831210235048, -0.0884214204142388, -0.0002615798199336789, -0.027275923639535904], [0.08842151632275094, 0.9960830739405699, 0.00038113028032817325, 0.0027437990065664053], [0.00022685515037086556, -0.00040276672346381814, 0.9999998931578479, -9.63030197453918e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.0490840673446655, -1.2797478437423706, -1.3997958898544312, -1.4636220932006836, -0.5608856678009033, 0.6603057384490967, -0.15632319450378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293280363082886, -1.1501280069351196, 1.6000657081604004, -1.8003501892089844, 0.4199180006980896, -0.00012487563071772456, -1.6777914879639866e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960819665572667, -0.08843448376457724, -0.00024079182093923008, -0.02729005366563797], [0.0884345736500567, 0.9960819103633948, 0.00039246674089431926, 0.0027419484686106443], [0.00020514078337527356, -0.0004122233651015164, 0.9999998939945726, -8.064455869316589e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9840341210365295, -1.297445297241211, -1.3563556671142578, -1.3978253602981567, -0.5626515746116638, 0.7104566097259521, -0.17668390274047852, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293342351913452, -1.1501272916793823, 1.6000666618347168, -1.8003482818603516, 0.41991811990737915, -0.0001243962615262717, -6.950850547582377e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960818958811967, -0.08843525176518541, -0.0002508843342419987, -0.027230916544795036], [0.08843534732081372, 0.9960818388899408, 0.0003994720028088987, 0.002745479578152299], [0.00021457392185890081, -0.00042009387314538875, 0.9999998887395787, -8.419661753578112e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9426867961883545, -1.3157343864440918, -1.3371901512145996, -1.3545702695846558, -0.5752522349357605, 0.7556779980659485, -0.18698722124099731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293345928192139, -1.1501271724700928, 1.60006844997406, -1.8003474473953247, 0.4199177622795105, -0.00012415657693054527, -1.3422331903711893e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960805262691279, -0.08845065956241767, -0.0002569248733449058, -0.027329910546541214], [0.08845075638742055, 0.9960804729912376, 0.0003937258507994957, 0.002745087957009673], [0.00022109253817461811, -0.00041490785205222094, 0.9999998894847758, -7.852226190152578e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9210372567176819, -1.3275587558746338, -1.3249526023864746, -1.340779423713684, -0.5660954713821411, 0.7945973873138428, -0.1849241405725479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293248176574707, -1.1501274108886719, 1.6000683307647705, -1.8003463745117188, 0.41991788148880005, -0.00012391689233481884, -1.0905644558079075e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960816495719079, -0.08843807038572342, -0.00023471803637461417, -0.027303285896778107], [0.08843815941267201, 0.9960815887106458, 0.0004007385365432718, 0.00274392357096076], [0.00019835777166998317, -0.00041992633364498197, 0.9999998921580285, -8.194539077521767e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9126428365707397, -1.3355785608291626, -1.3245298862457275, -1.3346662521362305, -0.5595005750656128, 0.8255928754806519, -0.1851399689912796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293332815170288, -1.1501272916793823, 1.6000690460205078, -1.8003456592559814, 0.4199172854423523, -0.00012355735816527158, -1.4740596270712558e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996081712811121, -0.08843734465372301, -0.00023973706840004367, -0.027256693691015244], [0.0884374324424696, 0.9960816597182067, 0.0003843384006052423, 0.0027406096924096346], [0.00020480782938990627, -0.00040403418316454115, 0.9999998974050607, -8.089645234576892e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9178187847137451, -1.3411332368850708, -1.3312278985977173, -1.3507652282714844, -0.5487427711486816, 0.8463327884674072, -0.18519367277622223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729335069656372, -1.150127649307251, 1.6000702381134033, -1.8003448247909546, 0.41991811990737915, -0.00012355735816527158, -1.4021543393027969e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960789739073914, -0.08846816708023456, -0.0002472914516498154, -0.027280231937766075], [0.08846826188578628, 0.9960789146275282, 0.0004030798350906118, 0.0027401093393564224], [0.0002106620665585443, -0.0004233767934464893, 0.999999888186786, -8.285012881970033e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 0.9385836124420166, -1.3417197465896606, -1.3459014892578125, -1.3805673122406006, -0.5174742937088013, 0.8722273707389832, -0.19401609897613525, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293344736099243, -1.1501269340515137, 1.6000709533691406, -1.8003437519073486, 0.4199177622795105, -0.00012415657693054527, -1.593901833985001e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960770951234471, -0.08848927796115244, -0.0002612591608206323, -0.027298634871840477], [0.08848937675307758, 0.9960770424961926, 0.00039447926439130045, 0.002741883508861065], [0.0002253270669586199, -0.0004160504200733707, 0.9999998880648742, -8.084886758297216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 0.9717420935630798, -1.3404818773269653, -1.3831290006637573, -1.4166425466537476, -0.4923897385597229, 0.9158187508583069, -0.20874111354351044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293388843536377, -1.1501272916793823, 1.6000713109970093, -1.8003425598144531, 0.41991811990737915, -0.00012487563071772456, -1.3182647307985462e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960768726120328, -0.08849180801290508, -0.0002525114635914414, -0.02726130001246929], [0.08849189955375407, 0.9960768248204867, 0.0003778477283986541, 0.002742114244028926], [0.00021808438824537086, -0.00039871060269919744, 0.9999998967345222, -8.064311259659007e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.0187586545944214, -1.3335133790969849, -1.4200456142425537, -1.482225775718689, -0.4752376675605774, 0.9631257653236389, -0.21834130585193634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729339599609375, -1.150128722190857, 1.6000722646713257, -1.800341248512268, 0.4199187457561493, -0.00012511530076153576, -1.2104067536711227e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960771576155448, -0.08848863269855253, -0.00024074816255605677, -0.027304984629154205], [0.08848871835571599, 0.9960771096201578, 0.000372041012203157, 0.0027435249648988247], [0.0002068823334275581, -0.0003918850503028099, 0.9999999018128989, -7.469397132808808e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.068462610244751, -1.3241606950759888, -1.4421156644821167, -1.5492788553237915, -0.4622710943222046, 1.0077213048934937, -0.22317622601985931, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729338526725769, -1.150128960609436, 1.6000727415084839, -1.8003416061401367, 0.4199184775352478, -0.00012655340833589435, -1.0905644558079075e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960795664041888, -0.08846151410503757, -0.00024065387484040649, -0.027256226167082787], [0.08846159490003354, 0.9960795272237669, 0.00034881717174699913, 0.002745139179751277], [0.00020885350271702318, -0.00036873828277534174, 0.9999999102061425, -8.368765520572197e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.113074779510498, -1.3185971975326538, -1.4482709169387817, -1.5811158418655396, -0.4687770903110504, 1.0128535032272339, -0.21739491820335388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293366193771362, -1.1501284837722778, 1.600072979927063, -1.8003413677215576, 0.41991862654685974, -0.00012883041927125305, -9.467537893215194e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960779984011043, -0.08847919382881048, -0.00023099924987828705, -0.027221811935305595], [0.08847926972734522, 0.9960779596972381, 0.0003421021821150457, 0.0027422397397458553], [0.00019982433622974048, -0.00036119910174660017, 0.9999999148027181, -7.824467502359767e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162988662719727, -0.4952223002910614, 0.0, 0.0, 1.142484188079834, -1.3130031824111938, -1.4460474252700806, -1.5874974727630615, -0.498349130153656, 1.01128089427948, -0.18821321427822113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729340672492981, -1.1501283645629883, 1.6000734567642212, -1.8003414869308472, 0.41991910338401794, -0.00013110741565469652, -9.707222488941625e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162988662719727, -0.4952223002910614, 0.0, 0.0, 1.1636643409729004, -1.306903600692749, -1.4437681436538696, -1.5993742942810059, -0.5261880159378052, 1.0112720727920532, -0.15658600628376007, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293412685394287, -1.1501286029815674, 1.6000736951828003, -1.8003418445587158, 0.4199194610118866, -0.00013350426161196083, -7.3103769864246715e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.1755168437957764, -1.2986187934875488, -1.4373098611831665, -1.6028308868408203, -0.5468827486038208, 1.0088549852371216, -0.13371387124061584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729339361190796, -1.1501288414001465, 1.6000736951828003, -1.8003424406051636, 0.4199192225933075, -0.00013709953054785728, -4.91353239340242e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.1765098571777344, -1.2873667478561401, -1.4260733127593994, -1.601943850517273, -0.5812598466873169, 1.003783106803894, -0.10645107924938202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729344367980957, -1.150128722190857, 1.6000746488571167, -1.8003439903259277, 0.41991958022117615, -0.00013925669190939516, -1.4381070059243939e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.178511381149292, -1.276343822479248, -1.4120116233825684, -1.602192997932434, -0.6169288158416748, 0.9995865821838379, -0.07384882867336273, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729343056678772, -1.1501277685165405, 1.600075602531433, -1.8003443479537964, 0.41991934180259705, -0.00013973606110084802, 1.078580226021586e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.1959081888198853, -1.2655632495880127, -1.3914488554000854, -1.6031525135040283, -0.6580268144607544, 1.0020726919174194, -0.03116677515208721, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293450832366943, -1.1501272916793823, 1.6000757217407227, -1.800344705581665, 0.41991981863975525, -0.00014165353786665946, 7.190535029621969e-07, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2126988172531128, -1.259071707725525, -1.3797783851623535, -1.6138441562652588, -0.6960248351097107, 1.001810908317566, -0.000413815287174657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729294776916504, -1.1501296758651733, 1.6000770330429077, -1.8003482818603516, 0.4199194610118866, -0.00014321148046292365, 1.3662016499438323e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2122124433517456, -1.2526780366897583, -1.3728184700012207, -1.6138828992843628, -0.7309728860855103, 1.0005607604980469, 0.02716056816279888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293453216552734, -1.150126576423645, 1.6001183986663818, -1.8003474473953247, 0.4199199378490448, -0.00014345116505865008, 3.5952675716544036e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960785251360749, -0.08847323500411204, -0.00024176569022547374, -0.027226174250245094], [0.08847331506858616, 0.9960784881734179, 0.00034339326251937353, 0.0027427389286458492], [0.0002104364903982875, -0.0003634364665560551, 0.9999999118152052, -7.814041055098642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2124152183532715, -1.2420258522033691, -1.3596436977386475, -1.6181769371032715, -0.7608582973480225, 0.9964932203292847, 0.052823588252067566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293508052825928, -1.15012526512146, 1.60011625289917, -1.8003478050231934, 0.41991934180259705, -0.00014345116505865008, 3.4754252737911884e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960812215187476, -0.08844284319276562, -0.0002522413519001745, -0.027241092175245285], [0.08844292863959542, 0.9960811842003815, 0.0003505076561085248, 0.0027430509217083454], [0.00022025297083796096, -0.0003714430581343147, 0.9999999067593374, -8.115209311654326e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2102466821670532, -1.2335408926010132, -1.3483902215957642, -1.6171144247055054, -0.7716686725616455, 0.9905474781990051, 0.061353959143161774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293401956558228, -1.150125503540039, 1.600115418434143, -1.8003469705581665, 0.41991910338401794, -0.00014297179586719722, 2.7563717139855726e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960809545281558, -0.08844592411994721, -0.00022479512140366557, -0.02726864069700241], [0.08844599792075603, 0.9960809143448557, 0.00034282607519307184, 0.002743873978033662], [0.0001935925610351603, -0.000361364753055721, 0.9999999159687143, -6.7534056142903864e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.209010362625122, -1.230582356452942, -1.3444432020187378, -1.6164714097976685, -0.7694746255874634, 0.9886807203292847, 0.060109157115221024, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293457984924316, -1.15012526512146, 1.6001148223876953, -1.8003469705581665, 0.41991886496543884, -0.0001418932224623859, 3.235740678064758e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960821014808556, -0.08843294898399176, -0.00024625896340714, -0.027160750702023506], [0.08843303004409946, 0.9960820665549726, 0.00034041855809367055, 0.002743555698543787], [0.00021518992019716777, -0.0003608622590386385, 0.9999999117358602, -7.733198799542151e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.2126606702804565, -1.2287741899490356, -1.3420915603637695, -1.6193941831588745, -0.7485370635986328, 0.9840627908706665, 0.044518161565065384, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293452024459839, -1.1501256227493286, 1.600111722946167, -1.8003464937210083, 0.41991862654685974, -0.00014165353786665946, 3.355582975927973e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960798153809822, -0.08845874073030739, -0.0002293011045199455, -0.027212204411625862], [0.08845881291924333, 0.9960797818439102, 0.0003265252005381354, 0.0027427691966295242], [0.00019951818611048042, -0.00034552886497616985, 0.9999999204011453, -7.008032298472244e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.2167810201644897, -1.226933240890503, -1.3419437408447266, -1.6197240352630615, -0.7320766448974609, 0.9782975912094116, 0.023413579910993576, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729345679283142, -1.150126338005066, 1.6001089811325073, -1.8003464937210083, 0.4199189841747284, -0.0001403352798661217, 3.5952675148109847e-07, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.2199867963790894, -1.2275346517562866, -1.341570258140564, -1.6212111711502075, -0.713590145111084, 0.9746310114860535, 0.011005952954292297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293459177017212, -1.1501264572143555, 1.600103735923767, -1.8003449440002441, 0.4199189841747284, -0.00013889717229176313, -3.4754252737911884e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.49531814455986023, 0.0, 0.0, 1.2242321968078613, -1.234228491783142, -1.3512130975723267, -1.617936611175537, -0.6949357390403748, 0.9730767607688904, -0.010091915726661682, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7269511222839355, -1.1521588563919067, 1.6025352478027344, -1.8003648519515991, 0.41951102018356323, 0.004334214609116316, 0.009988012723624706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.226651668548584, -1.237693428993225, -1.3568646907806396, -1.6152487993240356, -0.68744295835495, 0.9716237783432007, -0.021604562178254128, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7019283771514893, -1.174067735671997, 1.609513521194458, -1.8004167079925537, 0.406595379114151, 0.03759714961051941, 0.07888951897621155, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.2267135381698608, -1.2377376556396484, -1.3565653562545776, -1.6152485609054565, -0.6879037618637085, 0.9715749025344849, -0.02103530988097191, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.643193244934082, -1.1984878778457642, 1.5848416090011597, -1.7923665046691895, 0.3762189745903015, 0.08269426971673965, 0.1189396008849144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2267333269119263, -1.2377313375473022, -1.3562508821487427, -1.6153614521026611, -0.6889251470565796, 0.9715286493301392, -0.020458629354834557, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5529810190200806, -1.2178566455841064, 1.5326765775680542, -1.745802402496338, 0.32278934121131897, 0.14958003163337708, 0.13336393237113953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4161070585250854, -0.49503058195114136, 0.0, 0.0, 1.2267447710037231, -1.2377057075500488, -1.3561599254608154, -1.6156237125396729, -0.6894338726997375, 0.9715161919593811, -0.020487511530518532, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4563952684402466, -1.237451434135437, 1.4731533527374268, -1.6779509782791138, 0.2821991443634033, 0.234804168343544, 0.13785573840141296, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4161070585250854, -0.49503058195114136, 0.0, 0.0, 1.226772665977478, -1.2375651597976685, -1.3561469316482544, -1.6157162189483643, -0.6896680593490601, 0.9715240597724915, -0.02061130851507187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3713997602462769, -1.2590614557266235, 1.417474389076233, -1.6010938882827759, 0.25602391362190247, 0.2835744321346283, 0.1388448029756546, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.22684645652771, -1.2375602722167969, -1.3561421632766724, -1.6157628297805786, -0.6898020505905151, 0.9715336561203003, -0.02094782516360283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3048020601272583, -1.2819687128067017, 1.366939663887024, -1.5336343050003052, 0.2337864637374878, 0.30778786540031433, 0.1314765363931656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162029027938843, -0.49503058195114136, 0.0, 0.0, 1.2268495559692383, -1.237501859664917, -1.3561550378799438, -1.6157753467559814, -0.689835250377655, 0.9715657830238342, -0.021010981872677803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2540730237960815, -1.3041216135025024, 1.3342610597610474, -1.473907470703125, 0.23462331295013428, 0.319820374250412, 0.14239655435085297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2268520593643188, -1.237502932548523, -1.356153130531311, -1.6157697439193726, -0.6898650527000427, 0.9715710878372192, -0.021028000861406326, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2075135707855225, -1.3212512731552124, 1.3092625141143799, -1.4164149761199951, 0.22299346327781677, 0.3439905047416687, 0.17115606367588043, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2268705368041992, -1.2375216484069824, -1.35614812374115, -1.615792989730835, -0.6902086734771729, 0.9716172218322754, -0.021399272605776787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1872133016586304, -1.3309561014175415, 1.30659818649292, -1.398445725440979, 0.20554251968860626, 0.3580020070075989, 0.22853605449199677, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960814065863196, -0.08844078797233433, -0.0002418178068677875, -0.027239331975579262], [0.08844086658664733, 0.9960813721478209, 0.0003364186636604203, 0.002743721241131425], [0.00021111708117191522, -0.00035648695209623105, 0.9999999141733118, -7.750981239951216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2270258665084839, -1.2376000881195068, -1.356093168258667, -1.6157779693603516, -0.6902338266372681, 0.9716631174087524, -0.021483879536390305, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1838369369506836, -1.335843801498413, 1.3201589584350586, -1.399281620979309, 0.18684928119182587, 0.37425103783607483, 0.29534104466438293, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960816592082345, -0.08843794348035412, -0.00024154075491011364, -0.02734350971877575], [0.0884380214408636, 0.9960816256460929, 0.0003337871509332986, 0.002742468612268567], [0.000211074858621943, -0.0003538406455856125, 0.9999999151220972, -9.045035767485388e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2270160913467407, -1.237687110900879, -1.3560563325881958, -1.6157686710357666, -0.6902195811271667, 0.9716504216194153, -0.021398911252617836, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2017838954925537, -1.3345959186553955, 1.351283311843872, -1.4338369369506836, 0.18068556487560272, 0.38830339908599854, 0.3861218988895416, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960802221597366, -0.08845411485229321, -0.0002461461094499976, -0.027324961498379707], [0.08845419411065561, 0.9960801901231462, 0.0003322476055291998, 0.0027431966736912727], [0.00021579259564014715, -0.0003527179244724386, 0.999999914511807, -8.430636626144405e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.49503058195114136, 0.0, 0.0, 1.2270145416259766, -1.2377221584320068, -1.3558728694915771, -1.6156779527664185, -0.6901742815971375, 0.9716330170631409, -0.021269602701067924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2374500036239624, -1.3277254104614258, 1.3925254344940186, -1.4907790422439575, 0.1743895262479782, 0.4035104215145111, 0.4865182936191559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960839277800569, -0.08841236199500783, -0.00025112689601041984, -0.027425013482570648], [0.08841244388811283, 0.9960838954245385, 0.0003362166093597441, 0.0027433051727712154], [0.00022041775224848417, -0.00035710270343826416, 0.999999911946833, -7.590859240735881e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269612550735474, -1.2378898859024048, -1.3558253049850464, -1.615590214729309, -0.6900169253349304, 0.9715032577514648, -0.02092050202190876, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2781016826629639, -1.3163648843765259, 1.4402527809143066, -1.5440013408660889, 0.16737107932567596, 0.42032164335250854, 0.5810762643814087, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960831843687142, -0.08842075792053965, -0.00024369374114890696, -0.02732049860060215], [0.08842083196480509, 0.9960831587604716, 0.00031194296396498374, 0.0027424460276961327], [0.00021515699815199653, -0.0003322687442246583, 0.9999999216524708, -7.6185419857210945e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269158363342285, -1.2379664182662964, -1.3557616472244263, -1.6155509948730469, -0.6898810267448425, 0.9714261889457703, -0.020801858976483345, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3165804147720337, -1.303564190864563, 1.4884182214736938, -1.5888760089874268, 0.1640176624059677, 0.4296382963657379, 0.6681995391845703, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996082420571187, -0.0884294153489485, -0.00022345041522353406, -0.027327483519911766], [0.08842948155243908, 0.996082392710957, 0.0003061430739924119, 0.0027420769911259413], [0.0001955029712018358, -0.00032470333855436003, 0.9999999281731625, -6.817373105150182e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269102334976196, -1.2379833459854126, -1.3557089567184448, -1.6155006885528564, -0.6898034811019897, 0.97141033411026, -0.020751044154167175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3451871871948242, -1.2903649806976318, 1.5314966440200806, -1.6180413961410522, 0.14749093353748322, 0.43695107102394104, 0.7529225945472717, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960847080141082, -0.08840359636668167, -0.00024209478629042778, -0.027315499261021614], [0.08840366704784187, 0.9960846863698863, 0.00029871708927037835, 0.0027419805992394686], [0.00021473924428619688, -0.0003189495915259465, 0.9999999260791048, -7.001721314736642e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269093990325928, -1.2380281686782837, -1.3556764125823975, -1.6154705286026, -0.6897798776626587, 0.9713796973228455, -0.020723601803183556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.363077998161316, -1.2816098928451538, 1.5792607069015503, -1.6223629713058472, 0.15914176404476166, 0.4513663053512573, 0.8150275945663452, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960838017986327, -0.08841382101236675, -0.00023674538088233973, -0.027296530082821846], [0.08841388844612952, 0.996083781334185, 0.0002913637366820651, 0.0027416583616286516], [0.00021005765293818034, -0.0003111542782359948, 0.9999999295293963, -7.5984753493685275e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269096374511719, -1.2380379438400269, -1.3556768894195557, -1.6154714822769165, -0.6897688508033752, 0.9713596701622009, -0.020709099248051643, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3764758110046387, -1.272539734840393, 1.618547797203064, -1.618227243423462, 0.16228234767913818, 0.46499380469322205, 0.8515913486480713, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996081265681607, -0.08844232534208563, -0.00025931874674951755, -0.027320945635437965], [0.08844239565178799, 0.9960812556481468, 0.00027349183500107973, 0.0027416867669671774], [0.00023411428902579372, -0.0002953548643614074, 0.9999999289779994, -7.467616796930088e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226922631263733, -1.2380322217941284, -1.3556798696517944, -1.6154484748840332, -0.6896898746490479, 0.9713584780693054, -0.0206418689340353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3877214193344116, -1.2652606964111328, 1.6160292625427246, -1.6069738864898682, 0.1207590401172638, 0.4567088782787323, 0.8522955179214478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2269372940063477, -1.2380584478378296, -1.355675458908081, -1.6154532432556152, -0.6896741390228271, 0.9713572859764099, -0.02064414508640766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3869738578796387, -1.2642885446548462, 1.5818407535552979, -1.5781196355819702, 0.08468148857355118, 0.4407554566860199, 0.8373202681541443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226939082145691, -1.2382142543792725, -1.3556684255599976, -1.6154760122299194, -0.6897588968276978, 0.9713581204414368, -0.020831098780035973, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3811694383621216, -1.2707979679107666, 1.553881049156189, -1.5666062831878662, 0.07549570500850677, 0.4347590506076813, 0.8053976893424988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269606590270996, -1.2382099628448486, -1.3556662797927856, -1.6154747009277344, -0.6897621154785156, 0.9713603854179382, -0.02082798443734646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.370633602142334, -1.2766189575195312, 1.5262172222137451, -1.5512028932571411, 0.05844562500715256, 0.42307645082473755, 0.772352397441864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226977825164795, -1.2382066249847412, -1.3556665182113647, -1.6154794692993164, -0.6897995471954346, 0.9713627696037292, -0.020836612209677696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3588099479675293, -1.281812071800232, 1.4992742538452148, -1.537046194076538, 0.04514110088348389, 0.411286860704422, 0.7438582181930542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269905805587769, -1.2382031679153442, -1.3556671142578125, -1.6154924631118774, -0.6898716688156128, 0.9713665843009949, -0.020870167762041092, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3468695878982544, -1.287246823310852, 1.4744887351989746, -1.5233814716339111, 0.021614987403154373, 0.3976563513278961, 0.7181543111801147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270053625106812, -1.2381985187530518, -1.3556679487228394, -1.6154991388320923, -0.6899067759513855, 0.9713698625564575, -0.02090408280491829, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3359655141830444, -1.2925143241882324, 1.4603972434997559, -1.5051885843276978, 0.0014667492359876633, 0.390498548746109, 0.7037695050239563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270073890686035, -1.2381852865219116, -1.3556755781173706, -1.6155390739440918, -0.6899263262748718, 0.9713737964630127, -0.02094590850174427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3323402404785156, -1.2951769828796387, 1.449760913848877, -1.498172640800476, -0.0096177002415061, 0.38192489743232727, 0.7003170251846313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2270104885101318, -1.2381582260131836, -1.3556857109069824, -1.6155424118041992, -0.6899318099021912, 0.9713788032531738, -0.020975030958652496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3324711322784424, -1.2991943359375, 1.4462734460830688, -1.4962706565856934, -0.009672348387539387, 0.37791115045547485, 0.7020536065101624, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2270143032073975, -1.238152027130127, -1.3556928634643555, -1.6155387163162231, -0.689931333065033, 0.9713810086250305, -0.020969398319721222, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3378064632415771, -1.3014458417892456, 1.44516921043396, -1.5015132427215576, -0.01571551337838173, 0.36250853538513184, 0.701149046421051, 0.5831999998007501, 0.5831999998007501, 0.5831999998007501, 0.5831999998007501, -0.5831999998007501, -0.5831999998007501, -0.5831999998007501, 0.5831999998007501, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270225286483765, -1.2381484508514404, -1.3556963205337524, -1.615527629852295, -0.6899287104606628, 0.9713866114616394, -0.020958971232175827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3433196544647217, -1.3029723167419434, 1.4438763856887817, -1.5062124729156494, -0.02987547405064106, 0.3466404676437378, 0.697879433631897, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270396947860718, -1.2381480932235718, -1.3556991815567017, -1.6155129671096802, -0.6899248957633972, 0.9713883996009827, -0.020940156653523445, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3478434085845947, -1.3049631118774414, 1.4421021938323975, -1.504057765007019, -0.0356706865131855, 0.32195860147476196, 0.6925672888755798, 0.5033999967051076, 0.5033999967051076, 0.5033999967051076, 0.5033999967051076, -0.5033999967051076, -0.5033999967051076, -0.5033999967051076, 0.5033999967051076, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270389795303345, -1.2381489276885986, -1.355700969696045, -1.6155128479003906, -0.6899262070655823, 0.9713879227638245, -0.020931648090481758, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3480256795883179, -1.3076438903808594, 1.4379528760910034, -1.4957276582717896, -0.04118343070149422, 0.30495381355285645, 0.6903917789459229, 0.451200004200359, 0.451200004200359, 0.451200004200359, 0.451200004200359, -0.451200004200359, -0.451200004200359, -0.451200004200359, 0.451200004200359, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270375490188599, -1.238149881362915, -1.3557049036026, -1.615515112876892, -0.68992680311203, 0.9713874459266663, -0.020930688828229904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3478708267211914, -1.3104411363601685, 1.434352159500122, -1.4888142347335815, -0.03911399468779564, 0.2949118912220001, 0.6956242322921753, 0.4104000091552734, 0.4104000091552734, 0.4104000091552734, 0.4104000091552734, -0.4104000091552734, -0.4104000091552734, -0.4104000091552734, 0.4104000091552734, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227034330368042, -1.2381519079208374, -1.3557076454162598, -1.615526556968689, -0.6899312138557434, 0.9713869690895081, -0.020932964980602264, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3483115434646606, -1.312613844871521, 1.4297457933425903, -1.4903968572616577, -0.0393359400331974, 0.28582125902175903, 0.6990128755569458, 0.32999999811361125, 0.32999999811361125, 0.32999999811361125, 0.32999999811361125, -0.32999999811361125, -0.32999999811361125, -0.32999999811361125, 0.32999999811361125, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270342111587524, -1.2381540536880493, -1.355707049369812, -1.6155269145965576, -0.6899321675300598, 0.9713868498802185, -0.020932605490088463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3490169048309326, -1.3140925168991089, 1.4287201166152954, -1.493328332901001, -0.03991357982158661, 0.2836024761199951, 0.7098706960678101, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270338535308838, -1.2381556034088135, -1.3557063341140747, -1.615525484085083, -0.6899318099021912, 0.9713868498802185, -0.020931048318743706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3487427234649658, -1.3144140243530273, 1.428713321685791, -1.4909175634384155, -0.03983065113425255, 0.282807320356369, 0.7280680537223816, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270339727401733, -1.2381596565246582, -1.3557056188583374, -1.6155234575271606, -0.6899331212043762, 0.9713875651359558, -0.02093212679028511, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3486840724945068, -1.314975380897522, 1.4290367364883423, -1.4896278381347656, -0.04364786669611931, 0.2830045819282532, 0.7335624098777771, 0.18359999971075372, 0.18359999971075372, 0.18359999971075372, 0.18359999971075372, -0.18359999971075372, -0.18359999971075372, -0.18359999971075372, 0.18359999971075372, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270344495773315, -1.2381616830825806, -1.3557049036026, -1.6155223846435547, -0.6899348497390747, 0.9713881611824036, -0.02093392424285412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3505977392196655, -1.3154246807098389, 1.4298779964447021, -1.4922969341278076, -0.04672697186470032, 0.28329676389694214, 0.7333984971046448, 0.14460001253819726, 0.14460001253819726, 0.14460001253819726, 0.14460001253819726, -0.14460001253819726, -0.14460001253819726, -0.14460001253819726, 0.14460001253819726, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270349264144897, -1.238162875175476, -1.3557038307189941, -1.6155214309692383, -0.6899356842041016, 0.9713903665542603, -0.02093392424285412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3541063070297241, -1.315615177154541, 1.4313912391662598, -1.4949092864990234, -0.04787757620215416, 0.28333860635757446, 0.7342413663864136, 0.12720000193669245, 0.12720000193669245, 0.12720000193669245, 0.12720000193669245, -0.12720000193669245, -0.12720000193669245, -0.12720000193669245, 0.12720000193669245, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270351648330688, -1.2381645441055298, -1.355703353881836, -1.6155201196670532, -0.6899353265762329, 0.9713913202285767, -0.020932605490088463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3576090335845947, -1.3158531188964844, 1.4368144273757935, -1.498323678970337, -0.04852795973420143, 0.2846529185771942, 0.7366957068443298, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, 0.12299999666737986, -0.12299999666737986, -0.12299999666737986, -0.12299999666737986, 0.12299999666737986, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270370721817017, -1.2381644248962402, -1.355703353881836, -1.615517258644104, -0.6899324059486389, 0.9713943004608154, -0.020929250866174698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3595751523971558, -1.3158652782440186, 1.441105842590332, -1.4994754791259766, -0.04755987599492073, 0.2863387167453766, 0.7386367917060852, 0.11699998352553817, 0.11699998352553817, 0.11699998352553817, 0.11699998352553817, -0.11699998352553817, -0.11699998352553817, -0.11699998352553817, 0.11699998352553817, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270400524139404, -1.238165020942688, -1.3557021617889404, -1.6155166625976562, -0.6899309754371643, 0.9713971614837646, -0.020928531885147095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3629823923110962, -1.3158605098724365, 1.443838357925415, -1.5009424686431885, -0.04813535884022713, 0.28667810559272766, 0.7411353588104248, 0.10380001749311178, 0.10380001749311178, 0.10380001749311178, 0.10380001749311178, -0.10380001749311178, -0.10380001749311178, -0.10380001749311178, 0.10380001749311178, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227048397064209, -1.2381646633148193, -1.3557018041610718, -1.6155153512954712, -0.6899237036705017, 0.9713994264602661, -0.020926253870129585, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3656786680221558, -1.3158584833145142, 1.4461073875427246, -1.5015658140182495, -0.04668406769633293, 0.2874320447444916, 0.7456268072128296, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270545959472656, -1.2381657361984253, -1.355700969696045, -1.615514874458313, -0.6899222135543823, 0.9713994264602661, -0.020925775170326233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3688075542449951, -1.3158241510391235, 1.4492326974868774, -1.5073130130767822, -0.04629170522093773, 0.2901160418987274, 0.7485848069190979, 0.05700000930618454, 0.05700000930618454, 0.05700000930618454, 0.05700000930618454, -0.05700000930618454, -0.05700000930618454, -0.05700000930618454, 0.05700000930618454, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270569801330566, -1.2381670475006104, -1.3557002544403076, -1.6155152320861816, -0.6899220943450928, 0.9713996648788452, -0.020928651094436646, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3725934028625488, -1.3154773712158203, 1.4537652730941772, -1.514328956604004, -0.0444648303091526, 0.29249849915504456, 0.7504803538322449, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270594835281372, -1.2381688356399536, -1.355699062347412, -1.6155157089233398, -0.6899210214614868, 0.9713990688323975, -0.020929250866174698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.376860499382019, -1.3148419857025146, 1.4584399461746216, -1.5195989608764648, -0.041237957775592804, 0.29446619749069214, 0.753841757774353, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270596027374268, -1.2381715774536133, -1.3556994199752808, -1.6155164241790771, -0.6899213790893555, 0.971398115158081, -0.020935961976647377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3827259540557861, -1.3143150806427002, 1.4657107591629028, -1.527147889137268, -0.030475404113531113, 0.2989184558391571, 0.759480357170105, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270588874816895, -1.2381725311279297, -1.355698823928833, -1.615517020225525, -0.6899189949035645, 0.9713965654373169, -0.02093655988574028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.389128565788269, -1.3131378889083862, 1.4766805171966553, -1.539760708808899, -0.017855895683169365, 0.30318015813827515, 0.7710714936256409, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270591259002686, -1.2381733655929565, -1.3556996583938599, -1.6155204772949219, -0.6899193525314331, 0.9713959693908691, -0.020944710820913315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.398653268814087, -1.3102558851242065, 1.4887118339538574, -1.5654782056808472, -0.0015482420567423105, 0.3109298646450043, 0.7905582189559937, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270594835281372, -1.2381724119186401, -1.3557003736495972, -1.615519404411316, -0.6899016499519348, 0.971394419670105, -0.02093895711004734, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.407912254333496, -1.306589961051941, 1.4983242750167847, -1.594104290008545, 0.01656375639140606, 0.31986531615257263, 0.8208940029144287, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270601987838745, -1.2381716966629028, -1.355701208114624, -1.615516185760498, -0.6898793578147888, 0.9713932275772095, -0.020926015451550484, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4155086278915405, -1.3034604787826538, 1.500773310661316, -1.6211497783660889, 0.03306279703974724, 0.32709911465644836, 0.8532716631889343, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270623445510864, -1.238172173500061, -1.3557013273239136, -1.6155121326446533, -0.6898760795593262, 0.9713926315307617, -0.02092074230313301, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4225437641143799, -1.3012199401855469, 1.499404788017273, -1.6489030122756958, 0.04401146620512009, 0.330611914396286, 0.8879799842834473, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270678281784058, -1.2381713390350342, -1.3557014465332031, -1.6154900789260864, -0.6898604035377502, 0.9713932275772095, -0.020884668454527855, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.426882266998291, -1.299074411392212, 1.4921998977661133, -1.6702561378479004, 0.05126360058784485, 0.33810997009277344, 0.9088757038116455, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270703315734863, -1.2381727695465088, -1.3557006120681763, -1.6154824495315552, -0.6898540258407593, 0.9713919162750244, -0.020857345312833786, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4279451370239258, -1.2980891466140747, 1.479431390762329, -1.683275818824768, 0.0513438954949379, 0.342874675989151, 0.9199174642562866, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270708084106445, -1.2381761074066162, -1.3557000160217285, -1.6154842376708984, -0.6898613572120667, 0.9713903665542603, -0.020862018689513206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4279917478561401, -1.2978638410568237, 1.4643640518188477, -1.6896628141403198, 0.04968276247382164, 0.3443833589553833, 0.9253733158111572, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270700931549072, -1.2381820678710938, -1.355699062347412, -1.6154879331588745, -0.689868688583374, 0.9713889956474304, -0.020864056423306465, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4277973175048828, -1.297763466835022, 1.4456632137298584, -1.696269154548645, 0.04279015585780144, 0.3441162407398224, 0.9254248142242432, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270705699920654, -1.2381854057312012, -1.3556984663009644, -1.6154885292053223, -0.6898713111877441, 0.9713882803916931, -0.02086249738931656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4231047630310059, -1.2979203462600708, 1.4246371984481812, -1.6980756521224976, 0.03339763730764389, 0.3470516502857208, 0.9263555407524109, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270703315734863, -1.2381865978240967, -1.3556982278823853, -1.615490436553955, -0.6898747682571411, 0.971388041973114, -0.020863216370344162, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4188673496246338, -1.3004170656204224, 1.4025980234146118, -1.6979700326919556, 0.0249178409576416, 0.34776100516319275, 0.9187098145484924, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270708084106445, -1.2381864786148071, -1.3556978702545166, -1.6154899597167969, -0.6898727416992188, 0.9713881611824036, -0.020854588598012924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.408160924911499, -1.3041433095932007, 1.3785715103149414, -1.6906013488769531, 0.021152755245566368, 0.3475205898284912, 0.9046299457550049, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270705699920654, -1.238187313079834, -1.3556979894638062, -1.615492582321167, -0.6898765563964844, 0.9713879227638245, -0.02085614576935768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3977577686309814, -1.3092536926269531, 1.3560820817947388, -1.6841899156570435, 0.020262688398361206, 0.3482249081134796, 0.8900145888328552, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227070927619934, -1.2381879091262817, -1.3556971549987793, -1.6154953241348267, -0.6898844838142395, 0.9713882803916931, -0.02085578627884388, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3833694458007812, -1.3151415586471558, 1.3309035301208496, -1.6673771142959595, 0.016819380223751068, 0.3483749330043793, 0.8752331137657166, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270712852478027, -1.2381885051727295, -1.3556976318359375, -1.6155084371566772, -0.6899222135543823, 0.971388041973114, -0.020865734666585922, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.373673439025879, -1.3207755088806152, 1.310923457145691, -1.6574267148971558, 0.014080625027418137, 0.34795814752578735, 0.8648995757102966, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270715236663818, -1.2381881475448608, -1.3556987047195435, -1.615511417388916, -0.6899241805076599, 0.9713888764381409, -0.020865853875875473, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3632657527923584, -1.3257677555084229, 1.288413643836975, -1.6506975889205933, 0.010735468938946724, 0.35049110651016235, 0.8574668765068054, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270735502243042, -1.2381880283355713, -1.3556991815567017, -1.615511417388916, -0.6899224519729614, 0.9713881611824036, -0.020866932347416878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3547488451004028, -1.3326188325881958, 1.2687253952026367, -1.6433281898498535, 0.009755278937518597, 0.3520502746105194, 0.8481059670448303, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270764112472534, -1.2381870746612549, -1.3557004928588867, -1.6155126094818115, -0.6899233460426331, 0.9713894724845886, -0.02087640017271042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.348263144493103, -1.3385361433029175, 1.2543021440505981, -1.6371467113494873, 0.0080850375816226, 0.3541397154331207, 0.8419129848480225, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270795106887817, -1.2381858825683594, -1.3557032346725464, -1.615512728691101, -0.6899181604385376, 0.9713888764381409, -0.020873762667179108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3413227796554565, -1.3435802459716797, 1.2401916980743408, -1.6304689645767212, 0.003440071828663349, 0.35415780544281006, 0.8341001272201538, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270821332931519, -1.2381844520568848, -1.3557078838348389, -1.6155136823654175, -0.6899150609970093, 0.97138911485672, -0.020875440910458565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3314131498336792, -1.3495787382125854, 1.2230830192565918, -1.619541049003601, 0.00142420525662601, 0.3540806472301483, 0.8250527381896973, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270830869674683, -1.2381844520568848, -1.355708122253418, -1.6155142784118652, -0.6899121999740601, 0.9713888764381409, -0.020875921472907066, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.321793794631958, -1.3576408624649048, 1.2158406972885132, -1.5996713638305664, 0.0011476093204692006, 0.35232076048851013, 0.8079745173454285, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270835638046265, -1.238186001777649, -1.3557082414627075, -1.6155143976211548, -0.6899113059043884, 0.9713882803916931, -0.020887425169348717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3109012842178345, -1.3633809089660645, 1.2174819707870483, -1.566826343536377, 0.0011496467050164938, 0.34961986541748047, 0.7815412878990173, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270827293395996, -1.238184928894043, -1.3557095527648926, -1.6155297756195068, -0.6899158954620361, 0.97138911485672, -0.020961128175258636, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3041856288909912, -1.3661472797393799, 1.2247867584228516, -1.5414398908615112, -0.009156666696071625, 0.3459338843822479, 0.7620267868041992, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.22708261013031, -1.2381805181503296, -1.355726718902588, -1.6155325174331665, -0.6899150609970093, 0.97138911485672, -0.0209642443805933, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2990213632583618, -1.3696448802947998, 1.22850501537323, -1.5203981399536133, -0.008646138943731785, 0.3455755412578583, 0.7426323294639587, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270818948745728, -1.2381446361541748, -1.3561478853225708, -1.6155179738998413, -0.6898588538169861, 0.9713883996009827, -0.020889462903141975, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2955965995788574, -1.3723559379577637, 1.2308650016784668, -1.5079952478408813, -0.008358517661690712, 0.3438362777233124, 0.7262858748435974, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227116346359253, -1.238150715827942, -1.3558728694915771, -1.6154954433441162, -0.6898559927940369, 0.971388041973114, -0.020887305960059166, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.291460633277893, -1.375213861465454, 1.2306653261184692, -1.499057412147522, -0.010094552300870419, 0.3428924083709717, 0.7225889563560486, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270876169204712, -1.2380963563919067, -1.3559157848358154, -1.6154721975326538, -0.6896058320999146, 0.9713612198829651, -0.020520828664302826, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.291472315788269, -1.3766084909439087, 1.2303626537322998, -1.4950662851333618, -0.00915462989360094, 0.34285369515419006, 0.713837742805481, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269456386566162, -1.2380821704864502, -1.3560136556625366, -1.6154221296310425, -0.6893886923789978, 0.9711642861366272, -0.020151954144239426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2920238971710205, -1.378864049911499, 1.2303783893585205, -1.4919103384017944, -0.005828527733683586, 0.3418019711971283, 0.7102015614509583, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.22684645652771, -1.238057255744934, -1.356183409690857, -1.61536705493927, -0.6891821026802063, 0.9710902571678162, -0.019677618518471718, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2918702363967896, -1.3798755407333374, 1.2298305034637451, -1.4908369779586792, -0.004475508816540241, 0.3405930995941162, 0.7070220708847046, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2264491319656372, -1.238030195236206, -1.356446385383606, -1.6150099039077759, -0.6884911060333252, 0.970422625541687, -0.018549423664808273, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.291717529296875, -1.3821409940719604, 1.2274662256240845, -1.4905182123184204, -0.003997937310487032, 0.34060904383659363, 0.696774959564209, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2262381315231323, -1.2379838228225708, -1.3568004369735718, -1.614675760269165, -0.6879438757896423, 0.9696899056434631, -0.01764713041484356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2913709878921509, -1.3856281042099, 1.2284259796142578, -1.4873425960540771, -0.0024637170135974884, 0.3406210243701935, 0.6927675604820251, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2262297868728638, -1.2380229234695435, -1.3566107749938965, -1.6146796941757202, -0.6880711317062378, 0.9695240259170532, -0.01802978664636612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.294087290763855, -1.3881274461746216, 1.2410887479782104, -1.4909212589263916, 0.0036334970500320196, 0.3416318893432617, 0.7052874565124512, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.226378321647644, -1.2392007112503052, -1.3542793989181519, -1.614758849143982, -0.6895105838775635, 0.969510018825531, -0.02014332450926304, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.302475929260254, -1.389278531074524, 1.2618705034255981, -1.4968740940093994, 0.010617543943226337, 0.3429282307624817, 0.7156084179878235, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268857955932617, -1.2392561435699463, -1.3543827533721924, -1.6148250102996826, -0.689517080783844, 0.9695253372192383, -0.020181315019726753, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3026751279830933, -1.387242078781128, 1.2823007106781006, -1.5012037754058838, 0.012657618150115013, 0.3309188485145569, 0.7164941430091858, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268848419189453, -1.2393120527267456, -1.3544248342514038, -1.6148837804794312, -0.6895360946655273, 0.9695663452148438, -0.020197253674268723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3021607398986816, -1.3847414255142212, 1.2873951196670532, -1.4999921321868896, 0.01800725609064102, 0.32039371132850647, 0.7160066366195679, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269439697265625, -1.239322543144226, -1.3545238971710205, -1.6149303913116455, -0.6896886825561523, 0.9697136282920837, -0.02036263607442379, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3088361024856567, -1.3846842050552368, 1.2919656038284302, -1.4937057495117188, 0.028030622750520706, 0.30128568410873413, 0.7161471843719482, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2270549535751343, -1.2393227815628052, -1.3546216487884521, -1.6149331331253052, -0.6897063851356506, 0.9697567820549011, -0.020411411300301552, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3198363780975342, -1.3827083110809326, 1.290070652961731, -1.4888595342636108, 0.027525367215275764, 0.2881077229976654, 0.7210788130760193, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270543575286865, -1.239323616027832, -1.3546391725540161, -1.6149351596832275, -0.6897103786468506, 0.9697607159614563, -0.02043430134654045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3297291994094849, -1.3804484605789185, 1.2871761322021484, -1.490491271018982, 0.02735878713428974, 0.28319814801216125, 0.7266435623168945, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270537614822388, -1.239324927330017, -1.3546473979949951, -1.6149307489395142, -0.6897044777870178, 0.9697563052177429, -0.020426511764526367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.332811713218689, -1.379586100578308, 1.2817342281341553, -1.4938256740570068, 0.029349127784371376, 0.28303539752960205, 0.7270137667655945, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270536422729492, -1.23932945728302, -1.354646921157837, -1.6149250268936157, -0.6897032856941223, 0.9697481393814087, -0.02042219787836075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3324213027954102, -1.379671573638916, 1.2734742164611816, -1.4937949180603027, 0.034103989601135254, 0.28157752752304077, 0.7232335805892944, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270535230636597, -1.2393407821655273, -1.3546452522277832, -1.6149208545684814, -0.6897034049034119, 0.9697372317314148, -0.020421598106622696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3308427333831787, -1.381040096282959, 1.2657848596572876, -1.4931989908218384, 0.04060531035065651, 0.2790490686893463, 0.7180817127227783, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270543575286865, -1.2393487691879272, -1.3546432256698608, -1.6149145364761353, -0.6896985173225403, 0.9697202444076538, -0.020418722182512283, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3285462856292725, -1.3823882341384888, 1.257896900177002, -1.4890706539154053, 0.04678042232990265, 0.27721694111824036, 0.7104447484016418, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270513772964478, -1.2393465042114258, -1.3546661138534546, -1.614904522895813, -0.6896213293075562, 0.9696925282478333, -0.0202954038977623, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3273149728775024, -1.3832547664642334, 1.2507801055908203, -1.481494665145874, 0.04894525185227394, 0.2733556032180786, 0.7042711973190308, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227043628692627, -1.239337682723999, -1.3548979759216309, -1.6148955821990967, -0.6895111799240112, 0.9696635603904724, -0.020149556919932365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3275169134140015, -1.3831976652145386, 1.2471150159835815, -1.4773805141448975, 0.05018981546163559, 0.26864150166511536, 0.6978277564048767, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2270269393920898, -1.2393524646759033, -1.3548749685287476, -1.6148951053619385, -0.6895374059677124, 0.9696475863456726, -0.02025921270251274, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.329999566078186, -1.383285641670227, 1.2424002885818481, -1.472959041595459, 0.056013546884059906, 0.2556861937046051, 0.6813657283782959, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270174026489258, -1.2393778562545776, -1.3547801971435547, -1.6149225234985352, -0.689652144908905, 0.9696527719497681, -0.020529815927147865, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3316903114318848, -1.3861968517303467, 1.2379940748214722, -1.469930648803711, 0.06146636977791786, 0.24801748991012573, 0.6703996062278748, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227016806602478, -1.239345908164978, -1.35476815700531, -1.614923119544983, -0.6896399855613708, 0.9696627855300903, -0.02051004208624363, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.332950472831726, -1.3870527744293213, 1.23624587059021, -1.4700785875320435, 0.06145941838622093, 0.2458314448595047, 0.6696727275848389, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227012276649475, -1.239288091659546, -1.3548113107681274, -1.6149238348007202, -0.689620852470398, 0.9696804285049438, -0.020467977970838547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3360352516174316, -1.3869056701660156, 1.2364438772201538, -1.4706469774246216, 0.06386885046958923, 0.2388019859790802, 0.6663730144500732, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269883155822754, -1.2392877340316772, -1.354813575744629, -1.614922046661377, -0.6896098256111145, 0.9697061777114868, -0.020438257604837418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3356845378875732, -1.3868935108184814, 1.2347947359085083, -1.4662652015686035, 0.06693177670240402, 0.23472315073013306, 0.6639999747276306, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268904447555542, -1.2391854524612427, -1.3551664352416992, -1.614885926246643, -0.689114511013031, 0.9697080850601196, -0.019541596993803978, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3335667848587036, -1.3868118524551392, 1.2309857606887817, -1.4604047536849976, 0.07048845291137695, 0.22652821242809296, 0.658916175365448, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2265998125076294, -1.2389389276504517, -1.3559222221374512, -1.6147454977035522, -0.6884993314743042, 0.9696871638298035, -0.018650690093636513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3341230154037476, -1.3863862752914429, 1.2267338037490845, -1.4547786712646484, 0.07466064393520355, 0.21209274232387543, 0.6514918208122253, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2264922857284546, -1.238580346107483, -1.3565211296081543, -1.6147212982177734, -0.688102662563324, 0.9695719480514526, -0.018087191507220268, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.336513876914978, -1.3863763809204102, 1.2234071493148804, -1.4498729705810547, 0.07781177759170532, 0.19336163997650146, 0.6441452503204346, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226330041885376, -1.2383142709732056, -1.356881022453308, -1.6146990060806274, -0.6878805160522461, 0.9694792032241821, -0.017828332260251045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3411860466003418, -1.3863396644592285, 1.221582293510437, -1.4459604024887085, 0.07699133455753326, 0.17019756138324738, 0.6388839483261108, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226354956626892, -1.238316297531128, -1.3568718433380127, -1.6147072315216064, -0.687964141368866, 0.9694795608520508, -0.01806430146098137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3437957763671875, -1.3859565258026123, 1.222641110420227, -1.4407583475112915, 0.07244247943162918, 0.14833702147006989, 0.6434488296508789, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2264493703842163, -1.238317847251892, -1.3568531274795532, -1.6147441864013672, -0.688220739364624, 0.9694880843162537, -0.01845606602728367, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3467037677764893, -1.385900616645813, 1.2244106531143188, -1.4383975267410278, 0.06669724732637405, 0.12910185754299164, 0.6486923098564148, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2265070676803589, -1.238319993019104, -1.3567370176315308, -1.6147876977920532, -0.6884219646453857, 0.9695120453834534, -0.018697427585721016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3501113653182983, -1.3859198093414307, 1.2252839803695679, -1.437172293663025, 0.05872761458158493, 0.11323942244052887, 0.6510897278785706, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2265511751174927, -1.2383031845092773, -1.3567373752593994, -1.6147842407226562, -0.6883542537689209, 0.9695204496383667, -0.01850687898695469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3500139713287354, -1.3861948251724243, 1.2234660387039185, -1.433828592300415, 0.051071494817733765, 0.10066089779138565, 0.6533153653144836, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2264807224273682, -1.238199234008789, -1.356894612312317, -1.61477792263031, -0.6881420016288757, 0.969513475894928, -0.018107324838638306, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3485773801803589, -1.3861563205718994, 1.222343921661377, -1.4287288188934326, 0.05393596366047859, 0.09286791831254959, 0.6533337831497192, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226279377937317, -1.2381243705749512, -1.3572156429290771, -1.6147407293319702, -0.6875976324081421, 0.9694826602935791, -0.01738239824771881, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3458023071289062, -1.3856239318847656, 1.2182697057724, -1.4243844747543335, 0.057583361864089966, 0.09079943597316742, 0.6490357518196106, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.22594153881073, -1.2371916770935059, -1.3585641384124756, -1.6145219802856445, -0.6864616870880127, 0.9688389897346497, -0.015547853894531727, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3376349210739136, -1.3857901096343994, 1.210627555847168, -1.4169880151748657, 0.059960074722766876, 0.08995946496725082, 0.6441645622253418, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.225748062133789, -1.2364258766174316, -1.3592772483825684, -1.614301085472107, -0.6860986948013306, 0.9684233069419861, -0.015496321953833103, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3262392282485962, -1.391112208366394, 1.2049707174301147, -1.414712905883789, 0.06629637628793716, 0.08698258548974991, 0.6412681937217712, 0.07139999368688563, 0.07139999368688563, 0.07139999368688563, 0.07139999368688563, -0.07139999368688563, -0.07139999368688563, -0.07139999368688563, 0.07139999368688563, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2262334823608398, -1.2369321584701538, -1.358075737953186, -1.6143457889556885, -0.6868652105331421, 0.9684515595436096, -0.016896558925509453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3075666427612305, -1.4090229272842407, 1.2013659477233887, -1.4278148412704468, 0.07235128432512283, 0.0795920342206955, 0.6401357054710388, 0.13980001774463027, 0.13980001774463027, 0.13980001774463027, 0.13980001774463027, -0.13980001774463027, -0.13980001774463027, -0.13980001774463027, 0.13980001774463027, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226439118385315, -1.237259030342102, -1.3577178716659546, -1.6145055294036865, -0.6872009634971619, 0.9686092734336853, -0.01740960404276848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.299342155456543, -1.4158908128738403, 1.2012157440185547, -1.4302215576171875, 0.07390239834785461, 0.07696964591741562, 0.6398245692253113, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226543664932251, -1.237258791923523, -1.357608675956726, -1.6145292520523071, -0.6873584389686584, 0.9687107801437378, -0.01763322949409485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3007450103759766, -1.414070725440979, 1.2012975215911865, -1.4284553527832031, 0.07335939258337021, 0.0797310471534729, 0.6392551064491272, 0.16740000745752354, 0.16740000745752354, 0.16740000745752354, 0.16740000745752354, -0.16740000745752354, -0.16740000745752354, -0.16740000745752354, 0.16740000745752354, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2265512943267822, -1.2372639179229736, -1.3573875427246094, -1.6145557165145874, -0.687474250793457, 0.9687197804450989, -0.01772814430296421, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3019180297851562, -1.4125856161117554, 1.2026582956314087, -1.4278521537780762, 0.07678832113742828, 0.08341632038354874, 0.640404999256134, 0.05280000403687195, 0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2265522480010986, -1.2372777462005615, -1.3572943210601807, -1.6145682334899902, -0.687644898891449, 0.9687275886535645, -0.017973700538277626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3045682907104492, -1.4122364521026611, 1.2112840414047241, -1.4353654384613037, 0.0811593309044838, 0.08948548883199692, 0.6483768820762634, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2265784740447998, -1.237314224243164, -1.3571395874023438, -1.6145696640014648, -0.6876704096794128, 0.9687347412109375, -0.0180140882730484, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.311044454574585, -1.4099152088165283, 1.2245123386383057, -1.448786973953247, 0.08010243624448776, 0.09270445257425308, 0.6595208048820496, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226633906364441, -1.237441062927246, -1.357063889503479, -1.6145724058151245, -0.6877145171165466, 0.9687483906745911, -0.01813824474811554, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.322528600692749, -1.4050673246383667, 1.2379951477050781, -1.4655519723892212, 0.07731059193611145, 0.09700606763362885, 0.6717137694358826, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2266594171524048, -1.237481951713562, -1.3569353818893433, -1.614579439163208, -0.6877764463424683, 0.9687649607658386, -0.018284332007169724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3397736549377441, -1.3977110385894775, 1.2638510465621948, -1.485751986503601, 0.07773315906524658, 0.10450735688209534, 0.6922657489776611, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226680040359497, -1.2375309467315674, -1.3568735122680664, -1.6145799160003662, -0.6877914667129517, 0.9687778949737549, -0.018294399604201317, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3565428256988525, -1.3871877193450928, 1.2995959520339966, -1.501344084739685, 0.07707738131284714, 0.1084863543510437, 0.7241687178611755, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2266907691955566, -1.2375506162643433, -1.3568669557571411, -1.6145870685577393, -0.6878498196601868, 0.968781590461731, -0.018342096358537674, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.37993586063385, -1.3727775812149048, 1.3469362258911133, -1.5268900394439697, 0.06659334152936935, 0.11233676970005035, 0.7576627135276794, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2267588376998901, -1.2375755310058594, -1.3568497896194458, -1.614586591720581, -0.6878520846366882, 0.9687843918800354, -0.018344972282648087, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3983633518218994, -1.3589879274368286, 1.3860173225402832, -1.542544960975647, 0.05557816103100777, 0.1175808236002922, 0.7850947380065918, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2267613410949707, -1.2376296520233154, -1.3567060232162476, -1.6145858764648438, -0.6878740191459656, 0.9687870144844055, -0.01841292344033718, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4165735244750977, -1.346814751625061, 1.419355034828186, -1.5586180686950684, 0.03717087209224701, 0.12249435484409332, 0.8153942227363586, 0.09899998339977896, 0.09899998339977896, 0.09899998339977896, 0.09899998339977896, -0.09899998339977896, -0.09899998339977896, -0.09899998339977896, 0.09899998339977896, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2267628908157349, -1.23765230178833, -1.3566572666168213, -1.6145864725112915, -0.6879217028617859, 0.9687872529029846, -0.01851670630276203, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.432862639427185, -1.3362066745758057, 1.4524086713790894, -1.567246437072754, 0.025455093011260033, 0.12417203187942505, 0.8379809856414795, 0.3077999927185394, 0.3077999927185394, 0.3077999927185394, 0.3077999927185394, -0.3077999927185394, -0.3077999927185394, -0.3077999927185394, 0.3077999927185394, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2267903089523315, -1.2376682758331299, -1.3566149473190308, -1.6145856380462646, -0.6879647374153137, 0.9687877297401428, -0.018587173894047737, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.44757080078125, -1.3269487619400024, 1.4782133102416992, -1.5784716606140137, 0.013175456784665585, 0.1270313411951065, 0.8457769751548767, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, -0.5423999986150763, -0.5423999986150763, -0.5423999986150763, 0.5423999986150763, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268284559249878, -1.2376699447631836, -1.3565797805786133, -1.6145838499069214, -0.6879833340644836, 0.9687886834144592, -0.018609704449772835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4583433866500854, -1.319938063621521, 1.486085057258606, -1.5870928764343262, -0.006530204322189093, 0.13058419525623322, 0.8472511172294617, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226841926574707, -1.237674593925476, -1.3565524816513062, -1.6145806312561035, -0.6879886984825134, 0.9687891602516174, -0.018611980602145195, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.458251953125, -1.3172732591629028, 1.4784361124038696, -1.5839931964874268, -0.025169989094138145, 0.13660195469856262, 0.8473502397537231, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268478870391846, -1.2376911640167236, -1.3564608097076416, -1.6145769357681274, -0.6879923939704895, 0.9687884449958801, -0.018612220883369446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4414297342300415, -1.316888689994812, 1.4482159614562988, -1.562272310256958, -0.04284084588289261, 0.14808930456638336, 0.8418788313865662, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268459796905518, -1.2378009557724, -1.3564503192901611, -1.6145784854888916, -0.6880491971969604, 0.9687880873680115, -0.018621208146214485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.41005539894104, -1.3196309804916382, 1.4077929258346558, -1.5336898565292358, -0.06663085520267487, 0.1648566722869873, 0.8284886479377747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268444299697876, -1.2378126382827759, -1.3564443588256836, -1.6145853996276855, -0.6882017850875854, 0.9687897562980652, -0.01872870698571205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3745609521865845, -1.3279459476470947, 1.3699097633361816, -1.4972635507583618, -0.07961815595626831, 0.17761076986789703, 0.7907682657241821, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226845145225525, -1.2378063201904297, -1.3564448356628418, -1.6146398782730103, -0.6883007884025574, 0.9688036441802979, -0.018955688923597336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3448529243469238, -1.3362655639648438, 1.3416314125061035, -1.463634967803955, -0.07344484329223633, 0.1801365613937378, 0.7727401852607727, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2268576622009277, -1.237790822982788, -1.3564443588256836, -1.6146434545516968, -0.6883126497268677, 0.9689070582389832, -0.018975581973791122, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3240841627120972, -1.342866063117981, 1.3192706108093262, -1.4444198608398438, -0.07018597424030304, 0.19326935708522797, 0.7659600973129272, 0.535200001512255, 0.535200001512255, 0.535200001512255, 0.535200001512255, -0.535200001512255, -0.535200001512255, -0.535200001512255, 0.535200001512255, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2269902229309082, -1.2377878427505493, -1.3564074039459229, -1.614640235900879, -0.6884406208992004, 0.9689394235610962, -0.019047128036618233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3101357221603394, -1.349063515663147, 1.3030469417572021, -1.4323549270629883, -0.07162312418222427, 0.20798058807849884, 0.7636958360671997, 0.3486000074135078, 0.3486000074135078, 0.3486000074135078, 0.3486000074135078, -0.3486000074135078, -0.3486000074135078, -0.3486000074135078, 0.3486000074135078, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270870208740234, -1.23781418800354, -1.356001377105713, -1.614670753479004, -0.688508927822113, 0.9689484238624573, -0.019087154418230057, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2976692914962769, -1.3561534881591797, 1.2951340675354004, -1.4270557165145874, -0.07395321130752563, 0.22060717642307281, 0.7577080130577087, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, 0.23159998694618983, -0.23159998694618983, -0.23159998694618983, -0.23159998694618983, 0.23159998694618983, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270859479904175, -1.2378734350204468, -1.355961799621582, -1.6146615743637085, -0.6885215044021606, 0.9689465165138245, -0.019089551642537117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2893391847610474, -1.360070824623108, 1.296786904335022, -1.4231241941452026, -0.06540186703205109, 0.23911525309085846, 0.765314519405365, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270574569702148, -1.2379943132400513, -1.355891466140747, -1.6146769523620605, -0.6886038780212402, 0.9689481854438782, -0.019217902794480324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2949841022491455, -1.3601956367492676, 1.3059719800949097, -1.4290580749511719, -0.06601785868406296, 0.24136480689048767, 0.7782469391822815, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270339727401733, -1.2379828691482544, -1.3559205532073975, -1.6148388385772705, -0.6887712478637695, 0.9689508080482483, -0.0195237398147583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3303574323654175, -1.353561520576477, 1.3341492414474487, -1.4653973579406738, -0.06217655539512634, 0.24806471168994904, 0.8080448508262634, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227034330368042, -1.237940788269043, -1.3560034036636353, -1.6148284673690796, -0.6887669563293457, 0.9689679741859436, -0.019513553008437157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3793984651565552, -1.340867519378662, 1.3786152601242065, -1.5247384309768677, -0.04909960925579071, 0.26186418533325195, 0.8390663862228394, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270442247390747, -1.2379416227340698, -1.3560012578964233, -1.6147117614746094, -0.6887499690055847, 0.9689822196960449, -0.019441289827227592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4218416213989258, -1.3305284976959229, 1.4182318449020386, -1.5912894010543823, -0.027230195701122284, 0.2743739187717438, 0.8615055680274963, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.2270654439926147, -1.2379493713378906, -1.3559925556182861, -1.6146901845932007, -0.6887449026107788, 0.9689872860908508, -0.019405456259846687, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4541462659835815, -1.3271280527114868, 1.4410669803619385, -1.6474307775497437, -0.015525802969932556, 0.2669200897216797, 0.8508002758026123, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271555662155151, -1.2381280660629272, -1.3558621406555176, -1.6145899295806885, -0.6887326836585999, 0.9689754247665405, -0.0193156935274601, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4522966146469116, -1.3271524906158447, 1.4389798641204834, -1.6391735076904297, -0.01563737541437149, 0.2637389898300171, 0.8515569567680359, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2271162271499634, -1.238366961479187, -1.3558398485183716, -1.6147111654281616, -0.6887368559837341, 0.9689710736274719, -0.019337864592671394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4514871835708618, -1.3274972438812256, 1.4367314577102661, -1.635502576828003, -0.016756823286414146, 0.26399821043014526, 0.8517007827758789, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2271181344985962, -1.2383017539978027, -1.3558405637741089, -1.6147387027740479, -0.6887437105178833, 0.9689794778823853, -0.01939263381063938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4514808654785156, -1.3277103900909424, 1.436692237854004, -1.6357609033584595, -0.016844546422362328, 0.2640366852283478, 0.8517029285430908, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2271310091018677, -1.2382253408432007, -1.355840802192688, -1.6147352457046509, -0.6887426376342773, 0.9689896702766418, -0.01940162107348442, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4515905380249023, -1.3278728723526, 1.4351754188537598, -1.63639235496521, -0.01638447307050228, 0.26394033432006836, 0.8498664498329163, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.227142572402954, -1.2381219863891602, -1.3558406829833984, -1.6147348880767822, -0.6887462139129639, 0.9690669775009155, -0.019531769677996635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.450209379196167, -1.3282243013381958, 1.3970569372177124, -1.6426860094070435, -0.03231701999902725, 0.25932759046554565, 0.8127655982971191, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2271591424942017, -1.2381278276443481, -1.3558366298675537, -1.6147233247756958, -0.6887450218200684, 0.9690825343132019, -0.01955358125269413, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4378145933151245, -1.3349804878234863, 1.3519021272659302, -1.616949439048767, -0.023819245398044586, 0.2575746774673462, 0.7947290539741516, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2271547317504883, -1.238154649734497, -1.3558287620544434, -1.614721417427063, -0.6887468099594116, 0.9690775275230408, -0.01955118402838707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4159055948257446, -1.3446141481399536, 1.3156893253326416, -1.576735496520996, -0.008841721341013908, 0.25136134028434753, 0.7550403475761414, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227140188217163, -1.2381768226623535, -1.3558237552642822, -1.6147347688674927, -0.6888187527656555, 0.9690754413604736, -0.01966455578804016, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3918676376342773, -1.3508943319320679, 1.284599781036377, -1.540995478630066, -0.007066977676004171, 0.23882798850536346, 0.723849356174469, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271274328231812, -1.2381775379180908, -1.3558251857757568, -1.6147398948669434, -0.6888453364372253, 0.9690742492675781, -0.019693676382303238, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3761017322540283, -1.3570865392684937, 1.2731187343597412, -1.5122885704040527, 0.007537478115409613, 0.2268580198287964, 0.7098985314369202, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271244525909424, -1.2381680011749268, -1.3558305501937866, -1.614739179611206, -0.6888400912284851, 0.9690737724304199, -0.019684329628944397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.363548755645752, -1.360714316368103, 1.2625396251678467, -1.489993929862976, 0.012008313089609146, 0.21860413253307343, 0.7033931016921997, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227057933807373, -1.2380261421203613, -1.3561421632766724, -1.6147253513336182, -0.6887390613555908, 0.9690730571746826, -0.01946369931101799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3609442710876465, -1.361358404159546, 1.2590538263320923, -1.479806661605835, 0.01331267599016428, 0.21166789531707764, 0.7002757787704468, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270697355270386, -1.238032341003418, -1.3561160564422607, -1.614705204963684, -0.6887184381484985, 0.969072699546814, -0.019458306953310966, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3604742288589478, -1.3617589473724365, 1.2587544918060303, -1.4760557413101196, 0.018688080832362175, 0.2086980789899826, 0.6991183161735535, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.227063536643982, -1.2380270957946777, -1.3561185598373413, -1.6147010326385498, -0.6885344386100769, 0.969063937664032, -0.01922820881009102, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3642938137054443, -1.3617066144943237, 1.2599784135818481, -1.479357123374939, 0.02155878208577633, 0.20316964387893677, 0.6972051858901978, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270617485046387, -1.2380573749542236, -1.3560172319412231, -1.6147239208221436, -0.6886978149414062, 0.9690589308738708, -0.019491981714963913, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3689066171646118, -1.3616520166397095, 1.263659119606018, -1.4946153163909912, 0.02088107354938984, 0.2034197598695755, 0.7014245986938477, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270632982254028, -1.2381352186203003, -1.3557014465332031, -1.6147336959838867, -0.6888558864593506, 0.9690565466880798, -0.01966898888349533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3681451082229614, -1.3636473417282104, 1.2652260065078735, -1.500632882118225, 0.01608702354133129, 0.20693376660346985, 0.7090969085693359, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270638942718506, -1.2381306886672974, -1.3558387756347656, -1.6147477626800537, -0.6888517141342163, 0.9690548777580261, -0.019664794206619263, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3682191371917725, -1.3646725416183472, 1.2652736902236938, -1.5011558532714844, 0.01265234500169754, 0.20793576538562775, 0.7078729271888733, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.227067470550537, -1.238092303276062, -1.3560304641723633, -1.614732265472412, -0.6887806057929993, 0.9690535068511963, -0.019473407417535782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3662422895431519, -1.3650858402252197, 1.2642568349838257, -1.497397541999817, 0.015521248802542686, 0.20534083247184753, 0.7030792236328125, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271617650985718, -1.238218903541565, -1.355907678604126, -1.6147302389144897, -0.6888040900230408, 0.9690526723861694, -0.019524818286299706, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.354152798652649, -1.368634819984436, 1.2520042657852173, -1.475573182106018, 0.016496526077389717, 0.1940804421901703, 0.6858668923377991, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271150350570679, -1.2382006645202637, -1.355916142463684, -1.6147689819335938, -0.6889263391494751, 0.9690515995025635, -0.019708896055817604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3515896797180176, -1.3744380474090576, 1.2487202882766724, -1.4674980640411377, 0.026806075125932693, 0.18551340699195862, 0.6782328486442566, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271058559417725, -1.2381553649902344, -1.355947494506836, -1.6147936582565308, -0.6889209747314453, 0.9690533876419067, -0.019699908792972565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.353437066078186, -1.3744455575942993, 1.2487136125564575, -1.4607726335525513, 0.03807687759399414, 0.17640887200832367, 0.6757774949073792, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2271188497543335, -1.238013744354248, -1.356060266494751, -1.6147493124008179, -0.6887483596801758, 0.9690592885017395, -0.01938496343791485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3464477062225342, -1.3756375312805176, 1.2382895946502686, -1.4479260444641113, 0.040385641157627106, 0.171977698802948, 0.6710444688796997, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.2267831563949585, -1.2370787858963013, -1.3575339317321777, -1.6146018505096436, -0.6874535083770752, 0.9690452814102173, -0.017385514453053474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3330966234207153, -1.3755857944488525, 1.2295976877212524, -1.4265577793121338, 0.043331243097782135, 0.1566486805677414, 0.6696550250053406, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2262029647827148, -1.2357922792434692, -1.35995352268219, -1.6143414974212646, -0.6860200762748718, 0.9688407182693481, -0.015152014791965485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3184733390808105, -1.3757833242416382, 1.2211475372314453, -1.405328631401062, 0.0470457524061203, 0.14049814641475677, 0.6715541481971741, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.22567617893219, -1.2341060638427734, -1.3622138500213623, -1.6142274141311646, -0.6840678453445435, 0.9686315655708313, -0.012922829017043114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3041858673095703, -1.3784844875335693, 1.2135812044143677, -1.3855292797088623, 0.051988765597343445, 0.12920457124710083, 0.6740893721580505, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.224906325340271, -1.2317930459976196, -1.3649187088012695, -1.6140992641448975, -0.6821674704551697, 0.968116819858551, -0.010194980539381504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2869153022766113, -1.3831787109375, 1.204445242881775, -1.361892580986023, 0.059747714549303055, 0.11716293543577194, 0.6744577884674072, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2243903875350952, -1.2301976680755615, -1.3657108545303345, -1.614044189453125, -0.6816172003746033, 0.9679574370384216, -0.00994498934596777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2674578428268433, -1.3883187770843506, 1.1960785388946533, -1.3398422002792358, 0.060967348515987396, 0.10849642008543015, 0.6796900033950806, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2243419885635376, -1.2302021980285645, -1.3653006553649902, -1.6140879392623901, -0.6815759539604187, 0.9678962230682373, -0.009873563423752785, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2525317668914795, -1.3921730518341064, 1.1883063316345215, -1.3292020559310913, 0.048010602593421936, 0.10183870792388916, 0.6809327602386475, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2239595651626587, -1.2295063734054565, -1.3664679527282715, -1.61403489112854, -0.6802579164505005, 0.9676164984703064, -0.008212310262024403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2390811443328857, -1.3958402872085571, 1.1847783327102661, -1.314406156539917, 0.047950681298971176, 0.1037626564502716, 0.685641348361969, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2234305143356323, -1.2282551527023315, -1.3693825006484985, -1.6133376359939575, -0.6786685585975647, 0.9669551253318787, -0.005631147418171167, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2235851287841797, -1.401330590248108, 1.1770368814468384, -1.2997186183929443, 0.047039762139320374, 0.10376061499118805, 0.68370121717453, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2228542566299438, -1.2257375717163086, -1.3714357614517212, -1.6128515005111694, -0.6774266362190247, 0.9663640260696411, -0.003635414643213153, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2124208211898804, -1.4073017835617065, 1.169295310974121, -1.2882944345474243, 0.043093595653772354, 0.10483476519584656, 0.676937460899353, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.222538948059082, -1.2232872247695923, -1.3733608722686768, -1.612601399421692, -0.6760874390602112, 0.9660235643386841, -0.0017536516534164548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2006264925003052, -1.4131017923355103, 1.161952018737793, -1.276374340057373, 0.04231509938836098, 0.10504508763551712, 0.6686859726905823, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2214399576187134, -1.2217708826065063, -1.3759914636611938, -1.6119059324264526, -0.6733490228652954, 0.9647634029388428, 0.0016646088333800435, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1822788715362549, -1.4209610223770142, 1.1522630453109741, -1.2531236410140991, 0.04297507181763649, 0.10139612853527069, 0.6637817621231079, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2198798656463623, -1.218955159187317, -1.3782849311828613, -1.6112312078475952, -0.6707714200019836, 0.963601291179657, 0.005329864099621773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1644618511199951, -1.429040551185608, 1.1425909996032715, -1.231145977973938, 0.044006314128637314, 0.09570673853158951, 0.6603552103042603, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2195000648498535, -1.2166770696640015, -1.3800644874572754, -1.6110787391662598, -0.6693223118782043, 0.963387131690979, 0.006952288560569286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1505807638168335, -1.4347410202026367, 1.1367712020874023, -1.2145715951919556, 0.04359249770641327, 0.09077223390340805, 0.6595243811607361, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.21950101852417, -1.2146164178848267, -1.381615400314331, -1.6109929084777832, -0.6678510308265686, 0.9633542895317078, 0.008529651910066605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.136962890625, -1.4403072595596313, 1.130245327949524, -1.1999008655548096, 0.042123112827539444, 0.09014234691858292, 0.6554197669029236, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2189635038375854, -1.2131950855255127, -1.3838273286819458, -1.6104987859725952, -0.6663404107093811, 0.9626187086105347, 0.010853753425180912, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1266753673553467, -1.4465035200119019, 1.1253305673599243, -1.1883257627487183, 0.039290040731430054, 0.0900455117225647, 0.6533834338188171, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.218184232711792, -1.21217679977417, -1.3843940496444702, -1.6102365255355835, -0.6647751331329346, 0.9620605111122131, 0.012740190140902996, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1216540336608887, -1.4522011280059814, 1.1259266138076782, -1.1797231435775757, 0.03333016857504845, 0.08639152348041534, 0.6552563309669495, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2181950807571411, -1.2121511697769165, -1.3842049837112427, -1.6102644205093384, -0.6656622290611267, 0.9620283842086792, 0.01122106984257698, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1311147212982178, -1.455612063407898, 1.139193058013916, -1.195190668106079, 0.012546883895993233, 0.09108790010213852, 0.6631947755813599, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, 0.05520000143365544, -0.05520000143365544, -0.05520000143365544, -0.05520000143365544, 0.05520000143365544, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2191298007965088, -1.21261465549469, -1.380780816078186, -1.6109695434570312, -0.6678302884101868, 0.9621665477752686, 0.007061824202537537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.153674840927124, -1.458113431930542, 1.160791277885437, -1.229084849357605, -0.014696255326271057, 0.10985687375068665, 0.6707364320755005, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, 0.054600011909401044, -0.054600011909401044, -0.054600011909401044, -0.054600011909401044, 0.054600011909401044, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960788023153687, -0.08847010659338946, -0.000244575826393614, -0.027357827872037888], [0.08847017683248058, 0.9960787829950727, 0.0002930499693031776, 0.002742908662185073], [0.00021769062948272355, -0.0003135385290520578, 0.9999999271521877, -7.674484550079796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.220505714416504, -1.2158540487289429, -1.375844955444336, -1.6118806600570679, -0.6720458269119263, 0.9632730484008789, 0.001084212795831263, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1826847791671753, -1.4553240537643433, 1.1857810020446777, -1.2707607746124268, -0.039511509239673615, 0.12598979473114014, 0.6851435303688049, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, 0.06719998841757303, -0.06719998841757303, -0.06719998841757303, -0.06719998841757303, 0.06719998841757303, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960835322918292, -0.08841688300166406, -0.00022693017091135232, -0.027347177267074585], [0.08841694652190286, 0.9960835111409428, 0.0002870555246368242, 0.0027436160016804934], [0.0002006608466883987, -0.0003059957537298074, 0.9999999330509094, -7.041926437523216e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7510262727737427, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2228907346725464, -1.2240947484970093, -1.3656286001205444, -1.6136059761047363, -0.6787718534469604, 0.9644913673400879, -0.0080271540209651, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2284977436065674, -1.4491527080535889, 1.2213045358657837, -1.343631386756897, -0.043522149324417114, 0.1302095651626587, 0.7177136540412903, 0.11580000447702932, 0.11580000447702932, 0.11580000447702932, 0.11580000447702932, -0.11580000447702932, -0.11580000447702932, -0.11580000447702932, 0.11580000447702932, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960851587581363, -0.08839851141257182, -0.00024429862824313736, -0.027365610003471375], [0.08839858776102436, 0.9960851299895206, 0.00032170734566021076, 0.0027442164719104767], [0.0002149037804029747, -0.00034204356620425855, 0.9999999184112787, -8.228739716287237e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2237602472305298, -1.2350990772247314, -1.3561768531799316, -1.6146833896636963, -0.680564820766449, 0.9655055999755859, -0.012138701975345612, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2898555994033813, -1.4465380907058716, 1.2610805034637451, -1.452817678451538, -0.030335068702697754, 0.13049383461475372, 0.7598280310630798, 0.1902000023768498, 0.1902000023768498, 0.1902000023768498, 0.1902000023768498, -0.1902000023768498, -0.1902000023768498, -0.1902000023768498, 0.1902000023768498, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996081533295637, -0.08843935241404613, -0.00024489180692136405, -0.027399124577641487], [0.08843942618968002, 0.9960815089627975, 0.00030886507817907705, 0.0027420171536505222], [0.00021661637307338703, -0.00032931289153677123, 0.9999999223151802, -7.45890747566591e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2244453430175781, -1.2365880012512207, -1.3556066751480103, -1.6148515939712524, -0.6810310482978821, 0.9657910466194153, -0.012950273230671883, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.338225245475769, -1.4330883026123047, 1.2970731258392334, -1.5293246507644653, -0.01795129105448723, 0.13712146878242493, 0.789318323135376, 0.23460001316699355, 0.23460001316699355, 0.23460001316699355, 0.23460001316699355, -0.23460001316699355, -0.23460001316699355, -0.23460001316699355, 0.23460001316699355, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960834809321839, -0.08841743003257779, -0.00023891516884418996, -0.027206385508179665], [0.0884174966087971, 0.996083463145149, 0.00028415172008110424, 0.002745661186054349], [0.00021285548395132107, -0.0003041631155823252, 0.9999999310886687, -8.084441105893347e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.224468469619751, -1.2362390756607056, -1.355730652809143, -1.6148444414138794, -0.6815267205238342, 0.9659329652786255, -0.013383742421865463, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3835934400558472, -1.4105476140975952, 1.3353159427642822, -1.5880517959594727, -0.016288958489894867, 0.1461937576532364, 0.8130738139152527, 0.5297999975445506, 0.5297999975445506, 0.5297999975445506, 0.5297999975445506, -0.5297999975445506, -0.5297999975445506, -0.5297999975445506, 0.5297999975445506, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960794007525999, -0.0884633896026238, -0.00023684669260108795, -0.027271179482340813], [0.08846345773068158, 0.9960793793175327, 0.00029452458421718624, 0.0027449524495750666], [0.00020986346351834642, -0.00031432214873353164, 0.9999999285794542, -8.18099761090707e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2245841026306152, -1.2359659671783447, -1.3559294939041138, -1.6147446632385254, -0.6818196773529053, 0.9662678241729736, -0.013646556995809078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4121934175491333, -1.3929013013839722, 1.366058349609375, -1.5972782373428345, -0.0276145301759243, 0.15978603065013885, 0.8224168419837952, 0.5826000004515542, 0.5826000004515542, 0.5826000004515542, 0.5826000004515542, -0.5826000004515542, -0.5826000004515542, -0.5826000004515542, 0.5826000004515542, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960767671612621, -0.08849304943051167, -0.0002326457775458357, -0.0273160208016634], [0.08849311797802265, 0.9960767421549709, 0.0003029991209872247, 0.0027397109661251307], [0.00020491973198304204, -0.0003223979351251114, 0.9999999270337347, -6.223779564606957e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.22463059425354, -1.2359822988510132, -1.355942964553833, -1.6146801710128784, -0.6821394562721252, 0.9662686586380005, -0.013927347026765347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3982826471328735, -1.385171890258789, 1.3643306493759155, -1.5354148149490356, -0.028807800263166428, 0.17586778104305267, 0.8208344578742981, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960798038066984, -0.08845883113931469, -0.000244216861817233, -0.02714609168469906], [0.08845890107611581, 0.9960797846827107, 0.00029217606098975524, 0.002742821117863059], [0.00021741392629275389, -0.0003126338287282994, 0.9999999274956343, -6.990101610426791e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2246270179748535, -1.2359981536865234, -1.3559489250183105, -1.614761233329773, -0.6824201345443726, 0.9662716388702393, -0.01442720927298069, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3718037605285645, -1.3825045824050903, 1.3385025262832642, -1.487400770187378, -0.026369608938694, 0.17426957190036774, 0.8084195256233215, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960818734568778, -0.08843555471827506, -0.00023244850484213414, -0.027266860008239746], [0.08843562572212171, 0.9960818443623889, 0.0003153327741322563, 0.0027425081934779882], [0.00020365110662119403, -0.0003346539893938981, 0.9999999232664641, -6.536642104038037e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.224664330482483, -1.235985517501831, -1.3560184240341187, -1.61478590965271, -0.6824637651443481, 0.9665758013725281, -0.014486052095890045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3452800512313843, -1.383889079093933, 1.3177531957626343, -1.4571386575698853, -0.015809709206223488, 0.1724647432565689, 0.7984602451324463, 0.5411999999166845, 0.5411999999166845, 0.5411999999166845, 0.5411999999166845, -0.5411999999166845, -0.5411999999166845, -0.5411999999166845, 0.5411999999166845, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960825010302912, -0.0884284329554543, -0.00025176632571559556, -0.02736043743789196], [0.08842851012737767, 0.996082476528114, 0.0003139271756357281, 0.0027436064556241035], [0.00022301993702157508, -0.0003349606873318857, 0.9999999190317196, -8.242927833634894e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.224783182144165, -1.2359778881072998, -1.356123924255371, -1.6147997379302979, -0.6824790835380554, 0.9666075706481934, -0.014492522925138474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3235983848571777, -1.3851715326309204, 1.303361177444458, -1.4307518005371094, -0.000745059282053262, 0.16855129599571228, 0.7913630604743958, 0.4416000047882835, 0.4416000047882835, 0.4416000047882835, 0.4416000047882835, -0.4416000047882835, -0.4416000047882835, -0.4416000047882835, 0.4416000047882835, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960809466639133, -0.08844602254674142, -0.00022088183171931546, -0.027315029874444008], [0.08844609268950678, 0.9960809099213919, 0.00033102587678497013, 0.002741188509389758], [0.00019073825376240123, -0.00034926470367989957, 0.9999999208165395, -7.379330781986937e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2247833013534546, -1.2359768152236938, -1.3561615943908691, -1.6148067712783813, -0.6825656294822693, 0.9666146039962769, -0.014515292830765247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2988137006759644, -1.3873664140701294, 1.2840150594711304, -1.3949222564697266, 0.009051444940268993, 0.1664590835571289, 0.7801232933998108, 0.3197999993523399, 0.3197999993523399, 0.3197999993523399, 0.3197999993523399, -0.3197999993523399, -0.3197999993523399, -0.3197999993523399, 0.3197999993523399, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960801238591104, -0.08845517930850007, -0.0002609718765225562, -0.02732795849442482], [0.08845526449435243, 0.996080094068955, 0.00033523546316499824, 0.0027437140233814716], [0.0002302955783111115, -0.00035700571803474784, 0.9999999097554279, -8.353143130079843e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.224778175354004, -1.235974907875061, -1.3561676740646362, -1.614809274673462, -0.6826826930046082, 0.9666188359260559, -0.014607331715524197, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2769445180892944, -1.3912556171417236, 1.268054723739624, -1.3657863140106201, 0.018944423645734787, 0.16409868001937866, 0.770797073841095, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, -0.2849999977992131, -0.2849999977992131, -0.2849999977992131, 0.2849999977992131, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960817506151773, -0.08843696693860448, -0.0002212918971093099, -0.0273353923112154], [0.08843704061653698, 0.9960817075701749, 0.000348842476623997, 0.0027423289138823748], [0.00018957424017210754, -0.00036704602529733155, 0.9999999146694077, -7.00485998095246e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2247772216796875, -1.2359623908996582, -1.3561848402023315, -1.6148078441619873, -0.6826847195625305, 0.9666261076927185, -0.01461500208824873, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2538427114486694, -1.3970366716384888, 1.2536152601242065, -1.3362298011779785, 0.031252820044755936, 0.15894557535648346, 0.7597765922546387, 0.2651999898009248, 0.2651999898009248, 0.2651999898009248, 0.2651999898009248, -0.2651999898009248, -0.2651999898009248, -0.2651999898009248, 0.2651999898009248, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960806679981211, -0.08844913093848433, -0.0002325438530960294, -0.027318419888615608], [0.08844920728404995, 0.9960806298074413, 0.00034154536183791646, 0.002744539873674512], [0.00020142303721910822, -0.00036077505163629417, 0.9999999146350574, -7.26815187590546e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2247750759124756, -1.2359588146209717, -1.3561896085739136, -1.6148048639297485, -0.6827027201652527, 0.96663498878479, -0.01467947755008936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2329484224319458, -1.4026447534561157, 1.2395591735839844, -1.3116434812545776, 0.03919512778520584, 0.1558983474969864, 0.7502059936523438, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, -0.21959999996227222, -0.21959999996227222, -0.21959999996227222, 0.21959999996227222, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996078750003643, -0.08847069955039034, -0.00024313009833502565, -0.02733694575726986], [0.0884707831282209, 0.9960787080327325, 0.00035768215204625044, 0.0027420036494731903], [0.00021053232402520268, -0.00037778950111058316, 0.9999999064756123, -7.803507287462708e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.224778175354004, -1.235957384109497, -1.3561882972717285, -1.6148017644882202, -0.682761549949646, 0.9666608572006226, -0.014787694439291954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2105889320373535, -1.4095871448516846, 1.2262519598007202, -1.2798397541046143, 0.0461931936442852, 0.15395762026309967, 0.741908848285675, 0.20159999983651294, 0.20159999983651294, 0.20159999983651294, 0.20159999983651294, -0.20159999983651294, -0.20159999983651294, -0.20159999983651294, 0.20159999983651294, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996081609551436, -0.08843853541409508, -0.00022927544687092373, -0.02732177823781967], [0.08843861507712876, 0.9960815622297824, 0.0003643475204565024, 0.002742078620940447], [0.00019615468420919105, -0.00038319666760484194, 0.9999999073418226, -7.5046509664389305e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2247862815856934, -1.2359570264816284, -1.356187343597412, -1.614802598953247, -0.6829706430435181, 0.9666973352432251, -0.014928029850125313, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1973572969436646, -1.415653109550476, 1.2146419286727905, -1.2571260929107666, 0.04668179154396057, 0.15098169445991516, 0.7350776195526123, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960826550633952, -0.08842675386179534, -0.00023126461592578538, -0.027346927672624588], [0.08842683658354693, 0.9960826036141988, 0.0003759640749700423, 0.0027442313730716705], [0.0001971133780369405, -0.0003949412924046393, 0.9999999025838411, -7.257373454194749e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2248026132583618, -1.2359378337860107, -1.356189489364624, -1.6148040294647217, -0.6829953789710999, 0.9667689800262451, -0.01497105322778225, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1965105533599854, -1.419172763824463, 1.210247278213501, -1.2529716491699219, 0.04485515505075455, 0.14857706427574158, 0.7331947684288025, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960801955614847, -0.08845445930712403, -0.00022943164280466566, -0.027354547753930092], [0.0884545449282209, 0.9960801362186216, 0.0003946038945430278, 0.0027433326467871666], [0.0001936278278854446, -0.00041335139600216347, 0.9999998958244384, -7.090203780535376e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2250183820724487, -1.2353296279907227, -1.356575608253479, -1.6150407791137695, -0.6833436489105225, 0.9673730134963989, -0.015655232593417168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1985933780670166, -1.4190057516098022, 1.2124533653259277, -1.2573622465133667, 0.03977731987833977, 0.1499907225370407, 0.7286925315856934, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960771597835316, -0.08848863106393011, -0.00023222834564813646, -0.027317633852362633], [0.08848871916520122, 0.9960770981639736, 0.00040136484620924897, 0.002740521915256977], [0.00019580111084637473, -0.0004203399449093199, 0.999999892488122, -7.556753189419396e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2254397869110107, -1.2353291511535645, -1.3565328121185303, -1.6158084869384766, -0.6839581727981567, 0.9685444235801697, -0.017309535294771194, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2057420015335083, -1.4170660972595215, 1.213464379310608, -1.2725366353988647, 0.029093023389577866, 0.15518684685230255, 0.72834712266922, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996080851571752, -0.0884470954882557, -0.0002200722263512623, -0.02737535536289215], [0.08844717815368136, 0.9960807884123904, 0.0003995402378886437, 0.0027458197437226772], [0.00018387154315969813, -0.00041743914780406795, 0.9999998959679013, -6.742340701748617e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.226365089416504, -1.235344409942627, -1.3549864292144775, -1.6173640489578247, -0.6861907243728638, 0.9711060523986816, -0.02104226127266884, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2229609489440918, -1.4137636423110962, 1.22159743309021, -1.2966256141662598, 0.022404389455914497, 0.16248367726802826, 0.7280561923980713, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960813473466784, -0.0884415054937748, -0.00022265224084042602, -0.027407331392169], [0.0884415862878775, 0.9960812911234215, 0.0003837822060631523, 0.0027443277649581432], [0.00018783745544190725, -0.0004019700142735432, 0.9999999015685941, -7.4737940849445295e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2267858982086182, -1.2364187240600586, -1.3527801036834717, -1.6177887916564941, -0.6875151991844177, 0.9717860817909241, -0.022837258875370026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2392250299453735, -1.4133330583572388, 1.2291131019592285, -1.3109320402145386, 0.028279894962906837, 0.1670238971710205, 0.7187883853912354, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960822949797414, -0.08843084382019449, -0.0002179200305066578, -0.027326611801981926], [0.08843092672948392, 0.9960822287848801, 0.0004058284248942668, 0.0027408751193434], [0.00018117851962432034, -0.0004235093790873161, 0.9999998939070693, -8.010104465938639e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2270463705062866, -1.2368329763412476, -1.3525084257125854, -1.617867112159729, -0.6879847645759583, 0.9721194505691528, -0.023133868351578712, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2423875331878662, -1.414684772491455, 1.2319639921188354, -1.3156962394714355, 0.0303806085139513, 0.17753371596336365, 0.7225041389465332, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960811244410399, -0.08844399042880928, -0.00023257106918062544, -0.027278784662485123], [0.08844407853386833, 0.9960810631988033, 0.00040063579028103114, 0.0027433419600129128], [0.00019622580985766586, -0.0004196352823817711, 0.9999998927008249, -7.585083039884921e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2276124954223633, -1.2368489503860474, -1.3524019718170166, -1.618825912475586, -0.6901882886886597, 0.9739593863487244, -0.026250844821333885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2522532939910889, -1.4079208374023438, 1.2328921556472778, -1.3453750610351562, 0.006637223064899445, 0.19097065925598145, 0.72784823179245, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, 0.06059998575147696, -0.06059998575147696, -0.06059998575147696, -0.06059998575147696, 0.06059998575147696, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960811244410399, -0.08844399042880928, -0.00023257106918062544, -0.027278784662485123], [0.08844407853386833, 0.9960810631988033, 0.00040063579028103114, 0.0027433419600129128], [0.00019622580985766586, -0.0004196352823817711, 0.9999998927008249, -7.585083039884921e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2285552024841309, -1.2384380102157593, -1.350584626197815, -1.618722677230835, -0.6923165917396545, 0.9742143154144287, -0.027684159576892853, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2738051414489746, -1.4039651155471802, 1.2385815382003784, -1.3683234453201294, 0.012729883193969727, 0.19770124554634094, 0.7204318046569824, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960811244410399, -0.08844399042880928, -0.00023257106918062544, -0.027278784662485123], [0.08844407853386833, 0.9960810631988033, 0.00040063579028103114, 0.0027433419600129128], [0.00019622580985766586, -0.0004196352823817711, 0.9999998927008249, -7.585083039884921e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2293485403060913, -1.2395408153533936, -1.3502129316329956, -1.6186933517456055, -0.6929312348365784, 0.9746124148368835, -0.028362585231661797, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.279847502708435, -1.4044424295425415, 1.2415306568145752, -1.3753507137298584, 0.013229506090283394, 0.20654572546482086, 0.7209135890007019, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960811244410399, -0.08844399042880928, -0.00023257106918062544, -0.027278784662485123], [0.08844407853386833, 0.9960810631988033, 0.00040063579028103114, 0.0027433419600129128], [0.00019622580985766586, -0.0004196352823817711, 0.9999998927008249, -7.585083039884921e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2293552160263062, -1.239538311958313, -1.3503170013427734, -1.6187868118286133, -0.6939415335655212, 0.974993884563446, -0.029669106006622314, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2842426300048828, -1.4012861251831055, 1.2401323318481445, -1.3876945972442627, 0.0008033026242628694, 0.20831459760665894, 0.7188226580619812, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960811244410399, -0.08844399042880928, -0.00023257106918062544, -0.027278784662485123], [0.08844407853386833, 0.9960810631988033, 0.00040063579028103114, 0.0027433419600129128], [0.00019622580985766586, -0.0004196352823817711, 0.9999998927008249, -7.585083039884921e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2298294305801392, -1.2400538921356201, -1.3498857021331787, -1.6187589168548584, -0.6951488256454468, 0.9759165644645691, -0.03115502931177616, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.299900770187378, -1.3991849422454834, 1.2470638751983643, -1.4065616130828857, 0.00997614860534668, 0.2128562480211258, 0.7291308045387268, 0.11879999139806727, 0.11879999139806727, 0.11879999139806727, 0.11879999139806727, -0.11879999139806727, -0.11879999139806727, -0.11879999139806727, 0.11879999139806727, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960750132072924, -0.08851275390808096, -0.00024588554206321587, -0.02745308354496956], [0.08851285174998583, 0.9960749460981908, 0.00042051227251852814, 0.0027445340529084206], [0.00020769972876418183, -0.0004406257979348278, 0.9999998813548574, -6.771579592168564e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2297624349594116, -1.2408215999603271, -1.3497956991195679, -1.618341326713562, -0.6949046850204468, 0.9757204651832581, -0.030153388157486916, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.3432753086090088, -1.3976022005081177, 1.2742434740066528, -1.4602375030517578, 0.010493147186934948, 0.2245447039604187, 0.7533406019210815, 0.2280000105008974, 0.2280000105008974, 0.2280000105008974, 0.2280000105008974, -0.2280000105008974, -0.2280000105008974, -0.2280000105008974, 0.2280000105008974, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960803229612546, -0.08845299497362265, -0.00024060257465992164, -0.027420487254858017], [0.08845308748172857, 0.9960802611903556, 0.0004056869515059782, 0.002740449272096157], [0.0002037752495279042, -0.00042537883026196483, 0.9999998887642431, -8.27534677227959e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.229542851448059, -1.2413698434829712, -1.3497921228408813, -1.6181436777114868, -0.6944735050201416, 0.9754906296730042, -0.029461659491062164, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.4144489765167236, -1.3825231790542603, 1.32473886013031, -1.531098484992981, 0.015446347184479237, 0.2361036092042923, 0.7914051413536072, 0.30360000709910967, 0.30360000709910967, 0.30360000709910967, 0.30360000709910967, -0.30360000709910967, -0.30360000709910967, -0.30360000709910967, 0.30360000709910967, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.99607543045721, -0.08850809956471502, -0.00023054484629337352, -0.027386920526623726], [0.08850818855421426, 0.9960753650105194, 0.00040960714362010413, 0.002746325684711337], [0.00019338649207301944, -0.00042840471862567976, 0.9999998895355248, -7.813498086761683e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.2318824529647827, -1.2452731132507324, -1.353545904159546, -1.6202586889266968, -0.684190571308136, 0.9707449674606323, -0.03539888188242912, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5062261819839478, -1.3597358465194702, 1.3917864561080933, -1.6107286214828491, 0.0352095328271389, 0.23947058618068695, 0.8311609029769897, 0.379200003697322, 0.379200003697322, 0.379200003697322, 0.379200003697322, -0.379200003697322, -0.379200003697322, -0.379200003697322, 0.379200003697322, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960745793485607, -0.08851769394026912, -0.00022413184662490367, -0.027335530146956444], [0.08851777958553374, 0.9960745140435444, 0.0004064113233049406, 0.002738466253504157], [0.00018727742707841665, -0.0004246556413011025, 0.99999989229737, -6.580692570423707e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.244397759437561, -1.2603472471237183, -1.3663142919540405, -1.6328144073486328, -0.6721195578575134, 0.9660078883171082, -0.02999088168144226, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5854853391647339, -1.340358853340149, 1.457149863243103, -1.675530195236206, 0.05630068853497505, 0.23819833993911743, 0.8513196706771851, 0.47399999911968527, 0.47399999911968527, 0.47399999911968527, 0.47399999911968527, -0.47399999911968527, -0.47399999911968527, -0.47399999911968527, 0.47399999911968527, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960767656600078, -0.08849304378981594, -0.00024106661224390053, -0.027238449081778526], [0.0884931352644453, 0.9960767065177252, 0.00039967970960806605, 0.002742069773375988], [0.00020475196313104243, -0.0004194444127713747, 0.9999998910715031, -7.895957423897926e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.2726383209228516, -1.2726532220840454, -1.3753235340118408, -1.662494421005249, -0.6640013456344604, 0.9266539216041565, -0.006542188581079245, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -1.6289958953857422, -1.3289690017700195, 1.5165340900421143, -1.715908169746399, 0.08305846899747849, 0.23140974342823029, 0.853400468826294, 0.5807999999477313, 0.5807999999477313, 0.5807999999477313, 0.5807999999477313, -0.5807999999477313, -0.5807999999477313, -0.5807999999477313, 0.5807999999477313, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996074403263041, -0.08851965903510477, -0.0002304961724763198, -0.02708277851343155], [0.08851975320000484, 0.9960743258538222, 0.0004366557727184849, 0.0027402520645409822], [0.0001909386994944861, -0.00045534510254307647, 0.9999998781016178, -7.874257789808325e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4163947105407715, -0.49493470788002014, 0.0, 0.0, 1.2916346788406372, -1.2837800979614258, -1.3929665088653564, -1.703285574913025, -0.6575533151626587, 0.8642754554748535, 0.028312012553215027, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -1.6384077072143555, -1.3217623233795166, 1.5636615753173828, -1.7369033098220825, 0.11193253844976425, 0.22384926676750183, 0.8418479561805725, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960797296812633, -0.08845965352874265, -0.00024862758531914994, -0.027095714583992958], [0.08845976298953946, 0.9960796398754936, 0.0004704862818448214, 0.0027440532576292753], [0.0002060338221657932, -0.0004906353857087259, 0.9999998584134812, -7.884805199864786e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.49493470788002014, 0.0, 0.0, 1.2730668783187866, -1.294607162475586, -1.413393497467041, -1.7508714199066162, -0.6347163319587708, 0.8085715770721436, 0.06991944462060928, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -1.6310265064239502, -1.3181331157684326, 1.6078145503997803, -1.7365539073944092, 0.15427160263061523, 0.22079628705978394, 0.8150299787521362, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960755368770388, -0.08850687762805473, -0.0002396823973494829, -0.02702740952372551], [0.08850698945599256, 0.9960754277447902, 0.000505035117779825, 0.0027353668119758368], [0.00019404266509557373, -0.0005242666934992954, 0.9999998437459269, -8.815528417471796e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.750834584236145, 1.4164905548095703, -0.49493470788002014, 0.0, 0.0, 1.240844488143921, -1.2987480163574219, -1.4336837530136108, -1.801154375076294, -0.5649814009666443, 0.7601416707038879, 0.08837239444255829, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -1.628883957862854, -1.3175901174545288, 1.6659924983978271, -1.7513118982315063, 0.20583924651145935, 0.18697595596313477, 0.7287129163742065, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960770334047787, -0.0884899989283392, -0.00025221656953641026, -0.027107570320367813], [0.08849011563200077, 0.9960769310787505, 0.0004967979199851452, 0.00274386303499341], [0.00020726545914395115, -0.0005171676717430516, 0.9999998447893024, -9.787680028239265e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7509304285049438, 1.4163947105407715, -0.49503058195114136, 0.0, 0.0, 1.230779767036438, -1.2967318296432495, -1.4558868408203125, -1.8666588068008423, -0.4197799563407898, 0.6796621680259705, 0.06599269062280655, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.6263960599899292, -1.3194973468780518, 1.7478437423706055, -1.8005132675170898, 0.26501724123954773, 0.1751474142074585, 0.5844897031784058, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960746909956834, -0.08851640462707479, -0.00023679051919464934, -0.027515938505530357], [0.08851651436348305, 0.9960745828753077, 0.0005020305976964662, 0.002747032092884183], [0.00019142307411476527, -0.0005210198438643155, 0.9999998459477526, -7.749091309960932e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2309165000915527, -1.2935081720352173, -1.4918574094772339, -1.9142720699310303, -0.30542948842048645, 0.6096940636634827, 0.03537575528025627, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.614946961402893, -1.3155827522277832, 1.8236829042434692, -1.8313592672348022, 0.28521063923835754, 0.20478487014770508, 0.5503818988800049, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960730596810717, -0.08853476899553583, -0.00023335915485919476, -0.027388129383325577], [0.08853488184676263, 0.9960729368964533, 0.0005282791440141866, 0.002744371769949794], [0.00018567166675181694, -0.0005468650485472277, 0.9999998332323116, -6.951963769097347e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4162988662719727, -0.4952223002910614, 0.0, 0.0, 1.2336676120758057, -1.290321946144104, -1.5081106424331665, -1.9267405271530151, -0.25942814350128174, 0.5832265615463257, 0.016418147832155228, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.6138256788253784, -1.3100330829620361, 1.8063451051712036, -1.8281378746032715, 0.27938416600227356, 0.1978980153799057, 0.5840685963630676, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960763406693233, -0.0884978643788696, -0.00022706648695412462, -0.027262898162007332], [0.08849796997732812, 0.9960762280810493, 0.0005071111527210669, 0.002739747054874897], [0.00018129727583035806, -0.0005252163444603262, 0.9999998456395327, -9.311986104876269e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4163947105407715, -0.4951264262199402, 0.0, 0.0, 1.2337778806686401, -1.2902084589004517, -1.5078414678573608, -1.92626953125, -0.26194074749946594, 0.5838952660560608, 0.016394898295402527, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.614073395729065, -1.3101683855056763, 1.8020260334014893, -1.8276840448379517, 0.27888765931129456, 0.19779101014137268, 0.5853954553604126, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960670344813088, -0.08860259157475166, -0.00020877224169386569, -0.02711436152458191], [0.08860269664534505, 0.9960668875267993, 0.0005636664329236747, 0.0027162409387528896], [0.00015800881024526797, -0.0005799473358777124, 0.9999998193471354, -9.149248398898635e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4163947105407715, -0.4951264262199402, 0.0, 0.0, 1.242379903793335, -1.2878421545028687, -1.5093930959701538, -1.9241751432418823, -0.26435017585754395, 0.5739266872406006, 0.01621381752192974, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6162950992584229, -1.3072291612625122, 1.798046350479126, -1.8272078037261963, 0.2815515100955963, 0.19428369402885437, 0.5745722651481628, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960751365187175, -0.08851137725383597, -0.00024187982032980622, -0.027273938059806824], [0.08851149543408357, 0.9960750134770842, 0.0005316978923618111, 0.0027469824999570847], [0.00019386913255894068, -0.000551020195333724, 0.9999998293957373, -7.72828389017377e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.2859771251678467, -1.2754496335983276, -1.5175799131393433, -1.9129899740219116, -0.2783746123313904, 0.52262943983078, 0.014742274768650532, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6267058849334717, -1.292757511138916, 1.7799009084701538, -1.8246650695800781, 0.2942960262298584, 0.17626434564590454, 0.5218126773834229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996078662806348, -0.08847167462732504, -0.00024554134949545666, -0.027351202443242073], [0.0884717978994165, 0.9960785317698658, 0.0005472875233491195, 0.0027444076258689165], [0.0001961590232008881, -0.0005668649090767009, 0.99999982009289, -1.011255881167017e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.3664404153823853, -1.2527209520339966, -1.532499074935913, -1.8925142288208008, -0.30403953790664673, 0.42782771587371826, 0.012037315405905247, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6457438468933105, -1.2664201259613037, 1.7466813325881958, -1.820122480392456, 0.3176126480102539, 0.14373064041137695, 0.4254157841205597, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960761408855701, -0.08850006678772125, -0.00024441169937625536, -0.027354419231414795], [0.08850019357426409, 0.9960759972512754, 0.0005687153901592203, 0.0027417242527008057], [0.0001931212771837865, -0.0005881143137986409, 0.9999998084128447, -8.869976227288134e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7511221170425415, 1.4162988662719727, -0.4951264262199402, 0.0, 0.0, 1.4839450120925903, -1.2195106744766235, -1.554388165473938, -1.8625987768173218, -0.3415204584598541, 0.28951287269592285, 0.0082115912809968, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6734135150909424, -1.2281010150909424, 1.6986093521118164, -1.8135154247283936, 0.3512733280658722, 0.09659452736377716, 0.28563356399536133, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960784072292186, -0.08847451022882746, -0.00026017584846672507, -0.027374912053346634], [0.08847464976662572, 0.9960782568114154, 0.0005853684352387644, 0.0027443282306194305], [0.00020736531999400166, -0.0006060918256857166, 0.9999997948261404, -8.829543730826117e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4162029027938843, -0.4952223002910614, 0.0, 0.0, 1.6003780364990234, -1.186621069908142, -1.575938105583191, -1.8330217599868774, -0.37871527671813965, 0.15228797495365143, 0.004243374336510897, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.7004106044769287, -1.190902829170227, 1.6514887809753418, -1.8071078062057495, 0.38405340909957886, 0.05039761960506439, 0.14951807260513306, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960798761415778, -0.08845805463595335, -0.00023003434891223038, -0.02727922610938549], [0.08845817041143575, 0.996079738143192, 0.0005543898010312888, 0.002736976370215416], [0.00018009231071919305, -0.0005725649419819618, 0.9999998198680572, -7.33207571101957e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.6798406839370728, -1.1641700267791748, -1.5907005071640015, -1.812758207321167, -0.40401482582092285, 0.059002894908189774, 0.0016823455225676298, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.7187104225158691, -1.1656097173690796, 1.6196755170822144, -1.802709698677063, 0.40633437037467957, 0.019251219928264618, 0.05695011466741562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960829587743102, -0.08842332752225898, -0.00023321515215715232, -0.02699642814695835], [0.08842345182711457, 0.9960827995417578, 0.0005912901422264565, 0.0027437545359134674], [0.00018001775974948024, -0.0006095957231351327, 0.9999997979933098, -8.44953228806844e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7515055537223816, 1.4160112142562866, -0.4952223002910614, 0.0, 0.0, 1.7222590446472168, -1.1521834135055542, -1.5985544919967651, -1.801941156387329, -0.4175463318824768, 0.009115081280469894, 0.0002809102297760546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7283217906951904, -1.1522648334503174, 1.6029102802276611, -1.8004175424575806, 0.41800472140312195, 0.002790287137031555, 0.00826120562851429, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996082962739821, -0.08842327912373886, -0.00023462409454469709, -0.02689654752612114], [0.08842340963554315, 0.9960827852183336, 0.000620983181727526, 0.0027459945995360613], [0.00017879565236437103, -0.000639297029889049, 0.9999997796656869, -8.84596101968782e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7514097094535828, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.7301043272018433, -1.1499534845352173, -1.6000490188598633, -1.7999677658081055, -0.4200591742992401, -0.00027707527624443173, -4.434163201949559e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300324440002441, -1.1499298810958862, 1.5999369621276855, -1.7999722957611084, 0.4200359284877777, -9.108010999625549e-05, -0.00020013655012007803, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996076979597438, -0.08849063957610018, -0.00023963192152156513, -0.02694671042263508], [0.08849077382784638, 0.9960768010564163, 0.0006239748114698029, 0.002740932861343026], [0.00018347586767386342, -0.0006427321597230192, 0.9999997766159635, -8.305319170176517e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7513138651847839, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.7299941778182983, -1.1499747037887573, -1.6000280380249023, -1.7999736070632935, -0.42005282640457153, -5.860285818926059e-05, -3.9188416849356145e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300068140029907, -1.149980068206787, 1.5999729633331299, -1.7999751567840576, 0.42003390192985535, -7.142598042264581e-05, -1.9054918084293604e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960790139747616, -0.08846773098821993, -0.00024185297701626333, -0.027043543756008148], [0.08846786784599218, 0.9960788317556183, 0.0006303071844455477, 0.002741241129115224], [0.00018514278436950694, -0.000649231975992564, 0.9999997721099694, -9.082925316761248e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.729849934577942, -1.1501494646072388, -1.5998754501342773, -1.800026535987854, -0.4199422299861908, -1.3302489605848677e-05, -1.4381070286617614e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7296028137207031, -1.1500462293624878, 1.6000462770462036, -1.8000094890594482, 0.42002394795417786, -6.291717727435753e-05, -1.126517145166872e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960790097050315, -0.08846777840934875, -0.00024209163153550192, -0.027112897485494614], [0.08846791075625798, 0.9960788434622657, 0.0006052877810735004, 0.002744769910350442], [0.00018759388706187893, -0.0006243317944117678, 0.9999997875091494, -8.457201147393789e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.7296992540359497, -1.1502846479415894, -1.5997731685638428, -1.8000881671905518, -0.4197968542575836, -1.2942962712259032e-05, 3.834952076431364e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729314923286438, -1.15007746219635, 1.6000667810440063, -1.800167441368103, 0.4200049042701721, -6.0160808061482385e-05, -1.054611766448943e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960786281774433, -0.08847206096070233, -0.0002468147248310532, -0.02709054760634899], [0.08847219486010131, 0.9960784673347928, 0.0005980372950988874, 0.00274294032715261], [0.00019293724079661178, -0.0006175284089306438, 0.9999997907169207, -9.256628800358158e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.7296833992004395, -1.150306224822998, -1.599735975265503, -1.8001108169555664, -0.4197649657726288, -1.4980280866438989e-05, 9.167932148557156e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729302167892456, -1.1501063108444214, 1.6000885963439941, -1.8002618551254272, 0.4199860692024231, -5.980128116789274e-05, -1.078580226021586e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960780866678703, -0.0884782112832784, -0.00022668962493302408, -0.027095764875411987], [0.08847833780819474, 0.996077903640893, 0.0006273890841309337, 0.0027420043479651213], [0.00017029026243786766, -0.0006449856397298851, 0.9999997774973508, -8.71940119395731e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4952223002910614, 0.0, 0.0, 1.729676365852356, -1.1503123044967651, -1.5997228622436523, -1.8001220226287842, -0.41975849866867065, -1.5819176041986793e-05, 0.00012583435454871505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293012142181396, -1.1501353979110718, 1.600098967552185, -1.8003010749816895, 0.41997063159942627, -6.004096576361917e-05, -1.0186590770899784e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960773661475908, -0.0884863117649627, -0.00023082181928733985, -0.027095723897218704], [0.08848644499176272, 0.9960771685328631, 0.0006506767814583768, 0.0027423417195677757], [0.00017234035564898926, -0.0006685490169037193, 0.9999997616704785, -8.636117854621261e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296726703643799, -1.1503162384033203, -1.5997172594070435, -1.8001279830932617, -0.4197588562965393, -1.5699333744123578e-05, 0.0001466869143769145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293018102645874, -1.1501449346542358, 1.6001036167144775, -1.8003102540969849, 0.4199543297290802, -6.0160808061482385e-05, -8.628641808172688e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960781245120972, -0.08847773470877517, -0.00024562016737620333, -0.02708941325545311], [0.0884778783416785, 0.9960779277583612, 0.0006533580672401355, 0.0027421945706009865], [0.0001868491855926397, -0.0006725276295387774, 0.999999756396955, -8.462708137813024e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296699285507202, -1.1503186225891113, -1.599715232849121, -1.8001306056976318, -0.4197588562965393, -1.4860438568575773e-05, 0.00015519571024924517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729301929473877, -1.1501504182815552, 1.6001056432724, -1.800312876701355, 0.41994690895080566, -6.0640177252935246e-05, -5.512743427971145e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960797012847593, -0.08845996069452171, -0.000253065976158231, -0.027101529762148857], [0.08846010953262576, 0.9960795052874706, 0.000654345278642437, 0.0027429722249507904], [0.00019419047470742572, -0.0006741662936571891, 0.9999997538949037, -9.168858923658263e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296656370162964, -1.1503206491470337, -1.5997145175933838, -1.800132155418396, -0.41975945234298706, -1.4620753972849343e-05, 0.0001577124057803303, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293020486831665, -1.1501542329788208, 1.600108027458191, -1.8003125190734863, 0.41994282603263855, -6.111955008236691e-05, -1.7976337858272018e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960776254758749, -0.0884833476460989, -0.00024741803146173763, -0.027095099911093712], [0.08848349553507716, 0.9960774180172591, 0.0006695774521413582, 0.0027423196006566286], [0.00018720105947550765, -0.0006888435308832926, 0.9999997452251442, -1.0013297469413374e-05], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296615839004517, -1.1503225564956665, -1.5997141599655151, -1.8001327514648438, -0.41975897550582886, -1.2942962712259032e-05, 0.00015687350241933018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293025255203247, -1.1501567363739014, 1.6001083850860596, -1.8003125190734863, 0.4199402928352356, -6.159891927381977e-05, -1.1984225523065106e-07, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960772193901599, -0.0884879525305443, -0.00023509342684505872, -0.027096031233668327], [0.08848809412964195, 0.9960770009662692, 0.0006821607923620496, 0.0027418683748692274], [0.00017380814374597756, -0.0007002877945169042, 0.9999997396938332, -8.591726327722427e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296580076217651, -1.1503243446350098, -1.5997138023376465, -1.800133228302002, -0.41975969076156616, -8.748484106035903e-06, 0.00015435682144016027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293025255203247, -1.1501582860946655, 1.6001086235046387, -1.800313115119934, 0.41993921995162964, -6.195844616740942e-05, 1.5579491901007714e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960781845081483, -0.08847708298757569, -0.00023692395593392966, -0.027095651254057884], [0.0884772274375044, 0.9960779601049433, 0.0006910992309617242, 0.002742100739851594], [0.00017484828671621193, -0.0007093512420258912, 0.9999997331244104, -8.08919230621541e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296545505523682, -1.1503256559371948, -1.5997133255004883, -1.8001331090927124, -0.41975849866867065, -7.550061582151102e-06, 0.00015339808305725455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293022871017456, -1.1501598358154297, 1.60010826587677, -1.8003134727478027, 0.4199374318122864, -6.291717727435753e-05, 3.355582975927973e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996078643210377, -0.08847188487231376, -0.0002492535147796887, -0.02709680050611496], [0.0884720390488512, 0.9960784173285047, 0.0006963037267094451, 0.0027417473029345274], [0.00018667274336971835, -0.0007156252380557253, 0.9999997265168654, -8.368005183001515e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4161070585250854, -0.4951264262199402, 0.0, 0.0, 1.7296500205993652, -1.150327444076538, -1.5997124910354614, -1.8001335859298706, -0.41975921392440796, -6.711165951855946e-06, 0.00015195997548289597, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293020486831665, -1.1501611471176147, 1.600108027458191, -1.8003137111663818, 0.41993477940559387, -6.26774926786311e-05, 4.434163201949559e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960778372522983, -0.0884809427885951, -0.0002547509085734394, -0.027096247300505638], [0.08848109915774689, 0.9960776188438479, 0.0006872628368660799, 0.002742961049079895], [0.00019294201466066316, -0.0007071079205714566, 0.9999997313858477, -8.408881512877997e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296451330184937, -1.150328516960144, -1.5997120141983032, -1.800133466720581, -0.41975849866867065, -6.950850547582377e-06, 0.00014944327995181084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293016910552979, -1.1501617431640625, 1.6001085042953491, -1.800313949584961, 0.4199332296848297, -6.291717727435753e-05, 3.834952167380834e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.996077042271071, -0.08848984824571594, -0.0002694772074490418, -0.027095770463347435], [0.08849001785208825, 0.9960768170796036, 0.0007008688201832123, 0.0027417228557169437], [0.00020640022353317513, -0.0007219653843260058, 0.999999718082426, -9.139721441897564e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729641079902649, -1.1503299474716187, -1.5997110605239868, -1.8001333475112915, -0.41975826025009155, -8.269114914583042e-06, 0.000142732125823386, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293013334274292, -1.1501624584197998, 1.6001083850860596, -1.8003159761428833, 0.4199320375919342, -6.50743386358954e-05, 2.996056309712003e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296358346939087, -1.1503314971923828, -1.5997098684310913, -1.8001347780227661, -0.41975897550582886, -1.0306433068762999e-05, 0.0001293097884627059, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293027639389038, -1.1501621007919312, 1.6001086235046387, -1.8003277778625488, 0.41993096470832825, -6.795055378461257e-05, 1.4381070059243939e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729628324508667, -1.150335669517517, -1.599707841873169, -1.8001360893249512, -0.41975754499435425, -1.054611766448943e-05, 0.00011960256233578548, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292993068695068, -1.1501628160476685, 1.6001076698303223, -1.8003392219543457, 0.41992950439453125, -7.010771514615044e-05, -5.992112619424006e-07, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.72962486743927, -1.1503393650054932, -1.5997058153152466, -1.8001391887664795, -0.4197559952735901, -1.2703278116532601e-05, 0.00011073423956986517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292989492416382, -1.1501624584197998, 1.6001076698303223, -1.8003474473953247, 0.41992735862731934, -7.250456110341474e-05, -2.7563717139855726e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296247482299805, -1.1503410339355469, -1.5997045040130615, -1.8001409769058228, -0.4197540581226349, -1.4381070286617614e-05, 9.455553663428873e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292994260787964, -1.150162696838379, 1.6001076698303223, -1.80035400390625, 0.4199265241622925, -7.442203786922619e-05, -6.8310082497191615e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296247482299805, -1.1503416299819946, -1.599703073501587, -1.8001407384872437, -0.4197479486465454, -1.4261227988754399e-05, 7.52609339542687e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292991876602173, -1.1501623392105103, 1.6001074314117432, -1.800356149673462, 0.4199262857437134, -7.52609339542687e-05, -1.0665959962352645e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729624629020691, -1.150342583656311, -1.5997023582458496, -1.8001407384872437, -0.4197417199611664, -1.3062805010122247e-05, 6.147907697595656e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292991876602173, -1.1501619815826416, 1.600107192993164, -1.8003581762313843, 0.4199260473251343, -7.789746450725943e-05, -1.5819176041986793e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.72962486743927, -1.1503428220748901, -1.5997012853622437, -1.8001407384872437, -0.41973814368247986, -1.2942962712259032e-05, 5.3090116125531495e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292994260787964, -1.1501610279083252, 1.6001068353652954, -1.8003603219985962, 0.4199255704879761, -7.909588748589158e-05, -1.7736652807798237e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296249866485596, -1.1503430604934692, -1.599701166152954, -1.8001410961151123, -0.4197360873222351, -1.2703278116532601e-05, 5.165200855117291e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729299545288086, -1.150160312652588, 1.6001063585281372, -1.8003616333007812, 0.419925332069397, -7.909588748589158e-05, -2.0373181541799568e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729625940322876, -1.1503435373306274, -1.5997015237808228, -1.8001408576965332, -0.4197363257408142, -1.2343751222942956e-05, 5.225122004048899e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292996644973755, -1.1501601934432983, 1.600105881690979, -1.8003617525100708, 0.4199255704879761, -7.873636059230193e-05, -2.157160452043172e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34882959723472595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296260595321655, -1.1503441333770752, -1.5997016429901123, -1.8001407384872437, -0.41973549127578735, -9.58738019107841e-06, 5.201153544476256e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7292999029159546, -1.150159478187561, 1.600104808807373, -1.800361156463623, 0.4199259281158447, -7.84966759965755e-05, -2.0732708435389213e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296262979507446, -1.1503453254699707, -1.5997012853622437, -1.800140380859375, -0.41973525285720825, -5.872270321560791e-06, 5.177185084903613e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293001413345337, -1.1501588821411133, 1.6001046895980835, -1.800361156463623, 0.4199252128601074, -7.861651829443872e-05, -2.085255073325243e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296264171600342, -1.1503456830978394, -1.599701166152954, -1.800140380859375, -0.4197353720664978, -1.3182647080611787e-06, 5.045358557254076e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.729300618171692, -1.1501587629318237, 1.6001042127609253, -1.8003605604171753, 0.4199256896972656, -7.789746450725943e-05, -2.1212077626842074e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296267747879028, -1.150346040725708, -1.5997017621994019, -1.8001399040222168, -0.41973501443862915, 2.516687118259142e-06, 5.177185084903613e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293009757995605, -1.150158405303955, 1.600103735923767, -1.800358533859253, 0.4199254512786865, -7.7657779911533e-05, -2.085255073325243e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.7296268939971924, -1.1503467559814453, -1.5997023582458496, -1.8001399040222168, -0.4197368025779724, 4.314320904086344e-06, 5.452822369989008e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293014526367188, -1.1501580476760864, 1.6001031398773193, -1.800357460975647, 0.4199252128601074, -7.645935693290085e-05, -2.0493023839662783e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7512180209159851, 1.4162029027938843, -0.4951264262199402, 0.0, 0.0, 1.729627251625061, -1.150347113609314, -1.5997024774551392, -1.8001399040222168, -0.41973763704299927, 4.0746363083599135e-06, 5.752428114647046e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7293014526367188, -1.150158166885376, 1.6001032590866089, -1.8003554344177246, 0.4199254512786865, -7.45418801670894e-05, -1.9294602680020034e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.34873372316360474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9960777744097781, -0.08848167735289043, -0.0002451523656082446, -0.027094893157482147], [0.08848183130970781, 0.9960775369769671, 0.0007112369360653083, 0.002742168726399541], [0.00018125932742074825, -0.0007301388346128864, 0.9999997170211292, -8.717787750356365e-06], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000027/gt/hand_left.mp4 b/agibot-challenge-2026/000027/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a00231399861d54cd3a325e6d01d240ec67da36a --- /dev/null +++ b/agibot-challenge-2026/000027/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bc7986cd86e124fab1a972d2a3445e932b37b1d271e43c7e0b60472bb2e2957 +size 4530572 diff --git a/agibot-challenge-2026/000027/gt/hand_right.mp4 b/agibot-challenge-2026/000027/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1eb642ad6cfa0ab8c8846933ad921cffc12b8ffd --- /dev/null +++ b/agibot-challenge-2026/000027/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbf702f4e845fc4ff8a2eaa67fc7cdf39fb80850397c9c4fe3016cf30e6f356c +size 5288880 diff --git a/agibot-challenge-2026/000027/gt/head.mp4 b/agibot-challenge-2026/000027/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef890db54ed149935e801b8fefbca42a71e66f5d --- /dev/null +++ b/agibot-challenge-2026/000027/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bac2404611ab9676bb8a4f6bccd2facbfc84e6dc76fcbf20cc7938175aec8ef +size 4576385 diff --git a/agibot-challenge-2026/000027/meta.json b/agibot-challenge-2026/000027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fa11b26b4f091e9a7fb66f0a47cf1c2d4b94eff --- /dev/null +++ b/agibot-challenge-2026/000027/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Tear tape", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 883, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000027/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000027/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..66f01733f96e5b95096afb37813faf10cb4e6ef9 --- /dev/null +++ b/agibot-challenge-2026/000027/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000027/ref_images/hand_left.png b/agibot-challenge-2026/000027/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..90e62ed71b8b5e1585010928b6ff7647dd523e98 --- /dev/null +++ b/agibot-challenge-2026/000027/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bacdbd9b0abc1d83a827f9d752b635bb709c04fc2d4ea31230bbdb1eaa6e60d2 +size 428741 diff --git a/agibot-challenge-2026/000027/ref_images/hand_right.png b/agibot-challenge-2026/000027/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..ac34abf5f1e3ded5ebf7c791b05134e1fe3e939b --- /dev/null +++ b/agibot-challenge-2026/000027/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fa8f2847285c48f922864651fd00b6aeb24878c97722eb7eebc442b67302c48 +size 422151 diff --git a/agibot-challenge-2026/000027/ref_images/head.png b/agibot-challenge-2026/000027/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..a4dc2984dd1a9a25bc0510ebd2f664ebbf5fac6c --- /dev/null +++ b/agibot-challenge-2026/000027/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53c72db91a7c05be62994dc0974ec37d8862fa2947d3dec710dd2d70c74e013d +size 390286 diff --git a/agibot-challenge-2026/000027/temporal.json b/agibot-challenge-2026/000027/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..269f3bc3eb92c3867cce47f221b3ebf0fac60a4c --- /dev/null +++ b/agibot-challenge-2026/000027/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.729982614517212, -1.1501339673995972, -1.5995689630508423, -1.8000407218933105, -0.419729620218277, 0.0006369615439325571, -0.000716536829713732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731231689453125, -1.1475917100906372, 1.600334882736206, -1.8000407218933105, 0.42031097412109375, 0.00045000764657743275, 0.0004836833104491234, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299830913543701, -1.1501338481903076, -1.5995687246322632, -1.8000407218933105, -0.41972973942756653, 0.000637800432741642, -0.0007142598042264581, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312313318252563, -1.147591471672058, 1.6003345251083374, -1.8000415563583374, 0.420310378074646, 0.000452044972917065, 0.0004829642712138593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299830913543701, -1.1501342058181763, -1.599568486213684, -1.800040602684021, -0.4197300970554352, 0.0006389988702721894, -0.0007123423274606466, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312315702438354, -1.147591471672058, 1.6003340482711792, -1.800041675567627, 0.420310378074646, 0.00045324338134378195, 0.0004840428300667554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299830913543701, -1.1501342058181763, -1.5995687246322632, -1.8000409603118896, -0.4197303354740143, 0.0006387591711245477, -0.000709825661033392, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731231689453125, -1.1475917100906372, 1.6003341674804688, -1.8000420331954956, 0.4203101396560669, 0.00045468148891814053, 0.00048572063678875566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7291027307510376, -1.1544488668441772, -1.6083247661590576, -1.802846908569336, -0.39010030031204224, -0.0004585164424497634, -0.01642078533768654, 0.3107999992894602, -0.3107999992894602, 0.3107999992894602, 0.3107999992894602, -0.3107999992894602, -0.3107999992894602, 0.3107999992894602, 0.3107999992894602, -1.7312318086624146, -1.147589921951294, 1.6003342866897583, -1.8000423908233643, 0.42031025886535645, 0.0004587561415974051, 0.0004853611171711236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.703285574913025, -1.1774176359176636, -1.6408658027648926, -1.8086798191070557, -0.34967535734176636, 0.02952553518116474, -0.06018261983990669, 0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -0.061200014575497126, -0.061200014575497126, 0.061200014575497126, 0.061200014575497126, -1.7312301397323608, -1.1475909948349, 1.6003344058990479, -1.8000431060791016, 0.4203101396560669, 0.000463310134364292, 0.0004901547799818218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.6445449590682983, -1.1908960342407227, -1.6691744327545166, -1.8137842416763306, -0.37054958939552307, 0.11448901891708374, -0.1643468737602234, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -1.7312315702438354, -1.1475895643234253, 1.6003334522247314, -1.8000437021255493, 0.42030978202819824, 0.00047229829942807555, 0.0004945889813825488, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5665054321289062, -1.194343090057373, -1.6872172355651855, -1.8143998384475708, -0.33398008346557617, 0.1894402801990509, -0.29430392384529114, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312334775924683, -1.1475893259048462, 1.6003338098526, -1.800042748451233, 0.420310378074646, 0.0004760134033858776, 0.00048775796312838793, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.4822909832000732, -1.194423794746399, -1.6873888969421387, -1.7965993881225586, -0.2783162593841553, 0.23827694356441498, -0.4402945637702942, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312328815460205, -1.1475886106491089, 1.600332260131836, -1.8000433444976807, 0.42030978202819824, 0.0004751745145767927, 0.0004906341782771051, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.4155774116516113, -1.1946040391921997, -1.6657993793487549, -1.7883824110031128, -0.22026658058166504, 0.26150718331336975, -0.5716128945350647, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312308549880981, -1.147590160369873, 1.600332498550415, -1.8000401258468628, 0.4203099012374878, 0.0004751745145767927, 0.0004869190452154726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.367193341255188, -1.2010462284088135, -1.6166107654571533, -1.7876447439193726, -0.16811399161815643, 0.2776416540145874, -0.608386754989624, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731233835220337, -1.1475898027420044, 1.6003319025039673, -1.8000398874282837, 0.4203101396560669, 0.00047469514538533986, 0.00048811748274601996, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.3222037553787231, -1.2108936309814453, -1.5638014078140259, -1.7682393789291382, -0.13169535994529724, 0.28800490498542786, -0.6603548526763916, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312365770339966, -1.1475903987884521, 1.600331425666809, -1.8000390529632568, 0.420310378074646, 0.0004743356257677078, 0.00048775796312838793, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.2829222679138184, -1.2216136455535889, -1.5102980136871338, -1.7419968843460083, -0.11395332217216492, 0.286388099193573, -0.6931516528129578, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312387228012085, -1.1475883722305298, 1.6003329753875732, -1.8000338077545166, 0.420310378074646, 0.00047445547534152865, 0.0004852412675973028, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.2489664554595947, -1.234133005142212, -1.4652228355407715, -1.7145050764083862, -0.09768569469451904, 0.28828197717666626, -0.7068488597869873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312374114990234, -1.1475900411605835, 1.600332260131836, -1.800032377243042, 0.42031073570251465, 0.00047205862938426435, 0.0004862000059802085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.231491208076477, -1.245687484741211, -1.4279520511627197, -1.6941559314727783, -0.07392073422670364, 0.27924346923828125, -0.7153170704841614, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731241226196289, -1.1475905179977417, 1.600332260131836, -1.8000320196151733, 0.4203108549118042, 0.000467864127131179, 0.00048596030683256686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.225173830986023, -1.2570552825927734, -1.400598168373108, -1.682729721069336, -0.07229891419410706, 0.2860022187232971, -0.7334281206130981, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312380075454712, -1.1475895643234253, 1.6003321409225464, -1.8000223636627197, 0.42031145095825195, 0.000463310134364292, 0.00048488174797967076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.21073579788208, -1.269526720046997, -1.3761407136917114, -1.654472827911377, -0.06596608459949493, 0.2869384288787842, -0.7392503619194031, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731258749961853, -1.1475900411605835, 1.6003338098526, -1.8000203371047974, 0.4203118085861206, 0.0004557600768748671, 0.00048068727483041584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.1986526250839233, -1.2787187099456787, -1.3581454753875732, -1.63874089717865, -0.06548180431127548, 0.29179513454437256, -0.7705050110816956, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.731253981590271, -1.1475895643234253, 1.6003352403640747, -1.8000154495239258, 0.42031145095825195, 0.00045156560372561216, 0.00048032772610895336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1916518211364746, -1.2890820503234863, -1.3445223569869995, -1.6251232624053955, -0.07058396935462952, 0.29766908288002014, -0.7875802516937256, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312583923339844, -1.1475900411605835, 1.6003350019454956, -1.8000178337097168, 0.4203113317489624, 0.00044677191181108356, 0.00048212538240477443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1861950159072876, -1.2983061075210571, -1.3382939100265503, -1.6138957738876343, -0.07115262001752853, 0.2999683916568756, -0.7901884913444519, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312545776367188, -1.147588849067688, 1.6003352403640747, -1.800018310546875, 0.42031145095825195, 0.0004444949154276401, 0.000480567425256595, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.1840006113052368, -1.302944540977478, -1.3422093391418457, -1.615527629852295, -0.06967916339635849, 0.2961897552013397, -0.8017006516456604, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312551736831665, -1.1475892066955566, 1.6003358364105225, -1.8000200986862183, 0.42031192779541016, 0.0004424575890880078, 0.00048152616363950074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.184390664100647, -1.3065344095230103, -1.3677371740341187, -1.628955602645874, -0.0755251869559288, 0.3040485382080078, -0.8242917656898499, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312535047531128, -1.1475894451141357, 1.6003363132476807, -1.800020694732666, 0.42031192779541016, 0.000442337739514187, 0.00048260472249239683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.1852024793624878, -1.3067712783813477, -1.3959804773330688, -1.6311274766921997, -0.08576534688472748, 0.32293927669525146, -0.8465538024902344, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312546968460083, -1.147589087486267, 1.6003367900848389, -1.800022006034851, 0.4203122854232788, 0.00044221788994036615, 0.00048272457206621766, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.1912610530853271, -1.304918646812439, -1.415568232536316, -1.6278352737426758, -0.08656637370586395, 0.31317558884620667, -0.8795803785324097, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312425374984741, -1.1475892066955566, 1.600335717201233, -1.8000249862670898, 0.42031192779541016, 0.0004432964778970927, 0.00048416267964057624, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.1946840286254883, -1.3041051626205444, -1.443697452545166, -1.6083492040634155, -0.10713417828083038, 0.32890045642852783, -0.9023466110229492, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312463521957397, -1.1475883722305298, 1.6003363132476807, -1.8000266551971436, 0.42031097412109375, 0.00044293695827946067, 0.0004838031600229442, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.20711350440979, -1.2984228134155273, -1.4737372398376465, -1.597573161125183, -0.12201259285211563, 0.3481346666812897, -0.9239989519119263, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312406301498413, -1.1475881338119507, 1.6003358364105225, -1.8000284433364868, 0.42031264305114746, 0.00044461473589763045, 0.0004832039412576705, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.230353832244873, -1.289628028869629, -1.4946461915969849, -1.5954391956329346, -0.11876834183931351, 0.33989694714546204, -0.9620344638824463, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312393188476562, -1.147588849067688, 1.6003360748291016, -1.8000311851501465, 0.4203120470046997, 0.00044581317342817783, 0.0004829642712138593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.2408993244171143, -1.2845035791397095, -1.5015119314193726, -1.5745275020599365, -0.11186482757329941, 0.3421397805213928, -0.9832783341407776, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312368154525757, -1.147588849067688, 1.6003345251083374, -1.8000340461730957, 0.4203118085861206, 0.0004501274961512536, 0.00048775796312838793, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.2451287508010864, -1.28139328956604, -1.50542414188385, -1.550681471824646, -0.11438151448965073, 0.33665868639945984, -1.0000793933868408, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312358617782593, -1.1475887298583984, 1.6003358364105225, -1.8000332117080688, 0.42031168937683105, 0.00045540055725723505, 0.000485480937641114, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.2467633485794067, -1.2803008556365967, -1.5093443393707275, -1.5307738780975342, -0.11749082058668137, 0.3221842646598816, -1.0076332092285156, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312307357788086, -1.1475907564163208, 1.6003347635269165, -1.8000340461730957, 0.4203115701675415, 0.00046283076517283916, 0.0004867992247454822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.2362251281738281, -1.2803457975387573, -1.5144243240356445, -1.5083813667297363, -0.1256450116634369, 0.3143022358417511, -1.018687129020691, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312299013137817, -1.1475887298583984, 1.6003351211547852, -1.8000341653823853, 0.4203113317489624, 0.0004655871307477355, 0.00048572063678875566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.2335083484649658, -1.278967022895813, -1.521867036819458, -1.5002555847167969, -0.1281578689813614, 0.3125345706939697, -1.0361605882644653, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7312272787094116, -1.147588849067688, 1.6003341674804688, -1.8000329732894897, 0.42031097412109375, 0.0004697816038969904, 0.0004860801564063877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.230458378791809, -1.2755231857299805, -1.5255297422409058, -1.4869775772094727, -0.12775243818759918, 0.29271000623703003, -1.051300287246704, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312283515930176, -1.1475894451141357, 1.6003336906433105, -1.8000330924987793, 0.42031097412109375, 0.00047385625657625496, 0.0004876381135545671, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2221566438674927, -1.2754878997802734, -1.527726650238037, -1.4712587594985962, -0.1278741955757141, 0.27937230467796326, -1.0669646263122559, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312291860580444, -1.147589087486267, 1.6003336906433105, -1.8000315427780151, 0.4203108549118042, 0.0004750546650029719, 0.00048751826398074627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2209692001342773, -1.2754712104797363, -1.5293359756469727, -1.4596377611160278, -0.13123853504657745, 0.2639520764350891, -1.0695924758911133, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.731228232383728, -1.1475886106491089, 1.6003336906433105, -1.8000309467315674, 0.42031097412109375, 0.00047469514538533986, 0.00048739841440692544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2179884910583496, -1.2755014896392822, -1.5306341648101807, -1.4393211603164673, -0.146738201379776, 0.24411697685718536, -1.0669667720794678, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312312126159668, -1.1475884914398193, 1.6003344058990479, -1.8000309467315674, 0.4203110933303833, 0.0004750546650029719, 0.00048799763317219913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2207262516021729, -1.2755610942840576, -1.5344398021697998, -1.4316962957382202, -0.15305066108703613, 0.22590947151184082, -1.071710228919983, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312300205230713, -1.1475884914398193, 1.6003336906433105, -1.800031065940857, 0.42031121253967285, 0.0004750546650029719, 0.0004883571527898312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2266291379928589, -1.275534987449646, -1.536961317062378, -1.4309736490249634, -0.15524856746196747, 0.2088136076927185, -1.0715892314910889, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312325239181519, -1.1475889682769775, 1.600334882736206, -1.8000290393829346, 0.4203113317489624, 0.0004748149949591607, 0.0004869190452154726, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2268041372299194, -1.275476098060608, -1.537105917930603, -1.430990219116211, -0.15580439567565918, 0.20970620214939117, -1.0706309080123901, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312352657318115, -1.147588849067688, 1.6003350019454956, -1.800028681755066, 0.4203115701675415, 0.0004748149949591607, 0.00048596030683256686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.22661554813385, -1.2754576206207275, -1.5371041297912598, -1.4310331344604492, -0.15604983270168304, 0.21009688079357147, -1.07062566280365, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312339544296265, -1.1475887298583984, 1.6003350019454956, -1.8000285625457764, 0.42031121253967285, 0.0004748149949591607, 0.00048715874436311424, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2265775203704834, -1.275360345840454, -1.5370855331420898, -1.4310345649719238, -0.15604108572006226, 0.21041278541088104, -1.0707497596740723, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312344312667847, -1.1475886106491089, 1.6003354787826538, -1.8000288009643555, 0.4203108549118042, 0.0004743356257677078, 0.00048655952559784055, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2265775203704834, -1.2753175497055054, -1.5370426177978516, -1.431036114692688, -0.1560399979352951, 0.2104465812444687, -1.071118712425232, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7312361001968384, -1.1475892066955566, 1.6003355979919434, -1.8000296354293823, 0.4203115701675415, 0.0004726578190457076, 0.00048715874436311424, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265148162841797, -1.275294303894043, -1.5370383262634277, -1.4311355352401733, -0.156117781996727, 0.2104468196630478, -1.0712637901306152, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7383509874343872, -1.1561002731323242, 1.6124730110168457, -1.8236958980560303, 0.43315985798835754, 0.026516055688261986, 0.032338112592697144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2263661623001099, -1.2751072645187378, -1.5370416641235352, -1.4311524629592896, -0.15624624490737915, 0.2104468196630478, -1.0712474584579468, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7567925453186035, -1.1849732398986816, 1.6523152589797974, -1.9128012657165527, 0.5814363360404968, 0.15566536784172058, 0.12316691130399704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2264686822891235, -1.27496337890625, -1.5370444059371948, -1.431121587753296, -0.15611693263053894, 0.2104693502187729, -1.07107412815094, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7598201036453247, -1.20685875415802, 1.6724834442138672, -1.9811575412750244, 0.768746554851532, 0.31029292941093445, 0.17542149126529694, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2264959812164307, -1.2749594449996948, -1.5370486974716187, -1.4311307668685913, -0.15619735419750214, 0.2104731947183609, -1.0713257789611816, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.753919243812561, -1.222899079322815, 1.6663700342178345, -2.0282397270202637, 0.9179482460021973, 0.47953906655311584, 0.1993059366941452, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265039682388306, -1.2749534845352173, -1.5370523929595947, -1.4311405420303345, -0.15631169080734253, 0.2104748636484146, -1.0714250802993774, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7418564558029175, -1.2410247325897217, 1.6439275741577148, -2.061077356338501, 1.1055530309677124, 0.649695634841919, 0.16663189232349396, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226497769355774, -1.2749444246292114, -1.5370794534683228, -1.4311422109603882, -0.15634487569332123, 0.21047595143318176, -1.07119619846344, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7209852933883667, -1.2583545446395874, 1.6108379364013672, -2.0679821968078613, 1.2960405349731445, 0.785971462726593, 0.08400378376245499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.38095879554748535, 0.0, 0.0, 1.2264889478683472, -1.2749321460723877, -1.5370897054672241, -1.4311450719833374, -0.15640635788440704, 0.21047870814800262, -1.0711973905563354, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.691771149635315, -1.2723113298416138, 1.5694084167480469, -2.0564486980438232, 1.4984265565872192, 0.8884302377700806, -0.04430567845702171, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264913320541382, -1.2749230861663818, -1.5370837450027466, -1.4311606884002686, -0.1565348356962204, 0.21048936247825623, -1.071412444114685, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6620367765426636, -1.280775785446167, 1.5132511854171753, -2.0239715576171875, 1.6644439697265625, 0.9395240545272827, -0.18212617933750153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226492166519165, -1.274919867515564, -1.5370793342590332, -1.4312069416046143, -0.1568446159362793, 0.21049895882606506, -1.0714962482452393, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6408641338348389, -1.2853155136108398, 1.4662078619003296, -1.993544578552246, 1.8214651346206665, 0.945759654045105, -0.2872992753982544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264952659606934, -1.2749065160751343, -1.5370776653289795, -1.4311987161636353, -0.15675689280033112, 0.21053466200828552, -1.0714068412780762, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.617783546447754, -1.2876875400543213, 1.4227010011672974, -1.9666498899459839, 1.9048489332199097, 0.9264413714408875, -0.34594693779945374, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264859676361084, -1.2749050855636597, -1.53707754611969, -1.4311994314193726, -0.15672621130943298, 0.21054209768772125, -1.0713179111480713, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5927778482437134, -1.2896615266799927, 1.3950815200805664, -1.930955171585083, 1.9653022289276123, 0.9123571515083313, -0.3670262396335602, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264598608016968, -1.2748994827270508, -1.53708016872406, -1.4312140941619873, -0.15674862265586853, 0.2105410248041153, -1.0714994668960571, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5720515251159668, -1.2897123098373413, 1.3708146810531616, -1.9209532737731934, 2.0143070220947266, 0.902218222618103, -0.40906354784965515, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226460337638855, -1.274869680404663, -1.5370798110961914, -1.4312139749526978, -0.15673352777957916, 0.21054017543792725, -1.0715389251708984, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5538914203643799, -1.2908552885055542, 1.340660572052002, -1.9044466018676758, 2.043264389038086, 0.8914431929588318, -0.4269745647907257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264573574066162, -1.2748252153396606, -1.5370876789093018, -1.4312214851379395, -0.15674707293510437, 0.21053874492645264, -1.0714913606643677, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5363835096359253, -1.2939836978912354, 1.3164026737213135, -1.8862552642822266, 2.037705898284912, 0.8782691955566406, -0.4230625629425049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264065742492676, -1.2748230695724487, -1.5370911359786987, -1.431251049041748, -0.15682820975780487, 0.210531547665596, -1.0715930461883545, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5256649255752563, -1.2964469194412231, 1.2974759340286255, -1.8786625862121582, 2.022038459777832, 0.8730050325393677, -0.4034273624420166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264196872711182, -1.2748103141784668, -1.5370994806289673, -1.4312324523925781, -0.15666450560092926, 0.21053478121757507, -1.0713235139846802, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.513733148574829, -1.2996503114700317, 1.2795562744140625, -1.8597487211227417, 2.014606475830078, 0.8717404007911682, -0.39517802000045776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226426601409912, -1.2748082876205444, -1.5370981693267822, -1.4312505722045898, -0.15681058168411255, 0.2105294018983841, -1.0717875957489014, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5076804161071777, -1.301553726196289, 1.2666678428649902, -1.8431150913238525, 2.0101075172424316, 0.8745439052581787, -0.39494696259498596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265455722808838, -1.2747108936309814, -1.5371710062026978, -1.4312479496002197, -0.15676432847976685, 0.21052928268909454, -1.07164466381073, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5041980743408203, -1.3031625747680664, 1.2593133449554443, -1.838011384010315, 1.9929618835449219, 0.872085452079773, -0.38736429810523987, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, -0.5843999997272596, -0.5843999997272596, -0.5843999997272596, 0.5843999997272596, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226577877998352, -1.2746198177337646, -1.5373412370681763, -1.4313814640045166, -0.1568465381860733, 0.2105206400156021, -1.0720747709274292, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5002312660217285, -1.3044869899749756, 1.2487179040908813, -1.8341641426086426, 1.9723848104476929, 0.874276876449585, -0.37992918491363525, 0.46679999710439324, 0.46679999710439324, 0.46679999710439324, 0.46679999710439324, -0.46679999710439324, -0.46679999710439324, -0.46679999710439324, 0.46679999710439324, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226577877998352, -1.2746065855026245, -1.5373589992523193, -1.4313397407531738, -0.1568334698677063, 0.21052148938179016, -1.0717321634292603, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.498564600944519, -1.305709719657898, 1.2478879690170288, -1.821189284324646, 1.9678313732147217, 0.8771737217903137, -0.3754519820213318, 0.38340000896663456, 0.38340000896663456, 0.38340000896663456, 0.38340000896663456, -0.38340000896663456, -0.38340000896663456, -0.38340000896663456, 0.38340000896663456, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265695333480835, -1.2746127843856812, -1.5373173952102661, -1.4313633441925049, -0.15691784024238586, 0.21051105856895447, -1.0720489025115967, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4992849826812744, -1.3059051036834717, 1.2481873035430908, -1.816184639930725, 1.9670798778533936, 0.8926000595092773, -0.3893914222717285, 0.25920001595884884, 0.25920001595884884, 0.25920001595884884, 0.25920001595884884, -0.25920001595884884, -0.25920001595884884, -0.25920001595884884, 0.25920001595884884, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265766859054565, -1.2746176719665527, -1.537255883216858, -1.4313403367996216, -0.15696638822555542, 0.21052232384681702, -1.0720901489257812, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4967796802520752, -1.305938959121704, 1.250069260597229, -1.8188352584838867, 1.960343360900879, 0.9033232927322388, -0.40157195925712585, 0.2225999868833102, 0.2225999868833102, 0.2225999868833102, 0.2225999868833102, -0.2225999868833102, -0.2225999868833102, -0.2225999868833102, 0.2225999868833102, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226581335067749, -1.2745610475540161, -1.5372800827026367, -1.4313236474990845, -0.15695427358150482, 0.21052496135234833, -1.072091817855835, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.496174693107605, -1.3053479194641113, 1.2486135959625244, -1.818068504333496, 1.9543914794921875, 0.9039827585220337, -0.40074217319488525, 0.16139999431568186, 0.16139999431568186, 0.16139999431568186, 0.16139999431568186, -0.16139999431568186, -0.16139999431568186, -0.16139999431568186, 0.16139999431568186, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2266031503677368, -1.2743661403656006, -1.5375083684921265, -1.4313229322433472, -0.15694552659988403, 0.21052652597427368, -1.0718371868133545, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4963918924331665, -1.3046081066131592, 1.246061086654663, -1.8124901056289673, 1.9487013816833496, 0.9053782224655151, -0.39645159244537354, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, 0.08160001209803991, -0.08160001209803991, -0.08160001209803991, -0.08160001209803991, 0.08160001209803991, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265636920928955, -1.2743537425994873, -1.5375393629074097, -1.4313279390335083, -0.15696638822555542, 0.21052603423595428, -1.0716354846954346, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4965789318084717, -1.3047399520874023, 1.2431957721710205, -1.8102270364761353, 1.9445205926895142, 0.9044349789619446, -0.3949255049228668, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, 0.007200014198219406, -0.007200014198219406, -0.007200014198219406, -0.007200014198219406, 0.007200014198219406, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2265514135360718, -1.2743570804595947, -1.5375394821166992, -1.431328535079956, -0.1569746434688568, 0.21052736043930054, -1.0716352462768555, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.4980800151824951, -1.305154800415039, 1.2436376810073853, -1.8120365142822266, 1.943932294845581, 0.9040747284889221, -0.3930823504924774, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2265591621398926, -1.2743656635284424, -1.5375219583511353, -1.4313336610794067, -0.1571432650089264, 0.2105322778224945, -1.072327733039856, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5029278993606567, -1.3051565885543823, 1.2488683462142944, -1.8236724138259888, 1.943248987197876, 0.9034444689750671, -0.3928367793560028, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.2265478372573853, -1.2744334936141968, -1.5373345613479614, -1.4313409328460693, -0.15719756484031677, 0.21053741872310638, -1.072245478630066, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5155060291290283, -1.3042540550231934, 1.2579329013824463, -1.8466448783874512, 1.9476346969604492, 0.9050236344337463, -0.39063096046447754, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.2263566255569458, -1.2745438814163208, -1.5372532606124878, -1.4313392639160156, -0.15725268423557281, 0.21053946018218994, -1.0715446472167969, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.541615605354309, -1.3002655506134033, 1.269731044769287, -1.8821580410003662, 1.956543207168579, 0.9094241261482239, -0.39374205470085144, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2264959812164307, -1.274499535560608, -1.5372904539108276, -1.4313188791275024, -0.15711510181427002, 0.21056857705116272, -1.0715082883834839, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.5719151496887207, -1.2940661907196045, 1.29475736618042, -1.9282774925231934, 1.962808609008789, 0.9223856329917908, -0.3931308686733246, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266701459884644, -1.2743808031082153, -1.5375241041183472, -1.43131422996521, -0.15705806016921997, 0.21060046553611755, -1.071934461593628, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.602984070777893, -1.2893835306167603, 1.3147995471954346, -1.9741750955581665, 1.9496874809265137, 0.9483800530433655, -0.37123462557792664, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266813516616821, -1.2743663787841797, -1.5377039909362793, -1.4313236474990845, -0.15709365904331207, 0.2105981856584549, -1.0723958015441895, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.646158218383789, -1.2828880548477173, 1.3271092176437378, -2.0068602561950684, 1.9167747497558594, 0.9804733991622925, -0.33600422739982605, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226684808731079, -1.2742383480072021, -1.5378386974334717, -1.4313117265701294, -0.15701048076152802, 0.21059902012348175, -1.0720782279968262, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.6837457418441772, -1.2737139463424683, 1.332240104675293, -2.0320236682891846, 1.8765708208084106, 0.9974915981292725, -0.2987092137336731, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226680040359497, -1.27423894405365, -1.5378330945968628, -1.4313124418258667, -0.15700653195381165, 0.2105960249900818, -1.0719565153121948, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.712992787361145, -1.254198431968689, 1.3299944400787354, -2.0580084323883057, 1.8339334726333618, 0.9965925812721252, -0.25267335772514343, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266864776611328, -1.274239182472229, -1.5377898216247559, -1.431302785873413, -0.15693773329257965, 0.21059554815292358, -1.071854829788208, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7378475666046143, -1.2229645252227783, 1.3191847801208496, -2.0748414993286133, 1.7844682931900024, 0.9963160753250122, -0.19505272805690765, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267545461654663, -1.2742375135421753, -1.5377274751663208, -1.4313026666641235, -0.15693509578704834, 0.21059338748455048, -1.072034239768982, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7622637748718262, -1.1932884454727173, 1.3028011322021484, -2.0845417976379395, 1.7299989461898804, 0.9962005615234375, -0.13990852236747742, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267613410949707, -1.2741936445236206, -1.5377416610717773, -1.4313024282455444, -0.15691377222537994, 0.2105899155139923, -1.071934700012207, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7829585075378418, -1.1661685705184937, 1.2846344709396362, -2.088521718978882, 1.6688711643218994, 0.9961502552032471, -0.07523983716964722, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267508506774902, -1.2741142511367798, -1.5377764701843262, -1.4312940835952759, -0.15679572522640228, 0.21058475971221924, -1.0717116594314575, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7958546876907349, -1.149621844291687, 1.2697241306304932, -2.0890350341796875, 1.621980905532837, 0.9959961175918579, -0.03565223142504692, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267508506774902, -1.2741140127182007, -1.5377733707427979, -1.4313063621520996, -0.1568799763917923, 0.2105775773525238, -1.0721114873886108, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.7994712591171265, -1.1432609558105469, 1.2675856351852417, -2.0852952003479004, 1.5985713005065918, 0.9934983849525452, -0.016878582537174225, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267569303512573, -1.2741140127182007, -1.5377647876739502, -1.431313157081604, -0.15699957311153412, 0.21057482063770294, -1.0725497007369995, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8037009239196777, -1.1415936946868896, 1.265647053718567, -2.076080322265625, 1.5815144777297974, 0.9914055466651917, -0.003981758840382099, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2268162965774536, -1.2741122245788574, -1.5377562046051025, -1.4313145875930786, -0.15701083838939667, 0.2105763703584671, -1.0725677013397217, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8076729774475098, -1.1416043043136597, 1.2655304670333862, -2.064159870147705, 1.568385362625122, 0.9896520376205444, 0.005740922875702381, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2268280982971191, -1.2741111516952515, -1.537752628326416, -1.4313163757324219, -0.1570388823747635, 0.21057721972465515, -1.0724914073944092, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8083322048187256, -1.1433730125427246, 1.2668707370758057, -2.0435776710510254, 1.560491919517517, 0.9886111617088318, 0.011028243228793144, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2268247604370117, -1.2741117477416992, -1.5377124547958374, -1.4313180446624756, -0.157043918967247, 0.21057984232902527, -1.0723869800567627, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8079477548599243, -1.1498160362243652, 1.2724472284317017, -2.0210628509521484, 1.5546783208847046, 0.988571286201477, 0.009099142625927925, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2268218994140625, -1.2741131782531738, -1.5374912023544312, -1.4313186407089233, -0.1570424884557724, 0.21058763563632965, -1.072296142578125, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.806587815284729, -1.1572588682174683, 1.277130126953125, -2.0031096935272217, 1.541230320930481, 0.9885752201080322, 0.01195054966956377, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2268010377883911, -1.2741167545318604, -1.5374326705932617, -1.4313232898712158, -0.15705589950084686, 0.21059219539165497, -1.0722954273223877, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8078523874282837, -1.1622592210769653, 1.2858473062515259, -1.9938549995422363, 1.5282191038131714, 0.9885909557342529, 0.016322754323482513, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226697325706482, -1.274118423461914, -1.5374362468719482, -1.4313251972198486, -0.1570548266172409, 0.21060022711753845, -1.07149076461792, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8206361532211304, -1.1629852056503296, 1.2925372123718262, -1.9923005104064941, 1.507712483406067, 0.99576336145401, 0.015309487469494343, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266730070114136, -1.2741165161132812, -1.537598729133606, -1.4312764406204224, -0.15672537684440613, 0.21062946319580078, -1.070661187171936, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8451672792434692, -1.1584184169769287, 1.298621654510498, -1.992560863494873, 1.4954848289489746, 1.0019785165786743, 0.018701862543821335, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266731262207031, -1.2741172313690186, -1.5376293659210205, -1.4312543869018555, -0.15659715235233307, 0.2106672078371048, -1.0709437131881714, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8581712245941162, -1.1529040336608887, 1.3117364645004272, -2.002779960632324, 1.494649052619934, 1.0027521848678589, 0.02469804883003235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266727685928345, -1.2741196155548096, -1.537629246711731, -1.4312710762023926, -0.15664172172546387, 0.2106660157442093, -1.0715315341949463, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8736010789871216, -1.1431058645248413, 1.3338464498519897, -2.0303969383239746, 1.516884684562683, 1.0028034448623657, 0.0318438820540905, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266730070114136, -1.274121642112732, -1.5376367568969727, -1.431283950805664, -0.15667755901813507, 0.21066349744796753, -1.0715243816375732, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8987995386123657, -1.1219512224197388, 1.3711695671081543, -2.0647785663604736, 1.580199956893921, 1.0028786659240723, 0.036787375807762146, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.226697564125061, -1.27411949634552, -1.5377476215362549, -1.4312301874160767, -0.15648438036441803, 0.21066829562187195, -1.0710049867630005, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8994100093841553, -1.0954684019088745, 1.4300512075424194, -2.0854551792144775, 1.6891533136367798, 1.0035749673843384, 0.0084074130281806, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266958951950073, -1.2741163969039917, -1.537812352180481, -1.4312330484390259, -0.15648868680000305, 0.21066758036613464, -1.0710209608078003, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8729617595672607, -1.0881158113479614, 1.4798837900161743, -2.0852506160736084, 1.7581405639648438, 1.0036307573318481, -0.0212754737585783, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266957759857178, -1.2741172313690186, -1.53781259059906, -1.4312586784362793, -0.15661883354187012, 0.21066194772720337, -1.0715218782424927, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8360037803649902, -1.0939308404922485, 1.515072226524353, -2.066286325454712, 1.795645833015442, 1.0036063194274902, -0.043819718062877655, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266942262649536, -1.2741167545318604, -1.5378105640411377, -1.4312703609466553, -0.15671232342720032, 0.21065427362918854, -1.0717604160308838, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.813772439956665, -1.1113165616989136, 1.5366891622543335, -2.042158842086792, 1.7991338968276978, 1.0032023191452026, -0.05289681255817413, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266899347305298, -1.2741167545318604, -1.5378106832504272, -1.4312700033187866, -0.15674275159835815, 0.21064816415309906, -1.0716955661773682, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8083882331848145, -1.133118748664856, 1.5426517724990845, -2.014993667602539, 1.7851650714874268, 0.9985547661781311, -0.05579759180545807, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266852855682373, -1.2741166353225708, -1.5378084182739258, -1.4312677383422852, -0.15674179792404175, 0.2106456458568573, -1.0713136196136475, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8124209642410278, -1.1506692171096802, 1.5270394086837769, -1.973287582397461, 1.7352945804595947, 0.999661386013031, -0.04185562580823898, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266713380813599, -1.2741190195083618, -1.5377825498580933, -1.431277871131897, -0.15702882409095764, 0.21063761413097382, -1.0715811252593994, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.838209629058838, -1.162079930305481, 1.510024905204773, -1.9503674507141113, 1.6887140274047852, 1.0023051500320435, -0.020154111087322235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266809940338135, -1.274118185043335, -1.5377768278121948, -1.4312559366226196, -0.15679584443569183, 0.21064504981040955, -1.071473479270935, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8713845014572144, -1.1665457487106323, 1.4942491054534912, -1.9429150819778442, 1.6587311029434204, 1.0023398399353027, -0.007835166528820992, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266954183578491, -1.2741165161132812, -1.5377581119537354, -1.431248426437378, -0.1566283106803894, 0.21066145598888397, -1.071468710899353, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.8912670612335205, -1.1706141233444214, 1.4870057106018066, -1.9335225820541382, 1.651510238647461, 1.0025498867034912, -0.012659057043492794, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226683259010315, -1.2741169929504395, -1.537758469581604, -1.431252360343933, -0.15662208199501038, 0.21066530048847198, -1.0714455842971802, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9073113203048706, -1.1732003688812256, 1.4870566129684448, -1.9333763122558594, 1.6529818773269653, 1.0025659799575806, -0.019934799522161484, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266639471054077, -1.274117112159729, -1.5377604961395264, -1.4312571287155151, -0.1566510796546936, 0.21066685020923615, -1.0712597370147705, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9313452243804932, -1.1729704141616821, 1.4873580932617188, -1.9442449808120728, 1.6554316282272339, 1.002557635307312, -0.025264544412493706, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226676344871521, -1.2741169929504395, -1.5377514362335205, -1.4312524795532227, -0.15663596987724304, 0.21069753170013428, -1.0712456703186035, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9454187154769897, -1.169795274734497, 1.4869346618652344, -1.9459495544433594, 1.6547150611877441, 1.0025533437728882, -0.029478317126631737, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266908884048462, -1.2741161584854126, -1.5377312898635864, -1.431250810623169, -0.15663573145866394, 0.21072101593017578, -1.0714291334152222, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9507253170013428, -1.1655415296554565, 1.4869346618652344, -1.9474676847457886, 1.6599223613739014, 1.002545714378357, -0.037593673914670944, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266879081726074, -1.274115800857544, -1.5377321243286133, -1.4312496185302734, -0.15663358569145203, 0.21072234213352203, -1.0713130235671997, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9543157815933228, -1.1617865562438965, 1.4865528345108032, -1.9534919261932373, 1.668567180633545, 1.0025336742401123, -0.03895280510187149, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266863584518433, -1.2741152048110962, -1.5377322435379028, -1.4312498569488525, -0.15663297474384308, 0.21071946620941162, -1.0712242126464844, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9542629718780518, -1.1592923402786255, 1.486773133277893, -1.9535307884216309, 1.678572654724121, 1.0025283098220825, -0.04458431154489517, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266868352890015, -1.2741148471832275, -1.5377296209335327, -1.4312505722045898, -0.1566360890865326, 0.21071502566337585, -1.071263074874878, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.955377459526062, -1.1592563390731812, 1.4941498041152954, -1.95675790309906, 1.6855108737945557, 1.002525806427002, -0.0512864887714386, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266863584518433, -1.2741150856018066, -1.5377215147018433, -1.4312516450881958, -0.15664292871952057, 0.21070627868175507, -1.0714339017868042, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9593678712844849, -1.1591984033584595, 1.5019170045852661, -1.9590895175933838, 1.6887924671173096, 1.0025041103363037, -0.05755016580224037, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266852855682373, -1.2741148471832275, -1.5377217531204224, -1.4312522411346436, -0.15664221346378326, 0.21069560945034027, -1.0713448524475098, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9641003608703613, -1.1591178178787231, 1.5116075277328491, -1.9562373161315918, 1.6888474225997925, 1.002485990524292, -0.05811390280723572, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266850471496582, -1.274114727973938, -1.5377225875854492, -1.4312529563903809, -0.15664352476596832, 0.21068435907363892, -1.071264386177063, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9678364992141724, -1.1591403484344482, 1.5197151899337769, -1.9538739919662476, 1.6913706064224243, 1.002462387084961, -0.06029443442821503, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226686954498291, -1.2741143703460693, -1.5377223491668701, -1.4312530755996704, -0.15664388239383698, 0.21067872643470764, -1.0712732076644897, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.970139980316162, -1.1593801975250244, 1.522778034210205, -1.954383373260498, 1.6914623975753784, 1.0024405717849731, -0.06100258231163025, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266905307769775, -1.2741142511367798, -1.5377193689346313, -1.4312533140182495, -0.15664461255073547, 0.21067775785923004, -1.0713319778442383, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9720309972763062, -1.1594483852386475, 1.5228261947631836, -1.9559534788131714, 1.688857913017273, 1.0024272203445435, -0.05998440086841583, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266918420791626, -1.2741142511367798, -1.5377185344696045, -1.4312535524368286, -0.15664447844028473, 0.21067775785923004, -1.0714075565338135, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9722270965576172, -1.1594445705413818, 1.5197409391403198, -1.9562054872512817, 1.687371015548706, 1.0024102926254272, -0.05920986086130142, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266919612884521, -1.2741140127182007, -1.5377202033996582, -1.4312529563903809, -0.1566396951675415, 0.2106785923242569, -1.0712668895721436, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9681910276412964, -1.1594961881637573, 1.5103517770767212, -1.952468991279602, 1.687695026397705, 1.0024014711380005, -0.0599534809589386, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266920804977417, -1.2741138935089111, -1.5377198457717896, -1.4312536716461182, -0.15664328634738922, 0.2106793224811554, -1.0712671279907227, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.961649775505066, -1.1615030765533447, 1.5050071477890015, -1.9449989795684814, 1.6868489980697632, 1.002402424812317, -0.06185094267129898, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266920804977417, -1.2741141319274902, -1.5377193689346313, -1.4312539100646973, -0.15664532780647278, 0.21068075299263, -1.0712790489196777, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9592958688735962, -1.1622322797775269, 1.503124475479126, -1.9440522193908691, 1.684975504875183, 1.0024032592773438, -0.061845310032367706, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266918420791626, -1.2741142511367798, -1.5377203226089478, -1.4312548637390137, -0.15664760768413544, 0.21068507432937622, -1.0712920427322388, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9580038785934448, -1.1622397899627686, 1.502393364906311, -1.9395724534988403, 1.6838258504867554, 1.0024043321609497, -0.061785031110048294, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266921997070312, -1.2741144895553589, -1.537719964981079, -1.4312551021575928, -0.15665574371814728, 0.2106907069683075, -1.0713218450546265, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9584274291992188, -1.161311388015747, 1.502410650253296, -1.9385030269622803, 1.6782045364379883, 1.0024073123931885, -0.0605524517595768, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266912460327148, -1.274114727973938, -1.5377212762832642, -1.4312552213668823, -0.15666688978672028, 0.21069824695587158, -1.0713270902633667, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9620094299316406, -1.1592755317687988, 1.5064899921417236, -1.9383113384246826, 1.6731888055801392, 1.002411127090454, -0.05721496790647507, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266912460327148, -1.2741146087646484, -1.5377235412597656, -1.4312553405761719, -0.15666833519935608, 0.21070820093154907, -1.0713258981704712, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.966408610343933, -1.1586050987243652, 1.5132789611816406, -1.938294768333435, 1.673026204109192, 1.0024114847183228, -0.05456933006644249, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266918420791626, -1.2741142511367798, -1.5377275943756104, -1.4312546253204346, -0.15666557848453522, 0.21071478724479675, -1.0713262557983398, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9676896333694458, -1.158524751663208, 1.5141093730926514, -1.9382978677749634, 1.67123281955719, 1.0024096965789795, -0.05372252315282822, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226691722869873, -1.2741143703460693, -1.537730097770691, -1.4312541484832764, -0.15666569769382477, 0.21071778237819672, -1.0714256763458252, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9677823781967163, -1.1586288213729858, 1.5140150785446167, -1.9381649494171143, 1.6712394952774048, 1.0024052858352661, -0.05347181484103203, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226691484451294, -1.2741142511367798, -1.5377405881881714, -1.4312535524368286, -0.1566627025604248, 0.21071875095367432, -1.0714179277420044, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9663203954696655, -1.159375548362732, 1.509332537651062, -1.931992530822754, 1.6703029870986938, 1.0023716688156128, -0.05342854931950569, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266916036605835, -1.2741143703460693, -1.5377461910247803, -1.4312529563903809, -0.1566605418920517, 0.21071802079677582, -1.0714119672775269, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.9625952243804932, -1.1607211828231812, 1.5022473335266113, -1.9250906705856323, 1.6654901504516602, 1.002246379852295, -0.0515064001083374, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266921997070312, -1.2741142511367798, -1.537748098373413, -1.43125319480896, -0.15665994584560394, 0.21071647107601166, -1.071408987045288, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.959263801574707, -1.1631488800048828, 1.4981472492218018, -1.922308087348938, 1.6579421758651733, 1.002213716506958, -0.051182229071855545, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266987562179565, -1.274113655090332, -1.5377522706985474, -1.431252121925354, -0.15664412081241608, 0.21071383357048035, -1.0714027881622314, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9560455083847046, -1.165420413017273, 1.4948476552963257, -1.9195556640625, 1.653412938117981, 1.0017849206924438, -0.05050092563033104, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267041206359863, -1.2741132974624634, -1.5377551317214966, -1.4312516450881958, -0.15664304792881012, 0.21070736646652222, -1.0714082717895508, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9555977582931519, -1.1668188571929932, 1.4943617582321167, -1.9192163944244385, 1.6507447957992554, 1.0017164945602417, -0.049426060169935226, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226710319519043, -1.2741127014160156, -1.5377638339996338, -1.4312517642974854, -0.15663813054561615, 0.2107001692056656, -1.0714025497436523, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.956965446472168, -1.167762041091919, 1.4946725368499756, -1.9206618070602417, 1.652738094329834, 1.0017160177230835, -0.05098976194858551, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267191410064697, -1.2741122245788574, -1.5377696752548218, -1.4312514066696167, -0.15663957595825195, 0.21069298684597015, -1.0714020729064941, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9611639976501465, -1.168913722038269, 1.498474359512329, -1.9260491132736206, 1.6650489568710327, 1.0014314651489258, -0.05429932475090027, 0.04859999876755936, 0.04859999876755936, 0.04859999876755936, 0.04859999876755936, -0.04859999876755936, -0.04859999876755936, -0.04859999876755936, 0.04859999876755936, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267770767211914, -1.2741119861602783, -1.537773609161377, -1.4312572479248047, -0.15665623545646667, 0.2106817215681076, -1.0713963508605957, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9612709283828735, -1.170411467552185, 1.5011696815490723, -1.930594801902771, 1.674609661102295, 1.0013008117675781, -0.0635741576552391, 0.5070000026252244, 0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -0.5070000026252244, -0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267411947250366, -1.2741122245788574, -1.5377743244171143, -1.4312595129013062, -0.1566721647977829, 0.21067236363887787, -1.0713276863098145, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9668272733688354, -1.1704157590866089, 1.500858187675476, -1.9284441471099854, 1.675155520439148, 1.0016049146652222, -0.07861891388893127, 0.577200000168203, 0.577200000168203, 0.577200000168203, 0.577200000168203, -0.577200000168203, -0.577200000168203, -0.577200000168203, 0.577200000168203, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266812324523926, -1.2741076946258545, -1.537763237953186, -1.4312586784362793, -0.15666940808296204, 0.21067452430725098, -1.0714129209518433, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9850056171417236, -1.1702940464019775, 1.5072985887527466, -1.9189614057540894, 1.669649600982666, 1.001723289489746, -0.08461365848779678, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267173528671265, -1.2741492986679077, -1.5375193357467651, -1.4311811923980713, -0.15658479928970337, 0.21068507432937622, -1.071226954460144, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.005350112915039, -1.1663358211517334, 1.5252225399017334, -1.9285917282104492, 1.6621235609054565, 1.0018738508224487, -0.07217343896627426, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226669430732727, -1.2741608619689941, -1.5374643802642822, -1.4312418699264526, -0.15677906572818756, 0.21068447828292847, -1.0715274810791016, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0494942665100098, -1.146277904510498, 1.5639852285385132, -1.958088994026184, 1.6615090370178223, 1.0018789768218994, -0.06591491401195526, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266954183578491, -1.2741270065307617, -1.5378105640411377, -1.4311941862106323, -0.15651613473892212, 0.2107139527797699, -1.0711930990219116, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0983762741088867, -1.1187021732330322, 1.615934133529663, -2.025364637374878, 1.6906299591064453, 1.0019984245300293, -0.05117611587047577, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2267203330993652, -1.274057388305664, -1.5379403829574585, -1.4311691522598267, -0.15622732043266296, 0.21079221367835999, -1.0709130764007568, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0996575355529785, -1.1026263236999512, 1.6556345224380493, -2.0897748470306396, 1.7667498588562012, 1.0023547410964966, -0.05909673124551773, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2267292737960815, -1.2740528583526611, -1.5379379987716675, -1.4311859607696533, -0.1563243865966797, 0.21079640090465546, -1.0711987018585205, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0549683570861816, -1.0993014574050903, 1.6654574871063232, -2.1278064250946045, 1.857226848602295, 1.002365231513977, -0.1065368801355362, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267394065856934, -1.2740522623062134, -1.5379273891448975, -1.4311985969543457, -0.1565089374780655, 0.21079352498054504, -1.0715211629867554, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9830654859542847, -1.100867748260498, 1.6411802768707275, -2.1300272941589355, 1.8961572647094727, 1.0023640394210815, -0.13612473011016846, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2267361879348755, -1.2740488052368164, -1.5379256010055542, -1.4312173128128052, -0.15680088102817535, 0.21077986061573029, -1.0715245008468628, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8942781686782837, -1.1203752756118774, 1.5933266878128052, -2.100498914718628, 1.901480793952942, 1.000972867012024, -0.16337770223617554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226689338684082, -1.2740492820739746, -1.53791344165802, -1.4312726259231567, -0.1570064127445221, 0.2107485830783844, -1.071511149406433, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8084897994995117, -1.1460413932800293, 1.5307021141052246, -2.061171293258667, 1.8911203145980835, 0.983383297920227, -0.18114587664604187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.3807670772075653, 0.0, 0.0, 1.226664662361145, -1.2740535736083984, -1.5378464460372925, -1.4312727451324463, -0.15701492130756378, 0.21070903539657593, -1.0715261697769165, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7341771125793457, -1.166914939880371, 1.4656118154525757, -2.018167734146118, 1.8735103607177734, 0.9661195278167725, -0.189382866024971, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2266364097595215, -1.2740534543991089, -1.5377460718154907, -1.431272268295288, -0.15703025460243225, 0.21069681644439697, -1.0715978145599365, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.669947624206543, -1.1860941648483276, 1.4063371419906616, -1.9741038084030151, 1.8536173105239868, 0.942846417427063, -0.18465964496135712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.3807670772075653, 0.0, 0.0, 1.2266217470169067, -1.274053931236267, -1.5377447605133057, -1.4312992095947266, -0.1571826934814453, 0.21068674325942993, -1.0719289779663086, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6178268194198608, -1.2046478986740112, 1.3539766073226929, -1.9319467544555664, 1.8467841148376465, 0.9216905832290649, -0.1795988231897354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226571798324585, -1.2740542888641357, -1.53775155544281, -1.4313021898269653, -0.15719828009605408, 0.2106819599866867, -1.0717543363571167, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.582608699798584, -1.2209492921829224, 1.3189387321472168, -1.908778429031372, 1.8411822319030762, 0.9085028767585754, -0.18048878014087677, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226571798324585, -1.2740535736083984, -1.5377647876739502, -1.4312636852264404, -0.15711534023284912, 0.21068386733531952, -1.0717360973358154, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.55825674533844, -1.2336091995239258, 1.296984314918518, -1.893099308013916, 1.8403279781341553, 0.9083028435707092, -0.17873811721801758, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226593017578125, -1.274051547050476, -1.5377790927886963, -1.4312422275543213, -0.1569722592830658, 0.2106940597295761, -1.0716387033462524, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5316689014434814, -1.2461943626403809, 1.2692455053329468, -1.8661386966705322, 1.830781102180481, 0.9035946130752563, -0.18609319627285004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2265980243682861, -1.2740507125854492, -1.5377899408340454, -1.4313037395477295, -0.1570797562599182, 0.21069441735744476, -1.0720582008361816, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.513354778289795, -1.2586758136749268, 1.2476965188980103, -1.847774863243103, 1.811337947845459, 0.8981807231903076, -0.18381164968013763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2266180515289307, -1.2740455865859985, -1.5379036664962769, -1.4313015937805176, -0.15707723796367645, 0.21069933474063873, -1.0720329284667969, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5076966285705566, -1.2677769660949707, 1.2377880811691284, -1.8397572040557861, 1.7890368700027466, 0.8935537338256836, -0.16885940730571747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2267173528671265, -1.274017333984375, -1.5379109382629395, -1.431322693824768, -0.1571204960346222, 0.21071167290210724, -1.0719259977340698, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5093871355056763, -1.2746464014053345, 1.234386682510376, -1.8322583436965942, 1.77903413772583, 0.8953168988227844, -0.16084519028663635, 0.4446000015342628, 0.4446000015342628, 0.4446000015342628, 0.4446000015342628, -0.4446000015342628, -0.4446000015342628, -0.4446000015342628, 0.4446000015342628, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267588376998901, -1.273807168006897, -1.5382353067398071, -1.4313020706176758, -0.15718497335910797, 0.21071670949459076, -1.0720365047454834, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.519988775253296, -1.2769904136657715, 1.23891019821167, -1.8359007835388184, 1.7704881429672241, 0.9023772478103638, -0.1679317057132721, 0.27360000033954995, 0.27360000033954995, 0.27360000033954995, 0.27360000033954995, -0.27360000033954995, -0.27360000033954995, -0.27360000033954995, 0.27360000033954995, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226820945739746, -1.2736916542053223, -1.5382533073425293, -1.4313021898269653, -0.15717095136642456, 0.21073192358016968, -1.0721186399459839, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5290546417236328, -1.2783267498016357, 1.2436960935592651, -1.836241364479065, 1.7625081539154053, 0.9050021767616272, -0.18421095609664917, 0.08640000689160696, 0.08640000689160696, 0.08640000689160696, 0.08640000689160696, -0.08640000689160696, -0.08640000689160696, -0.08640000689160696, 0.08640000689160696, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2268154621124268, -1.273703694343567, -1.5382107496261597, -1.4313664436340332, -0.15724512934684753, 0.2107360064983368, -1.072408676147461, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5354273319244385, -1.281671404838562, 1.2484370470046997, -1.834023356437683, 1.7549599409103394, 0.9123656153678894, -0.18478943407535553, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2268121242523193, -1.273715853691101, -1.5380765199661255, -1.4313697814941406, -0.1574244201183319, 0.2107343226671219, -1.0726295709609985, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5395320653915405, -1.2839034795761108, 1.2533981800079346, -1.839735746383667, 1.7517813444137573, 0.9167995452880859, -0.18491192162036896, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267946004867554, -1.2737282514572144, -1.5380648374557495, -1.4313701391220093, -0.15748146176338196, 0.21073108911514282, -1.0725548267364502, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5466288328170776, -1.284515142440796, 1.2579522132873535, -1.856486201286316, 1.7551065683364868, 0.9191058278083801, -0.189487487077713, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226637363433838, -1.2738287448883057, -1.5379027128219604, -1.4313647747039795, -0.15745581686496735, 0.2107265293598175, -1.072344183921814, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.562392234802246, -1.2846912145614624, 1.2645111083984375, -1.8826991319656372, 1.7858853340148926, 0.9266089797019958, -0.19572767615318298, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266466617584229, -1.273823618888855, -1.5379087924957275, -1.4313442707061768, -0.1572040319442749, 0.21072892844676971, -1.072082281112671, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.5817292928695679, -1.284759521484375, 1.2784532308578491, -1.9261620044708252, 1.812259316444397, 0.9405378103256226, -0.20616449415683746, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266557216644287, -1.2738240957260132, -1.537909984588623, -1.431350588798523, -0.15723459422588348, 0.2107260525226593, -1.072301983833313, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6253900527954102, -1.2816216945648193, 1.297951340675354, -1.987621784210205, 1.8154098987579346, 0.975235104560852, -0.20502348244190216, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266768217086792, -1.2738219499588013, -1.53791344165802, -1.4313254356384277, -0.15696710348129272, 0.2107296586036682, -1.0720547437667847, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.6933516263961792, -1.2647649049758911, 1.3045612573623657, -2.0404603481292725, 1.7969965934753418, 1.0009217262268066, -0.16961561143398285, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226754903793335, -1.2738207578659058, -1.5379141569137573, -1.4313122034072876, -0.15683120489120483, 0.21073144674301147, -1.071884274482727, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7512590885162354, -1.223214864730835, 1.3005603551864624, -2.06889009475708, 1.7479133605957031, 0.9996636509895325, -0.10889849811792374, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2268009185791016, -1.2738211154937744, -1.5379152297973633, -1.4313151836395264, -0.15683959424495697, 0.21073025465011597, -1.0718345642089844, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7922056913375854, -1.1800811290740967, 1.3041006326675415, -2.0922863483428955, 1.7059139013290405, 0.9989290237426758, -0.04140226170420647, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267903089523315, -1.2738215923309326, -1.5379177331924438, -1.4313163757324219, -0.1568448543548584, 0.21072785556316376, -1.0717693567276, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.820605993270874, -1.1494536399841309, 1.3061012029647827, -2.103142261505127, 1.6638816595077515, 0.9987414479255676, 0.02056768722832203, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.226785659790039, -1.2738220691680908, -1.5379133224487305, -1.4312418699264526, -0.1568431854248047, 0.21072916686534882, -1.0716819763183594, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8336421251296997, -1.1307311058044434, 1.3011053800582886, -2.0948879718780518, 1.6300075054168701, 0.9986171722412109, 0.06509231775999069, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267767190933228, -1.2738250494003296, -1.537891149520874, -1.4313119649887085, -0.1569751352071762, 0.2107270210981369, -1.0720093250274658, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8407968282699585, -1.1223418712615967, 1.2908618450164795, -2.086690664291382, 1.607163906097412, 0.9976496696472168, 0.08700858801603317, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267721891403198, -1.2738244533538818, -1.5378849506378174, -1.4313024282455444, -0.1569509208202362, 0.210727259516716, -1.07192063331604, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8442957401275635, -1.118996024131775, 1.2786837816238403, -2.0807206630706787, 1.58035147190094, 0.9963537454605103, 0.10410097241401672, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267773151397705, -1.2738227844238281, -1.5378618240356445, -1.4313015937805176, -0.15696974098682404, 0.2107270210981369, -1.07231605052948, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.842931866645813, -1.118360996246338, 1.2687888145446777, -2.0669517517089844, 1.5619412660598755, 0.9930546879768372, 0.11708072572946548, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267835140228271, -1.273817539215088, -1.537861943244934, -1.4313015937805176, -0.1569829136133194, 0.21072833240032196, -1.0723261833190918, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.838395118713379, -1.1183950901031494, 1.2607802152633667, -2.046757936477661, 1.5517561435699463, 0.9917489290237427, 0.11977202445268631, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267835140228271, -1.2738169431686401, -1.5378602743148804, -1.4313017129898071, -0.15700197219848633, 0.21073001623153687, -1.0722779035568237, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8363415002822876, -1.1198798418045044, 1.2588518857955933, -2.025178909301758, 1.5444046258926392, 0.9918632507324219, 0.11900083720684052, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267768383026123, -1.2738187313079834, -1.5378282070159912, -1.4313013553619385, -0.15700221061706543, 0.21073241531848907, -1.0720258951187134, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8372141122817993, -1.1222357749938965, 1.2627971172332764, -2.007460832595825, 1.536195158958435, 0.9921216368675232, 0.11868948489427567, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267465591430664, -1.2738232612609863, -1.5376430749893188, -1.4313013553619385, -0.15701119601726532, 0.21073444187641144, -1.0718607902526855, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8423175811767578, -1.1228357553482056, 1.275336503982544, -1.9974843263626099, 1.5267953872680664, 0.9931636452674866, 0.12252012640237808, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266401052474976, -1.2738268375396729, -1.5375683307647705, -1.4312843084335327, -0.1569942981004715, 0.21075768768787384, -1.071824550628662, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8512243032455444, -1.1226028203964233, 1.2954907417297363, -1.9897609949111938, 1.5233560800552368, 0.9948732852935791, 0.12671495974063873, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266452312469482, -1.2738362550735474, -1.5374622344970703, -1.4312770366668701, -0.1569698601961136, 0.2107749581336975, -1.0717722177505493, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8596200942993164, -1.1224244832992554, 1.3138494491577148, -1.9847244024276733, 1.5186697244644165, 0.9952027797698975, 0.13179495930671692, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266465425491333, -1.2739697694778442, -1.5374374389648438, -1.4312777519226074, -0.1569526046514511, 0.21077662706375122, -1.0716712474822998, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8650219440460205, -1.1222258806228638, 1.327597975730896, -1.9804661273956299, 1.5160324573516846, 0.9953739047050476, 0.13847820460796356, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266558408737183, -1.274025797843933, -1.5372885465621948, -1.4312797784805298, -0.15694336593151093, 0.2107754349708557, -1.0716993808746338, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.869704246520996, -1.1214327812194824, 1.3362393379211426, -1.9803334474563599, 1.5090463161468506, 0.9953789114952087, 0.1474754810333252, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266587018966675, -1.2740330696105957, -1.53727388381958, -1.4312829971313477, -0.15694552659988403, 0.2107701599597931, -1.0718092918395996, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8739824295043945, -1.1195811033248901, 1.3422935009002686, -1.982216477394104, 1.5059975385665894, 0.9953742623329163, 0.1545431762933731, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2266579866409302, -1.2740415334701538, -1.537274956703186, -1.4312872886657715, -0.1569473296403885, 0.2107570916414261, -1.0718706846237183, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8753660917282104, -1.116746187210083, 1.3417258262634277, -1.9834016561508179, 1.5055994987487793, 0.9952535629272461, 0.15723098814487457, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266647815704346, -1.2740429639816284, -1.5372763872146606, -1.4312868118286133, -0.15693989396095276, 0.21075038611888885, -1.0718656778335571, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8574539422988892, -1.116672158241272, 1.3170591592788696, -1.970332384109497, 1.504780650138855, 0.9943273067474365, 0.1534671038389206, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266720533370972, -1.2740389108657837, -1.537489652633667, -1.431286334991455, -0.15693414211273193, 0.21073971688747406, -1.0718481540679932, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8282852172851562, -1.1244139671325684, 1.2899632453918457, -1.9527225494384766, 1.5066026449203491, 0.9950618147850037, 0.13564476370811462, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267988920211792, -1.27402663230896, -1.5377486944198608, -1.4312812089920044, -0.15683719515800476, 0.21073541045188904, -1.0716454982757568, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8014087677001953, -1.137747049331665, 1.2620006799697876, -1.935886263847351, 1.5084785223007202, 0.9963732361793518, 0.11821898818016052, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226799726486206, -1.2740247249603271, -1.5378618240356445, -1.4312834739685059, -0.156843900680542, 0.21072115004062653, -1.0715090036392212, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7727278470993042, -1.1521693468093872, 1.2319285869598389, -1.918733835220337, 1.5119547843933105, 0.9971359372138977, 0.10510092973709106, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267874479293823, -1.2740235328674316, -1.5378645658493042, -1.4312922954559326, -0.1569414585828781, 0.21070951223373413, -1.0717177391052246, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7496753931045532, -1.1650152206420898, 1.210797905921936, -1.9088200330734253, 1.513868808746338, 0.9974400997161865, 0.09125591814517975, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267868518829346, -1.2740066051483154, -1.5378633737564087, -1.4312952756881714, -0.15695463120937347, 0.21070843935012817, -1.0719013214111328, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7369989156723022, -1.1741081476211548, 1.1967241764068604, -1.9083380699157715, 1.5165783166885376, 0.9975552558898926, 0.08055125176906586, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267869710922241, -1.2738420963287354, -1.5378721952438354, -1.4312942028045654, -0.15695500373840332, 0.21071012318134308, -1.0719084739685059, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7271593809127808, -1.180240511894226, 1.1862455606460571, -1.907156229019165, 1.51670241355896, 0.9975234866142273, 0.07582179456949234, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267779111862183, -1.2738159894943237, -1.5379899740219116, -1.4312944412231445, -0.15696506202220917, 0.21071214973926544, -1.071911096572876, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.719036340713501, -1.1846445798873901, 1.177305817604065, -1.9069794416427612, 1.5177671909332275, 0.9971867203712463, 0.07111427187919617, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267788648605347, -1.273814082145691, -1.5380187034606934, -1.4312944412231445, -0.15698543190956116, 0.2107182741165161, -1.072111964225769, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7131980657577515, -1.189048409461975, 1.1707819700241089, -1.9069455862045288, 1.52147376537323, 0.9967602491378784, 0.06526884436607361, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267829179763794, -1.2737904787063599, -1.5380746126174927, -1.4312947988510132, -0.15698939561843872, 0.21073277294635773, -1.0722826719284058, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7100334167480469, -1.1935820579528809, 1.165305256843567, -1.9069358110427856, 1.5237784385681152, 0.9961622357368469, 0.05979013815522194, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267652750015259, -1.2737895250320435, -1.5380772352218628, -1.4312933683395386, -0.15698279440402985, 0.210745707154274, -1.07192063331604, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7069352865219116, -1.1981068849563599, 1.1502732038497925, -1.897412657737732, 1.5221463441848755, 0.9991774559020996, 0.05519382655620575, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265816926956177, -1.2738127708435059, -1.5378531217575073, -1.431288242340088, -0.15695080161094666, 0.2107616513967514, -1.0716501474380493, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7116823196411133, -1.2004212141036987, 1.1468693017959595, -1.8954823017120361, 1.5133997201919556, 1.0019333362579346, 0.053984977304935455, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265783548355103, -1.2738479375839233, -1.5376768112182617, -1.4312843084335327, -0.1569257527589798, 0.21076883375644684, -1.0715278387069702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7284315824508667, -1.1952924728393555, 1.1645537614822388, -1.9076682329177856, 1.5113807916641235, 1.002368450164795, 0.06202459707856178, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265794277191162, -1.2738767862319946, -1.5376291275024414, -1.431286334991455, -0.156926229596138, 0.21076788008213043, -1.0716547966003418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.7611985206604004, -1.173253059387207, 1.1981163024902344, -1.9469846487045288, 1.5279756784439087, 1.0024302005767822, 0.06748832017183304, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265832424163818, -1.2738794088363647, -1.5376285314559937, -1.4312888383865356, -0.15692216157913208, 0.21076692640781403, -1.071695327758789, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8144688606262207, -1.1388144493103027, 1.2437794208526611, -2.013761043548584, 1.5597710609436035, 1.0024560689926147, 0.07824152708053589, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2265925407409668, -1.2738778591156006, -1.5376460552215576, -1.4312620162963867, -0.15663166344165802, 0.21076668798923492, -1.0712920427322388, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.866469383239746, -1.1007256507873535, 1.3037673234939575, -2.0650477409362793, 1.6062558889389038, 1.0031328201293945, 0.10390910506248474, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266041040420532, -1.2738778591156006, -1.5376721620559692, -1.4312585592269897, -0.15663453936576843, 0.21076345443725586, -1.0712779760360718, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9074840545654297, -1.0640052556991577, 1.3933273553848267, -2.0966856479644775, 1.6795470714569092, 1.0036821365356445, 0.12812334299087524, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266799211502075, -1.2738728523254395, -1.5377557277679443, -1.4312511682510376, -0.15664245188236237, 0.21076081693172455, -1.071431040763855, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9304026365280151, -1.0345604419708252, 1.4992196559906006, -2.1080756187438965, 1.7688559293746948, 1.0038650035858154, 0.13290110230445862, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226681113243103, -1.273873209953308, -1.5377984046936035, -1.4312607049942017, -0.15666928887367249, 0.2107516974210739, -1.0715219974517822, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9359556436538696, -1.0163675546646118, 1.594781756401062, -2.1031494140625, 1.8344624042510986, 1.003738522529602, 0.1277538686990738, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266802787780762, -1.2738746404647827, -1.5378210544586182, -1.4312705993652344, -0.15681226551532745, 0.2107369601726532, -1.0715457201004028, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.938795566558838, -1.0094350576400757, 1.6635979413986206, -2.0874955654144287, 1.8680503368377686, 1.003483533859253, 0.1176270842552185, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266963720321655, -1.27387273311615, -1.5378618240356445, -1.4312564134597778, -0.15674011409282684, 0.2107374370098114, -1.0713576078414917, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9351675510406494, -1.0111793279647827, 1.689668893814087, -2.0512266159057617, 1.8700059652328491, 1.0034167766571045, 0.11474152654409409, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267102003097534, -1.2738735675811768, -1.53786039352417, -1.4312642812728882, -0.15680363774299622, 0.2107352912425995, -1.0716632604599, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9313392639160156, -1.0215375423431396, 1.6779804229736328, -2.0115673542022705, 1.840525507926941, 1.003065586090088, 0.12468459457159042, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267093658447266, -1.2738759517669678, -1.5378550291061401, -1.4312639236450195, -0.15680111944675446, 0.2107352912425995, -1.0715301036834717, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9344227313995361, -1.0306116342544556, 1.6358238458633423, -1.9690873622894287, 1.7709003686904907, 1.0029971599578857, 0.14968512952327728, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226704716682434, -1.2738815546035767, -1.5378310680389404, -1.4312680959701538, -0.1568562537431717, 0.21073408424854279, -1.071532964706421, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9388008117675781, -1.0351989269256592, 1.599456548690796, -1.9166755676269531, 1.7197742462158203, 1.0031132698059082, 0.17129293084144592, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2267009019851685, -1.2738828659057617, -1.5378226041793823, -1.4312689304351807, -0.15689267218112946, 0.210734561085701, -1.0715665817260742, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9481703042984009, -1.0389976501464844, 1.5775259733200073, -1.8883212804794312, 1.6938762664794922, 1.0031715631484985, 0.1764279305934906, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226691484451294, -1.2738842964172363, -1.5377988815307617, -1.4312679767608643, -0.1568935215473175, 0.2107371985912323, -1.0714855194091797, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.96651029586792, -1.0409375429153442, 1.5686873197555542, -1.888740062713623, 1.6892982721328735, 1.0031684637069702, 0.180025115609169, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266933917999268, -1.2738839387893677, -1.53777277469635, -1.4312611818313599, -0.15686103701591492, 0.21074463427066803, -1.071475625038147, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9840049743652344, -1.0395125150680542, 1.5663594007492065, -1.891542673110962, 1.6903283596038818, 1.0031583309173584, 0.18522122502326965, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3491171598434448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266954183578491, -1.2738839387893677, -1.5377508401870728, -1.4312541484832764, -0.15681549906730652, 0.21075841784477234, -1.0714211463928223, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.999018907546997, -1.0350695848464966, 1.5713732242584229, -1.8918110132217407, 1.6941249370574951, 1.0031476020812988, 0.1835055649280548, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266957759857178, -1.2738832235336304, -1.537751317024231, -1.43125319480896, -0.1567779928445816, 0.21076847612857819, -1.071403980255127, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0086047649383545, -1.033927321434021, 1.58469820022583, -1.8901387453079224, 1.6943024396896362, 1.0031273365020752, 0.18045833706855774, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266924381256104, -1.2738828659057617, -1.537755012512207, -1.4312541484832764, -0.15677247941493988, 0.2107711136341095, -1.071402668952942, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.016649007797241, -1.0316663980484009, 1.5954662561416626, -1.889906644821167, 1.6944828033447266, 1.0030573606491089, 0.18089324235916138, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266895771026611, -1.273882508277893, -1.537758231163025, -1.4312562942504883, -0.156777024269104, 0.2107708752155304, -1.0714404582977295, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.028887987136841, -1.0288199186325073, 1.6070619821548462, -1.8931024074554443, 1.694680094718933, 1.0027421712875366, 0.18290108442306519, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266919612884521, -1.2738817930221558, -1.5377651453018188, -1.4312571287155151, -0.1567744016647339, 0.2107708752155304, -1.07151198387146, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.035327672958374, -1.0270826816558838, 1.6105775833129883, -1.8944870233535767, 1.6952012777328491, 1.0025243759155273, 0.18244220316410065, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266936302185059, -1.2738795280456543, -1.537783145904541, -1.431256890296936, -0.15677319467067719, 0.21076956391334534, -1.0715299844741821, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.034672737121582, -1.026911735534668, 1.60628342628479, -1.8948224782943726, 1.6933653354644775, 1.0025066137313843, 0.1798945963382721, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226693868637085, -1.2738778591156006, -1.5378412008285522, -1.4312567710876465, -0.1567516177892685, 0.2107689529657364, -1.0715053081512451, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0267066955566406, -1.0293078422546387, 1.5928651094436646, -1.8948028087615967, 1.6928833723068237, 1.0024863481521606, 0.1710362285375595, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266932725906372, -1.2738782167434692, -1.5378483533859253, -1.431256890296936, -0.15672717988491058, 0.21076500415802002, -1.0714854001998901, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0161385536193848, -1.0349125862121582, 1.5801162719726562, -1.8960672616958618, 1.6924604177474976, 1.0024964809417725, 0.1583310216665268, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266924381256104, -1.2738797664642334, -1.5378447771072388, -1.4312591552734375, -0.15672849118709564, 0.21075685322284698, -1.0714950561523438, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.010526418685913, -1.03934645652771, 1.575361728668213, -1.9017530679702759, 1.6907902956008911, 1.0025397539138794, 0.1518232375383377, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266926765441895, -1.2738804817199707, -1.537835955619812, -1.4312604665756226, -0.15672825276851654, 0.21075110137462616, -1.0714980363845825, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.004274606704712, -1.0418957471847534, 1.5711865425109863, -1.9005358219146729, 1.691484808921814, 1.0026301145553589, 0.14175623655319214, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226691484451294, -1.2738823890686035, -1.5378245115280151, -1.4312609434127808, -0.15673136711120605, 0.21074439585208893, -1.0715031623840332, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0013833045959473, -1.0425440073013306, 1.5692853927612305, -1.8978893756866455, 1.6923906803131104, 1.0026359558105469, 0.1332106590270996, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226688027381897, -1.2738829851150513, -1.5378170013427734, -1.4312609434127808, -0.15673305094242096, 0.21074031293392181, -1.0714961290359497, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0014660358428955, -1.0427972078323364, 1.5672097206115723, -1.892957329750061, 1.6917659044265747, 1.0026347637176514, 0.1292417198419571, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266870737075806, -1.2738831043243408, -1.5378096103668213, -1.4312608242034912, -0.1567336469888687, 0.21073900163173676, -1.0714970827102661, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0014264583587646, -1.0461711883544922, 1.5659397840499878, -1.887250542640686, 1.6905524730682373, 1.0026335716247559, 0.12412301450967789, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266868352890015, -1.2738828659057617, -1.5377999544143677, -1.4312608242034912, -0.15673400461673737, 0.2107400745153427, -1.071498155593872, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.001394510269165, -1.050566554069519, 1.5625286102294922, -1.8854990005493164, 1.6851418018341064, 1.0026321411132812, 0.12131906300783157, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226686954498291, -1.2738828659057617, -1.5377960205078125, -1.431260585784912, -0.1567324548959732, 0.21074140071868896, -1.071488380432129, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.000202178955078, -1.0554505586624146, 1.559245228767395, -1.8848013877868652, 1.6749472618103027, 1.0026288032531738, 0.12002081423997879, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266865968704224, -1.2738829851150513, -1.537792444229126, -1.431260347366333, -0.1567331701517105, 0.21074379980564117, -1.0714842081069946, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.996540904045105, -1.060315489768982, 1.5565105676651, -1.8798848390579224, 1.6696422100067139, 1.0026211738586426, 0.11638408154249191, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266871929168701, -1.2738828659057617, -1.5377898216247559, -1.431260108947754, -0.1567336469888687, 0.21074990928173065, -1.071481704711914, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9908336400985718, -1.0656633377075195, 1.553004503250122, -1.8785221576690674, 1.6634820699691772, 1.0026041269302368, 0.11357197910547256, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266874313354492, -1.2738827466964722, -1.537788987159729, -1.431260108947754, -0.15673305094242096, 0.21075865626335144, -1.071487307548523, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9848787784576416, -1.0698472261428833, 1.5488888025283813, -1.878555417060852, 1.6581190824508667, 1.0020955801010132, 0.11122127622365952, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266874313354492, -1.273882508277893, -1.5377880334854126, -1.4312597513198853, -0.15674586594104767, 0.210763081908226, -1.071511149406433, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9843075275421143, -1.0723881721496582, 1.548828125, -1.8788912296295166, 1.6556637287139893, 1.0020560026168823, 0.11015132814645767, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266870737075806, -1.2738826274871826, -1.5377881526947021, -1.4312602281570435, -0.15674899518489838, 0.21076704561710358, -1.071510910987854, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.985867977142334, -1.0734480619430542, 1.5506764650344849, -1.8804736137390137, 1.6525429487228394, 1.002051591873169, 0.1079445481300354, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266863584518433, -1.273882508277893, -1.5377864837646484, -1.4312604665756226, -0.15675917267799377, 0.21076799929141998, -1.0715076923370361, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9922211170196533, -1.0736509561538696, 1.5580391883850098, -1.882432460784912, 1.6485298871994019, 1.002101182937622, 0.10826908051967621, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226685643196106, -1.2738826274871826, -1.5377848148345947, -1.4312604665756226, -0.1567649245262146, 0.21076740324497223, -1.071504831314087, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0005593299865723, -1.0734426975250244, 1.5662227869033813, -1.8826478719711304, 1.643628478050232, 1.0021588802337646, 0.11242102086544037, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266877889633179, -1.2738827466964722, -1.5377782583236694, -1.4312595129013062, -0.15676097571849823, 0.21076680719852448, -1.0714937448501587, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0024685859680176, -1.073113203048706, 1.5699139833450317, -1.8826477527618408, 1.6404023170471191, 1.0021514892578125, 0.11489252746105194, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226688027381897, -1.2738821506500244, -1.5376362800598145, -1.431259274482727, -0.1567649245262146, 0.21076583862304688, -1.0715069770812988, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0024852752685547, -1.072988510131836, 1.570138931274414, -1.8826223611831665, 1.6394497156143188, 1.0021387338638306, 0.1156422570347786, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226683497428894, -1.2738813161849976, -1.5376520156860352, -1.4312586784362793, -0.15677067637443542, 0.21076008677482605, -1.0714662075042725, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0017004013061523, -1.0729769468307495, 1.568015694618225, -1.8815120458602905, 1.6392066478729248, 1.00212824344635, 0.11713644862174988, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266786098480225, -1.2738807201385498, -1.5376735925674438, -1.4312586784362793, -0.15677666664123535, 0.21075278520584106, -1.0713461637496948, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.999707579612732, -1.0729857683181763, 1.5648674964904785, -1.88137686252594, 1.6387975215911865, 1.002123236656189, 0.1167265921831131, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226677656173706, -1.2738807201385498, -1.5377033948898315, -1.4312589168548584, -0.1567867398262024, 0.2107471525669098, -1.0713635683059692, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9983725547790527, -1.0729948282241821, 1.56362783908844, -1.8808177709579468, 1.6380823850631714, 1.0021213293075562, 0.11791398376226425, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266899347305298, -1.2738804817199707, -1.537867546081543, -1.431256651878357, -0.1567879319190979, 0.210747629404068, -1.0715776681900024, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.997612476348877, -1.0731881856918335, 1.5631731748580933, -1.8802708387374878, 1.6417704820632935, 1.002090573310852, 0.11715550720691681, 0.07799999635298178, 0.07799999635298178, 0.07799999635298178, 0.07799999635298178, -0.07799999635298178, -0.07799999635298178, -0.07799999635298178, 0.07799999635298178, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226698875427246, -1.2738821506500244, -1.5378278493881226, -1.4312576055526733, -0.15678685903549194, 0.2107478678226471, -1.0716713666915894, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9964708089828491, -1.0732336044311523, 1.5635600090026855, -1.879989743232727, 1.6452891826629639, 1.0012341737747192, 0.11648966372013092, 0.20699998415433446, 0.20699998415433446, 0.20699998415433446, 0.20699998415433446, -0.20699998415433446, -0.20699998415433446, -0.20699998415433446, 0.20699998415433446, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.2266987562179565, -1.2738866806030273, -1.5377976894378662, -1.4312591552734375, -0.15680363774299622, 0.21074703335762024, -1.0715785026550293, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.00569748878479, -1.0711171627044678, 1.5678296089172363, -1.8682795763015747, 1.6468044519424438, 1.0017448663711548, 0.11133668571710587, 0.5387999976074302, 0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.5387999976074302, -0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.031234622001648, -0.3810546398162842, 0.0, 0.0, 1.2267086505889893, -1.2740395069122314, -1.5376083850860596, -1.431137204170227, -0.15672501921653748, 0.21075193583965302, -1.0713738203048706, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.021148681640625, -1.0686441659927368, 1.5775476694107056, -1.8623552322387695, 1.6405525207519531, 1.0018514394760132, 0.11474847048521042, 0.5867999995802785, 0.5867999995802785, 0.5867999995802785, 0.5867999995802785, -0.5867999995802785, -0.5867999995802785, -0.5867999995802785, 0.5867999995802785, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.2267446517944336, -1.274065375328064, -1.5373989343643188, -1.4311491250991821, -0.1566275805234909, 0.21076008677482605, -1.0712238550186157, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0350840091705322, -1.0659281015396118, 1.5934324264526367, -1.8645031452178955, 1.6207995414733887, 1.0023225545883179, 0.1341891586780548, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.226707100868225, -1.2740854024887085, -1.5373786687850952, -1.4312113523483276, -0.1567758321762085, 0.210758775472641, -1.0714409351348877, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.0721445083618164, -1.0518267154693604, 1.627031922340393, -1.8779011964797974, 1.6090192794799805, 1.0023376941680908, 0.1556950956583023, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2266435623168945, -1.2740442752838135, -1.5378857851028442, -1.43121337890625, -0.15680111944675446, 0.2107611745595932, -1.0714579820632935, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.1368260383605957, -1.0222572088241577, 1.6783499717712402, -1.9186201095581055, 1.624891996383667, 1.0023319721221924, 0.16955940425395966, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2267475128173828, -1.2737946510314941, -1.5380702018737793, -1.4311472177505493, -0.1564413458108902, 0.21079856157302856, -1.0711078643798828, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.169476270675659, -0.9958798885345459, 1.728049635887146, -1.9673123359680176, 1.6726890802383423, 1.0027506351470947, 0.18655148148536682, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2267414331436157, -1.273802399635315, -1.538061261177063, -1.4311785697937012, -0.1566593497991562, 0.2107974886894226, -1.0714608430862427, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.161175489425659, -0.9836547374725342, 1.780495285987854, -2.0087368488311768, 1.7626194953918457, 1.0029548406600952, 0.18312722444534302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.2267459630966187, -1.273809790611267, -1.53802490234375, -1.4311859607696533, -0.15667612850666046, 0.21079711616039276, -1.071658968925476, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.126208782196045, -0.9844244718551636, 1.8256291151046753, -2.046103000640869, 1.837002158164978, 1.0029510259628296, 0.15992948412895203, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226735234260559, -1.273817539215088, -1.5379558801651, -1.4312012195587158, -0.15684258937835693, 0.21078957617282867, -1.0717365741729736, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -2.070427656173706, -1.0030540227890015, 1.852164387702942, -2.0642752647399902, 1.8791600465774536, 1.0029500722885132, 0.15337806940078735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38086292147636414, 0.0, 0.0, 1.226619005203247, -1.2737541198730469, -1.53835129737854, -1.4322600364685059, -0.15669865906238556, 0.21078933775424957, -1.0707736015319824, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9963908195495605, -1.0389951467514038, 1.8637813329696655, -2.0647363662719727, 1.878238320350647, 0.9947589635848999, 0.13752880692481995, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5614178776741028, 1.0314264297485352, -0.3807670772075653, 0.0, 0.0, 1.2481962442398071, -1.2719128131866455, -1.5556526184082031, -1.46845543384552, -0.13713380694389343, 0.21914677321910858, -1.0091058015823364, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9378790855407715, -1.0844720602035522, 1.8612391948699951, -2.079827070236206, 1.7577875852584839, 0.9309590458869934, 0.1783059686422348, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5615137815475464, 1.0314264297485352, -0.3807670772075653, 0.0, 0.0, 1.2999897003173828, -1.261460542678833, -1.5894020795822144, -1.5279573202133179, -0.10005713254213333, 0.22734865546226501, -0.8933488130569458, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.9077917337417603, -1.120818018913269, 1.8426626920700073, -2.0933032035827637, 1.5915149450302124, 0.8410975933074951, 0.24808292090892792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916192846320727, 0.12913692080162975, 0.0038535738801637096, 0.5364505648612976], [-0.12913414625565758, 0.9916266676706669, -0.00096137151576152, 0.9997022151947021], [-0.003945455182701299, 0.00045568656167704755, 0.9999921128354757, 0.1796429604291916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5616096258163452, 1.0314264297485352, -0.3807670772075653, 0.0, 0.0, 1.3407225608825684, -1.2595354318618774, -1.6228190660476685, -1.5895779132843018, -0.08436965942382812, 0.242360457777977, -0.7705555558204651, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8884905576705933, -1.14999520778656, 1.8019250631332397, -2.105616569519043, 1.38705575466156, 0.7108505368232727, 0.28198450803756714, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916240415478499, 0.12910058360965934, 0.0038470165002783448, 0.5364128947257996], [-0.1290978101151544, 0.9916313984404623, -0.0009617954484289593, 0.9997135996818542], [-0.003938990705699841, 0.0004570980840506517, 0.9999921376758729, 0.17964676022529602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5616096258163452, 1.0314264297485352, -0.3807670772075653, 0.0, 0.0, 1.372018575668335, -1.2661173343658447, -1.6598478555679321, -1.6362481117248535, -0.11968429386615753, 0.2599876821041107, -0.6316482424736023, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.8696043491363525, -1.174298644065857, 1.738348126411438, -2.106829881668091, 1.1412822008132935, 0.5498677492141724, 0.29031258821487427, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916519116609801, 0.12888599594939398, 0.003858257023125144, 0.5361983180046082], [-0.12888324402613124, 0.9916593155372656, -0.0009546294897216822, 0.9998472929000854], [-0.003949114891264568, 0.00044939547698347946, 0.9999921012364452, 0.17963436245918274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5616096258163452, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.408151626586914, -1.2708810567855835, -1.6892061233520508, -1.6674160957336426, -0.1352691799402237, 0.2656654715538025, -0.5144166350364685, 0.07559999895619822, -0.07559999895619822, 0.07559999895619822, 0.07559999895619822, -0.07559999895619822, -0.07559999895619822, 0.07559999895619822, 0.07559999895619822, -1.8593437671661377, -1.1977870464324951, 1.6663142442703247, -2.09454345703125, 0.9035142064094543, 0.36408889293670654, 0.2456568330526352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916311109526729, 0.12904609694211075, 0.003852876169191647, 0.5363559126853943], [-0.1290433988215966, 0.9916384996780877, -0.0009419006113151575, 0.9997574090957642], [-0.003942208941460273, 0.00043682971349422834, 0.9999921340532951, 0.17962433397769928], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.561705470085144, 1.0314264297485352, -0.38086292147636414, 0.0, 0.0, 1.4483067989349365, -1.2762386798858643, -1.703714370727539, -1.6877410411834717, -0.1440439075231552, 0.26942360401153564, -0.4346315264701843, 0.25379999234126166, -0.25379999234126166, 0.25379999234126166, 0.25379999234126166, -0.25379999234126166, -0.25379999234126166, 0.25379999234126166, 0.25379999234126166, -1.8440113067626953, -1.2194809913635254, 1.5904443264007568, -2.0420494079589844, 0.6856880784034729, 0.1934364140033722, 0.18244712054729462, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916279059587265, 0.12907067889361093, 0.0038543448020971396, 0.5363858342170715], [-0.12906795526403167, 0.9916352977490988, -0.0009482520857732711, 0.9997406601905823], [-0.0039444958959283264, 0.000442840827647117, 0.9999921223910359, 0.17962950468063354], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.4836113452911377, -1.283449411392212, -1.71263587474823, -1.6955604553222656, -0.16266092658042908, 0.2655893564224243, -0.37835240364074707, 0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -0.5652000009031086, -0.5652000009031086, 0.5652000009031086, 0.5652000009031086, -1.8287849426269531, -1.2393519878387451, 1.526816487312317, -1.9773602485656738, 0.5164588689804077, 0.06029083952307701, 0.12107805907726288, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916215318804386, 0.12911949880411153, 0.00385908534078298, 0.536430299282074], [-0.1291167474208047, 0.9916289395816239, -0.0009548401417524589, 0.9997085332870483], [-0.00395006918477674, 0.00044856749684430233, 0.999992097839096, 0.17963337898254395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.5118062496185303, -1.2898688316345215, -1.7122482061386108, -1.694941520690918, -0.17362049221992493, 0.2419847548007965, -0.3395606577396393, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -1.814171314239502, -1.2504730224609375, 1.4839551448822021, -1.9229685068130493, 0.361112505197525, 0.00401591369882226, 0.043603163212537766, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9915950633786172, 0.129323330006266, 0.0038349184145699744, 0.5366448760032654], [-0.12932053117291736, 0.9916023694864393, -0.0009700752721391102, 0.9995928406715393], [-0.00392816755122453, 0.0004659881645818192, 0.9999921761467536, 0.17966023087501526], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5285080671310425, -1.2936060428619385, -1.7050597667694092, -1.682211995124817, -0.17864488065242767, 0.2034272998571396, -0.3178744912147522, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.815136194229126, -1.2505199909210205, 1.4901381731033325, -1.9306585788726807, 0.33249932527542114, 0.017497926950454712, 0.054307714104652405, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916129029281088, 0.129185838619783, 0.0038561440056818566, 0.5365002155303955], [-0.12918304748296328, 0.9916202944196874, -0.0009653693733996747, 0.9996669292449951], [-0.003948542706319447, 0.00045912429256759736, 0.9999920990764779, 0.17964519560337067], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.529989242553711, -1.2941644191741943, -1.7027024030685425, -1.6811717748641968, -0.1798958033323288, 0.20195983350276947, -0.32048800587654114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8151880502700806, -1.2488981485366821, 1.493442177772522, -1.934129238128662, 0.3989049792289734, 0.020645583048462868, 0.059413712471723557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916277051695249, 0.12907231751587633, 0.003851128575193148, 0.5363854765892029], [-0.12906948562526405, 0.9916350715679676, -0.0009760721395023276, 0.9997427463531494], [-0.003944898053387347, 0.0004708369914976659, 0.9999921080147962, 0.17965924739837646], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5619930624961853, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5285354852676392, -1.294197916984558, -1.7027394771575928, -1.6814789772033691, -0.1798836886882782, 0.20366016030311584, -0.32151445746421814, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8149493932724, -1.2487645149230957, 1.493429183959961, -1.9340834617614746, 0.4007202386856079, 0.020683813840150833, 0.05939130112528801, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916193305906398, 0.12913639579626196, 0.0038593366946313543, 0.5364492535591125], [-0.1291335758812269, 0.9916267314029041, -0.0009721868751010192, 0.9997051358222961], [-0.003952566140971554, 0.0004656693503892971, 0.9999920801551168, 0.17965064942836761], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.5278743505477905, -1.2941972017288208, -1.703016757965088, -1.681787133216858, -0.17986512184143066, 0.20383356511592865, -0.321835994720459, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8149539232254028, -1.2487670183181763, 1.4933421611785889, -1.9338786602020264, 0.39829668402671814, 0.020746130496263504, 0.05937272682785988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916277106505388, 0.12907263999913077, 0.0038388896345230724, 0.5363839268684387], [-0.12906990952049505, 0.9916350400418218, -0.0009517445169910626, 0.9997382164001465], [-0.0039296216538591555, 0.00044829109872099093, 0.9999921785237864, 0.1796415001153946], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5276319980621338, -1.2942389249801636, -1.7030987739562988, -1.6817774772644043, -0.1797906905412674, 0.20396922528743744, -0.3220611810684204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.814976453781128, -1.2487863302230835, 1.4932564496994019, -1.93381667137146, 0.3982016444206238, 0.020795626565814018, 0.05936841294169426, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.991621671626957, 0.12911827364673603, 0.003864164883377154, 0.5364301800727844], [-0.12911550658863746, 0.9916290978803568, -0.0009582251036349621, 0.9997167587280273], [-0.003955542708510553, 0.00045127317260215086, 0.9999920749857995, 0.17963409423828125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.5312721729278564, -1.2916624546051025, -1.7012419700622559, -1.6839057207107544, -0.18408404290676117, 0.20044922828674316, -0.31649595499038696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.81326162815094, -1.246820092201233, 1.4953703880310059, -1.9311388731002808, 0.39841485023498535, 0.020603159442543983, 0.058320630341768265, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916332634526165, 0.12902948505216816, 0.0038552304063503183, 0.5363394021987915], [-0.12902669133608824, 0.9916406506833331, -0.0009658339389203188, 0.999762773513794], [-0.003947624244472196, 0.0004603254371351863, 0.9999921021504702, 0.1796470582485199], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.5592314004898071, -1.2717453241348267, -1.6869581937789917, -1.7001721858978271, -0.21726980805397034, 0.17220324277877808, -0.27181240916252136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.8012044429779053, -1.2327876091003418, 1.510563611984253, -1.9121047258377075, 0.40172043442726135, 0.017473120242357254, 0.04983699694275856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916323981478956, 0.12903640424552065, 0.0038462088918825893, 0.5363456010818481], [-0.12903367095218357, 0.9916397563111472, -0.0009515586015716398, 0.9997622966766357], [-0.0039368393486439186, 0.00044730588548620243, 0.9999921505758872, 0.17963720858097076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0314264297485352, -0.38095879554748535, 0.0, 0.0, 1.6149553060531616, -1.2320665121078491, -1.6585779190063477, -1.7327282428741455, -0.28341805934906006, 0.11600861698389053, -0.18315526843070984, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7774101495742798, -1.2052007913589478, 1.5404103994369507, -1.8747247457504272, 0.407843679189682, 0.01164866704493761, 0.0332161970436573, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.6798031330108643, -1.1858441829681396, -1.6255370378494263, -1.7706859111785889, -0.36047661304473877, 0.05054550617933273, -0.07990206032991409, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7505266666412354, -1.1737768650054932, 1.5742589235305786, -1.8321518898010254, 0.4147476553916931, 0.005107916425913572, 0.014242651872336864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7185810804367065, -1.1581525802612305, -1.6058140993118286, -1.7932820320129395, -0.4064628481864929, 0.011435466818511486, -0.018157897517085075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7345908880233765, -1.1552973985671997, 1.5942813158035278, -1.807044267654419, 0.41885489225387573, 0.0011431751772761345, 0.0032064991537481546, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618972182273865, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7301527261734009, -1.1499439477920532, -1.5999600887298584, -1.8000425100326538, -0.4201386570930481, -0.00020277308067306876, 0.00028929917607456446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300270795822144, -1.149975061416626, 1.600011944770813, -1.7998617887496948, 0.42000681161880493, 1.0306433068762999e-05, -4.3742420530179515e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300164699554443, -1.1499578952789307, -1.5999550819396973, -1.8000704050064087, -0.4200710654258728, -0.0001149287199950777, 8.532767969882116e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299848794937134, -1.1499756574630737, 1.6000192165374756, -1.7999500036239624, 0.4200170040130615, -3.0200246328604408e-05, -3.88288899557665e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.729987621307373, -1.150054931640625, -1.5999841690063477, -1.799837589263916, -0.41990554332733154, 0.00024387898156419396, -0.00025802035816013813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302587032318115, -1.1499688625335693, 1.599989891052246, -1.8000340461730957, 0.4200114905834198, 1.737712591420859e-05, 0.00013602095714304596, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299880981445312, -1.1500797271728516, -1.6000051498413086, -1.7995854616165161, -0.4198008179664612, 0.00047553403419442475, -0.000537252810318023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7310463190078735, -1.1490405797958374, 1.599936604499817, -1.8000695705413818, 0.4199865758419037, 0.0002630537492223084, 0.00042112567462027073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.729989767074585, -1.1500838994979858, -1.6000219583511353, -1.7995328903198242, -0.41977131366729736, 0.0005095692467875779, -0.0005668538506142795, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73116934299469, -1.1482287645339966, 1.5999125242233276, -1.8000704050064087, 0.4199434220790863, 0.00031494544236920774, 0.00047229829942807555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.72999107837677, -1.1500850915908813, -1.6000311374664307, -1.7995156049728394, -0.4197538197040558, 0.0005150819779373705, -0.0005729657714255154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311707735061646, -1.148083209991455, 1.599894642829895, -1.8000714778900146, 0.4199029207229614, 0.00032381375785917044, 0.00048631985555402935, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299922704696655, -1.1500855684280396, -1.6000351905822754, -1.7995076179504395, -0.4197448492050171, 0.000516999454703182, -0.0005756023456342518, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311713695526123, -1.1480638980865479, 1.599880337715149, -1.8000718355178833, 0.41987404227256775, 0.0003272891917731613, 0.0004906341782771051, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299927473068237, -1.1500855684280396, -1.6000372171401978, -1.799501657485962, -0.4197402894496918, 0.0005191566306166351, -0.000578478560782969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311723232269287, -1.1480565071105957, 1.599868893623352, -1.8000725507736206, 0.419862300157547, 0.00032884711981751025, 0.0004917127662338316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.729993224143982, -1.1500859260559082, -1.600038766860962, -1.7995001077651978, -0.41973933577537537, 0.0005222725449129939, -0.0005818341160193086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311736345291138, -1.1480515003204346, 1.5998646020889282, -1.800072193145752, 0.4198572635650635, 0.0003293264890089631, 0.000492192106321454, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.729993224143982, -1.1500861644744873, -1.6000392436981201, -1.7994989156723022, -0.41973981261253357, 0.0005258677992969751, -0.0005815944168716669, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311774492263794, -1.1480458974838257, 1.5998634099960327, -1.8000718355178833, 0.4198567867279053, 0.0003290868189651519, 0.000492192106321454, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.729993462562561, -1.1500859260559082, -1.6000388860702515, -1.7994979619979858, -0.4197399318218231, 0.0005299424519762397, -0.0005797967896796763, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311819791793823, -1.1480404138565063, 1.5998632907867432, -1.8000710010528564, 0.4198569059371948, 0.00032956618815660477, 0.0004925516550429165, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299938201904297, -1.1500859260559082, -1.6000388860702515, -1.7994965314865112, -0.41973909735679626, 0.0005350956344045699, -0.0005762015352956951, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311865091323853, -1.1480348110198975, 1.5998625755310059, -1.8000707626342773, 0.4198566675186157, 0.00032980585820041597, 0.0004927913541905582, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299935817718506, -1.1500861644744873, -1.6000384092330933, -1.799495816230774, -0.4197394549846649, 0.0005385710392147303, -0.0005746436072513461, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311893701553345, -1.1480295658111572, 1.599862813949585, -1.8000705242156982, 0.4198572635650635, 0.0003307645965833217, 0.0004927913541905582, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299938201904297, -1.1500859260559082, -1.6000380516052246, -1.7994953393936157, -0.4197387397289276, 0.0005410877638496459, -0.000571048294659704, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311921119689941, -1.1480246782302856, 1.5998624563217163, -1.8000693321228027, 0.4198569059371948, 0.00033196303411386907, 0.0004926715046167374, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299940586090088, -1.1500859260559082, -1.6000374555587769, -1.7994954586029053, -0.41973787546157837, 0.0005421663518063724, -0.0005680522881448269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311955690383911, -1.1480185985565186, 1.5998626947402954, -1.8000680208206177, 0.419857382774353, 0.00033507891930639744, 0.000492192106321454, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.7299937009811401, -1.1500859260559082, -1.6000369787216187, -1.7994951009750366, -0.41973572969436646, 0.0005414472543634474, -0.0005640974850393832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7311973571777344, -1.148012638092041, 1.5998626947402954, -1.8000661134719849, 0.4198560416698456, 0.00034466630313545465, 0.0004923119558952749, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299944162368774, -1.1500861644744873, -1.6000361442565918, -1.799495816230774, -0.4197329878807068, 0.0005412076134234667, -0.0005601426819339395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731199026107788, -1.1480060815811157, 1.5998624563217163, -1.8000632524490356, 0.4198567867279053, 0.00035653068334795535, 0.0004924318054690957, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299953699111938, -1.150086760520935, -1.6000354290008545, -1.799495816230774, -0.4197271168231964, 0.0005403687246143818, -0.0005566672189161181, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312006950378418, -1.1479989290237427, 1.5998629331588745, -1.8000600337982178, 0.4198567867279053, 0.0003665974363684654, 0.0004919524071738124, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299963235855103, -1.1500872373580933, -1.6000347137451172, -1.799495816230774, -0.4197237491607666, 0.0005389305879361928, -0.0005560680292546749, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312015295028687, -1.1479909420013428, 1.5998625755310059, -1.8000577688217163, 0.4198567867279053, 0.000375945121049881, 0.00049147306708619, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7299981117248535, -1.150087594985962, -1.600034475326538, -1.7994961738586426, -0.41971930861473083, 0.0005376123008318245, -0.000556787068489939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312021255493164, -1.147981882095337, 1.5998624563217163, -1.8000553846359253, 0.4198569059371948, 0.00038253646926023066, 0.0004905143287032843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730000376701355, -1.150087833404541, -1.6000343561172485, -1.7994962930679321, -0.41971608996391296, 0.0005367734120227396, -0.0005566672189161181, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312029600143433, -1.1479697227478027, 1.5998632907867432, -1.800052285194397, 0.4198566675186157, 0.00038840872002765536, 0.0004911135183647275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300024032592773, -1.1500881910324097, -1.6000338792800903, -1.7994964122772217, -0.4197106957435608, 0.0005366535624489188, -0.0005571466172114015, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312037944793701, -1.1479132175445557, 1.5998622179031372, -1.8000483512878418, 0.41985568404197693, 0.00039368178113363683, 0.0004908738774247468, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300078868865967, -1.1500880718231201, -1.6000325679779053, -1.7994959354400635, -0.4197053015232086, 0.0005358146736398339, -0.0005560680292546749, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73121178150177, -1.1472761631011963, 1.599838137626648, -1.8000462055206299, 0.41985461115837097, 0.000399913580622524, 0.0004909936687909067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.73001229763031, -1.1500885486602783, -1.6000308990478516, -1.7994953393936157, -0.41970181465148926, 0.0005358146736398339, -0.0005559481796808541, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312121391296387, -1.147286057472229, 1.599838137626648, -1.8000459671020508, 0.41985222697257996, 0.0004037485341541469, 0.0004925516550429165, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300158739089966, -1.150088906288147, -1.6000292301177979, -1.7994945049285889, -0.41970014572143555, 0.0005365337710827589, -0.0005587045452557504, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312123775482178, -1.147316575050354, 1.5998398065567017, -1.8000463247299194, 0.41985028982162476, 0.00040422790334559977, 0.0004920722567476332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730018138885498, -1.150088906288147, -1.6000289916992188, -1.799492359161377, -0.4196995496749878, 0.0005373726598918438, -0.0005602625315077603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312126159667969, -1.1473866701126099, 1.5998398065567017, -1.8000460863113403, 0.41984981298446655, 0.0004045874229632318, 0.0004923119558952749, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300199270248413, -1.150088906288147, -1.6000287532806396, -1.7994917631149292, -0.41969871520996094, 0.0005382115487009287, -0.0005625394987873733, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312124967575073, -1.1474761962890625, 1.5998409986495972, -1.800046682357788, 0.41984933614730835, 0.00040506679215468466, 0.0004923119558952749, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.73002028465271, -1.1500886678695679, -1.6000288724899292, -1.7994918823242188, -0.41969919204711914, 0.0005398893263190985, -0.000564217334613204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312124967575073, -1.1475099325180054, 1.599841833114624, -1.8000471591949463, 0.4198477864265442, 0.00040542634087614715, 0.0004932706942781806, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730020523071289, -1.1500887870788574, -1.6000289916992188, -1.79949152469635, -0.41969966888427734, 0.0005413274629972875, -0.0005680522881448269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731212854385376, -1.1475210189819336, 1.599843978881836, -1.8000471591949463, 0.4198463559150696, 0.00040542634087614715, 0.0004930309951305389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500885486602783, -1.6000291109085083, -1.799491286277771, -0.41970038414001465, 0.0005424059927463531, -0.0005741642089560628, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731212854385376, -1.1475255489349365, 1.5998454093933105, -1.800047516822815, 0.4198468327522278, 0.00040446760249324143, 0.0004941095830872655, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.3810546398162842, 0.0, 0.0, 1.7300209999084473, -1.1500883102416992, -1.6000289916992188, -1.7994909286499023, -0.4197007417678833, 0.0005448028678074479, -0.0005795570905320346, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731212854385376, -1.1475270986557007, 1.599847674369812, -1.8000478744506836, 0.41984695196151733, 0.00040302949491888285, 0.0004943492822349072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500881910324097, -1.600029706954956, -1.7994908094406128, -0.41970181465148926, 0.0005452822078950703, -0.0005857889191247523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312126159667969, -1.1475279331207275, 1.599848985671997, -1.8000478744506836, 0.41984647512435913, 0.00040147153777070343, 0.0004949484718963504, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500883102416992, -1.6000298261642456, -1.7994906902313232, -0.41970252990722656, 0.000545521907042712, -0.0005898635718040168, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312129735946655, -1.1475284099578857, 1.599851369857788, -1.8000481128692627, 0.41984695196151733, 0.0004001532797701657, 0.0004950683214701712, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500880718231201, -1.600029706954956, -1.7994906902313232, -0.41970348358154297, 0.0005452822078950703, -0.0005915413494221866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731212854385376, -1.1475285291671753, 1.5998529195785522, -1.8000482320785522, 0.4198468327522278, 0.0003979961038567126, 0.0004959072102792561, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500880718231201, -1.6000300645828247, -1.7994904518127441, -0.41970589756965637, 0.0005440838285721838, -0.0005930992774665356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312134504318237, -1.1475285291671753, 1.599855899810791, -1.8000478744506836, 0.41984719038009644, 0.0003953595878556371, 0.0004975850461050868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500879526138306, -1.6000299453735352, -1.7994904518127441, -0.41970816254615784, 0.0005440838285721838, -0.0005928595783188939, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312138080596924, -1.1475287675857544, 1.5998575687408447, -1.800047516822815, 0.4198477864265442, 0.000393561931559816, 0.0004986635758541524, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500881910324097, -1.6000300645828247, -1.7994904518127441, -0.419709712266922, 0.0005428853910416365, -0.0005923802382312715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312138080596924, -1.1475284099578857, 1.5998579263687134, -1.8000470399856567, 0.4198485016822815, 0.00039080556598491967, 0.0004987834254279733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300206422805786, -1.1500883102416992, -1.6000303030014038, -1.7994904518127441, -0.41970986127853394, 0.0005422862013801932, -0.0005921405390836298, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312144041061401, -1.1475282907485962, 1.599859356880188, -1.8000459671020508, 0.41984909772872925, 0.0003903261967934668, 0.0004990231245756149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730021357536316, -1.1500883102416992, -1.6000300645828247, -1.7994906902313232, -0.41970959305763245, 0.0005424059927463531, -0.0005925000878050923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312146425247192, -1.1475285291671753, 1.599860668182373, -1.8000454902648926, 0.41984838247299194, 0.00039044604636728764, 0.0004991429741494358, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300208806991577, -1.1500883102416992, -1.6000299453735352, -1.7994908094406128, -0.4197099804878235, 0.0005416869535110891, -0.0005910619511269033, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312157154083252, -1.1475284099578857, 1.599861741065979, -1.800044298171997, 0.41984862089157104, 0.00039080556598491967, 0.0004995025228708982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300211191177368, -1.1500884294509888, -1.600029706954956, -1.799491286277771, -0.4197102189064026, 0.0005420465022325516, -0.0005887849838472903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731217384338379, -1.147528052330017, 1.599862813949585, -1.8000425100326538, 0.4198492169380188, 0.00039080556598491967, 0.0004993826732970774, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300227880477905, -1.1500884294509888, -1.6000299453735352, -1.7994909286499023, -0.41970986127853394, 0.0005422862013801932, -0.0005857889191247523, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312202453613281, -1.1475282907485962, 1.5998636484146118, -1.8000404834747314, 0.4198489785194397, 0.0003910452651325613, 0.0004995025228708982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730025291442871, -1.1500883102416992, -1.6000295877456665, -1.799491286277771, -0.41971009969711304, 0.0005428853910416365, -0.0005821936647407711, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312229871749878, -1.1475276947021484, 1.5998640060424805, -1.8000380992889404, 0.4198489785194397, 0.0003917643043678254, 0.0004996223142370582, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300281524658203, -1.1500886678695679, -1.6000289916992188, -1.799491286277771, -0.41970911622047424, 0.0005444433190859854, -0.0005787182017229497, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312262058258057, -1.1475274562835693, 1.5998647212982178, -1.800035834312439, 0.41984981298446655, 0.00039260322228074074, 0.0004984239349141717, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730029821395874, -1.1500886678695679, -1.6000288724899292, -1.7994914054870605, -0.4197092354297638, 0.0005461211549118161, -0.0005757221370004117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312289476394653, -1.1475272178649902, 1.5998640060424805, -1.8000352382659912, 0.4198494553565979, 0.00039344211108982563, 0.0004983040853403509, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300314903259277, -1.1500887870788574, -1.6000288724899292, -1.799491286277771, -0.41970840096473694, 0.0005475592333823442, -0.0005727261304855347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312307357788086, -1.1475272178649902, 1.5998640060424805, -1.800034999847412, 0.41984933614730835, 0.00039607862709090114, 0.0004979445366188884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300328016281128, -1.150088906288147, -1.6000282764434814, -1.7994916439056396, -0.4197080433368683, 0.0005495965597219765, -0.0005680522881448269, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312331199645996, -1.1475270986557007, 1.5998642444610596, -1.8000361919403076, 0.4198499321937561, 0.0003977564338129014, 0.0004975850461050868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730033278465271, -1.150088906288147, -1.6000282764434814, -1.7994917631149292, -0.41970768570899963, 0.0005517537356354296, -0.0005643371259793639, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312339544296265, -1.147526741027832, 1.59986412525177, -1.8000359535217285, 0.4198494553565979, 0.0003987151721958071, 0.0004978246870450675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300338745117188, -1.1500885486602783, -1.6000276803970337, -1.799491286277771, -0.4197060167789459, 0.0005519933765754104, -0.0005621800082735717, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312345504760742, -1.1475269794464111, 1.5998647212982178, -1.800037145614624, 0.41984981298446655, 0.0003997937310487032, 0.0004980643861927092, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300333976745605, -1.1500887870788574, -1.6000275611877441, -1.7994914054870605, -0.4197036027908325, 0.0005511544877663255, -0.0005638577858917415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731235146522522, -1.1475269794464111, 1.5998648405075073, -1.80003821849823, 0.41984909772872925, 0.00040266994619742036, 0.0004973453469574451, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300336360931396, -1.1500886678695679, -1.6000267267227173, -1.7994918823242188, -0.4197028875350952, 0.0005512743373401463, -0.0005632585962302983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731235384941101, -1.1475269794464111, 1.5998648405075073, -1.8000386953353882, 0.41984885931015015, 0.00040398823330178857, 0.0004973453469574451, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.730033278465271, -1.1500886678695679, -1.6000263690948486, -1.79949152469635, -0.41970157623291016, 0.0005495965597219765, -0.0005633783875964582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312349081039429, -1.1475268602371216, 1.5998653173446655, -1.800039291381836, 0.4198487401008606, 0.00040446760249324143, 0.0004971056478098035, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3489254415035248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5618013143539429, 1.0313304662704468, -0.38095879554748535, 0.0, 0.0, 1.7300333976745605, -1.1500885486602783, -1.6000254154205322, -1.7994914054870605, -0.4197009801864624, 0.0005486378213390708, -0.0005637379363179207, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7312346696853638, -1.1475268602371216, 1.5998659133911133, -1.8000396490097046, 0.41984838247299194, 0.0004051866417285055, 0.0004975850461050868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.349021315574646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9916309141534683, 0.12904763304599629, 0.0038520774112998156, 0.5363565683364868], [-0.12904482404468365, 0.9916382870139163, -0.0009701110154664526, 0.9997531771659851], [-0.003945057975924144, 0.0004649014213496627, 0.9999921101609928, 0.1796528398990631], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000028/gt/hand_left.mp4 b/agibot-challenge-2026/000028/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ab5258a59850b43f95468623e13abaaeb42bbba --- /dev/null +++ b/agibot-challenge-2026/000028/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:688237a8f38e608efd5298212be85d179acefea6bd486cb66c9cff030d9cf648 +size 9557710 diff --git a/agibot-challenge-2026/000028/gt/hand_right.mp4 b/agibot-challenge-2026/000028/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..442db78a94e6fadf503ae181137b61539c2f1977 --- /dev/null +++ b/agibot-challenge-2026/000028/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb45c37b6ecf03e16bb6d31577ba0f7cc201ee545a1c1d3438aeede72e77cdb +size 10075921 diff --git a/agibot-challenge-2026/000028/gt/head.mp4 b/agibot-challenge-2026/000028/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60fa21d89923efd7f558a157a0beccc051e05e72 --- /dev/null +++ b/agibot-challenge-2026/000028/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2633df9090876ad8d1328420e06dd309edc3ba64550c9309075664c91259bf44 +size 8737839 diff --git a/agibot-challenge-2026/000028/meta.json b/agibot-challenge-2026/000028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef9d2af4b7180c6f0f1cc4092d5be5a5737a36d --- /dev/null +++ b/agibot-challenge-2026/000028/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Homestay 1-World Model.", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1653, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000028/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000028/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..3b5f467db67709e34a6e0c8558b89a543f987bf8 --- /dev/null +++ b/agibot-challenge-2026/000028/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000028/ref_images/hand_left.png b/agibot-challenge-2026/000028/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..9b5f919a8898285ac8f18df1f9937698055d95ca --- /dev/null +++ b/agibot-challenge-2026/000028/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f2db23687683d1c4a9d5015d27d8dd13499e07713ba4ef43eaa5d3ba01e8793 +size 414565 diff --git a/agibot-challenge-2026/000028/ref_images/hand_right.png b/agibot-challenge-2026/000028/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..9263ea1fe7febd4c332e2757887899e1e4a49e86 --- /dev/null +++ b/agibot-challenge-2026/000028/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76775f364bc442c62168514a5a18a3cbe16090efd7e8c5d9e7628a0b8f270f56 +size 381749 diff --git a/agibot-challenge-2026/000028/ref_images/head.png b/agibot-challenge-2026/000028/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..5b000058288951eb59369d08a003d0700368d757 --- /dev/null +++ b/agibot-challenge-2026/000028/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a0417a865da7d68ae7835ad7925cc992d5e3c708ad8cd53b9b3ecc10c92cb9e +size 341605 diff --git a/agibot-challenge-2026/000028/temporal.json b/agibot-challenge-2026/000028/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..e6410b8a5db80f79b9125a88f2d7682aef71cc91 --- /dev/null +++ b/agibot-challenge-2026/000028/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975900292396545, -0.8020181655883789, -1.3938727378845215, -1.2543582916259766, -0.46836820244789124, 0.04319126531481743, -1.5151325464248657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5729029178619385, -1.0726983547210693, 1.07577645778656, -1.1157296895980835, 0.5860137343406677, -0.2703023850917816, 1.4084272384643555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975897908210754, -0.8020180463790894, -1.393872857093811, -1.2543586492538452, -0.46836820244789124, 0.04319126531481743, -1.5151326656341553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.572903037071228, -1.072698712348938, 1.0757765769958496, -1.1157300472259521, 0.586014449596405, -0.2703021466732025, 1.4084272384643555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975898504257202, -0.8020179271697998, -1.393872857093811, -1.2543585300445557, -0.4683678448200226, 0.04319174587726593, -1.5151326656341553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5729026794433594, -1.0726990699768066, 1.0757769346237183, -1.1157299280166626, 0.5860143303871155, -0.27030202746391296, 1.4084265232086182, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975897908210754, -0.8020180463790894, -1.393872857093811, -1.2543587684631348, -0.4683680832386017, 0.04319126531481743, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.572903037071228, -1.0726984739303589, 1.07577645778656, -1.1157302856445312, 0.5860139727592468, -0.27030250430107117, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975896716117859, -0.8020182847976685, -1.3938727378845215, -1.2543588876724243, -0.46836796402931213, 0.04319102689623833, -1.5151324272155762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5729027390480042, -1.0726985931396484, 1.07577645778656, -1.1157299280166626, 0.5860139727592468, -0.2703023850917816, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975897908210754, -0.8020177483558655, -1.393872618675232, -1.2543586492538452, -0.46836820244789124, 0.04319138452410698, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5729031562805176, -1.0726993083953857, 1.075776219367981, -1.1157299280166626, 0.5860139727592468, -0.27030226588249207, 1.4084270000457764, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975897312164307, -0.8020176887512207, -1.3938727378845215, -1.2543586492538452, -0.46836796402931213, 0.04319138452410698, -1.5151323080062866, 0.0923999807336828, -0.0923999807336828, 0.0923999807336828, 0.0923999807336828, -0.0923999807336828, -0.0923999807336828, 0.0923999807336828, 0.0923999807336828, -0.5729031562805176, -1.0726984739303589, 1.0757766962051392, -1.1157296895980835, 0.5860142111778259, -0.2703023850917816, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975898504257202, -0.8020178079605103, -1.393872618675232, -1.2543585300445557, -0.46836820244789124, 0.04319126531481743, -1.515132188796997, 0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.5729027390480042, -1.0726985931396484, 1.0757765769958496, -1.1157299280166626, 0.5860140919685364, -0.27030202746391296, 1.4084270000457764, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975890755653381, -0.8020175099372864, -1.3938730955123901, -1.2543586492538452, -0.4683680832386017, 0.04319138452410698, -1.5151324272155762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729016661643982, -1.0726990699768066, 1.0757766962051392, -1.1157299280166626, 0.5860140919685364, -0.2703021466732025, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4600105651471147, 0.88790189666003, -0.004527898028184532, -5.931275367736816], [-0.887905508163924, -0.46002203072203196, -0.0018814416126360833, 350.1031188964844], [-0.003753468422142416, 0.0031548625801095928, 0.9999879790862011, 15.299941062927246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.1161627769470215, -0.523117184638977, -0.020226173102855682, -0.055693868547677994, 0.5975834727287292, -0.8020187616348267, -1.3938730955123901, -1.2543586492538452, -0.46836820244789124, 0.04319126531481743, -1.515131950378418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.572892427444458, -1.0726999044418335, 1.0757776498794556, -1.1157299280166626, 0.5860139727592468, -0.27030226588249207, 1.4084259271621704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46016323818472804, 0.887822752066069, -0.004533777362932395, -5.867772579193115], [-0.8878265401901102, -0.4601745907653463, -0.0018386266626438733, 350.1047668457031], [-0.003718703726259141, 0.0031791394712295255, 0.9999880320857939, 15.28519058227539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.1160669326782227, -0.523117184638977, -0.02013031393289566, -0.055693868547677994, 0.5976126790046692, -0.8020262122154236, -1.393868327140808, -1.2543576955795288, -0.4683656692504883, 0.04319138452410698, -1.5151324272155762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.572921872138977, -1.0726985931396484, 1.0757725238800049, -1.1157233715057373, 0.5860132575035095, -0.2703019082546234, 1.4084278345108032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46333754766739754, 0.8861702482913462, -0.0045395996317210835, -4.602061748504639], [-0.8861743076195382, -0.46334868237828997, -0.001759276366781752, 350.1244812011719], [-0.003662435882647017, 0.003207737763056476, 0.9999881484206945, 15.263096809387207], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.115779399871826, -0.523117184638977, -0.02013031393289566, -0.055693868547677994, 0.597555935382843, -0.8020001649856567, -1.3938785791397095, -1.254361629486084, -0.4683728814125061, 0.04319102689623833, -1.515131950378418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5728532671928406, -1.072697401046753, 1.0757864713668823, -1.115736961364746, 0.5860163569450378, -0.27030226588249207, 1.4084230661392212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46462586662558913, 0.8854954172698117, -0.004546433391416591, -4.078516483306885], [-0.885499490862498, -0.46463702481559377, -0.0017569441569254727, 350.1307067871094], [-0.003668207283866553, 0.0032095427518153883, 0.9999881214747738, 15.264575004577637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115779399871826, -0.523117184638977, -0.02013031393289566, -0.055693868547677994, 0.5975894927978516, -0.8020192384719849, -1.393872618675232, -1.2543565034866333, -0.46836531162261963, 0.04319138452410698, -1.5151318311691284, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729074478149414, -1.072697401046753, 1.0757732391357422, -1.1157199144363403, 0.5860143303871155, -0.27030202746391296, 1.4084250926971436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46545373642750265, 0.885060562122272, -0.004540993446891517, -3.7313132286071777], [-0.8850640850098426, -0.465465322534391, -0.0018970882018482067, 350.13214111328125], [-0.0037927129297072202, 0.0031360634182259514, 0.9999878901441105, 15.315159797668457], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.115875244140625, -0.523117184638977, -0.02013031393289566, -0.055693868547677994, 0.5975975394248962, -0.8020254969596863, -1.3938697576522827, -1.2543567419052124, -0.4683651924133301, 0.04319150745868683, -1.5151324272155762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729182362556458, -1.0727022886276245, 1.0757707357406616, -1.1157246828079224, 0.5860145688056946, -0.27030250430107117, 1.4084259271621704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46606552539606994, 0.8847385628882849, -0.0045388738314616, -3.464323043823242], [-0.8847411079550843, -0.46607786448804944, -0.0021438583603719348, 350.1307678222656], [-0.004012222787339813, 0.003016549789414172, 0.9999874011684711, 15.402674674987793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115779399871826, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975873470306396, -0.8020110726356506, -1.3938742876052856, -1.2543580532073975, -0.46836796402931213, 0.04319162666797638, -1.515131950378418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.572906494140625, -1.0726954936981201, 1.07577645778656, -1.1157301664352417, 0.5860151648521423, -0.2703026235103607, 1.4084259271621704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46625535887228686, 0.8846385398922195, -0.004538067896891619, -3.3623111248016357], [-0.8846396753286785, -0.4662686862436012, -0.002481342990520843, 350.126220703125], [-0.004311050596474069, 0.0028576154443951713, 0.9999866243489093, 15.521183967590332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115779399871826, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975918769836426, -0.8020164370536804, -1.3938721418380737, -1.254358172416687, -0.46836772561073303, 0.04319126531481743, -1.5151320695877075, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729092955589294, -1.0727040767669678, 1.0757731199264526, -1.1157288551330566, 0.5860146880149841, -0.2703021466732025, 1.4084266424179077, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.466163030200597, 0.8846871726425254, -0.004542668375743851, -3.3713650703430176], [-0.8846873293370828, -0.4661770097729443, -0.002706449625657535, 350.122314453125], [-0.004512048827016772, 0.002757194394819064, 0.9999860195494994, 15.599818229675293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115875244140625, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975929498672485, -0.80201655626297, -1.3938724994659424, -1.2543576955795288, -0.4683665335178375, 0.04319126531481743, -1.5151324272155762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729042887687683, -1.0727012157440186, 1.0757756233215332, -1.1157292127609253, 0.5860148072242737, -0.27030226588249207, 1.4084266424179077, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.465741213826101, 0.8849092448113473, -0.004555237776564266, -3.5112462043762207], [-0.8849097059058567, -0.46575508701447466, -0.002647888545440955, 350.12158203125], [-0.004464766220086085, 0.0027977432959608345, 0.999986119151186, 15.578507423400879], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1156835556030273, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975861549377441, -0.8020146489143372, -1.3938748836517334, -1.254359245300293, -0.46836915612220764, 0.04319114610552788, -1.5151325464248657, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729056000709534, -1.0726956129074097, 1.0757758617401123, -1.1157292127609253, 0.5860150456428528, -0.27030250430107117, 1.4084279537200928, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4630497302308427, 0.8863205977502935, -0.004554704897829459, -4.547787189483643], [-0.8863213616017411, -0.46306343246154125, -0.002588722729737428, 350.1104736328125], [-0.004403555561068951, 0.0028382248850909583, 0.9999862764947938, 15.552916526794434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115779399871826, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975927114486694, -0.8020181059837341, -1.3938729763031006, -1.2543574571609497, -0.4683663845062256, 0.04319138452410698, -1.5151324272155762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729044079780579, -1.0727074146270752, 1.075774908065796, -1.1157292127609253, 0.586014449596405, -0.2703023850917816, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4632334640590112, 0.8862244729247292, -0.004576173639068012, -4.450736999511719], [-0.8862247397382579, -0.46324761244572654, -0.0027129760764039615, 350.1094970703125], [-0.004524207305803829, 0.002798776986498294, 0.999985849097693, 15.596656799316406], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115875244140625, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975954532623291, -0.8020185828208923, -1.3938723802566528, -1.2543574571609497, -0.4683670103549957, 0.04319138452410698, -1.515132188796997, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729020833969116, -1.0727094411849976, 1.0757750272750854, -1.1157294511795044, 0.5860150456428528, -0.2703021466732025, 1.4084272384643555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46394642082456317, 0.8858513832971247, -0.004587517264096458, -4.145572185516357], [-0.8858505266211395, -0.4639612981161494, -0.0029594485005860144, 350.10906982421875], [-0.004750062013021161, 0.0026908290448219158, 0.9999850980639281, 15.684202194213867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115779399871826, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975852012634277, -0.8020161390304565, -1.3938740491867065, -1.2543587684631348, -0.4683680832386017, 0.04319126531481743, -1.5151320695877075, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729012489318848, -1.072697639465332, 1.0757770538330078, -1.1157300472259521, 0.5860148072242737, -0.2703023850917816, 1.4084275960922241, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46405537715717227, 0.8857942854776333, -0.00459246629645377, -4.08038854598999], [-0.8857930256592006, -0.46407050932696436, -0.00304599187967353, 350.1082458496094], [-0.004829350373888305, 0.0026544657054341047, 0.9999848154781076, 15.714680671691895], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115875244140625, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975908041000366, -0.8020186424255371, -1.3938730955123901, -1.254358172416687, -0.4683676064014435, 0.04319150745868683, -1.5151320695877075, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729023814201355, -1.0727019309997559, 1.075776219367981, -1.115729808807373, 0.5860149264335632, -0.2703023850917816, 1.4084274768829346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4645852616725197, 0.885516468160371, -0.004595568893890743, -3.8493242263793945], [-0.885515170154798, -0.4646004285720289, -0.0030537184555740815, 350.1104736328125], [-0.004839221259170029, 0.00265073338327467, 0.999984777659208, 15.718342781066895], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115875244140625, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.597588837146759, -0.8020183444023132, -1.393872857093811, -1.2543582916259766, -0.46836820244789124, 0.04319126531481743, -1.5151324272155762, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729025602340698, -1.0726956129074097, 1.0757768154144287, -1.1157293319702148, 0.5860146880149841, -0.27030226588249207, 1.4084270000457764, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46473723416711277, 0.8854366972072136, -0.004599827984087505, -3.7682254314422607], [-0.8854356504699663, -0.4647522873025023, -0.0030033854098476995, 350.1119079589844], [-0.004797088234538607, 0.002677066654629994, 0.9999849105154521, 15.700983047485352], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115875244140625, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975879430770874, -0.80201655626297, -1.3938735723495483, -1.254358172416687, -0.46836891770362854, 0.04319114610552788, -1.515132188796997, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729020237922668, -1.0726996660232544, 1.07577645778656, -1.1157300472259521, 0.5860149264335632, -0.2703021466732025, 1.4084274768829346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46462011998939756, 0.8854981523920478, -0.004600675092556453, -3.794081211090088], [-0.8854978558030778, -0.4646347489254381, -0.002845603476649843, 350.1139221191406], [-0.00465741013753131, 0.0027517633009420694, 0.9999853680577263, 15.645523071289062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115971088409424, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975895524024963, -0.8020172119140625, -1.3938730955123901, -1.2543587684631348, -0.46836844086647034, 0.04319114610552788, -1.5151317119598389, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729017853736877, -1.0726978778839111, 1.0757770538330078, -1.115729808807373, 0.5860145688056946, -0.27030178904533386, 1.408427357673645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46578713032541663, 0.8848847861477174, -0.004611341184685764, -3.3115220069885254], [-0.8848853384537776, -0.4658012967603553, -0.002662653923144737, 350.12139892578125], [-0.0045041106509983745, 0.0028402782750252065, 0.9999858228027856, 15.583568572998047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.115971088409424, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975898504257202, -0.8020177483558655, -1.3938732147216797, -1.2543584108352661, -0.46836820244789124, 0.04319162666797638, -1.515131950378418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729036927223206, -1.0726983547210693, 1.0757763385772705, -1.1157294511795044, 0.5860145688056946, -0.27030226588249207, 1.4084277153015137, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46639499742990775, 0.88456450417739, -0.004619991532964759, -3.0504326820373535], [-0.8845654419051926, -0.4664089659724657, -0.0025798154133024726, 350.1247863769531], [-0.004436818615628731, 0.002883471848898377, 0.9999860000173345, 15.55565357208252], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975897312164307, -0.8020175695419312, -1.3938727378845215, -1.2543582916259766, -0.46836844086647034, 0.04319174587726593, -1.515132188796997, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729027986526489, -1.0726985931396484, 1.07577645778656, -1.1157296895980835, 0.5860148072242737, -0.27030250430107117, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4664028377474725, 0.8845603713582817, -0.0046197796054959816, -3.0275254249572754], [-0.8845614845144742, -0.4664166900499769, -0.00253995204150395, 350.12542724609375], [-0.004401483233420784, 0.00290183826606729, 0.999986103043449, 15.54171085357666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.597590446472168, -0.8020172119140625, -1.3938730955123901, -1.2543586492538452, -0.4683680832386017, 0.04319138452410698, -1.515132188796997, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729019641876221, -1.0726999044418335, 1.0757766962051392, -1.1157300472259521, 0.5860151648521423, -0.2703026235103607, 1.4084268808364868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4663609792092436, 0.8845824057095163, -0.0046265084200242815, -3.024757146835327], [-0.8845834069639705, -0.4663749478363357, -0.0025698549900880384, 350.1247863769531], [-0.004430936132509873, 0.0028940524909293565, 0.9999859955345222, 15.552083969116211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975896120071411, -0.8020181059837341, -1.393872618675232, -1.2543586492538452, -0.46836772561073303, 0.04319150745868683, -1.5151323080062866, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729027986526489, -1.0726985931396484, 1.0757768154144287, -1.115729808807373, 0.5860151648521423, -0.27030202746391296, 1.4084274768829346, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.466167047081834, 0.8846845884632046, -0.004632833980748197, -3.0825016498565674], [-0.8846855421675625, -0.46618108850520734, -0.0025853819419902136, 350.1238708496094], [-0.004446987147378921, 0.0028933813765542504, 0.9999859262257249, 15.557144165039062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975900292396545, -0.8020181059837341, -1.3938724994659424, -1.2543585300445557, -0.46836820244789124, 0.04319150745868683, -1.5151323080062866, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729027986526489, -1.0726990699768066, 1.07577645778656, -1.115729808807373, 0.5860145688056946, -0.2703023850917816, 1.408427119255066, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46657369854274733, 0.8844701444955214, -0.0046419095438761, -2.902653217315674], [-0.884470988671861, -0.46658786458491064, -0.002614348850918171, 350.124755859375], [-0.004478172167606759, 0.0028858479109435693, 0.9999858088272414, 15.568009376525879], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1160669326782227, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975900292396545, -0.8020182251930237, -1.3938729763031006, -1.2543587684631348, -0.4683676064014435, 0.04319126531481743, -1.5151325464248657, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5729022026062012, -1.0726990699768066, 1.0757766962051392, -1.1157301664352417, 0.5860149264335632, -0.2703023850917816, 1.4084270000457764, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.466762608886649, 0.8843704261683486, -0.0046493294293319075, -2.8091230392456055], [-0.8843716458895498, -0.4667765746208643, -0.0025340346922829585, 350.1265869140625], [-0.004411223406047185, 0.0029289424757217093, 0.9999859811037533, 15.540216445922852], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0824096202850342, 2.115875244140625, -0.5234047174453735, -0.02013031393289566, -0.055693868547677994, 0.5975770354270935, -0.8020063638687134, -1.3938785791397095, -1.254364252090454, -0.4683747887611389, 0.04319162666797638, -1.5151329040527344, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.572894811630249, -1.0726897716522217, 1.075781226158142, -1.115740180015564, 0.5860150456428528, -0.27030226588249207, 1.4084316492080688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46532224483002693, 0.8851291842298351, -0.004640656308216167, -3.3633973598480225], [-0.8851310181840162, -0.4653357493306127, -0.0023918702815473657, 350.1238708496094], [-0.004276577471659211, 0.002994598394381605, 0.9999863715399252, 15.487807273864746], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.1160669326782227, -0.5233088731765747, -0.02013031393289566, -0.055693868547677994, 0.5975937247276306, -0.8020251989364624, -1.3938707113265991, -1.2543601989746094, -0.46836748719215393, 0.04319138452410698, -1.5151326656341553, 0.22679999215262278, -0.22679999215262278, 0.22679999215262278, 0.22679999215262278, -0.22679999215262278, -0.22679999215262278, 0.22679999215262278, 0.22679999215262278, -0.572906494140625, -1.0726985931396484, 1.075776219367981, -1.1157307624816895, 0.5860136151313782, -0.27030250430107117, 1.408430576324463, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46622015793034755, 0.8846565158252893, -0.004649015730372261, -3.000235080718994], [-0.8846586382927273, -0.46623350379279227, -0.00232672197605187, 350.1280212402344], [-0.004225876649787447, 0.0030280272382976806, 0.999986486417484, 15.46662712097168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.1161627769470215, -0.5233088731765747, -0.02013031393289566, -0.055693868547677994, 0.5975897312164307, -0.8020171523094177, -1.3938735723495483, -1.254360318183899, -0.46836891770362854, 0.043190907686948776, -1.5151327848434448, 0.512999996117183, -0.512999996117183, 0.512999996117183, 0.512999996117183, -0.512999996117183, -0.512999996117183, 0.512999996117183, 0.512999996117183, -0.572902500629425, -1.0726983547210693, 1.0757768154144287, -1.1157312393188477, 0.5860138535499573, -0.2703023850917816, 1.4084296226501465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46599716537537006, 0.8847739935895894, -0.004649960177188184, -3.0860695838928223], [-0.8847761441362564, -0.4660104990077698, -0.0023215473090104056, 350.1273498535156], [-0.004220974946438023, 0.003032339370676038, 0.999986494053016, 15.464400291442871], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.1160669326782227, -0.5233088731765747, -0.02013031393289566, -0.055693868547677994, 0.5975844860076904, -0.8020179867744446, -1.3938738107681274, -1.254360318183899, -0.46836915612220764, 0.04319126531481743, -1.5151325464248657, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5728960037231445, -1.0726993083953857, 1.0757782459259033, -1.115732192993164, 0.5860139727592468, -0.2703023850917816, 1.4084287881851196, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659976161603483, 0.884773759325187, -0.004649359359010172, -3.0863423347473145], [-0.8847759376946309, -0.4660109259315528, -0.002314517013093018, 350.1274719238281], [-0.004214476178577272, 0.0030350818758836167, 0.9999865131433258, 15.461941719055176], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975869297981262, -0.8020204305648804, -1.3938732147216797, -1.2543599605560303, -0.46836844086647034, 0.04319138452410698, -1.5151325464248657, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5728968381881714, -1.072700023651123, 1.0757778882980347, -1.1157315969467163, 0.5860142111778259, -0.2703021466732025, 1.4084283113479614, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46602199927746435, 0.884760898992476, -0.00465272000675055, -3.077716588973999], [-0.8847629607127845, -0.4660354139219649, -0.0023444234538476053, 350.1271057128906], [-0.004242586496854252, 0.0030240014234251844, 0.9999864278455022, 15.472447395324707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975902080535889, -0.8020200133323669, -1.3938733339309692, -1.254359245300293, -0.46836820244789124, 0.04319150745868683, -1.515132188796997, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5729002952575684, -1.0726999044418335, 1.0757769346237183, -1.1157302856445312, 0.5860137343406677, -0.27030202746391296, 1.4084278345108032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660228122555916, 0.884760469796329, -0.004652906958969542, -3.077483654022217], [-0.8847624566485325, -0.46603628128240837, -0.002362167165529705, 350.1268310546875], [-0.0042583755874227285, 0.003015893606076971, 0.9999863852188755, 15.47866153717041], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975885391235352, -0.8020196557044983, -1.3938730955123901, -1.2543597221374512, -0.4683690369129181, 0.04319138452410698, -1.5151320695877075, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5729005336761475, -1.072698950767517, 1.0757776498794556, -1.115730881690979, 0.5860140919685364, -0.27030226588249207, 1.4084278345108032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659976084834454, 0.8847737525288628, -0.004651421686335589, -3.0871615409851074], [-0.8847757490517487, -0.4660110613765567, -0.0023589329392580045, 350.1268005371094], [-0.004254735905590426, 0.0030162079984160646, 0.9999863997633588, 15.477486610412598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975887775421143, -0.802019476890564, -1.3938734531402588, -1.2543597221374512, -0.468368798494339, 0.04319138452410698, -1.5151327848434448, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5729007124900818, -1.0726990699768066, 1.0757774114608765, -1.1157307624816895, 0.5860139727592468, -0.27030226588249207, 1.4084275960922241, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660225943476741, 0.884760597696217, -0.004650410916918508, -3.0771965980529785], [-0.8847625960005986, -0.46603603930372994, -0.002357708288493219, 350.12689208984375], [-0.004253266479376114, 0.0030157643020037195, 0.999986407352585, 15.477107048034668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.055693868547677994, 0.5975893139839172, -0.8020186424255371, -1.3938733339309692, -1.254359483718872, -0.4683685600757599, 0.04319126531481743, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5747613310813904, -1.0721802711486816, 1.0776304006576538, -1.121410608291626, 0.5799520015716553, -0.2742682099342346, 1.4012330770492554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46599816809453243, 0.8847734527186316, -0.0046523861502176115, -3.086902141571045], [-0.8847755305571712, -0.46601156930789767, -0.0023404697106253684, 350.1270751953125], [-0.0042388512377426225, 0.0030256628267834604, 0.9999864386603665, 15.471020698547363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.1161627769470215, -0.5232130289077759, -0.02013031393289566, -0.05521457642316818, 0.5975903272628784, -0.8020179867744446, -1.3938722610473633, -1.2543590068817139, -0.46836867928504944, 0.04319102689623833, -1.5151317119598389, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5832993984222412, -1.0691403150558472, 1.088234543800354, -1.1375532150268555, 0.5571700930595398, -0.29476556181907654, 1.3678900003433228, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660236126906572, 0.8847600533051275, -0.004651934033981097, -3.0768160820007324], [-0.884762114672637, -0.46603702254466906, -0.0023439406356291345, 350.1271057128906], [-0.004241798527994049, 0.0030235233102744014, 0.9999864326339833, 15.472284317016602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.116929531097412, -0.5228295922279358, -0.02013031393289566, -0.05195538327097893, 0.5975868105888367, -0.802021861076355, -1.393872857093811, -1.2543601989746094, -0.4683690369129181, 0.04319174587726593, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.586148202419281, -1.0735903978347778, 1.0742250680923462, -1.1459192037582397, 0.561133861541748, -0.3211946189403534, 1.3822425603866577, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594563524651167, 0.8848011234301238, -0.004651555816669209, -3.107625722885132], [-0.8848031890514383, -0.4659590403088465, -0.0023429466199006935, 350.1268615722656], [-0.004240476285703162, 0.0030240256694813875, 0.9999864367228292, 15.471793174743652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1201887130737305, -0.5219668745994568, -0.021759910508990288, -0.04668315500020981, 0.5975884199142456, -0.8020147085189819, -1.3938733339309692, -1.254359483718872, -0.46836891770362854, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5766376256942749, -1.0816458463668823, 1.0556819438934326, -1.115551233291626, 0.5692038536071777, -0.35278406739234924, 1.3863043785095215, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660248875884365, 0.8847593848753122, -0.0046513463904785815, -3.0759806632995605], [-0.884761532921325, -0.46603823165622327, -0.0023230362561718673, 350.12744140625], [-0.004223033375692865, 0.003032739652441545, 0.999986484148315, 15.46496868133545], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.125173330307007, -0.520241379737854, -0.025690114125609398, -0.04006890952587128, 0.5975871682167053, -0.8020251393318176, -1.393871784210205, -1.2543597221374512, -0.4683690369129181, 0.04319114610552788, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5563256144523621, -1.088922381401062, 1.044463038444519, -1.080177664756775, 0.5789442658424377, -0.38251882791519165, 1.3948485851287842, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659471455576849, 0.8848003208840335, -0.004652924903403755, -3.1068122386932373], [-0.8848024924180878, -0.46596048350096675, -0.0023188847070740605, 350.1272277832031], [-0.00421982907059591, 0.003036441841427306, 0.9999864864404712, 15.463366508483887], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1305415630340576, -0.517653226852417, -0.0332629457116127, -0.030003754422068596, 0.5975902080535889, -0.8020215034484863, -1.3938722610473633, -1.2543588876724243, -0.46836867928504944, 0.04319114610552788, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5285751223564148, -1.094718337059021, 1.0342049598693848, -1.0367690324783325, 0.5683397650718689, -0.4122849106788635, 1.4041969776153564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659478632381937, 0.8847999277351752, -0.0046558161035209844, -3.1065871715545654], [-0.8848020404668181, -0.4659612618942721, -0.0023348660887370517, 350.1269836425781], [-0.004235319293330167, 0.00303154972343929, 0.9999864357963851, 15.468955039978027], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1357178688049316, -0.5133395791053772, -0.04236951842904091, -0.016775261610746384, 0.5975870490074158, -0.8020214438438416, -1.3938720226287842, -1.2543593645095825, -0.4683680832386017, 0.04319174587726593, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5100569128990173, -1.0987032651901245, 1.0269827842712402, -1.0220187902450562, 0.573047399520874, -0.41942259669303894, 1.4016577005386353, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46592052883624957, 0.8848143239749111, -0.004655415961054889, -3.117427349090576], [-0.8848164674848803, -0.46593390309949734, -0.0023274041432159985, 350.12701416015625], [-0.004228436652882074, 0.0030348033361104394, 0.9999864550543591, 15.466293334960938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.1428115367889404, -0.5087383389472961, -0.05300982668995857, 0.0, 0.5975900292396545, -0.8020129203796387, -1.3938733339309692, -1.2543587684631348, -0.46836820244789124, 0.04319126531481743, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5112442970275879, -1.1006956100463867, 1.0234042406082153, -1.0389283895492554, 0.6004530787467957, -0.4233238101005554, 1.396771788597107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46597340745634486, 0.8847864815916093, -0.004654625254967003, -3.09639835357666], [-0.8847886618752866, -0.46598674977409216, -0.0023179413101330846, 350.1273498535156], [-0.004219876830306976, 0.0030382606403066325, 0.9999864807145238, 15.463079452514648], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.1492340564727783, -0.5052874684333801, -0.06412942707538605, 0.013516068458557129, 0.5975978374481201, -0.8020194172859192, -1.393871784210205, -1.25435209274292, -0.4683631658554077, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5161752700805664, -1.1013097763061523, 1.0146881341934204, -1.0646380186080933, 0.6214689612388611, -0.42238184809684753, 1.397879719734192, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660535026218271, 0.8847442820110194, -0.004657053009396855, -3.0650665760040283], [-0.8847462597310431, -0.4660670043718871, -0.0023671349233236934, 350.1268615722656], [-0.004264807833449904, 0.003017098709239608, 0.9999863541716569, 15.48044490814209], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.152205467224121, -0.5052874684333801, -0.07486559450626373, 0.02406051754951477, 0.5975871086120605, -0.802017867565155, -1.3938723802566528, -1.2543535232543945, -0.468364953994751, 0.04319138452410698, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5347375869750977, -1.1015713214874268, 1.0064955949783325, -1.08024001121521, 0.6524447202682495, -0.42467382550239563, 1.395548701286316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659745150764485, 0.884785889316823, -0.004656325279357673, -3.0968401432037354], [-0.8847880200058518, -0.4659879039063073, -0.0023308940624678334, 350.12713623046875], [-0.004232133432797738, 0.0030337235939730486, 0.9999864426919809, 15.467612266540527], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.156231641769409, -0.508354902267456, -0.0837804526090622, 0.030866481363773346, 0.5975910425186157, -0.8020099401473999, -1.3938732147216797, -1.254353642463684, -0.46836578845977783, 0.04319138452410698, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.553297221660614, -1.0997570753097534, 1.0009034872055054, -1.0861458778381348, 0.6616968512535095, -0.4272247850894928, 1.3930103778839111, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659516765011382, 0.8847979078310508, -0.004658053625051703, -3.105437755584717], [-0.8847999973798113, -0.46596510603466434, -0.0023419211750217188, 350.12689208984375], [-0.004242617407276822, 0.0030302237375058817, 0.9999864088784588, 15.47142505645752], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.1622707843780518, -0.513435423374176, -0.0920242890715599, 0.03374224156141281, 0.5975862741470337, -0.8020101189613342, -1.3938753604888916, -1.2543566226959229, -0.468368798494339, 0.04319150745868683, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.558033287525177, -1.0978392362594604, 0.9954702258110046, -1.095523715019226, 0.6582857966423035, -0.42825424671173096, 1.3919799327850342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46602642492517043, 0.8847585345011887, -0.004659066298414662, -3.0753867626190186], [-0.8847606075401612, -0.46603987209512376, -0.0023462656978749472, 350.1270751953125], [-0.004247189262198119, 0.003028736513650024, 0.9999863939766891, 15.473081588745117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.170802116394043, -0.5172697901725769, -0.09758409112691879, 0.03393395617604256, 0.5975906252861023, -0.8020230531692505, -1.393871784210205, -1.254356026649475, -0.46836772561073303, 0.04319126531481743, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5571348071098328, -1.0965219736099243, 0.9904886484146118, -1.0804601907730103, 0.6580427885055542, -0.43263494968414307, 1.3876855373382568, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46599908133939794, 0.8847729211422455, -0.0046619957374019645, -3.0860140323638916], [-0.8847750355626034, -0.4660125179607135, -0.0023387067173675194, 350.1271057128906], [-0.004241772746329054, 0.003034982262536986, 0.9999863980308105, 15.470375061035156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.178758382797241, -0.5199538469314575, -0.09998056292533875, 0.03355052322149277, 0.5975877046585083, -0.8020183444023132, -1.3938751220703125, -1.2543567419052124, -0.4683690369129181, 0.04319162666797638, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5486856698989868, -1.0945674180984497, 0.9867752194404602, -1.07583487033844, 0.6543186902999878, -0.43263015151023865, 1.3877254724502563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46605304281972204, 0.884744504903382, -0.0046607211617956616, -3.0650534629821777], [-0.8847464655245311, -0.46606658014070335, -0.002373734989293262, 350.1267395019531], [-0.004272355360741611, 0.0030172701600863325, 0.9999863214366748, 15.482744216918945], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.189302921295166, -0.5208165645599365, -0.09921368956565857, 0.0332629457116127, 0.5975955724716187, -0.8020280003547668, -1.3938698768615723, -1.2543563842773438, -0.4683667719364166, 0.04319138452410698, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5378033518791199, -1.0922728776931763, 0.9831774234771729, -1.0747157335281372, 0.6503758430480957, -0.4347163736820221, 1.3855708837509155, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659201588288895, 0.8848144763433053, -0.0046634804797261705, -3.1174275875091553], [-0.8848165321019527, -0.46593364750979616, -0.002353855834808263, 350.1265869140625], [-0.004255598187873057, 0.003029615741182287, 0.9999863555631767, 15.475528717041016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.197930097579956, -0.5216792821884155, -0.0949959084391594, 0.032975371927022934, 0.5975855588912964, -0.8020064234733582, -1.393876075744629, -1.2543576955795288, -0.46836867928504944, 0.04319162666797638, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.524417519569397, -1.092971682548523, 0.9759761095046997, -1.0728759765625, 0.6618981957435608, -0.4392317831516266, 1.3811445236206055, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660037482549828, 0.884770469052406, -0.004660869563938323, -3.084770441055298], [-0.8847723483861384, -0.4660173441632762, -0.002393004447184985, 350.12628173828125], [-0.004289305722858337, 0.003008659467628141, 0.9999862748181215, 15.489398956298828], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2086663246154785, -0.5223503112792969, -0.08703964203596115, 0.02933274395763874, 0.5975953936576843, -0.8020191192626953, -1.393871784210205, -1.2543586492538452, -0.4683670103549957, 0.04319138452410698, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5102084279060364, -1.0957950353622437, 0.9678266048431396, -1.068849802017212, 0.6871386766433716, -0.4409257471561432, 1.3794472217559814, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46597281470776886, 0.8847867438238524, -0.004664108371816794, -3.0967445373535156], [-0.884788689173199, -0.4659863851929005, -0.002379984459245425, 350.1263732910156], [-0.004279189700377984, 0.003017742275026186, 0.9999862907895636, 15.484772682189941], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.2166225910186768, -0.5242674350738525, -0.07745377719402313, 0.021759910508990288, 0.5975862741470337, -0.8020203113555908, -1.3938735723495483, -1.2543588876724243, -0.46836772561073303, 0.04319138452410698, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4965302050113678, -1.1025155782699585, 0.9517402648925781, -1.0605278015136719, 0.7104510068893433, -0.4473198354244232, 1.3730400800704956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660254300335229, 0.8847590388134274, -0.004662810312463201, -3.0762581825256348], [-0.8847609613401434, -0.466039007829365, -0.0023842126344314042, 350.1264953613281], [-0.004282505170483241, 0.003014368816349422, 0.9999862867710255, 15.48635482788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2253456115722656, -0.5285810828208923, -0.06527972966432571, 0.009394146502017975, 0.5975850224494934, -0.802020788192749, -1.3938729763031006, -1.2543597221374512, -0.46836891770362854, 0.04319126531481743, -1.5151315927505493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48369160294532776, -1.111788034439087, 0.9352860450744629, -1.0500863790512085, 0.7422931790351868, -0.45219501852989197, 1.3681217432022095, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659729232578933, 0.8847866801763553, -0.004665337393799402, -3.096928596496582], [-0.8847885621712089, -0.4659865461734829, -0.00239562858421208, 350.1261291503906], [-0.004293604720831169, 0.0030115391102778777, 0.9999862477007814, 15.490246772766113], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2328226566314697, -0.5348119139671326, -0.05425598844885826, -0.0067101046442985535, 0.5975875854492188, -0.802024245262146, -1.393871784210205, -1.2543591260910034, -0.46836820244789124, 0.04319138452410698, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47003257274627686, -1.1172025203704834, 0.9291225671768188, -1.0430009365081787, 0.7624632120132446, -0.4500349760055542, 1.3704272508621216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46597633412290995, 0.8847848781667454, -0.004666412415521455, -3.095797538757324], [-0.884786678602592, -0.4659900209022505, -0.0024153233559821028, 350.1258544921875], [-0.004311543200303284, 0.003003296018977142, 0.9999861953088424, 15.497145652770996], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.2416417598724365, -0.5428640246391296, -0.04457426816225052, -0.02358122542500496, 0.5975772738456726, -0.8020195364952087, -1.3938740491867065, -1.254368543624878, -0.46837177872657776, 0.04319150745868683, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4645841121673584, -1.1192032098770142, 0.9302100539207458, -1.0368961095809937, 0.7739384770393372, -0.44946393370628357, 1.3710289001464844, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594796697062524, 0.8847998392329249, -0.00466224938538097, -3.106853723526001], [-0.8848018555448844, -0.4659614755584718, -0.0023621430314525282, 350.1265563964844], [-0.0042624523775080655, 0.0030245311639989438, 0.99998634176221, 15.478486061096191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.251802682876587, -0.5524498820304871, -0.03987719491124153, -0.040835779160261154, 0.5976001024246216, -0.8020310401916504, -1.3938666582107544, -1.254359483718872, -0.4683641195297241, 0.04319162666797638, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4729023575782776, -1.1196000576019287, 0.9361670017242432, -1.0366297960281372, 0.7896692156791687, -0.4516461193561554, 1.3687117099761963, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594656848199567, 0.8848005470968641, -0.0046676736114682205, -3.107375383377075], [-0.8848026409593668, -0.4659600566759403, -0.0023477934075427677, 350.12677001953125], [-0.004252278352008774, 0.0030360236568142225, 0.9999863502514283, 15.473442077636719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.25937557220459, -0.5667328238487244, -0.04064406082034111, -0.057131748646497726, 0.5975839495658875, -0.8020180463790894, -1.393872857093811, -1.25436270236969, -0.4683685600757599, 0.04319162666797638, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.482217401266098, -1.1162172555923462, 0.9467438459396362, -1.0486979484558105, 0.7941325306892395, -0.4402090907096863, 1.3802741765975952, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594990426558214, 0.8847988141608779, -0.00466317213916632, -3.1064705848693848], [-0.884800917118455, -0.46596335704687886, -0.0023424252270542803, 350.12689208984375], [-0.0042454424076115655, 0.003034526175120361, 0.9999863838421282, 15.471582412719727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.2689614295959473, -0.5826453566551208, -0.04649144038558006, -0.0708395317196846, 0.5975984930992126, -0.8020235896110535, -1.393869400024414, -1.2543590068817139, -0.46836531162261963, 0.04319126531481743, -1.5151315927505493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5021396279335022, -1.1126726865768433, 0.9535238742828369, -1.055298089981079, 0.7958813905715942, -0.4281110167503357, 1.3922783136367798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46589531309958465, 0.8848275452868791, -0.004666083307812237, -3.127812147140503], [-0.8848297935381683, -0.46590868054264134, -0.002310381400704202, 350.127197265625], [-0.004218257820706405, 0.0030522936638228545, 0.9999864448103023, 15.46025276184082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.277301073074341, -0.6026798486709595, -0.056173160672187805, -0.0820549950003624, 0.5975838303565979, -0.8020041584968567, -1.3938770294189453, -1.254360556602478, -0.4683704674243927, 0.04319126531481743, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5304415225982666, -1.1114338636398315, 0.9613162875175476, -1.0594816207885742, 0.812621533870697, -0.429367333650589, 1.3909378051757812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659753498529273, 0.8847854171136353, -0.004662509248470392, -3.0962862968444824], [-0.8847875757138178, -0.4659887582990627, -0.0023287338539722865, 350.1271667480469], [-0.0042331066495861274, 0.0030401976823782816, 0.9999864189108496, 15.466837882995605], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2880373001098633, -0.622043251991272, -0.06662175059318542, -0.088956817984581, 0.597603976726532, -0.8020215034484863, -1.3938692808151245, -1.2543578147888184, -0.4683656692504883, 0.04319150745868683, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5595386028289795, -1.1099214553833008, 0.9825695753097534, -1.0721088647842407, 0.8561597466468811, -0.42589932680130005, 1.3946008682250977, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4658982351776626, 0.884825997359107, -0.004667853446846335, -3.126370429992676], [-0.8848282454904116, -0.4659116140615982, -0.0023116800982366697, 350.1271667480469], [-0.004220241782120628, 0.0030532408975156226, 0.9999864335476367, 15.460707664489746], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.296281099319458, -0.6434197425842285, -0.07985024899244308, -0.08962782472372055, 0.5975828170776367, -0.8019981980323792, -1.3938796520233154, -1.2543585300445557, -0.46837323904037476, 0.04319150745868683, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5688081979751587, -1.1085011959075928, 1.000177025794983, -1.075374960899353, 0.8603671789169312, -0.41722431778907776, 1.4032557010650635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46600336457171876, 0.8847706585363149, -0.004663260774818758, -3.0848915576934814], [-0.8847729253484341, -0.46601669953185465, -0.002303546789546631, 350.1276550292969], [-0.0042112680052937826, 0.0030524663230218872, 0.9999864737440874, 15.45806884765625], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3079757690429688, -0.6618245840072632, -0.09058641642332077, -0.0837804526090622, 0.59759920835495, -0.802006721496582, -1.393875241279602, -1.2543554306030273, -0.46836867928504944, 0.04319162666797638, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5625366568565369, -1.1079397201538086, 1.009346604347229, -1.0660673379898071, 0.8423659205436707, -0.418996661901474, 1.4014010429382324, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659509958363859, 0.8847982275697293, -0.0046654012202325635, -3.105100631713867], [-0.8848005496820175, -0.4659643048137754, -0.0022921434978291646, 350.1276550292969], [-0.00420199494047773, 0.0030599230187355313, 0.9999864899635592, 15.453972816467285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.3145902156829834, -0.6756282448768616, -0.09739237278699875, -0.07802893221378326, 0.5975892543792725, -0.8019824624061584, -1.3938803672790527, -1.254347324371338, -0.46836820244789124, 0.04319102689623833, -1.5151313543319702, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5622168183326721, -1.108019471168518, 1.0090261697769165, -1.0659335851669312, 0.8424937725067139, -0.41925156116485596, 1.401161551475525, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660592389081821, 0.8847412039396075, -0.004667748902832654, -3.0628323554992676], [-0.8847434012905865, -0.4660726524204186, -0.0023230451050301627, 350.1275634765625], [-0.004230803835006111, 0.00304708340706283, 0.9999864076984347, 15.464985847473145], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0792462825775146, 2.317753553390503, -0.6803253293037415, -0.09959712624549866, -0.07659105211496353, 0.5975905060768127, -0.802010715007782, -1.3938775062561035, -1.2543513774871826, -0.46836844086647034, 0.04319102689623833, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5624095797538757, -1.107993245124817, 1.0089000463485718, -1.0660545825958252, 0.8427929878234863, -0.4192443788051605, 1.4011867046356201, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595029829206314, 0.8847985736453226, -0.0046694321645794, -3.1058998107910156], [-0.8848009500673333, -0.4659635935783164, -0.0022821523887536234, 350.1278076171875], [-0.004195030569788067, 0.0030681484292071222, 0.9999864940006614, 15.450460433959961], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0785752534866333, 2.3195748329162598, -0.6827217936515808, -0.10093914717435837, -0.07563246786594391, 0.5975926518440247, -0.8020141124725342, -1.3938759565353394, -1.2543516159057617, -0.46836772561073303, 0.04319150745868683, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5624232888221741, -1.1080029010772705, 1.0088818073272705, -1.0660773515701294, 0.842820942401886, -0.4192325174808502, 1.4012104272842407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659768970223621, 0.8847845617250124, -0.004670200690366471, -3.0953497886657715], [-0.8847869612843992, -0.4659901800991644, -0.002277101725306627, 350.12799072265625], [-0.004191012112831807, 0.003071055881255003, 0.9999865019255232, 15.448739051818848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0783835649490356, 2.320054054260254, -0.6841596961021423, -0.10180187225341797, -0.07524903118610382, 0.5975899696350098, -0.8020174503326416, -1.3938757181167603, -1.2543537616729736, -0.46836796402931213, 0.04319150745868683, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5624208450317383, -1.108002781867981, 1.0088850259780884, -1.0660812854766846, 0.8428324460983276, -0.4192214906215668, 1.4012243747711182, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659777972440975, 0.8847840935921504, -0.0046690686282741065, -3.095113515853882], [-0.8847864734114715, -0.46599108747621654, -0.0022809780411691375, 350.1279296875], [-0.004193917456249972, 0.0030682436425406327, 0.9999864983775132, 15.450101852416992], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.077904224395752, 2.3202457427978516, -0.6849265098571777, -0.10208944976329803, -0.07496145367622375, 0.597589910030365, -0.8020176887512207, -1.3938754796981812, -1.254356026649475, -0.4683680832386017, 0.04319138452410698, -1.5151326656341553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5624199509620667, -1.1080025434494019, 1.0088889598846436, -1.06608247756958, 0.8428343534469604, -0.41921260952949524, 1.4012309312820435, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46600264385110846, 0.8847710022285161, -0.004670068449632915, -3.0851619243621826], [-0.8847734135581948, -0.46601591723350566, -0.002274103250457888, 350.12811279296875], [-0.004188386844177691, 0.0030722142766283667, 0.9999865093665424, 15.447737693786621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0777125358581543, 2.320437431335449, -0.6851182579994202, -0.10247288644313812, -0.07486559450626373, 0.5975899696350098, -0.8020181059837341, -1.3938742876052856, -1.254356861114502, -0.4683676064014435, 0.04319114610552788, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5624181032180786, -1.1080039739608765, 1.0088924169540405, -1.0660820007324219, 0.8428336381912231, -0.41920650005340576, 1.4012328386306763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595252718205304, 0.8847973897164123, -0.0046713556577457575, -3.1050519943237305], [-0.8847997923473047, -0.46596581565067896, -0.0022773026069555897, 350.1278991699219], [-0.004191643451484603, 0.0030720996110846187, 0.9999864960733996, 15.448760986328125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0776166915893555, 2.320533275604248, -0.6853099465370178, -0.1023770272731781, -0.07486559450626373, 0.5975897312164307, -0.8020174503326416, -1.3938742876052856, -1.2543574571609497, -0.4683678448200226, 0.04319150745868683, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5638803243637085, -1.1082130670547485, 1.0113993883132935, -1.0755205154418945, 0.8392607569694519, -0.41889718174934387, 1.391013503074646, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595225426964815, 0.8847975274573351, -0.0046724882471259, -3.105175256729126], [-0.8847999747140856, -0.4659655172722259, -0.0022674785954261614, 350.1280517578125], [-0.004183477857815914, 0.003077680719861863, 0.9999865131062518, 15.445317268371582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0780000686645508, 2.3203415870666504, -0.6870354413986206, -0.10256874561309814, -0.0751531720161438, 0.5975921750068665, -0.8020209074020386, -1.3938703536987305, -1.2543578147888184, -0.4683670103549957, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5607045888900757, -1.1102328300476074, 1.0183236598968506, -1.0954121351242065, 0.8290224075317383, -0.43223467469215393, 1.376671552658081, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46600872519842174, 0.8847677796112898, -0.004673777984685428, -3.082990884780884], [-0.8847700865887499, -0.46602209860975363, -0.0023016266198343373, 350.1277160644531], [-0.004214488898784233, 0.003062640865214968, 0.9999864290650412, 15.457374572753906], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0789586305618286, 2.3179452419281006, -0.6918283700942993, -0.1023770272731781, -0.07668691128492355, 0.5975899696350098, -0.8020378351211548, -1.3938677310943604, -1.2543585300445557, -0.46836626529693604, 0.04319150745868683, -1.5151317119598389, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5599331259727478, -1.1174933910369873, 1.0146856307983398, -1.1041698455810547, 0.8523494601249695, -0.44055652618408203, 1.380721092224121, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659525599357359, 0.8847973647441799, -0.004672818323969117, -3.105376720428467], [-0.884799847593294, -0.4659657988399857, -0.0022592056784266766, 350.128173828125], [-0.0041763127538494045, 0.003081826271594765, 0.9999865302885903, 15.44242000579834], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0801090002059937, 2.314781904220581, -0.6987301707267761, -0.10247288644313812, -0.07898751646280289, 0.5975857377052307, -0.801985502243042, -1.3938772678375244, -1.254361629486084, -0.4683690369129181, 0.04319138452410698, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5584840774536133, -1.1266721487045288, 1.0057209730148315, -1.1145646572113037, 0.8740381598472595, -0.4417651295661926, 1.3784403800964355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.466060175146336, 0.884740702616913, -0.004669290684657006, -3.062605857849121], [-0.8847430904091801, -0.46607346029017127, -0.0022789441325644175, 350.12823486328125], [-0.004192507099568488, 0.0030689975687905485, 0.9999865019779731, 15.449542045593262], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080492377281189, 2.3151652812957764, -0.7071657180786133, -0.10352732986211777, -0.0820549950003624, 0.5975916981697083, -0.8020137548446655, -1.3938735723495483, -1.2543658018112183, -0.46836844086647034, 0.04319150745868683, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5616269707679749, -1.1328068971633911, 1.0045413970947266, -1.124469518661499, 0.892475426197052, -0.43508368730545044, 1.385082721710205, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659827714782456, 0.8847814600688161, -0.0046716810621899255, -3.0928256511688232], [-0.8847839741529402, -0.46599597971645346, -0.002250771030510175, 350.12841796875], [-0.004168425072153383, 0.0030846080134193533, 0.9999865546225216, 15.439526557922363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0809717178344727, 2.31880784034729, -0.7177101969718933, -0.10544450581073761, -0.0846431776881218, 0.5975878834724426, -0.8020113706588745, -1.3938745260238647, -1.2543658018112183, -0.4683697521686554, 0.04319126531481743, -1.5151314735412598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5713542699813843, -1.1363781690597534, 1.0098854303359985, -1.1390783786773682, 0.903713047504425, -0.4293659031391144, 1.3907970190048218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659818378105063, 0.8847819584105932, -0.004670428444845985, -3.0932374000549316], [-0.8847845838549093, -0.4659949551585538, -0.002223047339190451, 350.12884521484375], [-0.004143308272135625, 0.0030964234033414636, 0.9999866224898557, 15.429821968078613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.3255178928375244, -0.7296925187110901, -0.10860783606767654, -0.08646449446678162, 0.597594678401947, -0.8020155429840088, -1.3938735723495483, -1.2543612718582153, -0.4683678448200226, 0.04319126531481743, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5831173062324524, -1.1394309997558594, 1.016979455947876, -1.1569602489471436, 0.9123468399047852, -0.42361515760421753, 1.3966116905212402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598322183015606, 0.8847812158590714, -0.00467301141992116, -3.0928430557250977], [-0.8847837024789704, -0.46599645894458397, -0.00225833538542245, 350.1282958984375], [-0.004175739502422503, 0.003082257946972154, 0.9999865313520758, 15.442171096801758], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.3323240280151367, -0.7438796162605286, -0.11148359626531601, -0.08780651539564133, 0.5975888967514038, -0.8020209670066833, -1.3938738107681274, -1.254361867904663, -0.4683692753314972, 0.04319126531481743, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5942049026489258, -1.1448074579238892, 1.0213319063186646, -1.1759153604507446, 0.9222323894500732, -0.4265776574611664, 1.3936784267425537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659585634060037, 0.884794208536673, -0.004671801427229497, -3.102785110473633], [-0.8847966776513553, -0.4659718058318729, -0.002261722110941965, 350.1281433105469], [-0.00417808637261484, 0.003079725595821406, 0.9999865293515295, 15.443315505981445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081642746925354, 2.344210386276245, -0.7609424591064453, -0.11522208154201508, -0.08866924047470093, 0.5975902080535889, -0.8020196557044983, -1.393872857093811, -1.2543619871139526, -0.46837010979652405, 0.04319126531481743, -1.5151325464248657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.596673309803009, -1.1476746797561646, 1.0312156677246094, -1.1800769567489624, 0.9095739126205444, -0.42302072048187256, 1.3973276615142822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660573073743697, 0.8847422112527812, -0.004669675630213188, -3.0632119178771973], [-0.884744728921807, -0.46607049941361467, -0.002248159563274342, 350.1286926269531], [-0.004165439716333474, 0.0030836997069981563, 0.999986569863859, 15.438755989074707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.3561928272247314, -0.7741709351539612, -0.11857713758945465, -0.08818994462490082, 0.5975874066352844, -0.8020218014717102, -1.3938734531402588, -1.2543585300445557, -0.46836939454078674, 0.04319126531481743, -1.5151324272155762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5901152491569519, -1.146744966506958, 1.0372939109802246, -1.1531057357788086, 0.8679220080375671, -0.41229796409606934, 1.4079844951629639, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595671593575094, 0.8847951823297158, -0.004671637881402663, -3.1030540466308594], [-0.884797645068698, -0.46596996202067364, -0.0022631339638395807, 350.12811279296875], [-0.0041792529543435535, 0.0030789317265654476, 0.9999865269213215, 15.443806648254395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0793421268463135, 2.3716259002685547, -0.7891249060630798, -0.12260320037603378, -0.0846431776881218, 0.5976009964942932, -0.8020230531692505, -1.393869400024414, -1.2543559074401855, -0.4683666527271271, 0.04319174587726593, -1.5151324272155762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5863590836524963, -1.1490875482559204, 1.0351430177688599, -1.13469660282135, 0.8503940105438232, -0.39984598755836487, 1.4204473495483398, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595588925001397, 0.884795606484241, -0.0046737585958711685, -3.1033496856689453], [-0.8847981367055584, -0.4659690991663472, -0.0022485338500510517, 350.12835693359375], [-0.004167319954195327, 0.003087615307429101, 0.9999865499476044, 15.43868637084961], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0774250030517578, 2.3884971141815186, -0.8045580983161926, -0.12691684067249298, -0.07975438982248306, 0.5975989103317261, -0.8020111918449402, -1.3938723802566528, -1.254355788230896, -0.4683667719364166, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5911075472831726, -1.1536177396774292, 1.034252643585205, -1.1347413063049316, 0.8613607883453369, -0.3967152237892151, 1.4235992431640625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660344859561918, 0.884754224553198, -0.004671192012513853, -3.0724446773529053], [-0.8847567322772603, -0.46604769532051527, -0.002251749653259752, 350.1285705566406], [-0.004169243290189444, 0.003083475588672454, 0.9999865547039526, 15.439967155456543], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0751243829727173, 2.406135082244873, -0.8215250968933105, -0.12883400917053223, -0.07486559450626373, 0.5975867509841919, -0.801998496055603, -1.3938785791397095, -1.2543563842773438, -0.46836987137794495, 0.04319138452410698, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6087285280227661, -1.1574020385742188, 1.035610318183899, -1.142048716545105, 0.8767321109771729, -0.3937384784221649, 1.4266836643218994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659866131676629, 0.8847794426362771, -0.004670571353636168, -3.0915584564208984], [-0.8847819598581008, -0.46599981189393813, -0.002249183067696016, 350.1284484863281], [-0.004166516313254704, 0.003084348075817591, 0.9999865633791079, 15.438981056213379], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0721527338027954, 2.422430992126465, -0.8403133749961853, -0.12854643166065216, -0.06940165162086487, 0.5975833535194397, -0.8020200133323669, -1.3938735723495483, -1.2543580532073975, -0.46836796402931213, 0.04319114610552788, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6209482550621033, -1.159382700920105, 1.04109787940979, -1.1569712162017822, 0.8773417472839355, -0.3859490752220154, 1.4344943761825562, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660089407512893, 0.884767678411021, -0.004671442928360102, -3.08270263671875], [-0.8847702889385832, -0.46602207556999087, -0.0022273062144646683, 350.12884521484375], [-0.004147644077863477, 0.003095209299753825, 0.9999866082743278, 15.431360244750977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.068605899810791, 2.439685583114624, -0.8591016530990601, -0.12499966472387314, -0.06326670199632645, 0.597584068775177, -0.8020218014717102, -1.393872857093811, -1.254357099533081, -0.4683665335178375, 0.04319162666797638, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6202566623687744, -1.162322759628296, 1.0441454648971558, -1.1559960842132568, 0.8689834475517273, -0.37919849157333374, 1.4412460327148438, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659591332084403, 0.8847939074255405, -0.004671997675868206, -3.1023683547973633], [-0.8847964693120555, -0.4659723082360441, -0.0022396093619840925, 350.1285095214844], [-0.004158614259594467, 0.003090200611206701, 0.9999865782037389, 15.43557357788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0656343698501587, 2.4560775756835938, -0.8787527084350586, -0.11857713758945465, -0.05761104077100754, 0.597589910030365, -0.8020217418670654, -1.393871784210205, -1.254356861114502, -0.4683663845062256, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6225148439407349, -1.1644948720932007, 1.0463473796844482, -1.1430206298828125, 0.8513233661651611, -0.381814181804657, 1.4385648965835571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659592487624147, 0.8847938427371613, -0.004672723742446361, -3.102424144744873], [-0.8847963525673082, -0.4659724670679599, -0.002252646928917365, 350.1282958984375], [-0.004170488742761623, 0.003084767253145906, 0.9999865455268088, 15.440135955810547], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0632379055023193, 2.4719901084899902, -0.8969658613204956, -0.11023743450641632, -0.05291396751999855, 0.5975928902626038, -0.8020446300506592, -1.3938652276992798, -1.2543573379516602, -0.4683647155761719, 0.04319162666797638, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6233819127082825, -1.1648131608963013, 1.0471208095550537, -1.1381251811981201, 0.8410077095031738, -0.38497763872146606, 1.4354604482650757, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46587751940706146, 0.8848368693899972, -0.004674556581360633, -3.1347532272338867], [-0.8848395772941479, -0.46589060244134806, -0.0022065835020690814, 350.12872314453125], [-0.004130298419854696, 0.003108235021180229, 0.9999866396657587, 15.423850059509277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0628544092178345, 2.4804255962371826, -0.9084689021110535, -0.1066906675696373, -0.05022992566227913, 0.5975870490074158, -0.8020145893096924, -1.3938723802566528, -1.2543591260910034, -0.4683683216571808, 0.043190907686948776, -1.5151324272155762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6232266426086426, -1.1647896766662598, 1.0470906496047974, -1.1386382579803467, 0.8418654203414917, -0.3848303556442261, 1.4355469942092896, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659542631961633, 0.8847964614352254, -0.004674017653424442, -3.1045520305633545], [-0.8847991431268163, -0.4659673618280915, -0.0022122461481913786, 350.12890625], [-0.004135327238847553, 0.003104761290720495, 0.9999866296735949, 15.42597770690918], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.062279224395752, 2.4834930896759033, -0.9123032093048096, -0.10486935079097748, -0.04898376390337944, 0.5975897312164307, -0.8020185828208923, -1.3938710689544678, -1.2543585300445557, -0.46836772561073303, 0.04319138452410698, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6232230067253113, -1.1647683382034302, 1.047031044960022, -1.1386641263961792, 0.8419467806816101, -0.3847407102584839, 1.435651183128357, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595102347668504, 0.884798166162409, -0.004674278197530418, -3.1057162284851074], [-0.884800810754314, -0.46596415162766824, -0.0022214154082234004, 350.1287536621094], [-0.004143550354264952, 0.003100734355837556, 0.999986608128787, 15.429181098937988], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0621833801269531, 2.484835147857666, -0.91422039270401, -0.10419833660125732, -0.04840861260890961, 0.5975883603096008, -0.8020170331001282, -1.3938719034194946, -1.2543587684631348, -0.46836820244789124, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.623209536075592, -1.164766550064087, 1.0470232963562012, -1.1386858224868774, 0.8419623970985413, -0.3847229778766632, 1.4356821775436401, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659507707818966, 0.8847982991422496, -0.004674295961812442, -3.105829954147339], [-0.8848009086380565, -0.4659639252727168, -0.0022298918609912227, 350.1286315917969], [-0.004151057820128714, 0.003096801482865709, 0.9999865891798498, 15.432147979736328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0618000030517578, 2.4857935905456543, -0.9154665470123291, -0.10371904820203781, -0.04812103509902954, 0.5975903868675232, -0.8020175099372864, -1.3938719034194946, -1.2543587684631348, -0.4683680832386017, 0.04319138452410698, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6232113242149353, -1.1647670269012451, 1.047019362449646, -1.1386845111846924, 0.8419628739356995, -0.38472071290016174, 1.4356889724731445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659521333561627, 0.8847975818663744, -0.004674242639951016, -3.1052474975585938], [-0.8848001661615659, -0.46596530627104427, -0.0022359141748770845, 350.1285400390625], [-0.004156366358501944, 0.0030939416847228732, 0.9999865759816706, 15.434259414672852], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.061704158782959, 2.486464738845825, -0.9160417318344116, -0.10362318903207779, -0.04802517592906952, 0.5975892543792725, -0.8020177483558655, -1.3938722610473633, -1.2543588876724243, -0.4683678448200226, 0.04319126531481743, -1.5151327848434448, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6234522461891174, -1.1647732257843018, 1.046854019165039, -1.1389658451080322, 0.8418228626251221, -0.3845182955265045, 1.435523509979248, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659517827264241, 0.8847977650170135, -0.004674526175409862, -3.1054506301879883], [-0.8848004107684291, -0.46596491160649123, -0.0022213184314413955, 350.1287536621094], [-0.004143582759657531, 0.003100995397017237, 0.9999866071850471, 15.429147720336914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0610331296920776, 2.487231492996216, -0.9160417318344116, -0.10362318903207779, -0.04812103509902954, 0.5975807905197144, -0.8020147681236267, -1.3938747644424438, -1.254362940788269, -0.4683704674243927, 0.04319126531481743, -1.5151326656341553, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6484888195991516, -1.1663146018981934, 1.0373538732528687, -1.1728676557540894, 0.8314800262451172, -0.3662880063056946, 1.4117703437805176, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46592728841451647, 0.884810667402706, -0.004673837938308264, -3.1150875091552734], [-0.8848133402798054, -0.46594039271797194, -0.0022143388888958863, 350.1287841796875], [-0.004137000554615246, 0.00310375324398694, 0.9999866258816723, 15.426660537719727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0561443567276, 2.4879984855651855, -0.9137411117553711, -0.10601965337991714, -0.051763664931058884, 0.5975821018218994, -0.8019919991493225, -1.3938802480697632, -1.2543628215789795, -0.46837323904037476, 0.04319138452410698, -1.5151325464248657, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6648074388504028, -1.1656546592712402, 1.0454626083374023, -1.1822067499160767, 0.8477019667625427, -0.35097384452819824, 1.4154397249221802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659569629255138, 0.8847950482009955, -0.0046724062568436935, -3.10266375541687], [-0.8847977237212876, -0.46597005575021, -0.002212519327355727, 350.12890625], [-0.0041348275488824315, 0.003103195634167726, 0.9999866365997083, 15.426082611083984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0458874702453613, 2.489436149597168, -0.908277153968811, -0.11177117377519608, -0.05847376957535744, 0.597594141960144, -0.8020272850990295, -1.393873929977417, -1.254360318183899, -0.468368798494339, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.66858971118927, -1.1660956144332886, 1.0543755292892456, -1.1773394346237183, 0.8678080439567566, -0.3468667268753052, 1.436409592628479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46597888754101824, 0.8847834824837619, -0.00467605495493544, -3.0936379432678223], [-0.8847861209813334, -0.4659920315110506, -0.002224114882287747, 350.1288146972656], [-0.004146864458902194, 0.0031009179464610045, 0.9999865938216616, 15.43017292022705], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.036301612854004, 2.489436149597168, -0.9023339152336121, -0.1179061233997345, -0.06460872292518616, 0.5975815653800964, -0.8020213842391968, -1.3938757181167603, -1.2543593645095825, -0.4683695137500763, 0.04319138452410698, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6668719053268433, -1.1664466857910156, 1.0596495866775513, -1.1677157878875732, 0.8683129549026489, -0.3452136218547821, 1.454970121383667, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659273764386105, 0.8848106017209357, -0.004677495833138831, -3.115115165710449], [-0.8848131232175777, -0.4659406171820253, -0.002253495504627578, 350.128173828125], [-0.004173352008784009, 0.003088744448669444, 0.9999865213045331, 15.440359115600586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0259488821029663, 2.489436149597168, -0.8965824246406555, -0.12317834794521332, -0.06949751079082489, 0.5975934863090515, -0.8020228743553162, -1.393872857093811, -1.2543576955795288, -0.4683665335178375, 0.04319150745868683, -1.515132188796997, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.652032732963562, -1.1690374612808228, 1.0599535703659058, -1.1466503143310547, 0.8617528676986694, -0.3472074568271637, 1.4716511964797974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595334582477066, 0.8847969158200354, -0.004679451896812387, -3.1050662994384766], [-0.8847995140613621, -0.4659665420142356, -0.002236434678819579, 350.1285095214844], [-0.00415925852513216, 0.00309830254305859, 0.9999865504544913, 15.434428215026855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.020676612854004, 2.488765239715576, -0.8911184668540955, -0.12940916419029236, -0.07285256683826447, 0.5975924134254456, -0.8020231127738953, -1.393871784210205, -1.2543563842773438, -0.4683654308319092, 0.04319162666797638, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6373024582862854, -1.175085186958313, 1.0523416996002197, -1.127282738685608, 0.8647935390472412, -0.3423368036746979, 1.478191614151001, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659054208257625, 0.8848221458875397, -0.004680704235284939, -3.1243488788604736], [-0.8848247805262904, -0.4659185983532026, -0.0022287833426231393, 350.12847900390625], [-0.00415290401654807, 0.0031032008565201915, 0.9999865616760424, 15.431655883789062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0199097394943237, 2.4880943298339844, -0.8864213824272156, -0.1356399804353714, -0.0751531720161438, 0.5975835919380188, -0.8020130395889282, -1.3938735723495483, -1.254358172416687, -0.4683668911457062, 0.04319126531481743, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.632804274559021, -1.1811881065368652, 1.0467841625213623, -1.1204487085342407, 0.8841937184333801, -0.325601190328598, 1.4944761991500854, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659556992189253, 0.8847956804169904, -0.004678705038530401, -3.1044528484344482], [-0.8847983479748607, -0.4659688387638248, -0.0022191714783464573, 350.1287841796875], [-0.004143644091867999, 0.003105674890873736, 0.9999865924086743, 15.428390502929688], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.020580768585205, 2.4886693954467773, -0.8803822994232178, -0.14052876830101013, -0.07563246786594391, 0.5975888967514038, -0.8020125031471252, -1.3938742876052856, -1.2543574571609497, -0.4683670103549957, 0.04319162666797638, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6332176923751831, -1.1847916841506958, 1.0515360832214355, -1.1068503856658936, 0.9025683999061584, -0.30886295437812805, 1.5113180875778198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595879193261625, 0.8847940563286537, -0.004677831354807425, -3.1027936935424805], [-0.8847967507974371, -0.46597190560358315, -0.0022120050775651986, 350.12890625], [-0.004136906935690297, 0.00310822676982089, 0.9999866123740622, 15.42588996887207], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.023552417755127, 2.4913535118103027, -0.8735763430595398, -0.14359624683856964, -0.073427714407444, 0.5975870490074158, -0.8020159006118774, -1.393874168395996, -1.2543578147888184, -0.46836724877357483, 0.04319138452410698, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.635107159614563, -1.1872520446777344, 1.0563734769821167, -1.094103217124939, 0.9062008261680603, -0.286686509847641, 1.5335228443145752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595817138560736, 0.8847943757588262, -0.004679224778753753, -3.103031635284424], [-0.8847970723260417, -0.4659712925049495, -0.002212547068921931, 350.12890625], [-0.004138033620760874, 0.003109209998657343, 0.9999866046557512, 15.426074028015137], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0266199111938477, 2.4930789470672607, -0.8648532032966614, -0.1442672461271286, -0.0673886239528656, 0.5975878834724426, -0.8020190000534058, -1.393872618675232, -1.2543584108352661, -0.4683668911457062, 0.04319138452410698, -1.515131950378418, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6351568102836609, -1.1868956089019775, 1.0610207319259644, -1.0890295505523682, 0.8903575539588928, -0.28366923332214355, 1.5364916324615479, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46593149882909524, 0.8848084183361895, -0.0046798760969790285, -3.113654375076294], [-0.8848111389823918, -0.46594460627071776, -0.002207310559889419, 350.12890625], [-0.004133609990675165, 0.003112350982113918, 0.9999866131803011, 15.424188613891602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0308376550674438, 2.4930789470672607, -0.8551715016365051, -0.14369210600852966, -0.05856962874531746, 0.5975834131240845, -0.8020152449607849, -1.3938746452331543, -1.254360556602478, -0.4683680832386017, 0.04319150745868683, -1.5151320695877075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.640479326248169, -1.1822108030319214, 1.0634546279907227, -1.0937705039978027, 0.8855321407318115, -0.28423142433166504, 1.5359288454055786, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46600871871354577, 0.8847677611973862, -0.004677908584401042, -3.0830912590026855], [-0.884770458875673, -0.46602183006881504, -0.0022111083744429127, 350.12908935546875], [-0.004136324925617842, 0.003108479544288026, 0.9999866139959237, 15.425667762756348], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0336174964904785, 2.4930789470672607, -0.8472152352333069, -0.14244593679904938, -0.05022992566227913, 0.5975825190544128, -0.8020208477973938, -1.3938734531402588, -1.2543638944625854, -0.46836796402931213, 0.04319150745868683, -1.5151323080062866, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6410462260246277, -1.1816215515136719, 1.0636271238327026, -1.0936607122421265, 0.8850191831588745, -0.2842645049095154, 1.5358879566192627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659564810772332, 0.8847952603641357, -0.004680275556358418, -3.103508949279785], [-0.8847981661477401, -0.46596945037054693, -0.0021625223620463387, 350.1296691894531], [-0.004094254964949094, 0.003133457919262084, 0.999986709170552, 15.408552169799805], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0348637104034424, 2.492983102798462, -0.8434767127037048, -0.14177492260932922, -0.04677901417016983, 0.5975801348686218, -0.8020210862159729, -1.3938732147216797, -1.2543667554855347, -0.46836820244789124, 0.04319114610552788, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408855319023132, -1.181707501411438, 1.0635864734649658, -1.0935496091842651, 0.8852026462554932, -0.2842656970024109, 1.5358877182006836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659555021549915, 0.8847957823187401, -0.0046790599973052915, -3.103985548019409], [-0.884798708427977, -0.46596844799302395, -0.002156626800385502, 350.1297607421875], [-0.004088468622027241, 0.0031351341185381965, 0.9999867275911143, 15.406489372253418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0356305837631226, 2.4926955699920654, -0.841655433177948, -0.14139148592948914, -0.04505356028676033, 0.5975831151008606, -0.8020223379135132, -1.393872618675232, -1.2543668746948242, -0.46836820244789124, 0.04319126531481743, -1.5151318311691284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408576965332031, -1.1817299127578735, 1.0635640621185303, -1.093540906906128, 0.8852546811103821, -0.28426533937454224, 1.535889744758606, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659568908848337, 0.884795054794301, -0.004678338218740737, -3.1034486293792725], [-0.8847980015439666, -0.4659698161825565, -0.0021510161778914697, 350.1298522949219], [-0.00408317287680736, 0.003137103495995277, 0.9999867430525834, 15.404529571533203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.035918116569519, 2.4920244216918945, -0.8408885598182678, -0.1412956267595291, -0.04428669065237045, 0.5976404547691345, -0.8020249009132385, -1.3938438892364502, -1.2544227838516235, -0.4683396816253662, 0.0431738905608654, -1.5151176452636719, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408548355102539, -1.181729793548584, 1.0635591745376587, -1.093540906906128, 0.885267972946167, -0.2842647433280945, 1.5358916521072388, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46593188463471, 0.8848082160922561, -0.004679702595934179, -3.113337993621826], [-0.8848110553012698, -0.46594490120885435, -0.0021784063266330443, 350.12933349609375], [-0.004107955379541639, 0.003125663627136302, 0.9999866773759987, 15.414069175720215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0363974571228027, 2.491736888885498, -0.8405051231384277, -0.14148734509944916, -0.043040528893470764, 0.6062110066413879, -0.8044387102127075, -1.3728827238082886, -1.2823433876037598, -0.4352417588233948, 0.034435950219631195, -1.471138834953308, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408352255821228, -1.1817361116409302, 1.0635571479797363, -1.0935412645339966, 0.8852725625038147, -0.2842637896537781, 1.5358939170837402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659856576174075, 0.8847798942084817, -0.004680352476067638, -3.092085123062134], [-0.8847825829925441, -0.4659987916611805, -0.0022151756953290177, 350.12896728515625], [-0.004140981515762343, 0.0031088542499646842, 0.9999865935588029, 15.427042007446289], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0389856100082397, 2.4913535118103027, -0.8393548130989075, -0.1416790634393692, -0.036522142589092255, 0.586085319519043, -0.8047173023223877, -1.3380200862884521, -1.2896625995635986, -0.35952579975128174, 0.024326419457793236, -1.4334830045700073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408480405807495, -1.1816874742507935, 1.0635634660720825, -1.0935359001159668, 0.8852735161781311, -0.2842630445957184, 1.535896897315979, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4658480242962302, 0.8848523741779988, -0.004679120735532328, -3.146580457687378], [-0.8848552886027987, -0.465860980335322, -0.002159914968344822, 350.12933349609375], [-0.0040910256607249364, 0.0031341526081955073, 0.9999867202100595, 15.407441139221191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0408068895339966, 2.4909698963165283, -0.8369583487510681, -0.14225421845912933, -0.022910214960575104, 0.5587714314460754, -0.8037023544311523, -1.300384521484375, -1.256563663482666, -0.26369670033454895, 0.012555393390357494, -1.4265934228897095, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408476233482361, -1.181746482849121, 1.0635539293289185, -1.093542218208313, 0.8852725625038147, -0.2842618525028229, 1.5358989238739014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595730515148825, 0.8847948310378715, -0.004679395754511975, -3.103165864944458], [-0.8847976769759139, -0.4659703144109535, -0.0021764433793970217, 350.12945556640625], [-0.004106165363120307, 0.0031261888013645145, 0.9999866830861244, 15.413430213928223], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.042244791984558, 2.4909698963165283, -0.8338908553123474, -0.14139148592948914, -0.004697073251008987, 0.5510900020599365, -0.8024588227272034, -1.2618143558502197, -1.231557846069336, -0.16287651658058167, -0.009484196081757545, -1.4142000675201416, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408501863479614, -1.1817429065704346, 1.0635552406311035, -1.0935430526733398, 0.8852699995040894, -0.28426066040992737, 1.5358991622924805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659563326935059, 0.8847953368183199, -0.004680594767171782, -3.1036927700042725], [-0.8847982385103347, -0.46596930719125695, -0.0021637663249621827, 350.1296691894531], [-0.004095503855193111, 0.003133161383589199, 0.9999867049855795, 15.40898609161377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0433951616287231, 2.4908740520477295, -0.8308233618736267, -0.13794058561325073, 0.014570512808859348, 0.5535196661949158, -0.8017687797546387, -1.232039451599121, -1.2194384336471558, -0.07855120301246643, -0.0049020275473594666, -1.3774874210357666, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.640853762626648, -1.1817255020141602, 1.0635578632354736, -1.0935418605804443, 0.8852670192718506, -0.2842603027820587, 1.5358989238739014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46592874932301087, 0.8848098554561799, -0.004681905798791471, -3.1146368980407715], [-0.8848127750350695, -0.4659417188596682, -0.0021605001358889703, 350.1296081542969], [-0.004093127048376923, 0.003135970936054523, 0.9999867059102606, 15.407787322998047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.044353723526001, 2.4902989864349365, -0.8276600241661072, -0.13199734687805176, 0.03402981534600258, 0.5616458654403687, -0.8038381934165955, -1.204968810081482, -1.2200853824615479, -0.027191128581762314, 0.00926260743290186, -1.3409812450408936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408578753471375, -1.1817175149917603, 1.0635600090026855, -1.0935416221618652, 0.8852639198303223, -0.2842595875263214, 1.5358991622924805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.465953921918991, 0.8847965989202562, -0.00468200677680451, -3.1046361923217773], [-0.8847996110810553, -0.46596682068845086, -0.0021378139092203324, 350.1300354003906], [-0.004073190288231947, 0.0031465149998613122, 0.9999867541943901, 15.399890899658203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0454081296920776, 2.49001145362854, -0.8238257169723511, -0.12557481229305267, 0.05147608742117882, 0.5755577087402344, -0.8073917627334595, -1.1834449768066406, -1.2209926843643188, -0.00494193471968174, 0.03986528515815735, -1.2988744974136353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408592462539673, -1.1817289590835571, 1.06355881690979, -1.0935423374176025, 0.8852601647377014, -0.2842588722705841, 1.5358991622924805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4658789803096557, 0.8848360645143349, -0.004681307554425295, -3.1343495845794678], [-0.8848391837183734, -0.46589179201768327, -0.002111181459301121, 350.13018798828125], [-0.004049032259440755, 0.0031586492896844764, 0.9999868140492787, 15.39042854309082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0462708473205566, 2.489532232284546, -0.8199913501739502, -0.11915228515863419, 0.06595074385404587, 0.5912373661994934, -0.8087025880813599, -1.1744359731674194, -1.2215709686279297, 0.009375379420816898, 0.05116425082087517, -1.260292649269104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.640859067440033, -1.1817256212234497, 1.0635606050491333, -1.0935418605804443, 0.8852573037147522, -0.2842579185962677, 1.5358995199203491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4658544793016135, 0.8848489657179393, -0.0046810236611131055, -3.1440446376800537], [-0.8848521040881394, -0.46586727438562736, -0.002106311301574225, 350.13018798828125], [-0.004044503111015352, 0.0031607790811803327, 0.9999868256483108, 15.388678550720215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.047229528427124, 2.4892444610595703, -0.8163487315177917, -0.11388006061315536, 0.07563246786594391, 0.5925766229629517, -0.8084359169006348, -1.1751618385314941, -1.220514178276062, 0.006684081628918648, 0.049337975680828094, -1.260659098625183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.640861451625824, -1.1817176342010498, 1.0635607242584229, -1.0935416221618652, 0.885254442691803, -0.28425779938697815, 1.5359002351760864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659026274899416, 0.8848236060026877, -0.004682729798883367, -3.1249454021453857], [-0.884826710091859, -0.465915460059416, -0.0021159361144514597, 350.1302185058594], [-0.004053986431440935, 0.003157584206871288, 0.99998679734084, 15.392132759094238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0474212169647217, 2.4891486167907715, -0.8150067329406738, -0.11167531460523605, 0.07994610071182251, 0.5923038125038147, -0.8083776235580444, -1.1752201318740845, -1.2205936908721924, 0.006645851768553257, 0.049259837716817856, -1.261263132095337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.640860915184021, -1.1817314624786377, 1.0635597705841064, -1.093542456626892, 0.8852534890174866, -0.28425705432891846, 1.5359002351760864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46587964868243037, 0.884835702940214, -0.004683134189018181, -3.1340866088867188], [-0.8848387666367645, -0.4658925154681557, -0.0021262849017625236, 350.1299743652344], [-0.0040632499632988085, 0.003153225816773431, 0.9999867734958718, 15.395711898803711], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.048092246055603, 2.4890527725219727, -0.8144315481185913, -0.11119601875543594, 0.08234257251024246, 0.6004219651222229, -0.8096103668212891, -1.1469237804412842, -1.2718511819839478, 0.059327904134988785, 0.014221679419279099, -1.2236227989196777, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408578753471375, -1.1817703247070312, 1.063556432723999, -1.0935447216033936, 0.8852534890174866, -0.2842574119567871, 1.5358999967575073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0491466522216797, 2.4880943298339844, -0.8143357038497925, -0.11052501201629639, 0.08224671334028244, 0.6077173352241516, -0.823482096195221, -1.1021983623504639, -1.347389578819275, 0.10615134984254837, 0.06747561693191528, -1.162872314453125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408635377883911, -1.1817142963409424, 1.0635600090026855, -1.0935430526733398, 0.885253369808197, -0.28425705432891846, 1.5359020233154297, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0500093698501587, 2.4879984855651855, -0.8143357038497925, -0.11004571616649628, 0.08071297407150269, 0.6003393530845642, -0.8379448056221008, -1.0467382669448853, -1.3871060609817505, 0.14633241295814514, 0.15465079247951508, -1.1209608316421509, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408606767654419, -1.1817086935043335, 1.063558578491211, -1.0935460329055786, 0.8852539658546448, -0.284257173538208, 1.5359015464782715, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0505845546722412, 2.4879984855651855, -0.8142398595809937, -0.10870369523763657, 0.07764549553394318, 0.5863619446754456, -0.8505142331123352, -0.9872559905052185, -1.380759835243225, 0.24117222428321838, 0.1918238252401352, -1.0773754119873047, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408599019050598, -1.1817022562026978, 1.0635671615600586, -1.0935450792312622, 0.8852543234825134, -0.284257173538208, 1.5359001159667969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0514472723007202, 2.4879984855651855, -0.8142398595809937, -0.10640309005975723, 0.07381115108728409, 0.5755594372749329, -0.8645235300064087, -0.9427269697189331, -1.3528419733047485, 0.30525222420692444, 0.23251110315322876, -1.0309878587722778, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408578157424927, -1.1817253828048706, 1.0635584592819214, -1.0935462713241577, 0.8852542042732239, -0.2842569351196289, 1.5358998775482178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0521183013916016, 2.4880943298339844, -0.8139522671699524, -0.10371904820203781, 0.06968922913074493, 0.5733529925346375, -0.8808702230453491, -0.9013371467590332, -1.313941240310669, 0.34363386034965515, 0.2664872109889984, -0.9797672033309937, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408616900444031, -1.1817234754562378, 1.0635608434677124, -1.09354567527771, 0.8852548003196716, -0.28425705432891846, 1.5359008312225342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.052789330482483, 2.488286018371582, -0.8130895495414734, -0.10093914717435837, 0.06614246219396591, 0.571047842502594, -0.8994225859642029, -0.8609540462493896, -1.258259654045105, 0.37106481194496155, 0.3020224869251251, -0.9389568567276001, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408607959747314, -1.181725025177002, 1.0635592937469482, -1.0935451984405518, 0.885254442691803, -0.28425705432891846, 1.5359002351760864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46585635774129486, 0.8848479673555772, -0.004682800307276445, -3.143322229385376], [-0.8848510104487607, -0.4658692385107195, -0.0021311774326959764, 350.12982177734375], [-0.004067340632643753, 0.003150758027127138, 0.9999867646444289, 15.397382736206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0533643960952759, 2.488286018371582, -0.8114599585533142, -0.09854268282651901, 0.06384184956550598, 0.5651475191116333, -0.9129777550697327, -0.8358615636825562, -1.2153352499008179, 0.3928166329860687, 0.3175317347049713, -0.9122033715248108, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408589482307434, -1.1817352771759033, 1.0635591745376587, -1.0935454368591309, 0.8852549195289612, -0.28425705432891846, 1.5358997583389282, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659592738561005, 0.8847937757244854, -0.0046828993908301, -3.10248064994812], [-0.8847968977069167, -0.4659720931420974, -0.002111449973007812, 350.1304626464844], [-0.004050298224989898, 0.00315956515707388, 0.9999868060291129, 15.390666961669922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.054131269454956, 2.488381862640381, -0.8095427751541138, -0.09576278179883957, 0.06106195226311684, 0.5612720847129822, -0.9276493191719055, -0.8151677250862122, -1.169838309288025, 0.4094552993774414, 0.33416008949279785, -0.8808572888374329, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408608555793762, -1.1817224025726318, 1.0635594129562378, -1.0935449600219727, 0.8852548003196716, -0.28425681591033936, 1.5359001159667969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659592738561005, 0.8847937757244854, -0.0046828993908301, -3.10248064994812], [-0.8847968977069167, -0.4659720931420974, -0.002111449973007812, 350.1304626464844], [-0.004050298224989898, 0.00315956515707388, 0.9999868060291129, 15.390666961669922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.055281639099121, 2.488381862640381, -0.8068587183952332, -0.09346216917037964, 0.05856962874531746, 0.5584477782249451, -0.9430493116378784, -0.8034007549285889, -1.1274126768112183, 0.4043561518192291, 0.3465029001235962, -0.8464800715446472, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408596634864807, -1.181728482246399, 1.063558578491211, -1.093544602394104, 0.8852549195289612, -0.2842569351196289, 1.5359001159667969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598433918383564, 0.8847805761428055, -0.004682703899395893, -3.092585325241089], [-0.8847837548398932, -0.46599711264568366, -0.0020971831835853707, 350.1307678222656], [-0.004037673441942838, 0.0031659258189604264, 0.9999868369668098, 15.38571834564209], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0564318895339966, 2.488286018371582, -0.8040788173675537, -0.09144914150238037, 0.05607730522751808, 0.559948205947876, -0.9570294618606567, -0.7949806451797485, -1.091109037399292, 0.404512882232666, 0.3565137982368469, -0.8014626502990723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408594250679016, -1.1817305088043213, 1.0635584592819214, -1.0935450792312622, 0.8852549195289612, -0.2842566967010498, 1.5358996391296387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659317147110942, 0.8848082906168453, -0.004682529452694971, -3.11344575881958], [-0.8848114619567682, -0.4659444932094059, -0.0020990563965271746, 350.13055419921875], [-0.004039061314893642, 0.0031651387845854665, 0.9999868338534107, 15.386277198791504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0575822591781616, 2.488286018371582, -0.8012030720710754, -0.09010712057352066, 0.053584977984428406, 0.5657945871353149, -0.9697668552398682, -0.7888360619544983, -1.049077033996582, 0.40933066606521606, 0.3683020770549774, -0.7493366599082947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408591866493225, -1.1817208528518677, 1.0635606050491333, -1.0935447216033936, 0.8852552771568298, -0.2842569351196289, 1.5358995199203491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0586366653442383, 2.4880943298339844, -0.7977521419525146, -0.0885733813047409, 0.050996795296669006, 0.5653321743011475, -0.9816334843635559, -0.7851172685623169, -1.0088425874710083, 0.4167312979698181, 0.368010014295578, -0.7035860419273376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408600211143494, -1.1817299127578735, 1.063557744026184, -1.093544840812683, 0.8852552771568298, -0.28425705432891846, 1.5359002351760864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0597869157791138, 2.487614870071411, -0.7945888042449951, -0.08713550120592117, 0.04802517592906952, 0.5631988644599915, -0.9921967387199402, -0.7777093052864075, -0.9746661186218262, 0.42797547578811646, 0.3614780306816101, -0.6923010945320129, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408594846725464, -1.1817288398742676, 1.0635581016540527, -1.09354567527771, 0.8852553963661194, -0.2842566967010498, 1.5359002351760864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0610331296920776, 2.4869439601898193, -0.7908503413200378, -0.08627277612686157, 0.04457426816225052, 0.5586746335029602, -1.001326084136963, -0.7747074961662292, -0.9410063624382019, 0.4422236382961273, 0.3591421842575073, -0.6864672899246216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408599019050598, -1.1817307472229004, 1.063557744026184, -1.093544840812683, 0.8852555155754089, -0.28425657749176025, 1.535900354385376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0623751878738403, 2.4863688945770264, -0.7876870036125183, -0.08560176193714142, 0.041794367134571075, 0.5542336702346802, -1.0082789659500122, -0.7755329608917236, -0.924831748008728, 0.44920361042022705, 0.3573765456676483, -0.6845217943191528, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6408583521842957, -1.1817377805709839, 1.0635579824447632, -1.09354567527771, 0.8852567076683044, -0.28425681591033936, 1.5358998775482178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0637171268463135, 2.4856977462768555, -0.7841402292251587, -0.08502661436796188, 0.03882274776697159, 0.5519742965698242, -1.0137355327606201, -0.7779328227043152, -0.9090609550476074, 0.4597632884979248, 0.3503916561603546, -0.6845173835754395, 0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.6408587694168091, -1.1817286014556885, 1.0635582208633423, -1.093544602394104, 0.8852567076683044, -0.2842569351196289, 1.53589928150177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0653467178344727, 2.4852185249328613, -0.7809768915176392, -0.08483489602804184, 0.03633042424917221, 0.5514729619026184, -1.0192004442214966, -0.7796521782875061, -0.9005747437477112, 0.47003796696662903, 0.3442845046520233, -0.6874970197677612, 0.5214000017433376, -0.5214000017433376, 0.5214000017433376, 0.5214000017433376, -0.5214000017433376, -0.5214000017433376, 0.5214000017433376, 0.5214000017433376, -0.6408595442771912, -1.1817269325256348, 1.063558578491211, -1.093544840812683, 0.8852575421333313, -0.28425705432891846, 1.535900592803955, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0667846202850342, 2.4850268363952637, -0.7775259613990784, -0.08445145934820175, 0.03441325202584267, 0.5507180094718933, -1.0237454175949097, -0.7843700647354126, -0.8939516544342041, 0.4767361879348755, 0.34009599685668945, -0.6906704306602478, 0.4469999989310463, -0.4469999989310463, 0.4469999989310463, 0.4469999989310463, -0.4469999989310463, -0.4469999989310463, 0.4469999989310463, 0.4469999989310463, -0.6408586502075195, -1.1817365884780884, 1.063557744026184, -1.0935453176498413, 0.8852575421333313, -0.28425705432891846, 1.5358998775482178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0682225227355957, 2.484930992126465, -0.77426677942276, -0.08435560017824173, 0.03268779441714287, 0.5519245862960815, -1.0273135900497437, -0.789543867111206, -0.8861463069915771, 0.4861706495285034, 0.33797121047973633, -0.6916163563728333, 0.3107999992894602, -0.3107999992894602, 0.3107999992894602, 0.3107999992894602, -0.3107999992894602, -0.3107999992894602, 0.3107999992894602, 0.3107999992894602, -0.6408591270446777, -1.181731104850769, 1.0635582208633423, -1.093544602394104, 0.8852576613426208, -0.2842566967010498, 1.5358997583389282, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.069756269454956, 2.4843556880950928, -0.771678626537323, -0.08435560017824173, 0.03134577348828316, 0.5510113835334778, -1.0300828218460083, -0.7961560487747192, -0.8774126768112183, 0.4971654415130615, 0.3337152302265167, -0.6905378699302673, 0.28320000957656694, -0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.28320000957656694, -0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.6408585906028748, -1.1817344427108765, 1.0635573863983154, -1.093544840812683, 0.8852577805519104, -0.28425681591033936, 1.5358998775482178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0710983276367188, 2.4840681552886963, -0.7692821621894836, -0.08445145934820175, 0.030003754422068596, 0.5503709316253662, -1.0331772565841675, -0.8029782772064209, -0.8714669346809387, 0.5058669447898865, 0.32810327410697937, -0.6862410306930542, 0.25920001595884884, -0.25920001595884884, 0.25920001595884884, 0.25920001595884884, -0.25920001595884884, -0.25920001595884884, 0.25920001595884884, 0.25920001595884884, -0.6408583521842957, -1.1817355155944824, 1.063557505607605, -1.0935453176498413, 0.8852574229240417, -0.28425705432891846, 1.5358996391296387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0720568895339966, 2.4839723110198975, -0.7669815421104431, -0.08445145934820175, 0.028757590800523758, 0.5489254593849182, -1.036708950996399, -0.8099372982978821, -0.8682841658592224, 0.510038435459137, 0.3219732344150543, -0.6872272491455078, 0.19979999196398393, -0.19979999196398393, 0.19979999196398393, 0.19979999196398393, -0.19979999196398393, -0.19979999196398393, 0.19979999196398393, 0.19979999196398393, -0.6408583521842957, -1.1817312240600586, 1.063558578491211, -1.093544602394104, 0.8852576613426208, -0.2842569351196289, 1.5358996391296387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0731112957000732, 2.4838764667510986, -0.7649685144424438, -0.08435560017824173, 0.027894863858819008, 0.543316662311554, -1.0397968292236328, -0.8201985359191895, -0.8749199509620667, 0.5067112445831299, 0.31009888648986816, -0.6969013810157776, 0.13739998104808096, -0.13739998104808096, 0.13739998104808096, 0.13739998104808096, -0.13739998104808096, -0.13739998104808096, 0.13739998104808096, 0.13739998104808096, -0.6408591270446777, -1.1817314624786377, 1.0635581016540527, -1.0935451984405518, 0.8852573037147522, -0.28425705432891846, 1.5358996391296387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.074453353881836, 2.483588933944702, -0.7638182044029236, -0.08425974100828171, 0.027799004688858986, 0.5356623530387878, -1.040454626083374, -0.8379748463630676, -0.8898099064826965, 0.4890640079975128, 0.2849150002002716, -0.7225396037101746, 0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.6408592462539673, -1.1817301511764526, 1.0635576248168945, -1.0935449600219727, 0.8852576613426208, -0.28425681591033936, 1.5358996391296387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0754119157791138, 2.483109712600708, -0.7621886134147644, -0.0837804526090622, 0.02847001515328884, 0.5223262906074524, -1.0331108570098877, -0.8677273988723755, -0.914116621017456, 0.4746427834033966, 0.24767857789993286, -0.7713618874549866, 0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.6408595442771912, -1.1817224025726318, 1.0635584592819214, -1.0935450792312622, 0.8852575421333313, -0.2842569351196289, 1.5359001159667969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0765621662139893, 2.4829177856445312, -0.7609424591064453, -0.08358873426914215, 0.030387189239263535, 0.5099329948425293, -1.0140444040298462, -0.9115151166915894, -0.9480239748954773, 0.4612783193588257, 0.16149653494358063, -0.8771272301673889, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.6408578157424927, -1.1817426681518555, 1.0635570287704468, -1.093545913696289, 0.8852575421333313, -0.28425729274749756, 1.5359002351760864, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0776166915893555, 2.4828219413757324, -0.7596004009246826, -0.08349287509918213, 0.032975371927022934, 0.5058991312980652, -0.9859409332275391, -0.9803228974342346, -0.9863925576210022, 0.40645840764045715, 0.03350885212421417, -1.0334752798080444, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.6408534049987793, -1.1817854642868042, 1.0635502338409424, -1.0935577154159546, 0.8852595686912537, -0.28425729274749756, 1.5359009504318237, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.4826302528381348, -0.7584500908851624, -0.0837804526090622, 0.03556355461478233, 0.5164180397987366, -0.9530623555183411, -1.0611616373062134, -1.015592098236084, 0.30395469069480896, -0.1181425228714943, -1.2177785634994507, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.6408531069755554, -1.1817047595977783, 1.0635722875595093, -1.093544840812683, 0.8852622509002686, -0.284257173538208, 1.5359004735946655, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.482534408569336, -0.7572997808456421, -0.08560176193714142, 0.03891860693693161, 0.5341436266899109, -0.927523136138916, -1.1363897323608398, -1.0439621210098267, 0.2268245816230774, -0.19148454070091248, -1.3473087549209595, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.6408423185348511, -1.1817225217819214, 1.0635641813278198, -1.093552827835083, 0.8852587342262268, -0.28425681591033936, 1.53589928150177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.482534408569336, -0.7566288113594055, -0.08780651539564133, 0.04150678962469101, 0.5459465980529785, -0.9122470021247864, -1.2163201570510864, -1.075257420539856, 0.07008291035890579, -0.1582774519920349, -1.4306086301803589, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.6408586502075195, -1.181714653968811, 1.0635634660720825, -1.0935413837432861, 0.8852577805519104, -0.2842569351196289, 1.5358929634094238, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.4823427200317383, -0.7566288113594055, -0.0911615639925003, 0.04390325769782066, 0.5535175204277039, -0.8992507457733154, -1.2850844860076904, -1.1172815561294556, -0.05170941352844238, -0.12296413630247116, -1.4540812969207764, 0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.6408641934394836, -1.1817452907562256, 1.0635547637939453, -1.0935412645339966, 0.885256826877594, -0.28425681591033936, 1.5358978509902954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.4815759658813477, -0.7572039365768433, -0.09576278179883957, 0.045628711581230164, 0.5610434412956238, -0.8889592289924622, -1.3347645998001099, -1.1512119770050049, -0.11368846893310547, -0.0931822657585144, -1.460131049156189, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6408607959747314, -1.1817383766174316, 1.0635567903518677, -1.0935425758361816, 0.8852575421333313, -0.2842574119567871, 1.53589928150177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.480138063430786, -0.7588335275650024, -0.10122672468423843, 0.04668315500020981, 0.5636815428733826, -0.8804570436477661, -1.3756706714630127, -1.1807372570037842, -0.21512749791145325, -0.005692866165190935, -1.5039299726486206, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6408617496490479, -1.181733250617981, 1.0635563135147095, -1.0935429334640503, 0.8852567076683044, -0.28425681591033936, 1.5358991622924805, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.4775497913360596, -0.7618051767349243, -0.10812854766845703, 0.046970732510089874, 0.5829573273658752, -0.8657742738723755, -1.4110443592071533, -1.2180941104888916, -0.2686772048473358, 0.07386572659015656, -1.537587285041809, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6408585906028748, -1.1817315816879272, 1.0635591745376587, -1.0935442447662354, 0.8852564692497253, -0.284257173538208, 1.5358989238739014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.4747698307037354, -0.7650643587112427, -0.11426349729299545, 0.045724570751190186, 0.6159140467643738, -0.8506566286087036, -1.4304673671722412, -1.2528631687164307, -0.29779744148254395, 0.15249086916446686, -1.5362821817398071, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6408588290214539, -1.1817268133163452, 1.0635571479797363, -1.0935454368591309, 0.8852564692497253, -0.28425729274749756, 1.53589928150177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659804703917796, 0.8847826260106457, -0.004680376391054449, -3.0940985679626465], [-0.8847858929961968, -0.46599315918543227, -0.0020734385216563365, 350.1311340332031], [-0.0040155657607070985, 0.003174949147067572, 0.9999868973789281, 15.377405166625977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0791504383087158, 2.472565174102783, -0.767460823059082, -0.11733097583055496, 0.043423961848020554, 0.6180009841918945, -0.8499324917793274, -1.4309954643249512, -1.2539210319519043, -0.29907315969467163, 0.15636825561523438, -1.5358573198318481, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6408594846725464, -1.1817262172698975, 1.063557744026184, -1.0935474634170532, 0.8852563500404358, -0.284257173538208, 1.5359001159667969, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659531376881574, 0.8847970210207727, -0.004680285389527545, -3.1047301292419434], [-0.8848003220711989, -0.4659657991201118, -0.0020649728953101927, 350.13116455078125], [-0.004007934787900486, 0.003178937420228315, 0.9999869153222027, 15.3743896484375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0792462825775146, 2.472085952758789, -0.7685152888298035, -0.11857713758945465, 0.04236951842904091, 0.6173679232597351, -0.850243866443634, -1.430649757385254, -1.2532999515533447, -0.298461377620697, 0.1537342369556427, -1.5358572006225586, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6409328579902649, -1.1817468404769897, 1.0636101961135864, -1.0936020612716675, 0.8852880001068115, -0.28421956300735474, 1.535846471786499, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595433112658613, 0.884796388166141, -0.0046811101810903585, -3.104367971420288], [-0.8847996257786862, -0.46596704810059886, -0.002081419302222977, 350.13092041015625], [-0.004022875373782511, 0.003171998197696274, 0.9999868773644787, 15.380147933959961], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0793421268463135, 2.4719901084899902, -0.7686111330986023, -0.11886471509933472, 0.04169850796461105, 0.6173830032348633, -0.8502805829048157, -1.4306485652923584, -1.2533105611801147, -0.29846280813217163, 0.15395258367061615, -1.5358598232269287, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6540924310684204, -1.1813730001449585, 1.0715198516845703, -1.1199512481689453, 0.8940731287002563, -0.26217731833457947, 1.5003633499145508, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595047835607306, 0.8847984192329036, -0.00468070963655136, -3.105912923812866], [-0.884801793520481, -0.46596308429697086, -0.002047011332162204, 350.1314392089844], [-0.003992230289794984, 0.003187694371947961, 0.9999869502658044, 15.368094444274902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07962965965271, 2.4713189601898193, -0.7692821621894836, -0.11857713758945465, 0.04006890952587128, 0.6186113357543945, -0.8503040671348572, -1.429577350616455, -1.2549833059310913, -0.2977759838104248, 0.1528925895690918, -1.5349280834197998, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.6521268486976624, -1.1781072616577148, 1.0900179147720337, -1.1311230659484863, 0.8944236636161804, -0.22823920845985413, 1.467963457107544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659278176987265, 0.8848103547614626, -0.004680256552487062, -3.1148252487182617], [-0.8848135603333217, -0.4659405545377733, -0.002088800446118065, 350.1307067871094], [-0.004028913597200494, 0.0031679242300115193, 0.9999868659693982, 15.382685661315918], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079917311668396, 2.470839738845825, -0.7698572874069214, -0.11867299675941467, 0.03815173730254173, 0.6366941332817078, -0.8519899845123291, -1.4073677062988281, -1.3007047176361084, -0.3048521876335144, 0.10809459537267685, -1.5342994928359985, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.632447361946106, -1.1815340518951416, 1.0878475904464722, -1.1103399991989136, 0.8986609578132629, -0.20209836959838867, 1.4614475965499878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598162371516816, 0.8847820199692685, -0.004680117399769268, -3.093567371368408], [-0.8847851351734283, -0.46599442999536445, -0.0021108740922312626, 350.13055419921875], [-0.004048572083242042, 0.003157269769226159, 0.9999868202689929, 15.390515327453613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0805883407592773, 2.4707438945770264, -0.7703365683555603, -0.1183854192495346, 0.0358511321246624, 0.6343175768852234, -0.8559285998344421, -1.3654406070709229, -1.350684642791748, -0.3475443124771118, 0.02660689689218998, -1.5360146760940552, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.5920184850692749, -1.1897180080413818, 1.06840181350708, -1.0670526027679443, 0.874545693397522, -0.19416098296642303, 1.4518718719482422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659243421147088, 0.8848121968392396, -0.00467800700026528, -3.116098403930664], [-0.8848155172204891, -0.4659369735414769, -0.0020584394204474737, 350.13116455078125], [-0.004000988729576067, 0.0031800961507458202, 0.99998693945354, 15.372056007385254], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.470839738845825, -0.7702407240867615, -0.11848127841949463, 0.03441325202584267, 0.6167653799057007, -0.8586751818656921, -1.308458685874939, -1.3635252714157104, -0.3683509826660156, -0.024259546771645546, -1.536027431488037, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.5463493466377258, -1.20260488986969, 1.0345462560653687, -1.019152045249939, 0.8443189859390259, -0.19653505086898804, 1.4520008563995361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595252858568914, 0.884797361323713, -0.004676590552713711, -3.105039596557617], [-0.8848006399765044, -0.46596518366093087, -0.0020676346397539226, 350.1311340332031], [-0.004008566049237995, 0.0031744307253644658, 0.9999869271084492, 15.375332832336426], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.470935583114624, -0.7699531316757202, -0.1187688559293747, 0.03393395617604256, 0.5999212265014648, -0.8580085635185242, -1.2600653171539307, -1.3617390394210815, -0.38851743936538696, -0.0511828251183033, -1.5359787940979004, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.5076061487197876, -1.2190189361572266, 0.9956570863723755, -0.9787535667419434, 0.8291235566139221, -0.20699380338191986, 1.4631024599075317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46592861662669005, 0.8848099479275168, -0.004677633680000571, -3.1144983768463135], [-0.8848132053051672, -0.46594129551852936, -0.0020738486229083327, 350.1309509277344], [-0.004014464588865646, 0.003172566629679864, 0.9999869093618401, 15.377460479736328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.4718940258026123, -0.76918625831604, -0.11953572183847427, 0.03393395617604256, 0.5842496156692505, -0.8537023663520813, -1.2284694910049438, -1.3515160083770752, -0.4053521454334259, -0.06070740893483162, -1.5359176397323608, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.4793747365474701, -1.2360223531723022, 0.9630001783370972, -0.9528729319572449, 0.8417752981185913, -0.21293044090270996, 1.4915976524353027, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659269925379339, 0.8848108026728541, -0.004677723589095427, -3.1151316165924072], [-0.8848140335327864, -0.46593969295949345, -0.002080525956122806, 350.1308288574219], [-0.00402040893407123, 0.0031695422749855786, 0.9999868950710153, 15.37979507446289], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0809717178344727, 2.472661018371582, -0.7681318521499634, -0.12068602442741394, 0.03441325202584267, 0.5702170729637146, -0.8491066098213196, -1.2094788551330566, -1.3380694389343262, -0.41649794578552246, -0.06289537250995636, -1.5358980894088745, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.46160995960235596, -1.2487374544143677, 0.93770831823349, -0.9319833517074585, 0.8426859974861145, -0.21986331045627594, 1.523112177848816, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598086850820253, 0.8847824292515564, -0.004677934592948987, -3.0939061641693115], [-0.8847855333013098, -0.46599366928206143, -0.0021119303391233333, 350.1305236816406], [-0.004048486761489391, 0.003154849719917502, 0.999986828252346, 15.390890121459961], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0802048444747925, 2.472661018371582, -0.767460823059082, -0.12183632701635361, 0.035659413784742355, 0.5587493777275085, -0.8452855944633484, -1.195860743522644, -1.3258857727050781, -0.42719051241874695, -0.0654389038681984, -1.535892128944397, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.4535014033317566, -1.25732421875, 0.922646164894104, -0.9257993698120117, 0.8332958817481995, -0.23662720620632172, 1.5342175960540771, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595308811524894, 0.8847970573318911, -0.00467835576774248, -3.1048243045806885], [-0.8848002443984746, -0.465965826910854, -0.002091808711102387, 350.1307373046875], [-0.004030780105983896, 0.0031647255979970236, 0.9999868685755962, 15.38379192352295], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0785752534866333, 2.472661018371582, -0.7664063572883606, -0.12317834794521332, 0.037289008498191833, 0.5507258176803589, -0.84196937084198, -1.184326410293579, -1.31979238986969, -0.4377652704715729, -0.06342782825231552, -1.5358909368515015, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.4509359300136566, -1.264081358909607, 0.9161622524261475, -0.9286059141159058, 0.8240895867347717, -0.2558123767375946, 1.5198644399642944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595377662374315, 0.8847966875914187, -0.004679709106761084, -3.1045894622802734], [-0.8847998543474289, -0.46596654016224015, -0.0020979027622561306, 350.1306457519531], [-0.004036805276376303, 0.0031630802209879167, 0.99998684947687, 15.3859224319458], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0766581296920776, 2.471414804458618, -0.7655436396598816, -0.124424509704113, 0.038726888597011566, 0.5488991141319275, -0.8394939303398132, -1.178119421005249, -1.3190250396728516, -0.44735732674598694, -0.05871131643652916, -1.5358903408050537, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.452057808637619, -1.2687124013900757, 0.9135134816169739, -0.9310463070869446, 0.8227949142456055, -0.26061445474624634, 1.5079542398452759, 0.4818000004841731, 0.4818000004841731, 0.4818000004841731, 0.4818000004841731, -0.4818000004841731, -0.4818000004841731, -0.4818000004841731, 0.4818000004841731, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598103248622613, 0.8847823257963892, -0.00468116667112916, -3.0938968658447266], [-0.8847854971443984, -0.46599380171375837, -0.0020978101197401196, 350.1307678222656], [-0.00403749997035808, 0.0031642886547742473, 0.999986842849094, 15.385936737060547], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0750285387039185, 2.4689226150512695, -0.7652560472488403, -0.12557481229305267, 0.040452346205711365, 0.5485059022903442, -0.8372735977172852, -1.1731798648834229, -1.3208047151565552, -0.45706239342689514, -0.05517357215285301, -1.5358879566192627, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.45369604229927063, -1.2730361223220825, 0.9147453308105469, -0.9325271844863892, 0.8255176544189453, -0.2669399678707123, 1.4943758249282837, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.28320000957656694, -0.28320000957656694, -0.28320000957656694, 0.28320000957656694, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598063429679515, 0.8847825363335511, -0.004681010523921256, -3.0939836502075195], [-0.8847858461367061, -0.4659932933099198, -0.0020632659373738577, 350.13128662109375], [-0.004006861179260722, 0.0031802498869620524, 0.9999869154514706, 15.373841285705566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0728237628936768, 2.4670052528381348, -0.764872670173645, -0.12624582648277283, 0.04227365925908089, 0.5483807325363159, -0.8363644480705261, -1.174807071685791, -1.3144419193267822, -0.48620060086250305, -0.040806643664836884, -1.5322165489196777, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.45411375164985657, -1.2745708227157593, 0.9237822890281677, -0.9305559992790222, 0.8319263458251953, -0.2669747471809387, 1.4861735105514526, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598063429679515, 0.8847825363335511, -0.004681010523921256, -3.0939836502075195], [-0.8847858461367061, -0.4659932933099198, -0.0020632659373738577, 350.13128662109375], [-0.004006861179260722, 0.0031802498869620524, 0.9999869154514706, 15.373841285705566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0710983276367188, 2.465855121612549, -0.7642974853515625, -0.12682098150253296, 0.04419083148241043, 0.5435070395469666, -0.8358274102210999, -1.1890296936035156, -1.3045732975006104, -0.5301162004470825, -0.02093668095767498, -1.5224789381027222, 0.14819998898348968, -0.14819998898348968, 0.14819998898348968, 0.14819998898348968, -0.14819998898348968, -0.14819998898348968, 0.14819998898348968, 0.14819998898348968, -0.4503422975540161, -1.2710405588150024, 0.9479223489761353, -0.9262123107910156, 0.8403410315513611, -0.27083820104599, 1.4854960441589355, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46598063429679515, 0.8847825363335511, -0.004681010523921256, -3.0939836502075195], [-0.8847858461367061, -0.4659932933099198, -0.0020632659373738577, 350.13128662109375], [-0.004006861179260722, 0.0031802498869620524, 0.9999869154514706, 15.373841285705566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0708106756210327, 2.4642255306243896, -0.7641057968139648, -0.12691684067249298, 0.0462038628757, 0.5348678827285767, -0.8320760726928711, -1.2154040336608887, -1.2855751514434814, -0.5686742663383484, -0.022997846826910973, -1.5286571979522705, 0.41640000264723226, -0.41640000264723226, 0.41640000264723226, 0.41640000264723226, -0.41640000264723226, -0.41640000264723226, 0.41640000264723226, 0.41640000264723226, -0.44658923149108887, -1.2610701322555542, 0.9872657060623169, -0.9284589886665344, 0.8529953956604004, -0.2602962851524353, 1.4971222877502441, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659558209117285, 0.884795605744004, -0.004680706632384324, -3.1038968563079834], [-0.8847988874066264, -0.4659685004369334, -0.0020701315301088815, 350.131103515625], [-0.004012705131629781, 0.00317689418410333, 0.999986902684665, 15.376199722290039], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0708106756210327, 2.463362693786621, -0.7638182044029236, -0.12710855901241302, 0.04725831001996994, 0.5266709327697754, -0.8254494071006775, -1.244325041770935, -1.2662075757980347, -0.6051651239395142, -0.027117425575852394, -1.5364376306533813, 0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.4497952163219452, -1.2417627573013306, 1.043150544166565, -0.9403062462806702, 0.85196453332901, -0.237784281373024, 1.518297553062439, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659318458805466, 0.8848082323461276, -0.004680487887787547, -3.113267183303833], [-0.8848113582023623, -0.4659446466486601, -0.002108709450462152, 350.13043212890625], [-0.004046651756413492, 0.0031588339583634214, 0.9999868231019776, 15.389663696289062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0709065198898315, 2.4625000953674316, -0.7633389234542847, -0.1274919956922531, 0.04725831001996994, 0.5219761729240417, -0.815799355506897, -1.2716567516326904, -1.274410367012024, -0.6989412307739258, 0.0066785686649382114, -1.536110758781433, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.4737125039100647, -1.2143936157226562, 1.1095516681671143, -0.9774458408355713, 0.8408351540565491, -0.1941279023885727, 1.5368572473526, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660582756412246, 0.884741636849719, -0.004681851215962472, -3.0634043216705322], [-0.88474457623668, -0.46607122860871986, -0.002155152647928322, 350.130126953125], [-0.004088829429775968, 0.003137815743232809, 0.9999867177049182, 15.406155586242676], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0709065198898315, 2.4614455699920654, -0.7633389234542847, -0.1274919956922531, 0.04553285241127014, 0.5253648161888123, -0.7991681694984436, -1.2860769033432007, -1.303672194480896, -0.7611463069915771, 0.04290328547358513, -1.535912036895752, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5211021900177002, -1.1794278621673584, 1.1788629293441772, -1.0456167459487915, 0.8085509538650513, -0.13315768539905548, 1.5361158847808838, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659822424276969, 0.8847816986990501, -0.004679250931349846, -3.0934810638427734], [-0.8847846356965193, -0.4659951809408065, -0.0021540137702939694, 350.1298828125], [-0.004086340347123652, 0.0031363971637252503, 0.9999867323296839, 15.405623435974121], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0702356100082397, 2.4596242904663086, -0.7633389234542847, -0.12816299498081207, 0.04121921584010124, 0.5387502312660217, -0.7865846753120422, -1.2891396284103394, -1.3275047540664673, -0.7912795543670654, 0.05518783628940582, -1.535900592803955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5903134346008301, -1.1432594060897827, 1.2475320100784302, -1.1289863586425781, 0.777738094329834, -0.06295289099216461, 1.5358753204345703, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595673417150807, 0.8847951375029753, -0.004678304320312263, -3.1034886837005615], [-0.8847978812141023, -0.46596981384407155, -0.0022004511256970877, 350.12908935546875], [-0.004126897049571553, 0.0031140387300532383, 0.999986635652462, 15.421838760375977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0691810846328735, 2.457707166671753, -0.7642974853515625, -0.12816299498081207, 0.03460496664047241, 0.5387711524963379, -0.7867856025695801, -1.288954496383667, -1.3264919519424438, -0.7894549369812012, 0.054921187460422516, -1.5358961820602417, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6655095219612122, -1.1140459775924683, 1.31392502784729, -1.188405990600586, 0.7530534863471985, -0.020762789994478226, 1.5358788967132568, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659285474203141, 0.8848099818018238, -0.0046781195637374835, -3.114625930786133], [-0.8848125720389475, -0.4659417411582085, -0.0022374557603910953, 350.12841796875], [-0.0041594543655081515, 0.003096764491140044, 0.9999865544041419, 15.43474292755127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0691810846328735, 2.455310583114624, -0.7662146687507629, -0.12768369913101196, 0.025210822001099586, 0.5385393500328064, -0.7869947552680969, -1.288895845413208, -1.3262296915054321, -0.7891083359718323, 0.054644349962472916, -1.5358936786651611, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7202142477035522, -1.0971637964248657, 1.3588920831680298, -1.215012550354004, 0.7386370301246643, -0.007624124176800251, 1.5358843803405762, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659547206786183, 0.8847961980696418, -0.004678264509148004, -3.1042940616607666], [-0.8847987129482131, -0.4659679710588138, -0.0022555514886217964, 350.12823486328125], [-0.00417562480308704, 0.0030883375526684466, 0.9999865130733837, 15.441126823425293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0700438022613525, 2.45406436920166, -0.76918625831604, -0.124424509704113, 0.012940916232764721, 0.538546621799469, -0.7869937419891357, -1.2888948917388916, -1.326258897781372, -0.7891466021537781, 0.05462685227394104, -1.5358935594558716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7435802817344666, -1.0907299518585205, 1.3714110851287842, -1.2193881273269653, 0.7406215071678162, -0.012903894297778606, 1.5358891487121582, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46592675310314946, 0.8848109347625654, -0.00467658714786426, -3.1152172088623047], [-0.8848134308870219, -0.46594000674180247, -0.0022589022524610574, 350.1280822753906], [-0.004177710460741834, 0.0030854241270773576, 0.9999865133556863, 15.442254066467285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0719610452651978, 2.453489303588867, -0.7719661593437195, -0.11924814432859421, -0.0024923246819525957, 0.538558304309845, -0.7869763374328613, -1.288895845413208, -1.3262674808502197, -0.7891764044761658, 0.054625656455755234, -1.535893440246582, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7431156039237976, -1.090450406074524, 1.3648192882537842, -1.2179172039031982, 0.755255937576294, -0.04269368201494217, 1.5358952283859253, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4660085328308201, 0.884767865573559, -0.004676684431815559, -3.0829055309295654], [-0.8847702871948723, -0.46602184126486756, -0.0022764800033561357, 350.1280822753906], [-0.004193593443519725, 0.0030769323214745467, 0.9999864730392705, 15.448559761047363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0733988285064697, 2.4533934593200684, -0.7740750908851624, -0.11292147636413574, -0.017254555597901344, 0.538552463054657, -0.7869962453842163, -1.2888915538787842, -1.3263119459152222, -0.7891890406608582, 0.054625533521175385, -1.5358935594558716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7424549460411072, -1.0906765460968018, 1.3646878004074097, -1.2160385847091675, 0.7578917145729065, -0.04826215282082558, 1.5358994007110596, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4658468995929941, 0.8848529823671656, -0.0046760812147946165, -3.1468875408172607], [-0.8848556100647829, -0.4658600528787613, -0.002227210964155862, 350.1282958984375], [-0.004149153705983766, 0.0031001173736380297, 0.9999865868079401, 15.431010246276855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.074069857597351, 2.4533934593200684, -0.775129497051239, -0.11081258952617645, -0.022526780143380165, 0.5385642647743225, -0.7869845628738403, -1.2888914346694946, -1.3262979984283447, -0.7891897559165955, 0.054626014083623886, -1.5358940362930298, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7424662113189697, -1.0907334089279175, 1.3648035526275635, -1.2161836624145508, 0.757321298122406, -0.04709584638476372, 1.5359002351760864, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659796937672471, 0.8847830512120077, -0.004677315956012784, -3.0942649841308594], [-0.8847854308707019, -0.46599303724753427, -0.0022870408313751126, 350.1278381347656], [-0.00420313163353927, 0.0030727064272218154, 0.999986445987986, 15.452201843261719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.074357509613037, 2.4533934593200684, -0.7756088376045227, -0.10966227948665619, -0.02492324635386467, 0.5385635495185852, -0.7869830131530762, -1.2888911962509155, -1.3262923955917358, -0.7891895174980164, 0.05462661385536194, -1.5358948707580566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7425015568733215, -1.090708613395691, 1.364818811416626, -1.2162107229232788, 0.7572883367538452, -0.047076672315597534, 1.535900354385376, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659015491772347, 0.8848241972278909, -0.004678298223810522, -3.1252567768096924], [-0.8848265528015221, -0.46591491723418277, -0.002293764599903166, 350.1274719238281], [-0.004209267350482577, 0.0030708140098089625, 0.9999864259927178, 15.454407691955566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.074453353881836, 2.4533934593200684, -0.7758963704109192, -0.10937470942735672, -0.02616940811276436, 0.5385650992393494, -0.7869811058044434, -1.2888928651809692, -1.3262838125228882, -0.7891893982887268, 0.05462685227394104, -1.5358943939208984, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7425075173377991, -1.0907021760940552, 1.3648244142532349, -1.216220736503601, 0.7572876214981079, -0.04708302393555641, 1.5359004735946655, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659537512742802, 0.8847967052258833, -0.004678898892653052, -3.10459566116333], [-0.8847989841112025, -0.46596717852620184, -0.002312196383274853, 350.1273498535156], [-0.004226037057375706, 0.0030625084085087097, 0.9999863807337765, 15.460956573486328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0745491981506348, 2.4533934593200684, -0.7761839628219604, -0.10879955440759659, -0.027032136917114258, 0.5385642051696777, -0.7869808077812195, -1.288893699645996, -1.326283574104309, -0.7891892790794373, 0.05462781339883804, -1.535894751548767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7425141930580139, -1.0906951427459717, 1.364824891090393, -1.2162216901779175, 0.7572888135910034, -0.04709141328930855, 1.5359002351760864, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595074264643754, 0.8847982916259062, -0.0046785214663927184, -3.1057775020599365], [-0.8848005182739581, -0.46596420526315274, -0.0023242795902596114, 350.1271667480469], [-0.004236542147616948, 0.0030565584170206923, 0.9999863544875374, 15.46518325805664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0745491981506348, 2.4533934593200684, -0.7761839628219604, -0.10870369523763657, -0.027319712564349174, 0.5385643243789673, -0.7869806289672852, -1.2888944149017334, -1.3262826204299927, -0.789188802242279, 0.054628290235996246, -1.5358954668045044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7425138354301453, -1.090693712234497, 1.3648242950439453, -1.2162210941314697, 0.7572904825210571, -0.04709812253713608, 1.5358998775482178, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595071437256674, 0.8847983070058028, -0.004678428727699008, -3.105783700942993], [-0.8848004748046353, -0.4659642187444297, -0.002338083699362578, 350.126953125], [-0.0042487128858876375, 0.003050044189626881, 0.9999863227410936, 15.470016479492188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0745491981506348, 2.4533934593200684, -0.7761839628219604, -0.10870369523763657, -0.02751142904162407, 0.5385639071464539, -0.7869806885719299, -1.2888953685760498, -1.3262826204299927, -0.7891886830329895, 0.05462972819805145, -1.535895586013794, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7425142526626587, -1.0906929969787598, 1.3648242950439453, -1.2162213325500488, 0.7572944164276123, -0.04710375517606735, 1.535900354385376, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659492628705426, 0.8847990672696352, -0.004679208178920171, -3.1063590049743652], [-0.8848012706256787, -0.4659627467107985, -0.002330273999488066, 350.1270751953125], [-0.004242160956711, 0.0030543798898827806, 0.9999863373236184, 15.467276573181152], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0745491981506348, 2.4533934593200684, -0.7761839628219604, -0.10870369523763657, -0.02760728821158409, 0.5385638475418091, -0.786980926990509, -1.2888957262039185, -1.3262827396392822, -0.7891879081726074, 0.054630570113658905, -1.5358963012695312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.742737889289856, -1.0907118320465088, 1.3648087978363037, -1.216749668121338, 0.7573821544647217, -0.04707163944840431, 1.5355008840560913, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659499496935673, 0.8847987079144389, -0.004678766237113971, -3.106064558029175], [-0.8848008690337108, -0.46596346103860853, -0.0023399004489781093, 350.1269226074219], [-0.00425047500314046, 0.003049499936114721, 0.9999863169125802, 15.470649719238281], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0746450424194336, 2.4533934593200684, -0.7761839628219604, -0.10870369523763657, -0.027894863858819008, 0.5385625958442688, -0.7869740128517151, -1.2889000177383423, -1.3262816667556763, -0.7891858816146851, 0.05463212728500366, -1.5358965396881104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7391383051872253, -1.0910226106643677, 1.3637945652008057, -1.241431713104248, 0.7572596669197083, -0.04058649390935898, 1.4965828657150269, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594948442385276, 0.8847989627387506, -0.004676911542552329, -3.10623836517334], [-0.884801116131207, -0.46596298937647274, -0.0023403897776426257, 350.12689208984375], [-0.004250042131079585, 0.0030476331426537895, 0.9999863244435455, 15.470826148986816], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0756994485855103, 2.4533934593200684, -0.7758963704109192, -0.1084161177277565, -0.027894863858819008, 0.5385629534721375, -0.7869722247123718, -1.2889012098312378, -1.3262799978256226, -0.7891851663589478, 0.05463308468461037, -1.535897135734558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7334957718849182, -1.0867291688919067, 1.3693029880523682, -1.2482327222824097, 0.7565379738807678, -0.018768014386296272, 1.491531491279602, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595284451775854, 0.884797192515941, -0.004677050536205138, -3.104904890060425], [-0.8847992639453613, -0.465966408905929, -0.0023597230894644165, 350.1266174316406], [-0.004267224807300217, 0.0030387311860593856, 0.9999862783584696, 15.477601051330566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0775208473205566, 2.451859712600708, -0.7750336527824402, -0.10649894922971725, -0.026840418577194214, 0.5385780930519104, -0.7870001792907715, -1.2888919115066528, -1.326276183128357, -0.789178729057312, 0.054634883999824524, -1.5358972549438477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7417596578598022, -1.0787755250930786, 1.3834151029586792, -1.246240258216858, 0.75626140832901, 0.010541084222495556, 1.5229331254959106, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595284451775854, 0.884797192515941, -0.004677050536205138, -3.104904890060425], [-0.8847992639453613, -0.465966408905929, -0.0023597230894644165, 350.1266174316406], [-0.004267224807300217, 0.0030387311860593856, 0.9999862783584696, 15.477601051330566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0788627862930298, 2.4418904781341553, -0.77426677942276, -0.10352732986211777, -0.024156376719474792, 0.5385630130767822, -0.7869839072227478, -1.2888962030410767, -1.3262735605239868, -0.7891819477081299, 0.05463572219014168, -1.5358972549438477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7390403151512146, -1.072718858718872, 1.3885356187820435, -1.2451906204223633, 0.7632649540901184, 0.03169671818614006, 1.5369318723678589, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595316282894284, 0.8847970349062091, -0.0046751546375894265, -3.105076789855957], [-0.8847991471108714, -0.4659666859331557, -0.0023488023217570595, 350.1268005371094], [-0.004256679642574034, 0.0030421409652678934, 0.9999863129347161, 15.473784446716309], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.4279909133911133, -0.7723495960235596, -0.10045985132455826, -0.021184759214520454, 0.5385596752166748, -0.7869798541069031, -1.2888964414596558, -1.3262842893600464, -0.7891868352890015, 0.05463704094290733, -1.5358985662460327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7205953598022461, -1.0696496963500977, 1.374769926071167, -1.22786545753479, 0.7674534916877747, 0.02655164897441864, 1.5360348224639893, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46595456746518216, 0.8847963046658572, -0.004673361528730905, -3.1041643619537354], [-0.8847982744805258, -0.4659681801937894, -0.0023808660549708436, 350.12628173828125], [-0.004284219254272987, 0.0030256068038083043, 0.9999862454898317, 15.485018730163574], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.4138996601104736, -0.767460823059082, -0.09643378853797913, -0.017829706892371178, 0.538567304611206, -0.786978542804718, -1.2888965606689453, -1.32628333568573, -0.7891851663589478, 0.054637398570775986, -1.53589928150177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7189897894859314, -1.0628968477249146, 1.3653388023376465, -1.21291184425354, 0.7730551362037659, 0.029125981032848358, 1.535873293876648, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46602712410438407, 0.8847580916142792, -0.004673213247411738, -3.0753908157348633], [-0.8847601024252951, -0.4660407062536289, -0.0023709219726243953, 350.126708984375], [-0.004275600002163103, 0.003029758683057214, 0.9999862698092129, 15.481672286987305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0784794092178345, 2.396836757659912, -0.7615175843238831, -0.09192843735218048, -0.013995361514389515, 0.5385614633560181, -0.7869792580604553, -1.288896918296814, -1.3262852430343628, -0.7891858816146851, 0.05463799834251404, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7279385924339294, -1.053708791732788, 1.3671478033065796, -1.2062119245529175, 0.7823123335838318, 0.032440219074487686, 1.535880208015442, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659495368486437, 0.8847989668588941, -0.004670905262161185, -3.1062331199645996], [-0.8848009841011529, -0.46596310028545407, -0.002368059543009442, 350.12646484375], [-0.004271726134211366, 0.00302942532530821, 0.9999862873749983, 15.4805326461792], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0750285387039185, 2.3769941329956055, -0.7544240355491638, -0.08761479705572128, -0.01006515696644783, 0.5385609865188599, -0.7869770526885986, -1.2888985872268677, -1.3262861967086792, -0.7891873121261597, 0.054637759923934937, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7262462973594666, -1.0469104051589966, 1.3637295961380005, -1.1998313665390015, 0.7915392518043518, 0.028698863461613655, 1.5358854532241821, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659514305085539, 0.8847979800981549, -0.004668920780786458, -3.1052558422088623], [-0.8848000783356486, -0.465964923544985, -0.0023476377374194446, 350.1268005371094], [-0.004252738442727682, 0.003037176310516341, 0.999986344794666, 15.473392486572266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0678390264511108, 2.3572471141815186, -0.7460843324661255, -0.08416388183832169, -0.0074769738130271435, 0.5385586619377136, -0.7869755625724792, -1.2888997793197632, -1.326286792755127, -0.7891893982887268, 0.05463811755180359, -1.535901427268982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7325692772865295, -1.0398523807525635, 1.3584433794021606, -1.2005658149719238, 0.7951933741569519, 0.02966311387717724, 1.5358916521072388, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659502910746611, 0.8847985757137214, -0.00466976042301769, -3.1056275367736816], [-0.8848007562701404, -0.46596373052094453, -0.002328850100832594, 350.1270751953125], [-0.004236502239615823, 0.0030466791715342213, 0.9999863848047129, 15.466809272766113], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0600745677947998, 2.3365416526794434, -0.7378405332565308, -0.08147983998060226, -0.006134952884167433, 0.5385658740997314, -0.7869820594787598, -1.288896083831787, -1.3262838125228882, -0.7891849279403687, 0.05463835969567299, -1.5359015464782715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7350168824195862, -1.0323917865753174, 1.3549245595932007, -1.2043631076812744, 0.7933359146118164, 0.03195413947105408, 1.5358942747116089, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594887230663473, 0.8847993154172905, -0.004671170438904918, -3.1064038276672363], [-0.8848014193760065, -0.4659623757289817, -0.0023479086880925544, 350.1268005371094], [-0.0042540176750337265, 0.0030390528289946385, 0.999986333652377, 15.473475456237793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0520224571228027, 2.3145902156829834, -0.7302676439285278, -0.07927509397268295, -0.005655659828335047, 0.5385598540306091, -0.786980152130127, -1.2888977527618408, -1.3262840509414673, -0.7891881465911865, 0.05463871732354164, -1.535901427268982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7347772717475891, -1.0266849994659424, 1.3450502157211304, -1.2023868560791016, 0.7878694534301758, 0.03232277184724808, 1.5358957052230835, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594911189218147, 0.8847991956799345, -0.004669951929988943, -3.106402635574341], [-0.8848012970811547, -0.4659626093113973, -0.0023476386476926937, 350.1268005371094], [-0.0042532117738820685, 0.003038099382024687, 0.9999863399775776, 15.473384857177734], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0439702272415161, 2.291200637817383, -0.7229824066162109, -0.07764549553394318, -0.005847376771271229, 0.538569986820221, -0.786983847618103, -1.2888941764831543, -1.326282024383545, -0.7891844511032104, 0.05463859811425209, -1.5359015464782715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7363684773445129, -1.0250831842422485, 1.341553807258606, -1.2005800008773804, 0.7842044234275818, 0.029699066653847694, 1.5358991622924805, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46594565197283067, 0.8848010146093592, -0.004670541067392346, -3.1076674461364746], [-0.8848031117404538, -0.4659591562555365, -0.002349075571006305, 350.12677001953125], [-0.00425474582363941, 0.003037967721474347, 0.9999863338516679, 15.47387981414795], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.041765570640564, 2.2793140411376953, -0.7201066613197327, -0.0768786296248436, -0.006039094179868698, 0.5385478138923645, -0.7869669795036316, -1.2889031171798706, -1.3262934684753418, -0.7891964316368103, 0.05463871732354164, -1.5359017848968506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362979650497437, -1.0252143144607544, 1.3419400453567505, -1.2006480693817139, 0.78470379114151, 0.029725192114710808, 1.5359009504318237, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46592175193324104, 0.8848136176968021, -0.004667227630732655, -3.117218255996704], [-0.8848156747943347, -0.46593526368540417, -0.00235620301747538, 350.1265563964844], [-0.004259426452725735, 0.0030318299276929596, 0.9999863325533921, 15.476341247558594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.039656639099121, 2.275575637817383, -0.7180936336517334, -0.07659105211496353, -0.006134952884167433, 0.5385661125183105, -0.78697669506073, -1.2888988256454468, -1.326287865638733, -0.7891914248466492, 0.05463835969567299, -1.5359019041061401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362942695617676, -1.0252758264541626, 1.341957449913025, -1.2006667852401733, 0.7847664952278137, 0.029797697439789772, 1.5359020233154297, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4659662795576127, 0.8847901522569339, -0.004670415868871243, -3.098851203918457], [-0.8847921484811663, -0.46597985460138847, -0.0023725707050208174, 350.12646484375], [-0.004275546902840351, 0.0030268093465131876, 0.9999862789677973, 15.482145309448242], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0383145809173584, 2.2744252681732178, -0.7168474793434143, -0.07659105211496353, -0.0062308115884661674, 0.5385698080062866, -0.7869833707809448, -1.2888957262039185, -1.3262825012207031, -0.7891861200332642, 0.05463835969567299, -1.535901427268982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362921237945557, -1.0252735614776611, 1.3419370651245117, -1.2006725072860718, 0.7847548723220825, 0.02983424812555313, 1.5359015464782715, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46603949058040395, 0.8847515866482536, -0.004671524692830087, -3.0702850818634033], [-0.8847536058098205, -0.46605305586026224, -0.002367726722441931, 350.1268005371094], [-0.004272028333050101, 0.0030296941610505872, 0.9999862852695591, 15.480581283569336], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0381228923797607, 2.2726998329162598, -0.7164640426635742, -0.07639933377504349, -0.006326670292764902, 0.5385700464248657, -0.7869830131530762, -1.288896083831787, -1.3262827396392822, -0.7891851663589478, 0.05463859811425209, -1.5359019041061401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362910509109497, -1.0252659320831299, 1.3419302701950073, -1.2006856203079224, 0.7847394943237305, 0.029845034703612328, 1.5359017848968506, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46608949193174976, 0.8847252617773409, -0.004668691874527526, -3.052014112472534], [-0.884727228421684, -0.46610307576725196, -0.0023778245505163068, 350.1268005371094], [-0.004279813090442984, 0.003022239785852588, 0.9999862745390997, 15.48421859741211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0385063886642456, 2.2717413902282715, -0.716559886932373, -0.07620761543512344, -0.0064225285314023495, 0.5385716557502747, -0.786979615688324, -1.2888963222503662, -1.3262839317321777, -0.7891860008239746, 0.05463859811425209, -1.535902976989746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.736293613910675, -1.0252596139907837, 1.3419278860092163, -1.200693130493164, 0.7847311496734619, 0.029847191646695137, 1.5359055995941162, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4664890034799032, 0.8845147170627262, -0.004661001155593531, -2.900599956512451], [-0.8845165718405923, -0.4665026132291028, -0.0023970794280624885, 350.1278076171875], [-0.004294621251437824, 0.0030045215698315825, 0.9999862644448888, 15.491724014282227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.038027048110962, 2.2717413902282715, -0.7163681983947754, -0.07620761543512344, -0.0064225285314023495, 0.538568913936615, -0.7869797348976135, -1.288895845413208, -1.3262834548950195, -0.7891845703125, 0.05463871732354164, -1.5359030961990356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362864017486572, -1.0252599716186523, 1.3419276475906372, -1.200695276260376, 0.7847239375114441, 0.029847310855984688, 1.535905122756958, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.466836917777701, 0.8843311564679152, -0.004658100464341435, -2.7800533771514893], [-0.8843325784776294, -0.46685080326713213, -0.0024936182428086273, 350.1274108886719], [-0.004379822247929244, 0.002955196939851878, 0.9999860418866472, 15.526178359985352], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0372601747512817, 2.2718372344970703, -0.7162722945213318, -0.07630347460508347, -0.0064225285314023495, 0.5385652184486389, -0.7869812250137329, -1.2888966798782349, -1.3262826204299927, -0.7891831398010254, 0.05463859811425209, -1.5359022617340088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362709641456604, -1.0252621173858643, 1.3419272899627686, -1.2006945610046387, 0.7847174406051636, 0.029847431927919388, 1.535902976989746, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4668326015663393, 0.8843334765117777, -0.004650208102517699, -2.806650161743164], [-0.8843344026543873, -0.46684676485146914, -0.002600467193569633, 350.1257629394531], [-0.004470614802390736, 0.0028983561392965525, 0.999985806466761, 15.563603401184082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.037164330482483, 2.2718372344970703, -0.716176450252533, -0.07620761543512344, -0.0064225285314023495, 0.5385587811470032, -0.7869814038276672, -1.2888975143432617, -1.32628333568573, -0.789183497428894, 0.05463835969567299, -1.5359022617340088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362678050994873, -1.0252631902694702, 1.341927409172058, -1.200693130493164, 0.7847164869308472, 0.029847072437405586, 1.5359007120132446, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46687982497027125, 0.8843086095223319, -0.004638120353016953, -2.8163187503814697], [-0.8843099586400707, -0.4668936320782793, -0.0024966727356734377, 350.1275634765625], [-0.004373338052951969, 0.002935889887704829, 0.9999861271361927, 15.527382850646973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.037164330482483, 2.2718372344970703, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385586619377136, -0.7869841456413269, -1.2888984680175781, -1.3262829780578613, -0.7891851663589478, 0.05463835969567299, -1.5359019041061401, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362678050994873, -1.0252646207809448, 1.3419277667999268, -1.2006921768188477, 0.7847158908843994, 0.029847072437405586, 1.5358998775482178, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4656108797648417, 0.8849774577631336, -0.004626866727206963, -3.348867416381836], [-0.884978758070496, -0.46562465964253863, -0.0025048147182137525, 350.1231384277344], [-0.004371087806559616, 0.0029284097854058895, 0.9999861589079702, 15.52793025970459], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.037164330482483, 2.271933078765869, -0.7160806059837341, -0.07620761543512344, -0.0064225285314023495, 0.5385600924491882, -0.7869850993156433, -1.2888972759246826, -1.3262832164764404, -0.7891844511032104, 0.05463835969567299, -1.5359015464782715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362709045410156, -1.0252629518508911, 1.3419276475906372, -1.2006908655166626, 0.784716010093689, 0.029846712946891785, 1.5358994007110596, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4676818808612402, 0.8838847299966383, -0.004630593143691147, -2.557042121887207], [-0.8838861973196445, -0.467695553400453, -0.002461608673718518, 350.13055419921875], [-0.00434148614083805, 0.0029416675906425663, 0.9999862489503919, 15.516603469848633], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.037164330482483, 2.271933078765869, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385615229606628, -0.7869835495948792, -1.2888973951339722, -1.3262827396392822, -0.7891850471496582, 0.05463871732354164, -1.5359010696411133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362728118896484, -1.0252646207809448, 1.3419278860092163, -1.200690507888794, 0.7847166061401367, 0.029846113175153732, 1.5358994007110596, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4679394286088876, 0.8837484454988446, -0.004623443690953014, -2.4825620651245117], [-0.8837488780786279, -0.4679537257909163, -0.0026890543256157143, 350.12774658203125], [-0.0045400052812908, 0.0028276486301125614, 0.999985696275337, 15.596732139587402], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0372601747512817, 2.271933078765869, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385625958442688, -0.7869833111763, -1.2888970375061035, -1.3262826204299927, -0.7891845703125, 0.05463847890496254, -1.5359011888504028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362746000289917, -1.025262475013733, 1.3419283628463745, -1.2006899118423462, 0.7847174406051636, 0.02984599396586418, 1.5358986854553223, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46559813365559277, 0.8849842431073641, -0.004611657848787376, -3.4367823600769043], [-0.8849838474632161, -0.4656128800037549, -0.0028697915972747162, 350.1172790527344], [-0.004686967637155851, 0.00274507309453218, 0.9999852483452313, 15.655746459960938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0374518632888794, 2.271933078765869, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385614037513733, -0.7869831323623657, -1.2888973951339722, -1.3262829780578613, -0.7891864776611328, 0.05463835969567299, -1.5359011888504028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362770438194275, -1.0252611637115479, 1.3419283628463745, -1.2006884813308716, 0.784717321395874, 0.02984527312219143, 1.5358995199203491, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46549186010984656, 0.8850401641753174, -0.004608249993514774, -3.5037450790405273], [-0.8850395020892666, -0.46550674058740427, -0.0029247579855932646, 350.1159362792969], [-0.004733699722035523, 0.0027170322446782454, 0.999985104800428, 15.67480754852295], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0375477075576782, 2.271933078765869, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385634303092957, -0.7869824767112732, -1.2888965606689453, -1.3262830972671509, -0.7891862392425537, 0.05463835969567299, -1.5359009504318237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362790703773499, -1.025261640548706, 1.341928482055664, -1.2006878852844238, 0.7847180366516113, 0.029844794422388077, 1.5358995199203491, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4677431810094419, 0.8838523887861311, -0.0046120988950974625, -2.6375510692596436], [-0.8838517546091472, -0.4677580463169475, -0.002913070559462008, 350.1237487792969], [-0.004732070741274389, 0.002713842810875087, 0.9999851211711589, 15.674835205078125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0375477075576782, 2.272028923034668, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385650992393494, -0.7869822978973389, -1.2888966798782349, -1.3262823820114136, -0.789185643196106, 0.05463835969567299, -1.5359009504318237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362795472145081, -1.0252635478973389, 1.341928243637085, -1.2006876468658447, 0.7847188711166382, 0.029844913631677628, 1.5358994007110596, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4675152743240494, 0.8839729835596841, -0.004607885664715987, -2.7508180141448975], [-0.8839731850993484, -0.46752962036831835, -0.002731685115314623, 350.1259460449219], [-0.00456905887705553, 0.00279614285155938, 0.999985652540141, 15.610919952392578], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0376436710357666, 2.272028923034668, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385629534721375, -0.7869824171066284, -1.2888967990875244, -1.3262838125228882, -0.7891861200332642, 0.05463835969567299, -1.5359010696411133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362805008888245, -1.025260329246521, 1.3419291973114014, -1.2006864547729492, 0.7847203612327576, 0.029844434931874275, 1.5358996391296387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46720786634135014, 0.8841355735786607, -0.004593164649291974, -2.8945367336273193], [-0.8841368805937757, -0.46722141499156455, -0.002475024684222182, 350.1289978027344], [-0.004334282255537554, 0.0029046352632209897, 0.9999863884530213, 15.520533561706543], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0376436710357666, 2.272028923034668, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385639071464539, -0.7869816422462463, -1.2888970375061035, -1.32628333568573, -0.7891882658004761, 0.05463835969567299, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362795472145081, -1.0252615213394165, 1.3419291973114014, -1.2006866931915283, 0.7847217917442322, 0.029843715950846672, 1.5358996391296387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4676626948841496, 0.8838951917992001, -0.004570965756810898, -2.7354860305786133], [-0.8838970398297248, -0.46767572914972333, -0.0023313825350453456, 350.13262939453125], [-0.004198427556206164, 0.002949962462463044, 0.999986835377109, 15.471131324768066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0376436710357666, 2.272124767303467, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385648012161255, -0.7869808673858643, -1.2888965606689453, -1.3262830972671509, -0.7891865968704224, 0.05463835969567299, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362838983535767, -1.025268793106079, 1.3419286012649536, -1.2006863355636597, 0.7847225069999695, 0.029843835160136223, 1.535900354385376, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46763510765340777, 0.8839098046617079, -0.004567637560868169, -2.7667858600616455], [-0.8839111799467063, -0.46764844678334194, -0.002440529932110682, 350.1308898925781], [-0.004293256946372255, 0.0028961084284619357, 0.9999865901604696, 15.509305953979492], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.037164330482483, 2.2726998329162598, -0.7159847617149353, -0.07630347460508347, -0.0064225285314023495, 0.5385656952857971, -0.786984384059906, -1.2888940572738647, -1.3262778520584106, -0.7891800403594971, 0.05463835969567299, -1.5358985662460327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362951040267944, -1.0252724885940552, 1.3419301509857178, -1.200677752494812, 0.7847258448600769, 0.02984311617910862, 1.5358946323394775, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468344902479346, 0.8835338996481962, -0.004571705815415175, -2.501142978668213], [-0.8835351737001699, -0.46835832882950235, -0.0024642748722204927, 350.132568359375], [-0.004318466883266002, 0.002885132317016514, 0.9999865133367006, 15.518899917602539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0376436710357666, 2.272603988647461, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385580658912659, -0.7869795560836792, -1.2888973951339722, -1.3262826204299927, -0.7891857624053955, 0.05463823676109314, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.736282229423523, -1.0252639055252075, 1.3419312238693237, -1.2006832361221313, 0.7847270369529724, 0.029843715950846672, 1.5358972549438477, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46874086545440585, 0.8833239315986648, -0.004564309162594682, -2.3532354831695557], [-0.8833251091420206, -0.46875430641156046, -0.0024802781808238154, 350.1333923339844], [-0.004330428649903678, 0.002869161148159838, 0.999986507559984, 15.525240898132324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0376436710357666, 2.272603988647461, -0.7160806059837341, -0.07630347460508347, -0.0064225285314023495, 0.5385671257972717, -0.7869812250137329, -1.2888959646224976, -1.326281189918518, -0.7891843318939209, 0.05463847890496254, -1.5358989238739014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362847924232483, -1.0252658128738403, 1.341930627822876, -1.2006828784942627, 0.7847265601158142, 0.02984335646033287, 1.535897970199585, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688151811947572, 0.8832844941941853, -0.0045637920032878115, -2.3263912200927734], [-0.8832857918348126, -0.46882853830538673, -0.0024518591277843155, 350.1340026855469], [-0.004305325083551603, 0.0028816638521372375, 0.999986580004636, 15.515426635742188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0377395153045654, 2.272603988647461, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385642051696777, -0.786980390548706, -1.2888965606689453, -1.3262821435928345, -0.7891855239868164, 0.05463823676109314, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362872362136841, -1.0252594947814941, 1.3419309854507446, -1.2006827592849731, 0.7847262024879456, 0.02984311617910862, 1.5358996391296387, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688383866790178, 0.8832721886519931, -0.004561571015946228, -2.317007541656494], [-0.8832735049583721, -0.46885171724199504, -0.0024459513046614276, 350.1341552734375], [-0.004299141166352199, 0.0028823589557984445, 0.9999866046063226, 15.513404846191406], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0378353595733643, 2.272508144378662, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385661125183105, -0.7869796752929688, -1.2888962030410767, -1.326282262802124, -0.7891854047775269, 0.05463823676109314, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362866401672363, -1.0252615213394165, 1.341930627822876, -1.2006839513778687, 0.7847257256507874, 0.02984299696981907, 1.535900592803955, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688639586341965, 0.8832586055586163, -0.004563332172731664, -2.3060543537139893], [-0.8832597888818259, -0.4688773885975901, -0.0024778632602690115, 350.13372802734375], [-0.0043282373204839245, 0.002868827034320648, 0.9999865180056903, 15.52462100982666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0378353595733643, 2.272508144378662, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385645031929016, -0.7869795560836792, -1.2888965606689453, -1.3262828588485718, -0.7891855239868164, 0.05463811755180359, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362832427024841, -1.0252608060836792, 1.3419303894042969, -1.2006844282150269, 0.7847252488136292, 0.029842756688594818, 1.5359007120132446, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46883717881451337, 0.8832728181188226, -0.004563828840002984, -2.3165202140808105], [-0.8832740063351845, -0.46885060886231367, -0.002477156036621538, 350.1336669921875], [-0.004327758523765547, 0.0028697285360445098, 0.9999865174912557, 15.524323463439941], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0378353595733643, 2.272508144378662, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385640263557434, -0.7869803309440613, -1.2888963222503662, -1.3262825012207031, -0.7891851663589478, 0.05463787913322449, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362834811210632, -1.0252617597579956, 1.3419305086135864, -1.200684666633606, 0.7847246527671814, 0.029842637479305267, 1.5359007120132446, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688357411599051, 0.8832735803701998, -0.0045639928845953226, -2.3174142837524414], [-0.8832748238608334, -0.46884913550411067, -0.0024644818242375074, 350.1338806152344], [-0.004316635803040973, 0.0028758228486015234, 0.9999865480586663, 15.519883155822754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0378353595733643, 2.2724123001098633, -0.716176450252533, -0.07630347460508347, -0.0064225285314023495, 0.5385638475418091, -0.786980152130127, -1.2888965606689453, -1.3262827396392822, -0.7891851663589478, 0.05463799834251404, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7362818717956543, -1.0252618789672852, 1.3419297933578491, -1.2006852626800537, 0.7847240567207336, 0.029842756688594818, 1.5359010696411133, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46886064420078055, 0.8832603522372241, -0.004565795155715285, -2.3076059818267822], [-0.8832615385090822, -0.4688740875866786, -0.002478826401534625, 350.1336975097656], [-0.004330232118298085, 0.00287056711026897, 0.9999865043760676, 15.524947166442871], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0378353595733643, 2.2722206115722656, -0.716176450252533, -0.07630347460508347, -0.006518387235701084, 0.5385644435882568, -0.7869806289672852, -1.2888962030410767, -1.3262832164764404, -0.7891851663589478, 0.05463787913322449, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7420226335525513, -1.025460958480835, 1.3418443202972412, -1.206416130065918, 0.7817036509513855, 0.02348344773054123, 1.5210388898849487, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688347755802329, 0.883274083300886, -0.0045658488381214, -2.317856788635254], [-0.8832752878890293, -0.46884820737513766, -0.0024747213323328718, 350.1336975097656], [-0.004326547259140537, 0.002872666026481573, 0.9999865142984253, 15.523462295532227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0373560190200806, 2.2716455459594727, -0.7160806059837341, -0.07707034796476364, -0.0069976807571947575, 0.5385635495185852, -0.7869815230369568, -1.2888966798782349, -1.3262838125228882, -0.7891858816146851, 0.05463823676109314, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7493221759796143, -1.0228967666625977, 1.3469181060791016, -1.214347243309021, 0.744992733001709, -0.009480600245296955, 1.4556336402893066, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687515785104046, 0.8833182282255406, -0.004567858195659308, -2.3507800102233887], [-0.883319718541605, -0.4687648315170956, -0.0024098896922632325, 350.1344909667969], [-0.0042699507706711725, 0.0029052396184434002, 0.9999866634626561, 15.500606536865234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.036301612854004, 2.2694406509399414, -0.7156013250350952, -0.07956267148256302, -0.0071893977001309395, 0.5385638475418091, -0.786980152130127, -1.2888978719711304, -1.3262845277786255, -0.789186954498291, 0.05463787913322449, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7181508541107178, -1.0217409133911133, 1.327394723892212, -1.1979858875274658, 0.6705588698387146, -0.05063874274492264, 1.4515775442123413, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46888491504847774, 0.8832474736515065, -0.004564726521201763, -2.2979187965393066], [-0.8832487297377958, -0.4688983051426152, -0.002461879556987692, 350.134033203125], [-0.004314841428374721, 0.0028774507145141264, 0.9999865511199806, 15.519059181213379], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.034480333328247, 2.2683863639831543, -0.7136841416358948, -0.07985024899244308, -0.005751518066972494, 0.5385617017745972, -0.7869807481765747, -1.288898229598999, -1.3262850046157837, -0.789186954498291, 0.05463787913322449, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6839606761932373, -1.028478980064392, 1.2851448059082031, -1.1321126222610474, 0.6048650145530701, -0.10123410075902939, 1.4329549074172974, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688019927230138, 0.8832914876625194, -0.0045650237529080585, -2.330700397491455], [-0.8832929767567017, -0.4688152284316196, -0.0024080703671557325, 350.1346740722656], [-0.004267180710516377, 0.002903345232931361, 0.9999866807889204, 15.500067710876465], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0326589345932007, 2.2671401500701904, -0.711095929145813, -0.0777413547039032, -0.0022047485690563917, 0.5385683178901672, -0.7869814038276672, -1.288896918296814, -1.3262783288955688, -0.7891845703125, 0.05463787913322449, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6557697653770447, -1.0399221181869507, 1.2373931407928467, -1.075014591217041, 0.572486400604248, -0.13971029222011566, 1.4156125783920288, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4689059766820791, 0.8832362811778434, -0.00456690737356657, -2.289790153503418], [-0.8832376499540394, -0.4689193046885618, -0.0024370872084081437, 350.13446044921875], [-0.004294034873050402, 0.0028908997784686894, 0.9999866018917353, 15.510412216186523], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0315086841583252, 2.2657980918884277, -0.7091787457466125, -0.07208569347858429, 0.0024923246819525957, 0.5385594367980957, -0.7869851589202881, -1.2888972759246826, -1.3262882232666016, -0.7891871929168701, 0.05463787913322449, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6227347254753113, -1.0532194375991821, 1.1893279552459717, -1.0237892866134644, 0.5472180247306824, -0.16971567273139954, 1.4001224040985107, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46882663626930965, 0.8832784070290542, -0.004565172572965061, -2.3213248252868652], [-0.8832799610746641, -0.4688398283822739, -0.0023928406591105706, 350.13494873046875], [-0.0042538792112979396, 0.002910498015208457, 0.9999867166682561, 15.494779586791992], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.029016375541687, 2.265702247619629, -0.7062071561813354, -0.06595074385404587, 0.007381115108728409, 0.5385659337043762, -0.7869746088981628, -1.2888973951339722, -1.3262827396392822, -0.7891848087310791, 0.05463811755180359, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6012799739837646, -1.0623886585235596, 1.1641212701797485, -0.981019914150238, 0.5532710552215576, -0.17643487453460693, 1.3924640417099, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46890742995067214, 0.8832355171167019, -0.004565461712411812, -2.2890512943267822], [-0.8832370434120717, -0.4689206421477399, -0.0023992733177952636, 350.13507080078125], [-0.004259962647432271, 0.0029073478194850235, 0.9999866999350037, 15.497178077697754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0279618501663208, 2.26560640335083, -0.7048651576042175, -0.06288326531648636, 0.009394146502017975, 0.5385628342628479, -0.7869903445243835, -1.2888951301574707, -1.3262845277786255, -0.7891852855682373, 0.05463799834251404, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6018263697624207, -1.0621393918991089, 1.1650713682174683, -0.9821354150772095, 0.5540063977241516, -0.1755267083644867, 1.3927923440933228, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688008867049993, 0.8832920847998464, -0.004563064162151931, -2.3316736221313477], [-0.8832936977974759, -0.46881402542635775, -0.0023776027414750675, 350.1351318359375], [-0.004239346160480538, 0.0029159035436385717, 0.999986762637714, 15.489401817321777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0275784730911255, 2.265031099319458, -0.704289972782135, -0.06154124438762665, 0.010736167430877686, 0.5385622978210449, -0.786985456943512, -1.2888963222503662, -1.3262841701507568, -0.7891852855682373, 0.05463823676109314, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.604314386844635, -1.0621238946914673, 1.1659059524536133, -0.9848060607910156, 0.5550909638404846, -0.17483557760715485, 1.3907641172409058, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46887786050946234, 0.8832512373879435, -0.0045610938091191775, -2.301173686981201], [-0.8832528159189226, -0.4688910099543544, -0.0023841047123131587, 350.1352233886719], [-0.0042444193198674695, 0.002910745033834957, 0.9999867561462927, 15.491823196411133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0273867845535278, 2.2647435665130615, -0.7041941285133362, -0.060966093093156815, 0.011119602248072624, 0.5385622382164001, -0.786986768245697, -1.288894534111023, -1.3262858390808105, -0.7891843318939209, 0.05463811755180359, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6294853687286377, -1.0617358684539795, 1.1614714860916138, -1.018713116645813, 0.5326606631278992, -0.18113268911838531, 1.3282074928283691, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468800067487539, 0.8832925321609564, -0.004560630698089807, -2.331883192062378], [-0.8832941837783693, -0.46881316441049425, -0.0023668077072375006, 350.1352844238281], [-0.0042286672821430045, 0.002918818957100843, 0.9999867993473277, 15.485627174377441], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0268115997314453, 2.2647435665130615, -0.7036189436912537, -0.06106195226311684, 0.011119602248072624, 0.5385632514953613, -0.7869840860366821, -1.2888966798782349, -1.326284646987915, -0.7891854047775269, 0.05463811755180359, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6384201049804688, -1.0720363855361938, 1.129199743270874, -1.009360909461975, 0.4814770221710205, -0.22314411401748657, 1.2450326681137085, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46877342729895566, 0.8833066810628722, -0.004558623485654525, -2.3422021865844727], [-0.8833084190834181, -0.4687864520402534, -0.0023450287554901347, 350.13555908203125], [-0.004208400497036346, 0.002927383337484323, 0.9999868598096937, 15.477956771850586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0260447263717651, 2.2647435665130615, -0.7027562260627747, -0.06154124438762665, 0.011311319656670094, 0.5385643839836121, -0.7869750261306763, -1.2888984680175781, -1.3262819051742554, -0.7891855239868164, 0.05463787913322449, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6237231492996216, -1.0892280340194702, 1.0922789573669434, -0.9755690097808838, 0.46662580966949463, -0.26632627844810486, 1.1689399480819702, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468852084995959, 0.8832649399636513, -0.004557216908305209, -2.3109445571899414], [-0.883266693454187, -0.4688650895349422, -0.0023400961299983535, 350.1358337402344], [-0.0042036447815148445, 0.0029280789603115523, 0.9999868777759802, 15.4763765335083], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.025277853012085, 2.2647435665130615, -0.7020852565765381, -0.061828821897506714, 0.012174046598374844, 0.5385633111000061, -0.7869805097579956, -1.2888965606689453, -1.3262830972671509, -0.7891849279403687, 0.05463799834251404, -1.5358985662460327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5917731523513794, -1.1079940795898438, 1.0613739490509033, -0.9138888120651245, 0.44599854946136475, -0.31538596749305725, 1.0772877931594849, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688725270998908, 0.8832540889828446, -0.004557151088912671, -2.302931547164917], [-0.8832557299834294, -0.4688856090271243, -0.00236666404496314, 350.1354675292969], [-0.0042271482587158135, 0.0029154660601240245, 0.9999868155507107, 15.485715866088867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0249903202056885, 2.2647435665130615, -0.7014142274856567, -0.0622122548520565, 0.013899502344429493, 0.5385624766349792, -0.7869824171066284, -1.2888962030410767, -1.32628333568573, -0.7891861200332642, 0.054637759923934937, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5549600720405579, -1.1288560628890991, 1.029700517654419, -0.8488311171531677, 0.4259706437587738, -0.3637979328632355, 0.9992681741714478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46882165241012097, 0.8832811038769567, -0.004555191033110521, -2.32314133644104], [-0.8832827144237698, -0.46883474351769316, -0.002372692747809989, 350.13525390625], [-0.004231386489128925, 0.002911151765754888, 0.9999868101949027, 15.487738609313965], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0245109796524048, 2.2654147148132324, -0.7006473541259766, -0.06259568780660629, 0.01658354513347149, 0.5385624170303345, -0.7869818210601807, -1.2888963222503662, -1.3262839317321777, -0.7891858816146851, 0.054637640714645386, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5343422889709473, -1.1602445840835571, 0.9737017154693604, -0.8018572926521301, 0.4403602182865143, -0.385468989610672, 0.9897646903991699, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688703568466397, 0.8832552520468645, -0.004555019443896395, -2.3038649559020996], [-0.8832568654184864, -0.4688834445331356, -0.0023717364633792887, 350.1354064941406], [-0.004230621894520363, 0.0029112152740053527, 0.9999868132450618, 15.487492561340332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.024031639099121, 2.2659897804260254, -0.6997846364974976, -0.06297912448644638, 0.018980009481310844, 0.5385650992393494, -0.7869831919670105, -1.2888957262039185, -1.3262823820114136, -0.7891850471496582, 0.05463787913322449, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5361500978469849, -1.1880658864974976, 0.9229862689971924, -0.8044702410697937, 0.48140546679496765, -0.3874896466732025, 1.0383198261260986, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688426642969068, 0.8832699514995966, -0.004555097460847003, -2.314877510070801], [-0.8832715448767584, -0.4688557664486832, -0.0023766107889563984, 350.13525390625], [-0.004234872607548809, 0.0029091314370154405, 0.9999868013170374, 15.48914909362793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.024031639099121, 2.2659897804260254, -0.6989219188690186, -0.06317084282636642, 0.021759910508990288, 0.5385614037513733, -0.7869811058044434, -1.2888970375061035, -1.3262838125228882, -0.7891858816146851, 0.054637640714645386, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5592570900917053, -1.215667486190796, 0.8725544214248657, -0.8413577675819397, 0.5436428189277649, -0.3739015758037567, 1.1065094470977783, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46881702947652104, 0.8832835744870929, -0.004551913236771578, -2.3250234127044678], [-0.8832851533100516, -0.4688301219952147, -0.0023779512170566232, 350.1351623535156], [-0.004234479289064959, 0.002905813355375273, 0.9999868126299938, 15.489579200744629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0237441062927246, 2.2658939361572266, -0.698346734046936, -0.06345842033624649, 0.02406051754951477, 0.5385637879371643, -0.7869803309440613, -1.2888967990875244, -1.326283574104309, -0.7891860008239746, 0.05463787913322449, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5905818343162537, -1.233962059020996, 0.8352746963500977, -0.8964770436286926, 0.609036386013031, -0.33722445368766785, 1.1908472776412964, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688966545646438, 0.8832413160991617, -0.004550260817306381, -2.293361186981201], [-0.8832429723577716, -0.46890968280640766, -0.0023582092788217955, 350.13568115234375], [-0.004216529223593378, 0.0029132294476779497, 0.9999868669015067, 15.48281478881836], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.023552417755127, 2.2658939361572266, -0.6980591416358948, -0.06384184956550598, 0.025594256818294525, 0.5385632514953613, -0.7869805097579956, -1.2888966798782349, -1.3262834548950195, -0.7891857624053955, 0.05463787913322449, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6147463321685791, -1.2387572526931763, 0.8189727067947388, -0.9342120289802551, 0.6334148049354553, -0.2984861731529236, 1.2587311267852783, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688689956748209, 0.8832560045510677, -0.004549210851210427, -2.3042397499084473], [-0.8832577749348134, -0.4688819383512417, -0.0023304302573976038, 350.1360168457031], [-0.004191409319917972, 0.0029254593598732016, 0.9999869368023998, 15.473040580749512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.023552417755127, 2.2655105590820312, -0.6975798606872559, -0.06432114541530609, 0.02616940811276436, 0.5385642051696777, -0.7869812846183777, -1.288896918296814, -1.3262827396392822, -0.7891858816146851, 0.054637759923934937, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6075929999351501, -1.2291620969772339, 0.8357416391372681, -0.9264271855354309, 0.5870844125747681, -0.3022109866142273, 1.2753372192382812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4689209650004573, 0.8832284174651515, -0.0045487542299359135, -2.2834858894348145], [-0.8832302214985446, -0.468933880882795, -0.0023218940184168988, 350.13629150390625], [-0.004183827753634036, 0.002928812422303897, 0.9999869587365242, 15.470147132873535], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0234565734863281, 2.264456033706665, -0.6971005797386169, -0.06432114541530609, 0.026361126452684402, 0.5385634303092957, -0.7869823575019836, -1.2888965606689453, -1.3262847661972046, -0.7891857624053955, 0.054637759923934937, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5772796869277954, -1.2104989290237427, 0.8955026268959045, -0.8585103154182434, 0.5369463562965393, -0.3373863697052002, 1.2006330490112305, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46886567324361716, 0.8832577757285145, -0.004547754272865067, -2.3054070472717285], [-0.8832596826861299, -0.4688785109549931, -0.0022967163136630208, 350.13653564453125], [-0.0041609367943355735, 0.002939996555330079, 0.9999870214284025, 15.461233139038086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0234565734863281, 2.2641685009002686, -0.6969088912010193, -0.06489630043506622, 0.026456983759999275, 0.5385631918907166, -0.786981999874115, -1.2888959646224976, -1.3262834548950195, -0.7891857624053955, 0.054637759923934937, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5497627854347229, -1.1933437585830688, 0.9587656855583191, -0.7816686630249023, 0.5133793950080872, -0.3678641617298126, 1.1086808443069458, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688619144150197, 0.8832597723197301, -0.004547506215602738, -2.307011604309082], [-0.8832618202837208, -0.468874650343978, -0.0022625414692978322, 350.1370544433594], [-0.004130622249813752, 0.0029558190930064556, 0.9999871004634604, 15.449261665344238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0239357948303223, 2.2640726566314697, -0.6965254545211792, -0.06595074385404587, 0.02664870209991932, 0.5385635495185852, -0.786983072757721, -1.2888964414596558, -1.326283574104309, -0.7891852855682373, 0.05463787913322449, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.541781485080719, -1.1851259469985962, 0.9832653999328613, -0.7434593439102173, 0.47565004229545593, -0.38426268100738525, 1.059062123298645, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46870693108065464, 0.8833420263972256, -0.004547214245904186, -2.3686447143554688], [-0.8833440625679218, -0.4687196748621152, -0.002265727952126962, 350.1366271972656], [-0.004132781503365253, 0.002954792310238648, 0.9999870945764494, 15.45009708404541], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0247026681900024, 2.2640726566314697, -0.6963337063789368, -0.06748448312282562, 0.026744559407234192, 0.5385648608207703, -0.7869827747344971, -1.288897156715393, -1.3262825012207031, -0.789185643196106, 0.05463787913322449, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5645703673362732, -1.192960500717163, 0.9635749459266663, -0.7793930172920227, 0.48424646258354187, -0.3764869272708893, 1.101638674736023, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688110713293969, 0.8832867574771194, -0.004547907710112841, -2.3274130821228027], [-0.8832886774807545, -0.4688239012171256, -0.0022938792153449606, 350.1364440917969], [-0.004158320969196756, 0.0029417194141239905, 0.9999870272426566, 15.4601411819458], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0259488821029663, 2.2640726566314697, -0.6959502696990967, -0.06873064488172531, 0.026552842929959297, 0.5385642051696777, -0.7869802117347717, -1.2888973951339722, -1.3262821435928345, -0.7891854047775269, 0.054637640714645386, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.608384907245636, -1.2082864046096802, 0.9261336922645569, -0.8666602969169617, 0.5360222458839417, -0.3475046455860138, 1.1773617267608643, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687860954020837, 0.8833000133852459, -0.004547868873747313, -2.3372435569763184], [-0.8833018558041801, -0.4687989799476189, -0.0023125598291176, 350.1361083984375], [-0.0041747204169620255, 0.0029330451234593183, 0.999986984393169, 15.466636657714844], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0266199111938477, 2.2640726566314697, -0.6956626772880554, -0.06949751079082489, 0.025210822001099586, 0.538565993309021, -0.7869820594787598, -1.288896083831787, -1.3262810707092285, -0.7891842126846313, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6429699063301086, -1.2181966304779053, 0.9042580723762512, -0.9631214737892151, 0.5887002348899841, -0.3204527795314789, 1.2315232753753662, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688395137921777, 0.8832716739497961, -0.004545360826121667, -2.3158316612243652], [-0.883273496781214, -0.4688523960189961, -0.002315303680616082, 350.1361999511719], [-0.004176145471777917, 0.0029292908991195485, 0.9999869894472762, 15.467700004577637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0275784730911255, 2.2641685009002686, -0.6955668330192566, -0.06949751079082489, 0.02358122542500496, 0.5385632514953613, -0.786979079246521, -1.2888978719711304, -1.3262823820114136, -0.7891858816146851, 0.054637517780065536, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6294179558753967, -1.2134612798690796, 0.9451240301132202, -0.9842934012413025, 0.6147314310073853, -0.32142674922943115, 1.186856746673584, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46881512214418386, 0.8832846339921201, -0.004542752727193917, -2.3250768184661865], [-0.8832864796742732, -0.468827972275619, -0.0023080807094197453, 350.13623046875], [-0.004168461774283955, 0.002930488924728567, 0.999987017996283, 15.465132713317871], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0277701616287231, 2.265126943588257, -0.6951833963394165, -0.06949751079082489, 0.022047486156225204, 0.538566529750824, -0.7869805097579956, -1.2888963222503662, -1.32628333568573, -0.7891852855682373, 0.05463787913322449, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5874336361885071, -1.1991491317749023, 1.0071837902069092, -0.9231212139129639, 0.559350848197937, -0.3653249442577362, 1.0941935777664185, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46883960935161295, 0.8832716358515351, -0.004542906908638783, -2.3153979778289795], [-0.883273521207108, -0.46885243230475027, -0.0022985770199006137, 350.1364440917969], [-0.004160220838347708, 0.0029349654296346775, 0.9999870391862602, 15.461849212646484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0280576944351196, 2.2659897804260254, -0.6949917078018188, -0.06940165162086487, 0.021088900044560432, 0.5385648012161255, -0.7869830131530762, -1.2888957262039185, -1.3262845277786255, -0.7891854047775269, 0.054637759923934937, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.56512850522995, -1.188692331314087, 1.037765622138977, -0.8420692682266235, 0.4744425117969513, -0.3997485637664795, 1.012302041053772, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687301209332204, 0.8833297445039688, -0.004542708936504286, -2.3594131469726562], [-0.8833316297295468, -0.4687429436322237, -0.002298850656509406, 350.13616943359375], [-0.004160005922028661, 0.0029351779420362404, 0.9999870394566008, 15.461747169494629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0289205312728882, 2.2663731575012207, -0.6947999596595764, -0.06930579245090485, 0.02060960792005062, 0.5385620594024658, -0.7869816422462463, -1.288897156715393, -1.326283574104309, -0.7891855239868164, 0.054637517780065536, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5868217945098877, -1.1970627307891846, 1.008080005645752, -0.8167375326156616, 0.458042711019516, -0.37714606523513794, 1.0345743894577026, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46880594958726807, 0.8832894912411055, -0.004544919648234441, -2.3299336433410645], [-0.8832912469949767, -0.4688188762530823, -0.002331147969526635, 350.1358642578125], [-0.004189822626156742, 0.0029216317060986046, 0.9999869546421769, 15.473188400268555], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0301666259765625, 2.266660690307617, -0.6947999596595764, -0.06940165162086487, 0.02003445476293564, 0.53856360912323, -0.7869827747344971, -1.2888970375061035, -1.3262827396392822, -0.7891852855682373, 0.054637759923934937, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6261767148971558, -1.211719036102295, 0.9652486443519592, -0.8643763661384583, 0.49605655670166016, -0.3430710732936859, 1.1090391874313354, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46878053216123927, 0.8833029762838344, -0.004545850277478315, -2.3396029472351074], [-0.8833047217763104, -0.4687934719837197, -0.0023343335504116985, 350.1357421875], [-0.004192988707415079, 0.002921080890580915, 0.9999869429808222, 15.474255561828613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0312210321426392, 2.266756534576416, -0.6947999596595764, -0.07036024332046509, 0.01917172782123089, 0.5385642647743225, -0.7869681715965271, -1.288899540901184, -1.3262817859649658, -0.7891868352890015, 0.054637398570775986, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6679672002792358, -1.224570870399475, 0.9248552322387695, -0.9495187401771545, 0.5509545803070068, -0.2937852442264557, 1.1958208084106445, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46891061130541845, 0.8832339280769043, -0.004546086121146375, -2.287658214569092], [-0.8832355788179841, -0.4689236172495186, -0.0023565855994883136, 350.1357421875], [-0.00421318350414132, 0.002910237012517511, 0.9999868897167059, 15.482281684875488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.2675235271453857, -0.6947999596595764, -0.07112710922956467, 0.01840485818684101, 0.538567066192627, -0.786978542804718, -1.2888954877853394, -1.3262821435928345, -0.7891851663589478, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6851196885108948, -1.2278331518173218, 0.9170352816581726, -1.0206354856491089, 0.5957129597663879, -0.25396299362182617, 1.2600152492523193, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688591547365679, 0.8832612451577986, -0.0045459676644390235, -2.307681083679199], [-0.8832627582077892, -0.46887225491403983, -0.002389254065989097, 350.1351013183594], [-0.0042418136309156996, 0.0028950602961852778, 0.999986812734549, 15.493626594543457], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0326589345932007, 2.2678110599517822, -0.69489586353302, -0.07160640507936478, 0.0179255660623312, 0.5385618805885315, -0.7869831919670105, -1.2888967990875244, -1.3262850046157837, -0.7891862392425537, 0.054637640714645386, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6556876301765442, -1.222815752029419, 0.9701712727546692, -1.0018055438995361, 0.6257643103599548, -0.2658156156539917, 1.1973084211349487, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46877750949738606, 0.883304583089936, -0.004545336262917226, -2.3398330211639404], [-0.8833060435589105, -0.46879064224497347, -0.0024014903392466634, 350.13470458984375], [-0.004252058528815116, 0.002889158330728176, 0.9999867862939027, 15.49776554107666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0329465866088867, 2.268578052520752, -0.69489586353302, -0.07227741181850433, 0.01830899901688099, 0.5385653376579285, -0.7869812250137329, -1.2888975143432617, -1.3262807130813599, -0.7891861200332642, 0.054637759923934937, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6129427552223206, -1.2202908992767334, 1.014760971069336, -0.9281988143920898, 0.5923598408699036, -0.33877089619636536, 1.0886640548706055, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46880400087574103, 0.8832905233587925, -0.004545339090677091, -2.3297717571258545], [-0.8832920590556758, -0.46881708213540274, -0.0023836751524138316, 350.1350402832031], [-0.004236410282700179, 0.0028973854762707244, 0.9999868289059204, 15.491575241088867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0334258079528809, 2.2689614295959473, -0.69489586353302, -0.07266084849834442, 0.019938597455620766, 0.5385603308677673, -0.7869793772697449, -1.2888983488082886, -1.3262840509414673, -0.7891864776611328, 0.054637398570775986, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6032713651657104, -1.2271642684936523, 0.9973650574684143, -0.8629066348075867, 0.5307381749153137, -0.35820966958999634, 1.0247777700424194, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46879873383915527, 0.8832933165616222, -0.0045457747826455125, -2.332608461380005], [-0.8832949072155575, -0.4688117801760554, -0.0023710029982248267, 350.1352233886719], [-0.0042254038700110215, 0.002903736511363049, 0.9999868570518354, 15.487128257751465], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0338093042373657, 2.269153118133545, -0.69489586353302, -0.073427714407444, 0.022526780143380165, 0.5385650396347046, -0.7869819402694702, -1.2888964414596558, -1.3262823820114136, -0.7891846895217896, 0.054637759923934937, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6276467442512512, -1.2448314428329468, 0.9403062462806702, -0.8713957667350769, 0.5319250822067261, -0.3240906000137329, 1.09030020236969, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46882704368199146, 0.883278279866943, -0.004547903659724128, -2.321420669555664], [-0.8832797266990946, -0.46884020123040027, -0.002406265282667143, 350.134765625], [-0.004257641926779312, 0.002888948862827491, 0.9999867631422384, 15.499521255493164], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0342885255813599, 2.269153118133545, -0.6950875520706177, -0.07371529191732407, 0.024156376719474792, 0.5385608077049255, -0.7869817614555359, -1.2888972759246826, -1.3262845277786255, -0.789186954498291, 0.054637517780065536, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6542593836784363, -1.2555036544799805, 0.9046527147293091, -0.9137387871742249, 0.5836952924728394, -0.2737979590892792, 1.2037910223007202, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46884885859638836, 0.8832667036757795, -0.004547303661177147, -2.312408924102783], [-0.8832681466672141, -0.4688620148352207, -0.0024066839680678648, 350.1347961425781], [-0.0042578017719117406, 0.0028881174457101306, 0.999986764863261, 15.49970817565918], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0343843698501587, 2.269057273864746, -0.6954709887504578, -0.07400286942720413, 0.02530668117105961, 0.5385607481002808, -0.7869768142700195, -1.2888994216918945, -1.32628333568573, -0.7891871929168701, 0.054637517780065536, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6678606867790222, -1.2532519102096558, 0.9092965722084045, -0.9654613733291626, 0.6379703879356384, -0.23280411958694458, 1.3200669288635254, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688804961388717, 0.883249913743704, -0.0045464505171966116, -2.299299955368042], [-0.8832512341613084, -0.46889372951050934, -0.00243470290817303, 350.13446044921875], [-0.004282253272678676, 0.002874073322832302, 0.9999867009162889, 15.509577751159668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.034192681312561, 2.269057273864746, -0.6955668330192566, -0.07361943274736404, 0.025210822001099586, 0.5385639667510986, -0.7869814038276672, -1.2888973951339722, -1.32628333568573, -0.7891857624053955, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6574016213417053, -1.2330350875854492, 0.984616219997406, -0.9791521430015564, 0.6722603440284729, -0.22008369863033295, 1.3197193145751953, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688009756429603, 0.8832921217509342, -0.004546744873125964, -2.330568790435791], [-0.8832933825753712, -0.4688142514209541, -0.002449073941175902, 350.134033203125], [-0.004294826511922796, 0.0028679814056456468, 0.9999866644850267, 15.51446533203125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0336174964904785, 2.269057273864746, -0.6956626772880554, -0.07304428517818451, 0.023677082732319832, 0.5385650396347046, -0.786973774433136, -1.2888977527618408, -1.3262823820114136, -0.7891858816146851, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6313647627830505, -1.2057287693023682, 1.075965404510498, -0.9452661871910095, 0.6213893890380859, -0.2511386573314667, 1.2436506748199463, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46885036948061587, 0.8832659039590346, -0.0045468606003885295, -2.311371088027954], [-0.8832671374787691, -0.4688636637629515, -0.0024553315138717458, 350.1340637207031], [-0.004300568328836612, 0.0028649094595440063, 0.999986648613789, 15.516745567321777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.033329963684082, 2.269153118133545, -0.6956626772880554, -0.07131882756948471, 0.02013031393289566, 0.5385632514953613, -0.7869806289672852, -1.2888970375061035, -1.326284646987915, -0.789186954498291, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.619723916053772, -1.1873022317886353, 1.1178487539291382, -0.8884526491165161, 0.5306434035301208, -0.2734653949737549, 1.1895115375518799, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46869244456907966, 0.8833497189330223, -0.004546038364399756, -2.3746097087860107], [-0.8833510959088434, -0.4687056389291451, -0.002421857276384382, 350.1341552734375], [-0.004270100760572432, 0.0028806417639701608, 0.9999867339832675, 15.504740715026855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0334258079528809, 2.269153118133545, -0.6956626772880554, -0.06892236322164536, 0.015145665034651756, 0.5385622382164001, -0.7869803309440613, -1.2888978719711304, -1.3262840509414673, -0.7891863584518433, 0.054637517780065536, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6317633986473083, -1.1889612674713135, 1.0875622034072876, -0.877211332321167, 0.4950919449329376, -0.24832093715667725, 1.2544548511505127, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687674436321412, 0.8833099209316773, -0.0045461383900736695, -2.3450241088867188], [-0.8833113739254782, -0.46878058652798593, -0.002403827856109442, 350.1346435546875], [-0.004254466414449522, 0.002888819508351181, 0.9999867770312648, 15.498563766479492], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0340968370437622, 2.269153118133545, -0.6959502696990967, -0.06556730717420578, 0.006901822052896023, 0.5385645031929016, -0.7869790196418762, -1.2888967990875244, -1.3262856006622314, -0.7891845703125, 0.054637517780065536, -1.535900592803955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.664527416229248, -1.1951210498809814, 1.0517098903656006, -0.9158360362052917, 0.5331137180328369, -0.2042246162891388, 1.3687875270843506, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46884798873938593, 0.8832671719926307, -0.00454602410604148, -2.312840223312378], [-0.8832685576958768, -0.4688611757973953, -0.0024192593348316047, 350.1346130371094], [-0.004268306558555397, 0.0028810952820191634, 0.9999867403366397, 15.50411319732666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.034576177597046, 2.269153118133545, -0.6962378621101379, -0.060486800968647, -0.005272225011140108, 0.5385632514953613, -0.7869795560836792, -1.28889799118042, -1.32628333568573, -0.7891871929168701, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.701011598110199, -1.1893038749694824, 1.0656030178070068, -0.9653807282447815, 0.5885716676712036, -0.15097594261169434, 1.427758812904358, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688463618512808, 0.8832680325879427, -0.004546601702694688, -2.313060998916626], [-0.883269573222293, -0.46885944723019923, -0.0023832252726889783, 350.1351623535156], [-0.004236743858923171, 0.0028985084469786335, 0.999986824238328, 15.491491317749023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0347678661346436, 2.269057273864746, -0.6963337063789368, -0.05377669632434845, -0.020226173102855682, 0.5385635495185852, -0.7869774699211121, -1.288898229598999, -1.3262838125228882, -0.789186954498291, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7086284160614014, -1.1676697731018066, 1.1395174264907837, -1.012650489807129, 0.6112039685249329, -0.1249091774225235, 1.4011223316192627, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46886985891923816, 0.8832555654090145, -0.004545500088632723, -2.3033697605133057], [-0.8832571416649875, -0.46888291284114825, -0.0023739720715774248, 350.1353759765625], [-0.004228131366224136, 0.0029017614654449665, 0.999986851256329, 15.488296508789062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0356305837631226, 2.269057273864746, -0.6965254545211792, -0.04639558121562004, -0.03796001896262169, 0.5385607481002808, -0.7869823575019836, -1.2888975143432617, -1.326284646987915, -0.7891864776611328, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6797335743904114, -1.139657974243164, 1.2332948446273804, -1.0043003559112549, 0.5498506426811218, -0.15583831071853638, 1.3216789960861206, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46878896135994697, 0.8832985166667158, -0.0045431444443077085, -2.3356127738952637], [-0.8833001899536388, -0.4688019344170091, -0.002349620125854601, 350.1355285644531], [-0.004205250875724973, 0.0029114843722540117, 0.9999869194763611, 15.479629516601562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.037164330482483, 2.269057273864746, -0.6967171430587769, -0.038726888597011566, -0.06029508262872696, 0.5385611057281494, -0.7869794368743896, -1.2888985872268677, -1.326282024383545, -0.789188027381897, 0.05463799834251404, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6496285796165466, -1.118228793144226, 1.2897878885269165, -0.9401057362556458, 0.4459584057331085, -0.20461003482341766, 1.248826503753662, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688111536315682, 0.8832867427727585, -0.0045422761396529425, -2.327254295349121], [-0.8832884799960429, -0.4688240767110883, -0.002333709981054017, 350.1358337402344], [-0.0041908635050810755, 0.002918070918656902, 0.9999869606775857, 15.474100112915039], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0389856100082397, 2.269057273864746, -0.6967171430587769, -0.03220850229263306, -0.07937095314264297, 0.5385623574256897, -0.786985456943512, -1.288897156715393, -1.3262832164764404, -0.7891850471496582, 0.054637759923934937, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6589207649230957, -1.117384910583496, 1.2687935829162598, -0.9046052694320679, 0.40580418705940247, -0.20633743703365326, 1.2712339162826538, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687584473297035, 0.8833147170237267, -0.004541887970818264, -2.348466634750366], [-0.883316652123391, -0.4687712294146753, -0.0022861659121591097, 350.1364440917969], [-0.004148510403712316, 0.0029402656933808914, 0.9999870722659782, 15.457359313964844], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0416697263717651, 2.269153118133545, -0.6968129873275757, -0.026936277747154236, -0.10055571049451828, 0.538560152053833, -0.7869808077812195, -1.288898229598999, -1.3262841701507568, -0.7891867160797119, 0.054637279361486435, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.703822672367096, -1.1315261125564575, 1.2154675722122192, -0.9113033413887024, 0.447274774312973, -0.17809277772903442, 1.3271198272705078, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46878176104763036, 0.8833023460185172, -0.0045415886279628415, -2.339060068130493], [-0.8833042406867687, -0.46879456968288924, -0.0022956089835525655, 350.1363525390625], [-0.004156788887235709, 0.0029354648725478496, 0.999987051992239, 15.460708618164062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0444495677947998, 2.2704951763153076, -0.6968129873275757, -0.023389507085084915, -0.12068602442741394, 0.538561999797821, -0.7869775891304016, -1.28889799118042, -1.3262848854064941, -0.7891874313354492, 0.054637517780065536, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.756506621837616, -1.1503089666366577, 1.1550575494766235, -0.9584936499595642, 0.5082373023033142, -0.1320776641368866, 1.357491135597229, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46878076877926134, 0.8833028798620179, -0.004540181735405994, -2.339115619659424], [-0.8833047632540564, -0.4687935766191005, -0.0022973317930506166, 350.1363220214844], [-0.004157647823041872, 0.0029334191888358745, 0.9999870544244271, 15.461313247680664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0467501878738403, 2.2729873657226562, -0.6965254545211792, -0.020897183567285538, -0.13813230395317078, 0.5385653972625732, -0.7869819402694702, -1.2888964414596558, -1.3262813091278076, -0.7891849279403687, 0.05463787913322449, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7974156141281128, -1.1639457941055298, 1.1064257621765137, -1.039226770401001, 0.5722706913948059, -0.07719206809997559, 1.4024510383605957, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468833163725628, 0.8832750634481358, -0.004541682695876259, -2.3181116580963135], [-0.8832769021299014, -0.46884601196631803, -0.0023089450152284814, 350.1362609863281], [-0.004168783374402215, 0.002929053425712475, 0.9999870208613743, 15.465470314025879], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.049530029296875, 2.2747128009796143, -0.6962378621101379, -0.019363444298505783, -0.1520317941904068, 0.5385639071464539, -0.7869796752929688, -1.28889799118042, -1.3262819051742554, -0.7891857624053955, 0.054637517780065536, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7811387777328491, -1.1578971147537231, 1.1419897079467773, -1.062633991241455, 0.6097341179847717, -0.057977281510829926, 1.381672739982605, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687819427743385, 0.8833022559948618, -0.004540339536238709, -2.3383259773254395], [-0.8833040286203182, -0.4687948293521389, -0.0023240042630882675, 350.13592529296875], [-0.004181285906619339, 0.002921048970197396, 0.9999869920759373, 15.470654487609863], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0519264936447144, 2.2758631706237793, -0.6952792406082153, -0.018692433834075928, -0.16257624328136444, 0.5385634303092957, -0.7869815826416016, -1.2888975143432617, -1.3262825012207031, -0.7891854047775269, 0.05463787913322449, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7255218625068665, -1.1417919397354126, 1.2149492502212524, -1.0068848133087158, 0.5630566477775574, -0.11821167171001434, 1.2789674997329712, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46877936719691204, 0.8833036315033255, -0.004538663184262838, -2.3394389152526855], [-0.8833056270021334, -0.46879208608770995, -0.0022692130576564508, 350.1367492675781], [-0.004132093516682772, 0.002945266468523625, 0.9999871255214233, 15.451468467712402], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.054131269454956, 2.276630163192749, -0.6945124268531799, -0.01878829300403595, -0.1697656512260437, 0.5385629534721375, -0.7869758009910583, -1.2888981103897095, -1.3262790441513062, -0.7891849279403687, 0.054637759923934937, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6994823217391968, -1.1294562816619873, 1.2340174913406372, -0.9311250448226929, 0.45151957869529724, -0.17938455939292908, 1.2240159511566162, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688007615565266, 0.8832922768114346, -0.004538688058540648, -2.331455945968628], [-0.8832942621570953, -0.46881348766452624, -0.002271612681750815, 350.13677978515625], [-0.004134296115843185, 0.0029440633646636346, 0.999987119960318, 15.452347755432129], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.055856704711914, 2.277876138687134, -0.6938413977622986, -0.019363444298505783, -0.17398342490196228, 0.538564145565033, -0.7869779467582703, -1.2888972759246826, -1.3262804746627808, -0.7891862392425537, 0.054637517780065536, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7244291305541992, -1.1373157501220703, 1.196984887123108, -0.9074150919914246, 0.46013861894607544, -0.1546812355518341, 1.2793593406677246, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468696621749108, 0.8833475370822684, -0.004539327225879493, -2.3728432655334473], [-0.8833496528414737, -0.4687092592505562, -0.0022407850505039495, 350.136962890625], [-0.00410701665703129, 0.0029595647458773946, 0.9999871866132555, 15.441364288330078], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0571987628936768, 2.278451442718506, -0.692882776260376, -0.020226173102855682, -0.1762840300798416, 0.5385658144950867, -0.7869681715965271, -1.2888984680175781, -1.326279640197754, -0.789185643196106, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7681356072425842, -1.1587896347045898, 1.1290373802185059, -0.9670687317848206, 0.5306633710861206, -0.10648738592863083, 1.3472527265548706, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688293038631195, 0.8832771275602614, -0.004538696742044853, -2.3199546337127686], [-0.8832789472194073, -0.46884214690526615, -0.002311424719968122, 350.13623046875], [-0.004169560911917471, 0.002925271637666871, 0.9999870286896964, 15.466339111328125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.057965636253357, 2.2786431312561035, -0.6922118067741394, -0.02013031393289566, -0.177913635969162, 0.5385613441467285, -0.7869774699211121, -1.2888977527618408, -1.3262845277786255, -0.7891862392425537, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8058405518531799, -1.1740810871124268, 1.0780417919158936, -1.051750898361206, 0.5967696905136108, -0.062013089656829834, 1.3898149728775024, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688266462830484, 0.8832785408074523, -0.004538180697931292, -2.3208682537078857], [-0.8832804242401477, -0.4688394412645489, -0.002295750180254828, 350.136474609375], [-0.004155464972049597, 0.002932177314434627, 0.9999870671399019, 15.460846900939941], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0586366653442383, 2.2789306640625, -0.6915407776832581, -0.02013031393289566, -0.17848879098892212, 0.5385644435882568, -0.7869706749916077, -1.288899302482605, -1.3262799978256226, -0.7891858816146851, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7829590439796448, -1.1665676832199097, 1.123842477798462, -1.0599021911621094, 0.6335658431053162, -0.05621068924665451, 1.356116771697998, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46885559716418346, 0.8832631743907841, -0.004538036241816934, -2.3089261054992676], [-0.8832648768722285, -0.4688685176663687, -0.0023388940182543913, 350.1358642578125], [-0.004193601280943956, 0.002911684470737746, 0.9999869678160007, 15.476006507873535], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.059116005897522, 2.279026508331299, -0.6909656524658203, -0.01888415217399597, -0.17848879098892212, 0.5385642051696777, -0.7869899868965149, -1.2888951301574707, -1.3262859582901, -0.7891842126846313, 0.054637640714645386, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7111548185348511, -1.146154761314392, 1.21067476272583, -0.9768930077552795, 0.5973824262619019, -0.11174726486206055, 1.2700395584106445, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687719948197555, 0.883307553381624, -0.004536850413689812, -2.342109441757202], [-0.8833095226834556, -0.4687847211288776, -0.002274285128558239, 350.13665771484375], [-0.004135699388584003, 0.0029413219968994356, 0.9999871222248203, 15.453235626220703], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.059978723526001, 2.279409885406494, -0.6903904676437378, -0.018021423369646072, -0.17848879098892212, 0.5385617017745972, -0.7869846820831299, -1.2888962030410767, -1.3262832164764404, -0.7891781330108643, 0.054637398570775986, -1.5358977317810059, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6454114317893982, -1.1280165910720825, 1.2601888179779053, -0.8594192266464233, 0.4736844003200531, -0.2048352062702179, 1.187294602394104, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687446488751734, 0.8833220602208155, -0.004537849506543232, -2.35363507270813], [-0.883324140494201, -0.46875730230982016, -0.002248188470912261, 350.1369934082031], [-0.004113024564866057, 0.0029545656996563534, 0.9999871767030092, 15.444046974182129], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0611289739608765, 2.2797935009002686, -0.6901028752326965, -0.0170628372579813, -0.17829707264900208, 0.5385642051696777, -0.7869821190834045, -1.2888964414596558, -1.3262825012207031, -0.789185643196106, 0.054637279361486435, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6124022006988525, -1.1219693422317505, 1.2700062990188599, -0.7557174563407898, 0.4006540775299072, -0.2753610610961914, 1.1222823858261108, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687696867373061, 0.8833087694901052, -0.0045385612350334675, -2.3438916206359863], [-0.8833109470312359, -0.4687822742358989, -0.0022249083126257684, 350.1374206542969], [-0.004092878081371653, 0.0029659912499478583, 0.9999872255408647, 15.435938835144043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.062566876411438, 2.2802727222442627, -0.6895277500152588, -0.015624958090484142, -0.17858465015888214, 0.5385612845420837, -0.786981999874115, -1.2888965606689453, -1.326283574104309, -0.7891854047775269, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6272991895675659, -1.1378549337387085, 1.2242698669433594, -0.7151163220405579, 0.4071454703807831, -0.2748441696166992, 1.1589609384536743, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687129237528067, 0.8833388955682356, -0.004537695823311788, -2.3661975860595703], [-0.8833410951011006, -0.4687254903408009, -0.0022191012513949754, 350.1373596191406], [-0.0040871521483605506, 0.002968211762155074, 0.9999872423717471, 15.433805465698242], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0636212825775146, 2.2808477878570557, -0.688952624797821, -0.015049805864691734, -0.17983080446720123, 0.5385645031929016, -0.7869796752929688, -1.2888970375061035, -1.3262815475463867, -0.7891848087310791, 0.054637517780065536, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.664487361907959, -1.161016821861267, 1.1619631052017212, -0.7625412344932556, 0.45631349086761475, -0.23487763106822968, 1.256910800933838, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876749296961706, 0.8833099393243509, -0.004537469095354742, -2.3444161415100098], [-0.8833119780459961, -0.4687801736435351, -0.0022579280782474044, 350.13690185546875], [-0.004121525864218034, 0.0029495575173946326, 0.9999871564850231, 15.44749927520752], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0650591850280762, 2.281806468963623, -0.6881857514381409, -0.014282937161624432, -0.18155625462532043, 0.5385646224021912, -0.7869877219200134, -1.288894772529602, -1.3262845277786255, -0.7891831398010254, 0.054637759923934937, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7112524509429932, -1.1830074787139893, 1.1008623838424683, -0.855354905128479, 0.5321568846702576, -0.1726231724023819, 1.3645708560943604, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46879018622385726, 0.8832978933399692, -0.004537942416260632, -2.335423231124878], [-0.8832998860293693, -0.46880290253931656, -0.0022693415818527854, 350.13677978515625], [-0.004131905214818623, 0.002944518956328547, 0.999987128500868, 15.45153522491455], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0665929317474365, 2.2821898460388184, -0.6876105666160583, -0.014570512808859348, -0.18261070549488068, 0.5385653972625732, -0.786981463432312, -1.2888976335525513, -1.3262810707092285, -0.7891843318939209, 0.054637517780065536, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6943436861038208, -1.1824973821640015, 1.1251039505004883, -0.888037919998169, 0.581593930721283, -0.1606007218360901, 1.3502800464630127, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688447409375791, 0.8832689378324432, -0.004537880069118931, -2.3134729862213135], [-0.8832707446147334, -0.46885758780258335, -0.0023138858392483534, 350.13623046875], [-0.0041714029904429475, 0.0029233235007615093, 0.9999870267042474, 15.467230796813965], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.068893551826477, 2.282381534576416, -0.6871312856674194, -0.015624958090484142, -0.18203555047512054, 0.5385602116584778, -0.7869848012924194, -1.288897156715393, -1.3262892961502075, -0.7891858816146851, 0.054637759923934937, -1.53589928150177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6233335137367249, -1.1719428300857544, 1.18337881565094, -0.8166337013244629, 0.5640690922737122, -0.22043567895889282, 1.2119194269180298, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687584017767912, 0.8833147618771343, -0.004537864432721253, -2.3477141857147217], [-0.8833165644127791, -0.468771252223793, -0.002315193845322998, 350.135986328125], [-0.004172265292729446, 0.0029231042537452103, 0.9999870237477329, 15.467533111572266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0708106756210327, 2.28362774848938, -0.6861727237701416, -0.018117282539606094, -0.1783929318189621, 0.5385669469833374, -0.7869896292686462, -1.2888948917388916, -1.3262838125228882, -0.7891846895217896, 0.054637517780065536, -1.535900592803955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5544295907020569, -1.167414903640747, 1.1985057592391968, -0.7168074250221252, 0.46043500304222107, -0.3113996684551239, 1.0778732299804688, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46878155813183553, 0.8833024705176421, -0.0045383182919168, -2.338717222213745], [-0.8833042126794562, -0.4687944533954722, -0.0023298773286558943, 350.1358337402344], [-0.004185524843398605, 0.0029165121413469953, 0.9999869875846958, 15.472715377807617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0738781690597534, 2.284202814102173, -0.6854058504104614, -0.020705465227365494, -0.1723538339138031, 0.5385633707046509, -0.7869824767112732, -1.288896918296814, -1.3262825012207031, -0.7891857624053955, 0.054637517780065536, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5273934602737427, -1.181115984916687, 1.1670215129852295, -0.6415514945983887, 0.4226735532283783, -0.3368246555328369, 1.030531644821167, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687030802830674, 0.8833441193250421, -0.004537552978279864, -2.3701961040496826], [-0.8833459060111987, -0.4687159403410164, -0.0023189660393593253, 350.1357727050781], [-0.004175268424844169, 0.002921322320952899, 0.9999870164204522, 15.468754768371582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0756036043167114, 2.2851614952087402, -0.6844472289085388, -0.023677082732319832, -0.16439756751060486, 0.5385633707046509, -0.7869798541069031, -1.2888970375061035, -1.3262826204299927, -0.7891862392425537, 0.054637640714645386, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5435287356376648, -1.208972692489624, 1.1099846363067627, -0.6400211453437805, 0.46113333106040955, -0.30927786231040955, 1.120532512664795, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687297245249751, 0.8833299845835871, -0.004536924321704373, -2.359412908554077], [-0.8833317794094622, -0.46874257475866843, -0.0023164830945410176, 350.1358947753906], [-0.004172868564229991, 0.002921804951366218, 0.999987025027711, 15.467934608459473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0774250030517578, 2.2862160205841064, -0.6832969188690186, -0.027032136917114258, -0.15653716027736664, 0.5385618805885315, -0.7869817018508911, -1.288896918296814, -1.3262829780578613, -0.7891844511032104, 0.054637517780065536, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.587013304233551, -1.2391796112060547, 1.0477949380874634, -0.7058648467063904, 0.5414292812347412, -0.2559535503387451, 1.270460844039917, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687798049149401, 0.8833034086924259, -0.0045368156510692086, -2.3395915031433105], [-0.8833051334813868, -0.46879270294878084, -0.0023329867992146684, 350.1357727050781], [-0.004187561264025817, 0.0029137354576431497, 0.9999869871535043, 15.473804473876953], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.2867910861968994, -0.6818590760231018, -0.030291330069303513, -0.14963532984256744, 0.5385658740997314, -0.7869832515716553, -1.2888972759246826, -1.3262803554534912, -0.7891839742660522, 0.054637279361486435, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6083115935325623, -1.2502796649932861, 1.0236097574234009, -0.787519633769989, 0.60622239112854, -0.22105993330478668, 1.4081729650497437, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688850223840684, 0.883247554814891, -0.00453791773920018, -2.297663927078247], [-0.8832493508904355, -0.4688978766545635, -0.00231633772708329, 350.13629150390625], [-0.00417371962591584, 0.0029220168305302417, 0.9999870208568341, 15.468161582946777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.2867910861968994, -0.6814756393432617, -0.03230436146259308, -0.14493826031684875, 0.5385647416114807, -0.7869769930839539, -1.2888990640640259, -1.3262817859649658, -0.7891875505447388, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5662388205528259, -1.2374026775360107, 1.0782281160354614, -0.748555064201355, 0.6140466332435608, -0.2545136511325836, 1.376391887664795, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46880523198242474, 0.8832899160609522, -0.0045363697976637364, -2.328996419906616], [-0.8832917507448166, -0.4688180501957331, -0.0023062690277068127, 350.1362609863281], [-0.004163836219404649, 0.002925747034056337, 0.999987051152279, 15.464496612548828], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803006887435913, 2.287078619003296, -0.6808046102523804, -0.0332629457116127, -0.1403370499610901, 0.5385635495185852, -0.7869810461997986, -1.2888984680175781, -1.326282262802124, -0.7891864776611328, 0.054637517780065536, -1.5358980894088745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4983414113521576, -1.2215948104858398, 1.1270990371704102, -0.6512030363082886, 0.5387482047080994, -0.3412335515022278, 1.20294189453125, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468753228243187, 0.883317508125821, -0.004537714180180584, -2.349780797958374], [-0.8833193664074301, -0.4687660386439352, -0.0023017262324084645, 350.13616943359375], [-0.004160281380740543, 0.002929309212601629, 0.9999870555194053, 15.462808609008789], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.2871744632720947, -0.6803253293037415, -0.0332629457116127, -0.13535240292549133, 0.5385629534721375, -0.786983847618103, -1.2888973951339722, -1.3262847661972046, -0.7891879081726074, 0.054637398570775986, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45626115798950195, -1.2146233320236206, 1.1258113384246826, -0.5575712323188782, 0.4315286874771118, -0.4004915952682495, 1.0664547681808472, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46882187112009976, 0.8832810723700185, -0.004538761099493387, -2.3230953216552734], [-0.8832830572576567, -0.46883459784021886, -0.0022717019098445397, 350.1368103027344], [-0.004134479533806317, 0.00294398724012222, 0.9999871194261026, 15.452417373657227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0810675621032715, 2.2872703075408936, -0.680133581161499, -0.03374224156141281, -0.12950502336025238, 0.5385645031929016, -0.7869832515716553, -1.2888962030410767, -1.3262839317321777, -0.7891862392425537, 0.054637640714645386, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47112923860549927, -1.2247705459594727, 1.0930860042572021, -0.52579265832901, 0.4009999632835388, -0.37871864438056946, 1.0913758277893066, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687688646291719, 0.8833092033790314, -0.004539028550014355, -2.344219446182251], [-0.8833110686161811, -0.46878167818493566, -0.002300925521439824, 350.13623046875], [-0.00416024211038256, 0.0029307719147109034, 0.9999870513969503, 15.462553977966309], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.2871744632720947, -0.680133581161499, -0.034796684980392456, -0.12327420711517334, 0.538561999797821, -0.7869811654090881, -1.2888970375061035, -1.3262842893600464, -0.7891870737075806, 0.054637640714645386, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.529611349105835, -1.2461727857589722, 1.0570363998413086, -0.5854192972183228, 0.4734867811203003, -0.30992403626441956, 1.2484008073806763, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687940849015948, 0.883295823097615, -0.004538155967294831, -2.3340814113616943], [-0.8832975892162616, -0.4688069623421527, -0.002323993172170673, 350.1359558105469], [-0.004180292575548135, 0.0029190679729336113, 0.9999870020136022, 15.470678329467773], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0815469026565552, 2.2872703075408936, -0.680133581161499, -0.03623456507921219, -0.11857713758945465, 0.5385631322860718, -0.7869760990142822, -1.2888975143432617, -1.3262810707092285, -0.7891840934753418, 0.054637398570775986, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6096192002296448, -1.263281226158142, 1.0260589122772217, -0.7105124592781067, 0.5755228400230408, -0.21622776985168457, 1.3981329202651978, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688461705072784, 0.8832681845260032, -0.004536805571998031, -2.313326835632324], [-0.8832699120659024, -0.4688590660195944, -0.002332091406119778, 350.1359558105469], [-0.004186984565631599, 0.0029138317336066047, 0.9999869892877984, 15.473610877990723], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.2871744632720947, -0.680133581161499, -0.03719315305352211, -0.1153179407119751, 0.5385624766349792, -0.7869794964790344, -1.288897156715393, -1.3262821435928345, -0.7891882658004761, 0.054637517780065536, -1.5358988046646118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6446436643600464, -1.2531722784042358, 1.0544365644454956, -0.8251915574073792, 0.6231185793876648, -0.16576088964939117, 1.4431507587432861, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46887250356244903, 0.8832542017907431, -0.004537667030420337, -2.3025290966033936], [-0.8832559851699875, -0.4688853652597138, -0.0023192470028345, 350.13623046875], [-0.004176130323229758, 0.002920490414728568, 0.9999870152513286, 15.469159126281738], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2871744632720947, -0.680133581161499, -0.037864163517951965, -0.11349663138389587, 0.5385628938674927, -0.7869805097579956, -1.2888965606689453, -1.3262872695922852, -0.7891873121261597, 0.054637640714645386, -1.5359010696411133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6127265095710754, -1.2230201959609985, 1.145254373550415, -0.8251530528068542, 0.5836281776428223, -0.1942330002784729, 1.3215454816818237, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46879302161027114, 0.8832963942578409, -0.004536824948042179, -2.3336620330810547], [-0.883298189804663, -0.468805870205127, -0.002316020081801241, 350.1360778808594], [-0.004172622355019029, 0.00292163521180862, 0.9999870265510306, 15.467887878417969], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2871744632720947, -0.6799418926239014, -0.03776830434799194, -0.11244218051433563, 0.5385622382164001, -0.7869796752929688, -1.2888973951339722, -1.3262839317321777, -0.7891862392425537, 0.054637759923934937, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5629920363426208, -1.1935592889785767, 1.2234684228897095, -0.7553704977035522, 0.4799021780490875, -0.27435103058815, 1.162514328956604, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687680543152628, 0.8833096439995561, -0.004536967143370417, -2.344054698944092], [-0.8833113818320785, -0.4687809443060069, -0.002330017483313652, 350.1357727050781], [-0.004184970655453035, 0.0029153169545637746, 0.9999869933892478, 15.472743034362793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.286982774734497, -0.6799418926239014, -0.03709729388356209, -0.1118670329451561, 0.5385622382164001, -0.7869839668273926, -1.288896918296814, -1.3262808322906494, -0.7891837358474731, 0.054637398570775986, -1.5358984470367432, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5360231995582581, -1.1811045408248901, 1.2418978214263916, -0.6924415826797485, 0.39814135432243347, -0.3225703835487366, 1.0786333084106445, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46881573511608776, 0.8832843325574793, -0.0045381015910181425, -2.3255937099456787], [-0.8832861320591181, -0.46882858869608635, -0.002315887147031275, 350.1361389160156], [-0.004173178597220466, 0.002922717865940379, 0.9999870210661096, 15.467879295349121], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2865993976593018, -0.6800377368927002, -0.0358511321246624, -0.11138773709535599, 0.5385635495185852, -0.7869827747344971, -1.2888962030410767, -1.3262828588485718, -0.7891850471496582, 0.054637279361486435, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5384228229522705, -1.1875869035720825, 1.2155734300613403, -0.6455746293067932, 0.3677118420600891, -0.32150211930274963, 1.0733505487442017, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46871089946054845, 0.8833399763393076, -0.004536400308085598, -2.3671135902404785], [-0.8833419009093728, -0.4687236552090277, -0.0022849825610129558, 350.1363220214844], [-0.0041447345752781565, 0.002936196240006147, 0.9999870998802638, 15.456872940063477], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2862160205841064, -0.6806129217147827, -0.035180121660232544, -0.11081258952617645, 0.5385645627975464, -0.7869842052459717, -1.2888959646224976, -1.3262834548950195, -0.7891851663589478, 0.054637398570775986, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5795687437057495, -1.2132574319839478, 1.1548606157302856, -0.6760295033454895, 0.414978951215744, -0.2761935889720917, 1.1771875619888306, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687620099882994, 0.8833128612851971, -0.004535094253463801, -2.346710681915283], [-0.8833147802570736, -0.4687747611617672, -0.002285230212954216, 350.136474609375], [-0.0041445109636135645, 0.0029346866760330864, 0.9999871052383555, 15.45705509185791], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.285736560821533, -0.6815714836120605, -0.03489254415035248, -0.11023743450641632, 0.5385625958442688, -0.7869793772697449, -1.2888983488082886, -1.3262783288955688, -0.789185643196106, 0.054637640714645386, -1.5358980894088745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6514875888824463, -1.2458856105804443, 1.0812746286392212, -0.7823716402053833, 0.5117740035057068, -0.20381714403629303, 1.294456958770752, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.468791415200585, 0.8832972578510941, -0.00453467826536776, -2.3351235389709473], [-0.8832992219196499, -0.46880413155158807, -0.0022739385000925686, 350.13671875], [-0.004134439547715391, 0.0029394749359178, 0.9999871328655822, 15.453155517578125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.285736560821533, -0.6820507645606995, -0.03441325202584267, -0.10956642031669617, 0.5385636687278748, -0.7869850993156433, -1.2888950109481812, -1.3262817859649658, -0.7891823053359985, 0.054637279361486435, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7081605792045593, -1.2618310451507568, 1.0293350219726562, -0.9095898270606995, 0.5812260508537292, -0.13726899027824402, 1.3856558799743652, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688676093126374, 0.8832568217911749, -0.004533397931486024, -2.3046061992645264], [-0.8832587881592975, -0.46888031545030895, -0.0022722065462000424, 350.1369323730469], [-0.0041325629846266955, 0.002938799512026874, 0.9999871426076469, 15.452689170837402], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.2856407165527344, -0.6827217936515808, -0.03450911119580269, -0.10812854766845703, 0.538564145565033, -0.7869798541069031, -1.2888967990875244, -1.3262823820114136, -0.7891843318939209, 0.054637398570775986, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6821669936180115, -1.2464128732681274, 1.0852535963058472, -0.933692991733551, 0.5901104211807251, -0.1356949806213379, 1.3653895854949951, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687417909707965, 0.8833236081636586, -0.004531738984696807, -2.353792905807495], [-0.8833253975925976, -0.46875461265732743, -0.002314104655861288, 350.1359558105469], [-0.004168376826719377, 0.002918282579560903, 0.9999870540469094, 15.46713638305664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.285736560821533, -0.6829134821891785, -0.03460496664047241, -0.10611551254987717, 0.5385664105415344, -0.786980390548706, -1.2888970375061035, -1.3262817859649658, -0.7891846895217896, 0.054637279361486435, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6131144165992737, -1.2223961353302002, 1.1664782762527466, -0.8585163354873657, 0.5242258310317993, -0.198140949010849, 1.2694193124771118, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876767424336907, 0.883309868581022, -0.004532510544993518, -2.343689441680908], [-0.883311750267837, -0.46878043566035266, -0.0022923745026844035, 350.1363525390625], [-0.004149629288621848, 0.0029290287584874844, 0.9999871006004523, 15.459572792053223], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.285736560821533, -0.6833928227424622, -0.03450911119580269, -0.10448591411113739, 0.5385630130767822, -0.786986768245697, -1.2888959646224976, -1.326282024383545, -0.789183497428894, 0.054637517780065536, -1.5358985662460327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.543756365776062, -1.1949704885482788, 1.2367315292358398, -0.7415348291397095, 0.4306383728981018, -0.2798205018043518, 1.1720556020736694, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687364366583806, 0.8833264313890601, -0.004535257244352069, -2.356818675994873], [-0.883328496917072, -0.4687490845861082, -0.0022499408686195875, 350.1369323730469], [-0.0041133299199666885, 0.002951492699336968, 0.9999871845217894, 15.444652557373047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.285736560821533, -0.6845430731773376, -0.03450911119580269, -0.10439005494117737, 0.5385642051696777, -0.7869773507118225, -1.2888973951339722, -1.3262821435928345, -0.7891858816146851, 0.054637517780065536, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5118167400360107, -1.1746832132339478, 1.2691035270690918, -0.6438643336296082, 0.3527628481388092, -0.3336831331253052, 1.1126117706298828, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688403928096767, 0.8832712555682498, -0.004535984673204014, -2.316013813018799], [-0.8832731273244652, -0.46885318225018513, -0.0022969632852230626, 350.136474609375], [-0.004155552493602915, 0.002929604198883366, 0.9999870743178187, 15.461302757263184], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.285736560821533, -0.6850224137306213, -0.03249607980251312, -0.10688237845897675, 0.5385645031929016, -0.786978542804718, -1.2888966798782349, -1.3262827396392822, -0.7891861200332642, 0.054637517780065536, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5043047666549683, -1.160359263420105, 1.2759455442428589, -0.5751574635505676, 0.3077137768268585, -0.33788251876831055, 1.1414142847061157, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873087471986263, 0.883329382346174, -0.004535346544606634, -2.359097480773926], [-0.8833313749629577, -0.46874357539253664, -0.0022677156506954415, 350.13665771484375], [-0.004129054420028656, 0.0029432655586144807, 0.9999871439660851, 15.450865745544434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2856407165527344, -0.6856933832168579, -0.030387189239263535, -0.1118670329451561, 0.5385646820068359, -0.7869727611541748, -1.2888988256454468, -1.3262827396392822, -0.7891879081726074, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5363245010375977, -1.1612344980239868, 1.2485028505325317, -0.6008771657943726, 0.32792553305625916, -0.29639050364494324, 1.3185174465179443, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688657612453384, 0.883257796584807, -0.0045346117784454765, -2.3054630756378174], [-0.8832597615986214, -0.4688784759148754, -0.002273403723491829, 350.13690185546875], [-0.004134183423102246, 0.0029393189509390686, 0.9999871343830024, 15.453102111816406], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2856407165527344, -0.6857892870903015, -0.027415569871664047, -0.12001501768827438, 0.538558840751648, -0.7869918942451477, -1.288896083831787, -1.3262875080108643, -0.7891871929168701, 0.054637398570775986, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5987212061882019, -1.163571834564209, 1.234106183052063, -0.6761396527290344, 0.3890998661518097, -0.22963105142116547, 1.4697496891021729, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688080185892398, 0.8832884543575831, -0.0045330017673471485, -2.328362464904785], [-0.8832906408327093, -0.4688205646241106, -0.0022185587374669094, 350.1376037597656], [-0.00408479176612844, 0.0029638799101401594, 0.999987264864961, 15.433798789978027], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.285736560821533, -0.6859809756278992, -0.02530668117105961, -0.13027189671993256, 0.5385638475418091, -0.7869817018508911, -1.288897156715393, -1.3262814283370972, -0.7891854047775269, 0.054637279361486435, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6716994047164917, -1.1574785709381104, 1.2522318363189697, -0.78379887342453, 0.4559072256088257, -0.155302494764328, 1.5004793405532837, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46883696661576524, 0.8832730909243977, -0.004532723617085909, -2.316758394241333], [-0.8832751654833054, -0.4688495914801667, -0.0022455754987092944, 350.13726806640625], [-0.004108622027812286, 0.0029508333978500935, 0.9999872058217999, 15.443310737609863], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.286024332046509, -0.686076819896698, -0.023389507085084915, -0.14062462747097015, 0.5385622382164001, -0.7869833111763, -1.2888967990875244, -1.3262841701507568, -0.7891861200332642, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7300980687141418, -1.140000820159912, 1.3032422065734863, -0.8777396082878113, 0.45639559626579285, -0.13614989817142487, 1.398349642753601, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688369397583523, 0.8832731164029357, -0.004530536156920336, -2.3166518211364746], [-0.8832753002724677, -0.4688494720877039, -0.0022173073001089407, 350.1376953125], [-0.004082627414436558, 0.0029621551153121515, 0.9999872788143196, 15.433418273925781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.2866952419281006, -0.6859809756278992, -0.021664051339030266, -0.15068978071212769, 0.5385623574256897, -0.7869829535484314, -1.2888959646224976, -1.3262823820114136, -0.789183497428894, 0.054637279361486435, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7597719430923462, -1.114975929260254, 1.382217288017273, -0.9003569483757019, 0.4091666042804718, -0.14302177727222443, 1.2378510236740112, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687808050093809, 0.8833029062494551, -0.0045312984919917395, -2.3389484882354736], [-0.8833051515328332, -0.4687932978446805, -0.0022029914814945175, 350.1377868652344], [-0.004070151141626334, 0.002969799180985454, 0.9999873070006984, 15.428302764892578], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2872703075408936, -0.6857892870903015, -0.020322030410170555, -0.15874190628528595, 0.538563072681427, -0.7869808077812195, -1.2888965606689453, -1.326284408569336, -0.7891843318939209, 0.054637398570775986, -1.535900592803955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7716151475906372, -1.0833619832992554, 1.4697885513305664, -0.8910411596298218, 0.32396620512008667, -0.15908411145210266, 1.1030422449111938, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688055469361734, 0.8832897679484699, -0.004532659198909685, -2.3292477130889893], [-0.8832921026914928, -0.4688179825323382, -0.002181874686990145, 350.13818359375], [-0.004052219727103648, 0.0029807871186082655, 0.9999873471316708, 15.420949935913086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.287558078765869, -0.6853099465370178, -0.019459303468465805, -0.1654520034790039, 0.5385633707046509, -0.786983072757721, -1.288896083831787, -1.3262845277786255, -0.7891845703125, 0.054637517780065536, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7852844595909119, -1.0531400442123413, 1.5565872192382812, -0.8937597870826721, 0.25413447618484497, -0.1936553716659546, 1.004151701927185, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687246230964419, 0.8833327247521539, -0.004530461900765985, -2.361252546310425], [-0.8833351074729592, -0.46873701021595515, -0.0021686769108739106, 350.1381530761719], [-0.004039258451051675, 0.0029854037823479375, 0.9999873857981519, 15.41618824005127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.287749767303467, -0.6847348213195801, -0.019459303468465805, -0.1702449470758438, 0.5385639071464539, -0.7869797348976135, -1.2888972759246826, -1.3262823820114136, -0.7891857624053955, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8046274781227112, -1.0382729768753052, 1.6032944917678833, -0.9254340529441833, 0.2275276929140091, -0.22208146750926971, 0.9528417587280273, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687734324930821, 0.8833068228581394, -0.004530527663857421, -2.341859817504883], [-0.8833090516670875, -0.4687859325907877, -0.00220650129752336, 350.1376953125], [-0.004072865286777486, 0.0029675069072729386, 0.9999873027549455, 15.429519653320312], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.2879414558410645, -0.6842555403709412, -0.019555162638425827, -0.17398342490196228, 0.5385611653327942, -0.7869812846183777, -1.2888972759246826, -1.3262850046157837, -0.789185643196106, 0.054637517780065536, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8293590545654297, -1.047932744026184, 1.5646568536758423, -0.9700730443000793, 0.26909151673316956, -0.19753381609916687, 0.9911616444587708, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46872092059309467, 0.8833346978159384, -0.004528822450324644, -2.3626608848571777], [-0.8833370281998769, -0.46873333609742884, -0.0021804224326316198, 350.1379699707031], [-0.004048852846373348, 0.002978466954609728, 0.9999873676828266, 15.42029857635498], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2886123657226562, -0.6831052303314209, -0.019746879115700722, -0.17676332592964172, 0.5385642051696777, -0.7869803309440613, -1.2888965606689453, -1.3262814283370972, -0.7891854047775269, 0.054637759923934937, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.856246292591095, -1.0755136013031006, 1.4626402854919434, -1.026870846748352, 0.34949737787246704, -0.15864045917987823, 1.0633937120437622, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46874683200075506, 0.8833209308741394, -0.0045321704402790704, -2.352452039718628], [-0.8833230648431466, -0.4687594113430802, -0.0022310072610926186, 350.13726806640625], [-0.0040951929583470225, 0.0029575930978909754, 0.9999872409374537, 15.438048362731934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.288708209991455, -0.6825300455093384, -0.019459303468465805, -0.17829707264900208, 0.538564920425415, -0.7869805097579956, -1.2888972759246826, -1.3262823820114136, -0.7891857624053955, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8800620436668396, -1.1133394241333008, 1.3295819759368896, -1.0933343172073364, 0.43880516290664673, -0.1277351826429367, 1.0900849103927612, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46869592677729455, 0.8833479308446225, -0.0045344564058463046, -2.372680425643921], [-0.8833500201307524, -0.4687085529688262, -0.0022437265582089714, 350.1369323730469], [-0.004107329713059468, 0.0029538866587517695, 0.9999872021162248, 15.442404747009277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2886123657226562, -0.6824342012405396, -0.018692433834075928, -0.17810535430908203, 0.5385640859603882, -0.7869768142700195, -1.288897156715393, -1.3262814283370972, -0.7891851663589478, 0.054637640714645386, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.88935387134552, -1.1513893604278564, 1.1875338554382324, -1.1823762655258179, 0.5272788405418396, -0.10730483382940292, 1.1282232999801636, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688012641822392, 0.8832920311887239, -0.004534571604130354, -2.3308653831481934], [-0.8832940461792743, -0.46881394350295635, -0.0022614954020113306, 350.1369323730469], [-0.004123431262995424, 0.002945168196496709, 0.9999871615670441, 15.448816299438477], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2886123657226562, -0.6823383569717407, -0.01840485818684101, -0.17570888996124268, 0.5385629534721375, -0.7869789600372314, -1.2888975143432617, -1.3262836933135986, -0.7891860008239746, 0.054637517780065536, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8758254051208496, -1.1640771627426147, 1.1332730054855347, -1.189676284790039, 0.5500489473342896, -0.1033928245306015, 1.1389607191085815, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4688540891312203, 0.8832640077257284, -0.004531640014210694, -2.3098721504211426], [-0.8832659307295845, -0.46886681522256013, -0.002281489744546475, 350.1367492675781], [-0.004139893396551354, 0.002932957438841678, 0.9999871294388379, 15.45591926574707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.288708209991455, -0.6819549202919006, -0.01888415217399597, -0.17158696055412292, 0.5385605692863464, -0.7869828343391418, -1.288896918296814, -1.3262845277786255, -0.7891861200332642, 0.054637398570775986, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8534350395202637, -1.1586833000183105, 1.1555901765823364, -1.1192049980163574, 0.5314255952835083, -0.09459628164768219, 1.1098953485488892, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687693523450638, 0.8833089846522626, -0.00453121778099333, -2.3434741497039795], [-0.883311185404346, -0.4687818771926031, -0.0022139004830176168, 350.1375732421875], [-0.004079710965117998, 0.0029646666538738764, 0.9999872832741787, 15.43210220336914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288708209991455, -0.6818590760231018, -0.02147233486175537, -0.16593129932880402, 0.5385639667510986, -0.7869763970375061, -1.2888973951339722, -1.32628333568573, -0.7891858816146851, 0.054637160152196884, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.837287187576294, -1.135740041732788, 1.2219377756118774, -1.0516283512115479, 0.4689750671386719, -0.11340336501598358, 1.1029165983200073, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46884844676108006, 0.8832670030347096, -0.004531591310459015, -2.3121824264526367], [-0.8832691682768751, -0.4688609990788313, -0.002222591792842635, 350.1376647949219], [-0.004087828421072421, 0.0029605561779016553, 0.9999872623018342, 15.435286521911621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288708209991455, -0.6816673278808594, -0.024827387183904648, -0.16142594814300537, 0.5385639667510986, -0.7869754433631897, -1.2888978719711304, -1.3262828588485718, -0.7891863584518433, 0.054637398570775986, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8288780450820923, -1.1019476652145386, 1.3215758800506592, -0.9947671294212341, 0.39367255568504333, -0.1419672816991806, 1.069433569908142, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46877038978285634, 0.883308437589249, -0.004530534898725637, -2.3430309295654297], [-0.8833107218921299, -0.4687828494125861, -0.0021928718660488345, 350.1379089355469], [-0.004060819281020783, 0.002973916652559258, 0.9999873327030251, 15.424742698669434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2886123657226562, -0.6812838912010193, -0.02847001515328884, -0.16008391976356506, 0.5385636687278748, -0.786979079246521, -1.28889799118042, -1.3262826204299927, -0.7891864776611328, 0.054637517780065536, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8216130137443542, -1.0708149671554565, 1.4233410358428955, -0.9640029072761536, 0.33135026693344116, -0.16634811460971832, 1.0038548707962036, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288133144378662, -0.6808046102523804, -0.0315374918282032, -0.16017977893352509, 0.5385633707046509, -0.786981999874115, -1.2888972759246826, -1.32628333568573, -0.7891860008239746, 0.054637640714645386, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8171217441558838, -1.059629201889038, 1.4593775272369385, -0.9729374051094055, 0.3109116554260254, -0.17213110625743866, 0.9920444488525391, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2880373001098633, -0.680133581161499, -0.03374224156141281, -0.1615218073129654, 0.5385645627975464, -0.7869822382926941, -1.2888964414596558, -1.3262832164764404, -0.7891858816146851, 0.054637517780065536, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8160408139228821, -1.0718656778335571, 1.4148485660552979, -0.9985232353210449, 0.34697553515434265, -0.15762479603290558, 1.0241180658340454, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288133144378662, -0.6790791749954224, -0.03546769544482231, -0.16257624328136444, 0.5385636687278748, -0.7869807481765747, -1.2888972759246826, -1.3262827396392822, -0.7891854047775269, 0.054637517780065536, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8152274489402771, -1.0975112915039062, 1.3356808423995972, -1.040387749671936, 0.4124644100666046, -0.15086185932159424, 1.0364280939102173, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2880373001098633, -0.6783123016357422, -0.036713857203722, -0.1620011031627655, 0.5385629534721375, -0.7869796752929688, -1.28889799118042, -1.3262827396392822, -0.7891861200332642, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7889979481697083, -1.1263322830200195, 1.2536849975585938, -1.0724155902862549, 0.47081682085990906, -0.1710703819990158, 1.0161018371582031, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288133144378662, -0.6771619915962219, -0.0375765860080719, -0.158933624625206, 0.5385633707046509, -0.7869829535484314, -1.2888957262039185, -1.326283574104309, -0.7891852855682373, 0.054637279361486435, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.73655766248703, -1.151068925857544, 1.1905611753463745, -1.053574562072754, 0.5027759671211243, -0.2135034054517746, 0.9946524500846863, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288228988647461, -0.6762992739677429, -0.038247596472501755, -0.15318210422992706, 0.5385640859603882, -0.7869826555252075, -1.2888963222503662, -1.32628333568573, -0.7891850471496582, 0.054637640714645386, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6725276112556458, -1.1694051027297974, 1.1596275568008423, -1.008115530014038, 0.5638466477394104, -0.2504630982875824, 1.0330729484558105, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288133144378662, -0.6757240891456604, -0.03987719491124153, -0.14436310529708862, 0.5385658740997314, -0.7869832515716553, -1.2888957262039185, -1.3262803554534912, -0.7891840934753418, 0.054637517780065536, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.60036700963974, -1.1756093502044678, 1.1554312705993652, -0.9755232334136963, 0.6514294147491455, -0.26897406578063965, 1.2198424339294434, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.287749767303467, -0.6756282448768616, -0.0410274975001812, -0.13717371225357056, 0.5385648012161255, -0.7869814038276672, -1.288896083831787, -1.3262815475463867, -0.7891839742660522, 0.054637640714645386, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5634737610816956, -1.1729487180709839, 1.169447660446167, -0.9604209661483765, 0.7103137373924255, -0.263344943523407, 1.3636122941970825, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46873815256738016, 0.8833255468948243, -0.0045301799830880524, -2.3558194637298584], [-0.8833277871626312, -0.4687506424180998, -0.002203555987124298, 350.1376647949219], [-0.004069982074782075, 0.002968743097426182, 0.9999873108246586, 15.428425788879395], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2861201763153076, -0.675819993019104, -0.04323224723339081, -0.12921744585037231, 0.5385646820068359, -0.7869787812232971, -1.2888959646224976, -1.3262816667556763, -0.7891855239868164, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.538059413433075, -1.1655443906784058, 1.187927007675171, -0.9685642123222351, 0.7430988550186157, -0.23730790615081787, 1.4917802810668945, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687917113449436, 0.883297120869425, -0.004530743654620601, -2.3346991539001465], [-0.883299248251278, -0.4688042862013122, -0.0022314295879217534, 350.1373596191406], [-0.004095047375399666, 0.002955926768878044, 0.9999872464606387, 15.438281059265137], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2843947410583496, -0.676682710647583, -0.04505356028676033, -0.1226990595459938, 0.5385633707046509, -0.7869830131530762, -1.2888963222503662, -1.3262841701507568, -0.7891864776611328, 0.054637517780065536, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5217134356498718, -1.1596465110778809, 1.190569281578064, -0.9869517087936401, 0.7438519597053528, -0.21031200885772705, 1.5388693809509277, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876463352303044, 0.8833115019004356, -0.004528682856614354, -2.3453078269958496], [-0.8833137781388826, -0.46877708754981606, -0.002193521899863874, 350.13787841796875], [-0.004060505883780713, 0.002972002474554382, 0.9999873396664875, 15.42496395111084], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.283531904220581, -0.6776412725448608, -0.04639558121562004, -0.11828956007957458, 0.538564145565033, -0.7869802713394165, -1.288896918296814, -1.326283574104309, -0.789185643196106, 0.054637398570775986, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.509506106376648, -1.15611732006073, 1.1791983842849731, -1.0000065565109253, 0.7433522343635559, -0.208295539021492, 1.5361407995224, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876748808579305, 0.8833099854970682, -0.004528977247141893, -2.3442087173461914], [-0.8833121199425592, -0.4687800470307748, -0.0022285125995725767, 350.1373596191406], [-0.004091561598924973, 0.0029558462398753442, 0.9999872609672027, 15.437220573425293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2827651500701904, -0.6788874268531799, -0.047066591680049896, -0.11550965905189514, 0.5385632514953613, -0.7869811058044434, -1.2888966798782349, -1.3262838125228882, -0.7891863584518433, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5050320029258728, -1.1548014879226685, 1.1737550497055054, -0.9960084557533264, 0.744624137878418, -0.21249815821647644, 1.535805344581604, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4687151976214423, 0.8833377362199222, -0.004528497383874364, -2.3649392127990723], [-0.883339957394803, -0.4687276910776139, -0.002207099181420664, 350.1375427246094], [-0.004072246117323418, 0.002965701757144347, 0.9999873106318138, 15.4296293258667], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.281806468963623, -0.6796543002128601, -0.047450024634599686, -0.11416763812303543, 0.538563072681427, -0.7869810461997986, -1.288897156715393, -1.326283574104309, -0.7891863584518433, 0.054637398570775986, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5052729249000549, -1.1548799276351929, 1.1740992069244385, -0.9958631992340088, 0.7446739673614502, -0.21240408718585968, 1.5358549356460571, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876506021422437, 0.8833112746573306, -0.00452883932115074, -2.3451547622680664], [-0.8833134652576521, -0.46877757764661565, -0.002214676114129938, 350.1375732421875], [-0.004079266707845045, 0.0029622219723656478, 0.9999872923313139, 15.432371139526367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2816147804260254, -0.6799418926239014, -0.047450024634599686, -0.11349663138389587, 0.5385640859603882, -0.7869811058044434, -1.2888966798782349, -1.3262836933135986, -0.7891858816146851, 0.054637279361486435, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053513646125793, -1.1549164056777954, 1.1741621494293213, -0.9959684014320374, 0.7446703910827637, -0.2122834026813507, 1.5358877182006836, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876506021422437, 0.8833112746573306, -0.00452883932115074, -2.3451547622680664], [-0.8833134652576521, -0.46877757764661565, -0.002214676114129938, 350.1375732421875], [-0.004079266707845045, 0.0029622219723656478, 0.9999872923313139, 15.432371139526367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2816147804260254, -0.6802294850349426, -0.04754588380455971, -0.11311319470405579, 0.5385634899139404, -0.7869808077812195, -1.2888967990875244, -1.3262838125228882, -0.7891861200332642, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053514838218689, -1.1549209356307983, 1.1741623878479004, -0.9959829449653625, 0.7446617484092712, -0.2122710645198822, 1.5358970165252686, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46876506021422437, 0.8833112746573306, -0.00452883932115074, -2.3451547622680664], [-0.8833134652576521, -0.46877757764661565, -0.002214676114129938, 350.1375732421875], [-0.004079266707845045, 0.0029622219723656478, 0.9999872923313139, 15.432371139526367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2816147804260254, -0.6803253293037415, -0.04754588380455971, -0.11292147636413574, 0.5385632514953613, -0.7869822382926941, -1.2888966798782349, -1.3262836933135986, -0.7891863584518433, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053509473800659, -1.154918909072876, 1.1741622686386108, -0.9959834218025208, 0.7446503639221191, -0.2122689038515091, 1.5359022617340088, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4673001087849431, 0.8840871747259467, -0.004525020958386652, -2.92574143409729], [-0.8840893487138094, -0.46731262594668466, -0.0022210631702049535, 350.1332092285156], [-0.004078212889561802, 0.002962619770961388, 0.9999872954511573, 15.43198013305664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2816147804260254, -0.6803253293037415, -0.04754588380455971, -0.11292147636413574, 0.5385634303092957, -0.7869824171066284, -1.2888967990875244, -1.326283574104309, -0.7891860008239746, 0.054637759923934937, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.505349338054657, -1.1549193859100342, 1.1741613149642944, -0.9959834218025208, 0.7446418404579163, -0.21226902306079865, 1.5359030961990356, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4652966453598806, 0.8851432489101071, -0.004523353369128085, -3.718967914581299], [-0.8851453991401415, -0.46530918510487895, -0.002232630303775757, 350.125732421875], [-0.00408095551082963, 0.0029649900326931115, 0.999987277237178, 15.432432174682617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2815189361572266, -0.6803253293037415, -0.04764174297451973, -0.1127297580242157, 0.5385638475418091, -0.786981999874115, -1.2888966798782349, -1.326283574104309, -0.789185643196106, 0.054637398570775986, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053486227989197, -1.1549201011657715, 1.1741607189178467, -0.9959833025932312, 0.7446367144584656, -0.21226902306079865, 1.5359030961990356, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46482987118807917, 0.8853884512721507, -0.004525616552054046, -3.9036614894866943], [-0.8853904643099468, -0.46484252780981206, -0.002269371807549065, 350.12322998046875], [-0.004112974628001277, 0.0029520659353310216, 0.9999871842910902, 15.44444751739502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2814230918884277, -0.6804211735725403, -0.04773760214447975, -0.1127297580242157, 0.5385637879371643, -0.7869814038276672, -1.2888967990875244, -1.3262834548950195, -0.7891858816146851, 0.054637398570775986, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053473711013794, -1.154921531677246, 1.174160122871399, -0.9959834218025208, 0.7446343302726746, -0.2122693806886673, 1.5359033346176147, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4652345639776454, 0.8851758866768676, -0.004522181592073566, -3.7435414791107178], [-0.8851778949208315, -0.46524719941530757, -0.002266667099197353, 350.125], [-0.004110331380292983, 0.0029484033025438585, 0.9999872059651111, 15.444242477416992], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.281327247619629, -0.6805170178413391, -0.04773760214447975, -0.11263389885425568, 0.5385638475418091, -0.7869805097579956, -1.288896918296814, -1.326283574104309, -0.7891857624053955, 0.054637517780065536, -1.5359007120132446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053459405899048, -1.1549228429794312, 1.1741584539413452, -0.9959831833839417, 0.7446329593658447, -0.2122698575258255, 1.535902976989746, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4654698712666119, 0.8850521632705476, -0.0045240726307304415, -3.650447368621826], [-0.8850541694511459, -0.4654825180812392, -0.0022677076291557096, 350.12579345703125], [-0.004112916262984207, 0.0029484997665143705, 0.9999871950524869, 15.445022583007812], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.281327247619629, -0.6805170178413391, -0.04773760214447975, -0.1127297580242157, 0.5385634303092957, -0.7869808077812195, -1.288896918296814, -1.326283574104309, -0.7891855239868164, 0.054637398570775986, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053455233573914, -1.1549193859100342, 1.1741584539413452, -0.9959829449653625, 0.7446331977844238, -0.21227023005485535, 1.535902738571167, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46539889490682107, 0.8850894939996786, -0.004522856498125307, -3.678534746170044], [-0.8850915459853465, -0.4654115018045013, -0.0022559284891638495, 350.125732421875], [-0.004101688040212237, 0.002953235424349928, 0.9999872271963023, 15.440774917602539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.281327247619629, -0.6805170178413391, -0.04773760214447975, -0.1127297580242157, 0.5385635495185852, -0.7869812250137329, -1.2888967990875244, -1.326283574104309, -0.7891860008239746, 0.054637279361486435, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053452253341675, -1.1549183130264282, 1.1741583347320557, -0.9959825873374939, 0.7446334362030029, -0.21227094531059265, 1.5359026193618774, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.465399087578771, 0.8850893871015286, -0.004523949722112243, -3.678476572036743], [-0.8850913619956811, -0.46541175659178835, -0.0022754662767246873, 350.1257019042969], [-0.004119490439137642, 0.0029451088921403747, 0.9999871779838656, 15.447611808776855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.281327247619629, -0.6805170178413391, -0.047833461314439774, -0.11263389885425568, 0.5385581254959106, -0.786978006362915, -1.2888987064361572, -1.3262832164764404, -0.7891863584518433, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053459405899048, -1.1549290418624878, 1.1741548776626587, -0.9959823489189148, 0.7446331977844238, -0.21227166056632996, 1.5359022617340088, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.465451577540553, 0.885061789105177, -0.004523099706403871, -3.6576945781707764], [-0.8850636364068306, -0.46546433153872435, -0.002305553193147523, 350.12591552734375], [-0.0041458986153285774, 0.002930107703126304, 0.9999871129137212, 15.458244323730469], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.281327247619629, -0.6805170178413391, -0.048312753438949585, -0.11244218051433563, 0.5385625958442688, -0.786925196647644, -1.2889074087142944, -1.32627534866333, -0.7891865968704224, 0.054637398570775986, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053393244743347, -1.1549813747406006, 1.1741431951522827, -0.9959993362426758, 0.744633674621582, -0.2122720181941986, 1.5359013080596924, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46856428660709315, 0.8834177647867011, -0.0045345535231528615, -2.4251911640167236], [-0.883418239759907, -0.46857799683491175, -0.002621934722405179, 350.1407470703125], [-0.004441055718303485, 0.002777362318786636, 0.9999862815472306, 15.574594497680664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.281327247619629, -0.6805170178413391, -0.04802517592906952, -0.11253803968429565, 0.5385627150535583, -0.7869684100151062, -1.288903832435608, -1.326278805732727, -0.7891852855682373, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053409934043884, -1.1549088954925537, 1.1741466522216797, -0.9959926605224609, 0.7446343302726746, -0.2122727334499359, 1.5359008312225342, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46961116166177685, 0.8828616889116796, -0.004538181870906101, -2.0101370811462402], [-0.8828608670293621, -0.4696256535331833, -0.0029043091594739235, 350.16058349609375], [-0.00469534991663153, 0.002642687183079605, 0.9999854848414614, 15.6753511428833], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.2814230918884277, -0.6804211735725403, -0.04773760214447975, -0.1127297580242157, 0.5386084318161011, -0.7870570421218872, -1.2888773679733276, -1.3262765407562256, -0.7891654968261719, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053384900093079, -1.1548731327056885, 1.1741656064987183, -0.9959823489189148, 0.7446368336677551, -0.2122729867696762, 1.5358966588974, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4698175776880513, 0.8827516975035613, -0.004569928873979562, -1.9287075996398926], [-0.8827502232840695, -0.46983262279681215, -0.0030577520818659627, 350.1890563964844], [-0.004846337509668927, 0.0025975200576249125, 0.999984882836882, 15.729394912719727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.2809436321258545, -0.6806129217147827, -0.04754588380455971, -0.11282561719417572, 0.5385591387748718, -0.7870213389396667, -1.288886308670044, -1.326300024986267, -0.7891920208930969, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053366422653198, -1.154848337173462, 1.174190640449524, -0.9959811568260193, 0.7446458339691162, -0.2122732251882553, 1.535901427268982, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4681832469344511, 0.8836195734269529, -0.004571295952401518, -2.5769217014312744], [-0.8836222262929592, -0.46819569295154206, -0.0021340812307918426, 350.2341003417969], [-0.004025977022931964, 0.0030401576266510274, 0.9999872743943374, 15.402928352355957], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.2811355590820312, -0.6804211735725403, -0.04754588380455971, -0.11282561719417572, 0.53861403465271, -0.7870258092880249, -1.288874864578247, -1.3262732028961182, -0.7891700863838196, 0.054637398570775986, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053408741950989, -1.1548755168914795, 1.1741863489151, -0.9959684014320374, 0.7446401715278625, -0.21227358281612396, 1.5358985662460327, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700676092613134, 0.8826184748807678, -0.004590263881393235, -1.8297852277755737], [-0.8826231147309745, -0.470078512947925, -0.001621421370541889, 350.2822570800781], [-0.0035888808766106678, 0.003289295337176561, 0.9999881501649098, 15.226755142211914], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2810394763946533, -0.6805170178413391, -0.047450024634599686, -0.11282561719417572, 0.5385658740997314, -0.7869789004325867, -1.2888909578323364, -1.3262863159179688, -0.7891864776611328, 0.054637398570775986, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053359866142273, -1.1548810005187988, 1.1741721630096436, -0.9959779977798462, 0.7446441054344177, -0.21227394044399261, 1.5359002351760864, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47006239596298327, 0.8826212485872632, -0.004590799908535605, -1.8319250345230103], [-0.8826283847964715, -0.47007063837703744, -0.0008539832411483446, 350.3276672363281], [-0.0029117439982415264, 0.0036505448997481453, 0.9999890975749803, 14.957901954650879], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2810394763946533, -0.6805170178413391, -0.04716245085000992, -0.11292147636413574, 0.5385450124740601, -0.7870465517044067, -1.2888820171356201, -1.326316475868225, -0.7891907095909119, 0.054637759923934937, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.505347728729248, -1.1548560857772827, 1.1741702556610107, -0.9959698915481567, 0.7446393370628357, -0.21227417886257172, 1.5359007120132446, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4695397764451352, 0.8828992372395328, -0.004619006138083128, -2.0397632122039795], [-0.8829075942943663, -0.4695465672214878, -0.0004484950965140708, 350.3627014160156], [-0.002564814454729858, 0.00386756931005193, 0.9999892317592449, 14.814828872680664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.28123140335083, -0.6803253293037415, -0.047354165464639664, -0.11282561719417572, 0.5385802984237671, -0.7869961857795715, -1.2888884544372559, -1.3262723684310913, -0.7891782522201538, 0.054637517780065536, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053386688232422, -1.1549378633499146, 1.174156904220581, -0.995974063873291, 0.7446407675743103, -0.21227417886257172, 1.5358976125717163, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4697604676419411, 0.8827816987536348, -0.004644931266605396, -1.9525399208068848], [-0.8827901709530482, -0.46976730256213384, -0.0004421675977746422, 350.38385009765625], [-0.002572374294797045, 0.003892786809405007, 0.9999891144914248, 14.812967300415039], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2810394763946533, -0.6805170178413391, -0.047354165464639664, -0.11282561719417572, 0.5385596752166748, -0.7869753837585449, -1.2888950109481812, -1.3262842893600464, -0.7891886830329895, 0.054637279361486435, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053402781486511, -1.154917597770691, 1.174157977104187, -0.9959800243377686, 0.744641125202179, -0.21227394044399261, 1.5358997583389282, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46975149464009247, 0.88278651137815, -0.004637737831559421, -1.956007957458496], [-0.8827943161185616, -0.46975922691206295, -0.0006812926989179825, 350.3930969238281], [-0.002780056143279392, 0.0037741303337445764, 0.9999890135536811, 14.89675235748291], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.2811355590820312, -0.6804211735725403, -0.04754588380455971, -0.1127297580242157, 0.5385663509368896, -0.7869724035263062, -1.288895606994629, -1.326277494430542, -0.7891839742660522, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053427815437317, -1.1549317836761475, 1.1741548776626587, -0.9959796667098999, 0.7446392178535461, -0.21227417886257172, 1.5358989238739014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4698880075024132, 0.8827138203035602, -0.004644550624780287, -1.9019325971603394], [-0.8827212270050714, -0.4698963153297153, -0.0008295988293470782, 350.3982849121094], [-0.0029147555769189057, 0.0037100248854449935, 0.9999888698956985, 14.948958396911621], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2811355590820312, -0.6804211735725403, -0.04754588380455971, -0.1127297580242157, 0.5385611653327942, -0.786967396736145, -1.2888985872268677, -1.3262817859649658, -0.789186954498291, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5053433179855347, -1.154923915863037, 1.1741548776626587, -0.9959822297096252, 0.7446388602256775, -0.21227453649044037, 1.5359002351760864, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699402388243772, 0.8826860346822514, -0.004640701521458698, -1.881152629852295], [-0.8826931868974722, -0.4699488356105763, -0.0009108858590807912, 350.4012756347656], [-0.0029849185034259026, 0.0036682536972581507, 0.9999888170256408, 14.977544784545898], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2811355590820312, -0.6804211735725403, -0.04754588380455971, -0.11282561719417572, 0.5385642051696777, -0.7869695425033569, -1.2888990640640259, -1.3262808322906494, -0.7891857624053955, 0.054637517780065536, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5248446464538574, -1.153607726097107, 1.1787734031677246, -1.0157307386398315, 0.7480347156524658, -0.1987418383359909, 1.5067055225372314, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700489179048042, 0.8826281629924474, -0.004641192637655193, -1.8380018472671509], [-0.8826350937751852, -0.4700577858060886, -0.000984499642814286, 350.4021301269531], [-0.003050575845959616, 0.00363371650718297, 0.999988744982339, 15.003539085388184], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.2816147804260254, -0.6799418926239014, -0.045628711581230164, -0.11637238413095474, 0.5385680794715881, -0.7869598269462585, -1.288906216621399, -1.3262808322906494, -0.7891879081726074, 0.054637517780065536, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5593007802963257, -1.1428438425064087, 1.2034672498703003, -1.051629900932312, 0.7390376925468445, -0.17546139657497406, 1.4838725328445435, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47019205186752044, 0.8825519395608168, -0.004637708275798105, -1.7811198234558105], [-0.8825587760100781, -0.4702010052602197, -0.0010107125562804464, 350.4014587402344], [-0.0030726614202676882, 0.003617821128694416, 0.9999887349975884, 15.012994766235352], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0783835649490356, 2.282477378845215, -0.6778330206871033, -0.038726888597011566, -0.12643754482269287, 0.5385650992393494, -0.7869735956192017, -1.2889056205749512, -1.3262792825698853, -0.7891858816146851, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5833462476730347, -1.1254178285598755, 1.2456287145614624, -1.0660221576690674, 0.7165964841842651, -0.16051827371120453, 1.5007668733596802, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47010767027864175, 0.8825968677580096, -0.004641914361411357, -1.8147003650665283], [-0.882603936686875, -0.47011637718810917, -0.0009395979770491013, 350.4006042480469], [-0.0030115261942994607, 0.0036552596731559274, 0.9999887848304614, 14.98791217803955], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0751243829727173, 2.283052682876587, -0.6752448081970215, -0.029141025617718697, -0.1403370499610901, 0.5385645031929016, -0.7869773507118225, -1.288902997970581, -1.3262807130813599, -0.7891850471496582, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6065735816955566, -1.1034835577011108, 1.2998156547546387, -1.064946174621582, 0.6827241778373718, -0.14599278569221497, 1.5239404439926147, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47008053097600366, 0.8826113190601058, -0.004642613951092369, -1.825461506843567], [-0.8826185240271771, -0.4700890765392973, -0.0008950768226444531, 350.4009094238281], [-0.0029724470400918183, 0.0036768988850881088, 0.9999888224241222, 14.972260475158691], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0716733932495117, 2.2831485271453857, -0.6723690629005432, -0.019746879115700722, -0.15653716027736664, 0.538562536239624, -0.7869846820831299, -1.2889004945755005, -1.3262819051742554, -0.7891858816146851, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6261889934539795, -1.0822542905807495, 1.3553664684295654, -1.0590369701385498, 0.6488611698150635, -0.13452041149139404, 1.5286211967468262, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002167983580123, 0.88264265770132, -0.004643198281598506, -1.8488353490829468], [-0.8826499350354255, -0.4700301400531286, -0.0008715638790850644, 350.4019470214844], [-0.002951722597186305, 0.003688664743077752, 0.9999888404807937, 14.963912010192871], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0707148313522339, 2.2832443714141846, -0.6690139770507812, -0.008914853446185589, -0.1732165664434433, 0.5385619401931763, -0.7869887948036194, -1.2888985872268677, -1.3262819051742554, -0.7891831398010254, 0.054637759923934937, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6389239430427551, -1.0674219131469727, 1.392359972000122, -1.0608488321304321, 0.615505576133728, -0.13151463866233826, 1.5103111267089844, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699678213241849, 0.8826713250566057, -0.004645303285544176, -1.8702425956726074], [-0.8826786798221132, -0.4699762004395507, -0.0008480612564002695, 350.4029541015625], [-0.0029317413409454085, 0.003701748670437573, 0.9999888509125943, 14.955573081970215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.072632074356079, 2.2832443714141846, -0.6660423874855042, 0.0012461623409762979, -0.18884152173995972, 0.5385636687278748, -0.7869912385940552, -1.2888959646224976, -1.326282024383545, -0.7891836166381836, 0.054637517780065536, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6516020894050598, -1.0579280853271484, 1.4056150913238525, -1.0732508897781372, 0.5849589109420776, -0.1303485780954361, 1.504954218864441, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002354381732414, 0.8826416543284116, -0.004645245075197052, -1.848114252090454], [-0.8826489803726775, -0.4700319584743886, -0.0008575895307273482, 350.4031677246094], [-0.0029403578824242927, 0.0036970335588307757, 0.9999888430569553, 14.959014892578125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0763704776763916, 2.2833402156829834, -0.6628790497779846, 0.011982330121099949, -0.203891322016716, 0.5385589599609375, -0.7869871854782104, -1.288896918296814, -1.3262873888015747, -0.7891874313354492, 0.054637517780065536, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6599999666213989, -1.0489442348480225, 1.4202090501785278, -1.0720405578613281, 0.5572206974029541, -0.13125339150428772, 1.4851160049438477, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699946435222697, 0.8826570711145917, -0.00464002928710943, -1.859520673751831], [-0.8826643963316639, -0.4700030197431253, -0.0008513993202061361, 350.40283203125], [-0.002932321406960076, 0.0036954355296723008, 0.9999888725617962, 14.956802368164062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0778083801269531, 2.2834360599517822, -0.6600991487503052, 0.019746879115700722, -0.21779082715511322, 0.5385663509368896, -0.7869805097579956, -1.288897156715393, -1.3262815475463867, -0.7891860008239746, 0.054637640714645386, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6680023074150085, -1.0362060070037842, 1.4446157217025757, -1.0532457828521729, 0.5187506079673767, -0.13082663714885712, 1.4697383642196655, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47011054110880646, 0.8825953312209154, -0.004643322671121001, -1.8135762214660645], [-0.8826025971544359, -0.470119016168157, -0.000875290425321843, 350.4027099609375], [-0.0029554415287501314, 0.003686725393482059, 0.9999888366483114, 14.965381622314453], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.079054594039917, 2.2831485271453857, -0.6585654020309448, 0.02760728821158409, -0.23101931810379028, 0.5385640859603882, -0.7869812250137329, -1.288896083831787, -1.3262825012207031, -0.7891848087310791, 0.054637759923934937, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6823917627334595, -1.0192680358886719, 1.477728009223938, -1.027758002281189, 0.47732701897621155, -0.12641571462154388, 1.4756466150283813, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005274591305346, 0.8826261244874776, -0.004641167074608389, -1.8364676237106323], [-0.8826335312607169, -0.47006102721884746, -0.0008247328048079237, 350.40338134765625], [-0.0029095624818300165, 0.003708781764688034, 0.999988889630273, 14.947563171386719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.2816147804260254, -0.6581819653511047, 0.03364638239145279, -0.24223478138446808, 0.5385667085647583, -0.7869893312454224, -1.2888927459716797, -1.3262840509414673, -0.7891843318939209, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7016264796257019, -1.00236177444458, 1.512068271636963, -1.0037612915039062, 0.44476526975631714, -0.1196071207523346, 1.4825992584228516, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46994166107156543, 0.8826852782964678, -0.004640546086950379, -1.8805643320083618], [-0.8826927097298709, -0.46994990652678137, -0.0008158095412332624, 350.4033508300781], [-0.002900927271735947, 0.003712793309191388, 0.9999888998317968, 14.944232940673828], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0806841850280762, 2.279601812362671, -0.6581819653511047, 0.03776830434799194, -0.25076618790626526, 0.5385583639144897, -0.7869762778282166, -1.2888978719711304, -1.3262851238250732, -0.7891873121261597, 0.054637517780065536, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7251618504524231, -0.9943203330039978, 1.522413730621338, -0.9872944951057434, 0.437680184841156, -0.11604109406471252, 1.4805599451065063, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699706720116299, 0.8826698480952866, -0.004637533005873883, -1.8690071105957031], [-0.8826772990046416, -0.46997886930663, -0.0008051255379410169, 350.403564453125], [-0.0028902025547448192, 0.0037150597175497715, 0.9999889224688879, 14.940547943115234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0809717178344727, 2.2785472869873047, -0.6581819653511047, 0.04169850796461105, -0.2569011449813843, 0.5385619401931763, -0.7869805097579956, -1.2888957262039185, -1.3262847661972046, -0.7891860008239746, 0.054637398570775986, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7372182011604309, -0.9937006235122681, 1.5173957347869873, -0.984627902507782, 0.4462907314300537, -0.11801513284444809, 1.4823957681655884, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46997040660019995, 0.882669976545006, -0.004639981258689051, -1.8691561222076416], [-0.882677478185423, -0.4699785572817581, -0.0007906956296388234, 350.40374755859375], [-0.0028786149906406167, 0.0037240034096889174, 0.9999889226258161, 14.935486793518066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.278259754180908, -0.6582778096199036, 0.04332810267806053, -0.2596810460090637, 0.5385630130767822, -0.7869795560836792, -1.2888962030410767, -1.326284408569336, -0.7891857624053955, 0.054637279361486435, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7365491986274719, -0.9937568306922913, 1.5174813270568848, -0.985008716583252, 0.4461097717285156, -0.11822773516178131, 1.4823492765426636, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700263802280935, 0.8826401675826197, -0.004640739100717158, -1.8469398021697998], [-0.882647593905335, -0.4700346333981471, -0.0008175447342692186, 350.4034423828125], [-0.0029029059231637073, 0.0037118696090673083, 0.9999888975189707, 14.94499683380127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.2779722213745117, -0.6582778096199036, 0.04399911314249039, -0.2612147927284241, 0.5385642051696777, -0.7869794368743896, -1.2888965606689453, -1.3262836933135986, -0.7891854047775269, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7371852397918701, -0.9938281178474426, 1.5173665285110474, -0.9858781695365906, 0.44589442014694214, -0.11784376204013824, 1.4815497398376465, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700542965690768, 0.8826253020202729, -0.0046405291263316335, -1.8358396291732788], [-0.8826327024546348, -0.47006258107588605, -0.0008260931570482926, 350.4033508300781], [-0.0029104698209179046, 0.0037075741257566724, 0.999988891468062, 14.948043823242188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.277780294418335, -0.6583737134933472, 0.04419083148241043, -0.2617899477481842, 0.5385634303092957, -0.7869792580604553, -1.2888967990875244, -1.3262838125228882, -0.7891861200332642, 0.054637640714645386, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7730451226234436, -0.9941445589065552, 1.5032954216003418, -1.0144561529159546, 0.4310407042503357, -0.09507037699222565, 1.4364320039749146, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005773598775136, 0.8826234767275923, -0.004639306776489899, -1.8344879150390625], [-0.8826308580606453, -0.4700660354635491, -0.0008310852603246683, 350.4034118652344], [-0.0029143159056485997, 0.0037041372650588418, 0.9999888930032792, 14.94980239868164], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0815469026565552, 2.277780294418335, -0.6583737134933472, 0.04419083148241043, -0.2617899477481842, 0.5385635495185852, -0.7869806289672852, -1.2888965606689453, -1.3262825012207031, -0.7891849279403687, 0.054637279361486435, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8136259317398071, -0.9935776591300964, 1.4844712018966675, -1.014556884765625, 0.4058757424354553, -0.07251642644405365, 1.386088490486145, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699725026435251, 0.8826688626175786, -0.0046395823488377735, -1.8683221340179443], [-0.8826761860006989, -0.46998087786473897, -0.0008515331754517702, 350.4026794433594], [-0.002932136804689674, 0.003695051674757233, 0.9999888745215516, 14.956809043884277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.277780294418335, -0.658469557762146, 0.04332810267806053, -0.26063963770866394, 0.5385593175888062, -0.7869778275489807, -1.2888989448547363, -1.32628333568573, -0.7891865968704224, 0.054637517780065536, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8252418637275696, -0.9999085068702698, 1.4490079879760742, -0.9851866960525513, 0.38947808742523193, -0.07201488316059113, 1.3446139097213745, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002704468008893, 0.8826398140142968, -0.004640688107317671, -1.8466805219650269], [-0.8826470546494498, -0.4700355316884419, -0.0008808342722339091, 350.4024658203125], [-0.0029587477001452463, 0.003682073759639631, 0.9999888440102097, 14.967175483703613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.277684450149536, -0.6589488387107849, 0.041794367134571075, -0.2578597366809845, 0.5385574102401733, -0.7869816422462463, -1.2888984680175781, -1.326283574104309, -0.7891865968704224, 0.054637398570775986, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8016095161437988, -1.0218771696090698, 1.3876008987426758, -0.9192132949829102, 0.4095648527145386, -0.07452306151390076, 1.2620480060577393, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46997156925076977, 0.8826693499908759, -0.00464140955458432, -1.8687270879745483], [-0.882676564066124, -0.46998009488959247, -0.0008908737236141971, 350.4021911621094], [-0.002967717033431494, 0.0036781781161729257, 0.9999888317683129, 14.970589637756348], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2775886058807373, -0.6592364311218262, 0.04026062786579132, -0.254025399684906, 0.5385587215423584, -0.7869829535484314, -1.288896918296814, -1.3262842893600464, -0.7891855239868164, 0.054637517780065536, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.763348400592804, -1.0434163808822632, 1.3251380920410156, -0.8628044128417969, 0.40474310517311096, -0.08859506249427795, 1.2052937746047974, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700001466884718, 0.8826541197991671, -0.004644019204625397, -1.8573871850967407], [-0.8826613174080647, -0.4700087122197858, -0.0008995493086366626, 350.402099609375], [-0.002976720389120578, 0.00367630780221026, 0.9999888118857473, 14.973677635192871], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2774927616119385, -0.6596198678016663, 0.03776830434799194, -0.247986301779747, 0.5385671257972717, -0.7869786024093628, -1.2888966798782349, -1.3262815475463867, -0.7891843318939209, 0.054637517780065536, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7209067344665527, -1.0653878450393677, 1.2729685306549072, -0.7822765111923218, 0.4072996973991394, -0.11779702454805374, 1.1513185501098633, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700282357234906, 0.8826391639270911, -0.004643697314427646, -1.846254825592041], [-0.882646374708389, -0.47003678244221536, -0.0008946314922513632, 350.402099609375], [-0.0029723453366527182, 0.0036782405378970626, 0.9999888177923516, 14.972006797790527], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2773969173431396, -0.6604825854301453, 0.03489254415035248, -0.23955073952674866, 0.53856360912323, -0.786983072757721, -1.2888967990875244, -1.32628333568573, -0.7891860008239746, 0.054637398570775986, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6972274780273438, -1.0888566970825195, 1.244276762008667, -0.7010335326194763, 0.4698215126991272, -0.11152687668800354, 1.1260912418365479, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.470056332599774, 0.8826241930020576, -0.0046452244635774385, -1.8351085186004639], [-0.8826313640696374, -0.470064939673684, -0.0009097527944400887, 350.402099609375], [-0.0029865269832663, 0.0036723857425701003, 0.999988797057015, 14.977354049682617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2773969173431396, -0.6611536145210266, 0.03105819970369339, -0.23006072640419006, 0.5385621190071106, -0.786983847618103, -1.288897156715393, -1.3262841701507568, -0.7891860008239746, 0.054637759923934937, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6856856942176819, -1.1006531715393066, 1.223498821258545, -0.6256749033927917, 0.4802349805831909, -0.10979144275188446, 1.0973129272460938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700545050713736, 0.882625165421963, -0.004645387600430235, -1.835832118988037], [-0.8826323566747772, -0.47006308852160883, -0.0009031944721276752, 350.402099609375], [-0.002980807413208115, 0.0036756187748563525, 0.9999888022441987, 14.975052833557129], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2773969173431396, -0.6622080206871033, 0.02626526728272438, -0.21922869980335236, 0.538560688495636, -0.7869798541069031, -1.2888972759246826, -1.326284408569336, -0.7891864776611328, 0.054637640714645386, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6783882975578308, -1.1043813228607178, 1.221060037612915, -0.5588032007217407, 0.48537716269493103, -0.09589860588312149, 1.0891159772872925, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.470025633682682, 0.8826405367409464, -0.004646136335391884, -1.8473117351531982], [-0.8826476816565, -0.47003427980314805, -0.0009197153591196558, 350.4017639160156], [-0.002995621404495427, 0.003668611670615761, 0.999988783707503, 14.98078727722168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2773969173431396, -0.6629748940467834, 0.02137647569179535, -0.2068629413843155, 0.5385593175888062, -0.7869796752929688, -1.2888976335525513, -1.3262819051742554, -0.7891870737075806, 0.054637398570775986, -1.5358985662460327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6685656309127808, -1.1042388677597046, 1.2201811075210571, -0.5175423622131348, 0.48026901483535767, -0.07865210622549057, 1.0939264297485352, 0.14759999945923521, 0.14759999945923521, 0.14759999945923521, 0.14759999945923521, -0.14759999945923521, -0.14759999945923521, -0.14759999945923521, 0.14759999945923521, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46997236043923274, 0.8826689080497854, -0.004645340178617652, -1.868439793586731], [-0.8826760685317548, -0.46998098171325786, -0.0009137117527350067, 350.40185546875], [-0.002989726492597629, 0.0036709113366608895, 0.9999887929099295, 14.978586196899414], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2773969173431396, -0.6636459231376648, 0.0179255660623312, -0.19660606980323792, 0.5385642647743225, -0.7869762182235718, -1.2888975143432617, -1.3262815475463867, -0.7891857624053955, 0.054637398570775986, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6554569005966187, -1.1010472774505615, 1.2295887470245361, -0.5138247013092041, 0.48453789949417114, -0.08661358803510666, 1.1033040285110474, 0.40439999601343174, 0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002851972427573, 0.8826389953653779, -0.004646988939272992, -1.8461978435516357], [-0.8826460920940762, -0.47003723100912276, -0.0009367904416496664, 350.4014892578125], [-0.0030111055878314498, 0.0036613284026732595, 0.9999887638956083, 14.986773490905762], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2773969173431396, -0.6648920774459839, 0.014474654570221901, -0.18673262000083923, 0.5385647416114807, -0.7869780659675598, -1.2888967990875244, -1.3262828588485718, -0.7891860008239746, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6270032525062561, -1.0889707803726196, 1.2503890991210938, -0.5407974720001221, 0.4723415672779083, -0.1325048953294754, 1.1277050971984863, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, -0.5898000000106108, -0.5898000000106108, -0.5898000000106108, 0.5898000000106108, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700836644743098, 0.8826096245933543, -0.00464746915886869, -1.8242812156677246], [-0.8826166184410916, -0.47009250329847196, -0.000971181851505954, 350.4011535644531], [-0.0030419148602645755, 0.0036453967896830836, 0.999988728854595, 14.998926162719727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.2774927616119385, -0.6655631065368652, 0.011503036133944988, -0.1809811145067215, 0.538569450378418, -0.7869832515716553, -1.2888952493667603, -1.3262827396392822, -0.7891844511032104, 0.054637398570775986, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6005223989486694, -1.0748857259750366, 1.2756092548370361, -0.5576711893081665, 0.46155133843421936, -0.16176307201385498, 1.138667106628418, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002862008199386, 0.8826389380937721, -0.004647716053580793, -1.8461356163024902], [-0.882645841359949, -0.47003756883523273, -0.0010013058730929867, 350.4004821777344], [-0.00306839270699545, 0.003631644828705068, 0.9999886979971493, 15.009379386901855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.277684450149536, -0.6666175127029419, 0.008243842981755733, -0.1762840300798416, 0.5385602116584778, -0.7869812250137329, -1.28889799118042, -1.3262836933135986, -0.7891861200332642, 0.054637517780065536, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5829388499259949, -1.0609588623046875, 1.2895549535751343, -0.5711963176727295, 0.4433404505252838, -0.15232200920581818, 1.1735092401504517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700577285571357, 0.8826234368676018, -0.004647635498641652, -1.8345766067504883], [-0.8826302613980324, -0.4700667692897442, -0.001026681032873504, 350.40032958984375], [-0.003090871745484403, 0.0036195443807836426, 0.9999886726410098, 15.018324851989746], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.278355598449707, -0.6672885417938232, 0.004888790659606457, -0.1732165664434433, 0.5385600328445435, -0.7869810461997986, -1.2888998985290527, -1.326284646987915, -0.7891904711723328, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5801121592521667, -1.0427296161651611, 1.2607978582382202, -0.5852168798446655, 0.31189340353012085, -0.1901203840970993, 1.2331783771514893, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47011732269960116, 0.8825916934709144, -0.0046481731791193455, -1.8109490871429443], [-0.8825985665180177, -0.4701263101331341, -0.0010113856557474703, 350.40069580078125], [-0.003077869084217527, 0.0036270010681214502, 0.9999886857285698, 15.013073921203613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.2792181968688965, -0.6678637266159058, 0.0, -0.17034080624580383, 0.5385639071464539, -0.7869827747344971, -1.2888965606689453, -1.3262851238250732, -0.7891865968704224, 0.054637640714645386, -1.5359007120132446, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5889279246330261, -1.0242642164230347, 1.247802972793579, -0.5609784722328186, 0.18976300954818726, -0.23809970915317535, 1.2661715745925903, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47000451517763, 0.8826517822719263, -0.0046461774431171025, -1.8556792736053467], [-0.8826586249440692, -0.47001352416600684, -0.0010192707665824293, 350.4000549316406], [-0.0030834273926817293, 0.003621926730705587, 0.9999886869971437, 15.015632629394531], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.280176877975464, -0.6690139770507812, -0.0034509110264480114, -0.16602715849876404, 0.5385603904724121, -0.7869820594787598, -1.2888981103897095, -1.3262850046157837, -0.789185643196106, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6086538434028625, -1.0195677280426025, 1.2359821796417236, -0.5405449867248535, 0.14244437217712402, -0.2629754841327667, 1.259714961051941, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700048119631355, 0.8826516410254576, -0.0046429868149770875, -1.8555409908294678], [-0.8826584172489061, -0.4700138753421066, -0.0010370369088168602, 350.4001770019531], [-0.003097610555440856, 0.0036107590560879163, 0.9999886835499119, 15.02186393737793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.2815189361572266, -0.6694933176040649, -0.008627277798950672, -0.16056321561336517, 0.5385633111000061, -0.7869840860366821, -1.288896083831787, -1.326284408569336, -0.7891848087310791, 0.054637160152196884, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.633651614189148, -1.0260952711105347, 1.2143397331237793, -0.531875491142273, 0.12824295461177826, -0.26663655042648315, 1.2472548484802246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46994738073601083, 0.8826822173728959, -0.004643541001241193, -1.8783456087112427], [-0.8826890098450528, -0.4699564294529337, -0.0010326251060847524, 350.4001159667969], [-0.003093741767315424, 0.0036135231446737187, 0.9999886855421716, 15.020211219787598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.282477378845215, -0.670356035232544, -0.014091219753026962, -0.15404483675956726, 0.5385617017745972, -0.7869811058044434, -1.2888975143432617, -1.3262832164764404, -0.789185643196106, 0.054637517780065536, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6542884111404419, -1.0405299663543701, 1.1786715984344482, -0.5337759256362915, 0.10318345576524734, -0.2656235098838806, 1.2114665508270264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47000322929432503, 0.8826524757981264, -0.004644504316221546, -1.85619056224823], [-0.8826592169335995, -0.4700123445489133, -0.001050111326471604, 350.39984130859375], [-0.0031098577251086534, 0.0036059588282406326, 0.999988662858664, 15.026439666748047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0815469026565552, 2.2837235927581787, -0.6709311604499817, -0.018596576526761055, -0.14714300632476807, 0.5385600924491882, -0.7869790196418762, -1.2888983488082886, -1.3262830972671509, -0.7891860008239746, 0.054637398570775986, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6600290536880493, -1.0550864934921265, 1.136130690574646, -0.536016047000885, 0.054014697670936584, -0.27057504653930664, 1.1669278144836426, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47014123306308364, 0.8825789594070662, -0.0046477291082120805, -1.8014466762542725], [-0.8825856686528221, -0.4701504080791348, -0.0010636125581633482, 350.3999328613281], [-0.003123853801663279, 0.0036019709830922464, 0.9999886336066339, 15.03141975402832], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081642746925354, 2.2851614952087402, -0.6713145971298218, -0.022047486156225204, -0.13976189494132996, 0.5385635495185852, -0.7869805693626404, -1.288897156715393, -1.3262830972671509, -0.7891851663589478, 0.054637160152196884, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6436960101127625, -1.0560442209243774, 1.1057523488998413, -0.5103477239608765, -0.0408109612762928, -0.2939024567604065, 1.0883069038391113, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700858584490115, 0.8826084608166687, -0.004646566591272223, -1.8234010934829712], [-0.8826151379117059, -0.4700950622590854, -0.0010727388906023522, 350.3994445800781], [-0.003131136432107823, 0.0035968506304912104, 0.9999886292604458, 15.034517288208008], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2861201763153076, -0.6719856262207031, -0.025594256818294525, -0.13142219185829163, 0.5385613441467285, -0.7869814038276672, -1.288896918296814, -1.3262839317321777, -0.7891863584518433, 0.054637640714645386, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6203052997589111, -1.04984450340271, 1.0967800617218018, -0.473962664604187, -0.10980881750583649, -0.3240131735801697, 1.0531436204910278, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, -0.3588000061747792, -0.3588000061747792, -0.3588000061747792, 0.3588000061747792, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005724637993485, 0.882623692798084, -0.004647799176644061, -1.8347904682159424], [-0.8826303618987041, -0.4700664684436382, -0.001076800579700864, 350.3995056152344], [-0.003135184249063018, 0.003596130753919341, 0.9999886191669008, 15.03588581085205], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.286407709121704, -0.6731359362602234, -0.02923688478767872, -0.12279491871595383, 0.5385617017745972, -0.7869822382926941, -1.2888977527618408, -1.3262830972671509, -0.7891903519630432, 0.054637279361486435, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.599528431892395, -1.0438599586486816, 1.108728051185608, -0.43739867210388184, -0.10803035646677017, -0.34324198961257935, 1.051525592803955, 0.10680000441414973, 0.10680000441414973, 0.10680000441414973, 0.10680000441414973, -0.10680000441414973, -0.10680000441414973, -0.10680000441414973, 0.10680000441414973, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002945673193497, 0.882638489776669, -0.004648243651413862, -1.8458185195922852], [-0.8826451061991685, -0.4700387423520227, -0.0010941621394134197, 350.3990783691406], [-0.0031506042183590158, 0.003588461075376658, 0.999988598255085, 15.041916847229004], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2866952419281006, -0.6744779348373413, -0.03182506933808327, -0.1161806732416153, 0.5385623574256897, -0.7869784235954285, -1.2888976335525513, -1.3262834548950195, -0.7891881465911865, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5781658291816711, -1.0372974872589111, 1.1292494535446167, -0.40676581859588623, -0.08093594014644623, -0.3535444736480713, 1.0565515756607056, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, 0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, -0.0054000063256903095, 0.0054000063256903095, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700556928833164, 0.8826245085462893, -0.004650000151230625, -1.835450530052185], [-0.882631053322734, -0.47006507226900074, -0.0011187238890942868, 350.39874267578125], [-0.0031732157799499263, 0.003578371998598226, 0.9999885629123233, 15.050568580627441], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2872703075408936, -0.6755324006080627, -0.03268779441714287, -0.11225046217441559, 0.5385658740997314, -0.7869806289672852, -1.288896083831787, -1.3262828588485718, -0.7891864776611328, 0.054637759923934937, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5435519218444824, -1.0231289863586426, 1.1603533029556274, -0.3804127275943756, -0.05533236637711525, -0.36428868770599365, 1.0508354902267456, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005435985087574, 0.8826252182550837, -0.004650041435269082, -1.8359631299972534], [-0.8826318225416456, -0.47006367217376765, -0.00109997242047388, 350.3990478515625], [-0.003156678950518092, 0.0035872277149462508, 0.9999885835224943, 15.04399585723877], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2874622344970703, -0.6764909625053406, -0.03316709026694298, -0.10966227948665619, 0.5385655760765076, -0.7869809865951538, -1.2888967990875244, -1.3262827396392822, -0.7891864776611328, 0.054637279361486435, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5017293691635132, -1.0033490657806396, 1.1989444494247437, -0.3607197701931, -0.02706805057823658, -0.3716837763786316, 1.0462082624435425, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005669587749166, 0.8826239678391005, -0.004651242489647004, -1.8350661993026733], [-0.8826305384674276, -0.47006605502619525, -0.0011119697875338081, 350.39892578125], [-0.0031678423940688784, 0.0035826398189359758, 0.9999885646678637, 15.048201560974121], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.2878456115722656, -0.6776412725448608, -0.032591935247182846, -0.10784097015857697, 0.538564145565033, -0.7869811654090881, -1.288896918296814, -1.3262828588485718, -0.7891858816146851, 0.054637398570775986, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.46739715337753296, -0.9833917021751404, 1.247138500213623, -0.3450782001018524, 0.029917897656559944, -0.3702707290649414, 1.0475304126739502, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700543101118264, 0.8826252424577601, -0.0046504754246891105, -1.8359694480895996], [-0.8826319121512985, -0.47006355094011854, -0.0010796896356580973, 350.3993835449219], [-0.003138980318140977, 0.0035971452496818155, 0.9999886036093687, 15.036888122558594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.2879414558410645, -0.6790791749954224, -0.031154057011008263, -0.10726581513881683, 0.5385645031929016, -0.7869813442230225, -1.288896918296814, -1.3262829780578613, -0.789185643196106, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4544554352760315, -0.97020423412323, 1.2715915441513062, -0.35660475492477417, 0.05780746787786484, -0.37126877903938293, 1.07217538356781, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002758940595024, 0.8826394706620312, -0.004650809250089851, -1.846616506576538], [-0.8826462037622272, -0.47003675981896986, -0.0010599070772697532, 350.3996887207031], [-0.0031215671320806437, 0.0036068335604906502, 0.9999886232204379, 15.029906272888184], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2879414558410645, -0.6803253293037415, -0.02885344997048378, -0.10793682932853699, 0.5385635495185852, -0.7869792580604553, -1.288898229598999, -1.326283574104309, -0.7891863584518433, 0.054637640714645386, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4695069193840027, -0.9669784307479858, 1.2546162605285645, -0.3737805485725403, 0.022454243153333664, -0.3706435561180115, 1.121711015701294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47016814906170423, 0.8825646046434318, -0.004650832019606939, -1.7908005714416504], [-0.8825712193566968, -0.47017745473780437, -0.0010971870913757007, 350.3993835449219], [-0.0031550548529117447, 0.003588828062641157, 0.9999885829058309, 15.043229103088379], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2885165214538574, -0.6812838912010193, -0.025977691635489464, -0.11081258952617645, 0.5385653376579285, -0.7869815230369568, -1.2888964414596558, -1.3262832164764404, -0.7891855239868164, 0.054637517780065536, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4824689030647278, -0.9627603888511658, 1.2449004650115967, -0.3708042502403259, -0.0060960156843066216, -0.36434656381607056, 1.1289056539535522, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699178376007107, 0.882697909262278, -0.004650471876669904, -1.8901841640472412], [-0.8827046151391603, -0.46992703744082687, -0.001068594457554111, 350.3990783691406], [-0.003128628565237642, 0.0036028413913454637, 0.9999886155438019, 15.032747268676758], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.288804054260254, -0.6822425127029419, -0.02406051754951477, -0.11330491304397583, 0.5385701656341553, -0.786986768245697, -1.2888946533203125, -1.3262840509414673, -0.7891836166381836, 0.054637759923934937, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47769421339035034, -0.958031415939331, 1.2329250574111938, -0.4261770248413086, -0.04303703084588051, -0.4238337278366089, 1.1427631378173828, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, 0.19799998409145483, -0.19799998409145483, -0.19799998409145483, -0.19799998409145483, 0.19799998409145483, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699425427444677, 0.8826847438205898, -0.004652907181933445, -1.8803837299346924], [-0.8826914957811348, -0.4699517070197712, -0.0010565722245203788, 350.3996887207031], [-0.0031192618560828985, 0.003610553362367332, 0.9999886169901588, 15.028575897216797], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.289283514022827, -0.6829134821891785, -0.022910214960575104, -0.11483865231275558, 0.5385594367980957, -0.786984384059906, -1.2888970375061035, -1.3262841701507568, -0.7891863584518433, 0.054637640714645386, -1.5358980894088745, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47452372312545776, -0.9617133140563965, 1.209650993347168, -0.517086923122406, -0.05731407552957535, -0.506951630115509, 1.2113864421844482, 0.4853999965793484, 0.4853999965793484, 0.4853999965793484, 0.4853999965793484, -0.4853999965793484, -0.4853999965793484, -0.4853999965793484, 0.4853999965793484, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700506958932995, 0.8826271531801714, -0.0046531450966978225, -1.8374634981155396], [-0.8826339451080112, -0.470059815056292, -0.0010436533490537565, 350.40020751953125], [-0.0031084133079661387, 0.003616453830864306, 0.9999886294495534, 15.024249076843262], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2901461124420166, -0.6832969188690186, -0.02271849662065506, -0.11656410247087479, 0.5385655164718628, -0.7869832515716553, -1.288895845413208, -1.3262825012207031, -0.7891842126846313, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4733094871044159, -0.9647839069366455, 1.1684163808822632, -0.6108422875404358, -0.09605715423822403, -0.5576829314231873, 1.2675511837005615, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700790835758155, 0.8826120264439223, -0.004654670887849824, -1.8262184858322144], [-0.8826187255553665, -0.4700883210378821, -0.0010750454899648744, 350.399658203125], [-0.0031369545010705296, 0.003602943288188676, 0.9999885890929557, 15.035298347473145], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.290433645248413, -0.6837762594223022, -0.023293649777770042, -0.11761854588985443, 0.5385652184486389, -0.7869850993156433, -1.2888959646224976, -1.3262826204299927, -0.7891844511032104, 0.054637398570775986, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4905199706554413, -0.9581833481788635, 1.1036982536315918, -0.7088305950164795, -0.14915817975997925, -0.5682312846183777, 1.2529997825622559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.470058300550634, 0.8826231084418874, -0.0046521530316440424, -1.8344292640686035], [-0.882629767328765, -0.47006756591051424, -0.001085036466931116, 350.39947509765625], [-0.0031445045110436794, 0.0035960983502166853, 0.9999885900189239, 15.038765907287598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2912964820861816, -0.68435138463974, -0.025690114125609398, -0.11800198256969452, 0.5385646820068359, -0.7869686484336853, -1.28889799118042, -1.326282262802124, -0.7891857624053955, 0.054637398570775986, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5051546692848206, -0.9401487112045288, 1.0354316234588623, -0.7671992778778076, -0.17977043986320496, -0.6046627759933472, 1.2157423496246338, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700562373306245, 0.8826242028969002, -0.00465297831367026, -1.8352670669555664], [-0.8826308863543173, -0.47006548055320474, -0.0010781677407491089, 350.3995361328125], [-0.003138821429786884, 0.0036000629017544114, 0.9999885936085148, 15.03635311126709], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2918715476989746, -0.6845430731773376, -0.02923688478767872, -0.11771440505981445, 0.5385686159133911, -0.786978542804718, -1.2888963222503662, -1.3262799978256226, -0.7891854047775269, 0.054637640714645386, -1.535900592803955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5059205889701843, -0.9308627843856812, 0.9715414643287659, -0.8001847863197327, -0.20319612324237823, -0.6796600222587585, 1.14073646068573, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700570161124227, 0.8826237852376719, -0.004653529435786405, -1.8349792957305908], [-0.8826305048042785, -0.47006622183207636, -0.001067277593623256, 350.39984130859375], [-0.003129471589647581, 0.003605665714007529, 0.9999886027262153, 15.032538414001465], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292255163192749, -0.6849265098571777, -0.031249916180968285, -0.11665996164083481, 0.5385630130767822, -0.7869787812232971, -1.288896918296814, -1.3262830972671509, -0.7891868352890015, 0.054637398570775986, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4965904653072357, -0.9351415038108826, 0.9062485098838806, -0.8010842204093933, -0.2314741015434265, -0.7446886897087097, 1.0755239725112915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47002613339622257, 0.8826402366148178, -0.004652594237096787, -1.847201943397522], [-0.8826469919163153, -0.4700352911543493, -0.0010548604298844058, 350.3997802734375], [-0.003117945746285615, 0.0036107863388494177, 0.9999886202534198, 15.028131484985352], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292830228805542, -0.6850224137306213, -0.03316709026694298, -0.11368834227323532, 0.5385650396347046, -0.786980390548706, -1.2888962030410767, -1.3262823820114136, -0.7891854047775269, 0.054637759923934937, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47279810905456543, -0.9524100422859192, 0.829014003276825, -0.7721348404884338, -0.3002919554710388, -0.7774466276168823, 1.0425450801849365, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47003023504479424, 0.8826380463985284, -0.00465372899131545, -1.845604419708252], [-0.8826447362032513, -0.47003947655772627, -0.001077093325212391, 350.39947509765625], [-0.00313811988747379, 0.0036013229690862896, 0.9999885912731425, 15.035927772521973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2931177616119385, -0.6855975389480591, -0.03393395617604256, -0.10832025855779648, 0.5385617017745972, -0.7869814038276672, -1.2888970375061035, -1.3262832164764404, -0.7891852855682373, 0.054637759923934937, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4454120993614197, -0.9844714403152466, 0.7698106169700623, -0.6927319169044495, -0.34532734751701355, -0.7684392929077148, 1.0120824575424194, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700260496115207, 0.8826402857056539, -0.004651745482057811, -1.847218632698059], [-0.8826470442772495, -0.47003519738553834, -0.0010528282734277952, 350.3997802734375], [-0.0031157527539036286, 0.0036109926861897916, 0.9999886263436184, 15.027420997619629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2931177616119385, -0.6861727237701416, -0.034796684980392456, -0.10208944976329803, 0.5385603904724121, -0.7869837880134583, -1.288896083831787, -1.326284408569336, -0.7891837358474731, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4113834798336029, -1.0057094097137451, 0.7650238871574402, -0.6218845844268799, -0.31739872694015503, -0.7454612255096436, 0.9634302854537964, 0.1782000153929323, 0.1782000153929323, 0.1782000153929323, 0.1782000153929323, -0.1782000153929323, -0.1782000153929323, -0.1782000153929323, 0.1782000153929323, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699719131202169, 0.8826691066241418, -0.004652858203578076, -1.8687337636947632], [-0.8826758731018933, -0.46998106009002405, -0.0010517606511873186, 350.3996887207031], [-0.0031151118653321257, 0.0036126677118795154, 0.9999886222903088, 15.026945114135742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2931177616119385, -0.6868436932563782, -0.0358511321246624, -0.09422904253005981, 0.5385572910308838, -0.7869771718978882, -1.2888998985290527, -1.3262848854064941, -0.7891913056373596, 0.054637759923934937, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3736700415611267, -1.023082971572876, 0.7721036076545715, -0.56562739610672, -0.24313955008983612, -0.740772008895874, 0.978356659412384, 0.046799990895030265, 0.046799990895030265, 0.046799990895030265, 0.046799990895030265, -0.046799990895030265, -0.046799990895030265, -0.046799990895030265, 0.046799990895030265, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700835646485524, 0.8826096497722975, -0.004652781547936056, -1.8244116306304932], [-0.8826162606618471, -0.47009288916168845, -0.001100897322554457, 350.3992614746094], [-0.0031589021208025033, 0.003589106913817316, 0.999988569759151, 15.044368743896484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2931177616119385, -0.6874188780784607, -0.03623456507921219, -0.08627277612686157, 0.5385595560073853, -0.7869780659675598, -1.2888984680175781, -1.3262836933135986, -0.7891862392425537, 0.054637517780065536, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33044418692588806, -1.032569169998169, 0.7930459976196289, -0.5143821239471436, -0.1629435122013092, -0.7356431484222412, 0.998938262462616, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, 0.0096000115950029, -0.0096000115950029, -0.0096000115950029, -0.0096000115950029, 0.0096000115950029, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005379909782086, 0.8826255002175378, -0.004653205287395683, -1.8362386226654053], [-0.8826322096210517, -0.47006301417379626, -0.0010701613454517779, 350.39947509765625], [-0.0031318513958055096, 0.0036040354585571695, 0.9999886011526572, 15.03354263305664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2931177616119385, -0.6883774399757385, -0.03642628341913223, -0.08071297407150269, 0.53855961561203, -0.7869790196418762, -1.2888977527618408, -1.3262882232666016, -0.7891871929168701, 0.054637398570775986, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27633020281791687, -1.0389447212219238, 0.8308395743370056, -0.4682895839214325, -0.056914642453193665, -0.6986128687858582, 1.0095781087875366, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.470027955074241, 0.8826392598538457, -0.0046538600519258465, -1.8464826345443726], [-0.8826459960752622, -0.4700371441218498, -0.001062430272444463, 350.39959716796875], [-0.0031252297572666884, 0.0036083390127609203, 0.999988606349359, 15.03078556060791], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2930219173431396, -0.6892401576042175, -0.036522142589092255, -0.07726205885410309, 0.5385609269142151, -0.7869794964790344, -1.2888975143432617, -1.3262842893600464, -0.7891850471496582, 0.05463787913322449, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21586574614048004, -1.0419775247573853, 0.8684910535812378, -0.4287431836128235, 0.03420872986316681, -0.6671372056007385, 1.0189462900161743, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700024781943326, 0.8826528221073368, -0.004654687652264291, -1.856635332107544], [-0.8826595141342483, -0.47001172425148674, -0.0010775780423157909, 350.3992919921875], [-0.003138885069383776, 0.0036020399912580644, 0.9999885862890749, 15.036044120788574], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2930219173431396, -0.6901028752326965, -0.03633042424917221, -0.07563246786594391, 0.538560152053833, -0.7869808673858643, -1.2888973951339722, -1.3262859582901, -0.7891862392425537, 0.054637640714645386, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1763533055782318, -1.0431721210479736, 0.8891122937202454, -0.4060457944869995, 0.07404525578022003, -0.6659826636314392, 1.0127695798873901, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700565168534976, 0.8826240469833352, -0.004654315236067802, -1.835174560546875], [-0.8826307266099144, -0.4700657741822927, -0.001080919264483509, 350.3994140625], [-0.003141879630411336, 0.003599948494219156, 0.9999885844164557, 15.037315368652344], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292830228805542, -0.6907739043235779, -0.03575527295470238, -0.0742904469370842, 0.5385634899139404, -0.7869818806648254, -1.288896918296814, -1.3262848854064941, -0.7891852855682373, 0.054637398570775986, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15192531049251556, -1.0458639860153198, 0.9070740938186646, -0.38767147064208984, 0.11108250170946121, -0.6704912781715393, 0.9960574507713318, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700562589734194, 0.8826241827177402, -0.004654619399525011, -1.8352652788162231], [-0.8826308289810811, -0.47006555665346994, -0.001091870062246209, 350.39923095703125], [-0.003151687180371793, 0.0035950702224496547, 0.9999885711036965, 15.041152000427246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2926385402679443, -0.6917325258255005, -0.0349884033203125, -0.07314014434814453, 0.5385633111000061, -0.7869828343391418, -1.2888973951339722, -1.326284408569336, -0.7891854047775269, 0.054637398570775986, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.16526375710964203, -1.0537151098251343, 0.8981724977493286, -0.378734827041626, 0.11568911373615265, -0.6625446677207947, 1.023759365081787, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005704848551133, 0.8826237647135877, -0.004654152114296408, -1.8349645137786865], [-0.8826304005913769, -0.4700663546136743, -0.00109462875757691, 350.39923095703125], [-0.0031539056731611265, 0.003593358182080678, 0.9999885702626706, 15.042120933532715], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292734384536743, -0.6924034953117371, -0.03383810073137283, -0.07189397513866425, 0.5385653972625732, -0.786983847618103, -1.2888962030410767, -1.3262836933135986, -0.7891848087310791, 0.054637640714645386, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20418387651443481, -1.0653660297393799, 0.8733762502670288, -0.3709505796432495, 0.10253151506185532, -0.6457962989807129, 1.0824666023254395, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700043726801475, 0.8826517976096876, -0.004657664428471844, -1.8559074401855469], [-0.8826585120108149, -0.47001361469442826, -0.0010738606667954058, 350.3994140625], [-0.0031370107419890127, 0.0036064079448376004, 0.999988576427421, 15.03473949432373], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292734384536743, -0.6933621168136597, -0.03287951275706291, -0.07064781337976456, 0.538564145565033, -0.7869834899902344, -1.288896083831787, -1.3262840509414673, -0.7891848087310791, 0.054637160152196884, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2426159381866455, -1.0733383893966675, 0.8438718318939209, -0.3649861514568329, 0.0626055896282196, -0.6530188322067261, 1.1332991123199463, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005820325953285, 0.8826231375623032, -0.004656456602996798, -1.8345218896865845], [-0.882629818657742, -0.47006747446051445, -0.0010828991251191614, 350.39935302734375], [-0.003144640618781838, 0.0036009018300258763, 0.9999885723053985, 15.038008689880371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292734384536743, -0.6945124268531799, -0.03220850229263306, -0.06920993328094482, 0.5385611653327942, -0.7869914174079895, -1.2888957262039185, -1.3262852430343628, -0.7891852855682373, 0.054637398570775986, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2683224081993103, -1.0756163597106934, 0.8228782415390015, -0.36150211095809937, 0.03246131166815758, -0.6455874443054199, 1.1760718822479248, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699498751365192, 0.8826808151096833, -0.0046576277733538195, -1.8775519132614136], [-0.8826875570282319, -0.46995908543110265, -0.0010652174865787283, 350.3993835449219], [-0.0031291415279662634, 0.0036106312559976163, 0.9999885858424741, 15.031610488891602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292734384536743, -0.6956626772880554, -0.03182506933808327, -0.0673886239528656, 0.5385538339614868, -0.7869961857795715, -1.2888959646224976, -1.3262883424758911, -0.7891877889633179, 0.054637759923934937, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2808644473552704, -1.0700199604034424, 0.7982571125030518, -0.3845292031764984, -0.010634920559823513, -0.6308242082595825, 1.1896047592163086, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47003042104857884, 0.8826379178961726, -0.004659311194268512, -1.845615029335022], [-0.8826447137891056, -0.4700395808125617, -0.0010496140716259772, 350.3998718261719], [-0.003116489859403724, 0.003619165851494635, 0.9999885944997051, 15.026288986206055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.292734384536743, -0.6968129873275757, -0.03105819970369339, -0.06681346893310547, 0.5385554432868958, -0.7869811654090881, -1.288897156715393, -1.326286792755127, -0.7891874313354492, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2807058095932007, -1.0618001222610474, 0.7982063293457031, -0.39028844237327576, 0.0006727944128215313, -0.6145439743995667, 1.205460548400879, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699808241582557, 0.8826643179570811, -0.004661193933699097, -1.8653171062469482], [-0.8826711428137218, -0.4699899642426204, -0.0010426673191901805, 350.3996276855469], [-0.003111039608376297, 0.0036242677303386906, 0.9999885929929271, 15.023758888244629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2926385402679443, -0.6987301707267761, -0.029524460434913635, -0.0673886239528656, 0.5385592579841614, -0.7869789600372314, -1.28889799118042, -1.326282262802124, -0.7891864776611328, 0.054637640714645386, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26814693212509155, -1.0540817975997925, 0.8234266042709351, -0.4011051654815674, 0.08167620748281479, -0.5717436671257019, 1.2483084201812744, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, 0.19920000243972946, -0.19920000243972946, -0.19920000243972946, -0.19920000243972946, 0.19920000243972946, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47009236376471075, 0.8826049051561623, -0.004663788630363031, -1.8210912942886353], [-0.8826117008170334, -0.47010155630192463, -0.0010546769039764523, 350.39984130859375], [-0.003123317302201414, 0.00362051885649752, 0.9999885683007779, 15.028169631958008], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2913923263549805, -0.7013183832168579, -0.027894863858819008, -0.06988094747066498, 0.5385634899139404, -0.7869814038276672, -1.28889799118042, -1.3262848854064941, -0.7891961932182312, 0.054637640714645386, -1.5359011888504028, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.25592002272605896, -1.0412545204162598, 0.8680770993232727, -0.42794060707092285, 0.20693472027778625, -0.5214641690254211, 1.2986664772033691, 0.5052000045776367, 0.5052000045776367, 0.5052000045776367, 0.5052000045776367, -0.5052000045776367, -0.5052000045776367, -0.5052000045776367, 0.5052000045776367, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700639598402212, 0.8826200206150298, -0.0046661406810175506, -1.8323599100112915], [-0.882626913201709, -0.47007305674020183, -0.0010263619954356546, 350.400146484375], [-0.003099314658675628, 0.0036360055620474467, 0.9999885867909689, 15.01819133758545], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.289954423904419, -0.7044817209243774, -0.025977691635489464, -0.07294842600822449, 0.5385608077049255, -0.7869834899902344, -1.2888967990875244, -1.3262859582901, -0.7891944050788879, 0.054637160152196884, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2691514492034912, -1.0250251293182373, 0.9219815135002136, -0.49018943309783936, 0.3657657206058502, -0.44700750708580017, 1.3731979131698608, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46997635139187244, 0.8826666807998992, -0.004664733440650908, -1.8671501874923706], [-0.8826734819097118, -0.4699855450364969, -0.0010544145925205708, 350.39959716796875], [-0.0031230539171214003, 0.003621886585192841, 0.9999885641705083, 15.027860641479492], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.2889957427978516, -0.7084119319915771, -0.023964660242199898, -0.07582418620586395, 0.5385659337043762, -0.7869835495948792, -1.288896083831787, -1.326282262802124, -0.7891852855682373, 0.054637398570775986, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3093058466911316, -1.0051015615463257, 0.9732915163040161, -0.5990814566612244, 0.5258281230926514, -0.3654220402240753, 1.4548982381820679, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700899639762579, 0.8826061693828067, -0.004666426492386284, -1.822057843208313], [-0.8826129305862186, -0.47009921564683976, -0.0010687423604097072, 350.3996887207031], [-0.003136962034722776, 0.0036162433041053267, 0.9999885410611254, 15.033088684082031], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.287653923034668, -0.7125338315963745, -0.021664051339030266, -0.0777413547039032, 0.5385648608207703, -0.7869833111763, -1.2888966798782349, -1.326285719871521, -0.7891892790794373, 0.054637640714645386, -1.535900592803955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3463396430015564, -0.9925685524940491, 1.0044491291046143, -0.6753612756729126, 0.621136486530304, -0.3174866735935211, 1.502726674079895, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47005884723613267, 0.8826227641307149, -0.004662228361498847, -1.834341049194336], [-0.8826295359505963, -0.47006805610865343, -0.0010606101392095619, 350.3996276855469], [-0.0031276832757586, 0.0036164712758016354, 0.9999885693010885, 15.030189514160156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.286982774734497, -0.717039167881012, -0.018117282539606094, -0.07841236889362335, 0.5385611057281494, -0.7869817018508911, -1.2888966798782349, -1.3262883424758911, -0.7891882658004761, 0.054637759923934937, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3854198753833771, -0.9883987903594971, 1.0199893712997437, -0.7528433799743652, 0.6964486241340637, -0.28678908944129944, 1.5333573818206787, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699775281520753, 0.8826660813413446, -0.0046596010108932735, -1.8666212558746338], [-0.8826729036115644, -0.4699866595841258, -0.0010416539183068143, 350.39990234375], [-0.0031093828962902763, 0.0036233496202407855, 0.9999886014728037, 15.023401260375977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.287078619003296, -0.7217362523078918, -0.01485808938741684, -0.07831650972366333, 0.5385680794715881, -0.7869813442230225, -1.2888953685760498, -1.3262836933135986, -0.7891855239868164, 0.054637640714645386, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4187006652355194, -0.9876843690872192, 1.006652593612671, -0.8412941694259644, 0.729630172252655, -0.2836698293685913, 1.5365208387374878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700605240365978, 0.882621890541981, -0.004658548973454056, -1.8336594104766846], [-0.8826287414732911, -0.47006961392326696, -0.0010309177004195417, 350.4002380371094], [-0.0030997528471316677, 0.0036271755030336315, 0.9999886175002978, 15.019794464111328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.287078619003296, -0.7255706191062927, -0.01313263364136219, -0.07783721387386322, 0.5409359335899353, -0.7868843078613281, -1.2885715961456299, -1.3263320922851562, -0.7870513796806335, 0.05529976636171341, -1.5333631038665771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4336335361003876, -0.988175630569458, 0.9879245162010193, -0.8985967040061951, 0.7546331286430359, -0.28433677554130554, 1.5359243154525757, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700344091395676, 0.8826358103501478, -0.004656233709289045, -1.8439455032348633], [-0.8826426919520134, -0.4700434461381442, -0.0010183743323668559, 350.4002990722656], [-0.0030874857928272275, 0.003631119677927635, 0.9999886411361699, 15.015355110168457], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0822179317474365, 2.288804054260254, -0.7294049263000488, -0.012845057062804699, -0.07889165729284286, 0.5683423280715942, -0.7819632887840271, -1.2926112413406372, -1.3236624002456665, -0.7501223683357239, 0.07056084275245667, -1.4914348125457764, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.433369904756546, -0.9952810406684875, 0.9761705994606018, -0.9431154727935791, 0.7922222018241882, -0.2843925952911377, 1.5358830690383911, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699760363889789, 0.8826669128561632, -0.004652544365816694, -1.8670835494995117], [-0.8826737720972749, -0.4699850727877046, -0.0010214735943738292, 350.40032958984375], [-0.0030882473465264205, 0.0036266107740655293, 0.9999886551469572, 15.016340255737305], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.293501138687134, -0.7318972945213318, -0.01485808938741684, -0.08397216349840164, 0.5788139700889587, -0.7692834734916687, -1.312265157699585, -1.3017537593841553, -0.686610996723175, 0.06524918973445892, -1.5227584838867188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4223650395870209, -1.0113904476165771, 0.9636579751968384, -0.9727290868759155, 0.8367769122123718, -0.28678274154663086, 1.5334655046463013, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47003070699826055, 0.8826377899198461, -0.004654705589493462, -1.8454058170318604], [-0.8826447635245396, -0.47003962382360953, -0.0009866399896521574, 350.40093994140625], [-0.0030587418042082796, 0.0036447004224258494, 0.9999886800646325, 15.004231452941895], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.298677682876587, -0.7330475449562073, -0.018500717356801033, -0.0911615639925003, 0.5762689709663391, -0.7633386254310608, -1.3174277544021606, -1.2883120775222778, -0.660261869430542, 0.05096950754523277, -1.537312388420105, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.41005343198776245, -1.0239828824996948, 0.9509331583976746, -0.9843713045120239, 0.8499262928962708, -0.28685009479522705, 1.5335025787353516, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4701165470908186, 0.8825920868640154, -0.004651919649829189, -1.8112913370132446], [-0.8825989616700168, -0.47012556000333006, -0.001015229315696726, 350.40045166015625], [-0.003083019690852742, 0.0036285033523108705, 0.9999886644122563, 15.014412879943848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3056752681732178, -0.7330475449562073, -0.02319779060781002, -0.0997888445854187, 0.5626852512359619, -0.7593827843666077, -1.3117079734802246, -1.270372748374939, -0.6447288990020752, 0.025809945538640022, -1.5360709428787231, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.39833730459213257, -1.0358068943023682, 0.9370264410972595, -0.9931505918502808, 0.844733476638794, -0.28709253668785095, 1.5332404375076294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.470031457230911, 0.8826373934262408, -0.004654131403145458, -1.845102310180664], [-0.8826444317154769, -0.4700402923664675, -0.000964735045761671, 350.4011535644531], [-0.003039140511584475, 0.00365448734805739, 0.9999887041097884, 14.99655818939209], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.310755729675293, -0.7331434488296509, -0.03105819970369339, -0.1084161177277565, 0.5408725738525391, -0.7560490965843201, -1.3002910614013672, -1.2599968910217285, -0.634416937828064, 0.0004760134033858776, -1.5358723402023315, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3885538876056671, -1.0455814599990845, 0.9302788376808167, -0.9974040389060974, 0.8418921828269958, -0.2960941195487976, 1.524275779724121, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4699802343968571, 0.8826646861537782, -0.0046509239219409805, -1.8654001951217651], [-0.88267173841483, -0.46998902905649076, -0.0009564362389076277, 350.40118408203125], [-0.0030300957109301485, 0.003655732975667309, 0.9999887270046564, 14.993561744689941], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.316507339477539, -0.7329517006874084, -0.0401647686958313, -0.11522208154201508, 0.5406843423843384, -0.7559452056884766, -1.2997052669525146, -1.2597367763519287, -0.6344537138938904, 0.0003776229277718812, -1.5358729362487793, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.386358380317688, -1.0467021465301514, 0.9300270080566406, -0.996421217918396, 0.8402173519134521, -0.29806995391845703, 1.522354006767273, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4701171892642255, 0.8825917400215989, -0.004652827522124866, -1.8110570907592773], [-0.8825986646748215, -0.47012615000678926, -0.0010000970032503231, 350.4007568359375], [-0.0030700932439112817, 0.0036364165658300486, 0.9999886754368938, 15.009110450744629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.319958209991455, -0.7324724197387695, -0.04323224723339081, -0.1183854192495346, 0.5410348176956177, -0.7560795545578003, -1.3000034093856812, -1.2600125074386597, -0.6346920728683472, 0.0009100820170715451, -1.535874366760254, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.38663268089294434, -1.046463966369629, 0.9301676154136658, -0.9963896870613098, 0.8402960896492004, -0.29779037833213806, 1.5226205587387085, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700624646114393, 0.8826208857981509, -0.004653097495944543, -1.8327724933624268], [-0.8826278453179005, -0.47007138618076993, -0.0009892237210131917, 350.4006042480469], [-0.003060397506846126, 0.00364195647654809, 0.9999886849960469, 15.00519847869873], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3203415870666504, -0.7324724197387695, -0.04457426816225052, -0.11982329934835434, 0.5410251617431641, -0.7560852766036987, -1.3000421524047852, -1.2600383758544922, -0.6347272396087646, 0.0009472331148572266, -1.53587806224823, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.38664209842681885, -1.0464495420455933, 0.9302111268043518, -0.9963997602462769, 0.8404183387756348, -0.2977249324321747, 1.5226765871047974, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700361888970881, 0.8826349119633338, -0.004646860292664686, -1.843122959136963], [-0.8826419012632453, -0.4700450288526148, -0.0009721035688838432, 350.4010314941406], [-0.0030422461282806745, 0.003644589746890819, 0.9999887307885383, 14.999161720275879], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3209168910980225, -0.7323765754699707, -0.045628711581230164, -0.12068602442741394, 0.5410254001617432, -0.7560864090919495, -1.300041675567627, -1.2600358724594116, -0.6347270011901855, 0.0009529855451546609, -1.5358816385269165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3866572380065918, -1.0464569330215454, 0.9302107691764832, -0.9964048862457275, 0.840426504611969, -0.2977130711078644, 1.5226821899414062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700643253414327, 0.8826199266537782, -0.004647054441558081, -1.8319883346557617], [-0.8826270041840445, -0.47007306028475715, -0.0009431222727839683, 350.4014587402344], [-0.003016873613883212, 0.003658287605161893, 0.9999887576395026, 14.989058494567871], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3210127353668213, -0.7322807312011719, -0.04601214453577995, -0.120973601937294, 0.5410242676734924, -0.7560863494873047, -1.3000414371490479, -1.260032057762146, -0.6347261071205139, 0.0009539442835375667, -1.535886526107788, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3866592347621918, -1.0464566946029663, 0.9302098751068115, -0.9964099526405334, 0.8404261469841003, -0.2977100908756256, 1.5226819515228271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47001035035667793, 0.8826486737891042, -0.004646419689202786, -1.8533897399902344], [-0.8826557693367647, -0.4700190589013722, -0.0009365500480045685, 350.4014587402344], [-0.003010550467388254, 0.0036610009292455848, 0.999988766765947, 14.98665714263916], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3213961124420166, -0.7320889830589294, -0.0462038628757, -0.12126117944717407, 0.5410241484642029, -0.7560865879058838, -1.3000377416610718, -1.260027527809143, -0.6347214579582214, 0.0009528656955808401, -1.5358909368515015, 0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.38665929436683655, -1.0464589595794678, 0.9302080869674683, -0.9964134097099304, 0.8404255509376526, -0.29771044850349426, 1.5226808786392212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700092370655078, 0.8826492659809435, -0.0046465402613968055, -1.8538267612457275], [-0.8826563969833787, -0.47001790329416293, -0.0009249039296677784, 350.401611328125], [-0.003000322885857793, 0.0036665850952206677, 0.9999887770451827, 14.982573509216309], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3215878009796143, -0.7320889830589294, -0.04629972204566002, -0.1213570386171341, 0.5410242676734924, -0.7560865879058838, -1.3000353574752808, -1.2600226402282715, -0.6347194314002991, 0.0009519069571979344, -1.5358933210372925, 0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.3866586685180664, -1.046459674835205, 0.9302065372467041, -0.9964143633842468, 0.8404247164726257, -0.29771044850349426, 1.5226809978485107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700370906096776, 0.8826344371455707, -0.004645838558464234, -1.8427571058273315], [-0.8826414980157509, -0.47004583678895395, -0.0009472580870914589, 350.4013366699219], [-0.0030198396813312677, 0.00365536346946925, 0.9999887593799268, 14.990459442138672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3215878009796143, -0.7320889830589294, -0.04629972204566002, -0.1213570386171341, 0.5410242080688477, -0.7560861706733704, -1.3000328540802002, -1.2600210905075073, -0.6347178816795349, 0.0009511879179626703, -1.535895586013794, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.3866584300994873, -1.046459436416626, 0.9302051067352295, -0.9964147210121155, 0.8404229879379272, -0.29771044850349426, 1.5226801633834839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700389860853966, 0.8826334338062175, -0.004644683762942672, -1.8420062065124512], [-0.8826404338569732, -0.4700477970043211, -0.0009659462504720174, 350.40106201171875], [-0.0030357998264793, 0.003645553295467301, 0.9999887468669753, 14.997014045715332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3215878009796143, -0.7320889830589294, -0.04639558121562004, -0.1213570386171341, 0.5410242080688477, -0.7560860514640808, -1.3000301122665405, -1.260019302368164, -0.6347163319587708, 0.0009504688787274063, -1.535896897315979, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38665804266929626, -1.046459674835205, 0.9302033185958862, -0.9964147210121155, 0.8404203653335571, -0.29771140217781067, 1.522679328918457, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700385839895038, 0.8826336583003045, -0.0046427143529613486, -1.8421393632888794], [-0.8826406091931235, -0.47004743918961345, -0.000979752253463034, 350.4008483886719], [-0.00304705830820039, 0.0036373268629291728, 0.9999887425811146, 15.001853942871094], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3215878009796143, -0.7320889830589294, -0.04639558121562004, -0.12145289778709412, 0.541024386882782, -0.7560861706733704, -1.3000283241271973, -1.2600183486938477, -0.6347147226333618, 0.0009492704411968589, -1.5358986854553223, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3866579234600067, -1.0464602708816528, 0.9302017688751221, -0.9964144825935364, 0.8404163122177124, -0.2977123558521271, 1.522678256034851, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4700380601328624, 0.8826339373705571, -0.004642696229929406, -1.8423327207565308], [-0.8826409408012205, -0.4700468522577337, -0.0009624469507325736, 350.401123046875], [-0.003031773090502542, 0.003645447070536043, 0.999988759470617, 14.995789527893066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3215878009796143, -0.7320889830589294, -0.04639558121562004, -0.12145289778709412, 0.541024386882782, -0.756085991859436, -1.3000270128250122, -1.2600170373916626, -0.6347140073776245, 0.0009485514019615948, -1.5358996391296387, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3866570293903351, -1.0464611053466797, 0.9302008152008057, -0.9964144825935364, 0.8404146432876587, -0.2977128326892853, 1.5226775407791138, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.46977083912832795, 0.8827762025534953, -0.004640572151859794, -1.9483773708343506], [-0.8827832315302407, -0.4697795857743452, -0.0009523227972165121, 350.4007873535156], [-0.003020733965788571, 0.0036492458007985943, 0.9999887790227415, 14.991752624511719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3215878009796143, -0.7320889830589294, -0.04639558121562004, -0.12145289778709412, 0.5410239100456238, -0.7560857534408569, -1.3000258207321167, -1.260016679763794, -0.6347135305404663, 0.0009471132652834058, -1.535900354385376, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38665682077407837, -1.0464593172073364, 0.9302003383636475, -0.9964141249656677, 0.840412437915802, -0.29771342873573303, 1.5226761102676392, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47018370463885306, 0.8825563593084899, -0.004642901703452003, -1.7847073078155518], [-0.8825635118228204, -0.4701923166001487, -0.0009126933527064333, 350.4027404785156], [-0.002988560030222522, 0.003668522090671989, 0.9999888051646458, 14.97862434387207], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3215878009796143, -0.7319931387901306, -0.04639558121562004, -0.12145289778709412, 0.5410236716270447, -0.7560858726501465, -1.3000260591506958, -1.2600171566009521, -0.634712815284729, 0.0009457950363866985, -1.5359009504318237, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38665664196014404, -1.046459674835205, 0.9302005767822266, -0.9964138865470886, 0.8404112458229065, -0.2977142632007599, 1.5226759910583496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4715160006588526, 0.8818452854947381, -0.004642582620148297, -1.2556792497634888], [-0.8818524449251193, -0.4715245965989714, -0.0009056388721486578, 350.40521240234375], [-0.002987725266907888, 0.0036670496153079135, 0.9999888130598503, 14.97861099243164], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3214919567108154, -0.7320889830589294, -0.04649144038558006, -0.12145289778709412, 0.5410351753234863, -0.7560861706733704, -1.3000233173370361, -1.2600152492523193, -0.6347100734710693, 0.0009445965988561511, -1.535902738571167, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38667455315589905, -1.0464590787887573, 0.9301934838294983, -0.9964132905006409, 0.8404085040092468, -0.2977149784564972, 1.5226799249649048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4730876817912657, 0.8810031386267763, -0.00463843369420975, -0.6315643787384033], [-0.8810102313642805, -0.4730963221685418, -0.0009177047762868555, 350.40679931640625], [-0.003002926709594778, 0.003652352716921286, 0.9999888213129224, 14.98574447631836], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3215878009796143, -0.7320889830589294, -0.04639558121562004, -0.12154875695705414, 0.5410210490226746, -0.7560855746269226, -1.3000239133834839, -1.2600167989730835, -0.6347123384475708, 0.0009436378604732454, -1.5359036922454834, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38666677474975586, -1.0464524030685425, 0.9301964640617371, -0.9964129328727722, 0.8404082655906677, -0.29771584272384644, 1.5226773023605347, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.473594568502556, 0.8807307674460583, -0.004636804800179126, -0.4340740740299225], [-0.8807377833142609, -0.47360328780462413, -0.0009395867878792494, 350.4071960449219], [-0.0030235289910441666, 0.0036388259819943127, 0.9999888085463322, 14.99434757232666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0823137760162354, 2.321204423904419, -0.7323765754699707, -0.04649144038558006, -0.12145289778709412, 0.5410082340240479, -0.7560479640960693, -1.3000329732894897, -1.2600197792053223, -0.6347214579582214, 0.000942439422942698, -1.535905122756958, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3866340219974518, -1.046465516090393, 0.9301984906196594, -0.9964478015899658, 0.8404094576835632, -0.2977164387702942, 1.5226789712905884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4740024590540688, 0.8805113341977191, -0.0046324032692451785, -0.2802358865737915], [-0.8805180949765204, -0.4740114462726752, -0.0010164749905159606, 350.4062805175781], [-0.0030908299234509978, 0.003597103256727243, 0.9999887537460332, 15.02204418182373], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3215878009796143, -0.7318972945213318, -0.04649144038558006, -0.12154875695705414, 0.5410336256027222, -0.7561091780662537, -1.3000211715698242, -1.2600150108337402, -0.6347079277038574, 0.0009416005341336131, -1.5359050035476685, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3866712152957916, -1.046463966369629, 0.9301949143409729, -0.996402382850647, 0.8404057621955872, -0.29771655797958374, 1.5226771831512451, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47406411462133313, 0.8804780669298113, -0.004646383952514581, -0.2727806866168976], [-0.8804849900457429, -0.47407301339023467, -0.0009799383913423455, 350.4068603515625], [-0.003065539502256033, 0.003626517702303337, 0.9999887253548987, 15.00935173034668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3218753337860107, -0.7317055463790894, -0.04639558121562004, -0.12154875695705414, 0.541034996509552, -0.7561110854148865, -1.300022006034851, -1.260013461112976, -0.6347073316574097, 0.0009410013444721699, -1.5359034538269043, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38666805624961853, -1.0464791059494019, 0.9302002191543579, -0.996401309967041, 0.8404074311256409, -0.29771679639816284, 1.5226686000823975, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4736684501196302, 0.8806909176895483, -0.004659062181207394, -0.45162898302078247], [-0.8806978394166124, -0.47367744544036383, -0.0009966584176681753, 350.406494140625], [-0.0030846406886213275, 0.0036311403487014346, 0.999988649841382, 15.014473915100098], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3218753337860107, -0.7318013906478882, -0.04649144038558006, -0.12154875695705414, 0.5410155057907104, -0.7560866475105286, -1.3000271320343018, -1.2600162029266357, -0.6347134113311768, 0.0009404021548107266, -1.5359034538269043, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38664230704307556, -1.0464627742767334, 0.9302066564559937, -0.9964165091514587, 0.8404106497764587, -0.29771727323532104, 1.5226690769195557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4726965925714015, 0.8812129791415528, -0.004649383169319722, -0.8522348999977112], [-0.8812195968859412, -0.47270587300766076, -0.0010861345423853269, 350.4045104980469], [-0.003154906585844327, 0.0035837154649765632, 0.9999886017089898, 15.04403305053711], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3218753337860107, -0.7318013906478882, -0.04639558121562004, -0.12145289778709412, 0.5410276055335999, -0.7560884356498718, -1.300025463104248, -1.2600152492523193, -0.634711503982544, 0.0009396830573678017, -1.5359034538269043, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.38665154576301575, -1.0464587211608887, 0.9302042722702026, -0.996412456035614, 0.8404099345207214, -0.29771727323532104, 1.522670865058899, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471823772726774, 0.8816806330056521, -0.004646382746436564, -1.2097147703170776], [-0.8816869934049172, -0.4718333234310954, -0.0011664306946195487, 350.40234375], [-0.0032207375663734494, 0.0035463055029544277, 0.9999885252175689, 15.070558547973633], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3218753337860107, -0.7318013906478882, -0.04649144038558006, -0.12145289778709412, 0.5410273671150208, -0.7560873627662659, -1.300025463104248, -1.260015845298767, -0.6347125768661499, 0.0009390838677063584, -1.5359033346176147, 0.18960001285259542, -0.18960001285259542, 0.18960001285259542, 0.18960001285259542, -0.18960001285259542, -0.18960001285259542, 0.18960001285259542, 0.18960001285259542, -0.3866543769836426, -1.0464614629745483, 0.9302029609680176, -0.9964128136634827, 0.8404104113578796, -0.2977171540260315, 1.5226728916168213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4725681694821382, 0.8812818879454407, -0.0046431855035950305, -0.9208371639251709], [-0.8812879738196688, -0.47257799118204935, -0.0012447695213875687, 350.4020080566406], [-0.0032912601118399317, 0.0035037450903828427, 0.9999884456218571, 15.099388122558594], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.321779489517212, -0.7318972945213318, -0.04639558121562004, -0.12145289778709412, 0.541024923324585, -0.756081759929657, -1.3000259399414062, -1.2600167989730835, -0.6347131729125977, 0.0009389640181325376, -1.5359033346176147, 0.45420000094633833, -0.45420000094633833, 0.45420000094633833, 0.45420000094633833, -0.45420000094633833, -0.45420000094633833, 0.45420000094633833, 0.45420000094633833, -0.3866545855998993, -1.0464597940444946, 0.9302029609680176, -0.9964138865470886, 0.8404102921485901, -0.29771727323532104, 1.5226753950119019, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47256462144141786, 0.8812838050542277, -0.00464042143249812, -0.926822304725647], [-0.8812896959119699, -0.47257462910064496, -0.0013006958811897264, 350.4011535644531], [-0.0033392276527267266, 0.003474892736444821, 0.999988387272149, 15.118980407714844], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.321779489517212, -0.7319931387901306, -0.04639558121562004, -0.12145289778709412, 0.5410248041152954, -0.7560827136039734, -1.300026297569275, -1.260016679763794, -0.634712815284729, 0.0009390838677063584, -1.535902500152588, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.386655330657959, -1.0464595556259155, 0.9302021265029907, -0.9964136481285095, 0.8404105305671692, -0.29771727323532104, 1.5226752758026123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4725148483579511, 0.8813104988420782, -0.004639257698124529, -0.9497331380844116], [-0.881316277946676, -0.47252496374616415, -0.0013329902113078348, 350.4006042480469], [-0.0033669433436947214, 0.003458795659387819, 0.9999883501446939, 15.130206108093262], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.321779489517212, -0.7320889830589294, -0.04639558121562004, -0.12145289778709412, 0.541024923324585, -0.7560833096504211, -1.3000264167785645, -1.2600167989730835, -0.6347129344940186, 0.0009390838677063584, -1.5359026193618774, 0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.593999999753394, -0.38665592670440674, -1.0464593172073364, 0.9302017688751221, -0.9964130520820618, 0.8404106497764587, -0.2977171540260315, 1.522675633430481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47243919426249725, 0.8813510688953055, -0.004636925889490045, -0.9810318350791931], [-0.8813568668043777, -0.4724492745577029, -0.0013252572091639746, 350.400634765625], [-0.003358729130525281, 0.0034606830254770545, 0.9999883712381984, 15.127359390258789], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.321683645248413, -0.7321848273277283, -0.04649144038558006, -0.12154875695705414, 0.541026771068573, -0.7560839056968689, -1.3000266551971436, -1.2600167989730835, -0.6347130537033081, 0.0009393235668540001, -1.535902500152588, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.39225152134895325, -1.0467132329940796, 0.9278354644775391, -0.9994173645973206, 0.8324310779571533, -0.29709455370903015, 1.5140764713287354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4724885124086864, 0.8813246347989058, -0.004636133993122003, -0.9612742066383362], [-0.8813303993437097, -0.47249862127964914, -0.0013341969450186633, 350.40057373046875], [-0.003366427555136249, 0.0034555730937570798, 0.9999883630223453, 15.130582809448242], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.321683645248413, -0.7319931387901306, -0.0462038628757, -0.12193218618631363, 0.541039764881134, -0.7560916543006897, -1.300024390220642, -1.2600162029266357, -0.6347123384475708, 0.0009393235668540001, -1.5359023809432983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4085722863674164, -1.046464443206787, 0.9208994507789612, -1.006148099899292, 0.7571539878845215, -0.30006977915763855, 1.4365142583847046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4724162891382049, 0.8813633527986356, -0.004635741627398374, -0.9892553091049194], [-0.881369135995107, -0.4724263765042014, -0.001328494768297913, 350.40057373046875], [-0.003360933222603998, 0.003458197024257837, 0.9999883724330072, 15.12845230102539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.321683645248413, -0.7317055463790894, -0.044861841946840286, -0.12202804535627365, 0.5410237908363342, -0.7560964822769165, -1.3000264167785645, -1.26002037525177, -0.6347146034240723, 0.0009395632077939808, -1.5359022617340088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4102826416492462, -1.0474416017532349, 0.9141387939453125, -0.9765767455101013, 0.6940299272537231, -0.29683560132980347, 1.3896878957748413, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47241114888884517, 0.8813661288902255, -0.004631765384797767, -0.9908117055892944], [-0.8813720200298524, -0.4724210968556819, -0.001292112290752304, 350.401123046875], [-0.003326967691256179, 0.003471900161735861, 0.9999884385307903, 15.115697860717773], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3219711780548096, -0.7300759553909302, -0.04495770111680031, -0.11896056681871414, 0.5410242080688477, -0.7560961842536926, -1.3000261783599854, -1.260019302368164, -0.6347137689590454, 0.0009394434164278209, -1.5359020233154297, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4024985432624817, -1.051195502281189, 0.9073546528816223, -0.9307867288589478, 0.6383717656135559, -0.30672773718833923, 1.3363893032073975, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4724376703064759, 0.8813519009697331, -0.004634040615619675, -0.9803562164306641], [-0.8813577180056295, -0.47244771088662496, -0.0013165826587258705, 350.4007873535156], [-0.0033497145100569938, 0.0034622442180736023, 0.9999883960715121, 15.124319076538086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.323025703430176, -0.7276794910430908, -0.04754588380455971, -0.10918299108743668, 0.541021466255188, -0.7560974955558777, -1.3000258207321167, -1.2600231170654297, -0.6347143650054932, 0.0009394434164278209, -1.5359013080596924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.38735702633857727, -1.05613374710083, 0.8994520306587219, -0.8723656535148621, 0.5783942937850952, -0.32549381256103516, 1.2828633785247803, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4723578289920738, 0.8813946954100604, -0.00463382055132009, -1.0121431350708008], [-0.8814005722885214, -0.4723678063773338, -0.0012987177264328323, 350.4009704589844], [-0.00333355056388619, 0.003470792600084504, 0.9999884204526397, 15.117912292480469], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.324080228805542, -0.7248037457466125, -0.05329740419983864, -0.09432490170001984, 0.5410243272781372, -0.756096363067627, -1.3000253438949585, -1.26002037525177, -0.6347132921218872, 0.0009395632077939808, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3729120194911957, -1.0626585483551025, 0.8953651785850525, -0.8235630989074707, 0.5575689673423767, -0.3409178853034973, 1.258833885192871, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47241254996444937, 0.8813653709154796, -0.004633096923844508, -0.9903939962387085], [-0.8813711770327349, -0.47242259541813647, -0.0013189519790863095, 350.4007263183594], [-0.0033512582738535177, 0.003460388621354757, 0.9999883973219745, 15.125103950500488], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3248469829559326, -0.7205859422683716, -0.061828821897506714, -0.06690932810306549, 0.541023313999176, -0.7560864686965942, -1.300026297569275, -1.2600207328796387, -0.6347144842147827, 0.0009395632077939808, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3513599932193756, -1.0679481029510498, 0.8963718414306641, -0.7678927779197693, 0.5398664474487305, -0.370630145072937, 1.249626636505127, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47238823055350787, 0.8813784135274239, -0.004631609051632977, -1.000106692314148], [-0.8813842773301658, -0.4723982060333758, -0.0013002352209013788, 350.4009704589844], [-0.0033339630632498994, 0.0034680115815444337, 0.9999884287260344, 15.118502616882324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0801090002059937, 2.325134515762329, -0.7168474793434143, -0.06930579245090485, -0.04054820537567139, 0.5410256385803223, -0.7560655474662781, -1.300028920173645, -1.2600165605545044, -0.6347147226333618, 0.0009392037172801793, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.347262978553772, -1.0687923431396484, 0.8977863192558289, -0.7575905919075012, 0.5387099385261536, -0.3793795704841614, 1.2495572566986084, 0.0899999833368993, 0.0899999833368993, 0.0899999833368993, 0.0899999833368993, -0.0899999833368993, -0.0899999833368993, -0.0899999833368993, 0.0899999833368993, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4724944153688353, 0.8813214766868962, -0.004634886804552766, -0.9579225182533264], [-0.8813272494161141, -0.4725045071787288, -0.0013304632326197473, 350.400634765625], [-0.003362570726264455, 0.003456215591545133, 0.9999883737783632, 15.129286766052246], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.325230360031128, -0.7149302959442139, -0.07409872859716415, -0.016775261610746384, 0.5410267114639282, -0.756054162979126, -1.3000285625457764, -1.260013222694397, -0.6347125768661499, 0.0009396830573678017, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.347871333360672, -1.0685997009277344, 0.8977713584899902, -0.7591025233268738, 0.5392096042633057, -0.37811607122421265, 1.249713659286499, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, 0.021599998578920497, -0.021599998578920497, -0.021599998578920497, -0.021599998578920497, 0.021599998578920497, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47252452842049997, 0.8813053420524127, -0.004632937606320622, -0.9460235238075256], [-0.8813111074047449, -0.47253461417915044, -0.0013305516087657545, 350.4006652832031], [-0.0033618456250004832, 0.0034543411008923406, 0.9999883826932953, 15.129375457763672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0793421268463135, 2.325230360031128, -0.7141634225845337, -0.07572832703590393, -0.010352732613682747, 0.5410221219062805, -0.7560716271400452, -1.3000283241271973, -1.260014533996582, -0.6347142457962036, 0.0009398029069416225, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3479083776473999, -1.0685656070709229, 0.8977397084236145, -0.7591168880462646, 0.5392361879348755, -0.3780663311481476, 1.2497488260269165, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4725232071226808, 0.8813060590403705, -0.004631309666506374, -0.9464280605316162], [-0.8813119493417234, -0.4725331522264784, -0.0012915085751005922, 350.4012451171875], [-0.0033266616881899636, 0.0034713607762609238, 0.9999884414213863, 15.115694046020508], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0792462825775146, 2.325230360031128, -0.7136841416358948, -0.07592003792524338, -0.010927884839475155, 0.5410178303718567, -0.7561256289482117, -1.3000261783599854, -1.2600213289260864, -0.6347143650054932, 0.0009396830573678017, -1.5358989238739014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3621135354042053, -1.0715473890304565, 0.9008081555366516, -0.7806383967399597, 0.5421472787857056, -0.36650335788726807, 1.2052688598632812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47238549381251094, 0.8813798896665657, -0.004629830111632399, -1.0012421607971191], [-0.8813858891999913, -0.47239531452815675, -0.0012574303099950927, 350.401611328125], [-0.003295383839683389, 0.0034866750918641663, 0.999988491704856, 15.103500366210938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0791504383087158, 2.325230360031128, -0.713588297367096, -0.07524903118610382, -0.012940916232764721, 0.5410293340682983, -0.7560910582542419, -1.3000259399414062, -1.2600162029266357, -0.6347135305404663, 0.0009398029069416225, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3632565438747406, -1.0838499069213867, 0.8824011087417603, -0.7808576822280884, 0.4891251027584076, -0.3590374290943146, 1.0846751928329468, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244533255651855, 0.8813478164285051, -0.004629710818840334, -0.9773104786872864], [-0.8813537236784647, -0.47245524923278204, -0.0012850021377564674, 350.4012756347656], [-0.003319865007008542, 0.00347331960743121, 0.9999884572070019, 15.113271713256836], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0792462825775146, 2.3253262042999268, -0.7134923934936523, -0.07016852498054504, -0.01754213124513626, 0.5410251617431641, -0.7560954689979553, -1.3000258207321167, -1.2600183486938477, -0.6347137689590454, 0.0009400426060892642, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34465688467025757, -1.1127907037734985, 0.8409581184387207, -0.758379340171814, 0.4563632309436798, -0.3688003718852997, 1.0036237239837646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47241717852743204, 0.8813629246594059, -0.004626496298353777, -0.988465428352356], [-0.8813689963573883, -0.4724268990319034, -0.0012317999308601505, 350.40203857421875], [-0.0032713440892720115, 0.0034957269512840027, 0.999988539034789, 15.09458065032959], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.3254220485687256, -0.713588297367096, -0.06326670199632645, -0.023389507085084915, 0.5410237312316895, -0.7560902237892151, -1.3000260591506958, -1.2600185871124268, -0.634713888168335, 0.0009398029069416225, -1.5358986854553223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.30938833951950073, -1.1530388593673706, 0.7916287779808044, -0.7069329023361206, 0.4254798889160156, -0.3816806674003601, 0.9094263911247253, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4725216501505376, 0.8813069311180852, -0.004624208282035794, -0.9469541311264038], [-0.8813132156569256, -0.4725311234727583, -0.0011632961887045159, 350.4031677246094], [-0.0032103033287309477, 0.0035256932362078635, 0.9999886316552512, 15.070771217346191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803006887435913, 2.325709819793701, -0.7145468592643738, -0.05435184761881828, -0.031154057011008263, 0.541022002696991, -0.756087601184845, -1.300028681755066, -1.2600185871124268, -0.6347148418426514, 0.0009398029069416225, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2733631730079651, -1.19954252243042, 0.7510907053947449, -0.6237919926643372, 0.4145701825618744, -0.3754606246948242, 0.7897909879684448, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47249784473547374, 0.8813197046409004, -0.004622221544736826, -0.9563765525817871], [-0.8813258823284184, -0.47250742073837126, -0.0011943555613094633, 350.4026794433594], [-0.0032366430707144005, 0.00350935305266606, 0.9999886042264604, 15.081612586975098], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.325709819793701, -0.716176450252533, -0.046970732510089874, -0.03709729388356209, 0.5410194993019104, -0.7561007142066956, -1.300025224685669, -1.2600207328796387, -0.6347144842147827, 0.0009398029069416225, -1.5358986854553223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2529274523258209, -1.234820008277893, 0.7313438057899475, -0.5507729053497314, 0.4242899715900421, -0.3478718400001526, 0.7045139670372009, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4724431448544244, 0.8813490240555156, -0.004623059209204859, -0.9782505035400391], [-0.8813552146119223, -0.47245271305612824, -0.0011914706360192393, 350.4026794433594], [-0.0032342783482543136, 0.0035116552072097414, 0.9999886037956991, 15.080500602722168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.325709819793701, -0.718285322189331, -0.0410274975001812, -0.04160264879465103, 0.5410226583480835, -0.7560948729515076, -1.3000246286392212, -1.2600206136703491, -0.6347147226333618, 0.0009398029069416225, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2378743290901184, -1.267237663269043, 0.7168989777565002, -0.48847833275794983, 0.4339679479598999, -0.3383226990699768, 0.6588643789291382, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47241995474441767, 0.8813614553444096, -0.004622920339626571, -0.9874122738838196], [-0.8813676448393849, -0.47242952323040543, -0.0011917258777471064, 350.40264892578125], [-0.0032343453059647084, 0.0035114973267837205, 0.99998860413355, 15.080547332763672], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.3256137371063232, -0.7212569713592529, -0.03661799803376198, -0.043423961848020554, 0.5410211682319641, -0.7560941576957703, -1.3000253438949585, -1.2600212097167969, -0.6347148418426514, 0.0009399227565154433, -1.5358989238739014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23078256845474243, -1.2932010889053345, 0.7064003348350525, -0.4370473027229309, 0.4366615414619446, -0.3427868187427521, 0.6472253203392029, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4724174609135925, 0.8813628037359738, -0.004620694170542254, -0.9883659482002258], [-0.8813690501251286, -0.4724269516866295, -0.0011716661673111474, 350.4029541015625], [-0.003215603439929391, 0.003519021276210052, 0.9999886381273413, 15.073515892028809], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.3248469829559326, -0.7241327166557312, -0.03489254415035248, -0.04227365925908089, 0.5410244464874268, -0.7560880184173584, -1.300025463104248, -1.2600196599960327, -0.6347141265869141, 0.0009399227565154433, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22607751190662384, -1.314469814300537, 0.6973068118095398, -0.3882041573524475, 0.4266115725040436, -0.34390613436698914, 0.6351386308670044, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47242097687367957, 0.8813609273711559, -0.004619124719525181, -0.986948549747467], [-0.8813670508089707, -0.47243059012353283, -0.001207999928643653, 350.40240478515625], [-0.00324689975447314, 0.0035004598250135536, 0.9999886021465434, 15.08625602722168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.324080228805542, -0.7272960543632507, -0.03508426249027252, -0.036713857203722, 0.5410244464874268, -0.7560874819755554, -1.300025463104248, -1.260020136833191, -0.6347142457962036, 0.0009398029069416225, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2200898975133896, -1.333202838897705, 0.6938420534133911, -0.3434823751449585, 0.4175201952457428, -0.34997424483299255, 0.6225839853286743, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.3237924575805664, -0.7298842668533325, -0.03719315305352211, -0.029141025617718697, 0.5410246253013611, -0.7560856938362122, -1.3000255823135376, -1.2600194215774536, -0.6347143650054932, 0.000940162455663085, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21454034745693207, -1.3461616039276123, 0.6916486620903015, -0.32099267840385437, 0.4089367389678955, -0.35402432084083557, 0.6299490928649902, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.3237924575805664, -0.7323765754699707, -0.04141093045473099, -0.018500717356801033, 0.5410261154174805, -0.7560868263244629, -1.300025224685669, -1.2600187063217163, -0.6347141265869141, 0.0009399227565154433, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21380455791950226, -1.3612393140792847, 0.6888077259063721, -0.3028939664363861, 0.3984981179237366, -0.35897594690322876, 0.6410420536994934, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3237924575805664, -0.7341978549957275, -0.045245278626680374, -0.008818994276225567, 0.5410243272781372, -0.7560812830924988, -1.3000260591506958, -1.2600191831588745, -0.6347146034240723, 0.0009402823052369058, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2132154405117035, -1.3718816041946411, 0.6890671849250793, -0.2885264456272125, 0.3921023905277252, -0.35948601365089417, 0.6394438743591309, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.324655294418335, -0.7359233498573303, -0.050900936126708984, 0.0025881831534206867, 0.5410241484642029, -0.7560777068138123, -1.30002760887146, -1.260019063949585, -0.6347150206565857, 0.0009404021548107266, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21269267797470093, -1.3831589221954346, 0.6932764053344727, -0.2796984016895294, 0.391140878200531, -0.35977375507354736, 0.6424942016601562, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.326284885406494, -0.7367860674858093, -0.055693868547677994, 0.011694753542542458, 0.5410255193710327, -0.7560787200927734, -1.3000274896621704, -1.2600170373916626, -0.6347142457962036, 0.0009400426060892642, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2174990475177765, -1.3953040838241577, 0.6949446797370911, -0.28965067863464355, 0.3949287533760071, -0.3669705092906952, 0.6790645122528076, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3273394107818604, -0.7374570965766907, -0.05885720252990723, 0.017829706892371178, 0.5410230755805969, -0.756084144115448, -1.30002760887146, -1.2600177526474, -0.6347143650054932, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22614407539367676, -1.4094182252883911, 0.6930972337722778, -0.3106543719768524, 0.4009554982185364, -0.37737295031547546, 0.7326927185058594, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3289690017700195, -0.7380322217941284, -0.06163710355758667, 0.022430920973420143, 0.5410261154174805, -0.7560823559761047, -1.3000270128250122, -1.2600173950195312, -0.6347135305404663, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21811313927173615, -1.4186553955078125, 0.6945207118988037, -0.30479252338409424, 0.394432008266449, -0.40708842873573303, 0.7583085298538208, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.329831600189209, -0.7387032508850098, -0.06374599784612656, 0.024827387183904648, 0.5410251617431641, -0.7560843229293823, -1.3000270128250122, -1.2600175142288208, -0.6347141265869141, 0.0009400426060892642, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19116482138633728, -1.4150581359863281, 0.7107828259468079, -0.2422606199979782, 0.3819149434566498, -0.41611674427986145, 0.676177442073822, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.330886125564575, -0.7388949394226074, -0.06537558883428574, 0.025977691635489464, 0.5410279631614685, -0.756085216999054, -1.300026535987854, -1.2600164413452148, -0.6347132921218872, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17764316499233246, -1.4097814559936523, 0.7154338955879211, -0.2008855640888214, 0.3540239632129669, -0.4064069986343384, 0.591483473777771, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.331461191177368, -0.7392783761024475, -0.06729276478290558, 0.027319712564349174, 0.5410242080688477, -0.7560886144638062, -1.300026774406433, -1.2600176334381104, -0.6347137689590454, 0.0009399227565154433, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17981494963169098, -1.4063608646392822, 0.7152088284492493, -0.18524675071239471, 0.321434885263443, -0.3890083134174347, 0.5148654580116272, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3320364952087402, -0.7396618127822876, -0.06834720820188522, 0.028949309140443802, 0.5410234928131104, -0.7560902833938599, -1.3000261783599854, -1.260018229484558, -0.6347137689590454, 0.0009405219461768866, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1975880116224289, -1.4080743789672852, 0.7199598550796509, -0.19569233059883118, 0.3174295127391815, -0.35683149099349976, 0.5160768032073975, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.332132339477539, -0.7399494051933289, -0.06949751079082489, 0.031154057011008263, 0.5410239100456238, -0.7560883164405823, -1.3000261783599854, -1.2600181102752686, -0.634713888168335, 0.0009402823052369058, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.21350690722465515, -1.412505865097046, 0.7231134176254272, -0.21698278188705444, 0.314526230096817, -0.3461591899394989, 0.5510789752006531, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3324198722839355, -0.7404286861419678, -0.07026438415050507, 0.0332629457116127, 0.5410229563713074, -0.7560895085334778, -1.300026774406433, -1.2600184679031372, -0.6347132921218872, 0.0009402823052369058, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22509165108203888, -1.4200359582901, 0.7259228229522705, -0.24056941270828247, 0.31761959195137024, -0.3434576988220215, 0.601260781288147, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3328990936279297, -0.7408121228218079, -0.0708395317196846, 0.035180121660232544, 0.541023850440979, -0.7560853362083435, -1.300026535987854, -1.2600178718566895, -0.6347136497497559, 0.0009405219461768866, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22806818783283234, -1.428120732307434, 0.7301924824714661, -0.2611082196235657, 0.32238438725471497, -0.36557960510253906, 0.6460167169570923, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3330907821655273, -0.7410038113594055, -0.07141468673944473, 0.036713857203722, 0.5410244464874268, -0.7560834884643555, -1.3000273704528809, -1.2600178718566895, -0.6347136497497559, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22087326645851135, -1.4330058097839355, 0.7373563051223755, -0.26682254672050476, 0.3303820788860321, -0.3962956666946411, 0.704643189907074, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.333186626434326, -0.7412914037704468, -0.07198983430862427, 0.037384867668151855, 0.541023313999176, -0.7560842037200928, -1.3000271320343018, -1.2600185871124268, -0.6347134113311768, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2057817280292511, -1.430695652961731, 0.7482221126556396, -0.24857787787914276, 0.3314686715602875, -0.4192813038825989, 0.74022376537323, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.333378314971924, -0.7416748404502869, -0.07333185523748398, 0.0375765860080719, 0.5410236120223999, -0.7560846209526062, -1.3000264167785645, -1.2600178718566895, -0.6347135305404663, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1856047809123993, -1.4205302000045776, 0.7661398649215698, -0.23113255202770233, 0.3425387442111969, -0.4461604654788971, 0.8022210001945496, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.333378314971924, -0.742441713809967, -0.07476973533630371, 0.03680971637368202, 0.5410227179527283, -0.7560839056968689, -1.3000272512435913, -1.2600178718566895, -0.6347137689590454, 0.0009402823052369058, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.16260994970798492, -1.4012423753738403, 0.7840917706489563, -0.22179313004016876, 0.34445083141326904, -0.49892136454582214, 0.9020279049873352, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3337619304656982, -0.7428251504898071, -0.07544074952602386, 0.03316709026694298, 0.5410236120223999, -0.7560834884643555, -1.3000277280807495, -1.2600177526474, -0.6347143650054932, 0.0009402823052369058, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15676304697990417, -1.385115146636963, 0.8008930683135986, -0.22927355766296387, 0.35816916823387146, -0.5434197783470154, 1.0077905654907227, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.335007905960083, -0.7428251504898071, -0.07409872859716415, 0.024635670706629753, 0.5410264730453491, -0.7560809254646301, -1.3000273704528809, -1.2600167989730835, -0.6347136497497559, 0.0009402823052369058, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1589210033416748, -1.3687342405319214, 0.8270036578178406, -0.24475502967834473, 0.39538151025772095, -0.5809392333030701, 1.1217665672302246, 0.39899999204572745, 0.39899999204572745, 0.39899999204572745, 0.39899999204572745, -0.39899999204572745, -0.39899999204572745, -0.39899999204572745, 0.39899999204572745, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3365416526794434, -0.7425375580787659, -0.06901822239160538, 0.011407177895307541, 0.5410254001617432, -0.7560896277427673, -1.300027847290039, -1.2600172758102417, -0.6347140073776245, 0.0009402823052369058, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.16221736371517181, -1.3532419204711914, 0.8535018563270569, -0.2788037657737732, 0.4391418993473053, -0.5966743230819702, 1.2284022569656372, 0.5567999977331894, 0.5567999977331894, 0.5567999977331894, 0.5567999977331894, -0.5567999977331894, -0.5567999977331894, -0.5567999977331894, 0.5567999977331894, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3377878665924072, -0.7423458695411682, -0.061828821897506714, -0.0064225285314023495, 0.5410228967666626, -0.7560854554176331, -1.300028920173645, -1.2600181102752686, -0.6347148418426514, 0.0009406417957507074, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.17283010482788086, -1.3304743766784668, 0.8740419745445251, -0.35383063554763794, 0.4696691930294037, -0.5354006290435791, 1.2887953519821167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.33912992477417, -0.7417706847190857, -0.05233881622552872, -0.026936277747154236, 0.5410228371620178, -0.7560909986495972, -1.3000274896621704, -1.260019063949585, -0.6347158551216125, 0.000940162455663085, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.18523532152175903, -1.295473337173462, 0.9108979105949402, -0.43775424361228943, 0.5185909867286682, -0.46589094400405884, 1.3541573286056519, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.339609146118164, -0.741195559501648, -0.04256123676896095, -0.04946305602788925, 0.5410227179527283, -0.7560908794403076, -1.30002760887146, -1.2600187063217163, -0.6347142457962036, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.20457586646080017, -1.2556695938110352, 0.9604657292366028, -0.5284126400947571, 0.5758638381958008, -0.3866051137447357, 1.4337489604949951, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3398008346557617, -0.7408121228218079, -0.03182506933808327, -0.07371529191732407, 0.5410211682319641, -0.7560871839523315, -1.3000274896621704, -1.2600197792053223, -0.6347144842147827, 0.0009404021548107266, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2375808209180832, -1.212841510772705, 1.01699697971344, -0.6293043494224548, 0.6158012747764587, -0.31148186326026917, 1.5088677406311035, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803006887435913, 2.3399927616119385, -0.7402369976043701, -0.024348093196749687, -0.09490004926919937, 0.5410239100456238, -0.7560875415802002, -1.3000272512435913, -1.2600188255310059, -0.6347140073776245, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27319175004959106, -1.1825828552246094, 1.047676682472229, -0.7068282961845398, 0.6237302422523499, -0.2823677659034729, 1.5374579429626465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.340759515762329, -0.7394701242446899, -0.01581667549908161, -0.12001501768827438, 0.5410243272781372, -0.7560844421386719, -1.3000270128250122, -1.2600172758102417, -0.6347137689590454, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3197648227214813, -1.14851713180542, 1.05312180519104, -0.768193244934082, 0.6330879926681519, -0.28398633003234863, 1.5360914468765259, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0795338153839111, 2.3415262699127197, -0.7385115027427673, -0.007668691221624613, -0.1429252326488495, 0.5410264730453491, -0.7560967206954956, -1.3000248670578003, -1.2600176334381104, -0.6347118616104126, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3549055755138397, -1.117554783821106, 1.0463143587112427, -0.8008447289466858, 0.6420193910598755, -0.28419438004493713, 1.5358554124832153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07962965965271, 2.3415262699127197, -0.7380322217941284, -0.0017254555132240057, -0.16257624328136444, 0.5410248637199402, -0.756072461605072, -1.3000277280807495, -1.2600154876708984, -0.6347125768661499, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3710385859012604, -1.0975635051727295, 1.0444917678833008, -0.8159217238426208, 0.6557350754737854, -0.2841089367866516, 1.5358664989471436, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3415262699127197, -0.7377446293830872, 0.0034509110264480114, -0.1783929318189621, 0.5410218834877014, -0.756101131439209, -1.3000248670578003, -1.26002037525177, -0.6347136497497559, 0.000940162455663085, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.37086021900177, -1.0968128442764282, 1.0454678535461426, -0.8132054209709167, 0.6554744243621826, -0.28411829471588135, 1.53587806224823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3415262699127197, -0.7373611927032471, 0.005368083715438843, -0.18567818403244019, 0.5410251617431641, -0.7560680508613586, -1.300026297569275, -1.2600183486938477, -0.6347132921218872, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3705523908138275, -1.0972275733947754, 1.0454628467559814, -0.8131953477859497, 0.6551604270935059, -0.2841290831565857, 1.5358864068984985, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0800131559371948, 2.3416223526000977, -0.7372653484344482, 0.006614245939999819, -0.1887456625699997, 0.5410239696502686, -0.7560724020004272, -1.3000264167785645, -1.2600184679031372, -0.6347135305404663, 0.0009405219461768866, -1.5358999967575073, 0.3780000049989302, -0.3780000049989302, 0.3780000049989302, 0.3780000049989302, -0.3780000049989302, -0.3780000049989302, 0.3780000049989302, 0.3780000049989302, -0.37055763602256775, -1.097183108329773, 1.0454435348510742, -0.8132460117340088, 0.6551553010940552, -0.28413626551628113, 1.5358942747116089, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803006887435913, 2.3416223526000977, -0.7372653484344482, 0.0069976807571947575, -0.19066283106803894, 0.5410243272781372, -0.756077229976654, -1.300026535987854, -1.2600177526474, -0.6347131729125977, 0.000940162455663085, -1.5358999967575073, 0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.3705679178237915, -1.0971647500991821, 1.0454318523406982, -0.8132612705230713, 0.6551560163497925, -0.28414273262023926, 1.5358995199203491, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47244385636425945, 0.8813486745090037, -0.0046169822275212305, -0.9777452945709229], [-0.8813548314574535, -0.47245341823488696, -0.0011952676580366628, 350.4026184082031], [-0.0032347566014162225, 0.0035045027312287148, 0.9999886273404995, 15.081838607788086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0809717178344727, 2.341430425643921, -0.7374570965766907, 0.007285256404429674, -0.19142970442771912, 0.5410351157188416, -0.756078839302063, -1.3000274896621704, -1.2600189447402954, -0.6347150206565857, 0.0009404021548107266, -1.5359015464782715, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.37062129378318787, -1.0971386432647705, 1.0454217195510864, -0.8132625818252563, 0.6551580429077148, -0.28414610028266907, 1.5359116792678833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47259824281452034, 0.8812659461579334, -0.004607931313497153, -0.9188465476036072], [-0.8812721338456029, -0.4726077068711998, -0.0011753778812799297, 350.403076171875], [-0.0032135643521311492, 0.003505359939923659, 0.9999886926639953, 15.07516098022461], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0810675621032715, 2.3416223526000977, -0.7373611927032471, 0.007285256404429674, -0.19190900027751923, 0.5410333871841431, -0.7560811042785645, -1.3000270128250122, -1.2600171566009521, -0.6347136497497559, 0.000940162455663085, -1.5359010696411133, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.37061411142349243, -1.0971473455429077, 1.045421838760376, -0.8132612705230713, 0.6551604270935059, -0.2841477692127228, 1.535912275314331, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47203939346286283, 0.8815654576787144, -0.0045994398497644475, -1.154720664024353], [-0.8815713873080699, -0.47204907827058595, -0.0012477113509345944, 350.4013671875], [-0.0032711005697798924, 0.00346576565988497, 0.9999886441202486, 15.099492073059082], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.3421974182128906, -0.7370736598968506, 0.007285256404429674, -0.19210070371627808, 0.541023850440979, -0.7560919523239136, -1.3000279664993286, -1.2600144147872925, -0.6347119808197021, 0.0009405219461768866, -1.53589928150177, 0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.37055137753486633, -1.0971794128417969, 1.0454307794570923, -0.8132691383361816, 0.6551688313484192, -0.2841487228870392, 1.5359017848968506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47170306235046877, 0.8817454466417614, -0.004603074593194987, -1.3117600679397583], [-0.881750803940734, -0.4717133594381042, -0.0014234737396037298, 350.39825439453125], [-0.0034264732684099004, 0.003387307801002293, 0.9999883926460358, 15.160459518432617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.342101573944092, -0.7371695041656494, 0.007381115108728409, -0.1921965628862381, 0.5410135984420776, -0.756089985370636, -1.300028920173645, -1.2600165605545044, -0.6347150206565857, 0.0009404021548107266, -1.5358995199203491, 0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.3705609142780304, -1.0971572399139404, 1.0454329252243042, -0.8132691383361816, 0.6551734805107117, -0.28414955735206604, 1.535900592803955, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471665215347832, 0.88176574964189, -0.004592100756631834, -1.3450863361358643], [-0.8817708806273782, -0.47167565983116333, -0.00147851292009983, 350.3973693847656], [-0.003469684207742551, 0.0033518176132514635, 0.9999883632373859, 15.17969036102295], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.3421974182128906, -0.7371695041656494, 0.007381115108728409, -0.1921965628862381, 0.5410250425338745, -0.7560893297195435, -1.3000280857086182, -1.2600153684616089, -0.6347129344940186, 0.0009406417957507074, -1.5358995199203491, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3705802857875824, -1.0971648693084717, 1.0454319715499878, -0.8132665157318115, 0.6551737189292908, -0.28414931893348694, 1.5358998775482178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47006749146534466, 0.882618559534681, -0.004586047579683096, -1.9956541061401367], [-0.8826233698447923, -0.470078209478517, -0.0015697061172885766, 350.39306640625], [-0.0035412527869747358, 0.0033098849521568004, 0.9999882520261437, 15.20873737335205], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.3421974182128906, -0.7370736598968506, 0.007381115108728409, -0.19229242205619812, 0.5410237312316895, -0.7560884356498718, -1.3000277280807495, -1.2600165605545044, -0.6347137689590454, 0.0009405219461768866, -1.5358996391296387, 0.1643999812367198, -0.1643999812367198, 0.1643999812367198, 0.1643999812367198, -0.1643999812367198, -0.1643999812367198, 0.1643999812367198, 0.1643999812367198, -0.3705844283103943, -1.0971581935882568, 1.045432448387146, -0.8132643699645996, 0.6551751494407654, -0.2841487228870392, 1.5359008312225342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47085620431401454, 0.8821980516982229, -0.004586113698800497, -1.6950490474700928], [-0.8822028757151716, -0.47086690530495656, -0.0015631917394648162, 350.3947448730469], [-0.003538493871717475, 0.003309844164379116, 0.9999882619274725, 15.207894325256348], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3421974182128906, -0.7371695041656494, 0.007381115108728409, -0.19229242205619812, 0.5410231947898865, -0.7560870051383972, -1.3000282049179077, -1.260016918182373, -0.6347135305404663, 0.0009405219461768866, -1.5358995199203491, 0.23339999481871887, -0.23339999481871887, 0.23339999481871887, 0.23339999481871887, -0.23339999481871887, -0.23339999481871887, 0.23339999481871887, 0.23339999481871887, -0.3705894351005554, -1.0971599817276, 1.045432209968567, -0.8132631778717041, 0.6551755666732788, -0.2841494381427765, 1.5359004735946655, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47070255174799214, 0.8822800521603229, -0.0045844670253523, -1.7655619382858276], [-0.8822848371362589, -0.4707132791762969, -0.0015732026387220762, 350.3943176269531], [-0.0035459748129296567, 0.0033042952463563477, 0.9999882537787886, 15.211124420166016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3421974182128906, -0.7371695041656494, 0.007381115108728409, -0.19229242205619812, 0.5410243272781372, -0.756086528301239, -1.3000284433364868, -1.260016918182373, -0.634713888168335, 0.0009404021548107266, -1.5358998775482178, 0.2532000028170072, -0.2532000028170072, 0.2532000028170072, 0.2532000028170072, -0.2532000028170072, -0.2532000028170072, 0.2532000028170072, 0.2532000028170072, -0.37059077620506287, -1.0971583127975464, 1.0454320907592773, -0.8132607936859131, 0.6551758050918579, -0.28414931893348694, 1.535900592803955, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47074604490741123, 0.8822568499800673, -0.004583870338310467, -1.7563222646713257], [-0.8822617956383657, -0.47075661703737404, -0.0015269160073280185, 350.3951110839844], [-0.003505019400210358, 0.0033253840042957554, 0.9999883282619993, 15.194985389709473], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3421974182128906, -0.7371695041656494, 0.007381115108728409, -0.19229242205619812, 0.5410242676734924, -0.7560858726501465, -1.30002760887146, -1.2600170373916626, -0.6347140073776245, 0.0009406417957507074, -1.5358994007110596, 0.2532000028170072, -0.2532000028170072, 0.2532000028170072, 0.2532000028170072, -0.2532000028170072, -0.2532000028170072, 0.2532000028170072, 0.2532000028170072, -0.37059083580970764, -1.0971559286117554, 1.045432209968567, -0.8132582306861877, 0.6551756858825684, -0.2841491997241974, 1.5359008312225342, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4712882415661601, 0.8819673265107343, -0.004585665598839819, -1.546874761581421], [-0.8819724047943248, -0.4712986958732688, -0.0014887744866001293, 350.3966369628906], [-0.0034742686701682256, 0.0033427886059130244, 0.9999883775432311, 15.18260669708252], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.342101573944092, -0.7371695041656494, 0.007381115108728409, -0.19238828122615814, 0.5410257577896118, -0.7560858726501465, -1.3000273704528809, -1.260016918182373, -0.634713888168335, 0.0009404021548107266, -1.5358998775482178, 0.25980000548310334, -0.25980000548310334, 0.25980000548310334, 0.25980000548310334, -0.25980000548310334, -0.25980000548310334, 0.25980000548310334, 0.25980000548310334, -0.3756713569164276, -1.096860408782959, 1.045480728149414, -0.8184080123901367, 0.6498323678970337, -0.2828800678253174, 1.5285518169403076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711876807891786, 0.8820210640875071, -0.004583882465425846, -1.5910136699676514], [-0.8820262562319395, -0.47119801340734435, -0.0014544684394130348, 350.3970031738281], [-0.003442788112014199, 0.0033577770792387086, 0.9999884362046902, 15.170405387878418], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.080780029296875, 2.342101573944092, -0.7370736598968506, 0.006901822052896023, -0.19210070371627808, 0.5410295128822327, -0.7560963034629822, -1.3000245094299316, -1.2600175142288208, -0.634712815284729, 0.0009406417957507074, -1.5358999967575073, 0.47820000438899785, -0.47820000438899785, 0.47820000438899785, 0.47820000438899785, -0.47820000438899785, -0.47820000438899785, 0.47820000438899785, 0.47820000438899785, -0.3988220691680908, -1.093581199645996, 1.042749285697937, -0.8501667976379395, 0.6005497574806213, -0.2723402976989746, 1.445439100265503, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711360187488556, 0.8820486551344743, -0.004584955064517538, -1.6145408153533936], [-0.8820541321616804, -0.47114607642258766, -0.0013720816689322972, 350.3981628417969], [-0.0033704263800377076, 0.0033977414655342706, 0.9999885477238978, 15.141441345214844], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803006887435913, 2.342101573944092, -0.7368819117546082, 0.0034509110264480114, -0.18970423936843872, 0.5410230159759521, -0.7560867071151733, -1.3000261783599854, -1.260019302368164, -0.6347141265869141, 0.0009406417957507074, -1.5358995199203491, 0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.4144434630870819, -1.0913810729980469, 1.0347281694412231, -0.8585236072540283, 0.5492615699768066, -0.2636713981628418, 1.3900865316390991, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710349900538735, 0.8821026292948692, -0.004581433839490729, -1.6558780670166016], [-0.8821080699924252, -0.47104506092065, -0.001379650861444619, 350.3978576660156], [-0.0033750554344160674, 0.0033914559321527693, 0.9999885534482257, 15.143915176391602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07962965965271, 2.342101573944092, -0.7359233498573303, -0.0015337382210418582, -0.18519888818264008, 0.5410249829292297, -0.7560877799987793, -1.300026297569275, -1.2600188255310059, -0.6347140073776245, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4190737009048462, -1.0953634977340698, 1.0163577795028687, -0.8526379466056824, 0.5094633102416992, -0.26752540469169617, 1.3613499402999878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710574194038464, 0.8820906552819199, -0.004580773832253339, -1.6467828750610352], [-0.8820961426430836, -0.4710674386466107, -0.001365057183655881, 350.39813232421875], [-0.003361957581807307, 0.003397662613479424, 0.9999885764997434, 15.138843536376953], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.078766942024231, 2.342101573944092, -0.7349647283554077, -0.009394146502017975, -0.1762840300798416, 0.5410255193710327, -0.7560874223709106, -1.3000257015228271, -1.2600185871124268, -0.634713888168335, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.41671785712242126, -1.1070873737335205, 0.9826677441596985, -0.8365016579627991, 0.46730855107307434, -0.28071656823158264, 1.324334740638733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710092325986499, 0.8821163942413037, -0.004579281335697498, -1.665408968925476], [-0.8821218100136031, -0.47101931402828545, -0.0013849587171430176, 350.3977355957031], [-0.0033786247432220267, 0.003387155597864643, 0.9999885559704172, 15.145731925964355], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.078191876411438, 2.342101573944092, -0.7340061664581299, -0.01754213124513626, -0.16535614430904388, 0.5410250425338745, -0.7560717463493347, -1.3000270128250122, -1.2600175142288208, -0.6347146034240723, 0.0009402823052369058, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4124486744403839, -1.122279167175293, 0.9493871927261353, -0.814582884311676, 0.44613614678382874, -0.29375898838043213, 1.2929115295410156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103577698802157, 0.8821022195640909, -0.004579414525425159, -1.65475594997406], [-0.8821075422550159, -0.4710459519788006, -0.0014124521942428694, 350.3973693847656], [-0.0034030418902042466, 0.0033742205752160808, 0.9999885169047709, 15.155413627624512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0776166915893555, 2.342101573944092, -0.7325682640075684, -0.02540253847837448, -0.1503063440322876, 0.5410254001617432, -0.7560786008834839, -1.3000266551971436, -1.2600178718566895, -0.6347137689590454, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.40156951546669006, -1.143582820892334, 0.9097428917884827, -0.7779136300086975, 0.42567330598831177, -0.30340641736984253, 1.2456048727035522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106013528018553, 0.8820892074819591, -0.004580283142252628, -1.6451679468154907], [-0.8820944973630669, -0.471070348462842, -0.0014228565969786366, 350.3972473144531], [-0.0034127220238687876, 0.0033699915350887994, 0.9999884981765746, 15.159102439880371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0775208473205566, 2.342101573944092, -0.7312262654304504, -0.03374224156141281, -0.1347772479057312, 0.5410271286964417, -0.7560809254646301, -1.3000266551971436, -1.2600165605545044, -0.6347134113311768, 0.0009406417957507074, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.38455939292907715, -1.1673160791397095, 0.8708552718162537, -0.7371070384979248, 0.4066743552684784, -0.30886462330818176, 1.2000296115875244, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106271502964514, 0.8820878310295459, -0.004580050053286418, -1.6441246271133423], [-0.8820930900948475, -0.4710729570043526, -0.0014316375584308505, 350.3971252441406], [-0.0034203677905662797, 0.003365639429079639, 0.9999884867114275, 15.16218376159668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0776166915893555, 2.3421974182128906, -0.7299801111221313, -0.0401647686958313, -0.11905642598867416, 0.54102623462677, -0.7560774683952332, -1.3000271320343018, -1.2600163221359253, -0.6347134113311768, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3640829920768738, -1.191831111907959, 0.8381698727607727, -0.6922410726547241, 0.38941505551338196, -0.31185266375541687, 1.1425666809082031, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710637241673581, 0.882087284843886, -0.004581450678622834, -1.6436794996261597], [-0.8820925844545251, -0.4710739355908309, -0.001421146474735391, 350.39727783203125], [-0.0034117772371589413, 0.003371813118681188, 0.9999884952600089, 15.158507347106934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0780000686645508, 2.3421974182128906, -0.7288298010826111, -0.04399911314249039, -0.10554035753011703, 0.5410250425338745, -0.7560811042785645, -1.30002760887146, -1.2600171566009521, -0.6347137689590454, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3447665870189667, -1.2151131629943848, 0.8094472885131836, -0.6444308161735535, 0.36793091893196106, -0.31208252906799316, 1.0891722440719604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471139807566725, 0.8820466502555545, -0.00458132065508131, -1.6135129928588867], [-0.8820518889305488, -0.4711500777066213, -0.001438579540835867, 350.39715576171875], [-0.0034273838477609595, 0.0033631904495721714, 0.9999884709285203, 15.164754867553711], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0789586305618286, 2.3421974182128906, -0.7276794910430908, -0.04668315500020981, -0.09518762677907944, 0.5410215854644775, -0.7560829520225525, -1.3000273704528809, -1.2600177526474, -0.6347142457962036, 0.0009405219461768866, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3318529725074768, -1.2342978715896606, 0.7886326909065247, -0.5947664380073547, 0.35254785418510437, -0.30716657638549805, 1.0564472675323486, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710869389843031, 0.882074884625865, -0.00458190251600858, -1.6344974040985107], [-0.8820801361803166, -0.47109720068276784, -0.0014355713057326576, 350.3970947265625], [-0.0034248028429693096, 0.0033653263031744878, 0.9999884725857393, 15.163603782653809], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.3421974182128906, -0.7270084619522095, -0.048696186393499374, -0.08627277612686157, 0.5410235524177551, -0.7560858726501465, -1.3000270128250122, -1.2600173950195312, -0.6347140073776245, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3203364908695221, -1.2474799156188965, 0.7796859741210938, -0.550166666507721, 0.34567946195602417, -0.30601489543914795, 1.0441739559173584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711140806922225, 0.8820603845058198, -0.0045826912362663605, -1.623719573020935], [-0.8820655222228286, -0.47112445865365693, -0.001469341371833532, 350.3966369628906], [-0.003455065743272642, 0.003350006528888864, 0.999988419921434, 15.175484657287598], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803006887435913, 2.3421974182128906, -0.7260499000549316, -0.04946305602788925, -0.07965853065252304, 0.5410237312316895, -0.7560897469520569, -1.300026774406433, -1.2600187063217163, -0.6347137689590454, 0.0009404021548107266, -1.5359009504318237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3149816393852234, -1.2564043998718262, 0.7796816825866699, -0.5183238387107849, 0.3519817292690277, -0.3128434121608734, 1.0471241474151611, 0.49199999924544446, 0.49199999924544446, 0.49199999924544446, 0.49199999924544446, -0.49199999924544446, -0.49199999924544446, -0.49199999924544446, 0.49199999924544446, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103457378276925, 0.8821028450131453, -0.0045826980044375585, -1.6553138494491577], [-0.8821080808284028, -0.4710448565728207, -0.0014411223136425557, 350.3969421386719], [-0.003429874417092866, 0.0033636165069351066, 0.9999884609561639, 15.165452003479004], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.3421974182128906, -0.7253788709640503, -0.05013406649231911, -0.07409872859716415, 0.5410236120223999, -0.756088376045227, -1.3000274896621704, -1.2600185871124268, -0.6347137689590454, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3067988455295563, -1.2635507583618164, 0.7829198241233826, -0.4920695126056671, 0.355065256357193, -0.3237117826938629, 1.0460238456726074, 0.4794000030873896, 0.4794000030873896, 0.4794000030873896, 0.4794000030873896, -0.4794000030873896, -0.4794000030873896, -0.4794000030873896, 0.4794000030873896, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711135801907531, 0.8820606601467851, -0.004581089528564069, -1.6239324808120728], [-0.8820657305999001, -0.47112401241445623, -0.0014872214925598089, 350.3963623046875], [-0.003470080851438746, 0.0033401718400599303, 0.9999884008282113, 15.18175220489502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.342101573944092, -0.7247079014778137, -0.05013406649231911, -0.07064781337976456, 0.5410228967666626, -0.7560885548591614, -1.3000272512435913, -1.2600184679031372, -0.634713888168335, 0.0009405219461768866, -1.5358988046646118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3010430335998535, -1.2681937217712402, 0.7832697629928589, -0.47108837962150574, 0.34597498178482056, -0.3254370093345642, 1.0370174646377563, 0.47820000438899785, 0.47820000438899785, 0.47820000438899785, 0.47820000438899785, -0.47820000438899785, -0.47820000438899785, -0.47820000438899785, 0.47820000438899785, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710603855025668, 0.882089065332794, -0.00458192432183933, -1.6450505256652832], [-0.8820942422603518, -0.47107072050969756, -0.0014574119561744751, 350.396728515625], [-0.003443977541836542, 0.003355160024855542, 0.999988440893143, 15.171208381652832], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.3421974182128906, -0.7234616875648499, -0.05013406649231911, -0.06729276478290558, 0.5410254597663879, -0.7560902237892151, -1.300026297569275, -1.2600177526474, -0.6347136497497559, 0.0009407616453245282, -1.5358989238739014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2955045700073242, -1.2736971378326416, 0.7830921411514282, -0.4555165469646454, 0.337486207485199, -0.3239802122116089, 1.0304889678955078, 0.39899999204572745, 0.39899999204572745, 0.39899999204572745, 0.39899999204572745, -0.39899999204572745, -0.39899999204572745, -0.39899999204572745, 0.39899999204572745, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103621239660787, 0.8821019682407086, -0.004583037958120888, -1.6546356678009033], [-0.8821071104363799, -0.4710465887736588, -0.0014686464106928026, 350.3965148925781], [-0.003454320285914812, 0.003350944727615653, 0.9999884193533417, 15.17509937286377], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.3421974182128906, -0.7224072813987732, -0.05013406649231911, -0.06441700458526611, 0.5410252213478088, -0.7560864090919495, -1.3000266551971436, -1.2600176334381104, -0.6347136497497559, 0.0009407616453245282, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2919435501098633, -1.2788113355636597, 0.7853534817695618, -0.44473591446876526, 0.3372006118297577, -0.32363733649253845, 1.0331541299819946, 0.32640000201843594, 0.32640000201843594, 0.32640000201843594, 0.32640000201843594, -0.32640000201843594, -0.32640000201843594, -0.32640000201843594, 0.32640000201843594, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47111281709899466, 0.8820610595662425, -0.004582658827237782, -1.6242334842681885], [-0.8820661330462771, -0.47112325690636414, -0.0014878624692281999, 350.3963623046875], [-0.003471382698075234, 0.0033412570714780538, 0.9999883926843081, 15.18197250366211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.342101573944092, -0.7212569713592529, -0.04888790473341942, -0.061828821897506714, 0.541023850440979, -0.75608891248703, -1.300026535987854, -1.2600189447402954, -0.6347137689590454, 0.0009406417957507074, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2899051308631897, -1.283561110496521, 0.7864764928817749, -0.4323287606239319, 0.3313315808773041, -0.32598504424095154, 1.0358058214187622, 0.26160001335563243, 0.26160001335563243, 0.26160001335563243, 0.26160001335563243, -0.26160001335563243, -0.26160001335563243, -0.26160001335563243, 0.26160001335563243, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710853721389563, 0.8820757170703435, -0.004582740614547588, -1.6351481676101685], [-0.8820807944036317, -0.4710958089384427, -0.0014869246423208301, 350.3963317871094], [-0.0034704900170700625, 0.003341879033355632, 0.9999883937044308, 15.181593894958496], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.3421974182128906, -0.7202983498573303, -0.04764174297451973, -0.05981579050421715, 0.5410239696502686, -0.7560892701148987, -1.300026297569275, -1.2600187063217163, -0.6347131729125977, 0.0009405219461768866, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28534024953842163, -1.2864071130752563, 0.7867549061775208, -0.4229036569595337, 0.3189886808395386, -0.3294287323951721, 1.0379650592803955, 0.19559998669467132, 0.19559998669467132, 0.19559998669467132, 0.19559998669467132, -0.19559998669467132, -0.19559998669467132, -0.19559998669467132, 0.19559998669467132, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710344945883733, 0.8821028841163808, -0.0045833111871822554, -1.655350685119629], [-0.8821078344592694, -0.4710450568882989, -0.0015240625568650255, 350.3956604003906], [-0.003503326055887467, 0.0033250886697843017, 0.9999883351779081, 15.194513320922852], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.342101573944092, -0.7195314764976501, -0.04677901417016983, -0.05866548791527748, 0.5410237312316895, -0.7560846209526062, -1.3000266551971436, -1.2600184679031372, -0.6347140073776245, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.28065305948257446, -1.2879022359848022, 0.7916527390480042, -0.41778698563575745, 0.3170757591724396, -0.3404732644557953, 1.0422720909118652, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.342101573944092, -0.7186687588691711, -0.04514941945672035, -0.058377910405397415, 0.541023850440979, -0.7560864686965942, -1.3000261783599854, -1.2600184679031372, -0.6347142457962036, 0.000940881494898349, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2715490460395813, -1.2887935638427734, 0.8042966723442078, -0.41758155822753906, 0.3309532403945923, -0.35304003953933716, 1.0592857599258423, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.342101573944092, -0.717901885509491, -0.04409497231245041, -0.05856962874531746, 0.5410247445106506, -0.7560860514640808, -1.300026535987854, -1.2600185871124268, -0.634713888168335, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2617725729942322, -1.2869689464569092, 0.8228498101234436, -0.4224468171596527, 0.3589838743209839, -0.3695993721485138, 1.091802954673767, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3417181968688965, -0.717039167881012, -0.043423961848020554, -0.060103368014097214, 0.541023850440979, -0.7560834884643555, -1.30002760887146, -1.2600178718566895, -0.6347144842147827, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24808254837989807, -1.2790536880493164, 0.8543819785118103, -0.4346248209476471, 0.41029492020606995, -0.3830007314682007, 1.1664280891418457, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3415262699127197, -0.716176450252533, -0.043136388063430786, -0.06202054023742676, 0.5410230159759521, -0.7560858130455017, -1.3000272512435913, -1.2600189447402954, -0.6347142457962036, 0.0009406417957507074, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24250029027462006, -1.2663207054138184, 0.8993667960166931, -0.4726593792438507, 0.49673664569854736, -0.402601420879364, 1.2988226413726807, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.341334581375122, -0.7155054211616516, -0.043040528893470764, -0.06489630043506622, 0.5410229563713074, -0.7560791969299316, -1.3000270128250122, -1.2600197792053223, -0.6347144842147827, 0.0009405219461768866, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2456149458885193, -1.2484670877456665, 0.9449158906936646, -0.5283740758895874, 0.5766056180000305, -0.38766953349113464, 1.4333521127700806, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.340855360031128, -0.7146427035331726, -0.04284881055355072, -0.06949751079082489, 0.5410231351852417, -0.7560786604881287, -1.3000284433364868, -1.260018229484558, -0.6347141265869141, 0.0009407616453245282, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27315962314605713, -1.2278656959533691, 0.9940510988235474, -0.6221527457237244, 0.65618497133255, -0.31707024574279785, 1.5042498111724854, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.340280294418335, -0.7138758301734924, -0.04160264879465103, -0.07620761543512344, 0.5410239100456238, -0.7560959458351135, -1.300025463104248, -1.2600189447402954, -0.6347132921218872, 0.0009405219461768866, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3146538734436035, -1.2075474262237549, 1.0299674272537231, -0.726450502872467, 0.7068270444869995, -0.2795092761516571, 1.5375792980194092, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.339609146118164, -0.7133965492248535, -0.0393020398914814, -0.0851224735379219, 0.5410236120223999, -0.7560835480690002, -1.30002760887146, -1.2600173950195312, -0.6347140073776245, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36015093326568604, -1.186557412147522, 1.0375683307647705, -0.8263419270515442, 0.7200794816017151, -0.25407132506370544, 1.5362155437469482, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.339034080505371, -0.7129172682762146, -0.03546769544482231, -0.09700894355773926, 0.5410248041152954, -0.7560853362083435, -1.3000270128250122, -1.2600176334381104, -0.6347134113311768, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4049633741378784, -1.1605416536331177, 1.053905963897705, -0.8903735280036926, 0.7274655699729919, -0.22575990855693817, 1.535854697227478, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.338459014892578, -0.7127255201339722, -0.03192092478275299, -0.10736167430877686, 0.5410229563713074, -0.7560887336730957, -1.3000270128250122, -1.2600183486938477, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.43047335743904114, -1.1407026052474976, 1.0700026750564575, -0.9155222773551941, 0.7165893912315369, -0.21070076525211334, 1.535861611366272, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3380753993988037, -0.7124379873275757, -0.028565874323248863, -0.11867299675941467, 0.541023850440979, -0.7560871243476868, -1.3000270128250122, -1.2600177526474, -0.6347142457962036, 0.000940881494898349, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4529666006565094, -1.1238064765930176, 1.0836524963378906, -0.9415169954299927, 0.7099941372871399, -0.19538001716136932, 1.535876750946045, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.337404489517212, -0.7122462391853333, -0.025019103661179543, -0.1299843192100525, 0.5410248637199402, -0.7560883164405823, -1.300026535987854, -1.2600178718566895, -0.6347136497497559, 0.0009404021548107266, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4689471125602722, -1.1091941595077515, 1.0980238914489746, -0.9581489562988281, 0.7003996968269348, -0.1819235235452652, 1.5358895063400269, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3364458084106445, -0.7123420834541321, -0.02271849662065506, -0.13726957142353058, 0.541023313999176, -0.7560840249061584, -1.3000272512435913, -1.2600185871124268, -0.6347151398658752, 0.0009405219461768866, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4771161675453186, -1.100562334060669, 1.1074998378753662, -0.9643886685371399, 0.6900732517242432, -0.18136973679065704, 1.5358951091766357, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, 0.12900000980922155, -0.12900000980922155, -0.12900000980922155, -0.12900000980922155, 0.12900000980922155, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.336062431335449, -0.7122462391853333, -0.02060960792005062, -0.14350038766860962, 0.5410244464874268, -0.7560890913009644, -1.3000260591506958, -1.260019302368164, -0.6347148418426514, 0.0009404021548107266, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48171794414520264, -1.097402811050415, 1.1094355583190918, -0.9693294167518616, 0.6856257915496826, -0.1827683001756668, 1.5359073877334595, 0.37140000233283404, 0.37140000233283404, 0.37140000233283404, 0.37140000233283404, -0.37140000233283404, -0.37140000233283404, -0.37140000233283404, 0.37140000233283404, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.335583209991455, -0.7122462391853333, -0.019459303468465805, -0.14714300632476807, 0.5410239100456238, -0.7560854554176331, -1.300026535987854, -1.260018229484558, -0.6347141265869141, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48149630427360535, -1.0975767374038696, 1.1092979907989502, -0.9691470265388489, 0.6857249140739441, -0.1827913075685501, 1.535907506942749, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3354873657226562, -0.7123420834541321, -0.01888415217399597, -0.14896433055400848, 0.5410243272781372, -0.7560855746269226, -1.300026535987854, -1.2600178718566895, -0.6347140073776245, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4814104735851288, -1.0976225137710571, 1.1092557907104492, -0.9690548777580261, 0.6858662962913513, -0.1827746480703354, 1.535906195640564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3353915214538574, -0.7123420834541321, -0.018596576526761055, -0.14963532984256744, 0.5410243272781372, -0.756085216999054, -1.300026774406433, -1.2600178718566895, -0.6347142457962036, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4814043641090393, -1.0976216793060303, 1.1092514991760254, -0.9690492153167725, 0.685890257358551, -0.18275870382785797, 1.5359042882919312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.335103750228882, -0.7123420834541321, -0.01830899901688099, -0.15021048486232758, 0.5410245060920715, -0.7560855150222778, -1.3000268936157227, -1.2600177526474, -0.6347141265869141, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4814046025276184, -1.0976202487945557, 1.109250783920288, -0.9690471887588501, 0.6858960390090942, -0.1827448159456253, 1.5359023809432983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3348162174224854, -0.7124379873275757, -0.01830899901688099, -0.1503063440322876, 0.5410232543945312, -0.7560843229293823, -1.3000274896621704, -1.2600181102752686, -0.6347142457962036, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.49395790696144104, -1.0959876775741577, 1.1083500385284424, -0.9782230257987976, 0.6652874946594238, -0.18104928731918335, 1.5095771551132202, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0821219682693481, 2.3348162174224854, -0.7124379873275757, -0.01840485818684101, -0.15040220320224762, 0.5410250425338745, -0.7560861706733704, -1.300026774406433, -1.2600181102752686, -0.6347137689590454, 0.0009410013444721699, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5124087333679199, -1.090704083442688, 1.1087920665740967, -0.9967344403266907, 0.6116608381271362, -0.1748397797346115, 1.4451723098754883, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3346245288848877, -0.7125338315963745, -0.019459303468465805, -0.15040220320224762, 0.5410260558128357, -0.7560831904411316, -1.3000268936157227, -1.2600178718566895, -0.6347136497497559, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.514390230178833, -1.0881688594818115, 1.1087017059326172, -1.0000042915344238, 0.5820826888084412, -0.17485356330871582, 1.4286731481552124, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3346245288848877, -0.7125338315963745, -0.02013031393289566, -0.1503063440322876, 0.541024923324585, -0.7560829520225525, -1.3000272512435913, -1.2600183486938477, -0.6347140073776245, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5141050219535828, -1.0883723497390747, 1.1086506843566895, -0.9996967315673828, 0.5845867991447449, -0.17478536069393158, 1.4301488399505615, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.334528684616089, -0.7125338315963745, -0.0205137487500906, -0.1503063440322876, 0.5410255789756775, -0.7560834288597107, -1.3000268936157227, -1.2600176334381104, -0.6347137689590454, 0.0009404021548107266, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.519367516040802, -1.0891472101211548, 1.106182336807251, -1.0046242475509644, 0.5823712348937988, -0.17537343502044678, 1.4234765768051147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0815469026565552, 2.33443284034729, -0.7125338315963745, -0.021184759214520454, -0.14973118901252747, 0.5410328507423401, -0.7560843229293823, -1.3000255823135376, -1.2600164413452148, -0.6347124576568604, 0.0009407616453245282, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5321310758590698, -1.0908883810043335, 1.097718358039856, -1.0185116529464722, 0.5462645888328552, -0.18518371880054474, 1.3516030311584473, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0810675621032715, 2.3342411518096924, -0.7124379873275757, -0.02310193143785, -0.14790987968444824, 0.5410228371620178, -0.756088376045227, -1.300026297569275, -1.2600188255310059, -0.6347140073776245, 0.000940162455663085, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5145031213760376, -1.0934343338012695, 1.0934175252914429, -0.9980572462081909, 0.5131902694702148, -0.1915711909532547, 1.2906384468078613, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.3342411518096924, -0.7115752100944519, -0.026073548942804337, -0.1429252326488495, 0.5410251021385193, -0.7560887336730957, -1.3000266551971436, -1.2600181102752686, -0.634713888168335, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4997861683368683, -1.0966236591339111, 1.0838465690612793, -0.9561859369277954, 0.4733465611934662, -0.2029896378517151, 1.2386995553970337, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.334336996078491, -0.7095621824264526, -0.03134577348828316, -0.1343938112258911, 0.5410239696502686, -0.7560898065567017, -1.3000261783599854, -1.260018229484558, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.49242785573005676, -1.0994024276733398, 1.0751252174377441, -0.9116325378417969, 0.44637176394462585, -0.202737495303154, 1.2041712999343872, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0773290395736694, 2.334336996078491, -0.7074533104896545, -0.0410274975001812, -0.11915228515863419, 0.5410231947898865, -0.7560877203941345, -1.3000271320343018, -1.260018229484558, -0.6347140073776245, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48217180371284485, -1.1013377904891968, 1.0665944814682007, -0.8681680560112, 0.4081268608570099, -0.205882266163826, 1.1665977239608765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0762746334075928, 2.3346245288848877, -0.7053444385528564, -0.05032578483223915, -0.10429419577121735, 0.5410236120223999, -0.756086528301239, -1.300026535987854, -1.260018229484558, -0.6347140073776245, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4719346761703491, -1.1038907766342163, 1.0570255517959595, -0.8271230459213257, 0.3615477681159973, -0.21693412959575653, 1.1115237474441528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0752202272415161, 2.3346245288848877, -0.7030438184738159, -0.06288326531648636, -0.08425974100828171, 0.5410251021385193, -0.7560833692550659, -1.3000266551971436, -1.2600175142288208, -0.6347137689590454, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45599377155303955, -1.1114723682403564, 1.0413936376571655, -0.7806393504142761, 0.32280564308166504, -0.22775898873806, 1.0507266521453857, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0745491981506348, 2.3346245288848877, -0.7004556655883789, -0.07390701025724411, -0.06671760976314545, 0.5410254597663879, -0.7560880184173584, -1.300026297569275, -1.2600170373916626, -0.6347132921218872, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4371558129787445, -1.1212345361709595, 1.0243428945541382, -0.7362725734710693, 0.29844412207603455, -0.24046622216701508, 1.0091487169265747, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0738781690597534, 2.334528684616089, -0.6981550455093384, -0.08128812164068222, -0.05300982668995857, 0.5410253405570984, -0.7560744285583496, -1.300028681755066, -1.2600163221359253, -0.6347140073776245, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4185280203819275, -1.1343294382095337, 0.99704509973526, -0.6896600127220154, 0.26404279470443726, -0.24301910400390625, 0.9715298414230347, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.072632074356079, 2.3340494632720947, -0.6953751444816589, -0.08713550120592117, -0.03901446610689163, 0.5410250425338745, -0.7560842037200928, -1.3000274896621704, -1.260016679763794, -0.6347131729125977, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.39728158712387085, -1.150660753250122, 0.97144615650177, -0.6344878673553467, 0.23754902184009552, -0.23498140275478363, 0.920376718044281, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103556499680743, 0.8821023139868918, -0.004583030341284067, -1.6549047231674194], [-0.8821072418184733, -0.4710461467608471, -0.0015302134373465955, 350.39556884765625], [-0.0035086235967271774, 0.0033219393024942045, 0.9999883270717349, 15.196670532226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0722485780715942, 2.332803249359131, -0.6932662129402161, -0.09077812731266022, -0.030291330069303513, 0.5410235524177551, -0.7560814023017883, -1.3000283241271973, -1.2600170373916626, -0.634713888168335, 0.0009407616453245282, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3866942822933197, -1.1619856357574463, 0.959965169429779, -0.5982096195220947, 0.235401451587677, -0.2371770441532135, 0.9014497995376587, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108760358843993, 0.8820745278940567, -0.004582246804608048, -1.6343363523483276], [-0.8820794685664798, -0.47109816767100154, -0.0015256311814787528, 350.395751953125], [-0.0035044084776104747, 0.0033231998890064906, 0.9999883376638549, 15.195160865783691], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0717692375183105, 2.3312695026397705, -0.6909656524658203, -0.09317459911108017, -0.02319779060781002, 0.5410228371620178, -0.7560854554176331, -1.3000272512435913, -1.2600181102752686, -0.6347136497497559, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3774883449077606, -1.170803189277649, 0.9527801275253296, -0.5635687112808228, 0.2282559871673584, -0.24140064418315887, 0.8771715760231018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710587861740614, 0.8820899309488585, -0.004579703795842075, -1.645567774772644], [-0.8820948513401163, -0.4710693527223513, -0.0015291059488323547, 350.3956298828125], [-0.0035061670635864427, 0.003319434346786576, 0.9999883440061387, 15.196330070495605], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0709065198898315, 2.3300232887268066, -0.6884732842445374, -0.09480419009923935, -0.0179255660623312, 0.5410230159759521, -0.7560870051383972, -1.3000271320343018, -1.2600189447402954, -0.6347135305404663, 0.0009402823052369058, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36629724502563477, -1.1754834651947021, 0.9493693113327026, -0.5378081798553467, 0.21072101593017578, -0.24623219668865204, 0.8528566360473633, 0.5381999982582343, 0.5381999982582343, 0.5381999982582343, 0.5381999982582343, -0.5381999982582343, -0.5381999982582343, -0.5381999982582343, 0.5381999982582343, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47105972045077005, 0.8820894285750143, -0.004580367348513737, -1.6452336311340332], [-0.8820942541550875, -0.4710703806789629, -0.0015566738762202701, 350.3952331542969], [-0.003530800960466649, 0.0033070293590782033, 0.9999882984322346, 15.2059907913208], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0707148313522339, 2.328585386276245, -0.6866520047187805, -0.09576278179883957, -0.013995361514389515, 0.5410254597663879, -0.7561072707176208, -1.3000242710113525, -1.2600170373916626, -0.634712815284729, 0.0009404021548107266, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35655152797698975, -1.1772451400756836, 0.951805591583252, -0.5238574147224426, 0.2008466273546219, -0.25823381543159485, 0.841031551361084, 0.4091999908069988, 0.4091999908069988, 0.4091999908069988, 0.4091999908069988, -0.4091999908069988, -0.4091999908069988, -0.4091999908069988, 0.4091999908069988, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710590194614801, 0.8820898071711359, -0.0045795489709218465, -1.645557165145874], [-0.8820945668225386, -0.47106973580656963, -0.0015745441519865139, 350.39495849609375], [-0.003546176271253626, 0.003297892041414334, 0.999988274202221, 15.212252616882324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.070618987083435, 2.3271474838256836, -0.6849265098571777, -0.09576278179883957, -0.011503036133944988, 0.5410177707672119, -0.7560840249061584, -1.3000268936157227, -1.26002037525177, -0.6347166895866394, 0.0009405219461768866, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3509146273136139, -1.1785544157028198, 0.9567484855651855, -0.5184241533279419, 0.20129039883613586, -0.265778124332428, 0.8515697717666626, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, 0.052200014512617555, -0.052200014512617555, -0.052200014512617555, -0.052200014512617555, 0.052200014512617555, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710371085520788, 0.8821015224550519, -0.004576729113295339, -1.6539783477783203], [-0.8821062909393865, -0.47104779815784226, -0.001569501770241065, 350.3949890136719], [-0.003540318072608207, 0.0032978679670415383, 0.9999882950389053, 15.210450172424316], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0698521137237549, 2.3270516395568848, -0.6830093860626221, -0.0949959084391594, -0.011215460486710072, 0.5410245060920715, -0.7560917139053345, -1.3000255823135376, -1.2600185871124268, -0.6347136497497559, 0.0009410013444721699, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34697213768959045, -1.1793055534362793, 0.9633752703666687, -0.5219355225563049, 0.21319420635700226, -0.27517375349998474, 0.8768882751464844, 0.03240000651432917, 0.03240000651432917, 0.03240000651432917, 0.03240000651432917, -0.03240000651432917, -0.03240000651432917, -0.03240000651432917, 0.03240000651432917, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710606518911282, 0.8820889357459686, -0.0045794840811964, -1.644557237625122], [-0.8820937429292944, -0.4710713234764692, -0.0015610519259759794, 350.3951416015625], [-0.003534250258996957, 0.0033041841159815078, 0.9999882956527214, 15.207528114318848], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0698521137237549, 2.3258056640625, -0.6819549202919006, -0.09269530326128006, -0.012557481415569782, 0.5410231351852417, -0.7560874819755554, -1.3000270128250122, -1.260018229484558, -0.634713888168335, 0.0009404021548107266, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33772143721580505, -1.177510380744934, 0.9799716472625732, -0.5313885807991028, 0.24414047598838806, -0.2865985333919525, 0.9286308884620667, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, -0.03180001699007477, -0.03180001699007477, -0.03180001699007477, 0.03180001699007477, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710882534876608, 0.8820741994449374, -0.004578656955751111, -1.6341098546981812], [-0.8820790174649163, -0.4710989092942732, -0.0015571158832935657, 350.395263671875], [-0.003530492044086154, 0.0033051982268991827, 0.999988305576924, 15.20620059967041], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0704272985458374, 2.3248469829559326, -0.6812838912010193, -0.08972368389368057, -0.015145665034651756, 0.5410221815109253, -0.7560796141624451, -1.3000279664993286, -1.2600184679031372, -0.6347144842147827, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33369681239128113, -1.1750513315200806, 1.0009835958480835, -0.5489416122436523, 0.2961193025112152, -0.29078570008277893, 1.0016812086105347, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, -0.03180001699007477, -0.03180001699007477, -0.03180001699007477, 0.03180001699007477, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710623354858794, 0.8820880503358165, -0.004576848407671088, -1.6443219184875488], [-0.8820929726945911, -0.47107288116835355, -0.001525827829672211, 350.39569091796875], [-0.003501943661496101, 0.0033184457965003537, 0.9999883620863231, 15.19519329071045], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0713858604431152, 2.324176073074341, -0.6805170178413391, -0.08627277612686157, -0.01878829300403595, 0.541023313999176, -0.7560836672782898, -1.3000271320343018, -1.2600178718566895, -0.6347140073776245, 0.0009406417957507074, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3303951919078827, -1.167244553565979, 1.029660940170288, -0.5805857181549072, 0.35807281732559204, -0.2954379916191101, 1.1086903810501099, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, 0.03180001699007477, -0.03180001699007477, -0.03180001699007477, -0.03180001699007477, 0.03180001699007477, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710913601844622, 0.8820725556050629, -0.004575697532239111, -1.6326828002929688], [-0.882077420725406, -0.4711019521303239, -0.0015409560062780165, 350.3955078125], [-0.003514855042328372, 0.0033101884162751527, 0.9999883441554107, 15.200549125671387], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0728237628936768, 2.32350492477417, -0.6797501444816589, -0.08215085417032242, -0.023677082732319832, 0.5410217642784119, -0.7560908794403076, -1.3000266551971436, -1.2600206136703491, -0.6347237229347229, 0.0009407616453245282, -1.535898208618164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.348711222410202, -1.157968282699585, 1.0799612998962402, -0.6450567841529846, 0.4922094941139221, -0.28735342621803284, 1.2778091430664062, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710359041778005, 0.8821021755679272, -0.004574804228811599, -1.6547991037368774], [-0.8821071235439787, -0.4710464121045499, -0.001516653025154874, 350.3957824707031], [-0.0034927880511332176, 0.003321069370026007, 0.9999883853974851, 15.191933631896973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07416570186615, 2.323409080505371, -0.6793667078018188, -0.07869993895292282, -0.02933274395763874, 0.5410271286964417, -0.7560825943946838, -1.300026774406433, -1.2600202560424805, -0.6347233653068542, 0.0009405219461768866, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3722786009311676, -1.1465725898742676, 1.120813250541687, -0.7096482515335083, 0.5963836908340454, -0.2548554539680481, 1.4120365381240845, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710649964144631, 0.882086647965967, -0.0045732519289601705, -1.6431324481964111], [-0.8820914952957436, -0.47107558904370705, -0.0015438050535571473, 350.3954162597656], [-0.003516117171085327, 0.003306794110362093, 0.9999883509485252, 15.201502799987793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0755077600479126, 2.3231215476989746, -0.6790791749954224, -0.07314014434814453, -0.03834345564246178, 0.5410236120223999, -0.756077229976654, -1.300028681755066, -1.2600176334381104, -0.6347159743309021, 0.0009407616453245282, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4048192799091339, -1.1314308643341064, 1.1565704345703125, -0.8049535155296326, 0.6563435196876526, -0.21055635809898376, 1.514318823814392, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710910186469477, 0.8820727704438103, -0.0045694410776504985, -1.6327451467514038], [-0.8820775543704034, -0.4711016453516974, -0.0015581472496180868, 350.395263671875], [-0.0035270704712488123, 0.0032965722355890875, 0.9999883461247868, 15.206581115722656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0766581296920776, 2.323025703430176, -0.6789833307266235, -0.0673886239528656, -0.04840861260890961, 0.5410234928131104, -0.7560847997665405, -1.3000272512435913, -1.2600194215774536, -0.6347154974937439, 0.0009406417957507074, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44648757576942444, -1.1210265159606934, 1.1697055101394653, -0.9124944806098938, 0.6935128569602966, -0.1742860972881317, 1.538008451461792, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710395560513778, 0.8821002602260425, -0.0045681007069884655, -1.6532607078552246], [-0.8821051060699877, -0.47105011610696224, -0.0015394677240041174, 350.39544677734375], [-0.003509769248368838, 0.003304394765406122, 0.9999883811800303, 15.199944496154785], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0780959129333496, 2.323025703430176, -0.6789833307266235, -0.06039094179868698, -0.06202054023742676, 0.5410288572311401, -0.7560810446739197, -1.3000272512435913, -1.2600141763687134, -0.6347134113311768, 0.0009405219461768866, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5010368824005127, -1.1023645401000977, 1.1802278757095337, -1.022992730140686, 0.7125144004821777, -0.1340484619140625, 1.5360790491104126, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711463185063336, 0.8820432476559277, -0.00456681754752192, -1.6107549667358398], [-0.8820479008395077, -0.4711570489388952, -0.0015924383220349344, 350.39483642578125], [-0.00355628774799224, 0.0032778803784335757, 0.9999883040904419, 15.218701362609863], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0794379711151123, 2.323025703430176, -0.6790791749954224, -0.04984649270772934, -0.0811922699213028, 0.541022777557373, -0.7560846209526062, -1.3000274896621704, -1.2600173950195312, -0.6347151398658752, 0.0009407616453245282, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5486546158790588, -1.0812032222747803, 1.202544093132019, -1.077538013458252, 0.7079585194587708, -0.11187274008989334, 1.5358525514602661, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106724326291793, 0.882085497157764, -0.004563773506124714, -1.6420927047729492], [-0.8820903164117824, -0.4710777995401756, -0.0015428781376927924, 350.39544677734375], [-0.003510842810005575, 0.00329886106503569, 0.9999883956818885, 15.201196670532227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0801090002059937, 2.323025703430176, -0.6795584559440613, -0.0410274975001812, -0.10036399215459824, 0.5410237312316895, -0.7560938596725464, -1.3000260591506958, -1.2600178718566895, -0.6347141265869141, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5646769404411316, -1.0720211267471313, 1.21711003780365, -1.0826866626739502, 0.6908268332481384, -0.10546070337295532, 1.5356369018554688, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47101321700168364, 0.8821143523092921, -0.0045627688614874274, -1.6635500192642212], [-0.882119357197121, -0.47102359063120813, -0.001488867698185236, 350.39617919921875], [-0.0034625233376169725, 0.003323630370922209, 0.9999884821403164, 15.182175636291504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0805883407592773, 2.3226423263549805, -0.6805170178413391, -0.03537183627486229, -0.11416763812303543, 0.5410231947898865, -0.7561009526252747, -1.3000248670578003, -1.2600189447402954, -0.6347134113311768, 0.0009405219461768866, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5640178918838501, -1.0722625255584717, 1.2168689966201782, -1.0822347402572632, 0.690659761428833, -0.1054883822798729, 1.5355724096298218, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710125408488517, 0.8821147234801229, -0.004560809434244285, -1.6638613939285278], [-0.882119851639569, -0.47102278221860416, -0.0014511975849795604, 350.396728515625], [-0.0034283679052758667, 0.0033396482797169755, 0.9999885464558451, 15.168977737426758], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0810675621032715, 2.322354555130005, -0.6809963583946228, -0.03268779441714287, -0.11991915851831436, 0.541023313999176, -0.7560911178588867, -1.3000260591506958, -1.2600187063217163, -0.6347140073776245, 0.000940881494898349, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.563984215259552, -1.0724292993545532, 1.2164504528045654, -1.0824342966079712, 0.6910067200660706, -0.10568109154701233, 1.5353487730026245, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106821665164555, 0.8820849994882788, -0.004559488831136127, -1.6416641473770142], [-0.8820900635186519, -0.47107851114872457, -0.001468392168831461, 350.3965759277344], [-0.003443123915663137, 0.0033301669123527717, 0.9999885273772081, 15.175106048583984], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.322450637817383, -0.6809963583946228, -0.03182506933808327, -0.12193218618631363, 0.5410232543945312, -0.7560978531837463, -1.3000247478485107, -1.2600206136703491, -0.6347135305404663, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.569811224937439, -1.065732479095459, 1.2079190015792847, -1.1215115785598755, 0.6354441046714783, -0.10721051692962646, 1.5346215963363647, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47101680861085016, 0.8821124484841061, -0.004560069673268234, -1.662103533744812], [-0.8821176823356158, -0.47102694140043866, -0.0014195019512353393, 350.397216796875], [-0.0034000760126046046, 0.0033539088125845587, 0.9999885953243594, 15.157880783081055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.3221628665924072, -0.6811880469322205, -0.032591935247182846, -0.1226990595459938, 0.5410265326499939, -0.7560735940933228, -1.3000264167785645, -1.2600172758102417, -0.6347132921218872, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5789610743522644, -1.048402190208435, 1.2250322103500366, -1.1496180295944214, 0.6059399247169495, -0.0878688171505928, 1.5360043048858643, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47107539138475585, 0.8820811751870504, -0.004558071119548986, -1.6388630867004395], [-0.8820863155425981, -0.4710856022199825, -0.0014447537921675813, 350.3969421386719], [-0.0034216318011653724, 0.0033400242017241366, 0.9999885682717323, 15.166838645935059], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.3213002681732178, -0.6813797950744629, -0.03393395617604256, -0.12452036887407303, 0.5410258173942566, -0.7560709118843079, -1.3000280857086182, -1.2600173950195312, -0.6347141265869141, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5984013676643372, -1.0254242420196533, 1.2391778230667114, -1.1692696809768677, 0.5820357203483582, -0.06156116724014282, 1.535976529121399, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711814822653968, 0.8820245166527549, -0.004556620859483628, -1.5967391729354858], [-0.8820295259472599, -0.471191809833613, -0.0014811154498458787, 350.3965759277344], [-0.003453422568262924, 0.00332119996354718, 0.9999885216858078, 15.179774284362793], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081642746925354, 2.3208208084106445, -0.6813797950744629, -0.03364638239145279, -0.13161391019821167, 0.5410247445106506, -0.7560941576957703, -1.300026774406433, -1.2600188255310059, -0.6347135305404663, 0.0009402823052369058, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6323030591011047, -0.9896112084388733, 1.28606379032135, -1.1729604005813599, 0.5483245253562927, -0.028048120439052582, 1.5359039306640625, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471049173345766, 0.8820951847861626, -0.004556453372531112, -1.6491897106170654], [-0.8821004090813882, -0.47105929113699796, -0.001418637359022576, 350.3973083496094], [-0.003397732879114862, 0.00335100142862496, 0.9999886130355223, 15.157642364501953], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0817385911941528, 2.320629119873047, -0.6811880469322205, -0.03192092478275299, -0.14091220498085022, 0.5410273671150208, -0.7560712695121765, -1.3000295162200928, -1.260015606880188, -0.6347137689590454, 0.0009407616453245282, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6683819890022278, -0.9592264890670776, 1.3213398456573486, -1.190473198890686, 0.5158601403236389, -0.003957790322601795, 1.5358903408050537, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711568022520125, 0.8820376813077228, -0.004560311936063973, -1.6065731048583984], [-0.8820427010314323, -0.4711671444744012, -0.001481730412087897, 350.39654541015625], [-0.0034556112098289354, 0.003324262494872857, 0.9999885039489362, 15.179939270019531], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.320629119873047, -0.6806129217147827, -0.026456983759999275, -0.15912534296512604, 0.5410248041152954, -0.7560808658599854, -1.300028681755066, -1.260016679763794, -0.6347137689590454, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7184829711914062, -0.9215676784515381, 1.354453444480896, -1.2160327434539795, 0.48914679884910583, 0.02903406135737896, 1.535888433456421, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.320629119873047, -0.6798460483551025, -0.021184759214520454, -0.177913635969162, 0.5410247445106506, -0.7560812830924988, -1.3000290393829346, -1.260016679763794, -0.634713888168335, 0.0009406417957507074, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7569358348846436, -0.8963386416435242, 1.3712096214294434, -1.2299556732177734, 0.49401000142097473, 0.04023667424917221, 1.535892128944397, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.320629119873047, -0.6788874268531799, -0.012078188359737396, -0.20542506873607635, 0.541022539138794, -0.7560848593711853, -1.3000280857086182, -1.2600177526474, -0.6347140073776245, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7984897494316101, -0.8685340285301208, 1.3811874389648438, -1.2246310710906982, 0.48549461364746094, 0.04301641508936882, 1.5358918905258179, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.320629119873047, -0.6782164573669434, -0.004505355842411518, -0.22881457209587097, 0.5410230159759521, -0.7560847997665405, -1.3000280857086182, -1.260016918182373, -0.6347143650054932, 0.0009402823052369058, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8285103440284729, -0.8455165028572083, 1.3676337003707886, -1.2328914403915405, 0.4635724723339081, 0.04440467059612274, 1.5358928442001343, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.320629119873047, -0.6770661473274231, 0.005559801124036312, -0.2544088363647461, 0.5410220623016357, -0.7560919523239136, -1.3000266551971436, -1.2600178718566895, -0.634713888168335, 0.0009404021548107266, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8590789437294006, -0.8208697438240051, 1.3253955841064453, -1.2514278888702393, 0.4358889162540436, 0.03505253791809082, 1.5358980894088745, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.320629119873047, -0.6760116815567017, 0.015529099851846695, -0.27664804458618164, 0.541022539138794, -0.7560914754867554, -1.3000270128250122, -1.2600177526474, -0.6347141265869141, 0.0009402823052369058, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8780565857887268, -0.7947918772697449, 1.2749687433242798, -1.2520431280136108, 0.4009038507938385, 0.02019905112683773, 1.5358985662460327, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6751489639282227, 0.023677082732319832, -0.29438188672065735, 0.5410231351852417, -0.7561008930206299, -1.300025224685669, -1.260019063949585, -0.6347136497497559, 0.0009402823052369058, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8800578713417053, -0.7697194218635559, 1.2232627868652344, -1.235397219657898, 0.36336565017700195, 0.010174127295613289, 1.5358957052230835, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3209168910980225, -0.6744779348373413, 0.030387189239263535, -0.3063642084598541, 0.5410245656967163, -0.7560904622077942, -1.3000261783599854, -1.2600176334381104, -0.6347131729125977, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8647319674491882, -0.7488749623298645, 1.153038501739502, -1.2273204326629639, 0.33646130561828613, -0.0040288567543029785, 1.5358960628509521, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3209168910980225, -0.6741903424263, 0.0332629457116127, -0.311061292886734, 0.5410242676734924, -0.7560834288597107, -1.3000255823135376, -1.2600177526474, -0.6347134113311768, 0.0009407616453245282, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8392611145973206, -0.7448341250419617, 1.0920495986938477, -1.2076462507247925, 0.3434544503688812, -0.024892672896385193, 1.535897135734558, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3209168910980225, -0.6741903424263, 0.03460496664047241, -0.3113488554954529, 0.5410272479057312, -0.7560718655586243, -1.3000270128250122, -1.2600173950195312, -0.6347131729125977, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7904375195503235, -0.7622371912002563, 1.0166772603988647, -1.1622836589813232, 0.32612791657447815, -0.05758024752140045, 1.5333024263381958, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6750531196594238, 0.034700825810432434, -0.306651771068573, 0.5410242080688477, -0.7560749053955078, -1.3000277280807495, -1.260018229484558, -0.6347135305404663, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7321445345878601, -0.8035189509391785, 0.93328458070755, -1.102616310119629, 0.29491153359413147, -0.10378614068031311, 1.456931471824646, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.675819993019104, 0.03422153368592262, -0.2985037863254547, 0.541023850440979, -0.7560864090919495, -1.3000264167785645, -1.260019302368164, -0.6347135305404663, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6858565211296082, -0.8431894183158875, 0.8606221675872803, -1.0518171787261963, 0.24918067455291748, -0.1484466791152954, 1.3576279878616333, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6769702434539795, 0.032975371927022934, -0.28748005628585815, 0.5410265326499939, -0.7560864686965942, -1.3000264167785645, -1.2600173950195312, -0.6347135305404663, 0.0009404021548107266, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6340809464454651, -0.8885202407836914, 0.7927697896957397, -0.9854544401168823, 0.22038030624389648, -0.1891373097896576, 1.2597930431365967, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6779288649559021, 0.0315374918282032, -0.2743474245071411, 0.5410245656967163, -0.7560857534408569, -1.3000270128250122, -1.2600178718566895, -0.6347137689590454, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5876556634902954, -0.9337056875228882, 0.7402377724647522, -0.9147518277168274, 0.21778884530067444, -0.21805225312709808, 1.1717700958251953, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3209168910980225, -0.6785039901733398, 0.02971617877483368, -0.26159822940826416, 0.5410224199295044, -0.7560833096504211, -1.3000277280807495, -1.2600187063217163, -0.634713888168335, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.550454318523407, -0.9744850993156433, 0.6829326748847961, -0.8570420145988464, 0.1826017200946808, -0.24067091941833496, 1.152750015258789, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.321204423904419, -0.6786957383155823, 0.02751142904162407, -0.2496158927679062, 0.5410218238830566, -0.7560927271842957, -1.3000260591506958, -1.2600207328796387, -0.6347164511680603, 0.0009402823052369058, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5101098418235779, -1.0036084651947021, 0.6452664732933044, -0.8082804679870605, 0.1337868571281433, -0.28612515330314636, 1.1513506174087524, 0.4133999960763114, 0.4133999960763114, 0.4133999960763114, 0.4133999960763114, -0.4133999960763114, -0.4133999960763114, -0.4133999960763114, 0.4133999960763114, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3225464820861816, -0.6787915825843811, 0.024252235889434814, -0.23744185268878937, 0.541026771068573, -0.7560770511627197, -1.300026774406433, -1.2600164413452148, -0.6347146034240723, 0.0009404021548107266, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48618951439857483, -1.0182348489761353, 0.6503695249557495, -0.7526286244392395, 0.1597062200307846, -0.3070693910121918, 1.1503074169158936, 0.5459999996227223, 0.5459999996227223, 0.5459999996227223, 0.5459999996227223, -0.5459999996227223, -0.5459999996227223, -0.5459999996227223, 0.5459999996227223, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3232173919677734, -0.6786957383155823, 0.021280618384480476, -0.22776012122631073, 0.541023313999176, -0.7560871243476868, -1.3000272512435913, -1.2600181102752686, -0.6347148418426514, 0.0009406417957507074, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47242969274520874, -1.0194766521453857, 0.6736701726913452, -0.7096383571624756, 0.2021392434835434, -0.3206561505794525, 1.1700810194015503, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3237924575805664, -0.6773536801338196, 0.01888415217399597, -0.21999557316303253, 0.5410245060920715, -0.7560840845108032, -1.3000273704528809, -1.2600176334381104, -0.6347142457962036, 0.000940881494898349, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.46018919348716736, -1.008350133895874, 0.7065308094024658, -0.6880640983581543, 0.23514056205749512, -0.3326112627983093, 1.2266356945037842, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.324176073074341, -0.675819993019104, 0.017733847722411156, -0.21587365865707397, 0.5410237908363342, -0.7560876607894897, -1.300026774406433, -1.2600181102752686, -0.6347144842147827, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4551214277744293, -0.9904825687408447, 0.7333824038505554, -0.6856387257575989, 0.23959881067276, -0.32833191752433777, 1.2989449501037598, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3242719173431396, -0.6739028096199036, 0.016775261610746384, -0.21261446177959442, 0.5410248041152954, -0.7561004757881165, -1.3000251054763794, -1.2600184679031372, -0.6347143650054932, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45159322023391724, -0.9611629843711853, 0.7749257683753967, -0.7002869248390198, 0.2510594427585602, -0.29621145129203796, 1.4069325923919678, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3242719173431396, -0.672464907169342, 0.015624958090484142, -0.21108071506023407, 0.5410274267196655, -0.7560887932777405, -1.3000255823135376, -1.2600176334381104, -0.6347129344940186, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44998279213905334, -0.9365882277488708, 0.8207570314407349, -0.7289760708808899, 0.2904142141342163, -0.2579112946987152, 1.4940807819366455, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3242719173431396, -0.670739471912384, 0.01466637197881937, -0.21098485589027405, 0.5410226583480835, -0.7560822367668152, -1.3000260591506958, -1.2600162029266357, -0.6347076892852783, 0.0009405219461768866, -1.5358985662460327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4554247260093689, -0.9168523550033569, 0.8855958580970764, -0.7844762206077576, 0.3997551500797272, -0.195791557431221, 1.5382606983184814, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.32350492477417, -0.6694933176040649, 0.013899502344429493, -0.21146415174007416, 0.5410248637199402, -0.7560885548591614, -1.3000253438949585, -1.2600163221359253, -0.6347026228904724, 0.0009402823052369058, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45949554443359375, -0.9091302752494812, 0.9389724135398865, -0.8840020895004272, 0.5222858190536499, -0.1665835976600647, 1.5323126316070557, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.321683645248413, -0.6691098809242249, 0.013899502344429493, -0.21318961679935455, 0.5410231947898865, -0.7560936212539673, -1.300025224685669, -1.2600208520889282, -0.6347146034240723, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45989087224006653, -0.9212393760681152, 0.9569525718688965, -0.9777795076370239, 0.6272417306900024, -0.18922431766986847, 1.5050225257873535, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3203415870666504, -0.6690139770507812, 0.014187078922986984, -0.21433991193771362, 0.5410240888595581, -0.7560804486274719, -1.3000260591506958, -1.260018229484558, -0.6347126960754395, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44567713141441345, -0.9495225548744202, 0.9291989207267761, -1.008703351020813, 0.7110482454299927, -0.22722114622592926, 1.4850361347198486, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3198623657226562, -0.6690139770507812, 0.015049805864691734, -0.2142440527677536, 0.5410242676734924, -0.7560898065567017, -1.3000255823135376, -1.260019302368164, -0.6347142457962036, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4119211435317993, -0.9815788269042969, 0.8886867165565491, -0.9935514330863953, 0.7621539235115051, -0.2650209367275238, 1.4850304126739502, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3191912174224854, -0.6693015694618225, 0.01485808938741684, -0.21088901162147522, 0.541023313999176, -0.7560845017433167, -1.3000271320343018, -1.2600187063217163, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3640357553958893, -1.0160107612609863, 0.8466049432754517, -0.9406010508537292, 0.7935795783996582, -0.30655911564826965, 1.4989981651306152, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.318903684616089, -0.6706436276435852, 0.012557481415569782, -0.20187829434871674, 0.5410221219062805, -0.7560993432998657, -1.3000251054763794, -1.2600210905075073, -0.6347146034240723, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32231178879737854, -1.0421370267868042, 0.8141964673995972, -0.8911399841308594, 0.783776581287384, -0.328243613243103, 1.493706226348877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47115645254898886, 0.8820378685404814, -0.004560228285607043, -1.606680154800415], [-0.8820429372844519, -0.4711667469254841, -0.0014674393593119594, 350.3967590332031], [-0.003442965011266978, 0.0033309236288602924, 0.9999885254040217, 15.174930572509766], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3184244632720947, -0.6718897819519043, 0.008147983811795712, -0.18932081758975983, 0.5410254001617432, -0.7560660243034363, -1.3000279664993286, -1.2600165605545044, -0.634713888168335, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3167078495025635, -1.0457236766815186, 0.8100964426994324, -0.8848298192024231, 0.7806291580200195, -0.33155280351638794, 1.488576889038086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47113049409647867, 0.8820517346228921, -0.004560151439902403, -1.617114782333374], [-0.8820568488117668, -0.47114074402095407, -0.0014542309436757536, 350.39691162109375], [-0.003431180068655327, 0.0033371802661604087, 0.9999885450499959, 15.170255661010742], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3181369304656982, -0.672464907169342, 0.006901822052896023, -0.18462373316287994, 0.5410248637199402, -0.7560793161392212, -1.30002760887146, -1.2600177526474, -0.6347143650054932, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3175198435783386, -1.0451730489730835, 0.8107680678367615, -0.8857269883155823, 0.7811852097511292, -0.3310597836971283, 1.4890189170837402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471075719428091, 0.8820809888554496, -0.004560226430589628, -1.6387221813201904], [-0.8820861524327497, -0.4710859219797465, -0.0014400690539161426, 350.39703369140625], [-0.0034185160075892065, 0.0033441310207812593, 0.9999885652026336, 15.165193557739258], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3181369304656982, -0.6725607514381409, 0.006518387235701084, -0.18289828300476074, 0.5410245656967163, -0.7560853362083435, -1.3000272512435913, -1.2600183486938477, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31754669547080994, -1.0451778173446655, 0.8107703328132629, -0.8857459425926208, 0.7812129259109497, -0.33102622628211975, 1.4890716075897217, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47107495818131895, 0.882081397257563, -0.004559866951391961, -1.6390459537506104], [-0.8820867038915119, -0.471085017193843, -0.0013976384672192855, 350.3976745605469], [-0.003380915893223824, 0.003363805526839244, 0.9999886270453783, 15.150325775146484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3181369304656982, -0.6726566553115845, 0.006134952884167433, -0.18203555047512054, 0.5410245656967163, -0.7560863494873047, -1.3000270128250122, -1.2600176334381104, -0.6347140073776245, 0.0009406417957507074, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31754639744758606, -1.045188546180725, 0.8107703328132629, -0.8857484459877014, 0.7812201976776123, -0.33102262020111084, 1.4890801906585693, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47107648839854055, 0.8820805668784678, -0.004562413118158823, -1.6384916305541992], [-0.8820857677402046, -0.47108666904542984, -0.0014312923723930823, 350.39715576171875], [-0.003411807185851931, 0.003350191493420558, 0.9999885678289947, 15.162116050720215], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3181369304656982, -0.6727524995803833, 0.006039094179868698, -0.1814603954553604, 0.5410243272781372, -0.7560864686965942, -1.3000270128250122, -1.2600181102752686, -0.6347143650054932, 0.0009402823052369058, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31754571199417114, -1.045191764831543, 0.8107698559761047, -0.8857484459877014, 0.7812215685844421, -0.33102214336395264, 1.4890812635421753, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47107500930314283, 0.8820813540393619, -0.00456294489669148, -1.639055609703064], [-0.8820865280201873, -0.47108521987229124, -0.0014396885658771415, 350.39703369140625], [-0.0034194583395069506, 0.0033467109169058166, 0.9999885533498386, 15.165054321289062], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3181369304656982, -0.6728483438491821, 0.005847376771271229, -0.18126869201660156, 0.5410254001617432, -0.7560863494873047, -1.3000272512435913, -1.2600173950195312, -0.634713888168335, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31999069452285767, -1.0450726747512817, 0.8070379495620728, -0.8865196108818054, 0.7767582535743713, -0.32871049642562866, 1.4843292236328125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710752795127142, 0.8820812106632696, -0.004562765262322196, -1.6389710903167725], [-0.8820862904027087, -0.47108558061524364, -0.0014669764779664236, 350.3966064453125], [-0.0034434453105112784, 0.0033336963298235185, 0.9999885145106288, 15.174616813659668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.318232774734497, -0.6730400919914246, 0.006134952884167433, -0.18117283284664154, 0.5410315990447998, -0.7560986876487732, -1.3000234365463257, -1.2600167989730835, -0.6347086429595947, 0.000940162455663085, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3235470950603485, -1.0461583137512207, 0.7947995662689209, -0.9052683115005493, 0.6874610185623169, -0.30393409729003906, 1.4110071659088135, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744887831311, 0.8820816138669516, -0.004566453283040132, -1.6391699314117432], [-0.8820868203236676, -0.4710846910336013, -0.001433626540808886, 350.3971252441406], [-0.003415761846759531, 0.0033526633667759678, 0.999988546044081, 15.162923812866211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3174657821655273, -0.6734235286712646, 0.006805963348597288, -0.1805976778268814, 0.5410194396972656, -0.756089985370636, -1.3000257015228271, -1.2600204944610596, -0.634711742401123, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.32106247544288635, -1.0512295961380005, 0.7930724024772644, -0.8955116271972656, 0.6558578014373779, -0.30101245641708374, 1.3759788274765015, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710752501117912, 0.8820812289663718, -0.004562262299424183, -1.6390050649642944], [-0.8820862542084069, -0.47108560046129844, -0.0014822869491312332, 350.3963928222656], [-0.003456713568556677, 0.0033260401671158716, 0.9999884942278644, 15.179983139038086], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3174657821655273, -0.6734235286712646, 0.006805963348597288, -0.17743434011936188, 0.5410225987434387, -0.756096601486206, -1.3000248670578003, -1.2600197792053223, -0.6347118616104126, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.31560227274894714, -1.0629347562789917, 0.7783580422401428, -0.8560470938682556, 0.6195684671401978, -0.3124815821647644, 1.3267241716384888, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710210149462768, 0.8821101877051213, -0.0045629185632588805, -1.6604158878326416], [-0.88211529877222, -0.4710312869880817, -0.0014582010658497893, 350.3966369628906], [-0.0034355714191822047, 0.003338176925670106, 0.9999885266460994, 15.171442985534668], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3173699378967285, -0.6734235286712646, 0.0026840418577194214, -0.16861534118652344, 0.5410218238830566, -0.7560941576957703, -1.3000253438949585, -1.2600200176239014, -0.6347131729125977, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3019464313983917, -1.080877661705017, 0.7566247582435608, -0.7990333437919617, 0.5709367394447327, -0.31600460410118103, 1.247746229171753, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710212746729485, 0.8821100573709167, -0.004561303601905895, -1.6603810787200928], [-0.8821151984588831, -0.4710315066949533, -0.0014478772488947889, 350.39678955078125], [-0.0034257047911874774, 0.003341614244682051, 0.9999885490148992, 15.167829513549805], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3173699378967285, -0.6732317805290222, -0.0034509110264480114, -0.1550992727279663, 0.5410231351852417, -0.7560890316963196, -1.3000253438949585, -1.2600191831588745, -0.6347131729125977, 0.000940162455663085, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2857992351055145, -1.100193738937378, 0.7359223961830139, -0.7459396123886108, 0.5345939993858337, -0.3345719873905182, 1.1916191577911377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47104703344751675, 0.8820962982520612, -0.00456211467470472, -1.6501671075820923], [-0.8821014562704488, -0.471057254223505, -0.0014436374080871491, 350.39691162109375], [-0.0034224444258110372, 0.003344226879776504, 0.9999885514448297, 15.166388511657715], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.317561626434326, -0.6723690629005432, -0.01179061271250248, -0.1377488672733307, 0.541023313999176, -0.7560880780220032, -1.3000253438949585, -1.260019063949585, -0.6347136497497559, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.26372864842414856, -1.1202720403671265, 0.7179153561592102, -0.6929346919059753, 0.5000188946723938, -0.36374208331108093, 1.1469162702560425, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710481686868886, 0.8820957011160045, -0.0045603562791994125, -1.64962637424469], [-0.8821008434148842, -0.4710583930471324, -0.0014465084181474032, 350.3968811035156], [-0.00342415295787801, 0.003341318978795662, 0.9999885553165111, 15.167400360107422], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3186161518096924, -0.6706436276435852, -0.021088900044560432, -0.11637238413095474, 0.5410236120223999, -0.7560831308364868, -1.3000261783599854, -1.2600191831588745, -0.634713888168335, 0.000940162455663085, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2418346107006073, -1.1414148807525635, 0.7017359137535095, -0.6375849843025208, 0.4735524654388428, -0.3840862512588501, 1.1062755584716797, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47107175990112315, 0.8820831033187407, -0.004560248155369351, -1.640264868736267], [-0.8820881882831221, -0.47108203917128577, -0.0014630316547657122, 350.39666748046875], [-0.0034387665024477798, 0.0033333481370896637, 0.9999885317718091, 15.173233032226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3202457427978516, -0.6687264442443848, -0.028565874323248863, -0.09605035185813904, 0.5410251021385193, -0.7560865879058838, -1.3000258207321167, -1.260018229484558, -0.6347147226333618, 0.0009404021548107266, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22101986408233643, -1.1611627340316772, 0.688353955745697, -0.5900226831436157, 0.4541042149066925, -0.3978067636489868, 1.0770375728607178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710730361171087, 0.8820824024926125, -0.0045639737367782094, -1.6398415565490723], [-0.8820874487711322, -0.47108337761656416, -0.0014778544599048328, 350.3964538574219], [-0.003453601575802048, 0.0033296465623665625, 0.9999884929787569, 15.178422927856445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6667134165763855, -0.03834345564246178, -0.07036024332046509, 0.5410258173942566, -0.7560830116271973, -1.300026535987854, -1.2600171566009521, -0.6347130537033081, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.19504116475582123, -1.185377836227417, 0.6754468679428101, -0.5372685194015503, 0.4404767155647278, -0.40990304946899414, 1.0575391054153442, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110120160669355, 0.8820673629303516, -0.004563452401949992, -1.6287237405776978], [-0.8820723380055062, -0.4711116078506037, -0.001497823059928792, 350.39617919921875], [-0.00347107623504002, 0.003319668886238205, 0.9999884656476075, 15.185471534729004], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6651796698570251, -0.044382549822330475, -0.04946305602788925, 0.5410230159759521, -0.7560814023017883, -1.30002760887146, -1.2600189447402954, -0.6347159743309021, 0.0009404021548107266, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.172951340675354, -1.2052786350250244, 0.6681720614433289, -0.486573189496994, 0.4314171075820923, -0.4142342507839203, 1.040342092514038, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6631666421890259, -0.048792045563459396, -0.032591935247182846, 0.541024923324585, -0.7560847997665405, -1.30002760887146, -1.2600178718566895, -0.6347146034240723, 0.0009405219461768866, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.16310176253318787, -1.2205339670181274, 0.6670137047767639, -0.44011908769607544, 0.4314382076263428, -0.4034138321876526, 1.0122153759002686, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6613453030586243, -0.05205123871564865, -0.017733847722411156, 0.5410251021385193, -0.7560868263244629, -1.3000277280807495, -1.2600177526474, -0.6347146034240723, 0.0009404021548107266, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1531471610069275, -1.2339686155319214, 0.666982889175415, -0.40193843841552734, 0.4248918294906616, -0.3965390622615814, 0.9852724075317383, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.659332275390625, -0.05387255549430847, -0.003930204082280397, 0.5410244464874268, -0.7560868263244629, -1.3000272512435913, -1.2600175142288208, -0.6347143650054932, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.14993977546691895, -1.2466143369674683, 0.6720284819602966, -0.37326282262802124, 0.4294221103191376, -0.3868517279624939, 0.9628575444221497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6573192477226257, -0.05377669632434845, 0.004409497138112783, 0.5410236120223999, -0.7560871243476868, -1.3000270128250122, -1.2600187063217163, -0.6347148418426514, 0.0009402823052369058, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15113990008831024, -1.2563074827194214, 0.6787593960762024, -0.3517918884754181, 0.43664056062698364, -0.3732231557369232, 0.9388942718505859, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6557855010032654, -0.05262639373540878, 0.009298288263380527, 0.5410239100456238, -0.7560865879058838, -1.3000270128250122, -1.260018229484558, -0.6347146034240723, 0.0009407616453245282, -1.53589928150177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.14879603683948517, -1.2628363370895386, 0.6833527088165283, -0.3333011865615845, 0.4316394329071045, -0.3635071814060211, 0.9082435369491577, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6532931923866272, -0.04946305602788925, 0.013036774471402168, 0.5410231947898865, -0.7560900449752808, -1.300026535987854, -1.2600187063217163, -0.6347147226333618, 0.0009402823052369058, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1499539166688919, -1.269134283065796, 0.6892855167388916, -0.31902259588241577, 0.4263601303100586, -0.35584113001823425, 0.8853481411933899, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6510884165763855, -0.04629972204566002, 0.014953947626054287, 0.541023850440979, -0.7560921311378479, -1.3000260591506958, -1.260019302368164, -0.6347144842147827, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1535722017288208, -1.2735483646392822, 0.6967079639434814, -0.30967727303504944, 0.42801180481910706, -0.3481873869895935, 0.8832293748855591, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6485961079597473, -0.043423961848020554, 0.01620011031627655, 0.5410245060920715, -0.7560917139053345, -1.3000255823135376, -1.2600191831588745, -0.6347143650054932, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1590932309627533, -1.2775112390518188, 0.7064225077629089, -0.3011706471443176, 0.43660688400268555, -0.3339889645576477, 0.8805291652679443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3210127353668213, -0.6467748284339905, -0.04150678962469101, 0.016775261610746384, 0.541022777557373, -0.7560911178588867, -1.3000264167785645, -1.260019302368164, -0.6347141265869141, 0.0009404021548107266, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15823416411876678, -1.2795268297195435, 0.711642324924469, -0.29767340421676636, 0.4294804632663727, -0.3324846923351288, 0.873953104019165, 0.4884000031502692, 0.4884000031502692, 0.4884000031502692, 0.4884000031502692, -0.4884000031502692, -0.4884000031502692, -0.4884000031502692, 0.4884000031502692, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3208208084106445, -0.6443783044815063, -0.04006890952587128, 0.01696697808802128, 0.541022777557373, -0.7560883164405823, -1.300026535987854, -1.2600195407867432, -0.6347143650054932, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15630744397640228, -1.2811866998672485, 0.717195451259613, -0.2952999174594879, 0.41762182116508484, -0.3366676867008209, 0.8666640520095825, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, 0.3588000061747792, -0.3588000061747792, -0.3588000061747792, -0.3588000061747792, 0.3588000061747792, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.320437431335449, -0.6420777440071106, -0.03978133574128151, 0.016295967623591423, 0.5410243272781372, -0.7560889720916748, -1.3000261783599854, -1.2600188255310059, -0.6347137689590454, 0.0009405219461768866, -1.535898208618164, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15518517792224884, -1.2821372747421265, 0.7223542928695679, -0.2935396730899811, 0.41063132882118225, -0.3401748538017273, 0.8714167475700378, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, -0.2819999912282923, -0.2819999912282923, -0.2819999912282923, 0.2819999912282923, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.319383144378662, -0.6397771239280701, -0.039493758231401443, 0.014282937161624432, 0.5410236120223999, -0.7560886740684509, -1.3000261783599854, -1.2600189447402954, -0.6347137689590454, 0.0009407616453245282, -1.5358991622924805, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.15554684400558472, -1.2832884788513184, 0.728567898273468, -0.29302603006362915, 0.40555551648139954, -0.3435567021369934, 0.8781979084014893, 0.06840000676584768, 0.06840000676584768, 0.06840000676584768, 0.06840000676584768, -0.06840000676584768, -0.06840000676584768, -0.06840000676584768, 0.06840000676584768, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.317753553390503, -0.6378599405288696, -0.039589617401361465, 0.011119602248072624, 0.5410245656967163, -0.7560861706733704, -1.3000266551971436, -1.260018229484558, -0.634713888168335, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.14546087384223938, -1.281579852104187, 0.7400705814361572, -0.3012077808380127, 0.4055941104888916, -0.36874979734420776, 0.909028172492981, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3166990280151367, -0.6364220380783081, -0.03978133574128151, 0.0077645499259233475, 0.541023313999176, -0.7560861706733704, -1.300026535987854, -1.2600189447402954, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.13150914013385773, -1.2785624265670776, 0.7584198713302612, -0.3124624192714691, 0.42865198850631714, -0.3938562870025635, 0.9626269936561584, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.315452814102173, -0.635175883769989, -0.04035648703575134, 0.003259193617850542, 0.5410240888595581, -0.7560855746269226, -1.300026297569275, -1.2600188255310059, -0.6347135305404663, 0.0009404021548107266, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1145377829670906, -1.274044394493103, 0.7850684523582458, -0.33198148012161255, 0.4685616195201874, -0.42239826917648315, 1.0456067323684692, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.314302444458008, -0.6339297294616699, -0.040452346205711365, -0.0013420209288597107, 0.5410236120223999, -0.7560899257659912, -1.3000258207321167, -1.260019302368164, -0.6347136497497559, 0.0009407616453245282, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.09854258596897125, -1.267865777015686, 0.8043490648269653, -0.35112953186035156, 0.4945806860923767, -0.43756285309791565, 1.1344099044799805, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3132481575012207, -0.6330670118331909, -0.040452346205711365, -0.0077645499259233475, 0.5410246849060059, -0.7560815215110779, -1.3000270128250122, -1.2600171566009521, -0.6347140073776245, 0.0009407616453245282, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.08329536020755768, -1.2565268278121948, 0.8316273093223572, -0.3739174008369446, 0.5295009016990662, -0.46497127413749695, 1.2504563331604004, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3122894763946533, -0.6319167017936707, -0.03987719491124153, -0.01485808938741684, 0.541026771068573, -0.7560821771621704, -1.3000268936157227, -1.2600163221359253, -0.6347134113311768, 0.0009407616453245282, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.08021751046180725, -1.2444285154342651, 0.8574677109718323, -0.40799418091773987, 0.5640188455581665, -0.48045164346694946, 1.3397269248962402, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.311810255050659, -0.6313415765762329, -0.03853517398238182, -0.02137647569179535, 0.5410248041152954, -0.7560840249061584, -1.3000272512435913, -1.2600167989730835, -0.6347141265869141, 0.0009402823052369058, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.0951283797621727, -1.2296340465545654, 0.8663913607597351, -0.5004040598869324, 0.5658397078514099, -0.43882012367248535, 1.383957028388977, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.311331033706665, -0.6306705474853516, -0.03594698756933212, -0.030387189239263535, 0.5410242080688477, -0.7560850977897644, -1.300026774406433, -1.2600172758102417, -0.6347134113311768, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.12721878290176392, -1.2042869329452515, 0.8704903721809387, -0.6254801750183105, 0.5399534702301025, -0.40404659509658813, 1.4160964488983154, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3104681968688965, -0.6300954222679138, -0.03249607980251312, -0.041315071284770966, 0.5410246849060059, -0.7560863494873047, -1.3000266551971436, -1.2600177526474, -0.634713888168335, 0.000940881494898349, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.16891814768314362, -1.1763229370117188, 0.8860884308815002, -0.7682784795761108, 0.5465365052223206, -0.3811938762664795, 1.4392541646957397, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3097012042999268, -0.6299995183944702, -0.028949309140443802, -0.051763664931058884, 0.5410258769989014, -0.7560858130455017, -1.300026535987854, -1.2600170373916626, -0.6347134113311768, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.200773224234581, -1.154037594795227, 0.9044030904769897, -0.8774197697639465, 0.5689266324043274, -0.37011492252349854, 1.450397253036499, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.308934450149536, -0.6299995183944702, -0.02578597329556942, -0.06029508262872696, 0.5410230159759521, -0.7560826539993286, -1.3000272512435913, -1.2600172758102417, -0.6347132921218872, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22192996740341187, -1.1387261152267456, 0.9178560972213745, -0.918562650680542, 0.5835502743721008, -0.3626883029937744, 1.4577972888946533, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.308934450149536, -0.6297119855880737, -0.023389507085084915, -0.06758034229278564, 0.5410236120223999, -0.7560937404632568, -1.3000257015228271, -1.2600183486938477, -0.6347136497497559, 0.0009402823052369058, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22279882431030273, -1.1376596689224243, 0.9188984632492065, -0.9179896116256714, 0.583093523979187, -0.3622484803199768, 1.458117961883545, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.308551073074341, -0.6296160817146301, -0.022814355790615082, -0.07036024332046509, 0.5410249829292297, -0.7560879588127136, -1.3000257015228271, -1.2600170373916626, -0.6347134113311768, 0.000940881494898349, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.22629842162132263, -1.137891173362732, 0.91968834400177, -0.9191268682479858, 0.5845178961753845, -0.3589440882205963, 1.4537031650543213, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710744164463294, 0.8820816692583664, -0.004563214669985174, -1.6393039226531982], [-0.8820865706634569, -0.4710848914293322, -0.0015188555549381544, 350.39581298828125], [-0.0034894161306408913, 0.003309656385239643, 0.9999884350079649, 15.192793846130371], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3080716133117676, -0.6294243931770325, -0.022143345326185226, -0.0717022642493248, 0.5410271883010864, -0.7560319900512695, -1.300038456916809, -1.2600144147872925, -0.6347165703773499, 0.0009405219461768866, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2947539687156677, -1.1417666673660278, 0.9607352614402771, -0.9330055713653564, 0.6733760833740234, -0.2886945903301239, 1.3357293605804443, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711326073476807, 0.8820505878348037, -0.004563638247374556, -1.6163071393966675], [-0.8820555505238614, -0.47114302648606965, -0.0015014604869894334, 350.39617919921875], [-0.003474490440815392, 0.0033179954526148642, 0.9999884593445831, 15.186802864074707], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3076882362365723, -0.6293285489082336, -0.021184759214520454, -0.07227741181850433, 0.5410172343254089, -0.7560778856277466, -1.3000284433364868, -1.2600209712982178, -0.6347154974937439, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34506160020828247, -1.1437475681304932, 0.9891865253448486, -0.966970682144165, 0.809413731098175, -0.24694645404815674, 1.2462486028671265, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47104854203466484, 0.8820954891752737, -0.004562786829425382, -1.6496180295944214], [-0.8821004876460972, -0.4710589217425101, -0.0014906177582743921, 350.3962097167969], [-0.0034642086446684465, 0.003322683165495186, 0.9999884794511624, 15.182852745056152], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3074965476989746, -0.6293285489082336, -0.02013031393289566, -0.07237327098846436, 0.5410228967666626, -0.7560790777206421, -1.3000274896621704, -1.2600173950195312, -0.634712815284729, 0.0009402823052369058, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.40606868267059326, -1.1497199535369873, 1.0198930501937866, -1.009511947631836, 0.948632538318634, -0.2116566300392151, 1.1956826448440552, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47105188539554255, 0.8820936811936544, -0.004567150482750672, -1.6482821702957153], [-0.8820987891736083, -0.4710621885358557, -0.0014631029575319498, 350.3966369628906], [-0.0034420057755518018, 0.0033394805041348083, 0.9999885001669787, 15.173210144042969], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0820261240005493, 2.3071131706237793, -0.6294243931770325, -0.019075868651270866, -0.07275670766830444, 0.5410254001617432, -0.7560862898826599, -1.3000261783599854, -1.260016918182373, -0.6347121000289917, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44194021821022034, -1.1525877714157104, 1.0294077396392822, -1.0416905879974365, 1.0262629985809326, -0.17552970349788666, 1.2057480812072754, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47105152852243926, 0.8820938639206645, -0.004568666127653142, -1.6484812498092651], [-0.8820991741237345, -0.471061643348637, -0.0014054095158789136, 350.3974914550781], [-0.003391826484256044, 0.003367996317395173, 0.9999885759916993, 15.152992248535156], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0819302797317505, 2.3064420223236084, -0.6299036741256714, -0.018500717356801033, -0.07266084849834442, 0.541023313999176, -0.7560824751853943, -1.3000271320343018, -1.2600178718566895, -0.6347154974937439, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.46438151597976685, -1.1525776386260986, 1.0382877588272095, -1.0695135593414307, 1.0409891605377197, -0.15788592398166656, 1.2318620681762695, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47105357256163805, 0.8820927703904566, -0.004569048238631339, -1.6476191282272339], [-0.8820981847883556, -0.47106358585871466, -0.0013749440052779353, 350.3979797363281], [-0.003365140413998487, 0.003382676871748758, 0.9999886165987968, 15.142319679260254], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0818344354629517, 2.3059628009796143, -0.6299995183944702, -0.018596576526761055, -0.0717022642493248, 0.5410242676734924, -0.7560650706291199, -1.3000292778015137, -1.2600162029266357, -0.6347147226333618, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.48265406489372253, -1.1579973697662354, 1.0515851974487305, -1.103971004486084, 1.1025385856628418, -0.16757002472877502, 1.2886016368865967, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711071685288877, 0.8820641360761029, -0.004571171514203733, -1.6264450550079346], [-0.8820694467567505, -0.4711172994614934, -0.0014075675292461393, 350.3975830078125], [-0.0033951228158002403, 0.0033689755753475536, 0.9999885615068996, 15.15384578704834], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.3056752681732178, -0.6300954222679138, -0.01878829300403595, -0.07036024332046509, 0.5410233736038208, -0.7560911178588867, -1.3000266551971436, -1.260018229484558, -0.6347151398658752, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4846714735031128, -1.1640244722366333, 1.061599612236023, -1.125967025756836, 1.1491585969924927, -0.19365105032920837, 1.3586994409561157, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47102730212695176, 0.8821067808287879, -0.004572512097104156, -1.6581039428710938], [-0.8821122314256199, -0.4710373025711596, -0.001367755752960642, 350.3980407714844], [-0.003360330388398104, 0.0033892185469115185, 0.9999886106238021, 15.139747619628906], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0808758735656738, 2.305004358291626, -0.6306705474853516, -0.019555162638425827, -0.06796377152204514, 0.5410218238830566, -0.7560769319534302, -1.3000284433364868, -1.260016918182373, -0.6347148418426514, 0.0009405219461768866, -1.5358986854553223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.44494864344596863, -1.165150761604309, 1.066017985343933, -1.1327439546585083, 1.101277232170105, -0.2460598647594452, 1.4857125282287598, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710528341537972, 0.8820931540695266, -0.004571102640446654, -1.647903561592102], [-0.882098465576594, -0.47106296409428805, -0.0014074395624796554, 350.3974609375], [-0.003394769961817941, 0.0033691842303248884, 0.9999885620018504, 15.153701782226562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0802048444747925, 2.304812431335449, -0.6307663917541504, -0.019555162638425827, -0.06595074385404587, 0.5410245656967163, -0.7560898661613464, -1.300026535987854, -1.2600185871124268, -0.6347140073776245, 0.0009407616453245282, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3963550329208374, -1.1646591424942017, 1.0592485666275024, -1.1341049671173096, 1.0404105186462402, -0.2702258229255676, 1.538845419883728, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710224285324951, 0.882109381544038, -0.004572834060540013, -1.660030722618103], [-0.8821148874218722, -0.47103237524861985, -0.001351612496484093, 350.39825439453125], [-0.0033462229525147314, 0.0033971252019833506, 0.9999886311015311, 15.134081840515137], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0795338153839111, 2.3045248985290527, -0.6308622360229492, -0.0196510199457407, -0.06374599784612656, 0.5410289168357849, -0.7560887932777405, -1.300026297569275, -1.260015606880188, -0.6347106695175171, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34923598170280457, -1.1555448770523071, 1.0249043703079224, -1.1692636013031006, 0.9479355216026306, -0.28465843200683594, 1.536369800567627, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711061919411994, 0.8820646376653137, -0.004575029510310385, -1.626943826675415], [-0.8820700049565248, -0.4711162925785819, -0.0013947125182239503, 350.39776611328125], [-0.003385597533369519, 0.003378438599522522, 0.9999885618755703, 15.149333000183105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0791504383087158, 2.3039498329162598, -0.6312456727027893, -0.018500717356801033, -0.061924681067466736, 0.5410239100456238, -0.7560886144638062, -1.3000266551971436, -1.2600187063217163, -0.6347134113311768, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.310924768447876, -1.1389987468719482, 0.9881666898727417, -1.1954425573349, 0.880806028842926, -0.2844054400920868, 1.53578782081604, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47102561747549654, 0.8821076686302917, -0.004574781465722335, -1.6588730812072754], [-0.8821131549240049, -0.47103559725670796, -0.0013594215811964425, 350.3981628417969], [-0.003354041121700335, 0.003395152522123621, 0.999988611608905, 15.136820793151855], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.303758144378662, -0.6313415765762329, -0.01754213124513626, -0.05991164967417717, 0.5410254001617432, -0.7560866475105286, -1.3000270128250122, -1.260018229484558, -0.634713888168335, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.282695472240448, -1.1188840866088867, 0.9495700597763062, -1.2020666599273682, 0.8072263598442078, -0.28423213958740234, 1.5358632802963257, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110421050556206, 0.8820656835728482, -0.004577412707536693, -1.6276575326919556], [-0.8820710737093086, -0.47111430444635927, -0.0013903493554741882, 350.3978271484375], [-0.0033828640585164844, 0.0033826039063099395, 0.9999885570453168, 15.147796630859375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0783835649490356, 2.303758144378662, -0.6314374208450317, -0.016487685963511467, -0.05809033662080765, 0.5410237312316895, -0.7560892701148987, -1.3000261783599854, -1.2600196599960327, -0.6347141265869141, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2618894577026367, -1.0999298095703125, 0.9334878325462341, -1.192182183265686, 0.7309055328369141, -0.284298300743103, 1.535895824432373, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710485932749964, 0.8820953766049059, -0.00457922983659859, -1.6498186588287354], [-0.8821008390405305, -0.47105862723657466, -0.0013709376302661173, 350.39801025390625], [-0.003366383465900324, 0.0033935642388184346, 0.9999885755267994, 15.140891075134277], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.078191876411438, 2.3036623001098633, -0.6318208575248718, -0.016487685963511467, -0.05559800937771797, 0.541025698184967, -0.7560851573944092, -1.3000268936157227, -1.2600177526474, -0.6347135305404663, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24968144297599792, -1.0873814821243286, 0.9361740946769714, -1.1863784790039062, 0.6790151596069336, -0.28857487440109253, 1.531777262687683, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108022961341134, 0.8820784864874762, -0.004578312280596777, -1.6372251510620117], [-0.8820837685433761, -0.4710904371315878, -0.0014231357929349632, 350.39727783203125], [-0.0034121165998894794, 0.0033680438139303574, 0.9999885068045413, 15.159239768981934], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0780000686645508, 2.3034706115722656, -0.6319167017936707, -0.016008391976356506, -0.05281810835003853, 0.5410240888595581, -0.7560878992080688, -1.300026535987854, -1.2600191831588745, -0.6347131729125977, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2459578961133957, -1.0838661193847656, 0.9326701164245605, -1.1786872148513794, 0.6314292550086975, -0.30211931467056274, 1.5182212591171265, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47102527996363563, 0.8821078159377582, -0.004581123955591286, -1.659055471420288], [-0.8821132713348865, -0.47103533399467046, -0.0013750139614115125, 350.3979187011719], [-0.0033707818148775623, 0.003393403902729479, 0.9999885612545323, 15.14227294921875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0778083801269531, 2.3034706115722656, -0.6319167017936707, -0.01610425114631653, -0.05147608742117882, 0.5410242676734924, -0.7560860514640808, -1.3000264167785645, -1.2600184679031372, -0.6347137689590454, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.24616971611976624, -1.0841047763824463, 0.9326235055923462, -1.178952932357788, 0.6355259418487549, -0.3015432357788086, 1.5188360214233398, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0778083801269531, 2.3034706115722656, -0.6319167017936707, -0.016008391976356506, -0.05109265446662903, 0.5410246253013611, -0.7560862898826599, -1.3000268936157227, -1.2600183486938477, -0.634713888168335, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.25098252296447754, -1.0838098526000977, 0.9335989356040955, -1.1841464042663574, 0.6306431293487549, -0.2999337613582611, 1.5113612413406372, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0776166915893555, 2.3034706115722656, -0.6319167017936707, -0.015912534669041634, -0.05070921778678894, 0.541027307510376, -0.7560886740684509, -1.3000255823135376, -1.2600176334381104, -0.6347135305404663, 0.0009404021548107266, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.2641608715057373, -1.08183753490448, 0.9462331533432007, -1.2020995616912842, 0.6025487184524536, -0.29729363322257996, 1.4314775466918945, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0773290395736694, 2.303374767303467, -0.6319167017936707, -0.01581667549908161, -0.04975063353776932, 0.5410242080688477, -0.7560882568359375, -1.3000257015228271, -1.2600187063217163, -0.6347130537033081, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.27554717659950256, -1.0817173719406128, 0.9598308205604553, -1.202913761138916, 0.6044971346855164, -0.2899814546108246, 1.3665086030960083, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0772331953048706, 2.303086996078491, -0.6319167017936707, -0.01620011031627655, -0.04821689426898956, 0.5410248637199402, -0.756087064743042, -1.3000260591506958, -1.2600185871124268, -0.6347135305404663, 0.0009405219461768866, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.29004260897636414, -1.0822845697402954, 0.9677163362503052, -1.2067960500717163, 0.6283626556396484, -0.2814807891845703, 1.347279667854309, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0763704776763916, 2.3024160861968994, -0.6318208575248718, -0.017350412905216217, -0.04553285241127014, 0.5410236120223999, -0.7560867071151733, -1.3000264167785645, -1.2600188255310059, -0.634713888168335, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.312675803899765, -1.0792012214660645, 0.9860197305679321, -1.2179741859436035, 0.6521266102790833, -0.26712754368782043, 1.3295252323150635, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0750285387039185, 2.3018410205841064, -0.6315332651138306, -0.01840485818684101, -0.041315071284770966, 0.5410251617431641, -0.75608891248703, -1.3000255823135376, -1.2600181102752686, -0.6347140073776245, 0.0009405219461768866, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3505541682243347, -1.0648396015167236, 1.030271053314209, -1.2415919303894043, 0.6587245464324951, -0.24495947360992432, 1.3215795755386353, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.073302984237671, 2.300307273864746, -0.6316291093826294, -0.02003445476293564, -0.035659413784742355, 0.5410227179527283, -0.7560718655586243, -1.300028681755066, -1.2600183486938477, -0.6347146034240723, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3579550087451935, -1.0622938871383667, 1.0389502048492432, -1.2485613822937012, 0.6583582162857056, -0.2427215427160263, 1.3215339183807373, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0720568895339966, 2.2994444370269775, -0.631725013256073, -0.021184759214520454, -0.0324002206325531, 0.541022539138794, -0.7560790181159973, -1.3000279664993286, -1.2600185871124268, -0.6347142457962036, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3565921187400818, -1.0627087354660034, 1.0374937057495117, -1.2474191188812256, 0.6582105159759521, -0.2433985322713852, 1.3217390775680542, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0713858604431152, 2.2994444370269775, -0.6318208575248718, -0.02147233486175537, -0.03134577348828316, 0.5410254597663879, -0.7560883164405823, -1.3000272512435913, -1.2600171566009521, -0.6347137689590454, 0.0009402823052369058, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3604075014591217, -1.0623244047164917, 1.0376248359680176, -1.25478994846344, 0.6511352062225342, -0.24548271298408508, 1.3151438236236572, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0712900161743164, 2.299156904220581, -0.6319167017936707, -0.021759910508990288, -0.03105819970369339, 0.5410258173942566, -0.7560914158821106, -1.300026297569275, -1.2600170373916626, -0.6347126960754395, 0.0009406417957507074, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35961589217185974, -1.0561025142669678, 1.0469081401824951, -1.2919921875, 0.5668975710868835, -0.27409467101097107, 1.295914888381958, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0717692375183105, 2.2978148460388184, -0.6324918866157532, -0.021664051339030266, -0.03182506933808327, 0.5410228967666626, -0.7560880184173584, -1.300026774406433, -1.2600189447402954, -0.6347135305404663, 0.0009407616453245282, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35450801253318787, -1.0534613132476807, 1.0605034828186035, -1.3017561435699463, 0.558130145072937, -0.3016720712184906, 1.309495449066162, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0731112957000732, 2.2978148460388184, -0.6331628561019897, -0.021280618384480476, -0.03374224156141281, 0.541024923324585, -0.7560847997665405, -1.3000270128250122, -1.2600175142288208, -0.6347134113311768, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.34982821345329285, -1.049169898033142, 1.0641080141067505, -1.3078771829605103, 0.5416136384010315, -0.3275066912174225, 1.3700851202011108, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.074357509613037, 2.2978148460388184, -0.6337380409240723, -0.02013031393289566, -0.03623456507921219, 0.5410240888595581, -0.7560902833938599, -1.300026297569275, -1.2600187063217163, -0.6347135305404663, 0.0009407616453245282, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3538522720336914, -1.0419684648513794, 1.0653802156448364, -1.313017725944519, 0.5035115480422974, -0.329429566860199, 1.426759958267212, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0754119157791138, 2.297910690307617, -0.63431316614151, -0.01830899901688099, -0.03968547657132149, 0.5410246849060059, -0.7560849785804749, -1.3000271320343018, -1.2600178718566895, -0.6347134113311768, 0.000940881494898349, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.35970526933670044, -1.032632827758789, 1.0725488662719727, -1.3170497417449951, 0.4541274607181549, -0.3333140015602112, 1.4692952632904053, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0767539739608765, 2.2988693714141846, -0.6346007585525513, -0.015912534669041634, -0.04294466972351074, 0.5410243272781372, -0.7560797333717346, -1.3000271320343018, -1.260018229484558, -0.634713888168335, 0.0009404021548107266, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36330968141555786, -1.032049298286438, 1.0761423110961914, -1.2980058193206787, 0.445431113243103, -0.3158465325832367, 1.4294772148132324, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0777125358581543, 2.3010740280151367, -0.6345049142837524, -0.012269905768334866, -0.04677901417016983, 0.5410247445106506, -0.7560864686965942, -1.3000260591506958, -1.260014295578003, -0.6347041130065918, 0.0009405219461768866, -1.5358966588974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.39146384596824646, -1.0442144870758057, 1.0827776193618774, -1.2659063339233398, 0.5674169659614563, -0.25730034708976746, 1.3049464225769043, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0789586305618286, 2.302607774734497, -0.6345049142837524, -0.008627277798950672, -0.050038207322359085, 0.541024386882782, -0.7560867071151733, -1.3000253438949585, -1.2600178718566895, -0.6347090005874634, 0.0009406417957507074, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.42183586955070496, -1.0555356740951538, 1.085649847984314, -1.2575081586837769, 0.6864161491394043, -0.21500034630298615, 1.1932830810546875, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.303086996078491, -0.6346007585525513, -0.004984649363905191, -0.05262639373540878, 0.5410245656967163, -0.7560932636260986, -1.3000249862670898, -1.2600185871124268, -0.634713888168335, 0.000940881494898349, -1.5359008312225342, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4373313784599304, -1.062947392463684, 1.0818841457366943, -1.2607455253601074, 0.7364597320556641, -0.20610865950584412, 1.1288211345672607, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803965330123901, 2.3035664558410645, -0.635175883769989, -0.002396465977653861, -0.05454356595873833, 0.5410240888595581, -0.7560861706733704, -1.3000264167785645, -1.2600178718566895, -0.6347152590751648, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4377565085887909, -1.0648188591003418, 1.0736112594604492, -1.2631828784942627, 0.7293457984924316, -0.2030724585056305, 1.1488999128341675, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0809717178344727, 2.3035664558410645, -0.6357510685920715, 0.0, -0.055693868547677994, 0.5410232543945312, -0.7560877799987793, -1.3000259399414062, -1.2600188255310059, -0.6347152590751648, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.43725669384002686, -1.064709186553955, 1.073517918586731, -1.2627519369125366, 0.7282276749610901, -0.20274707674980164, 1.1511322259902954, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.3036623001098633, -0.6358469128608704, 0.0, -0.056173160672187805, 0.5410242676734924, -0.7560870051383972, -1.3000259399414062, -1.2600183486938477, -0.6347151398658752, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4372631311416626, -1.064695119857788, 1.0736353397369385, -1.2627378702163696, 0.7284772992134094, -0.20282462239265442, 1.1505872011184692, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0812592506408691, 2.3040456771850586, -0.6359427571296692, 0.0, -0.05655659735202789, 0.5410237908363342, -0.7560805082321167, -1.3000264167785645, -1.2600178718566895, -0.6347150206565857, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.43809202313423157, -1.0637142658233643, 1.0755470991134644, -1.2823200225830078, 0.7109023332595825, -0.2123294323682785, 1.143946647644043, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.3039498329162598, -0.6361345052719116, 0.0, -0.05646073818206787, 0.5410235524177551, -0.7560813426971436, -1.300026535987854, -1.2600183486938477, -0.6347152590751648, 0.0009404021548107266, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.42912817001342773, -1.060384750366211, 1.0851387977600098, -1.3294177055358887, 0.6612255573272705, -0.2607176601886749, 1.1821447610855103, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0814510583877563, 2.3040456771850586, -0.6360386610031128, 0.0, -0.05646073818206787, 0.5410248637199402, -0.7561144828796387, -1.3000240325927734, -1.2600183486938477, -0.6347135305404663, 0.0009406417957507074, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4113195240497589, -1.0573002099990845, 1.0956509113311768, -1.3390682935714722, 0.6500211358070374, -0.30144843459129333, 1.2597532272338867, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47110472500626854, 0.882065374764532, -0.004583963162430967, -1.6275538206100464], [-0.8820706515921021, -0.4711149756241002, -0.0014301547428806265, 350.397216796875], [-0.003421063672780709, 0.003369626716698487, 0.9999884709031084, 15.161734580993652], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.081355094909668, 2.3040456771850586, -0.6358469128608704, -0.0013420209288597107, -0.056173160672187805, 0.5410253405570984, -0.7560810446739197, -1.3000284433364868, -1.2600162029266357, -0.6347135305404663, 0.0009405219461768866, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.39765140414237976, -1.0514237880706787, 1.1138348579406738, -1.3619863986968994, 0.6592984795570374, -0.3269316852092743, 1.3529034852981567, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108557773702153, 0.8820756056722006, -0.004583047697455821, -1.635148286819458], [-0.8820807904200018, -0.4710959125261496, -0.001456150122550919, 350.39678955078125], [-0.00344348953848257, 0.003356647013750665, 0.999988437583467, 15.17081069946289], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0811634063720703, 2.3040456771850586, -0.6352717876434326, -0.0023006072733551264, -0.05559800937771797, 0.5410236120223999, -0.7560813426971436, -1.3000284433364868, -1.2600187063217163, -0.634713888168335, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.39365047216415405, -1.0449880361557007, 1.138488531112671, -1.387343406677246, 0.6804309487342834, -0.323844313621521, 1.4139049053192139, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108557773702153, 0.8820756056722006, -0.004583047697455821, -1.635148286819458], [-0.8820807904200018, -0.4710959125261496, -0.001456150122550919, 350.39678955078125], [-0.00344348953848257, 0.003356647013750665, 0.999988437583467, 15.17081069946289], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0803965330123901, 2.3039498329162598, -0.6345049142837524, -0.0026840418577194214, -0.05511871725320816, 0.5410237908363342, -0.7560738325119019, -1.3000291585922241, -1.2600153684616089, -0.6347081661224365, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4130387604236603, -1.0485665798187256, 1.170017957687378, -1.392479658126831, 0.7909961342811584, -0.28996190428733826, 1.3356659412384033, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47114141870145265, 0.8820457878235209, -0.004581677287479151, -1.612924337387085], [-0.882050886205946, -0.47115182777580156, -0.0014796373970748175, 350.39654541015625], [-0.00346377356187068, 0.0033441540493090853, 0.9999884093860322, 15.179143905639648], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3039498329162598, -0.6337380409240723, -0.0014378795167431235, -0.05559800937771797, 0.5410243272781372, -0.7560897469520569, -1.3000280857086182, -1.2600173950195312, -0.6347156167030334, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.45721080899238586, -1.0556480884552002, 1.17718505859375, -1.400701880455017, 0.9254937767982483, -0.20114119350910187, 1.2068172693252563, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710343861587707, 0.8821029501665365, -0.00458174241126673, -1.6554791927337646], [-0.8821082574886825, -0.4710445920849877, -0.001419273676314065, 350.3972473144531], [-0.003410150482123966, 0.0033730661097505915, 0.99998849658319, 15.157797813415527], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0791504383087158, 2.303758144378662, -0.6330670118331909, 0.0012461623409762979, -0.057898618280887604, 0.5410251021385193, -0.756083607673645, -1.300028681755066, -1.2600167989730835, -0.6347141265869141, 0.0009406417957507074, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5168043971061707, -1.0588077306747437, 1.1616277694702148, -1.425018548965454, 1.0130581855773926, -0.07070956379175186, 1.123038649559021, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711153720338461, 0.8820596992397953, -0.004581834830345955, -1.623362421989441], [-0.88206494082039, -0.4711256429158286, -0.0014383193905068818, 350.3971252441406], [-0.0034273034491821403, 0.003363861493715762, 0.9999884689469766, 15.164618492126465], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.3035664558410645, -0.632587730884552, 0.004888790659606457, -0.061828821897506714, 0.5410223007202148, -0.7561041116714478, -1.3000266551971436, -1.260020136833191, -0.6347135305404663, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5738458633422852, -1.0611772537231445, 1.1584522724151611, -1.4734561443328857, 1.0766270160675049, 0.013460441492497921, 1.0475101470947266, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103383537692123, 0.8821032424298583, -0.004582098300811858, -1.6557140350341797], [-0.8821086574504802, -0.47104393651480625, -0.001387920583739223, 350.3977355957031], [-0.003382658868263732, 0.0033881510246780125, 0.9999885389601297, 15.146809577941895], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.3029911518096924, -0.6323001384735107, 0.007093539461493492, -0.06633418053388596, 0.541024923324585, -0.7560914158821106, -1.3000259399414062, -1.2600187063217163, -0.6347131729125977, 0.0009406417957507074, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6149259209632874, -1.0615342855453491, 1.1703890562057495, -1.5236084461212158, 1.102874517440796, 0.046816613525152206, 0.9912581443786621, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710886201316469, 0.8820739826397063, -0.0045826992688135434, -1.633925199508667], [-0.882079216884412, -0.4710989041731628, -0.0014413977340059652, 350.39703369140625], [-0.0034303240434957042, 0.0033632777126780655, 0.9999884605534126, 15.165647506713867], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.3025119304656982, -0.6320125460624695, 0.007956267334520817, -0.06988094747066498, 0.5410232543945312, -0.7560850977897644, -1.3000270128250122, -1.2600188255310059, -0.6347137689590454, 0.0009405219461768866, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6325386166572571, -1.0615336894989014, 1.1808359622955322, -1.5455842018127441, 1.1038976907730103, 0.048227518796920776, 0.9825886487960815, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108859004064807, 0.8820740024354249, -0.0045819822199646846, -1.6338893175125122], [-0.8820793324974978, -0.47109877477057527, -0.0014126536841691949, 350.3974609375], [-0.0034046312990961944, 0.0033761867858108593, 0.9999885048581831, 15.155576705932617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0786710977554321, 2.302607774734497, -0.6313415765762329, 0.008052125573158264, -0.07304428517818451, 0.541023850440979, -0.7560883164405823, -1.3000260591506958, -1.2600184679031372, -0.6347131729125977, 0.0009406417957507074, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6289570927619934, -1.0623966455459595, 1.1967315673828125, -1.5589277744293213, 1.0795295238494873, -0.004075235687196255, 1.0097180604934692, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108859004064807, 0.8820740024354249, -0.0045819822199646846, -1.6338893175125122], [-0.8820793324974978, -0.47109877477057527, -0.0014126536841691949, 350.3974609375], [-0.0034046312990961944, 0.0033761867858108593, 0.9999885048581831, 15.155576705932617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.078766942024231, 2.3025119304656982, -0.6308622360229492, 0.0077645499259233475, -0.07572832703590393, 0.5410248637199402, -0.7560854554176331, -1.300026297569275, -1.2600188255310059, -0.6347113847732544, 0.0009402823052369058, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5877381563186646, -1.0577707290649414, 1.2053896188735962, -1.5536482334136963, 0.9587287902832031, -0.08856989443302155, 1.1279770135879517, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471063449829656, 0.8820874295835119, -0.004581790625512396, -1.6439133882522583], [-0.882092755860733, -0.4710736371544275, -0.0014136605377245968, 350.39739990234375], [-0.0034053329646653186, 0.0033756405098465062, 0.9999885043131986, 15.1558837890625], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0792462825775146, 2.3025119304656982, -0.6301912665367126, 0.007285256404429674, -0.07783721387386322, 0.541024386882782, -0.7560723423957825, -1.30002760887146, -1.260016679763794, -0.6347165703773499, 0.0009405219461768866, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5312115550041199, -1.0539560317993164, 1.2079384326934814, -1.528348684310913, 0.8449235558509827, -0.1689363420009613, 1.2620142698287964, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0795338153839111, 2.3025119304656982, -0.6293285489082336, 0.0069976807571947575, -0.07985024899244308, 0.5410248041152954, -0.7560826539993286, -1.3000264167785645, -1.2600171566009521, -0.6347143650054932, 0.0009405219461768866, -1.5358988046646118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.47514966130256653, -1.0516650676727295, 1.2006337642669678, -1.5013017654418945, 0.7605589628219604, -0.23292706906795502, 1.383434534072876, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07962965965271, 2.3025119304656982, -0.6286575198173523, 0.006901822052896023, -0.08157569915056229, 0.5410250425338745, -0.7560827732086182, -1.3000270128250122, -1.260016679763794, -0.6347141265869141, 0.0009405219461768866, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4293106496334076, -1.04902184009552, 1.1890100240707397, -1.4900201559066772, 0.6918459534645081, -0.26644670963287354, 1.474914312362671, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07962965965271, 2.302607774734497, -0.6276030540466309, 0.007285256404429674, -0.08349287509918213, 0.5410248041152954, -0.7560986280441284, -1.3000245094299316, -1.2600176334381104, -0.6347131729125977, 0.0009407616453245282, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3809826970100403, -1.0464106798171997, 1.1619081497192383, -1.497801423072815, 0.6228877305984497, -0.2853618860244751, 1.5385558605194092, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3025119304656982, -0.6273155212402344, 0.007285256404429674, -0.08493075519800186, 0.5410234332084656, -0.7560818791389465, -1.3000274896621704, -1.2600171566009521, -0.6347146034240723, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3553456962108612, -1.0401328802108765, 1.1259936094284058, -1.5272279977798462, 0.5726639032363892, -0.2845252752304077, 1.5364923477172852, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3025119304656982, -0.6263568997383118, 0.007956267334520817, -0.08646449446678162, 0.5410215854644775, -0.7560869455337524, -1.300026535987854, -1.2600189447402954, -0.6347148418426514, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3361017405986786, -1.0303610563278198, 1.0924127101898193, -1.5395762920379639, 0.55828857421875, -0.28430691361427307, 1.535821557044983, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3023202419281006, -0.6259734630584717, 0.008627277798950672, -0.08742307871580124, 0.5410252809524536, -0.7560902833938599, -1.3000257015228271, -1.2600173950195312, -0.6347134113311768, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3318159282207489, -1.0233619213104248, 1.0711561441421509, -1.5319905281066895, 0.5650433897972107, -0.28429925441741943, 1.535840392112732, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3018410205841064, -0.6253983378410339, 0.009394146502017975, -0.08828580379486084, 0.5410242676734924, -0.7561067938804626, -1.3000248670578003, -1.260019302368164, -0.6347134113311768, 0.0009406417957507074, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3352912962436676, -1.0188935995101929, 1.060257911682129, -1.508476734161377, 0.5628483295440674, -0.28417545557022095, 1.535885214805603, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3012657165527344, -0.6252065896987915, 0.009394146502017975, -0.08866924047470093, 0.5410249829292297, -0.7560825943946838, -1.3000260591506958, -1.2600175142288208, -0.6347135305404663, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.33635690808296204, -1.019144058227539, 1.060874581336975, -1.5099809169769287, 0.5622726082801819, -0.28331056237220764, 1.5347843170166016, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0798214673995972, 2.300978183746338, -0.6250149011611938, 0.009969298727810383, -0.08934024721384048, 0.5410283207893372, -0.7560819387435913, -1.3000264167785645, -1.2600194215774536, -0.634713888168335, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.37402406334877014, -1.0124431848526, 1.067193627357483, -1.531383991241455, 0.5286468267440796, -0.26594170928001404, 1.5049201250076294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0797255039215088, 2.3007864952087402, -0.6245356202125549, 0.011311319656670094, -0.0928870216012001, 0.5410257577896118, -0.7560683488845825, -1.3000282049179077, -1.2600184679031372, -0.6347131729125977, 0.0009406417957507074, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.404969185590744, -1.0014827251434326, 1.096061110496521, -1.5448400974273682, 0.5095953941345215, -0.2526877522468567, 1.5005875825881958, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0791504383087158, 2.300882339477539, -0.6236728429794312, 0.015337382443249226, -0.10141843557357788, 0.541024386882782, -0.7560728192329407, -1.3000288009643555, -1.2600177526474, -0.6347131729125977, 0.0009406417957507074, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4414263963699341, -0.99078768491745, 1.1237337589263916, -1.5618023872375488, 0.5003142952919006, -0.23800647258758545, 1.4993228912353516, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0778083801269531, 2.300882339477539, -0.6226184368133545, 0.021568194031715393, -0.11541379988193512, 0.5410259962081909, -0.7560767531394958, -1.3000280857086182, -1.2600170373916626, -0.6347130537033081, 0.0009402823052369058, -1.5359004735946655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.480010449886322, -0.9805952310562134, 1.1481927633285522, -1.5813807249069214, 0.4934093654155731, -0.22071370482444763, 1.5024197101593018, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0756994485855103, 2.300882339477539, -0.621180534362793, 0.03335880488157272, -0.1395701766014099, 0.5410220623016357, -0.7560861706733704, -1.3000285625457764, -1.2600178718566895, -0.6347148418426514, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5227798223495483, -0.9683526158332825, 1.1807687282562256, -1.6102458238601685, 0.48907142877578735, -0.19778884947299957, 1.5084736347198486, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.073590636253357, 2.3004989624023438, -0.6202219724655151, 0.04409497231245041, -0.1641099900007248, 0.5410240888595581, -0.7560895681381226, -1.3000273704528809, -1.260016918182373, -0.6347137689590454, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5514658093452454, -0.9582509398460388, 1.2085554599761963, -1.6272554397583008, 0.4758221507072449, -0.1833622306585312, 1.5158311128616333, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0707148313522339, 2.2990610599517822, -0.619455099105835, 0.05588558688759804, -0.1939220279455185, 0.5410231351852417, -0.7560942769050598, -1.3000272512435913, -1.2600172758102417, -0.6347134113311768, 0.0009404021548107266, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5783171653747559, -0.9450249075889587, 1.2430592775344849, -1.6366524696350098, 0.4431392550468445, -0.16849364340305328, 1.5331721305847168, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.068030834197998, 2.2966644763946533, -0.6186882257461548, 0.06681346893310547, -0.22699326276779175, 0.5410221219062805, -0.7560941576957703, -1.300026297569275, -1.2600183486938477, -0.6347136497497559, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6163941025733948, -0.9224813580513, 1.290385127067566, -1.6489933729171753, 0.3863201141357422, -0.1429559886455536, 1.5364142656326294, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0656343698501587, 2.2948431968688965, -0.6183047890663147, 0.07352357357740402, -0.25412124395370483, 0.5410215258598328, -0.7560757398605347, -1.300026535987854, -1.260016918182373, -0.6347135305404663, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6629884243011475, -0.8932450413703918, 1.319990873336792, -1.6669538021087646, 0.3402506113052368, -0.13421480357646942, 1.5358855724334717, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0631420612335205, 2.2935969829559326, -0.6178255081176758, 0.07764549553394318, -0.2759770154953003, 0.5410211682319641, -0.7560920119285583, -1.300026535987854, -1.260019063949585, -0.6347146034240723, 0.0009402823052369058, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7097044587135315, -0.8562867045402527, 1.3099141120910645, -1.6896501779556274, 0.30163633823394775, -0.14173683524131775, 1.5358715057373047, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0610331296920776, 2.2930219173431396, -0.6172503232955933, 0.07927509397268295, -0.2910268306732178, 0.5410239100456238, -0.7560878396034241, -1.3000261783599854, -1.2600177526474, -0.6347135305404663, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7428051233291626, -0.8201661109924316, 1.2859467267990112, -1.6900312900543213, 0.28488826751708984, -0.16216729581356049, 1.535882830619812, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0584449768066406, 2.2920632362365723, -0.6167710423469543, 0.07956267148256302, -0.30176299810409546, 0.541023313999176, -0.7560866475105286, -1.3000261783599854, -1.2600181102752686, -0.6347136497497559, 0.0009405219461768866, -1.53589928150177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7734469771385193, -0.7807533740997314, 1.2516520023345947, -1.671844482421875, 0.2579648792743683, -0.1839858889579773, 1.5358790159225464, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0561443567276, 2.2920632362365723, -0.6162917613983154, 0.079466812312603, -0.3061724901199341, 0.5410242676734924, -0.7560788989067078, -1.3000268936157227, -1.2600170373916626, -0.6347136497497559, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8092470765113831, -0.7459235191345215, 1.214302659034729, -1.642750859260559, 0.1998211294412613, -0.1973320096731186, 1.5358915328979492, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710629017658279, 0.8820877239761687, -0.004581461611786317, -1.6440887451171875], [-0.8820930052303456, -0.47107313138949714, -0.001426536571915723, 350.3971862792969], [-0.0034165338656948594, 0.003369286784446358, 0.999988487535186, 15.160394668579102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0539395809173584, 2.2919673919677734, -0.6155248880386353, 0.07889165729284286, -0.3070352077484131, 0.5410199165344238, -0.7560786604881287, -1.3000279664993286, -1.260018229484558, -0.6347140073776245, 0.000940162455663085, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8566586971282959, -0.7040459513664246, 1.1864405870437622, -1.6103421449661255, 0.17176294326782227, -0.19870372116565704, 1.5359013080596924, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710374194870417, 0.8821013325357079, -0.004581329688776698, -1.6544262170791626], [-0.8821065816200396, -0.471047680028031, -0.0014358979134914613, 350.3970031738281], [-0.003424632184217866, 0.003364859423223368, 0.9999884747413166, 15.163628578186035], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0526933670043945, 2.2920632362365723, -0.6146621704101562, 0.07831650972366333, -0.304926335811615, 0.5410257577896118, -0.7560835480690002, -1.300027847290039, -1.260015845298767, -0.6347132921218872, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8782196044921875, -0.6750389933586121, 1.1802234649658203, -1.5819618701934814, 0.15877072513103485, -0.19668786227703094, 1.5359013080596924, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710666483110926, 0.8820857150965621, -0.004583019914843589, -1.642703652381897], [-0.8820908788817005, -0.4710770034284504, -0.0014622703514550798, 350.39666748046875], [-0.003448803076765185, 0.0033538132712320895, 0.9999884287799932, 15.172920227050781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0521183013916016, 2.2919673919677734, -0.6136077046394348, 0.07764549553394318, -0.29879137873649597, 0.5410236120223999, -0.7560802698135376, -1.3000280857086182, -1.2600171566009521, -0.6347137689590454, 0.0009407616453245282, -1.5358994007110596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8785487413406372, -0.6655107140541077, 1.188636064529419, -1.5260001420974731, 0.1444193720817566, -0.1878606379032135, 1.503738284111023, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710153278687057, 0.8821131226920385, -0.004582541569503086, -1.66304612159729], [-0.8821183514173696, -0.47102561666247644, -0.0014431009790286883, 350.3968505859375], [-0.003431472779627558, 0.0033626213338067805, 0.9999884588195647, 15.166110038757324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0518306493759155, 2.2924468517303467, -0.6124573945999146, 0.07764549553394318, -0.29227298498153687, 0.5410245656967163, -0.756084680557251, -1.300027847290039, -1.260016679763794, -0.6347136497497559, 0.0009406417957507074, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8745167255401611, -0.6765255331993103, 1.1583360433578491, -1.4935507774353027, 0.10078277438879013, -0.18245719373226166, 1.4163506031036377, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710153278687057, 0.8821131226920385, -0.004582541569503086, -1.66304612159729], [-0.8821183514173696, -0.47102561666247644, -0.0014431009790286883, 350.3968505859375], [-0.003431472779627558, 0.0033626213338067805, 0.9999884588195647, 15.166110038757324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0519264936447144, 2.2936928272247314, -0.6106361150741577, 0.07639933377504349, -0.2815368175506592, 0.5410232543945312, -0.7560827136039734, -1.300027847290039, -1.260018229484558, -0.6347147226333618, 0.0009410013444721699, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8512734174728394, -0.7015510201454163, 1.0931589603424072, -1.4609239101409912, 0.08894811570644379, -0.1525113731622696, 1.308967113494873, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710153278687057, 0.8821131226920385, -0.004582541569503086, -1.66304612159729], [-0.8821183514173696, -0.47102561666247644, -0.0014431009790286883, 350.3968505859375], [-0.003431472779627558, 0.0033626213338067805, 0.9999884588195647, 15.166110038757324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0525975227355957, 2.2949390411376953, -0.6088147759437561, 0.07419458776712418, -0.27012965083122253, 0.5410241484642029, -0.7560912370681763, -1.30002760887146, -1.2600175142288208, -0.6347135305404663, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8152599334716797, -0.7298131585121155, 1.028477668762207, -1.428551435470581, 0.08906196802854538, -0.1273883581161499, 1.2236533164978027, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710153278687057, 0.8821131226920385, -0.004582541569503086, -1.66304612159729], [-0.8821183514173696, -0.47102561666247644, -0.0014431009790286883, 350.3968505859375], [-0.003431472779627558, 0.0033626213338067805, 0.9999884588195647, 15.166110038757324], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0538437366485596, 2.2953224182128906, -0.6071851849555969, 0.07103125005960464, -0.25728458166122437, 0.541023313999176, -0.7560930252075195, -1.3000258207321167, -1.2600191831588745, -0.6347135305404663, 0.0009405219461768866, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7957071661949158, -0.7604573369026184, 0.9776803851127625, -1.3825886249542236, 0.13842713832855225, -0.07895686477422714, 1.1114444732666016, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710643367885088, 0.8820869536105006, -0.0045822348422046785, -1.643763780593872], [-0.882092197573937, -0.47107460830340475, -0.001438190174022294, 350.39703369140625], [-0.0034271832727616625, 0.003364473501258625, 0.9999884672999355, 15.16447925567627], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0548981428146362, 2.2953224182128906, -0.6053638458251953, 0.06700518727302551, -0.2431933581829071, 0.5410236120223999, -0.7560842633247375, -1.3000270128250122, -1.2600195407867432, -0.6347141265869141, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7939978837966919, -0.7880390882492065, 0.9414277672767639, -1.3327062129974365, 0.19635456800460815, -0.031178278848528862, 0.9931743144989014, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47104001354979186, 0.8820999479707481, -0.0045812034461326385, -1.6532725095748901], [-0.8821048818988002, -0.4710505773572855, -0.001526729075888568, 350.3956298828125], [-0.0035047061666987006, 0.003321951440211796, 0.9999883407686881, 15.195460319519043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0555691719055176, 2.2954185009002686, -0.6026798486709595, 0.06288326531648636, -0.22871871292591095, 0.5410245656967163, -0.7560914158821106, -1.3000264167785645, -1.260019063949585, -0.634715735912323, 0.0009406417957507074, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8147987723350525, -0.8098800182342529, 0.9306254982948303, -1.290855884552002, 0.28535890579223633, 0.01698104664683342, 0.8729727864265442, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106562546664654, 0.8820862650777934, -0.0045822990764421805, -1.643200397491455], [-0.8820912145931871, -0.471076181633693, -0.0015232317407352642, 350.395751953125], [-0.0035022337490670944, 0.003324463645288016, 0.9999883410821538, 15.194279670715332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0559526681900024, 2.2954185009002686, -0.600379228591919, 0.059336498379707336, -0.2163529396057129, 0.5410245060920715, -0.7560884356498718, -1.3000259399414062, -1.2600183486938477, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8389173150062561, -0.8196781277656555, 0.9382390975952148, -1.2821696996688843, 0.3330498933792114, 0.0238339863717556, 0.7789439558982849, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710664657294972, 0.8820858115031627, -0.004583231384856247, -1.6427862644195557], [-0.8820909114722609, -0.4710768840955146, -0.0014809351426515389, 350.3963928222656], [-0.003465366236956187, 0.0033452078661326498, 0.999988400343312, 15.179459571838379], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0560485124588013, 2.2953224182128906, -0.5973117351531982, 0.055310435593128204, -0.2017824351787567, 0.5410245656967163, -0.7560812830924988, -1.300026297569275, -1.2600181102752686, -0.6347144842147827, 0.0009402823052369058, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8718099594116211, -0.8266236186027527, 0.9612381458282471, -1.298689603805542, 0.39817503094673157, -0.011137419380247593, 0.6987344622612, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106643069770815, 0.8820858201303612, -0.0045851711712320345, -1.6428009271621704], [-0.8820908758017075, -0.4710769046850338, -0.0014955600102999384, 350.3961486816406], [-0.0034791805210346296, 0.003340029538186587, 0.9999883696851609, 15.18458080291748], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0561443567276, 2.2948431968688965, -0.5946276783943176, 0.051763664931058884, -0.19104626774787903, 0.5410283207893372, -0.756106436252594, -1.3000226020812988, -1.2600183486938477, -0.6347131729125977, 0.0009405219461768866, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8713209629058838, -0.8336790204048157, 0.969531238079071, -1.3140372037887573, 0.41406241059303284, -0.049089062958955765, 0.6919656991958618, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106271006170863, 0.882087800249528, -0.0045864845216608986, -1.6442508697509766], [-0.8820927947042981, -0.47107325139784684, -0.0015143804746257116, 350.3958740234375], [-0.0034963867177081284, 0.0033323367791381433, 0.9999883353377231, 15.191165924072266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0563360452651978, 2.2931177616119385, -0.5921353697776794, 0.04850447177886963, -0.1831858605146408, 0.5410257577896118, -0.7560844421386719, -1.3000259399414062, -1.2600176334381104, -0.6347136497497559, 0.0009407616453245282, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8629522919654846, -0.8390997648239136, 0.9647457003593445, -1.316506028175354, 0.4102272093296051, -0.038327109068632126, 0.7133934497833252, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711440351686609, 0.8820443623705417, -0.004587039931828704, -1.6121474504470825], [-0.8820492270427833, -0.47115470251709524, -0.0015515699327300814, 350.39544677734375], [-0.0035297589465029984, 0.0033149821073310713, 0.9999882757789752, 15.204344749450684], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0564318895339966, 2.2912964820861816, -0.5888761878013611, 0.045628711581230164, -0.17695504426956177, 0.5410239100456238, -0.7560874223709106, -1.300025224685669, -1.2600188255310059, -0.6347137689590454, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8709415197372437, -0.8370840549468994, 0.9640116691589355, -1.2962449789047241, 0.37153998017311096, 0.0002520282578188926, 0.7570256590843201, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47111755315250603, 0.8820585097091321, -0.004586563125110552, -1.6226037740707397], [-0.8820634166619935, -0.47112817768131965, -0.0015392144910438305, 350.3955993652344], [-0.003518536367046494, 0.0033204885760734744, 0.9999882970602456, 15.199968338012695], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0565277338027954, 2.2901461124420166, -0.5863838791847229, 0.043040528893470764, -0.17302484810352325, 0.5410242676734924, -0.7560874819755554, -1.300025463104248, -1.2600183486938477, -0.6347137689590454, 0.0009404021548107266, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8915103077888489, -0.8263596296310425, 0.9885679483413696, -1.2940715551376343, 0.33406373858451843, 0.012483367696404457, 0.7860181331634521, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710643651232669, 0.8820869141956978, -0.004586906988895372, -1.6436432600021362], [-0.882091842613717, -0.47107497196781734, -0.0015336165940720893, 350.39556884765625], [-0.0035135602102372384, 0.0033236411105033795, 0.9999883040838116, 15.197909355163574], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0567195415496826, 2.2888998985290527, -0.5843708515167236, 0.04026062786579132, -0.17043666541576385, 0.5410242080688477, -0.7560756206512451, -1.3000273704528809, -1.2600183486938477, -0.6347130537033081, 0.0009407616453245282, -1.5359009504318237, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9106099605560303, -0.8115363717079163, 1.0251413583755493, -1.3097171783447266, 0.29297930002212524, 0.0010674349032342434, 0.8232257962226868, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, -0.16199998383993633, -0.16199998383993633, -0.16199998383993633, 0.16199998383993633, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711204817203134, 0.882056946192004, -0.0045864341329379344, -1.6214509010314941], [-0.8820617702810475, -0.4711311832165035, -0.0015625650968490582, 350.3952331542969], [-0.0035390835373485014, 0.0033093617894297787, 0.9999882614372342, 15.208155632019043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0568153858184814, 2.2879414558410645, -0.5812075138092041, 0.03767244517803192, -0.1689029186964035, 0.541023850440979, -0.7560998201370239, -1.3000249862670898, -1.260020136833191, -0.6347121000289917, 0.0009404021548107266, -1.535900354385376, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9342705011367798, -0.7884669899940491, 1.0908244848251343, -1.3308204412460327, 0.2484389692544937, -0.02340327389538288, 0.8735717535018921, 0.554400000336406, 0.554400000336406, 0.554400000336406, 0.554400000336406, -0.554400000336406, -0.554400000336406, -0.554400000336406, 0.554400000336406, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103727362356573, 0.8821013735516826, -0.004588424077276443, -1.6543474197387695], [-0.8821062752244522, -0.47104791597968587, -0.0015427445795314094, 350.3953857421875], [-0.0035222247118761505, 0.003320787471316508, 0.9999882830831817, 15.201055526733398], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0566235780715942, 2.2872703075408936, -0.5785234570503235, 0.03508426249027252, -0.16813604533672333, 0.5410239100456238, -0.7560836672782898, -1.3000271320343018, -1.2600183486938477, -0.6347134113311768, 0.0009404021548107266, -1.5358999967575073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.958251953125, -0.7650551199913025, 1.1635029315948486, -1.3642514944076538, 0.21527718007564545, -0.04472021386027336, 0.9292430281639099, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710643399794143, 0.8820869140165849, -0.004589522900823873, -1.6437267065048218], [-0.882091662516184, -0.4710751326435627, -0.0015869228981653543, 350.394775390625], [-0.003561814031301206, 0.003300837098121348, 0.9999882089081141, 15.216583251953125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0564318895339966, 2.2866952419281006, -0.576222836971283, 0.03287951275706291, -0.16794432699680328, 0.5410251617431641, -0.7560869455337524, -1.3000271320343018, -1.2600178718566895, -0.6347136497497559, 0.0009402823052369058, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9771207571029663, -0.7419561743736267, 1.2392230033874512, -1.3994020223617554, 0.1691543310880661, -0.06101876124739647, 0.9792349934577942, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711178432321794, 0.8820583299138297, -0.004591341621482913, -1.6224515438079834], [-0.8820629625398698, -0.4711287542788909, -0.001620804432526176, 350.39434814453125], [-0.003592757109469039, 0.0032862625041249404, 0.999988146217297, 15.22854995727539], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0559526681900024, 2.285832405090332, -0.5731553435325623, 0.03067476488649845, -0.16832776367664337, 0.5410235524177551, -0.7560861110687256, -1.3000268936157227, -1.2600181102752686, -0.6347136497497559, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0173908472061157, -0.7271001935005188, 1.3066140413284302, -1.409729242324829, 0.15022285282611847, -0.044243600219488144, 0.9700615406036377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106260898961394, 0.882087826275721, -0.004591856712894814, -1.6445027589797974], [-0.8820925311517109, -0.4710734574284723, -0.0016013096993398256, 350.39453125], [-0.003575597609644395, 0.0032961253857919696, 0.9999881752596753, 15.221617698669434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.055856704711914, 2.2850656509399414, -0.570279598236084, 0.029620319604873657, -0.16880705952644348, 0.541023850440979, -0.7560895085334778, -1.3000264167785645, -1.2600177526474, -0.6347134113311768, 0.0009407616453245282, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0555311441421509, -0.7295107245445251, 1.3097994327545166, -1.4109247922897339, 0.16459769010543823, -0.00948191899806261, 0.9357110261917114, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103730614622674, 0.8821013240657944, -0.004594594636974638, -1.654561161994934], [-0.8821060177590228, -0.4710481831465583, -0.0016070431373288363, 350.3944091796875], [-0.0035818503353104384, 0.003295942308170505, 0.9999881534860684, 15.223575592041016], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.055856704711914, 2.284298896789551, -0.5683624148368835, 0.02847001515328884, -0.1689029186964035, 0.5410236120223999, -0.7560781836509705, -1.3000279664993286, -1.2600176334381104, -0.6347135305404663, 0.0009405219461768866, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0777215957641602, -0.738051176071167, 1.2763266563415527, -1.4002931118011475, 0.16599901020526886, 0.03237190842628479, 0.9175278544425964, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711407114623043, 0.8820461008655036, -0.004594121325660557, -1.6135128736495972], [-0.882050664760166, -0.4711517033129087, -0.001642334160094028, 350.39404296875], [-0.003613142530040291, 0.0032784772846422036, 0.9999880983230509, 15.236130714416504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.055856704711914, 2.2838194370269775, -0.5660618543624878, 0.02760728821158409, -0.16727332770824432, 0.5410229563713074, -0.7560890316963196, -1.300026535987854, -1.260018229484558, -0.6347136497497559, 0.0009404021548107266, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0872373580932617, -0.7480539679527283, 1.251854658126831, -1.36831796169281, 0.180023193359375, 0.07692506164312363, 0.8793200850486755, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103470901517563, 0.8821027023391779, -0.004596240736615933, -1.6555159091949463], [-0.8821074094022675, -0.47104558461398804, -0.001604834348711873, 350.3944396972656], [-0.0035806676206113558, 0.0032984453287023944, 0.9999881494686846, 15.222793579101562], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0564318895339966, 2.2831485271453857, -0.564336359500885, 0.02626526728272438, -0.16276796162128448, 0.5410232543945312, -0.7560854554176331, -1.3000268936157227, -1.2600176334381104, -0.6347147226333618, 0.0009404021548107266, -1.5358988046646118, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0815651416778564, -0.7519521117210388, 1.2491108179092407, -1.361546277999878, 0.1622878611087799, 0.08718451857566833, 0.8384252190589905, 0.1283999809852013, 0.1283999809852013, 0.1283999809852013, 0.1283999809852013, -0.1283999809852013, -0.1283999809852013, -0.1283999809852013, 0.1283999809852013, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47106042062308395, 0.8820889615690554, -0.004598260587280546, -1.6453639268875122], [-0.8820934524281625, -0.4710715062058084, -0.0016665006317717207, 350.3935546875], [-0.003636111352510744, 0.003271073068027626, 0.9999880393160789, 15.24444580078125], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.057102918624878, 2.2819981575012207, -0.5625150799751282, 0.024252235889434814, -0.15615372359752655, 0.5410242676734924, -0.7560888528823853, -1.3000261783599854, -1.2600176334381104, -0.6347150206565857, 0.0009406417957507074, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0583072900772095, -0.7543972134590149, 1.251143455505371, -1.3570241928100586, 0.13905248045921326, 0.06262189149856567, 0.8365589380264282, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710600996513057, 0.8820891266621933, -0.0045994717991671395, -1.645539402961731], [-0.8820933077777569, -0.47107146729134675, -0.0017518783272919738, 350.3922424316406], [-0.003711992752938235, 0.0032319233139267325, 0.999987887817395, 15.274358749389648], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0577739477157593, 2.281327247619629, -0.5606937408447266, 0.02271849662065506, -0.1485808938741684, 0.5410239696502686, -0.7560852766036987, -1.3000266551971436, -1.2600183486938477, -0.6347144842147827, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0248322486877441, -0.7606605887413025, 1.253368616104126, -1.3504300117492676, 0.15462921559810638, 0.03639812767505646, 0.8375778198242188, 0.007800003722473803, 0.007800003722473803, 0.007800003722473803, 0.007800003722473803, -0.007800003722473803, -0.007800003722473803, -0.007800003722473803, 0.007800003722473803, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710608556499072, 0.8820887291307618, -0.004598283903193638, -1.645154356956482], [-0.8820928974330536, -0.4710722266848877, -0.0017542931059339496, 350.3922119140625], [-0.0037135660135428393, 0.003229734759845868, 0.9999878890470845, 15.275208473205566], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0583491325378418, 2.280560255050659, -0.5591599941253662, 0.022430920973420143, -0.1429252326488495, 0.5410251021385193, -0.7561002373695374, -1.3000251054763794, -1.2600183486938477, -0.634713888168335, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9745668172836304, -0.7687934041023254, 1.2541476488113403, -1.3532161712646484, 0.1699819713830948, -0.005251127760857344, 0.8305951356887817, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710073668851569, 0.8821172780883312, -0.004600873606741841, -1.6664414405822754], [-0.8821214693231271, -0.47101873520330373, -0.0017505561081340114, 350.3921813964844], [-0.0037112934563258804, 0.003234004563072179, 0.9999878836842809, 15.273796081542969], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0589241981506348, 2.2792181968688965, -0.5582014322280884, 0.022430920973420143, -0.13880330324172974, 0.5410276055335999, -0.7560784220695496, -1.3000268936157227, -1.2600164413452148, -0.6347131729125977, 0.0009404021548107266, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8900279402732849, -0.780876100063324, 1.2349328994750977, -1.3421673774719238, 0.1744096577167511, -0.06150436028838158, 0.8561667799949646, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711140226229953, 0.8820603170323957, -0.004601608924043065, -1.6241247653961182], [-0.8820644555433073, -0.4711254408591037, -0.0017650049303691846, 350.39215087890625], [-0.003724775841446159, 0.0032273970975136243, 0.9999878549027013, 15.279052734375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0598827600479126, 2.278451442718506, -0.5569552779197693, 0.023772941902279854, -0.13611926138401031, 0.5410242676734924, -0.7560792565345764, -1.3000279664993286, -1.2600176334381104, -0.6347141265869141, 0.0009405219461768866, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8096007108688354, -0.7952294945716858, 1.209405779838562, -1.3143562078475952, 0.18305820226669312, -0.1063179299235344, 0.8685853481292725, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711140122292292, 0.8820603245994802, -0.00460122252637503, -1.6241108179092407], [-0.8820644406828841, -0.47112544735741335, -0.0017706877387787669, 350.3920593261719], [-0.0037296064227609615, 0.0032243789691633116, 0.9999878466342451, 15.281044960021973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0604579448699951, 2.2775886058807373, -0.5559008121490479, 0.02626526728272438, -0.1334352195262909, 0.5410246849060059, -0.7560978531837463, -1.3000255823135376, -1.2600187063217163, -0.6347140073776245, 0.0009406417957507074, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7274957299232483, -0.8152526021003723, 1.1722760200500488, -1.2832388877868652, 0.19694934785366058, -0.15636464953422546, 0.8569092154502869, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711140122292292, 0.8820603245994802, -0.00460122252637503, -1.6241108179092407], [-0.8820644406828841, -0.47112544735741335, -0.0017706877387787669, 350.3920593261719], [-0.0037296064227609615, 0.0032243789691633116, 0.9999878466342451, 15.281044960021973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0616083145141602, 2.276054859161377, -0.5551339387893677, 0.028661733493208885, -0.13075117766857147, 0.541022777557373, -0.7560969591140747, -1.3000266551971436, -1.2600198984146118, -0.6347144842147827, 0.0009404021548107266, -1.5359001159667969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6845404505729675, -0.8295714259147644, 1.1280086040496826, -1.2325698137283325, 0.1682310700416565, -0.17393028736114502, 0.8729926347732544, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103340878876865, 0.8821033769404915, -0.004600021197152659, -1.6563798189163208], [-0.8821075617058266, -0.4710447770092798, -0.0017514661512877696, 350.3922119140625], [-0.003711790165698642, 0.003232714410396227, 0.999987886012279, 15.274164199829102], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0627585649490356, 2.2758631706237793, -0.5542712211608887, 0.03105819970369339, -0.127875417470932, 0.5410234332084656, -0.7560815811157227, -1.30002760887146, -1.2600178718566895, -0.6347136497497559, 0.0009406417957507074, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6767306923866272, -0.8386614918708801, 1.0945394039154053, -1.1600877046585083, 0.14764097332954407, -0.16030962765216827, 0.8925144672393799, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711135747594004, 0.882060563703795, -0.00460017781854254, -1.6243895292282104], [-0.8820647283951264, -0.471124960945867, -0.001756728489847259, 350.39227294921875], [-0.0037167995171340875, 0.0032300359593483855, 0.9999878760610305, 15.276154518127441], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0639089345932007, 2.2758631706237793, -0.5536960363388062, 0.0324002206325531, -0.12490380555391312, 0.5410230159759521, -0.7560970783233643, -1.3000255823135376, -1.2600188255310059, -0.6347141265869141, 0.0009404021548107266, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6720166802406311, -0.8391692042350769, 1.0952867269515991, -1.1282445192337036, 0.1458725780248642, -0.16953471302986145, 0.9226805567741394, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710060555545499, 0.8821179731344613, -0.004601858765110864, -1.6670430898666382], [-0.8821223462359896, -0.47101727036069585, -0.001702143669579279, 350.3929138183594], [-0.0036690464779208904, 0.0032576824751305656, 0.9999879627289691, 15.256828308105469], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0661135911941528, 2.2758631706237793, -0.5530250668525696, 0.0324002206325531, -0.12126117944717407, 0.5410252213478088, -0.7560780644416809, -1.3000261783599854, -1.260018229484558, -0.6347137689590454, 0.0009402823052369058, -1.5359017848968506, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6500869989395142, -0.8329125046730042, 1.1205565929412842, -1.1645749807357788, 0.17250224947929382, -0.21702352166175842, 1.0160280466079712, 0.5039999960543035, 0.5039999960543035, 0.5039999960543035, 0.5039999960543035, -0.5039999960543035, -0.5039999960543035, -0.5039999960543035, 0.5039999960543035, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108474208005635, 0.8820759623204689, -0.004600269099240948, -1.6357173919677734], [-0.8820803621876665, -0.4710959221553621, -0.0016931542942411175, 350.3931884765625], [-0.0036606587169194993, 0.0032601878792148688, 0.9999879853041987, 15.253825187683105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0682225227355957, 2.2758631706237793, -0.5521623492240906, 0.03192092478275299, -0.11924814432859421, 0.5410245656967163, -0.7560788989067078, -1.3000273704528809, -1.2600173950195312, -0.6347136497497559, 0.000940881494898349, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.621570348739624, -0.8302257657051086, 1.1549266576766968, -1.2283529043197632, 0.26132944226264954, -0.26806482672691345, 1.1055269241333008, 0.5777999995173989, 0.5777999995173989, 0.5777999995173989, 0.5777999995173989, -0.5777999995173989, -0.5777999995173989, -0.5777999995173989, 0.5777999995173989, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47103495559551156, 0.8821025510061944, -0.004600012554194173, -1.6555601358413696], [-0.8821068923145731, -0.4710461862979607, -0.0017090656140331935, 350.3928527832031], [-0.003674389508551554, 0.0032526731331723032, 0.9999879594171263, 15.259309768676758], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0701396465301514, 2.2758631706237793, -0.5508202910423279, 0.03182506933808327, -0.11924814432859421, 0.5410242676734924, -0.7560682892799377, -1.3000295162200928, -1.2600173950195312, -0.6347147226333618, 0.0009406417957507074, -1.5359002351760864, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5917931199073792, -0.83741694688797, 1.160077691078186, -1.2875477075576782, 0.37710294127464294, -0.2936502993106842, 1.1806925535202026, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710623384539694, 0.8820879372014087, -0.004598296863105599, -1.6446536779403687], [-0.8820923097941986, -0.47107352999202834, -0.0016989240078466171, 350.39306640625], [-0.0036647363087977994, 0.0032558231851044193, 0.9999879845894021, 15.255809783935547], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.072344422340393, 2.27653431892395, -0.5493824481964111, 0.032975371927022934, -0.12193218618631363, 0.5410251617431641, -0.7560740113258362, -1.3000273704528809, -1.2600160837173462, -0.6347029805183411, 0.0009404021548107266, -1.5358996391296387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5535745620727539, -0.8550446033477783, 1.1312034130096436, -1.3108391761779785, 0.4944051206111908, -0.31567585468292236, 1.2288239002227783, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711390858354396, 0.8820469514472938, -0.004597525495464199, -1.614096760749817], [-0.882051507126731, -0.4711501075744524, -0.0016476978013220981, 350.39398193359375], [-0.00361947145432681, 0.0032789594564798102, 0.9999880738545206, 15.238001823425293], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.074453353881836, 2.2785472869873047, -0.5479445457458496, 0.03546769544482231, -0.1261499673128128, 0.5410240292549133, -0.7560902833938599, -1.300026297569275, -1.2600198984146118, -0.6347146034240723, 0.0009404021548107266, -1.5358997583389282, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5051767230033875, -0.8794875741004944, 1.0801562070846558, -1.3042477369308472, 0.5875582695007324, -0.3431316018104553, 1.263545274734497, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710596896809127, 0.8820893542894609, -0.00459780457656648, -1.64558744430542], [-0.8820939530774455, -0.47107067460401697, -0.0016362983597080845, 350.3940124511719], [-0.0036092522671204155, 0.00328490141687162, 0.9999880912894682, 15.233861923217773], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0756036043167114, 2.2798893451690674, -0.5464107990264893, 0.03709729388356209, -0.1291215866804123, 0.541024923324585, -0.7560840845108032, -1.300026535987854, -1.2600172758102417, -0.6347140073776245, 0.000940881494898349, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4546816945075989, -0.9058045744895935, 1.0230426788330078, -1.2846331596374512, 0.6670043468475342, -0.3596603572368622, 1.3131355047225952, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4711380706488981, 0.882047481297316, -0.004599904596242106, -1.6146085262298584], [-0.8820520153103029, -0.47114912767101136, -0.001655832684228376, 350.39385986328125], [-0.003627764086462758, 0.003277229303185731, 0.9999880494765061, 15.240846633911133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0774250030517578, 2.2811355590820312, -0.5448770523071289, 0.036522142589092255, -0.12892986834049225, 0.5410242676734924, -0.7561020851135254, -1.300024151802063, -1.2600197792053223, -0.6347136497497559, 0.0009406417957507074, -1.53589928150177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4107595980167389, -0.9276947379112244, 0.9782155752182007, -1.2587770223617554, 0.7359185218811035, -0.3627968728542328, 1.3855875730514526, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.471061038425024, 0.88208863053918, -0.00459847273037315, -1.6451760530471802], [-0.8820932922477511, -0.47107197029711756, -0.0016194356780124956, 350.3942565917969], [-0.003594697408918776, 0.0032934288978992586, 0.9999881156676977, 15.227953910827637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.078766942024231, 2.2816147804260254, -0.543535053730011, 0.032591935247182846, -0.12461622804403305, 0.5410236716270447, -0.7560936808586121, -1.3000251054763794, -1.260019063949585, -0.634713888168335, 0.0009404021548107266, -1.5358998775482178, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.37981414794921875, -0.9422909617424011, 0.9531189203262329, -1.223748803138733, 0.7683668732643127, -0.3622535169124603, 1.4359517097473145, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.4710346066094282, 0.8821027530799392, -0.004596997399676395, -1.6556569337844849], [-0.8821074448825628, -0.4710455012613053, -0.0016097901234862118, 350.3943786621094], [-0.0035853952442355687, 0.0032967787728202594, 0.9999881380249797, 15.224528312683105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.07962965965271, 2.2816147804260254, -0.5424805879592896, 0.02626526728272438, -0.1179061233997345, 0.5410245656967163, -0.7560835480690002, -1.300025463104248, -1.2600183486938477, -0.6347137689590454, 0.0009402823052369058, -1.5358995199203491, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.36748456954956055, -0.9529858827590942, 0.9377681016921997, -1.1944258213043213, 0.7791538834571838, -0.3689126670360565, 1.4431368112564087, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.3144163191318512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.47108690588047875, 0.8820748283683323, -0.004596114329971026, -1.634897232055664], [-0.8820794189649288, -0.47109788693924237, -0.001636936124131207, 350.39404296875], [-0.0036091198997234794, 0.0032829986838362724, 0.999988098015767, 15.234137535095215], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000029/gt/hand_left.mp4 b/agibot-challenge-2026/000029/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e1aea38c03459e18424a0e3484aa48225716981 --- /dev/null +++ b/agibot-challenge-2026/000029/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a4164e11f7b9859ff099391e11e62236e2c845410b1ad6347a7e27e09c3f0a0 +size 11924864 diff --git a/agibot-challenge-2026/000029/gt/hand_right.mp4 b/agibot-challenge-2026/000029/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a5254a6fc5ebfda6c904a71b519bde5ccc9bbcc7 --- /dev/null +++ b/agibot-challenge-2026/000029/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:411cce86f89725f8610c42d4ac5e2d9034dffe306ce6bcea570777e5792e5f23 +size 13357420 diff --git a/agibot-challenge-2026/000029/gt/head.mp4 b/agibot-challenge-2026/000029/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..988febd31fcd7948308efb7c9117f21d4146ae77 --- /dev/null +++ b/agibot-challenge-2026/000029/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9f7c2e6658851b4d843119a71f77617c52ee3ae87fc10ba5122f38ca0394b67 +size 7585886 diff --git a/agibot-challenge-2026/000029/meta.json b/agibot-challenge-2026/000029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17d5433b132155ac8d8a2e7dafe9d04686de8b01 --- /dev/null +++ b/agibot-challenge-2026/000029/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unscrew the tea canister, take out the tea bag, and then screw it back on", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 294, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000029/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000029/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..d84d6fa641474fc184c936525494c7ce923f6dce --- /dev/null +++ b/agibot-challenge-2026/000029/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000029/ref_images/hand_left.png b/agibot-challenge-2026/000029/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..f22f031b5af3f59eaf827feeed4f044980cbd09a --- /dev/null +++ b/agibot-challenge-2026/000029/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd8b8bf28d42ec8ce40f7eeb31c899aefdcbfd06e7ae309a8e265cefba3baaf0 +size 353552 diff --git a/agibot-challenge-2026/000029/ref_images/hand_right.png b/agibot-challenge-2026/000029/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..ba34940c23b4f7d0d5ebfcb2e30307fb72ef4e5a --- /dev/null +++ b/agibot-challenge-2026/000029/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71fc88d42a4153ed8ad662c90010aea6f186836379d7484719cdb51dc1d247e6 +size 338618 diff --git a/agibot-challenge-2026/000029/ref_images/head.png b/agibot-challenge-2026/000029/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..916b800da159748078c461b49655c90990a4a544 --- /dev/null +++ b/agibot-challenge-2026/000029/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54559a53956e83ec9d69c362562b63e2439a82401355210bd62682cfdb64f56e +size 274533 diff --git a/agibot-challenge-2026/000029/temporal.json b/agibot-challenge-2026/000029/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..644b5ecdf2f8896ad57ae47ea65800501105f760 --- /dev/null +++ b/agibot-challenge-2026/000029/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281216382980347, -1.1493299007415771, -1.60010826587677, -1.8005750179290771, -0.4197128415107727, -0.001340795075520873, -0.0005434845807030797, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726723551750183, -1.1487399339675903, 1.6006101369857788, -1.8004435300827026, 0.42073509097099304, 0.001050537102855742, 0.0011861985549330711, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281216382980347, -1.1493299007415771, -1.6001092195510864, -1.8005748987197876, -0.41971439123153687, -0.0013413942651823163, -0.0005431250901892781, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267237901687622, -1.1487400531768799, 1.600610375404358, -1.8004441261291504, 0.42073532938957214, 0.001051136408932507, 0.0011857191566377878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281218767166138, -1.1493297815322876, -1.6001102924346924, -1.800574779510498, -0.41971534490585327, -0.0013412744738161564, -0.0005426456918939948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267234325408936, -1.1487400531768799, 1.6006100177764893, -1.8004435300827026, 0.4207352101802826, 0.0010513761080801487, 0.0011859588557854295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281213998794556, -1.1493297815322876, -1.6001124382019043, -1.800574779510498, -0.4197166860103607, -0.001340914866887033, -0.0005434845807030797, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726723313331604, -1.1487400531768799, 1.6006096601486206, -1.800443172454834, 0.4207354485988617, 0.0010510165011510253, 0.0011853596661239862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281213998794556, -1.1493293046951294, -1.6001142263412476, -1.800574541091919, -0.419718474149704, -0.0013399561867117882, -0.0005426456918939948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267234325408936, -1.1487399339675903, 1.6006094217300415, -1.800443172454834, 0.4207352101802826, 0.0010510165011510253, 0.0011858390644192696, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728121280670166, -1.149329662322998, -1.600115180015564, -1.8005743026733398, -0.41972002387046814, -0.0013392370892688632, -0.000542525842320174, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726723313331604, -1.148740291595459, 1.6006083488464355, -1.8004429340362549, 0.42073485255241394, 0.001051256200298667, 0.001185479573905468, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281211614608765, -1.149329662322998, -1.6001156568527222, -1.8005748987197876, -0.4197213649749756, -0.0013382784090936184, -0.0005427655414678156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267234325408936, -1.1487401723861694, 1.6006072759628296, -1.8004432916641235, 0.42073485255241394, 0.0010507768020033836, 0.0011857191566377878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281215190887451, -1.1493300199508667, -1.6001158952713013, -1.8005748987197876, -0.41972172260284424, -0.0013379189185798168, -0.0005427655414678156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267234325408936, -1.1487401723861694, 1.6006067991256714, -1.8004432916641235, 0.420733779668808, 0.0010513761080801487, 0.0011865581618621945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281213998794556, -1.1493300199508667, -1.6001174449920654, -1.8005752563476562, -0.41972124576568604, -0.0013376792194321752, -0.0005428853910416365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267234325408936, -1.1487401723861694, 1.600605845451355, -1.8004430532455444, 0.420732706785202, 0.0010524545796215534, 0.0011881160316988826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281216382980347, -1.1493297815322876, -1.6001181602478027, -1.8005753755569458, -0.41972050070762634, -0.0013364807236939669, -0.0005433647311292589, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267231941223145, -1.148740291595459, 1.600605845451355, -1.8004430532455444, 0.4207317531108856, 0.0010536530753597617, 0.001189913717098534, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281211614608765, -1.1493295431137085, -1.6001179218292236, -1.8005753755569458, -0.4197196662425995, -0.001336360932327807, -0.0005427655414678156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267234325408936, -1.148740291595459, 1.6006054878234863, -1.800443410873413, 0.4207322299480438, 0.00105497136246413, 0.0011920708930119872, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728121280670166, -1.1493300199508667, -1.6001173257827759, -1.800576090812683, -0.4197177588939667, -0.001335522043518722, -0.000543244939763099, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267236709594727, -1.1487401723861694, 1.6006042957305908, -1.800443172454834, 0.42073187232017517, 0.001055690343491733, 0.0011932692723348737, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281211614608765, -1.1493300199508667, -1.6001170873641968, -1.800576090812683, -0.4197152256965637, -0.0013351625530049205, -0.0005438441294245422, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267239093780518, -1.148740530014038, 1.6006041765213013, -1.800443410873413, 0.4207317531108856, 0.0010568888392299414, 0.00119602563790977, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281211614608765, -1.1493301391601562, -1.6001167297363281, -1.800575613975525, -0.4197118878364563, -0.001335522043518722, -0.0005445631686598063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267236709594727, -1.148740530014038, 1.6006042957305908, -1.8004440069198608, 0.42073163390159607, 0.0010568888392299414, 0.0011974637163802981, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281211614608765, -1.1493300199508667, -1.60011625289917, -1.8005766868591309, -0.419709712266922, -0.0013349228538572788, -0.0005437242798507214, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267240285873413, -1.148740291595459, 1.6006046533584595, -1.800443172454834, 0.4207322299480438, 0.0010578475194051862, 0.001199021702632308, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7281297445297241, -1.1492918729782104, -1.6001842021942139, -1.800586462020874, -0.4197171628475189, -0.0013433117419481277, -0.0005494767101481557, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267239093780518, -1.1487404108047485, 1.6006050109863281, -1.8004432916641235, 0.42073187232017517, 0.0010576078202575445, 0.0011996208922937512, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7340519428253174, -1.1489479541778564, -1.6018130779266357, -1.8180383443832397, -0.42626091837882996, 0.008274148218333721, -0.021689290180802345, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7269450426101685, -1.1487412452697754, 1.600602388381958, -1.8004435300827026, 0.4207323491573334, 0.0010626412695273757, 0.0012035757536068559, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7528830766677856, -1.1826729774475098, -1.6286488771438599, -1.8749420642852783, -0.38154464960098267, 0.03265006095170975, -0.10344219952821732, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7269409894943237, -1.1487400531768799, 1.6006087064743042, -1.8004430532455444, 0.420732706785202, 0.0010637198574841022, 0.0012032161466777325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7956998348236084, -1.2011598348617554, -1.6523207426071167, -1.9469965696334839, -0.36964455246925354, 0.05578393116593361, -0.1810283064842224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7269222736358643, -1.1487406492233276, 1.6006077527999878, -1.8004440069198608, 0.42073318362236023, 0.0010630007600411773, 0.0012046543415635824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8578269481658936, -1.2111810445785522, -1.6850816011428833, -2.0360214710235596, -0.3927347958087921, 0.09889190644025803, -0.2795623540878296, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7268418073654175, -1.1487407684326172, 1.6006077527999878, -1.8004437685012817, 0.42073437571525574, 0.0010634801583364606, 0.0012044146424159408, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.9207634925842285, -1.220420479774475, -1.7194551229476929, -2.1083672046661377, -0.389232873916626, 0.13205932080745697, -0.38159582018852234, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7268017530441284, -1.148740530014038, 1.6006128787994385, -1.800443410873413, 0.4207344949245453, 0.0010635999497026205, 0.001202856656163931, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.9745458364486694, -1.2316380739212036, -1.7473723888397217, -2.1625049114227295, -0.3816569447517395, 0.16252215206623077, -0.47673583030700684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267993688583374, -1.148740291595459, 1.600615382194519, -1.8004446029663086, 0.4207349717617035, 0.0010635999497026205, 0.0012015383690595627, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 2.0233936309814453, -1.2426339387893677, -1.7598085403442383, -2.209507703781128, -0.3842567801475525, 0.18359065055847168, -0.5687828063964844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267932891845703, -1.1487399339675903, 1.6006178855895996, -1.8004449605941772, 0.4207352101802826, 0.0010657571256160736, 0.001199021702632308, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 2.061476945877075, -1.2500025033950806, -1.7491916418075562, -2.2391066551208496, -0.33554187417030334, 0.18507921695709229, -0.6672644019126892, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267875671386719, -1.1487400531768799, 1.6006194353103638, -1.8004447221755981, 0.42073628306388855, 0.001066236523911357, 0.00119590584654361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 2.0766234397888184, -1.2559263706207275, -1.7200844287872314, -2.251227617263794, -0.30526602268218994, 0.1847250759601593, -0.7337859272956848, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267829179763794, -1.1487396955490112, 1.6006221771240234, -1.8004451990127563, 0.4207359254360199, 0.001064678537659347, 0.0011936287628486753, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 2.0774734020233154, -1.2628034353256226, -1.6785143613815308, -2.2585225105285645, -0.25508686900138855, 0.17232392728328705, -0.7661548256874084, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267799377441406, -1.1487395763397217, 1.600622534751892, -1.8004447221755981, 0.4207359254360199, 0.0010620419634506106, 0.0011906326981261373, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6568399667739868, 0.0, 0.0, 2.071324348449707, -1.2686952352523804, -1.630989909172058, -2.241184711456299, -0.21709327399730682, 0.16180692613124847, -0.7535446882247925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726776361465454, -1.1487394571304321, 1.6006231307983398, -1.8004443645477295, 0.42073604464530945, 0.001059525297023356, 0.0011879962403327227, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6568399667739868, 0.0, 0.0, 2.060105323791504, -1.2723803520202637, -1.580675482749939, -2.216712474822998, -0.17625044286251068, 0.14960914850234985, -0.7327377796173096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267732620239258, -1.148739218711853, 1.6006217002868652, -1.8004440069198608, 0.42073556780815125, 0.0010589261073619127, 0.0011866779532283545, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 2.0458829402923584, -1.2737524509429932, -1.5408532619476318, -2.1937460899353027, -0.1499287635087967, 0.13933292031288147, -0.7158361077308655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267625331878662, -1.1487388610839844, 1.6006217002868652, -1.8004438877105713, 0.42073437571525574, 0.0010582070099189878, 0.0011858390644192696, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 2.021902084350586, -1.2739698886871338, -1.503095030784607, -2.1734211444854736, -0.1403292864561081, 0.13771744072437286, -0.6964187622070312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267590761184692, -1.1487388610839844, 1.600619912147522, -1.8004443645477295, 0.4207335412502289, 0.001056529232300818, 0.001184760476462543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9936078786849976, -1.2740986347198486, -1.473126769065857, -2.1577603816986084, -0.14166349172592163, 0.13516420125961304, -0.6774345636367798, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726745367050171, -1.1487387418746948, 1.6006183624267578, -1.8004437685012817, 0.4207333028316498, 0.0010540125658735633, 0.0011842810781672597, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.962419867515564, -1.2740992307662964, -1.4388741254806519, -2.135457992553711, -0.14381945133209229, 0.13280606269836426, -0.6571187973022461, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7265710830688477, -1.1487386226654053, 1.6006169319152832, -1.8004438877105713, 0.4207330644130707, 0.001048140344209969, 0.0011828429996967316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9367990493774414, -1.2740944623947144, -1.41541588306427, -2.111121892929077, -0.14541922509670258, 0.13062158226966858, -0.6381642818450928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726591944694519, -1.1487383842468262, 1.6006156206130981, -1.8004441261291504, 0.42073294520378113, 0.0010431068949401379, 0.0011828429996967316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9136784076690674, -1.2738789319992065, -1.397739052772522, -2.0909836292266846, -0.15575610101222992, 0.126292884349823, -0.6183300614356995, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7266052961349487, -1.1487387418746948, 1.6006138324737549, -1.8004440069198608, 0.4207328259944916, 0.0010432268027216196, 0.0011828429996967316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9088128805160522, -1.2718286514282227, -1.392028570175171, -2.0886213779449463, -0.15783463418483734, 0.11988694965839386, -0.6094217896461487, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7266218662261963, -1.148739218711853, 1.600611686706543, -1.8004436492919922, 0.4207325875759125, 0.0010455037700012326, 0.0011839215876534581, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9088144302368164, -1.2686928510665894, -1.3906264305114746, -2.0885372161865234, -0.16133451461791992, 0.11846166849136353, -0.6082321405410767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7266826629638672, -1.1487388610839844, 1.6006112098693848, -1.8004424571990967, 0.42073294520378113, 0.0010457434691488743, 0.0011850001756101847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9088270664215088, -1.2657972574234009, -1.3890694379806519, -2.0913331508636475, -0.1652136892080307, 0.11812514811754227, -0.6005955338478088, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726848840713501, -1.1487387418746948, 1.6006107330322266, -1.8004416227340698, 0.42073294520378113, 0.001045983168296516, 0.0011859588557854295, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9088258743286133, -1.2632980346679688, -1.3919439315795898, -2.096358060836792, -0.16859503090381622, 0.1167258694767952, -0.5909779667854309, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7268460988998413, -1.148739218711853, 1.6006101369857788, -1.8004416227340698, 0.42073318362236023, 0.0010462228674441576, 0.001188475638628006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.908226728439331, -1.262201189994812, -1.4042891263961792, -2.097062826156616, -0.17539800703525543, 0.11732795834541321, -0.583094596862793, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726840853691101, -1.1487390995025635, 1.6006101369857788, -1.8004403114318848, 0.420733779668808, 0.0010453839786350727, 0.0011912320042029023, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.9079746007919312, -1.2590876817703247, -1.426016926765442, -2.099637508392334, -0.17936058342456818, 0.11925586313009262, -0.5821688175201416, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7268329858779907, -1.1487390995025635, 1.600610613822937, -1.8004392385482788, 0.4207344949245453, 0.0010453839786350727, 0.0011932692723348737, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.9083186388015747, -1.2572438716888428, -1.449798345565796, -2.1061625480651855, -0.18480190634727478, 0.12072967737913132, -0.5749571919441223, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726826548576355, -1.1487393379211426, 1.6006115674972534, -1.800438404083252, 0.4207356870174408, 0.001045264070853591, 0.0011962653370574117, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.9019124507904053, -1.2574270963668823, -1.459001898765564, -2.1043701171875, -0.19179421663284302, 0.12364988029003143, -0.5534946918487549, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726820468902588, -1.1487393379211426, 1.600611925125122, -1.8004374504089355, 0.42073652148246765, 0.0010462228674441576, 0.0011987820034846663, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8770171403884888, -1.2603251934051514, -1.4613080024719238, -2.087383985519409, -0.18606455624103546, 0.12693175673484802, -0.52591872215271, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7268162965774536, -1.1487390995025635, 1.6006134748458862, -1.8004354238510132, 0.42073652148246765, 0.0010484998347237706, 0.0012002200819551945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8503530025482178, -1.2644888162612915, -1.4561384916305542, -2.061506986618042, -0.17493240535259247, 0.12840953469276428, -0.5003687143325806, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726806402206421, -1.1487393379211426, 1.600614309310913, -1.8004348278045654, 0.4207369089126587, 0.0010500578209757805, 0.0012033360544592142, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8246581554412842, -1.2688931226730347, -1.4353482723236084, -2.034123182296753, -0.1721639335155487, 0.12843410670757294, -0.4810877740383148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7268017530441284, -1.148739218711853, 1.6006145477294922, -1.8004335165023804, 0.4207369089126587, 0.0010507768020033836, 0.0012044146424159408, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.8059524297714233, -1.2742093801498413, -1.420035719871521, -2.0134541988372803, -0.1719546914100647, 0.1284385323524475, -0.46631768345832825, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267957925796509, -1.148739218711853, 1.600615382194519, -1.8004324436187744, 0.420736163854599, 0.0010530538856983185, 0.001205133623443544, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7832159996032715, -1.2783082723617554, -1.4073690176010132, -1.9920603036880493, -0.17422977089881897, 0.12823696434497833, -0.4462088942527771, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267882823944092, -1.1487390995025635, 1.6006169319152832, -1.8004326820373535, 0.42073604464530945, 0.00105341337621212, 0.0012046543415635824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.755183219909668, -1.2832577228546143, -1.3916940689086914, -1.966781497001648, -0.17469105124473572, 0.12362483143806458, -0.42345479130744934, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7267844676971436, -1.1487388610839844, 1.6006174087524414, -1.800432801246643, 0.4207356870174408, 0.0010546117555350065, 0.0012036955449730158, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7257490158081055, -1.2886325120925903, -1.3724814653396606, -1.937794804573059, -0.17496728897094727, 0.1174410879611969, -0.4034866690635681, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726763129234314, -1.1487388610839844, 1.6006172895431519, -1.8004330396652222, 0.42073509097099304, 0.0010567689314484596, 0.001202856656163931, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7029651403427124, -1.2943456172943115, -1.3529528379440308, -1.9154826402664185, -0.18128393590450287, 0.11185092478990555, -0.39174705743789673, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7265108823776245, -1.1487387418746948, 1.6006170511245728, -1.8004326820373535, 0.42073413729667664, 0.0010583269177004695, 0.0012008193880319595, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.6863542795181274, -1.2987534999847412, -1.333430290222168, -1.8967255353927612, -0.18833784759044647, 0.1069648414850235, -0.3811028003692627, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7265208959579468, -1.1487385034561157, 1.6006176471710205, -1.8004320859909058, 0.4207335412502289, 0.0010580872185528278, 0.0011986622121185064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.6649773120880127, -1.3041481971740723, -1.3145309686660767, -1.8728522062301636, -0.1977236568927765, 0.10011381655931473, -0.3704196810722351, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7265552282333374, -1.1487388610839844, 1.600616216659546, -1.800432562828064, 0.42073342204093933, 0.0010607237927615643, 0.0011945875594392419, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.646970510482788, -1.309044599533081, -1.3000319004058838, -1.8536550998687744, -0.20760153234004974, 0.09201403707265854, -0.36621418595314026, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7266696691513062, -1.1487383842468262, 1.600615382194519, -1.8004333972930908, 0.42073342204093933, 0.0010588063159957528, 0.0011911120964214206, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.626668930053711, -1.3139585256576538, -1.2841832637786865, -1.8315433263778687, -0.21096837520599365, 0.08458993583917618, -0.35452765226364136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7266883850097656, -1.1487386226654053, 1.6006141901016235, -1.8004329204559326, 0.42073294520378113, 0.001059405505657196, 0.0011895541101694107, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.6141180992126465, -1.3188304901123047, -1.27497398853302, -1.8186732530593872, -0.21832393109798431, 0.07702584564685822, -0.3489718735218048, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.726694107055664, -1.1487383842468262, 1.6006138324737549, -1.8004341125488281, 0.4207328259944916, 0.001059405505657196, 0.001187876332551241, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6137218475341797, -1.32020103931427, -1.2749384641647339, -1.816641926765442, -0.22074486315250397, 0.07517848163843155, -0.35150402784347534, 0.5532000016380142, -0.5532000016380142, 0.5532000016380142, 0.5532000016380142, -0.5532000016380142, -0.5532000016380142, 0.5532000016380142, 0.5532000016380142, -1.726694107055664, -1.1487387418746948, 1.6006133556365967, -1.800432562828064, 0.420732706785202, 0.0010597649961709976, 0.0011866779532283545, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.632198452949524, -1.320096731185913, -1.2888108491897583, -1.851016640663147, -0.22595824301242828, 0.08839624375104904, -0.36682993173599243, 0.407999992108607, -0.407999992108607, 0.407999992108607, 0.407999992108607, -0.407999992108607, -0.407999992108607, 0.407999992108607, 0.407999992108607, -1.7268731594085693, -1.1487383842468262, 1.600611686706543, -1.8004323244094849, 0.420732706785202, 0.0010725881438702345, 0.001184760476462543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.6688194274902344, -1.3148316144943237, -1.3165868520736694, -1.9265962839126587, -0.22881540656089783, 0.13150888681411743, -0.39936986565589905, 0.407999992108607, -0.407999992108607, 0.407999992108607, 0.407999992108607, -0.407999992108607, -0.407999992108607, 0.407999992108607, 0.407999992108607, -1.7268635034561157, -1.1487383842468262, 1.6006118059158325, -1.8004326820373535, 0.42073342204093933, 0.0010710301576182246, 0.00118248350918293, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.7145615816116333, -1.3045530319213867, -1.3554879426956177, -2.028219699859619, -0.24193045496940613, 0.1932528167963028, -0.44530969858169556, 0.407999992108607, -0.407999992108607, 0.407999992108607, 0.407999992108607, -0.407999992108607, -0.407999992108607, 0.407999992108607, 0.407999992108607, -1.726855993270874, -1.1487387418746948, 1.6006112098693848, -1.8004330396652222, 0.420733779668808, 0.0010673151118680835, 0.0011820041108876467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.7593258619308472, -1.2952038049697876, -1.3983983993530273, -2.1355249881744385, -0.2712973356246948, 0.25851279497146606, -0.49140211939811707, 0.4074000025843526, -0.4074000025843526, 0.4074000025843526, 0.4074000025843526, -0.4074000025843526, -0.4074000025843526, 0.4074000025843526, 0.4074000025843526, -1.7268413305282593, -1.148738980293274, 1.6006108522415161, -1.8004335165023804, 0.42073437571525574, 0.0010643190471455455, 0.001181644620373845, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.7905079126358032, -1.2899426221847534, -1.4368789196014404, -2.225121259689331, -0.3047790825366974, 0.3154028654098511, -0.520854651927948, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7268335819244385, -1.1487387418746948, 1.6006115674972534, -1.8004329204559326, 0.42073461413383484, 0.0010613229824230075, 0.0011815247125923634, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6571275591850281, 0.0, 0.0, 1.8096452951431274, -1.2862398624420166, -1.470099687576294, -2.289350748062134, -0.32468512654304504, 0.3495824635028839, -0.5403087735176086, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7268272638320923, -1.148738980293274, 1.6006110906600952, -1.8004329204559326, 0.4207349717617035, 0.0010589261073619127, 0.00118248350918293, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6571275591850281, 0.0, 0.0, 1.820824146270752, -1.283673882484436, -1.491416096687317, -2.3246219158172607, -0.33370158076286316, 0.3678741157054901, -0.5445541739463806, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7268098592758179, -1.148738980293274, 1.6006114482879639, -1.80043363571167, 0.42073556780815125, 0.0010571284219622612, 0.0011829627910628915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.8288594484329224, -1.2825361490249634, -1.4973574876785278, -2.3369510173797607, -0.31972774863243103, 0.3819957375526428, -0.5408943295478821, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7268013954162598, -1.1487390995025635, 1.6006128787994385, -1.8004337549209595, 0.4207356870174408, 0.0010577277280390263, 0.0011842810781672597, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.8301763534545898, -1.2822134494781494, -1.498336911201477, -2.3371856212615967, -0.3180229663848877, 0.3890596032142639, -0.5397753715515137, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7267712354660034, -1.1487396955490112, 1.6006133556365967, -1.8004333972930908, 0.4207356870174408, 0.0010562895331531763, 0.0011865581618621945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.8301701545715332, -1.2821376323699951, -1.4983352422714233, -2.3369743824005127, -0.31806516647338867, 0.3885675072669983, -0.5397706627845764, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.726615309715271, -1.1487394571304321, 1.6006144285202026, -1.80043363571167, 0.4207356870174408, 0.0010553308529779315, 0.0011889549205079675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.8301113843917847, -1.2821018695831299, -1.4983283281326294, -2.3368353843688965, -0.3182196319103241, 0.38816460967063904, -0.539771556854248, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7266236543655396, -1.1487394571304321, 1.6006163358688354, -1.8004332780838013, 0.4207352101802826, 0.0010537728667259216, 0.001191591494716704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.8299903869628906, -1.2820658683776855, -1.4983175992965698, -2.3368077278137207, -0.3184139132499695, 0.3881266117095947, -0.5397705435752869, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.726149320602417, -1.1487393379211426, 1.6006993055343628, -1.8007373809814453, 0.42070022225379944, 0.0010854112915694714, 0.001334802946075797, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.829858422279358, -1.2818865776062012, -1.4982829093933105, -2.3367912769317627, -0.31849563121795654, 0.3881036043167114, -0.5397674441337585, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.7129738330841064, -1.154276967048645, 1.621414303779602, -1.8273589611053467, 0.3806757926940918, 0.0449598990380764, 0.07385829836130142, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8298283815383911, -1.2817771434783936, -1.4982354640960693, -2.3367817401885986, -0.3185134828090668, 0.38808825612068176, -0.5397535562515259, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.691199541091919, -1.169321894645691, 1.6695060729980469, -1.8810808658599854, 0.36041033267974854, 0.12057041376829147, 0.23119810223579407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.829785943031311, -1.2817634344100952, -1.4982212781906128, -2.3367719650268555, -0.31851863861083984, 0.38807904720306396, -0.5396987795829773, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.663925051689148, -1.1742281913757324, 1.715761423110962, -1.932457447052002, 0.34614086151123047, 0.2109803557395935, 0.3977384567260742, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8297673463821411, -1.2817622423171997, -1.4982118606567383, -2.3367652893066406, -0.3185206949710846, 0.38807040452957153, -0.5396563410758972, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.6254665851593018, -1.1742535829544067, 1.7568079233169556, -1.980800747871399, 0.3222018778324127, 0.3125320374965668, 0.6042949557304382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8297561407089233, -1.2817600965499878, -1.4982001781463623, -2.336765766143799, -0.3185194730758667, 0.38806024193763733, -0.5396226644515991, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.5752298831939697, -1.1739299297332764, 1.787798285484314, -2.0269856452941895, 0.3206577003002167, 0.41010257601737976, 0.7870889902114868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8297561407089233, -1.2817585468292236, -1.4981842041015625, -2.3367667198181152, -0.31851911544799805, 0.38805195689201355, -0.5395976305007935, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.5074903964996338, -1.1721187829971313, 1.8048150539398193, -2.0437326431274414, 0.3231595456600189, 0.5010242462158203, 0.9419838190078735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8297516107559204, -1.2817593812942505, -1.498166799545288, -2.336771011352539, -0.31851887702941895, 0.3880472779273987, -0.5395948886871338, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.4276434183120728, -1.167217493057251, 1.800761342048645, -2.0513417720794678, 0.3313065469264984, 0.5940155982971191, 1.0638588666915894, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8297520875930786, -1.2817440032958984, -1.498146891593933, -2.3367812633514404, -0.3185170888900757, 0.3880387842655182, -0.539588987827301, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.3398818969726562, -1.1542508602142334, 1.7650632858276367, -2.055202007293701, 0.3092843294143677, 0.6581533551216125, 1.1717849969863892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.8297518491744995, -1.281734824180603, -1.4981449842453003, -2.3367867469787598, -0.31851768493652344, 0.3880321979522705, -0.5395905375480652, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.2731465101242065, -1.134420394897461, 1.707260012626648, -2.0624911785125732, 0.3571701645851135, 0.6695876717567444, 1.1719932556152344, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8297525644302368, -1.2817280292510986, -1.498146653175354, -2.3367881774902344, -0.31851446628570557, 0.38802894949913025, -0.5395891070365906, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.1921234130859375, -1.0783380270004272, 1.612790822982788, -2.0607845783233643, 0.4348504841327667, 0.6862156391143799, 1.135990023612976, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.8286497592926025, -1.281713843345642, -1.4981588125228882, -2.3368594646453857, -0.31651705503463745, 0.3901333808898926, -0.5395854115486145, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.1136515140533447, -1.0196477174758911, 1.5234085321426392, -2.04327654838562, 0.4873005151748657, 0.70833420753479, 1.1124050617218018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.813385248184204, -1.279286503791809, -1.4985793828964233, -2.3421480655670166, -0.27266159653663635, 0.41766834259033203, -0.5468816757202148, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -1.0415236949920654, -0.9728003144264221, 1.43306303024292, -2.024829387664795, 0.5214863419532776, 0.7213578224182129, 1.098894476890564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.797275185585022, -1.2741822004318237, -1.5009082555770874, -2.3491148948669434, -0.20828558504581451, 0.4336313307285309, -0.5683655142784119, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.987029492855072, -0.9375066161155701, 1.3602079153060913, -2.010956048965454, 0.5352195501327515, 0.7268426418304443, 1.0938124656677246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.783223271369934, -1.2719498872756958, -1.5020818710327148, -2.3492190837860107, -0.17840293049812317, 0.4445962905883789, -0.5809741020202637, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.9324341416358948, -0.910773754119873, 1.2923489809036255, -1.9935840368270874, 0.5515932440757751, 0.7355716824531555, 1.0855180025100708, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.773472547531128, -1.271056890487671, -1.5018043518066406, -2.3491034507751465, -0.14340682327747345, 0.4494435489177704, -0.596230149269104, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.9013780951499939, -0.9058571457862854, 1.256811499595642, -1.9826973676681519, 0.5662312507629395, 0.7366172075271606, 1.0840868949890137, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7689919471740723, -1.2705957889556885, -1.4986333847045898, -2.348904609680176, -0.1269608736038208, 0.45371317863464355, -0.6035698056221008, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8782230019569397, -0.9108481407165527, 1.225691318511963, -1.9653468132019043, 0.5575975775718689, 0.7384790778160095, 1.0822380781173706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.765959620475769, -1.2705976963043213, -1.4946826696395874, -2.3488707542419434, -0.11107734590768814, 0.4536850154399872, -0.6110585927963257, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8701043128967285, -0.9244835376739502, 1.2107949256896973, -1.9479835033416748, 0.544368326663971, 0.7382966876029968, 1.0827301740646362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7646738290786743, -1.2708303928375244, -1.4930492639541626, -2.3488330841064453, -0.1111823245882988, 0.4537021517753601, -0.6109575629234314, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8687031865119934, -0.9379542469978333, 1.2027392387390137, -1.9395716190338135, 0.5280295014381409, 0.7372943162918091, 1.0847452878952026, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.762493371963501, -1.2720917463302612, -1.4898185729980469, -2.348816394805908, -0.10969256609678268, 0.4544450342655182, -0.6109830141067505, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8684452176094055, -0.9491042494773865, 1.1994551420211792, -1.9326704740524292, 0.5122694373130798, 0.7361897230148315, 1.086622714996338, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.761114478111267, -1.2728443145751953, -1.4860466718673706, -2.348818302154541, -0.10698989033699036, 0.45528778433799744, -0.6111400127410889, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8684374094009399, -0.9566183090209961, 1.1983741521835327, -1.9313806295394897, 0.5029754042625427, 0.735630452632904, 1.087636947631836, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7601784467697144, -1.2733973264694214, -1.485974907875061, -2.3488199710845947, -0.10428552329540253, 0.4558277726173401, -0.6147820949554443, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8689092993736267, -0.9621126055717468, 1.1998229026794434, -1.9308702945709229, 0.5001106858253479, 0.7347235679626465, 1.0884535312652588, 0.5291999981953548, 0.5291999981953548, 0.5291999981953548, 0.5291999981953548, -0.5291999981953548, -0.5291999981953548, -0.5291999981953548, 0.5291999981953548, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7597622871398926, -1.2737910747528076, -1.4858769178390503, -2.348820447921753, -0.10372850298881531, 0.458608478307724, -0.6164599061012268, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8699026703834534, -0.9650332927703857, 1.2017039060592651, -1.9308578968048096, 0.4978450834751129, 0.7350080013275146, 1.0881744623184204, 0.4553999996447301, 0.4553999996447301, 0.4553999996447301, 0.4553999996447301, -0.4553999996447301, -0.4553999996447301, -0.4553999996447301, 0.4553999996447301, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7595072984695435, -1.273886799812317, -1.4856421947479248, -2.3488218784332275, -0.1036459282040596, 0.45895591378211975, -0.6165355443954468, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8697951436042786, -0.9666635990142822, 1.2016875743865967, -1.9289108514785767, 0.4969364404678345, 0.7351977825164795, 1.087601661682129, 0.42479999353597453, 0.42479999353597453, 0.42479999353597453, 0.42479999353597453, -0.42479999353597453, -0.42479999353597453, -0.42479999353597453, 0.42479999353597453, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7594282627105713, -1.2740051746368408, -1.4855645895004272, -2.348745107650757, -0.10341547429561615, 0.4590713083744049, -0.6164600253105164, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8650040030479431, -0.9668426513671875, 1.1895520687103271, -1.9209423065185547, 0.4895976483821869, 0.7345848083496094, 1.0884020328521729, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, 0.33180000598614035, -0.33180000598614035, -0.33180000598614035, -0.33180000598614035, 0.33180000598614035, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.7595463991165161, -1.274025321006775, -1.4859299659729004, -2.346633195877075, -0.10166313499212265, 0.46180084347724915, -0.6157366633415222, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8558395504951477, -0.966711163520813, 1.1785608530044556, -1.9156365394592285, 0.4814580976963043, 0.7309994697570801, 1.0924324989318848, 0.2970000044330136, 0.2970000044330136, 0.2970000044330136, 0.2970000044330136, -0.2970000044330136, -0.2970000044330136, -0.2970000044330136, 0.2970000044330136, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.7600257396697998, -1.2739726305007935, -1.486722469329834, -2.345991373062134, -0.10098615288734436, 0.4623831510543823, -0.6152855753898621, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8493791222572327, -0.9666607975959778, 1.172521948814392, -1.9104183912277222, 0.4779983460903168, 0.7288057804107666, 1.0962647199630737, 0.2970000044330136, 0.2970000044330136, 0.2970000044330136, 0.2970000044330136, -0.2970000044330136, -0.2970000044330136, -0.2970000044330136, 0.2970000044330136, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.7600276470184326, -1.273643970489502, -1.490209698677063, -2.3433725833892822, -0.10100843757390976, 0.46313899755477905, -0.6197006702423096, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.841884434223175, -0.9651435017585754, 1.16294264793396, -1.9042208194732666, 0.477196604013443, 0.7268357872962952, 1.097745656967163, 0.2970000044330136, 0.2970000044330136, 0.2970000044330136, 0.2970000044330136, -0.2970000044330136, -0.2970000044330136, -0.2970000044330136, 0.2970000044330136, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.755584955215454, -1.2731101512908936, -1.5018891096115112, -2.3346595764160156, -0.10613612830638885, 0.4549510180950165, -0.6490858793258667, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8311336040496826, -0.9582302570343018, 1.151983380317688, -1.8963124752044678, 0.4876541793346405, 0.7225608229637146, 1.1022382974624634, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7293531894683838, -1.2707672119140625, -1.5221482515335083, -2.3160998821258545, -0.1287490427494049, 0.4460532069206238, -0.7121280431747437, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.8154162168502808, -0.943406879901886, 1.1450275182724, -1.8773852586746216, 0.5192409753799438, 0.7008791565895081, 1.1231149435043335, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.6862729787826538, -1.2681726217269897, -1.5381051301956177, -2.286975622177124, -0.18571330606937408, 0.45107004046440125, -0.7779954075813293, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.7881063222885132, -0.9160405397415161, 1.1307708024978638, -1.8506875038146973, 0.5819674134254456, 0.6680592894554138, 1.1439160108566284, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.6284325122833252, -1.2662749290466309, -1.5404502153396606, -2.24528169631958, -0.24503089487552643, 0.4525127112865448, -0.8483948111534119, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.7463585734367371, -0.8671363592147827, 1.0999138355255127, -1.8294318914413452, 0.6739780902862549, 0.6459767818450928, 1.150477647781372, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.582504153251648, -1.2632801532745361, -1.5389400720596313, -2.2071566581726074, -0.296206533908844, 0.4495799243450165, -0.9158826470375061, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6981192231178284, -0.8178922533988953, 1.050063967704773, -1.8118952512741089, 0.7715513706207275, 0.6278831362724304, 1.1531322002410889, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.5458059310913086, -1.2596876621246338, -1.5220701694488525, -2.180979013442993, -0.3015178143978119, 0.44158560037612915, -0.9727911949157715, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6447271108627319, -0.7639791369438171, 0.9773263931274414, -1.796931266784668, 0.8648489117622375, 0.6132899522781372, 1.1552850008010864, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.525642991065979, -1.2591787576675415, -1.5069884061813354, -2.1665263175964355, -0.3054094612598419, 0.4415344297885895, -0.998449981212616, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6060211062431335, -0.7291922569274902, 0.9268972277641296, -1.787087082862854, 0.9218254089355469, 0.6064046621322632, 1.1582093238830566, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.5176242589950562, -1.2592136859893799, -1.4995176792144775, -2.1552274227142334, -0.31861621141433716, 0.44088131189346313, -1.0011061429977417, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.5827378034591675, -0.715740978717804, 0.9041316509246826, -1.7833583354949951, 0.9367358088493347, 0.6060706377029419, 1.157579779624939, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.5175403356552124, -1.2592341899871826, -1.4983240365982056, -2.1553616523742676, -0.3078067898750305, 0.44333529472351074, -0.9959002137184143, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.579240620136261, -0.7179846167564392, 0.9029608964920044, -1.7854787111282349, 0.9197132587432861, 0.6087125539779663, 1.1569995880126953, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.6877704858779907, -0.6569358110427856, 0.0, 0.0, 1.528404951095581, -1.2592346668243408, -1.507030725479126, -2.16436505317688, -0.30579128861427307, 0.4444959759712219, -0.9954376220703125, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.588205873966217, -0.724847137928009, 0.9135326743125916, -1.7903687953948975, 0.9093307256698608, 0.6104505062103271, 1.1575394868850708, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5444287061691284, -1.259238839149475, -1.520565390586853, -2.1807870864868164, -0.3059981167316437, 0.4493139982223511, -0.9955257177352905, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.613480269908905, -0.7396968603134155, 0.9367526769638062, -1.7940560579299927, 0.9067349433898926, 0.6138466000556946, 1.157231330871582, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5546470880508423, -1.259676456451416, -1.5304149389266968, -2.189451217651367, -0.3017726242542267, 0.4482463300228119, -0.9963347911834717, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6401497721672058, -0.7536205649375916, 0.9611761569976807, -1.7969493865966797, 0.9002803564071655, 0.6208845973014832, 1.1544976234436035, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5687280893325806, -1.2596930265426636, -1.539981484413147, -2.200399160385132, -0.2937428057193756, 0.44864311814308167, -0.9843095541000366, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6525129079818726, -0.7680134177207947, 0.9803021550178528, -1.8037775754928589, 0.8730806112289429, 0.6294800639152527, 1.151362419128418, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, -0.2951999965604845, -0.2951999965604845, -0.2951999965604845, 0.2951999965604845, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5765321254730225, -1.2599793672561646, -1.5477734804153442, -2.2124106884002686, -0.28793299198150635, 0.4532668888568878, -0.9669657349586487, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6659225225448608, -0.7897070646286011, 1.0044909715652466, -1.8080148696899414, 0.8455579876899719, 0.642097532749176, 1.1462767124176025, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, -0.2951999965604845, -0.2951999965604845, -0.2951999965604845, 0.2951999965604845, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5775192975997925, -1.260682225227356, -1.5652538537979126, -2.2205827236175537, -0.26473069190979004, 0.4642568826675415, -0.9415434002876282, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.6892912983894348, -0.8092854022979736, 1.0288825035095215, -1.8174219131469727, 0.8165261149406433, 0.6524824500083923, 1.1551177501678467, 0.5400000012182927, 0.5400000012182927, 0.5400000012182927, 0.5400000012182927, -0.5400000012182927, -0.5400000012182927, -0.5400000012182927, 0.5400000012182927, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.577152967453003, -1.2604788541793823, -1.5677580833435059, -2.2291758060455322, -0.2529008090496063, 0.47905319929122925, -0.9253021478652954, 0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.7115013003349304, -0.8266958594322205, 1.0556422472000122, -1.8228472471237183, 0.7919648289680481, 0.6595011353492737, 1.1566975116729736, 0.5777999995173989, 0.5777999995173989, 0.5777999995173989, 0.5777999995173989, -0.5777999995173989, -0.5777999995173989, -0.5777999995173989, 0.5777999995173989, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5773441791534424, -1.2604591846466064, -1.56717848777771, -2.239753246307373, -0.2376377135515213, 0.5001276135444641, -0.9055246710777283, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7331736087799072, -0.8459067344665527, 1.0932214260101318, -1.835569143295288, 0.7509874701499939, 0.6692205667495728, 1.1516273021697998, 0.5886000000841015, 0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5843194723129272, -1.2603428363800049, -1.5671323537826538, -2.2518703937530518, -0.19653649628162384, 0.5198951959609985, -0.8705808520317078, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7568826675415039, -0.8712648153305054, 1.1544467210769653, -1.8640005588531494, 0.6770095825195312, 0.6955745816230774, 1.1248350143432617, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6034293174743652, -1.2599923610687256, -1.567775845527649, -2.277599334716797, -0.12792645394802094, 0.5516156554222107, -0.8168963193893433, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8044773936271667, -0.9212995767593384, 1.2290544509887695, -1.9094841480255127, 0.6127625107765198, 0.7194272875785828, 1.0528050661087036, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.620750069618225, -1.2610002756118774, -1.562565565109253, -2.3049235343933105, -0.09354586154222488, 0.5971043109893799, -0.7513302564620972, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8532376885414124, -0.967986524105072, 1.2571247816085815, -1.9599480628967285, 0.5902594923973083, 0.7585247159004211, 0.982275128364563, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6341499090194702, -1.2643065452575684, -1.5540685653686523, -2.3271119594573975, -0.06169455125927925, 0.6134147047996521, -0.7092450261116028, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8839601874351501, -1.0081406831741333, 1.2620325088500977, -1.9844059944152832, 0.5561655759811401, 0.7950707674026489, 0.9453893899917603, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6497819423675537, -1.2673405408859253, -1.5543073415756226, -2.347182512283325, -0.049017276614904404, 0.6149948239326477, -0.6845487356185913, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8973533511161804, -1.0417605638504028, 1.264920711517334, -1.9840413331985474, 0.5200455188751221, 0.819460928440094, 0.9414241313934326, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6514273881912231, -1.2694728374481201, -1.5517821311950684, -2.349916934967041, -0.04636600613594055, 0.6140574216842651, -0.6829361319541931, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9024893045425415, -1.0708903074264526, 1.26073157787323, -1.9678810834884644, 0.4664864242076874, 0.8246495127677917, 0.9588530659675598, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6505719423294067, -1.2709869146347046, -1.5415979623794556, -2.3492591381073, -0.046032246202230453, 0.6123872995376587, -0.6810333132743835, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9030299782752991, -1.0987673997879028, 1.2511053085327148, -1.9480445384979248, 0.4254210591316223, 0.828857421875, 0.9778450131416321, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.645542025566101, -1.2737326622009277, -1.5386273860931396, -2.348970651626587, -0.05043477192521095, 0.6146344542503357, -0.672335147857666, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9049088358879089, -1.12112557888031, 1.23853600025177, -1.9340850114822388, 0.39275601506233215, 0.8232232332229614, 1.00224769115448, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6427149772644043, -1.2746036052703857, -1.53863525390625, -2.348942756652832, -0.05188474431633949, 0.6155511140823364, -0.6707001328468323, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9061037302017212, -1.1270891427993774, 1.226495385169983, -1.9315677881240845, 0.3805348575115204, 0.8117464184761047, 1.012710690498352, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6427136659622192, -1.2746174335479736, -1.53866446018219, -2.3489420413970947, -0.05187958851456642, 0.6155463457107544, -0.6708725690841675, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9061156511306763, -1.1271637678146362, 1.2247211933135986, -1.9303078651428223, 0.3794496953487396, 0.8091937899589539, 1.0150394439697266, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6427198648452759, -1.2746206521987915, -1.5388054847717285, -2.348942756652832, -0.051864009350538254, 0.6155394911766052, -0.6711574792861938, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9066214561462402, -1.1284105777740479, 1.2268277406692505, -1.930561900138855, 0.379477858543396, 0.808458685874939, 1.0157790184020996, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.642735242843628, -1.274623155593872, -1.5389097929000854, -2.3489439487457275, -0.051841359585523605, 0.6155349612236023, -0.6712033748626709, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9088627696037292, -1.1317561864852905, 1.2330166101455688, -1.9326177835464478, 0.38057079911231995, 0.8092430830001831, 1.0143557786941528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6427912712097168, -1.2746261358261108, -1.5389457941055298, -2.348944902420044, -0.05181703343987465, 0.6155322194099426, -0.6712183356285095, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9094474911689758, -1.1340199708938599, 1.2339266538619995, -1.932662844657898, 0.38132256269454956, 0.8094133734703064, 1.0135823488235474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6428649425506592, -1.274631381034851, -1.5389599800109863, -2.348945379257202, -0.05179450288414955, 0.6155316233634949, -0.6712254285812378, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.909645676612854, -1.1358188390731812, 1.2343298196792603, -1.9324647188186646, 0.38409295678138733, 0.8093224167823792, 1.0134086608886719, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.642930507659912, -1.2746602296829224, -1.5389723777770996, -2.3489468097686768, -0.051760826259851456, 0.6155300736427307, -0.671235978603363, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9096380472183228, -1.136742115020752, 1.2344530820846558, -1.9292337894439697, 0.38764941692352295, 0.8074674606323242, 1.0161316394805908, 0.40319999731503997, 0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.40319999731503997, -0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.643599033355713, -1.2746609449386597, -1.5394515991210938, -2.3489785194396973, -0.05170629918575287, 0.6155808568000793, -0.6716424822807312, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.909550666809082, -1.1369215250015259, 1.2374752759933472, -1.9252740144729614, 0.38801145553588867, 0.806056797504425, 1.014896273612976, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.64357328414917, -1.2746565341949463, -1.5420845746994019, -2.348724365234375, -0.051892053335905075, 0.6132165193557739, -0.6778473854064941, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9077720046043396, -1.1361706256866455, 1.2353129386901855, -1.9206736087799072, 0.3893088698387146, 0.7979409694671631, 1.0206588506698608, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6392165422439575, -1.2742273807525635, -1.5517715215682983, -2.3401973247528076, -0.06311420351266861, 0.6053409576416016, -0.709157407283783, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.9029519557952881, -1.1208871603012085, 1.231425404548645, -1.9120874404907227, 0.4048665463924408, 0.7806385159492493, 1.0359076261520386, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6282159090042114, -1.2718231678009033, -1.5617008209228516, -2.3294193744659424, -0.08640266954898834, 0.5926509499549866, -0.7556306719779968, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8867621421813965, -1.083792805671692, 1.222327470779419, -1.9023956060409546, 0.44951364398002625, 0.7576262950897217, 1.055501103401184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, 0.29580000573462184, -0.29580000573462184, -0.29580000573462184, -0.29580000573462184, 0.29580000573462184, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6168991327285767, -1.2694618701934814, -1.5763556957244873, -2.314213275909424, -0.14536193013191223, 0.5895625352859497, -0.8096274137496948, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8560454845428467, -1.0298889875411987, 1.200100064277649, -1.8981550931930542, 0.5046308040618896, 0.7250476479530334, 1.0818531513214111, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, 0.2951999965604845, -0.2951999965604845, -0.2951999965604845, -0.2951999965604845, 0.2951999965604845, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6000930070877075, -1.2660125494003296, -1.585938572883606, -2.2979750633239746, -0.1901867687702179, 0.5857754945755005, -0.8786876797676086, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8228325247764587, -0.9624866843223572, 1.169735312461853, -1.8926795721054077, 0.58107590675354, 0.6860060095787048, 1.108165979385376, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5786736011505127, -1.2598518133163452, -1.591310739517212, -2.2702243328094482, -0.25883230566978455, 0.5833860635757446, -0.9527932405471802, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.781292736530304, -0.8933686017990112, 1.1278882026672363, -1.884484052658081, 0.680327296257019, 0.6583679914474487, 1.1255147457122803, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5536240339279175, -1.2550019025802612, -1.5869745016098022, -2.2536323070526123, -0.28723156452178955, 0.5792275667190552, -1.0100350379943848, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7425928711891174, -0.8335150480270386, 1.0842047929763794, -1.8672454357147217, 0.7853929996490479, 0.643539547920227, 1.13375985622406, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.528192162513733, -1.2526146173477173, -1.578240156173706, -2.2377829551696777, -0.30320653319358826, 0.572115421295166, -1.0626686811447144, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7160612940788269, -0.7861313819885254, 1.0479995012283325, -1.8530179262161255, 0.8700675368309021, 0.6270708441734314, 1.1466418504714966, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5115820169448853, -1.251001000404358, -1.5674164295196533, -2.2240188121795654, -0.33152908086776733, 0.5749020576477051, -1.0952320098876953, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6987876296043396, -0.7542555332183838, 1.0201517343521118, -1.839481234550476, 0.9304164052009583, 0.609671413898468, 1.1657109260559082, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4971072673797607, -1.2500258684158325, -1.5504599809646606, -2.2125906944274902, -0.33976954221725464, 0.575637936592102, -1.099489688873291, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6853043437004089, -0.7344845533370972, 0.9993560314178467, -1.826894760131836, 0.9596548080444336, 0.5986151695251465, 1.177153468132019, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4837791919708252, -1.2486531734466553, -1.5352720022201538, -2.197842836380005, -0.3364557921886444, 0.5739793181419373, -1.0959362983703613, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6729294061660767, -0.7256805300712585, 0.9856939911842346, -1.8176214694976807, 0.9604965448379517, 0.5938933491706848, 1.1808671951293945, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4766168594360352, -1.247686743736267, -1.5317246913909912, -2.1937942504882812, -0.33399927616119385, 0.5738396644592285, -1.0959879159927368, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6725848913192749, -0.7258213758468628, 0.9856802225112915, -1.8131849765777588, 0.9630791544914246, 0.5937983393669128, 1.181602120399475, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4772377014160156, -1.2472254037857056, -1.5351366996765137, -2.1934869289398193, -0.33389008045196533, 0.5736910700798035, -1.0985382795333862, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6826831698417664, -0.7309665679931641, 0.9941284656524658, -1.8144692182540894, 0.9620230793952942, 0.5954939723014832, 1.1791478395462036, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4875253438949585, -1.2467890977859497, -1.5434727668762207, -2.1992874145507812, -0.3290579319000244, 0.5726838111877441, -1.1014851331710815, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6906918883323669, -0.7381193041801453, 0.9990028142929077, -1.8182893991470337, 0.9546316266059875, 0.596949577331543, 1.1765848398208618, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5016648769378662, -1.2455711364746094, -1.5516395568847656, -2.2116384506225586, -0.3239424526691437, 0.573117733001709, -1.0952130556106567, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.6924452781677246, -0.7458073496818542, 1.0023648738861084, -1.8217580318450928, 0.9428232908248901, 0.6018124222755432, 1.175923466682434, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5086208581924438, -1.2448704242706299, -1.5589848756790161, -2.221433162689209, -0.3161846101284027, 0.5757570266723633, -1.0876809358596802, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.694148600101471, -0.7589586973190308, 1.011197566986084, -1.824660062789917, 0.9242148995399475, 0.6089589595794678, 1.173765778541565, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5121924877166748, -1.244576334953308, -1.5669894218444824, -2.232558250427246, -0.30437690019607544, 0.5855429768562317, -1.0725672245025635, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7057006359100342, -0.78108149766922, 1.0352617502212524, -1.832900881767273, 0.8969850540161133, 0.6273699998855591, 1.1641490459442139, 0.3515999943345458, 0.3515999943345458, 0.3515999943345458, 0.3515999943345458, -0.3515999943345458, -0.3515999943345458, -0.3515999943345458, 0.3515999943345458, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5130504369735718, -1.244362711906433, -1.5742841958999634, -2.2333614826202393, -0.29164066910743713, 0.5908644795417786, -1.0482631921768188, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7263126969337463, -0.8095769882202148, 1.061269760131836, -1.8502799272537231, 0.8708119988441467, 0.6451859474182129, 1.161820411682129, 0.5195999987832792, 0.5195999987832792, 0.5195999987832792, 0.5195999987832792, -0.5195999987832792, -0.5195999987832792, -0.5195999987832792, 0.5195999987832792, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5168635845184326, -1.2443733215332031, -1.5762790441513062, -2.2410295009613037, -0.2825351655483246, 0.599018394947052, -1.0275717973709106, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7454375624656677, -0.8289282917976379, 1.0963342189788818, -1.8613029718399048, 0.8531855940818787, 0.6603550910949707, 1.1540721654891968, 0.5826000004515542, 0.5826000004515542, 0.5826000004515542, 0.5826000004515542, -0.5826000004515542, -0.5826000004515542, -0.5826000004515542, 0.5826000004515542, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5266379117965698, -1.2443757057189941, -1.5832449197769165, -2.249173402786255, -0.25769150257110596, 0.6134570240974426, -0.9837040305137634, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7669285535812378, -0.8436996340751648, 1.1588417291641235, -1.884307861328125, 0.8222803473472595, 0.6868628859519958, 1.132452130317688, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5396218299865723, -1.2443883419036865, -1.5840954780578613, -2.273388385772705, -0.21083416044712067, 0.6394281387329102, -0.9168655872344971, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.7991318702697754, -0.8824041485786438, 1.2384696006774902, -1.912322998046875, 0.7745634913444519, 0.7253161072731018, 1.0693491697311401, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5510185956954956, -1.2445454597473145, -1.5769075155258179, -2.3043179512023926, -0.12330928444862366, 0.6688567399978638, -0.8526142239570618, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8347336053848267, -0.9344072341918945, 1.2798991203308105, -1.9452273845672607, 0.7491583228111267, 0.755814254283905, 0.9705139398574829, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5699201822280884, -1.2453691959381104, -1.569796085357666, -2.3335509300231934, -0.07445786893367767, 0.6977940797805786, -0.7950729131698608, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8572221398353577, -0.9785064458847046, 1.2824939489364624, -1.96755051612854, 0.7053812742233276, 0.7884455323219299, 0.9131923317909241, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5835357904434204, -1.2462493181228638, -1.5681517124176025, -2.350189208984375, -0.06272698938846588, 0.7074755430221558, -0.7779033780097961, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8696122169494629, -1.0106984376907349, 1.279415249824524, -1.980315089225769, 0.6390408277511597, 0.8259977102279663, 0.9106965661048889, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.589935064315796, -1.246901273727417, -1.5766905546188354, -2.349918842315674, -0.04025597125291824, 0.6938524842262268, -0.7758721709251404, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8788832426071167, -1.0368664264678955, 1.2753432989120483, -1.978787899017334, 0.5622290968894958, 0.8421077728271484, 0.9452738165855408, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5969091653823853, -1.24769127368927, -1.5879392623901367, -2.3494043350219727, -0.021617744117975235, 0.6783527731895447, -0.7814027667045593, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8878026008605957, -1.0624018907546997, 1.2687872648239136, -1.967249870300293, 0.5101074576377869, 0.8475239276885986, 0.9775015711784363, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5824003219604492, -1.2531177997589111, -1.5748180150985718, -2.3489036560058594, -0.04053999483585358, 0.6862812042236328, -0.7594462037086487, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8937358856201172, -1.0738935470581055, 1.2263561487197876, -1.9639577865600586, 0.46181535720825195, 0.8330843448638916, 0.9924883246421814, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5641260147094727, -1.256330966949463, -1.5583832263946533, -2.3484082221984863, -0.03030678629875183, 0.7025314569473267, -0.7519529461860657, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8922663927078247, -1.0751309394836426, 1.206736445426941, -1.955075740814209, 0.44844165444374084, 0.8242055773735046, 1.0002474784851074, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5636284351348877, -1.256739616394043, -1.557462453842163, -2.34855580329895, -0.024353502318263054, 0.7028190493583679, -0.7553486824035645, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8813747763633728, -1.0791984796524048, 1.1975802183151245, -1.9434406757354736, 0.43723341822624207, 0.8174418210983276, 1.0059528350830078, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.2643781304359436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5654168128967285, -1.2567368745803833, -1.558000922203064, -2.3487091064453125, -0.0244913212954998, 0.7025476098060608, -0.7556557059288025, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8772704005241394, -1.0878878831863403, 1.2024673223495483, -1.94127357006073, 0.4302360713481903, 0.8113601803779602, 1.012641429901123, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5660412311553955, -1.2567330598831177, -1.5581501722335815, -2.348745346069336, -0.024911727756261826, 0.7024508118629456, -0.7557162046432495, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8775016665458679, -1.0945965051651, 1.2140907049179077, -1.9400228261947632, 0.42697253823280334, 0.8094128966331482, 1.0145753622055054, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5660591125488281, -1.2567285299301147, -1.558172583580017, -2.3487603664398193, -0.02508130483329296, 0.7024211883544922, -0.7557650208473206, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8774555325508118, -1.098620057106018, 1.2160340547561646, -1.93361496925354, 0.42572054266929626, 0.8079769015312195, 1.0159530639648438, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5660603046417236, -1.256724238395691, -1.558182716369629, -2.3487677574157715, -0.025119295343756676, 0.7024086117744446, -0.7558002471923828, 0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.4055999947118235, -0.4055999947118235, 0.4055999947118235, 0.4055999947118235, -0.8757091760635376, -1.1039478778839111, 1.2155425548553467, -1.9259614944458008, 0.4242866337299347, 0.8060807585716248, 1.0182141065597534, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5660603046417236, -1.256719708442688, -1.5581928491592407, -2.3487708568573, -0.025137510150671005, 0.7024046778678894, -0.7558377385139465, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.8689948320388794, -1.1113983392715454, 1.2141854763031006, -1.9165632724761963, 0.4220223128795624, 0.8031215071678162, 1.0211679935455322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.566059947013855, -1.2567164897918701, -1.5581984519958496, -2.3487730026245117, -0.0251475777477026, 0.7024023532867432, -0.755866527557373, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.8631532192230225, -1.119443416595459, 1.2135396003723145, -1.9080944061279297, 0.4183659255504608, 0.8027172684669495, 1.0213924646377563, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.566061019897461, -1.2567144632339478, -1.5582060813903809, -2.3487741947174072, -0.025152970105409622, 0.702400803565979, -0.7558895349502563, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.8572877049446106, -1.1241214275360107, 1.207181692123413, -1.8996659517288208, 0.4158805310726166, 0.8008448481559753, 1.0226702690124512, 0.5513999986779559, 0.5513999986779559, 0.5513999986779559, 0.5513999986779559, -0.5513999986779559, -0.5513999986779559, -0.5513999986779559, 0.5513999986779559, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5665509700775146, -1.256580114364624, -1.5583425760269165, -2.3486437797546387, -0.02511821687221527, 0.7027102708816528, -0.756420910358429, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.8501800298690796, -1.1255207061767578, 1.1944656372070312, -1.8901976346969604, 0.4167003631591797, 0.7986250519752502, 1.02345609664917, 0.35519999042972106, 0.35519999042972106, 0.35519999042972106, 0.35519999042972106, -0.35519999042972106, -0.35519999042972106, -0.35519999042972106, 0.35519999042972106, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.569407343864441, -1.2561442852020264, -1.5600292682647705, -2.3484463691711426, -0.02475832961499691, 0.7033017873764038, -0.7566706538200378, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.8410779237747192, -1.1236307621002197, 1.1883379220962524, -1.8820271492004395, 0.41953033208847046, 0.7975450158119202, 1.0203537940979004, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, 0.29460000703623007, -0.29460000703623007, -0.29460000703623007, -0.29460000703623007, 0.29460000703623007, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5700660943984985, -1.2558313608169556, -1.5617154836654663, -2.3478400707244873, -0.024618353694677353, 0.7031514048576355, -0.7590492963790894, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.8333294987678528, -1.11638605594635, 1.1789642572402954, -1.8787262439727783, 0.4307079017162323, 0.7975266575813293, 1.0150551795959473, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5698895454406738, -1.2550647258758545, -1.5726794004440308, -2.340644598007202, -0.026276970282197, 0.6852514147758484, -0.7952019572257996, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.8286311030387878, -1.0966715812683105, 1.1716021299362183, -1.8775182962417603, 0.4481503367424011, 0.7819276452064514, 1.0259509086608887, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.568060040473938, -1.2529546022415161, -1.5902494192123413, -2.3323748111724854, -0.05858871713280678, 0.6652064323425293, -0.8462467193603516, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.8195293545722961, -1.0581868886947632, 1.1645654439926147, -1.8765090703964233, 0.4942108690738678, 0.7529228329658508, 1.0487061738967896, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5582993030548096, -1.2524402141571045, -1.6078026294708252, -2.3139350414276123, -0.12763498723506927, 0.6477654576301575, -0.9096502661705017, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.7961338758468628, -0.9950219392776489, 1.1472609043121338, -1.8718829154968262, 0.5830891132354736, 0.7177200317382812, 1.0733649730682373, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5462790727615356, -1.2513130903244019, -1.618316888809204, -2.2976229190826416, -0.19308863580226898, 0.6276827454566956, -0.9679393768310547, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.766682505607605, -0.9372137784957886, 1.1248408555984497, -1.8622654676437378, 0.6788957715034485, 0.684266984462738, 1.09846830368042, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.524154543876648, -1.2474645376205444, -1.6215659379959106, -2.28226375579834, -0.22763459384441376, 0.6265081763267517, -1.0412828922271729, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.7394623160362244, -0.8796316385269165, 1.0917253494262695, -1.8444273471832275, 0.7791643142700195, 0.652667224407196, 1.127822756767273, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4955878257751465, -1.242714285850525, -1.6136388778686523, -2.259230852127075, -0.2407972365617752, 0.6199870705604553, -1.1004533767700195, 0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.40500000518756907, -0.40500000518756907, 0.40500000518756907, 0.40500000518756907, -0.7107216715812683, -0.8316385746002197, 1.0547537803649902, -1.8249574899673462, 0.8599528670310974, 0.6341016292572021, 1.1475181579589844, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, 0.29340000833783836, -0.29340000833783836, -0.29340000833783836, -0.29340000833783836, 0.29340000833783836, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.469293236732483, -1.2400398254394531, -1.609084963798523, -2.2349460124969482, -0.27170276641845703, 0.611977219581604, -1.143320083618164, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.6889450550079346, -0.7985649108886719, 1.026033639907837, -1.802485466003418, 0.9326403141021729, 0.6168339252471924, 1.167728066444397, 0.2873999951959966, 0.2873999951959966, 0.2873999951959966, 0.2873999951959966, -0.2873999951959966, -0.2873999951959966, -0.2873999951959966, 0.2873999951959966, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4476797580718994, -1.2377766370773315, -1.6002728939056396, -2.2192771434783936, -0.2721956670284271, 0.5991641283035278, -1.1830739974975586, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.679429829120636, -0.7769041061401367, 1.002358078956604, -1.786511778831482, 0.9835476279258728, 0.61069655418396, 1.1811494827270508, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, 0.2849999977992131, -0.2849999977992131, -0.2849999977992131, -0.2849999977992131, 0.2849999977992131, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4443771839141846, -1.2354087829589844, -1.5919160842895508, -2.208773374557495, -0.2723144292831421, 0.5952022671699524, -1.1883444786071777, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.6759769320487976, -0.7704886794090271, 0.9886971116065979, -1.774556279182434, 0.9925656318664551, 0.6075129508972168, 1.1894973516464233, 0.2844000082749587, 0.2844000082749587, 0.2844000082749587, 0.2844000082749587, -0.2844000082749587, -0.2844000082749587, -0.2844000082749587, 0.2844000082749587, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4445314407348633, -1.2345060110092163, -1.5844013690948486, -2.205839157104492, -0.26913800835609436, 0.6029590964317322, -1.1678061485290527, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.6771245002746582, -0.7717062830924988, 0.9952795505523682, -1.7683582305908203, 0.9882103204727173, 0.6089724898338318, 1.1864928007125854, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.446233868598938, -1.2338743209838867, -1.590884804725647, -2.2026469707489014, -0.2535020709037781, 0.6059337854385376, -1.1627562046051025, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.6907386183738708, -0.774609386920929, 1.0217230319976807, -1.769599199295044, 0.9762535095214844, 0.6145362854003906, 1.1828444004058838, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4528801441192627, -1.2308404445648193, -1.6082639694213867, -2.195863723754883, -0.23532846570014954, 0.6129137873649597, -1.14585542678833, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.7103501558303833, -0.7843204736709595, 1.0589351654052734, -1.7741129398345947, 0.9671207070350647, 0.6253134608268738, 1.17861008644104, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, 0.28320000957656694, -0.28320000957656694, -0.28320000957656694, -0.28320000957656694, 0.28320000957656694, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.46751070022583, -1.2252393960952759, -1.6283972263336182, -2.1870503425598145, -0.21390031278133392, 0.6193721890449524, -1.1233693361282349, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.7271155118942261, -0.8099064826965332, 1.1184687614440918, -1.7872980833053589, 0.9607769846916199, 0.6387425065040588, 1.1789852380752563, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, -0.2819999912282923, -0.2819999912282923, -0.2819999912282923, 0.2819999912282923, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4892054796218872, -1.2221277952194214, -1.6574264764785767, -2.195300340652466, -0.19316928088665009, 0.6194427609443665, -1.1185169219970703, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.7598633170127869, -0.8302639722824097, 1.203453779220581, -1.8059295415878296, 0.925197958946228, 0.660104513168335, 1.1613657474517822, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5176455974578857, -1.2202924489974976, -1.7018474340438843, -2.215545892715454, -0.18255209922790527, 0.6221211552619934, -1.111124873161316, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.8215439319610596, -0.8460573554039001, 1.309933066368103, -1.832525372505188, 0.8737313747406006, 0.7003228664398193, 1.1204651594161987, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.546976923942566, -1.2175883054733276, -1.7443217039108276, -2.2328600883483887, -0.1761634349822998, 0.6241852641105652, -1.1117459535598755, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.9025328159332275, -0.8683519959449768, 1.4124213457107544, -1.8780471086502075, 0.7977373600006104, 0.7369275093078613, 1.0836101770401, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5570099353790283, -1.2164440155029297, -1.756258249282837, -2.2373812198638916, -0.17233747243881226, 0.6242008805274963, -1.1150307655334473, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.9918462038040161, -0.8807021379470825, 1.4855495691299438, -1.9335769414901733, 0.7213690876960754, 0.7604666352272034, 1.0597858428955078, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5553865432739258, -1.2162163257598877, -1.7505509853363037, -2.236950635910034, -0.17242386937141418, 0.6242032647132874, -1.1151235103607178, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1097254753112793, -0.8848052620887756, 1.5344208478927612, -1.9900790452957153, 0.5878230929374695, 0.7827240228652954, 1.0378468036651611, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5531115531921387, -1.2161943912506104, -1.750220775604248, -2.2365524768829346, -0.17280006408691406, 0.6242077946662903, -1.1151201725006104, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1992831230163574, -0.8995189666748047, 1.5369913578033447, -2.005507230758667, 0.495365172624588, 0.7844976782798767, 1.036044955253601, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528777837753296, -1.2161792516708374, -1.750232219696045, -2.2365190982818604, -0.17298366129398346, 0.6242122650146484, -1.1151171922683716, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2530533075332642, -0.9235751032829285, 1.5089504718780518, -2.0027637481689453, 0.40062329173088074, 0.7783356308937073, 1.0433611869812012, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528557300567627, -1.2161533832550049, -1.7503221035003662, -2.23651123046875, -0.1730368733406067, 0.6242190599441528, -1.115116000175476, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.270687222480774, -0.9556694030761719, 1.4785583019256592, -1.9683879613876343, 0.33828890323638916, 0.7719403505325317, 1.052187204360962, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528546571731567, -1.2161389589309692, -1.750405192375183, -2.2365033626556396, -0.17304502427577972, 0.6242260336875916, -1.1151142120361328, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2693861722946167, -0.9826161861419678, 1.451873540878296, -1.927016019821167, 0.2530163526535034, 0.7677197456359863, 1.0558586120605469, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528548955917358, -1.2161298990249634, -1.7504314184188843, -2.2364907264709473, -0.17304573953151703, 0.6242290139198303, -1.1151121854782104, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2569258213043213, -1.0000160932540894, 1.427945613861084, -1.878404140472412, 0.19854696094989777, 0.7558578848838806, 1.0681883096694946, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528546571731567, -1.2161197662353516, -1.750441312789917, -2.236490488052368, -0.17304693162441254, 0.6242327690124512, -1.1151096820831299, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2372465133666992, -1.0178825855255127, 1.4009954929351807, -1.8386107683181763, 0.14279910922050476, 0.7417435646057129, 1.0827628374099731, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528546571731567, -1.2161115407943726, -1.7504422664642334, -2.2364883422851562, -0.17304645478725433, 0.6242372989654541, -1.1151056289672852, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2276451587677002, -1.0348678827285767, 1.3810255527496338, -1.815830945968628, 0.1234455481171608, 0.7361154556274414, 1.0883054733276367, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528547763824463, -1.2161054611206055, -1.7504425048828125, -2.2364890575408936, -0.17304538190364838, 0.6242406368255615, -1.1151045560836792, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2188819646835327, -1.0457730293273926, 1.3598742485046387, -1.7907575368881226, 0.08982500433921814, 0.7265477180480957, 1.097465991973877, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528545379638672, -1.2161016464233398, -1.750442624092102, -2.2364895343780518, -0.17304417490959167, 0.6242451071739197, -1.1151032447814941, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.216260313987732, -1.0512309074401855, 1.3528212308883667, -1.776721477508545, 0.0761454850435257, 0.7191832661628723, 1.105249047279358, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.552854299545288, -1.2160990238189697, -1.750441312789917, -2.236490249633789, -0.17304334044456482, 0.6242473721504211, -1.1151022911071777, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.216829776763916, -1.0516300201416016, 1.3510727882385254, -1.770833134651184, 0.0649910494685173, 0.7145280241966248, 1.109650731086731, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528538227081299, -1.21609628200531, -1.7504404783248901, -2.2364919185638428, -0.17304298281669617, 0.6242496371269226, -1.1151021718978882, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2208328247070312, -1.0516014099121094, 1.351104974746704, -1.768773078918457, 0.060755226761102676, 0.7131656408309937, 1.1112412214279175, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528532266616821, -1.2160946130752563, -1.7504401206970215, -2.2364914417266846, -0.1730414181947708, 0.6242527365684509, -1.1151022911071777, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2236738204956055, -1.0494259595870972, 1.3470879793167114, -1.7667888402938843, 0.05532996729016304, 0.7117348313331604, 1.112492561340332, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528523921966553, -1.2160941362380981, -1.7504395246505737, -2.2364931106567383, -0.1730399876832962, 0.6242557764053345, -1.1151043176651, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2236747741699219, -1.0453779697418213, 1.3381454944610596, -1.7641006708145142, 0.05418367683887482, 0.709397554397583, 1.1150720119476318, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528504848480225, -1.2160937786102295, -1.7504396438598633, -2.2364938259124756, -0.17303746938705444, 0.6242591142654419, -1.1151041984558105, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2231637239456177, -1.0399030447006226, 1.334581732749939, -1.764223337173462, 0.05464530736207962, 0.70933598279953, 1.1151281595230103, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, 0.2837999991008214, -0.2837999991008214, -0.2837999991008214, -0.2837999991008214, 0.2837999991008214, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528459548950195, -1.216092824935913, -1.750437617301941, -2.2364940643310547, -0.17303159832954407, 0.6242610216140747, -1.115105152130127, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2227927446365356, -1.0324697494506836, 1.3346902132034302, -1.7724186182022095, 0.05797332897782326, 0.7101619243621826, 1.1135063171386719, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, 0.3432000034458035, -0.3432000034458035, -0.3432000034458035, -0.3432000034458035, 0.3432000034458035, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528373718261719, -1.2160900831222534, -1.7504369020462036, -2.23649525642395, -0.17302919924259186, 0.6242634057998657, -1.1151059865951538, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2193306684494019, -1.0212949514389038, 1.3366730213165283, -1.786383867263794, 0.06146648898720741, 0.711056649684906, 1.1123934984207153, 0.46439999970760976, 0.46439999970760976, 0.46439999970760976, 0.46439999970760976, -0.46439999970760976, -0.46439999970760976, -0.46439999970760976, 0.46439999970760976, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528249740600586, -1.216078281402588, -1.75043523311615, -2.236496686935425, -0.1730269193649292, 0.6242665648460388, -1.1151093244552612, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2139089107513428, -1.008802056312561, 1.3498377799987793, -1.808738112449646, 0.0796620175242424, 0.7115976214408875, 1.1115188598632812, 0.5526000022888183, 0.5526000022888183, 0.5526000022888183, 0.5526000022888183, -0.5526000022888183, -0.5526000022888183, -0.5526000022888183, 0.5526000022888183, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528216361999512, -1.2160676717758179, -1.7504345178604126, -2.23649525642395, -0.17302297055721283, 0.6242702603340149, -1.1151129007339478, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.2079532146453857, -0.9946907758712769, 1.3822685480117798, -1.847460389137268, 0.12489276379346848, 0.7127494215965271, 1.1102657318115234, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, 0.5891999994332974, -0.5891999994332974, -0.5891999994332974, -0.5891999994332974, 0.5891999994332974, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.552820086479187, -1.2160602807998657, -1.750434160232544, -2.2364962100982666, -0.17302200198173523, 0.6242745518684387, -1.1151177883148193, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1947840452194214, -0.9786099195480347, 1.4265257120132446, -1.890568733215332, 0.19991281628608704, 0.717383623123169, 1.1041632890701294, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.552819848060608, -1.2160553932189941, -1.7504342794418335, -2.236496686935425, -0.17302320897579193, 0.6242769956588745, -1.1151267290115356, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.171424150466919, -0.9647907018661499, 1.4729454517364502, -1.926289677619934, 0.2806064188480377, 0.7269014716148376, 1.0941162109375, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528186559677124, -1.2160528898239136, -1.7504347562789917, -2.2364964485168457, -0.17302297055721283, 0.624279260635376, -1.115136742591858, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1401225328445435, -0.963066816329956, 1.5136247873306274, -1.947898268699646, 0.3500346541404724, 0.7390217185020447, 1.0820876359939575, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.552817702293396, -1.2160495519638062, -1.7504323720932007, -2.23649525642395, -0.17302285134792328, 0.6242820024490356, -1.1151517629623413, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1184502840042114, -0.9790270924568176, 1.551301121711731, -1.9525586366653442, 0.4074223041534424, 0.7452293038368225, 1.0729784965515137, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528182983398438, -1.2160460948944092, -1.7504342794418335, -2.236495018005371, -0.17302188277244568, 0.6242846250534058, -1.1151846647262573, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.118026614189148, -0.9895970821380615, 1.5590898990631104, -1.9526216983795166, 0.4233471751213074, 0.7462069988250732, 1.0653961896896362, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528180599212646, -1.2160388231277466, -1.7504323720932007, -2.236494541168213, -0.17302176356315613, 0.6242865324020386, -1.1152069568634033, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1201449632644653, -0.9892609715461731, 1.5554122924804688, -1.9527207612991333, 0.4183819890022278, 0.746190071105957, 1.0659947395324707, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5528185367584229, -1.2160345315933228, -1.7504326105117798, -2.2364938259124756, -0.17302188277244568, 0.6242883801460266, -1.1152174472808838, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1211764812469482, -0.9889234304428101, 1.5549557209014893, -1.952723503112793, 0.41718238592147827, 0.7461901903152466, 1.0665637254714966, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.552818775177002, -1.2160334587097168, -1.7504326105117798, -2.236492395401001, -0.17302188277244568, 0.6242884993553162, -1.115220546722412, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1211860179901123, -0.9887915253639221, 1.5549569129943848, -1.9527238607406616, 0.41704756021499634, 0.7461925148963928, 1.066664695739746, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5482661724090576, -1.2135637998580933, -1.7466657161712646, -2.252455234527588, -0.14647695422172546, 0.624259352684021, -1.1290451288223267, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.121184229850769, -0.9887551069259644, 1.5549596548080444, -1.9527242183685303, 0.41698917746543884, 0.7461956143379211, 1.0667164325714111, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.5305957794189453, -1.2000532150268555, -1.7297917604446411, -2.294724225997925, -0.022846007719635963, 0.6285799145698547, -1.1777652502059937, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.121181607246399, -0.9887279868125916, 1.5549676418304443, -1.9527240991592407, 0.41694581508636475, 0.7462030649185181, 1.0667414665222168, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5239126682281494, -1.1812314987182617, -1.7046911716461182, -2.329946994781494, 0.136921688914299, 0.623738169670105, -1.2020878791809082, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1211802959442139, -0.9887080192565918, 1.554970383644104, -1.9527292251586914, 0.4169065058231354, 0.7462155222892761, 1.0667636394500732, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5238869190216064, -1.159736156463623, -1.6767863035202026, -2.3513054847717285, 0.2592240571975708, 0.6044418811798096, -1.2147828340530396, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1211737394332886, -0.9886934757232666, 1.5549792051315308, -1.9527307748794556, 0.41684406995773315, 0.7462294101715088, 1.0667665004730225, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5054770708084106, -1.137158751487732, -1.6402480602264404, -2.3500876426696777, 0.3670569062232971, 0.5875738263130188, -1.2322255373001099, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1211743354797363, -0.9886777997016907, 1.5549947023391724, -1.9527350664138794, 0.41681626439094543, 0.7462422251701355, 1.0667682886123657, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4728105068206787, -1.1227688789367676, -1.600014328956604, -2.349130392074585, 0.4585048258304596, 0.5798265337944031, -1.2395472526550293, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.121173620223999, -0.9886673092842102, 1.555001139640808, -1.9527475833892822, 0.4167979061603546, 0.7462536096572876, 1.0667709112167358, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4610610008239746, -1.115971326828003, -1.5750329494476318, -2.3491151332855225, 0.49090319871902466, 0.5800307393074036, -1.239202618598938, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.121170997619629, -0.9886596202850342, 1.5550105571746826, -1.952748417854309, 0.41678282618522644, 0.7462673783302307, 1.0667704343795776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4598877429962158, -1.111343264579773, -1.5612406730651855, -2.3491084575653076, 0.48713502287864685, 0.5863538384437561, -1.2329347133636475, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.121169090270996, -0.9886574745178223, 1.5550166368484497, -1.952750563621521, 0.4167667627334595, 0.7462876439094543, 1.0667705535888672, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.459933876991272, -1.106766700744629, -1.5613677501678467, -2.3491101264953613, 0.46707019209861755, 0.5945303440093994, -1.2242817878723145, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.124131202697754, -0.9916524887084961, 1.5531944036483765, -1.9522883892059326, 0.41618767380714417, 0.7424728274345398, 1.0810354948043823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4600015878677368, -1.1013034582138062, -1.5614147186279297, -2.3491101264953613, 0.45794299244880676, 0.6017996072769165, -1.2170960903167725, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1297836303710938, -0.9973835945129395, 1.5305836200714111, -1.9651726484298706, 0.4396682679653168, 0.7201406955718994, 1.1037238836288452, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4600896835327148, -1.0992796421051025, -1.5614510774612427, -2.349109172821045, 0.45611900091171265, 0.6027957201004028, -1.2160459756851196, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1280063390731812, -1.0077404975891113, 1.4897513389587402, -1.9853142499923706, 0.4584294259548187, 0.706976056098938, 1.1174275875091553, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602373838424683, -1.0992830991744995, -1.56147038936615, -2.3491098880767822, 0.45630571246147156, 0.6027539968490601, -1.216130256652832, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1159061193466187, -1.0220024585723877, 1.4321413040161133, -1.9904686212539673, 0.4590044319629669, 0.7032610177993774, 1.1212913990020752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.460246205329895, -1.0992896556854248, -1.5614784955978394, -2.3491077423095703, 0.4566778242588043, 0.6026791334152222, -1.2162548303604126, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1050870418548584, -1.035964846611023, 1.3842673301696777, -1.9900403022766113, 0.4427238702774048, 0.6975981593132019, 1.1260390281677246, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602473974227905, -1.0993003845214844, -1.5614820718765259, -2.349106550216675, 0.4567975401878357, 0.6026403903961182, -1.216341257095337, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.1009831428527832, -1.051177978515625, 1.3581242561340332, -1.9798465967178345, 0.4311024248600006, 0.6910147070884705, 1.132390022277832, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, -0.5729999998113611, -0.5729999998113611, -0.5729999998113611, 0.5729999998113611, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602551460266113, -1.0993266105651855, -1.5614869594573975, -2.3491036891937256, 0.4568426012992859, 0.6026309728622437, -1.2164133787155151, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.100849986076355, -1.0672017335891724, 1.3446557521820068, -1.967576026916504, 0.4135056138038635, 0.685322105884552, 1.1384141445159912, 0.41459999477470316, 0.41459999477470316, 0.41459999477470316, 0.41459999477470316, -0.41459999477470316, -0.41459999477470316, -0.41459999477470316, 0.41459999477470316, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602590799331665, -1.0993452072143555, -1.5614897012710571, -2.349097967147827, 0.456865131855011, 0.6026308536529541, -1.2164642810821533, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0991907119750977, -1.078936219215393, 1.3371961116790771, -1.9548081159591675, 0.401379257440567, 0.6794613599777222, 1.144453763961792, 0.31559999408302725, 0.31559999408302725, 0.31559999408302725, 0.31559999408302725, -0.31559999408302725, -0.31559999408302725, -0.31559999408302725, 0.31559999408302725, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.460260033607483, -1.0993508100509644, -1.5614898204803467, -2.3490970134735107, 0.4568673074245453, 0.6026334762573242, -1.2164788246154785, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.093864917755127, -1.0888807773590088, 1.3282846212387085, -1.9428889751434326, 0.38535094261169434, 0.6765187382698059, 1.1474173069000244, 0.25920001595884884, 0.25920001595884884, 0.25920001595884884, 0.25920001595884884, -0.25920001595884884, -0.25920001595884884, -0.25920001595884884, 0.25920001595884884, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602605104446411, -1.099354863166809, -1.5614897012710571, -2.349094867706299, 0.45686620473861694, 0.6026390790939331, -1.2164883613586426, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0877633094787598, -1.101719856262207, 1.3175777196884155, -1.9302504062652588, 0.3678731620311737, 0.6756981611251831, 1.1481714248657227, 0.24360001322987312, 0.24360001322987312, 0.24360001322987312, 0.24360001322987312, -0.24360001322987312, -0.24360001322987312, -0.24360001322987312, 0.24360001322987312, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602601528167725, -1.0993572473526, -1.5614895820617676, -2.3490912914276123, 0.45686742663383484, 0.6026458144187927, -1.2164889574050903, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0821890830993652, -1.116273283958435, 1.3084917068481445, -1.921180248260498, 0.35251694917678833, 0.6771228313446045, 1.146082878112793, 0.22140000783480132, 0.22140000783480132, 0.22140000783480132, 0.22140000783480132, -0.22140000783480132, -0.22140000783480132, -0.22140000783480132, 0.22140000783480132, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602606296539307, -1.0993596315383911, -1.5614898204803467, -2.349088668823242, 0.45686671137809753, 0.602652370929718, -1.216489553451538, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0729560852050781, -1.1298565864562988, 1.2932782173156738, -1.9085359573364258, 0.3348187506198883, 0.6781709790229797, 1.1445660591125488, 0.2045999867575509, 0.2045999867575509, 0.2045999867575509, 0.2045999867575509, -0.2045999867575509, -0.2045999867575509, -0.2045999867575509, 0.2045999867575509, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.460260272026062, -1.0993623733520508, -1.5614897012710571, -2.3490867614746094, 0.45686501264572144, 0.6026585102081299, -1.216489315032959, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0637164115905762, -1.1455140113830566, 1.281757116317749, -1.8950811624526978, 0.3174911141395569, 0.6782956123352051, 1.14426851272583, 0.1872000154558119, 0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -0.1872000154558119, -0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602606296539307, -1.0993636846542358, -1.5614900588989258, -2.3490843772888184, 0.45686501264572144, 0.6026643514633179, -1.2164876461029053, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0557233095169067, -1.160032868385315, 1.2726706266403198, -1.8838282823562622, 0.3018720746040344, 0.6778236627578735, 1.1447240114212036, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.460260272026062, -1.0993642807006836, -1.5614904165267944, -2.3490843772888184, 0.4568637013435364, 0.6026690602302551, -1.216485857963562, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0494050979614258, -1.1738659143447876, 1.2682933807373047, -1.8729078769683838, 0.2909111976623535, 0.6782410740852356, 1.1446994543075562, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, 0.16199998383993633, -0.16199998383993633, -0.16199998383993633, -0.16199998383993633, 0.16199998383993633, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602605104446411, -1.0993645191192627, -1.5614922046661377, -2.349081516265869, 0.456865131855011, 0.6026734709739685, -1.2164829969406128, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0430094003677368, -1.1864451169967651, 1.2630398273468018, -1.8632892370224, 0.28115373849868774, 0.6811042428016663, 1.1415563821792603, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, -0.15659999952211487, -0.15659999952211487, -0.15659999952211487, 0.15659999952211487, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602606296539307, -1.0993640422821045, -1.5615118741989136, -2.348813056945801, 0.4570680260658264, 0.602687418460846, -1.2164156436920166, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0394426584243774, -1.200776219367981, 1.2610124349594116, -1.8580949306488037, 0.2758580446243286, 0.6893284320831299, 1.1330664157867432, 0.1542000021253314, 0.1542000021253314, 0.1542000021253314, 0.1542000021253314, -0.1542000021253314, -0.1542000021253314, -0.1542000021253314, 0.1542000021253314, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602601528167725, -1.0993609428405762, -1.5629264116287231, -2.3480935096740723, 0.4583197832107544, 0.6029217839241028, -1.2154961824417114, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0390689373016357, -1.212929129600525, 1.2582142353057861, -1.8525135517120361, 0.27093419432640076, 0.6944136619567871, 1.1286475658416748, 0.14159998631739354, 0.14159998631739354, 0.14159998631739354, 0.14159998631739354, -0.14159998631739354, -0.14159998631739354, -0.14159998631739354, 0.14159998631739354, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602563381195068, -1.099351167678833, -1.5631529092788696, -2.3479504585266113, 0.45878562331199646, 0.6031359434127808, -1.2146724462509155, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0394874811172485, -1.2192455530166626, 1.2498149871826172, -1.8489445447921753, 0.26375719904899597, 0.697116494178772, 1.1270368099212646, 0.14099999679313915, 0.14099999679313915, 0.14099999679313915, 0.14099999679313915, -0.14099999679313915, -0.14099999679313915, -0.14099999679313915, 0.14099999679313915, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.460256576538086, -1.0993298292160034, -1.5629771947860718, -2.3479535579681396, 0.45871347188949585, 0.6031366586685181, -1.2148473262786865, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0401631593704224, -1.223268985748291, 1.2409909963607788, -1.8488337993621826, 0.259235680103302, 0.7024391889572144, 1.120174765586853, 0.14220001514141378, 0.14220001514141378, 0.14220001514141378, 0.14220001514141378, -0.14220001514141378, -0.14220001514141378, -0.14220001514141378, 0.14220001514141378, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602956771850586, -1.098805546760559, -1.5630220174789429, -2.3469488620758057, 0.45973870158195496, 0.6035401821136475, -1.214977502822876, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.040163516998291, -1.2251914739608765, 1.2396453619003296, -1.8488563299179077, 0.2589043080806732, 0.7083373069763184, 1.1147063970565796, 0.1439999837141771, 0.1439999837141771, 0.1439999837141771, 0.1439999837141771, -0.1439999837141771, -0.1439999837141771, -0.1439999837141771, 0.1439999837141771, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.461041808128357, -1.0977965593338013, -1.5642008781433105, -2.344414710998535, 0.46282610297203064, 0.6045690178871155, -1.2145670652389526, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0401597023010254, -1.2298095226287842, 1.2349791526794434, -1.8506245613098145, 0.26203280687332153, 0.7263414859771729, 1.0976653099060059, 0.14700000993498083, 0.14700000993498083, 0.14700000993498083, 0.14700000993498083, -0.14700000993498083, -0.14700000993498083, -0.14700000993498083, 0.14700000993498083, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4610896110534668, -1.0966229438781738, -1.5666899681091309, -2.3431859016418457, 0.4657124876976013, 0.6059663891792297, -1.2125965356826782, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0405561923980713, -1.2381776571273804, 1.23136305809021, -1.8563673496246338, 0.26464033126831055, 0.7516573071479797, 1.074966549873352, 0.14700000993498083, 0.14700000993498083, 0.14700000993498083, 0.14700000993498083, -0.14700000993498083, -0.14700000993498083, -0.14700000993498083, 0.14700000993498083, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4611492156982422, -1.0957343578338623, -1.5679330825805664, -2.34144926071167, 0.4682020843029022, 0.6067694425582886, -1.2115932703018188, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0411889553070068, -1.2449254989624023, 1.228365182876587, -1.8557562828063965, 0.26503893733024597, 0.7647844552993774, 1.062293291091919, 0.14700000993498083, 0.14700000993498083, 0.14700000993498083, 0.14700000993498083, -0.14700000993498083, -0.14700000993498083, -0.14700000993498083, 0.14700000993498083, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.462870717048645, -1.094151496887207, -1.5686830282211304, -2.3398098945617676, 0.47114986181259155, 0.6080464720726013, -1.2113585472106934, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0408796072006226, -1.2497745752334595, 1.2235499620437622, -1.8528096675872803, 0.2656967341899872, 0.7749553322792053, 1.0521883964538574, 0.1494000073317643, 0.1494000073317643, 0.1494000073317643, 0.1494000073317643, -0.1494000073317643, -0.1494000073317643, -0.1494000073317643, 0.1494000073317643, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4636991024017334, -1.0931928157806396, -1.5703115463256836, -2.337791681289673, 0.4733421206474304, 0.6093840599060059, -1.2102705240249634, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0392742156982422, -1.257306456565857, 1.2205111980438232, -1.8475701808929443, 0.27096691727638245, 0.7895901203155518, 1.0388916730880737, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4636908769607544, -1.0928666591644287, -1.573097586631775, -2.33732271194458, 0.4758684039115906, 0.6103174090385437, -1.2075892686843872, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0405961275100708, -1.2707505226135254, 1.2233893871307373, -1.8395928144454956, 0.2819139063358307, 0.8053107857704163, 1.02516770362854, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4633101224899292, -1.0924286842346191, -1.5753180980682373, -2.337161064147949, 0.4778183698654175, 0.6111096739768982, -1.2053289413452148, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0478508472442627, -1.2848871946334839, 1.2315713167190552, -1.8323410749435425, 0.29370003938674927, 0.8188198804855347, 1.0129469633102417, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4626950025558472, -1.0917258262634277, -1.5765433311462402, -2.336456537246704, 0.4795527160167694, 0.6120742559432983, -1.2038767337799072, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0563920736312866, -1.2964835166931152, 1.238952875137329, -1.8238320350646973, 0.311840683221817, 0.8265115022659302, 0.9988669157028198, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4624390602111816, -1.0910885334014893, -1.5782760381698608, -2.3357129096984863, 0.4810512363910675, 0.6128953099250793, -1.2029128074645996, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0613455772399902, -1.3050397634506226, 1.242286205291748, -1.8206193447113037, 0.3222457468509674, 0.8364208936691284, 0.9857463836669922, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, 0.1505999863802732, -0.1505999863802732, -0.1505999863802732, -0.1505999863802732, 0.1505999863802732, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.462425947189331, -1.0906853675842285, -1.5795190334320068, -2.335066080093384, 0.4826340973377228, 0.6136566996574402, -1.201645016670227, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0654584169387817, -1.315346360206604, 1.2471758127212524, -1.8155239820480347, 0.34462136030197144, 0.8582260608673096, 0.9643471837043762, 0.1512000152042934, 0.1512000152042934, 0.1512000152042934, 0.1512000152042934, -0.1512000152042934, -0.1512000152042934, -0.1512000152042934, 0.1512000152042934, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.46242094039917, -1.089931607246399, -1.5801681280136108, -2.3332533836364746, 0.4847669303417206, 0.6143734455108643, -1.2008252143859863, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0673267841339111, -1.3239728212356567, 1.2484755516052246, -1.8120096921920776, 0.35500234365463257, 0.8742996454238892, 0.948093593120575, 0.1512000152042934, 0.1512000152042934, 0.1512000152042934, 0.1512000152042934, -0.1512000152042934, -0.1512000152042934, -0.1512000152042934, 0.1512000152042934, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4624419212341309, -1.0890250205993652, -1.5805933475494385, -2.332444667816162, 0.48607969284057617, 0.6151036620140076, -1.200486421585083, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0670241117477417, -1.3296815156936646, 1.2484129667282104, -1.809201717376709, 0.353725790977478, 0.884675145149231, 0.9407461881637573, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4631376266479492, -1.0881085395812988, -1.5805970430374146, -2.332164764404297, 0.4865792989730835, 0.6154913306236267, -1.2013068199157715, 0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -1.0627092123031616, -1.3326367139816284, 1.246323585510254, -1.8017231225967407, 0.3480370044708252, 0.8901500105857849, 0.9397185444831848, 0.1385999993963556, 0.1385999993963556, 0.1385999993963556, 0.1385999993963556, -0.1385999993963556, -0.1385999993963556, -0.1385999993963556, 0.1385999993963556, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.463275671005249, -1.0899262428283691, -1.5739808082580566, -2.3382983207702637, 0.4771740734577179, 0.6132217645645142, -1.2040965557098389, 0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -1.0589227676391602, -1.3370897769927979, 1.2359862327575684, -1.7927170991897583, 0.3427131175994873, 0.891207218170166, 0.9389388561248779, 0.09540000695448654, 0.09540000695448654, 0.09540000695448654, 0.09540000695448654, -0.09540000695448654, -0.09540000695448654, -0.09540000695448654, 0.09540000695448654, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4628945589065552, -1.0931556224822998, -1.5682616233825684, -2.341722011566162, 0.47234970331192017, 0.6112703680992126, -1.2071325778961182, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0596073865890503, -1.3442045450210571, 1.2302367687225342, -1.7894644737243652, 0.3392402231693268, 0.8914845585823059, 0.9385141134262085, 0.08640000689160696, 0.08640000689160696, 0.08640000689160696, 0.08640000689160696, -0.08640000689160696, -0.08640000689160696, -0.08640000689160696, 0.08640000689160696, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4628911018371582, -1.0931541919708252, -1.5686755180358887, -2.3413684368133545, 0.4723428785800934, 0.6112211346626282, -1.2074049711227417, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0595957040786743, -1.344290852546692, 1.2302882671356201, -1.7857229709625244, 0.3392547070980072, 0.8890842199325562, 0.9407480955123901, 0.0917999912094284, 0.0917999912094284, 0.0917999912094284, 0.0917999912094284, -0.0917999912094284, -0.0917999912094284, -0.0917999912094284, 0.0917999912094284, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4628136157989502, -1.0931159257888794, -1.5693528652191162, -2.3412938117980957, 0.4723760783672333, 0.611038327217102, -1.2076879739761353, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0589686632156372, -1.3442963361740112, 1.2300403118133545, -1.782710075378418, 0.3376554250717163, 0.8869386911392212, 0.9424058794975281, 0.10380001749311178, 0.10380001749311178, 0.10380001749311178, 0.10380001749311178, -0.10380001749311178, -0.10380001749311178, -0.10380001749311178, 0.10380001749311178, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4625145196914673, -1.0930126905441284, -1.569709300994873, -2.341320037841797, 0.4722917079925537, 0.6107236742973328, -1.208311915397644, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0582131147384644, -1.344297170639038, 1.2298387289047241, -1.7825871706008911, 0.33511319756507874, 0.8845837116241455, 0.943854570388794, 0.09060001216091955, 0.09060001216091955, 0.09060001216091955, 0.09060001216091955, -0.09060001216091955, -0.09060001216091955, -0.09060001216091955, 0.09060001216091955, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4623459577560425, -1.0939548015594482, -1.56502103805542, -2.3449349403381348, 0.46431872248649597, 0.6073477864265442, -1.2119861841201782, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.058264136314392, -1.3445674180984497, 1.2298470735549927, -1.7846624851226807, 0.33246326446533203, 0.881588339805603, 0.9446391463279724, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4602917432785034, -1.0980877876281738, -1.5633695125579834, -2.3483874797821045, 0.4595828056335449, 0.6056309342384338, -1.2123655080795288, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0654596090316772, -1.3421125411987305, 1.2351081371307373, -1.8026504516601562, 0.33256247639656067, 0.8804435133934021, 0.946052074432373, 0.006599985374199168, 0.006599985374199168, 0.006599985374199168, 0.006599985374199168, -0.006599985374199168, -0.006599985374199168, -0.006599985374199168, 0.006599985374199168, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4586516618728638, -1.0992969274520874, -1.563368558883667, -2.3494138717651367, 0.4577111005783081, 0.6045160889625549, -1.2123677730560303, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0756440162658691, -1.326454758644104, 1.2455660104751587, -1.8270254135131836, 0.3412710428237915, 0.8810058832168579, 0.9453343749046326, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, 0.004800016801435913, -0.004800016801435913, -0.004800016801435913, -0.004800016801435913, 0.004800016801435913, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4582825899124146, -1.0993070602416992, -1.563377022743225, -2.3498406410217285, 0.45741701126098633, 0.6042489409446716, -1.2123479843139648, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.086694598197937, -1.2963106632232666, 1.2582714557647705, -1.8607391119003296, 0.359615683555603, 0.8854968547821045, 0.9390288591384888, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, 0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, -0.0035999984531612126, 0.0035999984531612126, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.458064079284668, -1.0993027687072754, -1.563392996788025, -2.3499205112457275, 0.45741352438926697, 0.6042270064353943, -1.212408185005188, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1021250486373901, -1.2579437494277954, 1.2843254804611206, -1.911277174949646, 0.3937576413154602, 0.8937315940856934, 0.9288603663444519, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4585610628128052, -1.099259376525879, -1.5630452632904053, -2.349308490753174, 0.45741114020347595, 0.6042311787605286, -1.2143676280975342, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1096670627593994, -1.2145397663116455, 1.3123321533203125, -1.956956386566162, 0.446676641702652, 0.9033247232437134, 0.9176933169364929, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4592500925064087, -1.0991417169570923, -1.562011480331421, -2.3490896224975586, 0.4574119746685028, 0.604240894317627, -1.2148709297180176, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1180286407470703, -1.1721645593643188, 1.3447295427322388, -1.9964402914047241, 0.5070909261703491, 0.9111263155937195, 0.9096026420593262, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, 0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, -0.0030000089289068167, 0.0030000089289068167, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4593607187271118, -1.099044919013977, -1.5618027448654175, -2.349050998687744, 0.45741114020347595, 0.6042508482933044, -1.2149957418441772, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1281886100769043, -1.1316262483596802, 1.3779041767120361, -2.0265872478485107, 0.5605599880218506, 0.9177463054656982, 0.9031104445457458, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4595470428466797, -1.0989644527435303, -1.5617988109588623, -2.3490400314331055, 0.45740851759910583, 0.6042606830596924, -1.215063214302063, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1391290426254272, -1.0956897735595703, 1.4264066219329834, -2.0569205284118652, 0.6054530143737793, 0.92340487241745, 0.8978828191757202, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.459558129310608, -1.0989431142807007, -1.5617986917495728, -2.349030017852783, 0.45739999413490295, 0.6042649745941162, -1.215084195137024, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1476691961288452, -1.0645861625671387, 1.481321930885315, -2.0792922973632812, 0.6437714695930481, 0.9274811148643494, 0.8932928442955017, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, 0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, -0.0017999905806321825, 0.0017999905806321825, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4595690965652466, -1.0989357233047485, -1.561797857284546, -2.349026679992676, 0.45737195014953613, 0.6042682528495789, -1.2151165008544922, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1548351049423218, -1.0401530265808105, 1.5296530723571777, -2.0952486991882324, 0.6773872375488281, 0.932532548904419, 0.8881617188453674, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4595831632614136, -1.0989346504211426, -1.5617979764938354, -2.3490219116210938, 0.4573252201080322, 0.6042686104774475, -1.2151497602462769, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1585168838500977, -1.018943190574646, 1.5721721649169922, -2.1076860427856445, 0.7059028744697571, 0.934646487236023, 0.886117160320282, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4596028327941895, -1.098934531211853, -1.5617966651916504, -2.349020004272461, 0.45727992057800293, 0.6042687296867371, -1.2151764631271362, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.159451961517334, -1.0043244361877441, 1.618882656097412, -2.1136627197265625, 0.7332491874694824, 0.9347991347312927, 0.8859512209892273, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.459632396697998, -1.0989394187927246, -1.5617972612380981, -2.349015951156616, 0.45720404386520386, 0.6042650938034058, -1.2152034044265747, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.161393642425537, -0.9951177835464478, 1.6540323495864868, -2.123188018798828, 0.7363929748535156, 0.9387940764427185, 0.8827217221260071, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4615113735198975, -1.1087262630462646, -1.5774539709091187, -2.340604782104492, 0.41010424494743347, 0.6079694628715515, -1.21160089969635, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1785908937454224, -0.9870132803916931, 1.6892164945602417, -2.1357672214508057, 0.736345648765564, 0.9411571621894836, 0.8796156048774719, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4695134162902832, -1.1387437582015991, -1.6223505735397339, -2.3136210441589355, 0.2788700461387634, 0.6306934356689453, -1.1874661445617676, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2110364437103271, -0.9793789982795715, 1.7384660243988037, -2.1525323390960693, 0.7401577234268188, 0.951087474822998, 0.8693928122520447, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4787333011627197, -1.1610969305038452, -1.6650598049163818, -2.2822749614715576, 0.1457366794347763, 0.6546499133110046, -1.1621953248977661, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.243097186088562, -0.9679784178733826, 1.7922435998916626, -2.162755250930786, 0.7379940748214722, 0.9569671750068665, 0.8636600375175476, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.4857510328292847, -1.1785534620285034, -1.703687310218811, -2.2448699474334717, 0.010505490936338902, 0.6735685467720032, -1.1362804174423218, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2634813785552979, -0.9569445848464966, 1.8340119123458862, -2.159517765045166, 0.7343313694000244, 0.958937406539917, 0.861679196357727, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4872335195541382, -1.190293312072754, -1.7279052734375, -2.205437421798706, -0.09113763272762299, 0.6891967058181763, -1.116755485534668, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2706905603408813, -0.9454718828201294, 1.8490006923675537, -2.1316516399383545, 0.7136535048484802, 0.956967294216156, 0.8644035458564758, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4895859956741333, -1.1971802711486816, -1.7453891038894653, -2.168606996536255, -0.16716495156288147, 0.7017731070518494, -1.1023902893066406, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2655600309371948, -0.9345400333404541, 1.8262699842453003, -2.0804975032806396, 0.6632913947105408, 0.9390872120857239, 0.8835231065750122, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.497678518295288, -1.1995902061462402, -1.758103847503662, -2.15190052986145, -0.19509275257587433, 0.7031541466712952, -1.0918699502944946, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2264609336853027, -0.9307016134262085, 1.7635005712509155, -2.0064892768859863, 0.5806498527526855, 0.9100451469421387, 0.9136624336242676, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5013290643692017, -1.1995853185653687, -1.7590200901031494, -2.151815176010132, -0.1864224076271057, 0.7004695534706116, -1.091667890548706, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1601426601409912, -0.9342229962348938, 1.6839065551757812, -1.9207279682159424, 0.5209141373634338, 0.8724368214607239, 0.9510669112205505, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5013229846954346, -1.1995277404785156, -1.7585726976394653, -2.1521615982055664, -0.18416841328144073, 0.7004594802856445, -1.0925219058990479, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.084510326385498, -0.9554753303527832, 1.602259635925293, -1.8293439149856567, 0.4696313440799713, 0.8316091895103455, 0.9807827472686768, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5012667179107666, -1.1994338035583496, -1.7579783201217651, -2.1523818969726562, -0.18408501148223877, 0.700461745262146, -1.092729091644287, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0115437507629395, -0.9866068363189697, 1.5208345651626587, -1.7339613437652588, 0.4366229474544525, 0.7871622443199158, 0.9892205595970154, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5009702444076538, -1.1993354558944702, -1.7579784393310547, -2.152456760406494, -0.18406523764133453, 0.7004624605178833, -1.0927579402923584, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9453813433647156, -1.0187336206436157, 1.4507040977478027, -1.6437640190124512, 0.41041895747184753, 0.7479419708251953, 0.9973981380462646, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5008368492126465, -1.19929039478302, -1.7579774856567383, -2.1524665355682373, -0.18406055867671967, 0.7004603147506714, -1.0927692651748657, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8881123661994934, -1.0491490364074707, 1.3930773735046387, -1.5602667331695557, 0.38288530707359314, 0.7163552641868591, 1.006395936012268, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5008013248443604, -1.199279546737671, -1.757979154586792, -2.1524658203125, -0.18405935168266296, 0.7004562616348267, -1.0927690267562866, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8435102701187134, -1.0781352519989014, 1.3554871082305908, -1.4873480796813965, 0.3559742569923401, 0.6896830201148987, 1.016132116317749, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007883310317993, -1.1992673873901367, -1.7579820156097412, -2.1524674892425537, -0.18405839800834656, 0.7004426121711731, -1.0927687883377075, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8100895285606384, -1.1041003465652466, 1.3292367458343506, -1.419950246810913, 0.32253217697143555, 0.6650547385215759, 1.025390625, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007786750793457, -1.199263334274292, -1.7579870223999023, -2.1524698734283447, -0.1840561181306839, 0.7004237771034241, -1.0927681922912598, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.790660560131073, -1.1285632848739624, 1.318260908126831, -1.3638083934783936, 0.2982615828514099, 0.6439068913459778, 1.0342246294021606, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.5007747411727905, -1.1992604732513428, -1.7579904794692993, -2.152470111846924, -0.1840532422065735, 0.7004061341285706, -1.0927687883377075, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7829473614692688, -1.149349570274353, 1.3138821125030518, -1.3307398557662964, 0.2781132459640503, 0.634081244468689, 1.044263243675232, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007694959640503, -1.1992594003677368, -1.757995367050171, -2.152470350265503, -0.18403945863246918, 0.7003868818283081, -1.0927667617797852, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7861475944519043, -1.1649320125579834, 1.3192286491394043, -1.3308578729629517, 0.2613869607448578, 0.6357837319374084, 1.0532056093215942, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500767707824707, -1.1992595195770264, -1.7580006122589111, -2.1524722576141357, -0.18402856588363647, 0.7003706693649292, -1.0927679538726807, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7970191836357117, -1.1772311925888062, 1.3374892473220825, -1.333341121673584, 0.23929189145565033, 0.6396833062171936, 1.0663114786148071, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007673501968384, -1.1992592811584473, -1.7580084800720215, -2.152475595474243, -0.18400926887989044, 0.7003596425056458, -1.0927683115005493, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8147915601730347, -1.1821552515029907, 1.3620085716247559, -1.3517789840698242, 0.2158919721841812, 0.6514932513237, 1.08354914188385, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007669925689697, -1.199259638786316, -1.7580174207687378, -2.152477264404297, -0.18398816883563995, 0.7003580927848816, -1.0927685499191284, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8356898427009583, -1.1834224462509155, 1.3937948942184448, -1.3828736543655396, 0.19583001732826233, 0.6700079441070557, 1.099899411201477, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500766634941101, -1.1992603540420532, -1.7580301761627197, -2.152480125427246, -0.18397977948188782, 0.7003585696220398, -1.0927692651748657, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8597241044044495, -1.1832919120788574, 1.4317041635513306, -1.4244564771652222, 0.17607007920742035, 0.6927493214607239, 1.1145559549331665, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007667541503906, -1.1992603540420532, -1.7580384016036987, -2.1524817943573, -0.1839672029018402, 0.7003582119941711, -1.0927696228027344, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8946812152862549, -1.1778714656829834, 1.469699501991272, -1.4884285926818848, 0.1757226586341858, 0.7093634009361267, 1.1180696487426758, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007660388946533, -1.199260950088501, -1.758058786392212, -2.152484178543091, -0.1839441955089569, 0.700357973575592, -1.092771053314209, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.946489691734314, -1.1575288772583008, 1.5056670904159546, -1.5837922096252441, 0.22135066986083984, 0.7312464714050293, 1.0909359455108643, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007652044296265, -1.1992617845535278, -1.7580679655075073, -2.152484178543091, -0.1839187890291214, 0.7003569006919861, -1.0927702188491821, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9969783425331116, -1.1197230815887451, 1.5416779518127441, -1.6759209632873535, 0.27745601534843445, 0.7594821453094482, 1.061639428138733, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007665157318115, -1.199262261390686, -1.7580814361572266, -2.1524834632873535, -0.18390344083309174, 0.7003559470176697, -1.0927698612213135, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0387790203094482, -1.075044870376587, 1.5813339948654175, -1.7544304132461548, 0.3398294746875763, 0.7848889827728271, 1.0360652208328247, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007658004760742, -1.1992642879486084, -1.7580811977386475, -2.1524813175201416, -0.18388906121253967, 0.7003560662269592, -1.0927706956863403, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0769318342208862, -1.0332781076431274, 1.6269663572311401, -1.8254730701446533, 0.4019651710987091, 0.811199963092804, 1.0098785161972046, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007668733596802, -1.1992642879486084, -1.7580809593200684, -2.1524815559387207, -0.18387144804000854, 0.7003571391105652, -1.092769742012024, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1134413480758667, -0.9963397979736328, 1.6719290018081665, -1.8729026317596436, 0.4489721953868866, 0.8321496844291687, 0.9887176156044006, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007673501968384, -1.199265480041504, -1.7580780982971191, -2.152482032775879, -0.1838597059249878, 0.7003588080406189, -1.0927703380584717, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.146611213684082, -0.9594508409500122, 1.715889811515808, -1.8867555856704712, 0.46774131059646606, 0.8446277976036072, 0.9760292172431946, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007680654525757, -1.1992664337158203, -1.758079171180725, -2.1524810791015625, -0.18384604156017303, 0.7003607153892517, -1.0927692651748657, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1666077375411987, -0.9317939281463623, 1.7548975944519043, -1.863606333732605, 0.4727100729942322, 0.8450959920883179, 0.9757314920425415, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.5007672309875488, -1.1992695331573486, -1.7580747604370117, -2.152480125427246, -0.18382710218429565, 0.7003648281097412, -1.0927677154541016, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1684991121292114, -0.9242251515388489, 1.767059087753296, -1.8172663450241089, 0.46103012561798096, 0.8330292105674744, 0.9899003505706787, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.500769019126892, -1.1992709636688232, -1.758071780204773, -2.152482271194458, -0.18381954729557037, 0.7003681659698486, -1.0927690267562866, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1463801860809326, -0.9347394704818726, 1.7481499910354614, -1.747855305671692, 0.43040192127227783, 0.8070639371871948, 1.0100287199020386, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007697343826294, -1.1992754936218262, -1.7580621242523193, -2.152479887008667, -0.1838170439004898, 0.7003719806671143, -1.092767596244812, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.105118989944458, -0.9549490809440613, 1.711535096168518, -1.685408115386963, 0.4104570746421814, 0.7708338499069214, 1.0084431171417236, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500770092010498, -1.1992771625518799, -1.7580517530441284, -2.152484893798828, -0.1838148832321167, 0.7003746628761292, -1.0927702188491821, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0337833166122437, -0.9791938066482544, 1.6473164558410645, -1.5880520343780518, 0.39565739035606384, 0.7268512845039368, 1.0076580047607422, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007706880569458, -1.1992782354354858, -1.7580450773239136, -2.15248966217041, -0.18381500244140625, 0.7003745436668396, -1.0927706956863403, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9630252718925476, -0.9981130361557007, 1.5839828252792358, -1.4993889331817627, 0.36658450961112976, 0.6970176100730896, 1.021360993385315, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007710456848145, -1.1992775201797485, -1.758040428161621, -2.152489423751831, -0.18381176888942719, 0.7003747820854187, -1.0927684307098389, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8990609645843506, -1.0185902118682861, 1.5248843431472778, -1.4219975471496582, 0.3360351622104645, 0.6724758744239807, 1.0405629873275757, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500771403312683, -1.1992777585983276, -1.7580374479293823, -2.152491569519043, -0.1838110387325287, 0.7003746628761292, -1.0927679538726807, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8463192582130432, -1.041752576828003, 1.475388765335083, -1.3509001731872559, 0.3180420398712158, 0.6465579271316528, 1.0528918504714966, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007716417312622, -1.1992796659469604, -1.7580041885375977, -2.1524908542633057, -0.18381188809871674, 0.7003739476203918, -1.0927683115005493, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8101140856742859, -1.063279151916504, 1.4381613731384277, -1.2946077585220337, 0.2949395775794983, 0.6301833987236023, 1.0593312978744507, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9355541467666626, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007721185684204, -1.1992791891098022, -1.7580029964447021, -2.1524925231933594, -0.1838139146566391, 0.700373113155365, -1.0927685499191284, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7919144630432129, -1.0819474458694458, 1.4246289730072021, -1.2564783096313477, 0.2737090289592743, 0.616309404373169, 1.0621538162231445, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007717609405518, -1.1992801427841187, -1.7580012083053589, -2.1524949073791504, -0.1838167905807495, 0.7003718614578247, -1.0927706956863403, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.774590790271759, -1.0969599485397339, 1.4169464111328125, -1.215100646018982, 0.25968292355537415, 0.6066716909408569, 1.0670580863952637, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007717609405518, -1.1992806196212769, -1.7580006122589111, -2.152495861053467, -0.18382111191749573, 0.700369119644165, -1.0927704572677612, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7576555609703064, -1.1107521057128906, 1.4119627475738525, -1.177375316619873, 0.2424178570508957, 0.598608672618866, 1.076783537864685, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007716417312622, -1.1992802619934082, -1.7580009698867798, -2.152495861053467, -0.18382182717323303, 0.7003661394119263, -1.0927691459655762, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7450841665267944, -1.123869776725769, 1.4067425727844238, -1.1518094539642334, 0.22524793446063995, 0.595210075378418, 1.0821281671524048, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007721185684204, -1.1992796659469604, -1.758001685142517, -2.152498483657837, -0.18382781744003296, 0.700361967086792, -1.092771053314209, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7328343391418457, -1.1359279155731201, 1.4006882905960083, -1.125123381614685, 0.2091447412967682, 0.5915490388870239, 1.0909029245376587, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007719993591309, -1.1992801427841187, -1.7580022811889648, -2.1525001525878906, -0.18383333086967468, 0.7003559470176697, -1.092771053314209, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7212519645690918, -1.1454033851623535, 1.3957778215408325, -1.0982609987258911, 0.18513374030590057, 0.5838320255279541, 1.0985485315322876, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007719993591309, -1.1992802619934082, -1.7580012083053589, -2.152500867843628, -0.18384160101413727, 0.7003469467163086, -1.0927722454071045, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7140328288078308, -1.1542458534240723, 1.3957868814468384, -1.077374815940857, 0.17125576734542847, 0.5760654211044312, 1.1041635274887085, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007719993591309, -1.1992802619934082, -1.7580019235610962, -2.152501106262207, -0.18384532630443573, 0.7003369927406311, -1.0927726030349731, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7113080620765686, -1.1608355045318604, 1.4000529050827026, -1.0701056718826294, 0.15652380883693695, 0.5746198296546936, 1.111407995223999, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007718801498413, -1.1992801427841187, -1.7580021619796753, -2.152501344680786, -0.1838492751121521, 0.7003287672996521, -1.0927739143371582, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7115405797958374, -1.1665263175964355, 1.4107286930084229, -1.070600986480713, 0.14858856797218323, 0.5734184384346008, 1.1172903776168823, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007723569869995, -1.1992796659469604, -1.758003830909729, -2.1525044441223145, -0.18385659158229828, 0.7003259658813477, -1.0927766561508179, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7237201929092407, -1.167251467704773, 1.4284299612045288, -1.1013836860656738, 0.13988587260246277, 0.5831031203269958, 1.1232597827911377, 0.19739999456720037, 0.19739999456720037, 0.19739999456720037, 0.19739999456720037, -0.19739999456720037, -0.19739999456720037, -0.19739999456720037, 0.19739999456720037, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007718801498413, -1.1992796659469604, -1.7580050230026245, -2.1525015830993652, -0.1838616132736206, 0.7003257274627686, -1.0927772521972656, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7489639520645142, -1.1669799089431763, 1.4574602842330933, -1.157221794128418, 0.13682474195957184, 0.6055682897567749, 1.1280279159545898, 0.32879999941521953, 0.32879999941521953, 0.32879999941521953, 0.32879999941521953, -0.32879999941521953, -0.32879999941521953, -0.32879999941521953, 0.32879999941521953, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007717609405518, -1.1992802619934082, -1.758005142211914, -2.1525018215179443, -0.18386498093605042, 0.7003268003463745, -1.092782974243164, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7809479832649231, -1.1636230945587158, 1.4900190830230713, -1.2272436618804932, 0.1346256285905838, 0.6304337382316589, 1.1397013664245605, 0.5477999976703098, 0.5477999976703098, 0.5477999976703098, 0.5477999976703098, -0.5477999976703098, -0.5477999976703098, -0.5477999976703098, 0.5477999976703098, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500769853591919, -1.1992805004119873, -1.7580069303512573, -2.152501106262207, -0.18386736512184143, 0.7003271579742432, -1.0927817821502686, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8197134733200073, -1.1516472101211548, 1.5377215147018433, -1.3252605199813843, 0.1286453753709793, 0.6592779755592346, 1.162331223487854, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007702112197876, -1.1992794275283813, -1.7580101490020752, -2.152501344680786, -0.18386641144752502, 0.7003276348114014, -1.0927836894989014, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8666638135910034, -1.1250016689300537, 1.591736078262329, -1.4355182647705078, 0.1651076227426529, 0.6745920181274414, 1.1520479917526245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007702112197876, -1.1992793083190918, -1.7580138444900513, -2.1525020599365234, -0.18386401236057281, 0.7003273963928223, -1.0927846431732178, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.924856424331665, -1.081225037574768, 1.6326996088027954, -1.5640733242034912, 0.2423849105834961, 0.7051892876625061, 1.116338849067688, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007678270339966, -1.1992775201797485, -1.7580294609069824, -2.1524922847747803, -0.18385635316371918, 0.7003281712532043, -1.0927784442901611, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9934267997741699, -1.0263108015060425, 1.6607409715652466, -1.695381760597229, 0.3219964802265167, 0.7439769506454468, 1.0774585008621216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007672309875488, -1.1992762088775635, -1.7580289840698242, -2.1524956226348877, -0.18385262787342072, 0.7003301978111267, -1.092777967453003, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0673271417617798, -0.9713193774223328, 1.6904237270355225, -1.816877007484436, 0.4004167914390564, 0.7837314009666443, 1.0372530221939087, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007604360580444, -1.1992781162261963, -1.7580326795578003, -2.1524956226348877, -0.183850958943367, 0.7003307938575745, -1.092779278755188, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1319993734359741, -0.9275566935539246, 1.721795916557312, -1.9173319339752197, 0.4635099172592163, 0.8177269101142883, 1.0031702518463135, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007606744766235, -1.1992747783660889, -1.7580398321151733, -2.152495861053467, -0.18384340405464172, 0.7003341317176819, -1.0927790403366089, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2024452686309814, -0.8864676356315613, 1.745734691619873, -2.0129501819610596, 0.532087504863739, 0.85483717918396, 0.9658114314079285, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.5007609128952026, -1.1992757320404053, -1.7580338716506958, -2.1524977684020996, -0.1838388442993164, 0.7003373503684998, -1.092781901359558, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.25807785987854, -0.8517597913742065, 1.7401357889175415, -2.0717833042144775, 0.5694835186004639, 0.8813647031784058, 0.939348578453064, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007606744766235, -1.1992758512496948, -1.7580355405807495, -2.1524994373321533, -0.18382638692855835, 0.7003413438796997, -1.0927799940109253, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.297635793685913, -0.8190861344337463, 1.7081879377365112, -2.104924201965332, 0.5869150757789612, 0.9026933908462524, 0.9183375835418701, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007601976394653, -1.1992757320404053, -1.758034586906433, -2.152501344680786, -0.18382182717323303, 0.700344443321228, -1.0927801132202148, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.312309741973877, -0.7893062233924866, 1.6535890102386475, -2.1162147521972656, 0.5876808762550354, 0.9165530204772949, 0.9044410586357117, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9359375834465027, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007597208023071, -1.1992759704589844, -1.7580349445343018, -2.1525025367736816, -0.18381716310977936, 0.7003482580184937, -1.0927799940109253, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.3075792789459229, -0.7625344395637512, 1.5798994302749634, -2.1105263233184814, 0.574917197227478, 0.9267889857292175, 0.8946079015731812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007601976394653, -1.1992759704589844, -1.7580350637435913, -2.15250301361084, -0.18380948901176453, 0.7003510594367981, -1.0927791595458984, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.278908133506775, -0.744001567363739, 1.4951690435409546, -2.0894486904144287, 0.5521427392959595, 0.9288902282714844, 0.8924588561058044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007603168487549, -1.1992748975753784, -1.7580337524414062, -2.152503252029419, -0.18380577862262726, 0.7003520131111145, -1.0927788019180298, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.2365984916687012, -0.7391814589500427, 1.4186582565307617, -2.066715955734253, 0.5347362160682678, 0.9326583743095398, 0.8891748189926147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007603168487549, -1.1992746591567993, -1.758034110069275, -2.1525042057037354, -0.18379630148410797, 0.7003522515296936, -1.0927789211273193, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.1964261531829834, -0.7389721870422363, 1.3484140634536743, -2.041452407836914, 0.5068707466125488, 0.9372819066047668, 0.8837751150131226, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007603168487549, -1.1992740631103516, -1.7580327987670898, -2.152505397796631, -0.18379126489162445, 0.7003514170646667, -1.0927798748016357, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.159463882446289, -0.7390422821044922, 1.2801904678344727, -2.0124592781066895, 0.48118114471435547, 0.9388952255249023, 0.8822451829910278, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007596015930176, -1.199275016784668, -1.7580301761627197, -2.1525073051452637, -0.18378876149654388, 0.7003510594367981, -1.0927802324295044, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.128723382949829, -0.7452107667922974, 1.231130838394165, -1.982856035232544, 0.4645398259162903, 0.9389764666557312, 0.8823854327201843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007597208023071, -1.1992747783660889, -1.7580277919769287, -2.15250825881958, -0.18379031121730804, 0.7003509402275085, -1.0927810668945312, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0970392227172852, -0.7620406150817871, 1.1751160621643066, -1.9521002769470215, 0.43187370896339417, 0.9450859427452087, 0.8767356872558594, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007601976394653, -1.1992753744125366, -1.7580252885818481, -2.1525075435638428, -0.1837918758392334, 0.7003500461578369, -1.0927814245224, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0743675231933594, -0.7804950475692749, 1.1379412412643433, -1.9223427772521973, 0.4089222550392151, 0.9429546594619751, 0.8790931105613708, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007599592208862, -1.1992745399475098, -1.7580214738845825, -2.1525063514709473, -0.1837937831878662, 0.7003471851348877, -1.092781901359558, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0637239217758179, -0.8008670210838318, 1.1166834831237793, -1.8958525657653809, 0.3826875686645508, 0.9394072890281677, 0.8840351700782776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007600784301758, -1.1992753744125366, -1.7580187320709229, -2.152505397796631, -0.18379689753055573, 0.7003430128097534, -1.0927834510803223, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0503194332122803, -0.8173245191574097, 1.0942546129226685, -1.8698852062225342, 0.345849871635437, 0.9388177990913391, 0.8850456476211548, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007599592208862, -1.199275255203247, -1.7580173015594482, -2.152503728866577, -0.1838010996580124, 0.7003386616706848, -1.092782974243164, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.037110447883606, -0.8316912651062012, 1.0834641456604004, -1.844110131263733, 0.3200925290584564, 0.9317175149917603, 0.8925296068191528, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007606744766235, -1.1992756128311157, -1.7580149173736572, -2.152503252029419, -0.18380720913410187, 0.7003329396247864, -1.0927841663360596, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0320860147476196, -0.8495861887931824, 1.0831352472305298, -1.8225655555725098, 0.30362212657928467, 0.9263549447059631, 0.8983654379844666, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007609128952026, -1.1992759704589844, -1.7580127716064453, -2.152503490447998, -0.1838139146566391, 0.7003287672996521, -1.0927836894989014, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.026830792427063, -0.8643897771835327, 1.0771600008010864, -1.8023490905761719, 0.27605003118515015, 0.9229549169540405, 0.9016817212104797, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007609128952026, -1.1992759704589844, -1.7580097913742065, -2.1525044441223145, -0.18382063508033752, 0.7003237009048462, -1.092783808708191, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.024487853050232, -0.8748489022254944, 1.0766464471817017, -1.7939465045928955, 0.2643847167491913, 0.922081708908081, 0.9026179313659668, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007612705230713, -1.1992762088775635, -1.7580076456069946, -2.152503252029419, -0.18382291495800018, 0.7003169059753418, -1.092782974243164, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.025182843208313, -0.8815659880638123, 1.0809866189956665, -1.792887568473816, 0.2608330547809601, 0.9215594530105591, 0.9031609296798706, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007613897323608, -1.199276089668274, -1.7580076456069946, -2.152503728866577, -0.1838255524635315, 0.7003130316734314, -1.0927833318710327, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0295956134796143, -0.8835178017616272, 1.0893385410308838, -1.7953130006790161, 0.2603992223739624, 0.9228291511535645, 0.9011862874031067, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007619857788086, -1.1992765665054321, -1.758007287979126, -2.1525046825408936, -0.1838284283876419, 0.7003117203712463, -1.092782974243164, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0405116081237793, -0.8830091953277588, 1.1037523746490479, -1.8082904815673828, 0.2605484426021576, 0.9266474843025208, 0.8958051204681396, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007621049880981, -1.1992768049240112, -1.7580071687698364, -2.15250563621521, -0.18383261561393738, 0.7003121972084045, -1.0927834510803223, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.050195336341858, -0.8794640898704529, 1.1151421070098877, -1.8227601051330566, 0.26588550209999084, 0.9321567416191101, 0.8901153802871704, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007624626159668, -1.1992769241333008, -1.758007526397705, -2.15250563621521, -0.18383453786373138, 0.7003127932548523, -1.0927821397781372, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0561580657958984, -0.8744802474975586, 1.1251219511032104, -1.8363343477249146, 0.2740340530872345, 0.9358421564102173, 0.8857177495956421, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007621049880981, -1.1992769241333008, -1.7580080032348633, -2.152506113052368, -0.18383608758449554, 0.7003137469291687, -1.0927811861038208, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.059009313583374, -0.8716482520103455, 1.1395676136016846, -1.852514386177063, 0.291382759809494, 0.9344948530197144, 0.8872543573379517, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007628202438354, -1.1992772817611694, -1.758008360862732, -2.1525070667266846, -0.18383608758449554, 0.7003137469291687, -1.0927804708480835, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0559102296829224, -0.8777817487716675, 1.1504336595535278, -1.8587775230407715, 0.30699846148490906, 0.9298514723777771, 0.8939357995986938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007634162902832, -1.1992769241333008, -1.7580102682113647, -2.1525068283081055, -0.18383406102657318, 0.7003143429756165, -1.092779278755188, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.026342749595642, -0.9005274772644043, 1.1342147588729858, -1.8425127267837524, 0.3074745833873749, 0.9164494872093201, 0.9078968167304993, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500763177871704, -1.1992778778076172, -1.7580097913742065, -2.1525068283081055, -0.18383368849754333, 0.7003164887428284, -1.092779517173767, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.979532778263092, -0.9364266395568848, 1.0999557971954346, -1.8046307563781738, 0.27910852432250977, 0.9017793536186218, 0.9224926829338074, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500764012336731, -1.199278473854065, -1.758011817932129, -2.152508020401001, -0.18383106589317322, 0.7003209590911865, -1.0927790403366089, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.930799663066864, -0.9743709564208984, 1.0671460628509521, -1.7540647983551025, 0.24606993794441223, 0.8888728618621826, 0.9359643459320068, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007648468017578, -1.1992782354354858, -1.7580134868621826, -2.152508020401001, -0.18382710218429565, 0.7003254890441895, -1.0927784442901611, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8986341953277588, -1.0120095014572144, 1.0479416847229004, -1.7097841501235962, 0.217298686504364, 0.8772596716880798, 0.9466457962989807, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007643699645996, -1.199278473854065, -1.7580134868621826, -2.1525092124938965, -0.183824822306633, 0.7003281712532043, -1.0927783250808716, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8859163522720337, -1.0447206497192383, 1.0425044298171997, -1.6650774478912354, 0.19403323531150818, 0.8620335459709167, 0.9621180295944214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.500765323638916, -1.1992781162261963, -1.758014440536499, -2.152508497238159, -0.18381811678409576, 0.7003310322761536, -1.0927776098251343, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8812234997749329, -1.0698843002319336, 1.0417389869689941, -1.6196790933609009, 0.16090871393680573, 0.84596848487854, 0.9781239032745361, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007644891738892, -1.1992783546447754, -1.7580139636993408, -2.1525087356567383, -0.18381260335445404, 0.7003365159034729, -1.0927783250808716, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8809953331947327, -1.0915393829345703, 1.0438289642333984, -1.5884771347045898, 0.12550587952136993, 0.8342088460922241, 0.9908179640769958, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.500765085220337, -1.1992781162261963, -1.7580152750015259, -2.152508020401001, -0.18380889296531677, 0.7003408670425415, -1.0927789211273193, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8874403834342957, -1.1104673147201538, 1.058206558227539, -1.578666090965271, 0.08749215304851532, 0.8297204971313477, 0.9953174591064453, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007654428482056, -1.1992781162261963, -1.758015751838684, -2.1525087356567383, -0.18380625545978546, 0.7003457546234131, -1.0927797555923462, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8969098925590515, -1.1242245435714722, 1.0736302137374878, -1.5714020729064941, 0.06402284651994705, 0.824017345905304, 1.0000817775726318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007646083831787, -1.1992782354354858, -1.7580158710479736, -2.152508020401001, -0.18380098044872284, 0.7003464698791504, -1.092780351638794, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.904420018196106, -1.1375553607940674, 1.0833338499069214, -1.5584739446640015, 0.043605439364910126, 0.8180243968963623, 1.0060678720474243, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007646083831787, -1.1992777585983276, -1.758015513420105, -2.1525070667266846, -0.18379414081573486, 0.7003458738327026, -1.0927799940109253, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9098301529884338, -1.151155948638916, 1.0897996425628662, -1.5479953289031982, 0.02486235275864601, 0.8131701946258545, 1.0113022327423096, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007646083831787, -1.199277639389038, -1.7580161094665527, -2.1525073051452637, -0.1837918758392334, 0.7003450393676758, -1.0927804708480835, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9108878374099731, -1.1640177965164185, 1.0948817729949951, -1.537217617034912, 0.011537573300302029, 0.8076651096343994, 1.0168768167495728, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.50076425075531, -1.199277639389038, -1.758015513420105, -2.152506113052368, -0.1837909072637558, 0.7003449201583862, -1.0927807092666626, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.910635769367218, -1.1761001348495483, 1.0981568098068237, -1.5226773023605347, 0.0006483465549536049, 0.8015863299369812, 1.0229384899139404, 0.5742000009659882, 0.5742000009659882, 0.5742000009659882, 0.5742000009659882, -0.5742000009659882, -0.5742000009659882, -0.5742000009659882, 0.5742000009659882, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007636547088623, -1.1992772817611694, -1.7580151557922363, -2.152505874633789, -0.1837911456823349, 0.7003440856933594, -1.0927814245224, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9085681438446045, -1.186574101448059, 1.1013880968093872, -1.5073481798171997, -0.012086929753422737, 0.7942011952400208, 1.0303727388381958, 0.5567999977331894, 0.5567999977331894, 0.5567999977331894, 0.5567999977331894, -0.5567999977331894, -0.5567999977331894, -0.5567999977331894, 0.5567999977331894, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007632970809937, -1.1992770433425903, -1.758015513420105, -2.1525051593780518, -0.183791384100914, 0.7003430128097534, -1.0927824974060059, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9040260314941406, -1.1953471899032593, 1.1058911085128784, -1.492954134941101, -0.021258218213915825, 0.7864307165145874, 1.0376849174499512, 0.508800000672812, 0.508800000672812, 0.508800000672812, 0.508800000672812, -0.508800000672812, -0.508800000672812, -0.508800000672812, 0.508800000672812, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.5007630586624146, -1.1992769241333008, -1.7580152750015259, -2.1525051593780518, -0.1837918758392334, 0.7003386616706848, -1.092782735824585, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8997257947921753, -1.2030528783798218, 1.1103429794311523, -1.4814062118530273, -0.03166220337152481, 0.7792417407035828, 1.0451452732086182, 0.49020000119785684, 0.49020000119785684, 0.49020000119785684, 0.49020000119785684, -0.49020000119785684, -0.49020000119785684, -0.49020000119785684, 0.49020000119785684, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007623434066772, -1.1992764472961426, -1.7580140829086304, -2.1525049209594727, -0.18379510939121246, 0.7003340125083923, -1.0927835702896118, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8965781927108765, -1.2105144262313843, 1.1144245862960815, -1.46945059299469, -0.040419433265924454, 0.7732122540473938, 1.0515437126159668, 0.4595999950891012, 0.4595999950891012, 0.4595999950891012, 0.4595999950891012, -0.4595999950891012, -0.4595999950891012, -0.4595999950891012, 0.4595999950891012, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007623434066772, -1.1992768049240112, -1.7580137252807617, -2.152505397796631, -0.18379750847816467, 0.7003299593925476, -1.0927834510803223, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8940316438674927, -1.21632981300354, 1.1155376434326172, -1.456365704536438, -0.046705879271030426, 0.7672888040542603, 1.0574804544448853, 0.45180000354955485, 0.45180000354955485, 0.45180000354955485, 0.45180000354955485, -0.45180000354955485, -0.45180000354955485, -0.45180000354955485, 0.45180000354955485, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500761866569519, -1.1992764472961426, -1.7580138444900513, -2.152505874633789, -0.18380002677440643, 0.7003264427185059, -1.092783808708191, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8934629559516907, -1.2199363708496094, 1.115875482559204, -1.4485762119293213, -0.051959045231342316, 0.7616680860519409, 1.0626626014709473, 0.44400000218506697, 0.44400000218506697, 0.44400000218506697, 0.44400000218506697, -0.44400000218506697, -0.44400000218506697, -0.44400000218506697, 0.44400000218506697, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007615089416504, -1.1992759704589844, -1.7580134868621826, -2.152505397796631, -0.1838051676750183, 0.700320839881897, -1.0927828550338745, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8910331726074219, -1.222103476524353, 1.1159104108810425, -1.4409130811691284, -0.05482735112309456, 0.7555961608886719, 1.0686776638031006, 0.4397999969157544, 0.4397999969157544, 0.4397999969157544, 0.4397999969157544, -0.4397999969157544, -0.4397999969157544, -0.4397999969157544, 0.4397999969157544, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007610321044922, -1.1992762088775635, -1.758013367652893, -2.1525063514709473, -0.18380996584892273, 0.7003154158592224, -1.0927820205688477, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8871780633926392, -1.2248574495315552, 1.1166329383850098, -1.4332455396652222, -0.05646871030330658, 0.752393364906311, 1.0721842050552368, 0.4332000040745997, 0.4332000040745997, 0.4332000040745997, 0.4332000040745997, -0.4332000040745997, -0.4332000040745997, -0.4332000040745997, 0.4332000040745997, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007597208023071, -1.1992753744125366, -1.7580126523971558, -2.1525068283081055, -0.1838124841451645, 0.7003088593482971, -1.0927822589874268, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8830907940864563, -1.2279601097106934, 1.1174824237823486, -1.4255372285842896, -0.05934911593794823, 0.7478761672973633, 1.0760209560394287, 0.40439999601343174, 0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007578134536743, -1.1992682218551636, -1.7580116987228394, -2.1525073051452637, -0.18381740152835846, 0.7003048658370972, -1.0927813053131104, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8759534358978271, -1.2297333478927612, 1.118867039680481, -1.419252634048462, -0.06219141557812691, 0.7421286106109619, 1.0776832103729248, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, 0.2819999912282923, -0.2819999912282923, -0.2819999912282923, -0.2819999912282923, 0.2819999912282923, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007573366165161, -1.199267864227295, -1.7580100297927856, -2.152508497238159, -0.18382146954536438, 0.7003042697906494, -1.0927797555923462, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8749901652336121, -1.2305481433868408, 1.1185029745101929, -1.4170864820480347, -0.06165332347154617, 0.7375174760818481, 1.0835565328598022, 0.2795999938315088, 0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -0.2795999938315088, -0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.6877704858779907, -0.6568399667739868, 0.0, 0.0, 1.5007582902908325, -1.199267029762268, -1.7580105066299438, -2.1525094509124756, -0.18382135033607483, 0.7003045082092285, -1.0927793979644775, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8889536261558533, -1.2238222360610962, 1.1264852285385132, -1.446629285812378, -0.05927157774567604, 0.7366061806678772, 1.085410237312317, 0.2795999938315088, 0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -0.2795999938315088, -0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007573366165161, -1.199267029762268, -1.7580113410949707, -2.152510404586792, -0.1838243454694748, 0.7003057599067688, -1.0927791595458984, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9166481494903564, -1.2016587257385254, 1.1580969095230103, -1.5172666311264038, -0.037100404500961304, 0.7402885556221008, 1.082667350769043, 0.2795999938315088, 0.2795999938315088, 0.2795999938315088, 0.2795999938315088, -0.2795999938315088, -0.2795999938315088, -0.2795999938315088, 0.2795999938315088, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5007575750350952, -1.1992669105529785, -1.7580116987228394, -2.1525094509124756, -0.1838257908821106, 0.7003056406974792, -1.0927791595458984, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.94324791431427, -1.1601357460021973, 1.2009491920471191, -1.610579490661621, 0.035800833255052567, 0.7523708343505859, 1.0696661472320557, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.500756859779358, -1.1992683410644531, -1.758013129234314, -2.15251088142395, -0.18382757902145386, 0.7003059983253479, -1.0927793979644775, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9689176678657532, -1.1043462753295898, 1.2459239959716797, -1.7110568284988403, 0.1343502253293991, 0.7810681462287903, 1.0402374267578125, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007554292678833, -1.1992686986923218, -1.758018970489502, -2.152507781982422, -0.1838241070508957, 0.7003074288368225, -1.0927752256393433, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9983746409416199, -1.0433138608932495, 1.3077954053878784, -1.788484811782837, 0.27289915084838867, 0.804495632648468, 1.0169248580932617, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.500755786895752, -1.199271559715271, -1.7580152750015259, -2.1525158882141113, -0.1838265061378479, 0.7003098130226135, -1.0927785634994507, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0145994424819946, -0.9817237854003906, 1.3605700731277466, -1.8327171802520752, 0.40428459644317627, 0.8132509589195251, 1.0080333948135376, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5007554292678833, -1.1992722749710083, -1.7580134868621826, -2.152514934539795, -0.18382446467876434, 0.7003138661384583, -1.0927790403366089, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0257679224014282, -0.9316357970237732, 1.4117541313171387, -1.865119218826294, 0.5239233374595642, 0.8142608404159546, 1.006721019744873, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.50076425075531, -1.1993141174316406, -1.754732370376587, -2.1482656002044678, -0.18629668653011322, 0.6988124847412109, -1.0927817821502686, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0266636610031128, -0.9000186324119568, 1.445330262184143, -1.8933464288711548, 0.6428858637809753, 0.8148226737976074, 1.006940484046936, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5077017545700073, -1.2018259763717651, -1.724045991897583, -2.11852765083313, -0.20053215324878693, 0.6663990020751953, -1.0863691568374634, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -1.0108875036239624, -0.8862673044204712, 1.4439709186553955, -1.908994436264038, 0.7479405999183655, 0.8175011277198792, 1.004373550415039, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5277655124664307, -1.2083903551101685, -1.6861566305160522, -2.100127935409546, -0.2083156704902649, 0.6216827630996704, -1.0778133869171143, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.975675642490387, -0.8740720152854919, 1.4079567193984985, -1.916829228401184, 0.8317407965660095, 0.8225067257881165, 0.9989728927612305, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5355920791625977, -1.2130823135375977, -1.6520670652389526, -2.087573528289795, -0.20239666104316711, 0.5877963900566101, -1.0770301818847656, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.932964026927948, -0.8573583364486694, 1.3546249866485596, -1.9202063083648682, 0.8718376159667969, 0.8285877704620361, 0.9930359125137329, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5329387187957764, -1.2179595232009888, -1.6267412900924683, -2.077366352081299, -0.21097113192081451, 0.5607994198799133, -1.0765407085418701, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8936139941215515, -0.8452973961830139, 1.297568917274475, -1.9209247827529907, 0.8829171657562256, 0.829836368560791, 0.9916204214096069, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5165741443634033, -1.2233514785766602, -1.6008466482162476, -2.0673608779907227, -0.21803918480873108, 0.5396430492401123, -1.0664399862289429, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8618144989013672, -0.8411030173301697, 1.2569079399108887, -1.9134666919708252, 0.8869498372077942, 0.8288161754608154, 0.9936626553535461, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4979195594787598, -1.228156566619873, -1.578200340270996, -2.0653557777404785, -0.22256024181842804, 0.5228336453437805, -1.0606985092163086, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8435394167900085, -0.8319991827011108, 1.2338950634002686, -1.9098151922225952, 0.891373336315155, 0.8278594613075256, 0.9952521324157715, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4905009269714355, -1.2314608097076416, -1.5692094564437866, -2.067115545272827, -0.22339266538619995, 0.5131973624229431, -1.0557608604431152, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8394837975502014, -0.8241360783576965, 1.2293119430541992, -1.9090372323989868, 0.8978654146194458, 0.8266354203224182, 0.9967122673988342, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4905331134796143, -1.2319353818893433, -1.5701639652252197, -2.0697436332702637, -0.2252734750509262, 0.5146473050117493, -1.0527406930923462, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8397499918937683, -0.8240357637405396, 1.2306106090545654, -1.90898859500885, 0.8978700041770935, 0.8266134858131409, 0.9968398213386536, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4908030033111572, -1.2319550514221191, -1.5711029767990112, -2.069765567779541, -0.22536897659301758, 0.5150130987167358, -1.0527440309524536, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8405165672302246, -0.8241001963615417, 1.2309653759002686, -1.9089889526367188, 0.8978403806686401, 0.8266071081161499, 0.9968616366386414, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.491098403930664, -1.2319668531417847, -1.5713026523590088, -2.069767475128174, -0.225349560379982, 0.5150304436683655, -1.0527641773223877, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8548206090927124, -0.8330636620521545, 1.2472280263900757, -1.904316782951355, 0.8725130558013916, 0.8239546418190002, 0.9996107816696167, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4913133382797241, -1.2322211265563965, -1.5712565183639526, -2.0735225677490234, -0.2174922376871109, 0.5151127576828003, -1.0549604892730713, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8601611256599426, -0.8403778076171875, 1.245571494102478, -1.8933371305465698, 0.848229169845581, 0.8273596167564392, 0.9952599406242371, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4913111925125122, -1.232369065284729, -1.5678036212921143, -2.0854625701904297, -0.20299191772937775, 0.5175827145576477, -1.0592998266220093, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8534380793571472, -0.8382922410964966, 1.2176581621170044, -1.8851399421691895, 0.8381722569465637, 0.8320190906524658, 0.9896008372306824, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4886423349380493, -1.2330342531204224, -1.5590168237686157, -2.091627359390259, -0.1921716034412384, 0.5247036218643188, -1.0638623237609863, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8411412835121155, -0.8344944715499878, 1.1943122148513794, -1.879127860069275, 0.834406316280365, 0.8331716060638428, 0.9883860349655151, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4815305471420288, -1.2350162267684937, -1.5530612468719482, -2.0922482013702393, -0.1912229359149933, 0.5292752385139465, -1.0629055500030518, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8278775215148926, -0.8311174511909485, 1.1732374429702759, -1.8730841875076294, 0.8380197882652283, 0.8327818512916565, 0.9895155429840088, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.474048376083374, -1.236615538597107, -1.5522867441177368, -2.090812921524048, -0.1912490576505661, 0.5308663845062256, -1.063098669052124, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8250626921653748, -0.8304344415664673, 1.1674484014511108, -1.8714605569839478, 0.837365448474884, 0.8328244090080261, 0.989514946937561, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4694043397903442, -1.2373088598251343, -1.5522226095199585, -2.0861008167266846, -0.19142606854438782, 0.5310405492782593, -1.0665875673294067, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8253225684165955, -0.8289434313774109, 1.1584653854370117, -1.8704155683517456, 0.8332750201225281, 0.8332799077033997, 0.9889631867408752, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.467537760734558, -1.2379562854766846, -1.5522148609161377, -2.0805697441101074, -0.19355662167072296, 0.5293850302696228, -1.0682718753814697, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8253298401832581, -0.8285340666770935, 1.1567918062210083, -1.8673171997070312, 0.8303964138031006, 0.8329296112060547, 0.9891338348388672, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4645576477050781, -1.2384124994277954, -1.5520213842391968, -2.077685594558716, -0.19329236447811127, 0.5290390253067017, -1.070651888847351, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8231399655342102, -0.8295658230781555, 1.1542385816574097, -1.860685110092163, 0.8249234557151794, 0.8328962922096252, 0.9894014000892639, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4624404907226562, -1.2386690378189087, -1.5514793395996094, -2.07759690284729, -0.1917104423046112, 0.5297514200210571, -1.074294090270996, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8151977062225342, -0.8343110084533691, 1.1492538452148438, -1.851427435874939, 0.8149523138999939, 0.8309152126312256, 0.9923208951950073, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4623178243637085, -1.2388335466384888, -1.5513970851898193, -2.077599287033081, -0.19170960783958435, 0.5298802256584167, -1.0747179985046387, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8068576455116272, -0.8421977758407593, 1.1442408561706543, -1.8424102067947388, 0.8084990978240967, 0.8284873366355896, 0.9957311153411865, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.462309718132019, -1.2388830184936523, -1.5513466596603394, -2.077603340148926, -0.19171428680419922, 0.5298858880996704, -1.0747219324111938, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8007339835166931, -0.8503783345222473, 1.137664794921875, -1.835493803024292, 0.8045296669006348, 0.8247010111808777, 0.9991438984870911, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4623205661773682, -1.2388923168182373, -1.5512229204177856, -2.07757306098938, -0.19167077541351318, 0.5302442908287048, -1.0750796794891357, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7934513688087463, -0.8556069731712341, 1.1265287399291992, -1.8269518613815308, 0.8032757639884949, 0.8185994029045105, 1.0036512613296509, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4623266458511353, -1.2388917207717896, -1.5511515140533447, -2.077536106109619, -0.19160833954811096, 0.5302975177764893, -1.075145959854126, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7881968021392822, -0.857154369354248, 1.1212279796600342, -1.8226090669631958, 0.8007560968399048, 0.8167824745178223, 1.0053788423538208, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.462337613105774, -1.2388910055160522, -1.5510846376419067, -2.0775153636932373, -0.1915799379348755, 0.5302983522415161, -1.0752074718475342, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7854345440864563, -0.8585431575775146, 1.1167925596237183, -1.8177151679992676, 0.7984997034072876, 0.8158248066902161, 1.0064263343811035, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4626637697219849, -1.2388604879379272, -1.550828456878662, -2.07704758644104, -0.1908007264137268, 0.5303620100021362, -1.0755064487457275, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7786679267883301, -0.8614230751991272, 1.1072250604629517, -1.8109182119369507, 0.7972998023033142, 0.8127979636192322, 1.0088547468185425, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.462801218032837, -1.238842248916626, -1.5506699085235596, -2.07702898979187, -0.19072593748569489, 0.5303992629051208, -1.076046347618103, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7702431678771973, -0.8656404614448547, 1.0984790325164795, -1.8070358037948608, 0.7973183989524841, 0.8124427199363708, 1.0090508460998535, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4631516933441162, -1.2382962703704834, -1.5506929159164429, -2.0768470764160156, -0.19054509699344635, 0.5307198166847229, -1.0761094093322754, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7640762329101562, -0.8672654628753662, 1.090509295463562, -1.8017189502716064, 0.7973201870918274, 0.8100282549858093, 1.0103281736373901, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4652249813079834, -1.2373279333114624, -1.5512200593948364, -2.075133800506592, -0.18905115127563477, 0.5315564870834351, -1.0762298107147217, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7543567419052124, -0.867242693901062, 1.0764188766479492, -1.7965521812438965, 0.7974295020103455, 0.8080770969390869, 1.0105472803115845, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4668654203414917, -1.2370727062225342, -1.5512162446975708, -2.075084924697876, -0.18875861167907715, 0.5318406224250793, -1.0774182081222534, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7499828338623047, -0.8651184439659119, 1.0696319341659546, -1.7968233823776245, 0.7995790839195251, 0.8078787922859192, 1.0079607963562012, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.46764075756073, -1.2366684675216675, -1.5508068799972534, -2.075052499771118, -0.1883419156074524, 0.5322219729423523, -1.079095482826233, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7499322891235352, -0.8612774014472961, 1.0672073364257812, -1.7988877296447754, 0.8010657429695129, 0.8059467673301697, 1.0077993869781494, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4678573608398438, -1.2365849018096924, -1.549533724784851, -2.0750486850738525, -0.18832263350486755, 0.5323391556739807, -1.0800126791000366, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7499172687530518, -0.8572039008140564, 1.0662387609481812, -1.8010143041610718, 0.8032128214836121, 0.8055012226104736, 1.0077216625213623, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4678494930267334, -1.2366366386413574, -1.549098253250122, -2.0751566886901855, -0.1886061728000641, 0.5323258638381958, -1.0803871154785156, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.753178060054779, -0.8555836081504822, 1.0697886943817139, -1.804613471031189, 0.8033958077430725, 0.8057851195335388, 1.0066381692886353, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4677681922912598, -1.2369697093963623, -1.5484710931777954, -2.0755882263183594, -0.18916092813014984, 0.53229159116745, -1.0808614492416382, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7664957046508789, -0.8582844734191895, 1.0820382833480835, -1.807601809501648, 0.8023591041564941, 0.8060702085494995, 1.0062395334243774, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.467034101486206, -1.2371561527252197, -1.548492670059204, -2.075641393661499, -0.18937580287456512, 0.5321669578552246, -1.080657720565796, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7796686291694641, -0.86606764793396, 1.0956610441207886, -1.80779230594635, 0.8005521893501282, 0.8046990036964417, 1.0089210271835327, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4655224084854126, -1.2373491525650024, -1.5494955778121948, -2.076517105102539, -0.19021685421466827, 0.5318526029586792, -1.0800169706344604, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7971858978271484, -0.8759792447090149, 1.1138525009155273, -1.8083685636520386, 0.7971985340118408, 0.8042645454406738, 1.0097377300262451, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.465502381324768, -1.2373462915420532, -1.5503172874450684, -2.0765037536621094, -0.1902121752500534, 0.5318422913551331, -1.0797792673110962, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8081625699996948, -0.8824810981750488, 1.1252329349517822, -1.8147581815719604, 0.7881312966346741, 0.805161714553833, 1.0086166858673096, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4654871225357056, -1.2373466491699219, -1.5505670309066772, -2.0765023231506348, -0.19028720259666443, 0.531603217124939, -1.0795671939849854, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8127398490905762, -0.8844518661499023, 1.1306036710739136, -1.8191086053848267, 0.7851532101631165, 0.8052715063095093, 1.007805585861206, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4648135900497437, -1.2374681234359741, -1.5505623817443848, -2.077319383621216, -0.19166550040245056, 0.5309292078018188, -1.0799628496170044, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8148296475410461, -0.8840501308441162, 1.135122537612915, -1.8252586126327515, 0.784634530544281, 0.8062890768051147, 1.0056636333465576, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4641770124435425, -1.2379971742630005, -1.5504690408706665, -2.0781006813049316, -0.19266079366207123, 0.530502438545227, -1.080381989479065, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8164147734642029, -0.8820991516113281, 1.139420986175537, -1.831541657447815, 0.7827996015548706, 0.8075838685035706, 1.004555583000183, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4640179872512817, -1.2381181716918945, -1.5496623516082764, -2.0781023502349854, -0.19266295433044434, 0.5304992198944092, -1.0804200172424316, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8162428736686707, -0.8803426623344421, 1.1398699283599854, -1.8350796699523926, 0.7718682289123535, 0.8037031292915344, 1.0101271867752075, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4641141891479492, -1.2381116151809692, -1.5493428707122803, -2.0779428482055664, -0.19226759672164917, 0.5305728912353516, -1.0806993246078491, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8153184652328491, -0.8775176405906677, 1.1389659643173218, -1.8401272296905518, 0.7649906873703003, 0.8029741048812866, 1.0113792419433594, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.464412808418274, -1.2381010055541992, -1.54884934425354, -2.0778653621673584, -0.19203390181064606, 0.5306839942932129, -1.0811318159103394, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8150675296783447, -0.8743017315864563, 1.139894723892212, -1.8485102653503418, 0.7577155828475952, 0.803141176700592, 1.010776400566101, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.464569091796875, -1.2380871772766113, -1.5486693382263184, -2.0774810314178467, -0.191206157207489, 0.5307028293609619, -1.0811550617218018, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8148946166038513, -0.8698696494102478, 1.1407362222671509, -1.858289122581482, 0.7470008134841919, 0.8044893741607666, 1.0091675519943237, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4651178121566772, -1.2379698753356934, -1.5484092235565186, -2.0770809650421143, -0.19039134681224823, 0.5308749079704285, -1.0810245275497437, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8099109530448914, -0.8660458326339722, 1.1355929374694824, -1.860609769821167, 0.7446596026420593, 0.8045568466186523, 1.0092629194259644, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4660040140151978, -1.2376554012298584, -1.5478270053863525, -2.0768332481384277, -0.19011558592319489, 0.5311670899391174, -1.0810279846191406, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8032191395759583, -0.8607532978057861, 1.1286921501159668, -1.8637288808822632, 0.7424801588058472, 0.804961085319519, 1.0079981088638306, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4667972326278687, -1.2374303340911865, -1.547157883644104, -2.0762665271759033, -0.1892642229795456, 0.5315815210342407, -1.0810790061950684, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7970352172851562, -0.8555024862289429, 1.1209678649902344, -1.8665673732757568, 0.742339551448822, 0.8064236640930176, 1.0048420429229736, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.468056082725525, -1.237186312675476, -1.545849323272705, -2.0758326053619385, -0.18821093440055847, 0.5319857597351074, -1.0814104080200195, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7889164686203003, -0.8485724925994873, 1.1092644929885864, -1.8687039613723755, 0.7444618344306946, 0.8097522854804993, 1.0005595684051514, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4698275327682495, -1.2371867895126343, -1.5453579425811768, -2.0846948623657227, -0.18143302202224731, 0.5394829511642456, -1.0817005634307861, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7828113436698914, -0.8418363332748413, 1.1018017530441284, -1.868658423423767, 0.7546631693840027, 0.8109758496284485, 0.9967840909957886, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4700133800506592, -1.2370160818099976, -1.545257568359375, -2.1005096435546875, -0.1579951047897339, 0.5439558029174805, -1.0807732343673706, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7830902934074402, -0.841311514377594, 1.1021218299865723, -1.8685859441757202, 0.7549917697906494, 0.8108299970626831, 0.9978506565093994, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.471552848815918, -1.2363628149032593, -1.545046091079712, -2.1132452487945557, -0.1514424979686737, 0.5495341420173645, -1.0717111825942993, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8023436069488525, -0.8511427640914917, 1.126239538192749, -1.8801060914993286, 0.7299120426177979, 0.8093308806419373, 1.0037074089050293, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4733420610427856, -1.236049771308899, -1.5450602769851685, -2.122701644897461, -0.13832467794418335, 0.5552610158920288, -1.0601763725280762, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8093389272689819, -0.8595479726791382, 1.1334121227264404, -1.887028694152832, 0.7304950952529907, 0.8312995433807373, 0.9813879132270813, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4756654500961304, -1.2360461950302124, -1.5450515747070312, -2.125857353210449, -0.14695896208286285, 0.5678018927574158, -1.0512109994888306, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8045817017555237, -0.8610054850578308, 1.1294704675674438, -1.8873710632324219, 0.7431567907333374, 0.8473242521286011, 0.9650867581367493, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4760980606079102, -1.2353748083114624, -1.5432603359222412, -2.1324946880340576, -0.14467331767082214, 0.5729936957359314, -1.0424473285675049, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7992045879364014, -0.8611122965812683, 1.1271799802780151, -1.8874009847640991, 0.7664949893951416, 0.8710989356040955, 0.940895140171051, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4767385721206665, -1.2350707054138184, -1.5428863763809204, -2.1388368606567383, -0.14383694529533386, 0.5771806240081787, -1.038634181022644, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7994667291641235, -0.8612825274467468, 1.1304234266281128, -1.888086199760437, 0.7779086232185364, 0.8774173855781555, 0.9339222311973572, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4777277708053589, -1.2351092100143433, -1.5443344116210938, -2.1412665843963623, -0.15019109845161438, 0.5726438760757446, -1.0382415056228638, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.808630108833313, -0.8626944422721863, 1.1411350965499878, -1.8872413635253906, 0.7819141149520874, 0.87413489818573, 0.939861536026001, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4810528755187988, -1.2351092100143433, -1.5459219217300415, -2.1407487392425537, -0.14980676770210266, 0.5644208192825317, -1.0408008098602295, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8101691007614136, -0.8627266883850098, 1.1417440176010132, -1.8870617151260376, 0.7817868590354919, 0.8733862042427063, 0.9415420889854431, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4810547828674316, -1.2351083755493164, -1.54608952999115, -2.1403095722198486, -0.14909310638904572, 0.5644131302833557, -1.0412468910217285, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8101580142974854, -0.8627436757087708, 1.1411070823669434, -1.8870601654052734, 0.7809929847717285, 0.8734017014503479, 0.941555380821228, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4810514450073242, -1.2351146936416626, -1.5460916757583618, -2.1400146484375, -0.14866766333580017, 0.5645333528518677, -1.0397213697433472, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8317198753356934, -0.8762510418891907, 1.1623976230621338, -1.8963954448699951, 0.7727819085121155, 0.8871908783912659, 0.9306967258453369, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, 0.2790000043072543, -0.2790000043072543, -0.2790000043072543, -0.2790000043072543, 0.2790000043072543, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4866873025894165, -1.2353256940841675, -1.5459107160568237, -2.142315149307251, -0.15257345139980316, 0.5524916052818298, -1.026703953742981, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8502851128578186, -0.8920769691467285, 1.1754709482192993, -1.9133394956588745, 0.8153411149978638, 0.9522988796234131, 0.8616602420806885, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5055018663406372, -1.2351138591766357, -1.5431383848190308, -2.147887706756592, -0.16278113424777985, 0.5345737338066101, -1.0042592287063599, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8522324562072754, -0.8945258259773254, 1.180269718170166, -1.9267534017562866, 0.8526679873466492, 0.9979307055473328, 0.8117397427558899, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5123622417449951, -1.2352992296218872, -1.539663553237915, -2.152050495147705, -0.17052976787090302, 0.5212265253067017, -0.9894342422485352, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8615320324897766, -0.894368052482605, 1.19032621383667, -1.9268314838409424, 0.8559308648109436, 0.9948413372039795, 0.8154776096343994, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5126184225082397, -1.2356785535812378, -1.5363852977752686, -2.152393341064453, -0.17485834658145905, 0.5240355134010315, -0.98552405834198, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8712642788887024, -0.8943456411361694, 1.1991612911224365, -1.930330514907837, 0.8487098813056946, 0.9912508130073547, 0.8213813900947571, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5117266178131104, -1.23643958568573, -1.5357065200805664, -2.1543662548065186, -0.1764528453350067, 0.5203492641448975, -0.9860231876373291, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8740325570106506, -0.8939927816390991, 1.2083215713500977, -1.9500175714492798, 0.8288675546646118, 0.9914140701293945, 0.82451993227005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5041371583938599, -1.236203908920288, -1.5398327112197876, -2.154287099838257, -0.15737923979759216, 0.514517068862915, -1.0033177137374878, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8749234080314636, -0.8940107226371765, 1.2095552682876587, -1.9517107009887695, 0.8274933695793152, 0.9916124939918518, 0.8250664472579956, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5020567178726196, -1.2354038953781128, -1.5403693914413452, -2.1538796424865723, -0.15506544709205627, 0.5144158005714417, -1.006038784980774, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8748573660850525, -0.894059956073761, 1.2092947959899902, -1.951159119606018, 0.8280577063560486, 0.9916089177131653, 0.8250480890274048, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5020551681518555, -1.2352855205535889, -1.540368676185608, -2.1540722846984863, -0.15238624811172485, 0.5144119262695312, -1.0052156448364258, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8805800676345825, -0.8987937569618225, 1.214998483657837, -1.950095295906067, 0.8242228627204895, 0.9915184378623962, 0.8253095746040344, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5093716382980347, -1.2349934577941895, -1.5403822660446167, -2.17765736579895, -0.11782985925674438, 0.5138713121414185, -0.9887625575065613, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9052237868309021, -0.9164707064628601, 1.2324761152267456, -1.9501639604568481, 0.8192409873008728, 0.9914195537567139, 0.8166592717170715, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5322141647338867, -1.2349095344543457, -1.5431303977966309, -2.2072629928588867, -0.08716342598199844, 0.51524817943573, -0.9565555453300476, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.922724187374115, -0.9084327220916748, 1.224780797958374, -1.9747469425201416, 0.895577073097229, 0.9902570843696594, 0.7095960378646851, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.54276704788208, -1.2353110313415527, -1.5431392192840576, -2.2293336391448975, -0.06968431174755096, 0.5270060300827026, -0.9372434616088867, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.931102991104126, -0.8766915202140808, 1.2082195281982422, -2.0131707191467285, 1.0328751802444458, 0.9889222979545593, 0.5497055053710938, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5428470373153687, -1.2372616529464722, -1.5415425300598145, -2.246269941329956, -0.060252849012613297, 0.5391031503677368, -0.9222792387008667, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9295591711997986, -0.8372571468353271, 1.1888352632522583, -2.053215742111206, 1.2230812311172485, 0.9872921109199524, 0.34761178493499756, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.543325662612915, -1.238924264907837, -1.5362768173217773, -2.2575953006744385, -0.04627768322825432, 0.5474495887756348, -0.9136714339256287, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9096711277961731, -0.8027058243751526, 1.1619256734848022, -2.0905284881591797, 1.4465398788452148, 0.9870060086250305, 0.11543373018503189, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5433833599090576, -1.2413376569747925, -1.5337883234024048, -2.259005546569824, -0.057654429227113724, 0.5547213554382324, -0.9102528095245361, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8727585077285767, -0.775126576423645, 1.1345155239105225, -2.113271951675415, 1.5980188846588135, 0.9873530864715576, -0.03659011423587799, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5434010028839111, -1.2438254356384277, -1.5381159782409668, -2.2502543926239014, -0.0893077626824379, 0.5463564991950989, -0.907721757888794, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8519591093063354, -0.7648177146911621, 1.125852346420288, -2.110454797744751, 1.6615198850631714, 0.9879404306411743, -0.0803188756108284, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.544045329093933, -1.2442402839660645, -1.5402960777282715, -2.245631456375122, -0.09978077560663223, 0.5401407480239868, -0.907400906085968, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.845796525478363, -0.7629160284996033, 1.1216468811035156, -2.099453926086426, 1.6937237977981567, 0.9879277348518372, -0.09594295173883438, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5441291332244873, -1.244250774383545, -1.539698839187622, -2.245980739593506, -0.0992555096745491, 0.5399911999702454, -0.9056331515312195, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.845100462436676, -0.7627836465835571, 1.121253490447998, -2.0963613986968994, 1.7311409711837769, 0.9877638816833496, -0.12769922614097595, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5439084768295288, -1.244313359260559, -1.5374524593353271, -2.246692419052124, -0.09686668962240219, 0.5406715273857117, -0.9022445678710938, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8367171287536621, -0.76412034034729, 1.114896535873413, -2.0902929306030273, 1.7515482902526855, 0.9878358244895935, -0.14320813119411469, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.538738489151001, -1.2446027994155884, -1.537472128868103, -2.2423388957977295, -0.09589488804340363, 0.5395777225494385, -0.9013648629188538, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.827099084854126, -0.76679527759552, 1.1081916093826294, -2.0824828147888184, 1.6801365613937378, 0.9891664385795593, -0.07805469632148743, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5287370681762695, -1.2473338842391968, -1.5386580228805542, -2.230611801147461, -0.09685207158327103, 0.5311699509620667, -0.9089133143424988, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8299556374549866, -0.7780436277389526, 1.1181453466415405, -2.0695760250091553, 1.569132924079895, 0.9921535849571228, 0.02741571143269539, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5174977779388428, -1.252246618270874, -1.5415263175964355, -2.2259950637817383, -0.10420247912406921, 0.5204168558120728, -0.9269586801528931, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8427924513816833, -0.7907747626304626, 1.1402525901794434, -2.0658185482025146, 1.4944850206375122, 1.0007195472717285, 0.09475075453519821, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, -0.3323999955103948, -0.3323999955103948, -0.3323999955103948, 0.3323999955103948, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5065683126449585, -1.2570849657058716, -1.5418386459350586, -2.2166545391082764, -0.11360050737857819, 0.5143253207206726, -0.9481264352798462, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8579558730125427, -0.8020594716072083, 1.168807029724121, -2.071753740310669, 1.458397388458252, 1.0074138641357422, 0.11495951563119888, 0.4199999987424075, 0.4199999987424075, 0.4199999987424075, 0.4199999987424075, -0.4199999987424075, -0.4199999987424075, -0.4199999987424075, 0.4199999987424075, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5005677938461304, -1.2590525150299072, -1.5522733926773071, -2.196896553039551, -0.12306012958288193, 0.5095151662826538, -0.9682223200798035, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8718389272689819, -0.8039590716362, 1.2053345441818237, -2.0807604789733887, 1.4219651222229004, 1.0115997791290283, 0.13646377623081207, 0.5381999982582343, 0.5381999982582343, 0.5381999982582343, 0.5381999982582343, -0.5381999982582343, -0.5381999982582343, -0.5381999982582343, 0.5381999982582343, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4908676147460938, -1.2588293552398682, -1.569161295890808, -2.1557087898254395, -0.1349276304244995, 0.5028107166290283, -0.9862365126609802, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8779405355453491, -0.8029248714447021, 1.2519445419311523, -2.098592758178711, 1.3905296325683594, 1.0119898319244385, 0.1628955751657486, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4668794870376587, -1.2567405700683594, -1.580513834953308, -2.1107819080352783, -0.16779544949531555, 0.5062806606292725, -1.0155446529388428, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.880272626876831, -0.7981585264205933, 1.2901813983917236, -2.111255645751953, 1.3290836811065674, 1.012000560760498, 0.2377205193042755, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4433985948562622, -1.2555351257324219, -1.5853358507156372, -2.0789272785186768, -0.21553197503089905, 0.5166857242584229, -1.0619395971298218, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8829353451728821, -0.7898730635643005, 1.3175885677337646, -2.1004347801208496, 1.2045528888702393, 1.0121755599975586, 0.40770500898361206, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4222530126571655, -1.253105878829956, -1.5880036354064941, -2.047802448272705, -0.27456170320510864, 0.5358632206916809, -1.1152805089950562, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8872756361961365, -0.7875489592552185, 1.33809494972229, -2.0691754817962646, 1.066043496131897, 1.012303113937378, 0.609747052192688, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4065033197402954, -1.2474455833435059, -1.582026720046997, -2.0344717502593994, -0.2747189402580261, 0.5497624278068542, -1.155623197555542, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8813879489898682, -0.7880731225013733, 1.3414191007614136, -2.028658390045166, 0.9684503674507141, 1.0124197006225586, 0.7521100640296936, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4040682315826416, -1.2461494207382202, -1.5703016519546509, -2.0336034297943115, -0.29135939478874207, 0.5633398294448853, -1.157515287399292, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8563077449798584, -0.7952839136123657, 1.3106027841567993, -1.9989787340164185, 0.911430835723877, 1.0124754905700684, 0.8257861733436584, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4043190479278564, -1.2460287809371948, -1.5688358545303345, -2.0370237827301025, -0.2879873812198639, 0.5643796920776367, -1.1541601419448853, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.827412486076355, -0.8158990740776062, 1.2689411640167236, -1.9847404956817627, 0.917705774307251, 1.0125070810317993, 0.8158878087997437, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4048064947128296, -1.2460194826126099, -1.5692212581634521, -2.0371487140655518, -0.28647151589393616, 0.5641340017318726, -1.1539075374603271, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8049778938293457, -0.8319472074508667, 1.23043692111969, -1.9769631624221802, 0.9229044318199158, 1.012535572052002, 0.8100806474685669, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4049386978149414, -1.24601411819458, -1.5697450637817383, -2.0371358394622803, -0.2864331603050232, 0.5639951229095459, -1.1538244485855103, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7912511229515076, -0.8399185538291931, 1.205642580986023, -1.9648879766464233, 0.9180452227592468, 1.0125447511672974, 0.8099319338798523, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050017595291138, -1.245997667312622, -1.5697513818740845, -2.03711199760437, -0.28642919659614563, 0.5639314651489258, -1.1537946462631226, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.783026933670044, -0.8417472839355469, 1.1898366212844849, -1.956609845161438, 0.9147841930389404, 1.012548565864563, 0.8098441958427429, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050157070159912, -1.24598228931427, -1.5697516202926636, -2.037071466445923, -0.28642740845680237, 0.5639132857322693, -1.1537652015686035, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7818860411643982, -0.8426283597946167, 1.1859867572784424, -1.951935887336731, 0.9127699732780457, 1.0125497579574585, 0.8097825646400452, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050257205963135, -1.2459701299667358, -1.5697510242462158, -2.0370521545410156, -0.28642478585243225, 0.5639046430587769, -1.1537071466445923, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7819201350212097, -0.8441577553749084, 1.1837931871414185, -1.9482269287109375, 0.9108666181564331, 1.0125550031661987, 0.8097308278083801, 0.5735999991605569, 0.5735999991605569, 0.5735999991605569, 0.5735999991605569, -0.5735999991605569, -0.5735999991605569, -0.5735999991605569, 0.5735999991605569, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050326347351074, -1.2459595203399658, -1.569750428199768, -2.037041187286377, -0.28641626238822937, 0.563902735710144, -1.15365731716156, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.781914472579956, -0.8471277356147766, 1.1777160167694092, -1.9454954862594604, 0.9061104655265808, 1.0125588178634644, 0.8097220659255981, 0.5387999976074302, 0.5387999976074302, 0.5387999976074302, 0.5387999976074302, -0.5387999976074302, -0.5387999976074302, -0.5387999976074302, 0.5387999976074302, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.405039668083191, -1.2459471225738525, -1.5697499513626099, -2.037034511566162, -0.2864040434360504, 0.5639024972915649, -1.1536332368850708, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7815980911254883, -0.8512279391288757, 1.1723085641860962, -1.9417154788970947, 0.9047219753265381, 1.0125703811645508, 0.8097196817398071, 0.5009999993083241, 0.5009999993083241, 0.5009999993083241, 0.5009999993083241, -0.5009999993083241, -0.5009999993083241, -0.5009999993083241, 0.5009999993083241, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050509929656982, -1.2459325790405273, -1.569748878479004, -2.0370256900787354, -0.2863939702510834, 0.56390380859375, -1.1536227464675903, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7788955569267273, -0.8527743816375732, 1.1668825149536133, -1.9392048120498657, 0.9046952724456787, 1.0125732421875, 0.8097143769264221, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, 0.48479999723015244, -0.48479999723015244, -0.48479999723015244, -0.48479999723015244, 0.48479999723015244, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.405059576034546, -1.2459144592285156, -1.569748044013977, -2.037010908126831, -0.2863861918449402, 0.5639058351516724, -1.1535966396331787, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7765507698059082, -0.8548091650009155, 1.1667417287826538, -1.936070203781128, 0.9051173329353333, 1.012589693069458, 0.8096574544906616, 0.44220000413747934, 0.44220000413747934, 0.44220000413747934, 0.44220000413747934, -0.44220000413747934, -0.44220000413747934, -0.44220000413747934, 0.44220000413747934, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050744771957397, -1.245888113975525, -1.5697472095489502, -2.0370001792907715, -0.2863840162754059, 0.5639082193374634, -1.1535602807998657, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7742777466773987, -0.8581241369247437, 1.1649365425109863, -1.932763695716858, 0.9048271775245667, 1.0125995874404907, 0.8095822334289551, 0.4086000012827443, 0.4086000012827443, 0.4086000012827443, 0.4086000012827443, -0.4086000012827443, -0.4086000012827443, -0.4086000012827443, 0.4086000012827443, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050840139389038, -1.245620608329773, -1.5697463750839233, -2.0369906425476074, -0.2863822281360626, 0.5639106035232544, -1.153502106666565, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7727801203727722, -0.8614590167999268, 1.163802981376648, -1.931578278541565, 0.9034468531608582, 1.0126142501831055, 0.8095827102661133, 0.3744000089037549, 0.3744000089037549, 0.3744000089037549, 0.3744000089037549, -0.3744000089037549, -0.3744000089037549, -0.3744000089037549, 0.3744000089037549, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4050936698913574, -1.2456207275390625, -1.5697462558746338, -2.0369861125946045, -0.2863822281360626, 0.5639154314994812, -1.1534605026245117, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7702789902687073, -0.8630013465881348, 1.1609071493148804, -1.9273980855941772, 0.9034572839736938, 1.0126209259033203, 0.8095850944519043, 0.3756000076021467, 0.3756000076021467, 0.3756000076021467, 0.3756000076021467, -0.3756000076021467, -0.3756000076021467, -0.3756000076021467, 0.3756000076021467, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.4051021337509155, -1.2456265687942505, -1.5697448253631592, -2.0369837284088135, -0.2863817512989044, 0.5639210343360901, -1.1534390449523926, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7692584991455078, -0.8630304932594299, 1.1578818559646606, -1.9254552125930786, 0.9041321277618408, 1.0126230716705322, 0.8095860481262207, 0.3756000076021467, 0.3756000076021467, 0.3756000076021467, 0.3756000076021467, -0.3756000076021467, -0.3756000076021467, -0.3756000076021467, 0.3756000076021467, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4051086902618408, -1.2456421852111816, -1.5697435140609741, -2.036980390548706, -0.2863824665546417, 0.5639270544052124, -1.1534231901168823, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7694482207298279, -0.8631284832954407, 1.1553651094436646, -1.9245595932006836, 0.9047195911407471, 1.012626051902771, 0.8095848560333252, 0.3780000049989302, 0.3780000049989302, 0.3780000049989302, 0.3780000049989302, -0.3780000049989302, -0.3780000049989302, -0.3780000049989302, 0.3780000049989302, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4051165580749512, -1.245660662651062, -1.5697425603866577, -2.0369811058044434, -0.28638318181037903, 0.5639296770095825, -1.153412103652954, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7698351740837097, -0.8633607625961304, 1.1509159803390503, -1.9228684902191162, 0.9051187634468079, 1.012624979019165, 0.8095848560333252, 0.3731999905554803, 0.3731999905554803, 0.3731999905554803, 0.3731999905554803, -0.3731999905554803, -0.3731999905554803, -0.3731999905554803, 0.3731999905554803, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.405335783958435, -1.2456018924713135, -1.5698941946029663, -2.0359175205230713, -0.2847745418548584, 0.5640780329704285, -1.1520366668701172, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7694500684738159, -0.8633067011833191, 1.1443150043487549, -1.9205923080444336, 0.9102921485900879, 1.0126230716705322, 0.8104956746101379, 0.3131999966862437, 0.3131999966862437, 0.3131999966862437, 0.3131999966862437, -0.3131999966862437, -0.3131999966862437, -0.3131999966862437, 0.3131999966862437, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4064948558807373, -1.2449465990066528, -1.570228934288025, -2.0360755920410156, -0.28433412313461304, 0.5642796158790588, -1.1519135236740112, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7670738101005554, -0.8616797924041748, 1.1408931016921997, -1.9178736209869385, 0.9156352877616882, 1.012602686882019, 0.8099564909934998, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, 0.29220000963944653, -0.29220000963944653, -0.29220000963944653, -0.29220000963944653, 0.29220000963944653, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4089630842208862, -1.242806315422058, -1.5702208280563354, -2.048600435256958, -0.2738003432750702, 0.5619319081306458, -1.1463088989257812, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7679901719093323, -0.8598191738128662, 1.141068458557129, -1.9167301654815674, 0.9212182760238647, 1.0124142169952393, 0.8088032603263855, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.421069622039795, -1.2396950721740723, -1.5689740180969238, -2.0735466480255127, -0.25888383388519287, 0.5509149432182312, -1.1244803667068481, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7776030898094177, -0.8614396452903748, 1.1497538089752197, -1.91775381565094, 0.9206477999687195, 1.011254906654358, 0.8096805810928345, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4381840229034424, -1.237324833869934, -1.5662169456481934, -2.1070961952209473, -0.23591245710849762, 0.541424036026001, -1.092857837677002, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8034754991531372, -0.8663362860679626, 1.1705381870269775, -1.9280246496200562, 0.9243747591972351, 1.0095573663711548, 0.7937250137329102, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4526801109313965, -1.236237645149231, -1.5651646852493286, -2.1396355628967285, -0.19996386766433716, 0.5356656312942505, -1.0537621974945068, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8422293663024902, -0.8678706884384155, 1.1868367195129395, -1.9580762386322021, 1.010437250137329, 1.0089505910873413, 0.6681678891181946, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4707903861999512, -1.2357333898544312, -1.563381552696228, -2.1712543964385986, -0.17642217874526978, 0.5328100323677063, -1.006479024887085, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8663250803947449, -0.8604357242584229, 1.1900452375411987, -1.9935728311538696, 1.1198046207427979, 1.0052039623260498, 0.5217912197113037, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4869023561477661, -1.2362103462219238, -1.562896966934204, -2.1955959796905518, -0.17222805321216583, 0.5333101153373718, -0.9722586870193481, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8866873383522034, -0.8502449989318848, 1.1962995529174805, -2.033473253250122, 1.240365743637085, 1.0020017623901367, 0.37319415807724, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.4945220947265625, -1.2383953332901, -1.5636391639709473, -2.2144455909729004, -0.16930341720581055, 0.5435150265693665, -0.948247492313385, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9072835445404053, -0.8478689193725586, 1.2067800760269165, -2.0687639713287354, 1.3659776449203491, 1.0003787279129028, 0.22002390027046204, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.4993197917938232, -1.2405911684036255, -1.5644855499267578, -2.2225494384765625, -0.18121489882469177, 0.5526399612426758, -0.9254413843154907, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9254137873649597, -0.8545695543289185, 1.2179691791534424, -2.1041910648345947, 1.4917410612106323, 0.9977055191993713, 0.056970369070768356, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5082709789276123, -1.2425003051757812, -1.564443826675415, -2.236478805541992, -0.18343079090118408, 0.5526514649391174, -0.893252968788147, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9380079507827759, -0.874635636806488, 1.229233980178833, -2.1309814453125, 1.6159733533859253, 0.9943251609802246, -0.10819657891988754, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.513481855392456, -1.2449102401733398, -1.5631023645401, -2.242842435836792, -0.18828104436397552, 0.5520934462547302, -0.8697605133056641, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9503156542778015, -0.9032571315765381, 1.2427546977996826, -2.1555683612823486, 1.7087609767913818, 0.9929921627044678, -0.2519398033618927, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5139472484588623, -1.2452389001846313, -1.5630450248718262, -2.2430942058563232, -0.18825335800647736, 0.5560067892074585, -0.8620713353157043, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9524360299110413, -0.9198935627937317, 1.2428966760635376, -2.162752389907837, 1.7431138753890991, 0.9921266436576843, -0.3136882781982422, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5138835906982422, -1.2452436685562134, -1.563016653060913, -2.2425172328948975, -0.18812249600887299, 0.5592731237411499, -0.8607847094535828, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9445116519927979, -0.9186622500419617, 1.2350622415542603, -2.1635823249816895, 1.7466074228286743, 0.9909297823905945, -0.32349127531051636, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5116674900054932, -1.2458966970443726, -1.5647633075714111, -2.2388722896575928, -0.19023579359054565, 0.5588080883026123, -0.8605841994285583, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9267018437385559, -0.9071959257125854, 1.2165976762771606, -2.164142608642578, 1.6875133514404297, 0.9909494519233704, -0.27349308133125305, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5106724500656128, -1.2472801208496094, -1.5692733526229858, -2.236149549484253, -0.1930265575647354, 0.553986132144928, -0.869876503944397, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9087193608283997, -0.886992871761322, 1.203410029411316, -2.1586802005767822, 1.5953700542449951, 0.9907761216163635, -0.16626769304275513, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.5066778659820557, -1.2496384382247925, -1.57610023021698, -2.232875347137451, -0.19698062539100647, 0.5479004383087158, -0.8863441944122314, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8989186882972717, -0.8777256608009338, 1.2055084705352783, -2.148292303085327, 1.5256932973861694, 0.993337869644165, -0.06972409784793854, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.4953140020370483, -1.2529287338256836, -1.585855484008789, -2.220334529876709, -0.21090522408485413, 0.5392488837242126, -0.9091014862060547, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8897939324378967, -0.8701279759407043, 1.2106101512908936, -2.1436235904693604, 1.4482617378234863, 1.003303050994873, 0.015917927026748657, 0.47639999651646875, 0.47639999651646875, 0.47639999651646875, 0.47639999651646875, -0.47639999651646875, -0.47639999651646875, -0.47639999651646875, 0.47639999651646875, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4766749143600464, -1.2549388408660889, -1.6081550121307373, -2.1873342990875244, -0.24473896622657776, 0.5386914014816284, -0.9440039992332458, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8806689381599426, -0.8578231334686279, 1.2323485612869263, -2.1377007961273193, 1.3813371658325195, 1.01070237159729, 0.11067239940166473, 0.5621999992446585, 0.5621999992446585, 0.5621999992446585, 0.5621999992446585, -0.5621999992446585, -0.5621999992446585, -0.5621999992446585, 0.5621999992446585, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4618804454803467, -1.253605604171753, -1.6233631372451782, -2.1462152004241943, -0.28522250056266785, 0.5405336022377014, -0.9869041442871094, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.867242693901062, -0.8456404805183411, 1.26278817653656, -2.1320013999938965, 1.3167601823806763, 1.011621117591858, 0.2138369232416153, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, 0.5843999997272596, -0.5843999997272596, -0.5843999997272596, -0.5843999997272596, 0.5843999997272596, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.4405179023742676, -1.2494114637374878, -1.6293128728866577, -2.1031253337860107, -0.3293144106864929, 0.5484539866447449, -1.0453081130981445, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8605604767799377, -0.8346471190452576, 1.2970744371414185, -2.1205313205718994, 1.2446086406707764, 1.0116816759109497, 0.32415637373924255, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4136300086975098, -1.2430808544158936, -1.630452036857605, -2.0644948482513428, -0.35764965415000916, 0.5606050491333008, -1.1187494993209839, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.860615074634552, -0.8296820521354675, 1.3334136009216309, -2.0981273651123047, 1.1783292293548584, 1.0119918584823608, 0.45774778723716736, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.393688440322876, -1.2371525764465332, -1.624783992767334, -2.0371854305267334, -0.38102811574935913, 0.5697952508926392, -1.1695444583892822, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8580331802368164, -0.8252075910568237, 1.343927264213562, -2.0622410774230957, 1.0958353281021118, 1.0120623111724854, 0.6080849766731262, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3902794122695923, -1.2362397909164429, -1.6222407817840576, -2.0330798625946045, -0.3851715624332428, 0.5713625550270081, -1.1817594766616821, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8388062119483948, -0.8218116164207458, 1.31924307346344, -2.0312299728393555, 1.0109680891036987, 1.012341856956482, 0.761561393737793, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3906832933425903, -1.2362490892410278, -1.6222586631774902, -2.034290313720703, -0.38380128145217896, 0.5713107585906982, -1.177119493484497, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8138166666030884, -0.821405291557312, 1.282318353652954, -2.016770839691162, 0.9596766233444214, 1.0123621225357056, 0.8382673859596252, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3914023637771606, -1.236289143562317, -1.6223706007003784, -2.0344948768615723, -0.3831827640533447, 0.5711971521377563, -1.1762546300888062, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7924566864967346, -0.822791576385498, 1.2483665943145752, -2.0028810501098633, 0.9798685908317566, 1.012416124343872, 0.8144052624702454, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3917686939239502, -1.2363017797470093, -1.6225861310958862, -2.0345659255981445, -0.3830868899822235, 0.5711493492126465, -1.1761168241500854, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7760578393936157, -0.8271850347518921, 1.23676335811615, -1.9851830005645752, 0.9813130497932434, 1.0124601125717163, 0.8089600801467896, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.391799807548523, -1.2363978624343872, -1.62259042263031, -2.0345940589904785, -0.38303667306900024, 0.5711323022842407, -1.1759910583496094, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7720943689346313, -0.8347568511962891, 1.2355105876922607, -1.9783430099487305, 0.9806638360023499, 1.0125125646591187, 0.8089772462844849, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3918113708496094, -1.236433982849121, -1.6225907802581787, -2.034637928009033, -0.3830081522464752, 0.5711210370063782, -1.175947904586792, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.769474446773529, -0.8449988961219788, 1.2251735925674438, -1.970690131187439, 0.9787741899490356, 1.0125113725662231, 0.809072732925415, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.391829252243042, -1.2364460229873657, -1.6225906610488892, -2.034651041030884, -0.3829900622367859, 0.5711155533790588, -1.1759172677993774, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7640650272369385, -0.8526825308799744, 1.2166653871536255, -1.9617499113082886, 0.9788501858711243, 1.012514352798462, 0.8091880679130554, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3918421268463135, -1.2364518642425537, -1.622590184211731, -2.0346572399139404, -0.38298383355140686, 0.5711141228675842, -1.1759004592895508, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7578079700469971, -0.8559837937355042, 1.2088438272476196, -1.9560431241989136, 0.9798580408096313, 1.012533187866211, 0.8092123866081238, 0.5519999980271517, 0.5519999980271517, 0.5519999980271517, 0.5519999980271517, -0.5519999980271517, -0.5519999980271517, -0.5519999980271517, 0.5519999980271517, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3918617963790894, -1.2364554405212402, -1.6225910186767578, -2.034666061401367, -0.38298240303993225, 0.5711140036582947, -1.1758946180343628, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7571783065795898, -0.8584499955177307, 1.2063828706741333, -1.954595923423767, 0.9801889061927795, 1.0125585794448853, 0.8093439340591431, 0.5064000032760285, 0.5064000032760285, 0.5064000032760285, 0.5064000032760285, -0.5064000032760285, -0.5064000032760285, -0.5064000032760285, 0.5064000032760285, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.391893744468689, -1.2364612817764282, -1.6225894689559937, -2.0346736907958984, -0.38297927379608154, 0.5711132884025574, -1.175887107849121, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7570168972015381, -0.8595008254051208, 1.2026206254959106, -1.951346755027771, 0.978698194026947, 1.0125941038131714, 0.8093409538269043, 0.4524000028987507, 0.4524000028987507, 0.4524000028987507, 0.4524000028987507, -0.4524000028987507, -0.4524000028987507, -0.4524000028987507, 0.4524000028987507, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3919144868850708, -1.2364622354507446, -1.6225872039794922, -2.0346789360046387, -0.3829782009124756, 0.5711143612861633, -1.1758843660354614, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7555056810379028, -0.8630908727645874, 1.1968797445297241, -1.944431185722351, 0.9720879197120667, 1.0125937461853027, 0.8093293309211731, 0.4469999989310463, 0.4469999989310463, 0.4469999989310463, 0.4469999989310463, -0.4469999989310463, -0.4469999989310463, -0.4469999989310463, 0.4469999989310463, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3919261693954468, -1.2364625930786133, -1.6225855350494385, -2.0346829891204834, -0.3829749524593353, 0.5711134076118469, -1.1758811473846436, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.753733217716217, -0.8680111765861511, 1.1911059617996216, -1.9400581121444702, 0.9679864645004272, 1.0125938653945923, 0.809288501739502, 0.432000005376208, 0.432000005376208, 0.432000005376208, 0.432000005376208, -0.432000005376208, -0.432000005376208, -0.432000005376208, 0.432000005376208, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.391931176185608, -1.2364627122879028, -1.6225866079330444, -2.034684896469116, -0.38297197222709656, 0.5711124539375305, -1.1758763790130615, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7524971961975098, -0.8714303970336914, 1.190573811531067, -1.9362609386444092, 0.9667559266090393, 1.0125945806503296, 0.8092682361602783, 0.42780000010689534, 0.42780000010689534, 0.42780000010689534, 0.42780000010689534, -0.42780000010689534, -0.42780000010689534, -0.42780000010689534, 0.42780000010689534, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.391937255859375, -1.2364624738693237, -1.6225861310958862, -2.0346896648406982, -0.38297268748283386, 0.5711090564727783, -1.1758744716644287, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7481998205184937, -0.8752574920654297, 1.1875741481781006, -1.9296472072601318, 0.9637221097946167, 1.0125948190689087, 0.8092617392539978, 0.4199999987424075, 0.4199999987424075, 0.4199999987424075, 0.4199999987424075, -0.4199999987424075, -0.4199999987424075, -0.4199999987424075, 0.4199999987424075, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3919413089752197, -1.2364623546600342, -1.622586727142334, -2.034698009490967, -0.38297316431999207, 0.5711055994033813, -1.175869345664978, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7440013289451599, -0.8822323083877563, 1.1835788488388062, -1.9236297607421875, 0.9600412845611572, 1.0125951766967773, 0.8092474937438965, 0.4086000012827443, 0.4086000012827443, 0.4086000012827443, 0.4086000012827443, -0.4086000012827443, -0.4086000012827443, -0.4086000012827443, 0.4086000012827443, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3919438123703003, -1.2364624738693237, -1.6225874423980713, -2.0347084999084473, -0.3829743564128876, 0.5710988640785217, -1.175862431526184, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7411261796951294, -0.8891449570655823, 1.178561806678772, -1.9180642366409302, 0.9550988674163818, 1.012596845626831, 0.8092376589775085, 0.3948000064262977, 0.3948000064262977, 0.3948000064262977, 0.3948000064262977, -0.3948000064262977, -0.3948000064262977, -0.3948000064262977, 0.3948000064262977, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3919460773468018, -1.236461877822876, -1.6225898265838623, -2.0347208976745605, -0.382975310087204, 0.5710923075675964, -1.1758519411087036, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7390792369842529, -0.89296954870224, 1.173076868057251, -1.9156440496444702, 0.9531829357147217, 1.0125977993011475, 0.809236466884613, 0.3941999972521604, 0.3941999972521604, 0.3941999972521604, 0.3941999972521604, -0.3941999972521604, -0.3941999972521604, -0.3941999972521604, 0.3941999972521604, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.391946792602539, -1.2364614009857178, -1.6225906610488892, -2.0347297191619873, -0.38297590613365173, 0.571083664894104, -1.1758383512496948, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7360873222351074, -0.8941811919212341, 1.1662648916244507, -1.914113163948059, 0.953146755695343, 1.0125974416732788, 0.8092373013496399, 0.38820000376020164, 0.38820000376020164, 0.38820000376020164, 0.38820000376020164, -0.38820000376020164, -0.38820000376020164, -0.38820000376020164, 0.38820000376020164, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3919508457183838, -1.236460566520691, -1.6225935220718384, -2.034738779067993, -0.3829777240753174, 0.5710792541503906, -1.1758240461349487, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7339187264442444, -0.894963264465332, 1.1628600358963013, -1.9135959148406982, 0.9526732563972473, 1.012599229812622, 0.8092415928840637, 0.38219999061835985, 0.38219999061835985, 0.38219999061835985, 0.38219999061835985, -0.38219999061835985, -0.38219999061835985, -0.38219999061835985, 0.38219999061835985, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3922055959701538, -1.2364312410354614, -1.6230781078338623, -2.034681797027588, -0.3826107680797577, 0.5710698962211609, -1.1748902797698975, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7336735725402832, -0.8953050374984741, 1.1628719568252563, -1.9129347801208496, 0.9537529349327087, 1.012614369392395, 0.8095317482948303, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, 0.29160000046530926, -0.29160000046530926, -0.29160000046530926, -0.29160000046530926, 0.29160000046530926, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.392344355583191, -1.2362414598464966, -1.6232337951660156, -2.0352020263671875, -0.38261064887046814, 0.5691506266593933, -1.174867033958435, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7336183786392212, -0.8944165110588074, 1.1624069213867188, -1.9126466512680054, 0.9601036906242371, 1.0125398635864258, 0.8083734512329102, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.397028923034668, -1.232637882232666, -1.6233683824539185, -2.0511221885681152, -0.36855435371398926, 0.5571056008338928, -1.169111728668213, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.734639048576355, -0.8856754899024963, 1.1613041162490845, -1.9158976078033447, 0.9683775305747986, 1.0100210905075073, 0.8074344992637634, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.411290168762207, -1.229099154472351, -1.6218690872192383, -2.0876481533050537, -0.32922306656837463, 0.5258491039276123, -1.140921711921692, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.7444833517074585, -0.8843262195587158, 1.1726446151733398, -1.9271641969680786, 0.9594290256500244, 1.0104073286056519, 0.8028042912483215, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4302630424499512, -1.227571725845337, -1.6173659563064575, -2.129244565963745, -0.28587159514427185, 0.49940207600593567, -1.1000882387161255, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.775679886341095, -0.8939580917358398, 1.2021477222442627, -1.9427495002746582, 0.9393463134765625, 1.010371208190918, 0.7969294786453247, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4526512622833252, -1.2273143529891968, -1.6165194511413574, -2.1662051677703857, -0.24476304650306702, 0.47877493500709534, -1.0492165088653564, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8228944540023804, -0.9097986817359924, 1.2310129404067993, -1.9749761819839478, 0.9806130528450012, 1.0097206830978394, 0.7017416954040527, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4709579944610596, -1.2275986671447754, -1.6165523529052734, -2.2011055946350098, -0.19828200340270996, 0.45864516496658325, -0.9997376799583435, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.8769285082817078, -0.9256953001022339, 1.255033254623413, -2.020002841949463, 1.0807451009750366, 1.0086948871612549, 0.5365374684333801, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4910898208618164, -1.228585124015808, -1.616533875465393, -2.224198818206787, -0.18682651221752167, 0.4568948447704315, -0.952122688293457, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9118949770927429, -0.9391613006591797, 1.2653168439865112, -2.062044858932495, 1.1814712285995483, 1.0044994354248047, 0.37636277079582214, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5067260265350342, -1.2324546575546265, -1.6125867366790771, -2.2470052242279053, -0.16421012580394745, 0.46719756722450256, -0.9139318466186523, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9365710616111755, -0.946671187877655, 1.265512228012085, -2.0901143550872803, 1.286623477935791, 0.999841034412384, 0.22834059596061707, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5227456092834473, -1.2363673448562622, -1.6089589595794678, -2.2630698680877686, -0.16667228937149048, 0.47688573598861694, -0.8736093640327454, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9587007164955139, -0.9609111547470093, 1.2701354026794434, -2.1221437454223633, 1.3919758796691895, 0.9945951700210571, 0.07662497460842133, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5330290794372559, -1.2389593124389648, -1.604407787322998, -2.2783725261688232, -0.148283451795578, 0.4762238562107086, -0.8477736711502075, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9765107035636902, -0.9799304604530334, 1.2770389318466187, -2.141580820083618, 1.47923743724823, 0.9921537041664124, -0.04361574724316597, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5339131355285645, -1.2422369718551636, -1.6032655239105225, -2.2830047607421875, -0.14538326859474182, 0.4787646234035492, -0.8335025906562805, 0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.4026000077907856, -0.4026000077907856, 0.4026000077907856, 0.4026000077907856, -0.9878698587417603, -1.003358244895935, 1.2860451936721802, -2.1506142616271973, 1.5381823778152466, 0.9919204115867615, -0.1276635080575943, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5321263074874878, -1.2444205284118652, -1.6032556295394897, -2.2863593101501465, -0.14208713173866272, 0.48425304889678955, -0.8261717557907104, 0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.9957862496376038, -1.024375319480896, 1.2942627668380737, -2.150825023651123, 1.5790376663208008, 0.9919278025627136, -0.18030038475990295, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.527292251586914, -1.2452139854431152, -1.6032116413116455, -2.2822017669677734, -0.14052042365074158, 0.4880038797855377, -0.8277170062065125, 0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.40319999731503997, -0.40319999731503997, 0.40319999731503997, 0.40319999731503997, -0.9950291514396667, -1.0296154022216797, 1.2921572923660278, -2.1497042179107666, 1.5739160776138306, 0.9919493794441223, -0.18467019498348236, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.520611047744751, -1.2467560768127441, -1.6035935878753662, -2.2729756832122803, -0.14058466255664825, 0.48966488242149353, -0.8369404077529907, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9836035966873169, -1.0188125371932983, 1.282140851020813, -2.143803834915161, 1.5021673440933228, 0.9920787215232849, -0.11396051198244095, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, 0.29040000176691744, -0.29040000176691744, -0.29040000176691744, -0.29040000176691744, 0.29040000176691744, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.510949730873108, -1.2486847639083862, -1.60490882396698, -2.2664411067962646, -0.1430620402097702, 0.4893633723258972, -0.8513200283050537, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9711074829101562, -1.0047307014465332, 1.280698299407959, -2.134380340576172, 1.4108022451400757, 0.9934790730476379, -0.0044954027980566025, 0.28979999259278016, 0.28979999259278016, 0.28979999259278016, 0.28979999259278016, -0.28979999259278016, -0.28979999259278016, -0.28979999259278016, 0.28979999259278016, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4978348016738892, -1.25167715549469, -1.6072407960891724, -2.256446123123169, -0.15200935304164886, 0.4840828776359558, -0.8647153973579407, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9573448300361633, -0.9969843029975891, 1.2851852178573608, -2.1282618045806885, 1.3379539251327515, 0.9999232292175293, 0.08785970509052277, 0.32520000332004423, 0.32520000332004423, 0.32520000332004423, 0.32520000332004423, -0.32520000332004423, -0.32520000332004423, -0.32520000332004423, 0.32520000332004423, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4792375564575195, -1.2550543546676636, -1.6207917928695679, -2.233551502227783, -0.1663338541984558, 0.4821358025074005, -0.8793845772743225, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9447692036628723, -0.9926357865333557, 1.2944858074188232, -2.131338119506836, 1.2999755144119263, 1.0094550848007202, 0.15535761415958405, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, 0.5423999986150763, -0.5423999986150763, -0.5423999986150763, -0.5423999986150763, 0.5423999986150763, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4655771255493164, -1.2549573183059692, -1.6368964910507202, -2.2022154331207275, -0.19006884098052979, 0.4853075444698334, -0.9088931083679199, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9260985851287842, -0.9791417121887207, 1.320675015449524, -2.138063669204712, 1.2594404220581055, 1.0112659931182861, 0.20884789526462555, 0.5814000005250448, 0.5814000005250448, 0.5814000005250448, 0.5814000005250448, -0.5814000005250448, -0.5814000005250448, -0.5814000005250448, 0.5814000005250448, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4486337900161743, -1.2528352737426758, -1.6509902477264404, -2.1664438247680664, -0.2411765307188034, 0.5016082525253296, -0.959693968296051, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9074100255966187, -0.9541221857070923, 1.3543928861618042, -2.131118059158325, 1.21016263961792, 1.0113518238067627, 0.2974035143852234, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4195636510849, -1.2476838827133179, -1.6647937297821045, -2.1204655170440674, -0.3023998737335205, 0.528906524181366, -1.037235140800476, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.8902004361152649, -0.9352118372917175, 1.3900117874145508, -2.1051156520843506, 1.1387550830841064, 1.0117197036743164, 0.43495258688926697, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3939290046691895, -1.2412394285202026, -1.670831561088562, -2.079127311706543, -0.36264467239379883, 0.5615571737289429, -1.1102960109710693, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.8738844394683838, -0.9196441769599915, 1.3987808227539062, -2.070333957672119, 1.0442085266113281, 1.0118894577026367, 0.6055266857147217, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.382164716720581, -1.2350828647613525, -1.674187421798706, -2.050957679748535, -0.39646393060684204, 0.5797246694564819, -1.1534010171890259, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.8587316274642944, -0.9084657430648804, 1.3919378519058228, -2.0304815769195557, 0.9900355339050293, 1.0120928287506104, 0.7540250420570374, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3810343742370605, -1.2299363613128662, -1.6682485342025757, -2.03955340385437, -0.42422860860824585, 0.5929226279258728, -1.1886165142059326, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.8377352356910706, -0.9009891748428345, 1.3595192432403564, -2.0107171535491943, 0.9306750297546387, 1.0120762586593628, 0.8524899482727051, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3825135231018066, -1.2267972230911255, -1.6577204465866089, -2.041228771209717, -0.43100211024284363, 0.5956111550331116, -1.1887784004211426, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.8175925612449646, -0.8972537517547607, 1.320774793624878, -1.9919757843017578, 0.9727238416671753, 1.0120937824249268, 0.8246487975120544, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3863999843597412, -1.2237657308578491, -1.646865963935852, -2.0497095584869385, -0.42223048210144043, 0.5945553779602051, -1.1854817867279053, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7964116930961609, -0.8941790461540222, 1.2781662940979004, -1.9689897298812866, 0.9907048344612122, 1.0099684000015259, 0.8106352686882019, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877524137496948, -1.2224321365356445, -1.6427772045135498, -2.053992509841919, -0.42009812593460083, 0.5944554209709167, -1.1834708452224731, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7810505032539368, -0.8948911428451538, 1.258339762687683, -1.952344536781311, 0.991244375705719, 1.0096701383590698, 0.8121734261512756, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877604007720947, -1.2222740650177002, -1.6428003311157227, -2.0539803504943848, -0.42009982466697693, 0.5944499373435974, -1.183318853378296, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7761459946632385, -0.8970462679862976, 1.2450579404830933, -1.9498920440673828, 0.9926443696022034, 1.01190185546875, 0.8103139400482178, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877614736557007, -1.2222692966461182, -1.6430282592773438, -2.0539286136627197, -0.4201118052005768, 0.5944486856460571, -1.1833149194717407, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7757879495620728, -0.8986621499061584, 1.2366973161697388, -1.9459582567214966, 0.9934599995613098, 1.012306571006775, 0.8096295595169067, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877609968185425, -1.2222683429718018, -1.6431976556777954, -2.0538666248321533, -0.42012688517570496, 0.5944492220878601, -1.1833086013793945, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7757365107536316, -0.9017564058303833, 1.2308565378189087, -1.9408718347549438, 0.9912474751472473, 1.0123040676116943, 0.8096243739128113, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877607583999634, -1.2222658395767212, -1.6432689428329468, -2.0538055896759033, -0.4201461970806122, 0.5944488048553467, -1.1832958459854126, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.775527834892273, -0.906526505947113, 1.2274658679962158, -1.9361337423324585, 0.989338755607605, 1.0123072862625122, 0.8096250891685486, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, -0.5898000000106108, -0.5898000000106108, -0.5898000000106108, 0.5898000000106108, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877607583999634, -1.2222620248794556, -1.6433192491531372, -2.053781270980835, -0.42017579078674316, 0.5944470167160034, -1.183279037475586, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.775051474571228, -0.9100439548492432, 1.2223540544509888, -1.9286787509918213, 0.981898844242096, 1.0123326778411865, 0.8096288442611694, 0.5406000005674886, 0.5406000005674886, 0.5406000005674886, 0.5406000005674886, -0.5406000005674886, -0.5406000005674886, -0.5406000005674886, 0.5406000005674886, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877604007720947, -1.222255825996399, -1.6433411836624146, -2.0537638664245605, -0.4201974868774414, 0.5944479703903198, -1.1832627058029175, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7739635705947876, -0.9121298789978027, 1.2181849479675293, -1.9227381944656372, 0.976209819316864, 1.0123497247695923, 0.8096350431442261, 0.5039999960543035, 0.5039999960543035, 0.5039999960543035, 0.5039999960543035, -0.5039999960543035, -0.5039999960543035, -0.5039999960543035, 0.5039999960543035, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877602815628052, -1.22224760055542, -1.6433465480804443, -2.053758144378662, -0.4202131927013397, 0.5944478511810303, -1.1832480430603027, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7736043334007263, -0.9165627956390381, 1.2159913778305054, -1.9198739528656006, 0.9732518196105957, 1.0123701095581055, 0.8096342086791992, 0.48000000243658547, 0.48000000243658547, 0.48000000243658547, 0.48000000243658547, -0.48000000243658547, -0.48000000243658547, -0.48000000243658547, 0.48000000243658547, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877607583999634, -1.2222365140914917, -1.643349051475525, -2.053755521774292, -0.42022204399108887, 0.5944505333900452, -1.1832351684570312, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.771527886390686, -0.9217866063117981, 1.2157952785491943, -1.9134596586227417, 0.9700591564178467, 1.012376070022583, 0.8096344470977783, 0.46559999840600147, 0.46559999840600147, 0.46559999840600147, 0.46559999840600147, -0.46559999840600147, -0.46559999840600147, -0.46559999840600147, 0.46559999840600147, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877602815628052, -1.222225546836853, -1.6433485746383667, -2.0537543296813965, -0.4202233850955963, 0.5944535136222839, -1.1832153797149658, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7678970098495483, -0.9269232749938965, 1.2119137048721313, -1.910033941268921, 0.9673449397087097, 1.0123827457427979, 0.8096334934234619, 0.44639999958185045, 0.44639999958185045, 0.44639999958185045, 0.44639999958185045, -0.44639999958185045, -0.44639999958185045, -0.44639999958185045, 0.44639999958185045, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877606391906738, -1.2222154140472412, -1.6433489322662354, -2.0537524223327637, -0.42022600769996643, 0.5944553017616272, -1.1831949949264526, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7654854655265808, -0.9319887757301331, 1.209655523300171, -1.9055771827697754, 0.9644421339035034, 1.0123844146728516, 0.8096312284469604, 0.4289999988052871, 0.4289999988052871, 0.4289999988052871, 0.4289999988052871, -0.4289999988052871, -0.4289999988052871, -0.4289999988052871, 0.4289999988052871, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877605199813843, -1.2222082614898682, -1.6433486938476562, -2.0537521839141846, -0.4202280342578888, 0.5944576859474182, -1.1831862926483154, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7645430564880371, -0.935261607170105, 1.2062628269195557, -1.9043004512786865, 0.9640649557113647, 1.0123876333236694, 0.809630274772644, 0.4235999948375828, 0.4235999948375828, 0.4235999948375828, 0.4235999948375828, -0.4235999948375828, -0.4235999948375828, -0.4235999948375828, 0.4235999948375828, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3877602815628052, -1.222198486328125, -1.6433494091033936, -2.0537517070770264, -0.4202325940132141, 0.5944604873657227, -1.1831823587417603, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7644935846328735, -0.9365167021751404, 1.2033262252807617, -1.9040942192077637, 0.9639307856559753, 1.0123958587646484, 0.8096315860748291, 0.40140000909239376, 0.40140000909239376, 0.40140000909239376, 0.40140000909239376, -0.40140000909239376, -0.40140000909239376, -0.40140000909239376, 0.40140000909239376, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.387776494026184, -1.2217670679092407, -1.6436619758605957, -2.05316162109375, -0.41972649097442627, 0.594593346118927, -1.181746006011963, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7651487588882446, -0.9365893602371216, 1.2011229991912842, -1.9045509099960327, 0.968062698841095, 1.012442708015442, 0.8104871511459351, 0.3593999956990336, 0.3593999956990336, 0.3593999956990336, 0.3593999956990336, -0.3593999956990336, -0.3593999956990336, -0.3593999956990336, 0.3593999956990336, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.388407588005066, -1.2209217548370361, -1.6449674367904663, -2.0522751808166504, -0.4187494218349457, 0.5946638584136963, -1.1803183555603027, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7665102481842041, -0.9346336126327515, 1.1993541717529297, -1.904807209968567, 0.9767893552780151, 1.0123718976974487, 0.8105179667472839, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.3950154781341553, -1.2199174165725708, -1.644199252128601, -2.0616707801818848, -0.41501477360725403, 0.5833890438079834, -1.171826958656311, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.7706696391105652, -0.9294316172599792, 1.2008877992630005, -1.9071356058120728, 0.9826308488845825, 1.0089484453201294, 0.8099144101142883, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.406423568725586, -1.2184199094772339, -1.641398310661316, -2.092266321182251, -0.37209784984588623, 0.5438570976257324, -1.1452606916427612, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.787287175655365, -0.9327290654182434, 1.2183386087417603, -1.9179039001464844, 0.9670292735099792, 1.0093196630477905, 0.8075893521308899, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4269366264343262, -1.2183791399002075, -1.6378099918365479, -2.1330971717834473, -0.3278959393501282, 0.5054412484169006, -1.095212697982788, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.8264859318733215, -0.9544180035591125, 1.2546590566635132, -1.9390345811843872, 0.9500603079795837, 1.0096946954727173, 0.7796175479888916, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4515706300735474, -1.218421459197998, -1.6402051448822021, -2.1668484210968018, -0.2960841655731201, 0.47950777411460876, -1.0390310287475586, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.882025957107544, -0.9827806353569031, 1.2851214408874512, -1.9775503873825073, 1.0088770389556885, 1.0098003149032593, 0.652740478515625, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4733465909957886, -1.2203760147094727, -1.6401305198669434, -2.196462392807007, -0.28046250343322754, 0.4683173894882202, -0.9841334223747253, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9273574352264404, -1.0043444633483887, 1.3065837621688843, -2.0143423080444336, 1.0883300304412842, 1.0080872774124146, 0.5196971297264099, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4914442300796509, -1.2238655090332031, -1.6353312730789185, -2.2227492332458496, -0.2649480700492859, 0.4655188322067261, -0.9372053146362305, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9542520046234131, -1.0163307189941406, 1.3164386749267578, -2.0423786640167236, 1.1486343145370483, 1.003814697265625, 0.4177797734737396, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5068573951721191, -1.227158546447754, -1.631671667098999, -2.2458817958831787, -0.24084840714931488, 0.4627157151699066, -0.8974904417991638, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9746325016021729, -1.0246329307556152, 1.3186864852905273, -2.070206880569458, 1.2156673669815063, 1.0007002353668213, 0.30449363589286804, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5174585580825806, -1.2305827140808105, -1.6303226947784424, -2.2609574794769287, -0.23604416847229004, 0.4756927192211151, -0.8614180684089661, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9858004450798035, -1.0351132154464722, 1.3132362365722656, -2.0930047035217285, 1.293406367301941, 0.9967322945594788, 0.18233230710029602, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5244563817977905, -1.2324483394622803, -1.6288865804672241, -2.2777130603790283, -0.21094943583011627, 0.4859890937805176, -0.8375113010406494, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.987104058265686, -1.043526530265808, 1.3015609979629517, -2.1125779151916504, 1.3589102029800415, 0.9950142502784729, 0.07192692160606384, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5274925231933594, -1.2344377040863037, -1.6297389268875122, -2.278212308883667, -0.20968258380889893, 0.49674180150032043, -0.8305805921554565, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.980275571346283, -1.0437513589859009, 1.288285493850708, -2.1153781414031982, 1.3747005462646484, 0.9927042722702026, 0.039774324744939804, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5262267589569092, -1.2375644445419312, -1.6354241371154785, -2.2738261222839355, -0.21304680407047272, 0.49504244327545166, -0.8441582322120667, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9640305638313293, -1.0332304239273071, 1.2819744348526, -2.110386848449707, 1.3337901830673218, 0.9932013750076294, 0.08986394852399826, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5180608034133911, -1.240333080291748, -1.6395255327224731, -2.267486333847046, -0.21760068833827972, 0.4876019060611725, -0.8641924262046814, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.951210618019104, -1.025372862815857, 1.287718415260315, -2.106766700744629, 1.2943754196166992, 0.9975258708000183, 0.14715872704982758, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, 0.29099999129117193, -0.29099999129117193, -0.29099999129117193, -0.29099999129117193, 0.29099999129117193, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5027101039886475, -1.2446843385696411, -1.651310682296753, -2.2564337253570557, -0.24319958686828613, 0.48065778613090515, -0.8874986171722412, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.940547525882721, -1.021981954574585, 1.3090447187423706, -2.1067562103271484, 1.2653725147247314, 1.0076342821121216, 0.17673806846141815, 0.45480000029553425, 0.45480000029553425, 0.45480000029553425, 0.45480000029553425, -0.45480000029553425, -0.45480000029553425, -0.45480000029553425, 0.45480000029553425, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4876482486724854, -1.2462674379348755, -1.6748689413070679, -2.226956367492676, -0.27706053853034973, 0.48221585154533386, -0.909264326095581, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9279925227165222, -1.011401891708374, 1.3511263132095337, -2.1136720180511475, 1.2409950494766235, 1.0111058950424194, 0.20195432007312775, 0.5753999996643799, 0.5753999996643799, 0.5753999996643799, 0.5753999996643799, -0.5753999996643799, -0.5753999996643799, -0.5753999996643799, 0.5753999996643799, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4826126098632812, -1.2459485530853271, -1.700985312461853, -2.1914968490600586, -0.31237828731536865, 0.4823874533176422, -0.9340581297874451, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.924929141998291, -0.9928229451179504, 1.4066585302352905, -2.124244213104248, 1.2008436918258667, 1.0115890502929688, 0.2675805389881134, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.482979655265808, -1.2448471784591675, -1.728035569190979, -2.1632535457611084, -0.35788407921791077, 0.4776148796081543, -0.9518921375274658, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9431756138801575, -0.9689940214157104, 1.482032060623169, -2.1286568641662598, 1.1058489084243774, 1.0118402242660522, 0.3949809968471527, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, 0.5933999997901392, -0.5933999997901392, -0.5933999997901392, -0.5933999997901392, 0.5933999997901392, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4880287647247314, -1.2443212270736694, -1.7565488815307617, -2.14001202583313, -0.4120734930038452, 0.47586122155189514, -0.9677286744117737, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.9881188869476318, -0.9449314475059509, 1.573474407196045, -2.113574504852295, 0.9722758531570435, 1.011996865272522, 0.5985285043716431, 0.593999999753394, 0.593999999753394, 0.593999999753394, 0.593999999753394, -0.593999999753394, -0.593999999753394, -0.593999999753394, 0.593999999753394, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.4972118139266968, -1.2438609600067139, -1.7794076204299927, -2.1200942993164062, -0.4635160267353058, 0.4768937826156616, -0.9820099472999573, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.0407534837722778, -0.9306069016456604, 1.6576629877090454, -2.0868306159973145, 0.8527706265449524, 1.008559226989746, 0.7901710271835327, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5097310543060303, -1.2430152893066406, -1.796429991722107, -2.109142303466797, -0.4991084635257721, 0.4749700725078583, -0.9915799498558044, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.1129484176635742, -0.9137166142463684, 1.7068181037902832, -2.061520576477051, 0.7568724751472473, 0.9436099529266357, 0.9044525623321533, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5250294208526611, -1.2419509887695312, -1.808903455734253, -2.10398268699646, -0.524602472782135, 0.4667554795742035, -0.9977025389671326, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.1821434497833252, -0.8837229609489441, 1.7353423833847046, -2.022526979446411, 0.7152121663093567, 0.8593720197677612, 0.965865969657898, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.53836190700531, -1.2416828870773315, -1.8165265321731567, -2.1036949157714844, -0.5519206523895264, 0.4642680287361145, -0.9991976022720337, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.220892071723938, -0.871550977230072, 1.7502245903015137, -1.9947402477264404, 0.7059624195098877, 0.8188862800598145, 1.004603624343872, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5425877571105957, -1.2416824102401733, -1.8176348209381104, -2.106337308883667, -0.5538967251777649, 0.4630788266658783, -0.9953815340995789, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2209415435791016, -0.8722567558288574, 1.7506835460662842, -1.9949949979782104, 0.7109887003898621, 0.8204469680786133, 1.0031001567840576, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.542572021484375, -1.2416878938674927, -1.8176215887069702, -2.1065430641174316, -0.5518209338188171, 0.4630603790283203, -0.9953442811965942, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2154877185821533, -0.8730146288871765, 1.7497296333312988, -1.995538353919983, 0.7117621898651123, 0.8220454454421997, 1.0001869201660156, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5422797203063965, -1.241690993309021, -1.8175560235977173, -2.106555938720703, -0.5515478253364563, 0.4630644619464874, -0.9953548312187195, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2144335508346558, -0.8730245232582092, 1.7496434450149536, -1.9960153102874756, 0.7119997143745422, 0.822179913520813, 0.999783456325531, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.541883945465088, -1.2416927814483643, -1.8174840211868286, -2.1065826416015625, -0.5515186786651611, 0.46306806802749634, -0.9953730702400208, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2144416570663452, -0.8730298280715942, 1.7494937181472778, -1.9960200786590576, 0.7120552062988281, 0.8223378658294678, 0.9997488260269165, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.5514376163482666, -1.2419253587722778, -1.815605878829956, -2.1015660762786865, -0.5472831130027771, 0.44101575016975403, -0.9951385259628296, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2144813537597656, -0.8730421662330627, 1.7493942975997925, -1.9960201978683472, 0.7120777368545532, 0.8224217295646667, 0.9997106194496155, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.6121221780776978, -1.2445234060287476, -1.8116369247436523, -2.08302903175354, -0.5133280754089355, 0.32372087240219116, -1.0012091398239136, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2145837545394897, -0.8730562329292297, 1.7493877410888672, -1.9960172176361084, 0.7120903134346008, 0.8224998712539673, 0.9996408820152283, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.6765655279159546, -1.2515466213226318, -1.805408000946045, -2.0645077228546143, -0.4922766089439392, 0.21794834733009338, -1.005484938621521, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2146309614181519, -0.873095691204071, 1.749373197555542, -1.9960167407989502, 0.7120988368988037, 0.822575032711029, 0.9995520710945129, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.7155401706695557, -1.2611294984817505, -1.7952932119369507, -2.0291929244995117, -0.4824889600276947, 0.12627190351486206, -1.0046577453613281, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147128582000732, -0.8731160759925842, 1.7493722438812256, -1.9960172176361084, 0.7121074199676514, 0.8226141929626465, 0.9995179176330566, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7417323589324951, -1.2696034908294678, -1.7781306505203247, -1.9720072746276855, -0.4668435752391815, 0.03611086681485176, -0.9944409132003784, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147420644760132, -0.8731325268745422, 1.7493722438812256, -1.9960168600082397, 0.7121143937110901, 0.8226573467254639, 0.9995027184486389, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.7561811208724976, -1.2773795127868652, -1.7609919309616089, -1.9032790660858154, -0.4499770998954773, -0.036291349679231644, -0.9812656044960022, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147440910339355, -0.8731443881988525, 1.749371886253357, -1.9960167407989502, 0.7121208310127258, 0.8226958513259888, 0.999485194683075, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7624361515045166, -1.2845606803894043, -1.7516107559204102, -1.8368332386016846, -0.45672959089279175, -0.08949076384305954, -0.9710201621055603, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147449254989624, -0.8731505870819092, 1.7493722438812256, -1.9960167407989502, 0.7121301889419556, 0.8227183818817139, 0.9994745254516602, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7650384902954102, -1.2879668474197388, -1.7489410638809204, -1.7952723503112793, -0.4427882134914398, -0.1376774162054062, -0.9731492400169373, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.214743971824646, -0.8731582760810852, 1.7493728399276733, -1.996016263961792, 0.712138831615448, 0.8227382302284241, 0.9994588494300842, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7650595903396606, -1.289873480796814, -1.7464747428894043, -1.764015555381775, -0.43656015396118164, -0.1605881303548813, -0.9764358401298523, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147434949874878, -0.8731621503829956, 1.7493733167648315, -1.9960170984268188, 0.7121492624282837, 0.8227537274360657, 0.999440610408783, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.764661431312561, -1.2920466661453247, -1.7450987100601196, -1.7389421463012695, -0.43788596987724304, -0.16492043435573578, -0.9771534204483032, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147433757781982, -0.8731651306152344, 1.7493747472763062, -1.996016502380371, 0.7121623158454895, 0.8227660655975342, 0.9994250535964966, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.760753870010376, -1.293724775314331, -1.742922067642212, -1.7187378406524658, -0.4335976541042328, -0.16822531819343567, -0.9789344072341919, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147431373596191, -0.8731675148010254, 1.7493757009506226, -1.996016502380371, 0.7121817469596863, 0.8227764964103699, 0.9994164109230042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6570316553115845, 0.0, 0.0, 1.7546584606170654, -1.2941200733184814, -1.7427812814712524, -1.706828236579895, -0.43002933263778687, -0.1680358499288559, -0.9837297797203064, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.214741587638855, -0.8731696009635925, 1.7493765354156494, -1.9960172176361084, 0.712208092212677, 0.8227860927581787, 0.9994113445281982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.7479790449142456, -1.2947421073913574, -1.7441132068634033, -1.6966140270233154, -0.43006864190101624, -0.16421683132648468, -0.9895898103713989, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147409915924072, -0.8731721043586731, 1.7493788003921509, -1.9960166215896606, 0.7122372388839722, 0.8227912187576294, 0.9994062185287476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.7391024827957153, -1.295086145401001, -1.7447803020477295, -1.6876815557479858, -0.42711248993873596, -0.15754857659339905, -0.9969431161880493, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147382497787476, -0.8731792569160461, 1.749381184577942, -1.996017336845398, 0.7123087644577026, 0.8227974772453308, 0.9993996024131775, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.730503797531128, -1.295120358467102, -1.7448235750198364, -1.683826208114624, -0.42456549406051636, -0.14770713448524475, -0.999306857585907, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147375345230103, -0.8731821775436401, 1.7493864297866821, -1.9960172176361084, 0.7123827338218689, 0.8228076696395874, 0.9993931651115417, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.7239001989364624, -1.2951254844665527, -1.7461732625961304, -1.6809064149856567, -0.42192932963371277, -0.13775962591171265, -1.0025153160095215, 0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -0.40380000648917735, -0.40380000648917735, 0.40380000648917735, 0.40380000648917735, -1.2147364616394043, -0.873184084892273, 1.749387502670288, -1.9960179328918457, 0.7123949527740479, 0.8228169679641724, 0.9993880987167358, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6570316553115845, 0.0, 0.0, 1.7171790599822998, -1.295145869255066, -1.7478961944580078, -1.6769382953643799, -0.4139877259731293, -0.12833450734615326, -1.0052391290664673, 0.47639999651646875, -0.47639999651646875, 0.47639999651646875, 0.47639999651646875, -0.47639999651646875, -0.47639999651646875, 0.47639999651646875, 0.47639999651646875, -1.2147349119186401, -0.8731846213340759, 1.7493952512741089, -1.9960267543792725, 0.7123978137969971, 0.8228229880332947, 0.9993867874145508, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.717977523803711, -1.294629693031311, -1.7537965774536133, -1.671715497970581, -0.4047180712223053, -0.11013023555278778, -1.0045548677444458, 0.5700000006091464, -0.5700000006091464, 0.5700000006091464, 0.5700000006091464, -0.5700000006091464, -0.5700000006091464, 0.5700000006091464, 0.5700000006091464, -1.2147326469421387, -0.8731865286827087, 1.7494033575057983, -1.9960297346115112, 0.7123987674713135, 0.8228297829627991, 0.9993873834609985, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.721439003944397, -1.292630672454834, -1.7615106105804443, -1.6764147281646729, -0.3912571370601654, -0.09197976440191269, -1.0048470497131348, 0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -1.214730978012085, -0.8731919527053833, 1.7494046688079834, -1.9960298538208008, 0.7123981714248657, 0.8228347301483154, 0.9993873834609985, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7285826206207275, -1.2905125617980957, -1.7727725505828857, -1.6976865530014038, -0.3769623637199402, -0.07241959124803543, -1.0106679201126099, 0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -0.5903999999738656, -0.5903999999738656, 0.5903999999738656, 0.5903999999738656, -1.2147291898727417, -0.8731980919837952, 1.7494055032730103, -1.9960347414016724, 0.712397575378418, 0.8228398561477661, 0.9993873834609985, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7406121492385864, -1.2890952825546265, -1.7916581630706787, -1.731061339378357, -0.3694027066230774, -0.05055173859000206, -1.0169644355773926, 0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -1.214726448059082, -0.873203456401825, 1.7494046688079834, -1.9960368871688843, 0.7123953104019165, 0.8228439688682556, 0.9993876218795776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7538142204284668, -1.2874295711517334, -1.8125499486923218, -1.759196400642395, -0.360017865896225, -0.02880144864320755, -1.0223069190979004, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -1.2147241830825806, -0.8732070326805115, 1.7494041919708252, -1.996039867401123, 0.712393045425415, 0.8228464722633362, 0.9993882179260254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7675056457519531, -1.286628007888794, -1.8326342105865479, -1.7801132202148438, -0.3507944345474243, -0.011480407789349556, -1.0297178030014038, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -1.214722990989685, -0.873210608959198, 1.749403476715088, -1.996041178703308, 0.71238774061203, 0.8228474259376526, 0.9993886947631836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.7840803861618042, -1.286628007888794, -1.852936029434204, -1.8018664121627808, -0.3464118242263794, -0.0014813700690865517, -1.0374054908752441, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.214721441268921, -0.873216986656189, 1.7494028806686401, -1.996043086051941, 0.7123773097991943, 0.8228490948677063, 0.999389111995697, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.8019860982894897, -1.2867528200149536, -1.8745527267456055, -1.8268849849700928, -0.33603528141975403, 0.00784523319453001, -1.0475813150405884, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -1.2147189378738403, -0.8732240200042725, 1.749402403831482, -1.9960461854934692, 0.7123642563819885, 0.8228498101234436, 0.9993886947631836, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.8166279792785645, -1.2880711555480957, -1.889265775680542, -1.8446792364120483, -0.32312214374542236, 0.01790071651339531, -1.0585482120513916, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.214717984199524, -0.8732279539108276, 1.7494007349014282, -1.9960477352142334, 0.7123575210571289, 0.8228513598442078, 0.9993884563446045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6568399667739868, 0.0, 0.0, 1.832047939300537, -1.2903153896331787, -1.902909517288208, -1.861499309539795, -0.31117939949035645, 0.026951443403959274, -1.0712748765945435, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.2147172689437866, -0.8732305765151978, 1.7493995428085327, -1.9960484504699707, 0.7123534679412842, 0.8228530883789062, 0.9993876218795776, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8464776277542114, -1.293558955192566, -1.9210946559906006, -1.8733539581298828, -0.3036139905452728, 0.032948948442935944, -1.0808546543121338, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2147161960601807, -0.8732325434684753, 1.7493990659713745, -1.9960472583770752, 0.7123481035232544, 0.8228540420532227, 0.9993873834609985, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.8573862314224243, -1.2967123985290527, -1.9429094791412354, -1.8825091123580933, -0.29809609055519104, 0.03840644657611847, -1.090867519378662, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2147160768508911, -0.8732338547706604, 1.7493976354599, -1.9960482120513916, 0.7123438715934753, 0.8228561878204346, 0.9993869066238403, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8682687282562256, -1.29987370967865, -1.9691803455352783, -1.897177815437317, -0.29486873745918274, 0.04607934504747391, -1.10271155834198, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2147146463394165, -0.8732357025146484, 1.7493963241577148, -1.9960477352142334, 0.712339460849762, 0.8228563070297241, 0.999384880065918, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8837604522705078, -1.3037360906600952, -2.002746820449829, -1.9167438745498657, -0.29469016194343567, 0.05851597338914871, -1.1172797679901123, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2147142887115479, -0.8732389211654663, 1.7493939399719238, -1.996047854423523, 0.7123385071754456, 0.8228594064712524, 0.9993796348571777, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.903878092765808, -1.3077234029769897, -2.0478549003601074, -1.9371463060379028, -0.28689706325531006, 0.07175686210393906, -1.1387356519699097, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.2147138118743896, -0.8732426762580872, 1.7493922710418701, -1.9960482120513916, 0.7123389840126038, 0.8228653073310852, 0.9993631839752197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.921970009803772, -1.3130953311920166, -2.101661443710327, -1.9586142301559448, -0.2842353880405426, 0.08584971725940704, -1.1577794551849365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.214713454246521, -0.8732496500015259, 1.7493913173675537, -1.9960486888885498, 0.7123399376869202, 0.8228680491447449, 0.9993430376052856, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.9200687408447266, -1.318676471710205, -2.1625969409942627, -1.9682414531707764, -0.2839966416358948, 0.10600946098566055, -1.1705827713012695, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.214713454246521, -0.8732534050941467, 1.749390721321106, -1.9960486888885498, 0.7123410105705261, 0.8228712677955627, 0.9993273615837097, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.8862370252609253, -1.3216845989227295, -2.228736162185669, -1.9679774045944214, -0.2731631398200989, 0.13054068386554718, -1.1935497522354126, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147128582000732, -0.8732560873031616, 1.7493906021118164, -1.9960503578186035, 0.7123438715934753, 0.822871744632721, 0.9993143081665039, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.850527048110962, -1.321991205215454, -2.2806248664855957, -1.9735965728759766, -0.2653668224811554, 0.15293428301811218, -1.2101173400878906, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.214712142944336, -0.873256266117096, 1.7493908405303955, -1.9960508346557617, 0.7123479843139648, 0.8228728175163269, 0.9993051886558533, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8280644416809082, -1.3232942819595337, -2.317185401916504, -1.9831842184066772, -0.26285168528556824, 0.16761064529418945, -1.2201200723648071, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.214712381362915, -0.873256504535675, 1.7493916749954224, -1.9960492849349976, 0.71235191822052, 0.8228747248649597, 0.9992964267730713, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.8191144466400146, -1.3264769315719604, -2.3306169509887695, -1.9905399084091187, -0.25745123624801636, 0.17953543365001678, -1.2201879024505615, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147119045257568, -0.8732569813728333, 1.7493919134140015, -1.99605131149292, 0.7123585343360901, 0.8228780031204224, 0.999293327331543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8195544481277466, -1.3272632360458374, -2.3293349742889404, -1.9906659126281738, -0.2570309340953827, 0.179401695728302, -1.2196173667907715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147116661071777, -0.8732579350471497, 1.7493916749954224, -1.9960525035858154, 0.712364137172699, 0.822880744934082, 0.9992923736572266, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8203197717666626, -1.3272640705108643, -2.3285090923309326, -1.990504503250122, -0.2570366859436035, 0.1789637804031372, -1.219443678855896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147117853164673, -0.8732579350471497, 1.7493927478790283, -1.996052622795105, 0.712367832660675, 0.822882890701294, 0.9992926120758057, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8205962181091309, -1.327263355255127, -2.3284850120544434, -1.990324854850769, -0.2570461630821228, 0.17888648808002472, -1.2193900346755981, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147120237350464, -0.8732582330703735, 1.7493921518325806, -1.9960557222366333, 0.7123690247535706, 0.8228840827941895, 0.9992934465408325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8206058740615845, -1.3272619247436523, -2.3284683227539062, -1.9902502298355103, -0.2570596933364868, 0.17885400354862213, -1.219356656074524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147115468978882, -0.8732579946517944, 1.7493928670883179, -1.9960582256317139, 0.7123684287071228, 0.8228850364685059, 0.9992935657501221, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8206119537353516, -1.3272604942321777, -2.328449249267578, -1.9902278184890747, -0.25708067417144775, 0.17882944643497467, -1.2193423509597778, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147116661071777, -0.8732576370239258, 1.7493923902511597, -1.9960616827011108, 0.7123687863349915, 0.8228875994682312, 0.9992939233779907, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8206158876419067, -1.3272600173950195, -2.328434944152832, -1.9902180433273315, -0.25709792971611023, 0.17881625890731812, -1.2193384170532227, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2147116661071777, -0.8732576370239258, 1.7493923902511597, -1.9960620403289795, 0.7123679518699646, 0.8228884339332581, 0.9992945194244385, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.82058846950531, -1.3271307945251465, -2.3275747299194336, -1.99003005027771, -0.25716733932495117, 0.17868803441524506, -1.2180346250534058, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2153749465942383, -0.8736327290534973, 1.749261498451233, -1.9959179162979126, 0.7123174071311951, 0.821922242641449, 0.9980370402336121, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687578797340393, -0.6569358110427856, 0.0, 0.0, 1.8180910348892212, -1.3222793340682983, -2.3078768253326416, -1.9848543405532837, -0.26159656047821045, 0.17382663488388062, -1.1849740743637085, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2299681901931763, -0.8814377188682556, 1.7449828386306763, -1.9902878999710083, 0.7038238048553467, 0.7985762357711792, 0.9697791934013367, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9358417391777039, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.8123774528503418, -1.311126708984375, -2.262014389038086, -1.9728604555130005, -0.2719479501247406, 0.16256169974803925, -1.1082499027252197, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.262908697128296, -0.8991566896438599, 1.7353999614715576, -1.9777511358261108, 0.6850366592407227, 0.7458832859992981, 0.9058514833450317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.803433895111084, -1.293629765510559, -2.190148115158081, -1.954145073890686, -0.28799939155578613, 0.14489921927452087, -0.9880059957504272, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.314324975013733, -0.9267673492431641, 1.7205250263214111, -1.9581130743026733, 0.6558364629745483, 0.6638794541358948, 0.8061343431472778, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7912592887878418, -1.2698255777359009, -2.092247724533081, -1.9285749197006226, -0.3098812699317932, 0.12089314311742783, -0.8241373896598816, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3840662240982056, -0.9642499089241028, 1.7002674341201782, -1.9315848350524902, 0.6162757277488708, 0.552350640296936, 0.6707772016525269, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7758288383483887, -1.2396043539047241, -1.9681427478790283, -1.8961137533187866, -0.33773428201675415, 0.09040659666061401, -0.6163101196289062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4724069833755493, -1.0116567611694336, 1.674715518951416, -1.8979188203811646, 0.5662068128585815, 0.411393404006958, 0.4995288550853729, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7602605819702148, -1.2090891599655151, -1.8426839113235474, -1.863406777381897, -0.36570966243743896, 0.05964944139122963, -0.40633150935173035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5606663227081299, -1.059038519859314, 1.6491129398345947, -1.864395260810852, 0.5161457061767578, 0.27038857340812683, 0.3283519446849823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9356500506401062, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7478671073913574, -1.1848872900009155, -1.7433146238327026, -1.837408423423767, -0.3879346251487732, 0.03518568351864815, -0.23993077874183655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6304333209991455, -1.0965453386306763, 1.6288574934005737, -1.837852954864502, 0.4764380156993866, 0.15900549292564392, 0.19306765496730804, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7387003898620605, -1.1669986248016357, -1.6699495315551758, -1.8182703256607056, -0.4044346213340759, 0.01710772141814232, -0.11705855280160904, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6818256378173828, -1.1241357326507568, 1.613946557044983, -1.8183239698410034, 0.44735684990882874, 0.07698306441307068, 0.09339486062526703, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.732789158821106, -1.1554535627365112, -1.6225930452346802, -1.8059196472167969, -0.4149763286113739, 0.005497283767908812, -0.03765479475259781, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7147939205169678, -1.1418026685714722, 1.6044257879257202, -1.8057441711425781, 0.42860981822013855, 0.024340320378541946, 0.029477838426828384, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7301585674285889, -1.150311827659607, -1.6014412641525269, -1.8003803491592407, -0.4197280704975128, 0.0003156644816044718, -0.0022789202630519867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7291734218597412, -1.149548888206482, 1.600222110748291, -1.8002992868423462, 0.42042481899261475, 0.0013211409095674753, 0.0015325426356866956, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7299635410308838, -1.1499459743499756, -1.5999144315719604, -1.7999500036239624, -0.42007142305374146, -7.154582272050902e-05, 0.0001728125207591802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730029582977295, -1.1500321626663208, 1.5999813079833984, -1.799971103668213, 0.41992172598838806, -0.00012571451952680945, -0.0002100834681186825, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7299718856811523, -1.1499725580215454, -1.5999963283538818, -1.7999794483184814, -0.42006123065948486, -5.7044911955017596e-05, 1.4980280866438989e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299329042434692, -1.1499933004379272, 1.5999891757965088, -1.79996657371521, 0.419961154460907, 6.099970414652489e-05, 1.3302489605848677e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7299489974975586, -1.1499708890914917, -1.6000721454620361, -1.8001374006271362, -0.4200178384780884, -0.00027803401462733746, -0.00033244240330532193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.728399395942688, -1.1494303941726685, 1.6004022359848022, -1.8000026941299438, 0.42031458020210266, 0.000689572305418551, 0.0009857024997472763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7291979789733887, -1.1499651670455933, -1.6000869274139404, -1.8003753423690796, -0.4199398159980774, -0.0006817825487814844, -0.0004331098753027618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7273173332214355, -1.1490792036056519, 1.6011278629302979, -1.8002716302871704, 0.4205743968486786, 0.0007888016989454627, 0.0010378338629379869, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7286670207977295, -1.1499483585357666, -1.6000944375991821, -1.8005369901657104, -0.4198691248893738, -0.0008423711406067014, -0.00046199187636375427, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272247076034546, -1.1490658521652222, 1.6011359691619873, -1.8004086017608643, 0.420655757188797, 0.0008768857223913074, 0.0010479006450623274, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7286303043365479, -1.1499062776565552, -1.6000980138778687, -1.8005571365356445, -0.4198295772075653, -0.0009032510570250452, -0.0004724181490018964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272261381149292, -1.149064064025879, 1.6011346578598022, -1.8004230260849, 0.4206855893135071, 0.0009225456160493195, 0.0010516156908124685, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7286194562911987, -1.149730920791626, -1.6000981330871582, -1.8005589246749878, -0.4198097884654999, -0.0009334512869827449, -0.00047589358291588724, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272272109985352, -1.1490625143051147, 1.6011334657669067, -1.8004258871078491, 0.42069292068481445, 0.0009465140756219625, 0.001054252265021205, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7286115884780884, -1.149651050567627, -1.6000981330871582, -1.8005582094192505, -0.41980046033859253, -0.0009577792370691895, -0.0004778110596816987, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272287607192993, -1.1490607261657715, 1.601130485534668, -1.800426721572876, 0.42069339752197266, 0.0009559816098771989, 0.001055690343491733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7286039590835571, -1.1496435403823853, -1.60009765625, -1.800557255744934, -0.4197980463504791, -0.0009741976391524076, -0.0004799682064913213, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272294759750366, -1.149058222770691, 1.601128101348877, -1.8004268407821655, 0.42069315910339355, 0.0009632920264266431, 0.0010584467090666294, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728596806526184, -1.1496391296386719, -1.6000975370407104, -1.80055570602417, -0.4197973310947418, -0.0009914549300447106, -0.0004814063140656799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727230429649353, -1.1490559577941895, 1.6011250019073486, -1.8004273176193237, 0.420693039894104, 0.0009625729289837182, 0.0010600046953186393, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285913228988647, -1.1496354341506958, -1.6000969409942627, -1.800554633140564, -0.4197984039783478, -0.0010143447434529662, -0.00048068727483041584, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272313833236694, -1.1490530967712402, 1.601117730140686, -1.8004270792007446, 0.4206928014755249, 0.0009655689937062562, 0.0010626412695273757, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728583574295044, -1.1496325731277466, -1.6000967025756836, -1.8005534410476685, -0.4197982847690582, -0.0010423879139125347, -0.0004808070953004062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272316217422485, -1.1490498781204224, 1.6011074781417847, -1.8004260063171387, 0.4206923246383667, 0.0009704825351946056, 0.0010693523800000548, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285747528076172, -1.1496286392211914, -1.600096344947815, -1.8005523681640625, -0.4197979271411896, -0.0010619221720844507, -0.0004812864644918591, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727231740951538, -1.1490473747253418, 1.6010940074920654, -1.8004263639450073, 0.4206918478012085, 0.0009755159262567759, 0.0010776214767247438, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285664081573486, -1.1496247053146362, -1.6000958681106567, -1.8005520105361938, -0.41979900002479553, -0.0010787000646814704, -0.00048152616363950074, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272319793701172, -1.1490452289581299, 1.6010810136795044, -1.8004268407821655, 0.4206920862197876, 0.0009787516901269555, 0.0010855310829356313, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285594940185547, -1.1496202945709229, -1.6000953912734985, -1.8005517721176147, -0.41979947686195374, -0.0010979947401210666, -0.00048272457206621766, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272324562072754, -1.149043083190918, 1.6010618209838867, -1.8004258871078491, 0.4206913411617279, 0.0009795905789360404, 0.0010926018003374338, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285537719726562, -1.1496161222457886, -1.600095510482788, -1.8005520105361938, -0.4198001027107239, -0.0011159710120409727, -0.00048356346087530255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727232813835144, -1.1490411758422852, 1.6009957790374756, -1.8004261255264282, 0.4206918478012085, 0.000978392083197832, 0.0011041066609323025, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285479307174683, -1.1496124267578125, -1.6000940799713135, -1.8005515336990356, -0.4198002219200134, -0.0011303521459922194, -0.0004846420488320291, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272334098815918, -1.1490389108657837, 1.6009502410888672, -1.80042564868927, 0.4206925630569458, 0.0009787516901269555, 0.0011176487896591425, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285406589508057, -1.1496078968048096, -1.6000937223434448, -1.8005515336990356, -0.4197993576526642, -0.0011413776082918048, -0.0004856007872149348, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272335290908813, -1.1490375995635986, 1.6009505987167358, -1.8004257678985596, 0.4206928014755249, 0.0009779128013178706, 0.0011365838581696153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728532314300537, -1.1496033668518066, -1.6000938415527344, -1.800551414489746, -0.4197981655597687, -0.001147968927398324, -0.0004885968519374728, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727233648300171, -1.1490366458892822, 1.600952386856079, -1.800425410270691, 0.4206937551498413, 0.000977673102170229, 0.0011579158017411828, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285233736038208, -1.1496001482009888, -1.6000934839248657, -1.8005515336990356, -0.41979578137397766, -0.0011534816585481167, -0.0004903944791294634, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272334098815918, -1.1490354537963867, 1.6009538173675537, -1.800425410270691, 0.4206949472427368, 0.0009767143055796623, 0.001179607235826552, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728514552116394, -1.149596095085144, -1.6000940799713135, -1.8005518913269043, -0.41979193687438965, -0.0011582752922549844, -0.0004941095830872655, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727233648300171, -1.1490341424942017, 1.600956916809082, -1.8004257678985596, 0.4206967353820801, 0.0009750365279614925, 0.0012045344337821007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7285066843032837, -1.1495919227600098, -1.600094199180603, -1.8005520105361938, -0.4197838008403778, -0.0011631888337433338, -0.0004973453469574451, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272332906723022, -1.149033546447754, 1.600960612297058, -1.8004255294799805, 0.4206993877887726, 0.0009758754167705774, 0.001227424363605678, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284986972808838, -1.1495873928070068, -1.6000943183898926, -1.8005528450012207, -0.41976916790008545, -0.0011670237872749567, -0.0004990231245756149, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272330522537231, -1.1490328311920166, 1.6009689569473267, -1.8004250526428223, 0.4207034707069397, 0.0009741976391524076, 0.001240966492332518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284921407699585, -1.1495839357376099, -1.6000949144363403, -1.8005528450012207, -0.41974782943725586, -0.0011696603614836931, -0.0005002215621061623, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727232575416565, -1.149032711982727, 1.6009812355041504, -1.8004251718521118, 0.4207074046134949, 0.0009752762271091342, 0.0012450411450117826, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284865379333496, -1.149580478668213, -1.600095272064209, -1.8005532026290894, -0.41973358392715454, -0.0011716976296156645, -0.0005005810526199639, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272323369979858, -1.1490315198898315, 1.600999355316162, -1.8004249334335327, 0.4207112491130829, 0.0009749166783876717, 0.0012443220475688577, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284826040267944, -1.1495767831802368, -1.600097417831421, -1.8005530834197998, -0.4197303354740143, -0.0011715778382495046, -0.0005010604509152472, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272319793701172, -1.149031162261963, 1.6011319160461426, -1.8004246950149536, 0.4207124412059784, 0.0009752762271091342, 0.001244082348421216, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284786701202393, -1.1495732069015503, -1.600097417831421, -1.8005534410476685, -0.4197310507297516, -0.001170499250292778, -0.0005018993397243321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272312641143799, -1.1490271091461182, 1.601190209388733, -1.8004248142242432, 0.42071184515953064, 0.0009752762271091342, 0.0012424045708030462, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284743785858154, -1.1495680809020996, -1.6000982522964478, -1.8005532026290894, -0.4197312891483307, -0.0011707389494404197, -0.0005013001500628889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272309064865112, -1.149023175239563, 1.6011900901794434, -1.800425410270691, 0.42071232199668884, 0.000976834213361144, 0.0012401276035234332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284694910049438, -1.1495643854141235, -1.6000994443893433, -1.800553321838379, -0.419732004404068, -0.0011700198519974947, -0.0005010604509152472, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727230191230774, -1.149021029472351, 1.6011886596679688, -1.8004255294799805, 0.4207117259502411, 0.0009767143055796623, 0.0012354537611827254, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284640073776245, -1.149560809135437, -1.6001006364822388, -1.8005532026290894, -0.41973239183425903, -0.0011700198519974947, -0.000501180300489068, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272298336029053, -1.1490203142166138, 1.6011863946914673, -1.8004246950149536, 0.42071112990379333, 0.0009757555671967566, 0.0012287425342947245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284598350524902, -1.149558424949646, -1.6001038551330566, -1.8005530834197998, -0.4197341799736023, -0.0011696603614836931, -0.0005003414116799831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272295951843262, -1.1490200757980347, 1.6011834144592285, -1.8004258871078491, 0.4207102954387665, 0.0009758754167705774, 0.0012202337384223938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728456974029541, -1.1495559215545654, -1.6001079082489014, -1.800552487373352, -0.4197387397289276, -0.001170619041658938, -0.000499742163810879, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272294759750366, -1.149019718170166, 1.6011799573898315, -1.8004263639450073, 0.4207089841365814, 0.0009757555671967566, 0.0012105265632271767, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284550666809082, -1.149553656578064, -1.6001100540161133, -1.8005528450012207, -0.41974425315856934, -0.001169780152849853, -0.0005002215621061623, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272288799285889, -1.149019479751587, 1.6011732816696167, -1.8004261255264282, 0.42070910334587097, 0.0009767143055796623, 0.001202137558721006, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728453516960144, -1.1495516300201416, -1.6001100540161133, -1.800552248954773, -0.4197486639022827, -0.0011701397597789764, -0.0005003414116799831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229118347168, -1.1490190029144287, 1.6011605262756348, -1.8004263639450073, 0.42070847749710083, 0.0009787516901269555, 0.001196744735352695, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284528017044067, -1.1495497226715088, -1.6001096963882446, -1.8005512952804565, -0.4197535812854767, -0.001171218347735703, -0.0005003414116799831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229356765747, -1.1490185260772705, 1.6011444330215454, -1.8004264831542969, 0.42070886492729187, 0.0009803095599636436, 0.0011926700826734304, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284519672393799, -1.1495471000671387, -1.6001091003417969, -1.800551414489746, -0.41975992918014526, -0.0011715778382495046, -0.0005001017125323415, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272292375564575, -1.1490180492401123, 1.6011285781860352, -1.8004268407821655, 0.4207087457180023, 0.0009828262263908982, 0.0011888351291418076, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284510135650635, -1.149545431137085, -1.6001092195510864, -1.8005518913269043, -0.4197659194469452, -0.0011714579304680228, -0.000499742163810879, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229118347168, -1.1490178108215332, 1.6011147499084473, -1.8004263639450073, 0.42070886492729187, 0.0009867810877040029, 0.0011863184627145529, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284502983093262, -1.1495435237884521, -1.6001085042953491, -1.8005517721176147, -0.419771671295166, -0.0011721770279109478, -0.0004998620133846998, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229118347168, -1.1490176916122437, 1.6011009216308594, -1.8004262447357178, 0.4207093417644501, 0.000988219166174531, 0.0011857191566377878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284495830535889, -1.1495412588119507, -1.6001075506210327, -1.8005512952804565, -0.41977718472480774, -0.0011733754072338343, -0.0005002215621061623, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272288799285889, -1.1490172147750854, 1.6010829210281372, -1.800426721572876, 0.4207096993923187, 0.000991095439530909, 0.001184760476462543, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284488677978516, -1.149539589881897, -1.6001062393188477, -1.800550937652588, -0.4197792410850525, -0.0011772103607654572, -0.0005015397910028696, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272285223007202, -1.1490156650543213, 1.600878357887268, -1.8004262447357178, 0.42071112990379333, 0.000995649374090135, 0.0011841612868010998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284475564956665, -1.1495349407196045, -1.600104570388794, -1.8005516529083252, -0.41978007555007935, -0.0011853596661239862, -0.0005023786798119545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272288799285889, -1.1490105390548706, 1.6008570194244385, -1.8004261255264282, 0.4207122027873993, 0.0010064352536574006, 0.001184041379019618, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728446125984192, -1.149528980255127, -1.6001029014587402, -1.8005510568618774, -0.4197806715965271, -0.0011945875594392419, -0.0005023786798119545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229356765747, -1.1490055322647095, 1.6008633375167847, -1.8004268407821655, 0.42071351408958435, 0.0010115883778780699, 0.0011845207773149014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284438610076904, -1.149519443511963, -1.6001015901565552, -1.8005518913269043, -0.41978126764297485, -0.0012006994802504778, -0.0005035771173425019, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272294759750366, -1.1490037441253662, 1.6008824110031128, -1.8004266023635864, 0.4207136332988739, 0.0010112288873642683, 0.0011850001756101847, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284413576126099, -1.149512529373169, -1.6001008749008179, -1.8005520105361938, -0.41978368163108826, -0.0012063321191817522, -0.0005047755548730493, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272297143936157, -1.1490033864974976, 1.6009135246276855, -1.8004263639450073, 0.4207148551940918, 0.0010103899985551834, 0.001185479573905468, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284387350082397, -1.1495059728622437, -1.6000993251800537, -1.8005518913269043, -0.4197854697704315, -0.00120956776663661, -0.0005054945941083133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229356765747, -1.1490037441253662, 1.6009608507156372, -1.8004268407821655, 0.42071533203125, 0.0010102702071890235, 0.0011867977445945144, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284375429153442, -1.149501919746399, -1.600097417831421, -1.8005526065826416, -0.4197845160961151, -0.0012144813081249595, -0.0005062136333435774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272295951843262, -1.1490038633346558, 1.6009994745254517, -1.8004270792007446, 0.42071592807769775, 0.0010103899985551834, 0.0011890748282894492, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284364700317383, -1.149499773979187, -1.6000958681106567, -1.8005526065826416, -0.4197840392589569, -0.0012183162616565824, -0.0005065731820650399, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229118347168, -1.1490027904510498, 1.601306676864624, -1.800426959991455, 0.42071616649627686, 0.0010109891882166266, 0.0011923105921596289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284338474273682, -1.149497151374817, -1.6000950336456299, -1.8005523681640625, -0.41978320479393005, -0.0012201139470562339, -0.0005075319204479456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272297143936157, -1.1490000486373901, 1.6013123989105225, -1.800426959991455, 0.4207155704498291, 0.0010117082856595516, 0.0011963851284235716, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284313440322876, -1.1494940519332886, -1.6000947952270508, -1.8005527257919312, -0.4197813868522644, -0.0012216719333082438, -0.0005072922213003039, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272292375564575, -1.1489957571029663, 1.6013070344924927, -1.8004268407821655, 0.4207150936126709, 0.00101134879514575, 0.0012005796888843179, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284291982650757, -1.1494905948638916, -1.6000950336456299, -1.800552248954773, -0.41977936029434204, -0.0012237092014402151, -0.0005080113187432289, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229356765747, -1.1489942073822021, 1.6012961864471436, -1.8004266023635864, 0.42071375250816345, 0.0010102702071890235, 0.0012047741329297423, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728427529335022, -1.1494883298873901, -1.600095272064209, -1.8005526065826416, -0.41977670788764954, -0.0012246679980307817, -0.0005068128812126815, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727229118347168, -1.148993968963623, 1.601278305053711, -1.8004268407821655, 0.42071327567100525, 0.0010093114105984569, 0.0012083693873137236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284252643585205, -1.1494873762130737, -1.600095272064209, -1.8005517721176147, -0.41977325081825256, -0.0012249075807631016, -0.0005069327307865024, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272282838821411, -1.1489940881729126, 1.6012358665466309, -1.8004264831542969, 0.4207133948802948, 0.0010090717114508152, 0.0012122043408453465, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284235954284668, -1.1494863033294678, -1.600095272064209, -1.8005520105361938, -0.41977179050445557, -0.0012247877893969417, -0.0005072922213003039, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727227807044983, -1.1489942073822021, 1.6011346578598022, -1.800426721572876, 0.4207131564617157, 0.0010079931234940886, 0.0012150806142017245, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284222841262817, -1.1494847536087036, -1.600096583366394, -1.800552248954773, -0.41976988315582275, -0.0012233497109264135, -0.0005060938419774175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272273302078247, -1.1489944458007812, 1.6011298894882202, -1.8004266023635864, 0.4207133948802948, 0.0010071542346850038, 0.0012175972806289792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284209728240967, -1.1494837999343872, -1.6000968217849731, -1.8005515336990356, -0.4197695255279541, -0.0012225108221173286, -0.0005066930316388607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272266149520874, -1.1489942073822021, 1.601129174232483, -1.8004260063171387, 0.42071232199668884, 0.0010067947441712022, 0.0012196345487609506, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284201383590698, -1.1494832038879395, -1.6000981330871582, -1.8005512952804565, -0.4197688102722168, -0.0012207131367176771, -0.000505734293255955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272266149520874, -1.1489944458007812, 1.601128101348877, -1.8004264831542969, 0.42071256041526794, 0.001005476457066834, 0.0012197544565424323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284189462661743, -1.1494828462600708, -1.6000980138778687, -1.8005505800247192, -0.41976797580718994, -0.0012198742479085922, -0.0005048954044468701, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272263765335083, -1.1489944458007812, 1.6011265516281128, -1.8004261255264282, 0.42071327567100525, 0.001005356665700674, 0.001219275058247149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728417992591858, -1.1494818925857544, -1.6000986099243164, -1.800549864768982, -0.419766902923584, -0.001219394849613309, -0.0005053747445344925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272261381149292, -1.1489940881729126, 1.6011238098144531, -1.8004252910614014, 0.4207131564617157, 0.001005476457066834, 0.0012183162616565824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728415846824646, -1.1494812965393066, -1.6000994443893433, -1.8005506992340088, -0.419766902923584, -0.001218555960804224, -0.0005050152540206909, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272261381149292, -1.1489938497543335, 1.601119875907898, -1.8004260063171387, 0.4207131564617157, 0.0010055963648483157, 0.001216998090967536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284140586853027, -1.1494802236557007, -1.600100040435791, -1.8005503416061401, -0.41976749897003174, -0.0012177170719951391, -0.0005048954044468701, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727225661277771, -1.1489940881729126, 1.6011146306991577, -1.8004255294799805, 0.4207141101360321, 0.0010066748363897204, 0.001214121817611158, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.728412389755249, -1.149479866027832, -1.6001005172729492, -1.8005496263504028, -0.4197688102722168, -0.0012181964702904224, -0.0005045358557254076, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272253036499023, -1.1489938497543335, 1.6011085510253906, -1.8004257678985596, 0.42071545124053955, 0.0010064352536574006, 0.00121112575288862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284115552902222, -1.1494791507720947, -1.6001007556915283, -1.800550103187561, -0.41977012157440186, -0.0012183162616565824, -0.0005050152540206909, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272250652313232, -1.1489933729171753, 1.6011021137237549, -1.8004255294799805, 0.4207160472869873, 0.0010065550450235605, 0.0012060924200341105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284108400344849, -1.1494789123535156, -1.6001003980636597, -1.800550103187561, -0.4197709560394287, -0.001218555960804224, -0.0005053747445344925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272250652313232, -1.148992896080017, 1.6010984182357788, -1.8004257678985596, 0.42071759700775146, 0.0010064352536574006, 0.0012022574665024877, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284095287322998, -1.149478793144226, -1.6001006364822388, -1.800550937652588, -0.41977325081825256, -0.001218555960804224, -0.0005051351035945117, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727225422859192, -1.1489931344985962, 1.6010956764221191, -1.800424337387085, 0.4207192659378052, 0.0010057161562144756, 0.0011993811931461096, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284096479415894, -1.1494789123535156, -1.600100040435791, -1.8005508184432983, -0.41977575421333313, -0.0012180765625089407, -0.000505734293255955, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272253036499023, -1.1489931344985962, 1.6010936498641968, -1.8004246950149536, 0.4207198917865753, 0.0010064352536574006, 0.0011973439250141382, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284095287322998, -1.1494789123535156, -1.600099802017212, -1.8005512952804565, -0.41977912187576294, -0.0012180765625089407, -0.0005062136333435774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727225661277771, -1.1489927768707275, 1.601091980934143, -1.8004242181777954, 0.4207207262516022, 0.0010060756467282772, 0.0011961455456912518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284085750579834, -1.1494792699813843, -1.6000995635986328, -1.800550937652588, -0.41978126764297485, -0.0012197544565424323, -0.0005063334829173982, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727225661277771, -1.1489924192428589, 1.601090431213379, -1.8004246950149536, 0.4207203686237335, 0.001006914535537362, 0.001195306540466845, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284079790115356, -1.149478793144226, -1.600098729133606, -1.8005520105361938, -0.4197825789451599, -0.0012201139470562339, -0.0005070525803603232, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272255420684814, -1.1489923000335693, 1.6010898351669312, -1.8004242181777954, 0.4207198917865753, 0.001008472521789372, 0.0011944676516577601, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284082174301147, -1.1494790315628052, -1.6000982522964478, -1.800552248954773, -0.4197838008403778, -0.0012221512151882052, -0.0005071723717264831, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7272257804870605, -1.1489920616149902, 1.6010905504226685, -1.8004231452941895, 0.42072001099586487, 0.0010100305080413818, 0.001193868461996317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.935745894908905, 1.687674641609192, -0.6569358110427856, 0.0, 0.0, 1.7284082174301147, -1.1494791507720947, -1.6000975370407104, -1.8005523681640625, -0.4197847545146942, -0.001223828992806375, -0.0005074120708741248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.727225422859192, -1.1489923000335693, 1.601091742515564, -1.8004229068756104, 0.4207181930541992, 0.0010109891882166266, 0.0011935089714825153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.26447397470474243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9999999117522765, -0.0004133954225324137, -7.483090063007295e-05, 1.9601624501319748e-07], [0.00041337513125083817, 0.9999998778469119, -0.0002709744676530398, 0.00046464151819236577], [7.494291109379828e-05, 0.0002709435105067903, 0.9999999604865863, -5.386896759773663e-07], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000030/gt/hand_left.mp4 b/agibot-challenge-2026/000030/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..55959fb176870c5eafff677921fe3ac1f108e92e --- /dev/null +++ b/agibot-challenge-2026/000030/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba8b8fa03837565ce1d81dc539d63ea35fa8d59f34893a6feab95d81ef91f228 +size 7858796 diff --git a/agibot-challenge-2026/000030/gt/hand_right.mp4 b/agibot-challenge-2026/000030/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f1806a90c850a0d6223b3caa2e82303caa48941c --- /dev/null +++ b/agibot-challenge-2026/000030/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad75449b325a8374689f81e78579cba287f34d03614c3d4f69e59c141c8e98be +size 8844982 diff --git a/agibot-challenge-2026/000030/gt/head.mp4 b/agibot-challenge-2026/000030/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0974b016d87509087be0af719fb0c254648ca3ea --- /dev/null +++ b/agibot-challenge-2026/000030/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a38014861c253c1fcd145f5902f53253e6f2b6ee5024870951f9acba9035a5b8 +size 7522777 diff --git a/agibot-challenge-2026/000030/meta.json b/agibot-challenge-2026/000030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa211f961877fbbb75926c8de1b05ccb2ca62fa8 --- /dev/null +++ b/agibot-challenge-2026/000030/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Homestay 1-World Model (Full Body Motion)", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 1546, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000030/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000030/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..8d203459a1fefb1b2e6f4d548ec3029f0ad34ffc --- /dev/null +++ b/agibot-challenge-2026/000030/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000030/ref_images/hand_left.png b/agibot-challenge-2026/000030/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..8e5eaa15db2dc09e591b8bef06ec3c78e9ef9e6b --- /dev/null +++ b/agibot-challenge-2026/000030/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac1b1e766c24bd875c1ef8d21ecf5a497d40552d063c15e7fccdbe376111cfec +size 381837 diff --git a/agibot-challenge-2026/000030/ref_images/hand_right.png b/agibot-challenge-2026/000030/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..b879b6485fe6f4e9364cea06d52ec00a8a395332 --- /dev/null +++ b/agibot-challenge-2026/000030/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1bedb2257a0ce55b69dd472e9f9949cd2848880f47d2a9652d26ce1d809bef3 +size 355406 diff --git a/agibot-challenge-2026/000030/ref_images/head.png b/agibot-challenge-2026/000030/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..f043cdc32315d7f79afc0bdf06db39e9762cae77 --- /dev/null +++ b/agibot-challenge-2026/000030/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b482f39784e777fd75950e1dbba91d54952fa144d7d89a6f165e5ea99cbe12d +size 266938 diff --git a/agibot-challenge-2026/000030/temporal.json b/agibot-challenge-2026/000030/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f3fe3f99c73dee6e03f92021e748cae995e639 --- /dev/null +++ b/agibot-challenge-2026/000030/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015673875808716, -0.7504066228866577, -1.167016863822937, -1.5067616701126099, -0.9907768368721008, 0.27125993371009827, -1.4306724071502686, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156887769699097, -0.26084470748901367, 1.6618672609329224, -1.6555935144424438, 1.2138347625732422, 0.3225036561489105, 1.497649073600769, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16920967400074005, -0.027032136917114258, 0.02530668117105961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015673279762268, -0.7504066824913025, -1.1670167446136475, -1.5067614316940308, -0.9907765984535217, 0.27125921845436096, -1.4306726455688477, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156885385513306, -0.2608445882797241, 1.661867380142212, -1.6555936336517334, 1.2138350009918213, 0.32250338792800903, 1.4976495504379272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16920967400074005, -0.027032136917114258, 0.02530668117105961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015674471855164, -0.750406801700592, -1.1670169830322266, -1.5067615509033203, -0.9907765984535217, 0.27125993371009827, -1.4306724071502686, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015688419342041, -0.2608444094657898, 1.6618677377700806, -1.6555935144424438, 1.2138350009918213, 0.3225037753582001, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16920967400074005, -0.027032136917114258, 0.02530668117105961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015675663948059, -0.7504064440727234, -1.1670165061950684, -1.5067617893218994, -0.9907764792442322, 0.2712593376636505, -1.4306721687316895, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156887769699097, -0.2608448565006256, 1.661867618560791, -1.6555936336517334, 1.2138347625732422, 0.3225035071372986, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16920967400074005, -0.027032136917114258, 0.02530668117105961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015673875808716, -0.7504067420959473, -1.1670167446136475, -1.5067614316940308, -0.9907765984535217, 0.27125945687294006, -1.430672526359558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156886577606201, -0.2608446478843689, 1.661867380142212, -1.655593752861023, 1.2138351202011108, 0.3225035071372986, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16920967400074005, -0.027032136917114258, 0.02530668117105961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015673279762268, -0.7504067420959473, -1.1670167446136475, -1.5067611932754517, -0.9907764792442322, 0.2712593376636505, -1.4306716918945312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156885385513306, -0.2608445882797241, 1.6618674993515015, -1.6555935144424438, 1.2138348817825317, 0.3225035071372986, 1.4976494312286377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16920967400074005, -0.027032136917114258, 0.02530668117105961, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015674471855164, -0.7504064440727234, -1.1670167446136475, -1.506760597229004, -0.9907763600349426, 0.2712593376636505, -1.430672526359558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015688419342041, -0.26084470748901367, 1.6618674993515015, -1.6555933952331543, 1.2138350009918213, 0.32250338792800903, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16897961497306824, -0.027032136917114258, 0.02492324635386467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015672087669373, -0.7504060864448547, -1.167016863822937, -1.5067617893218994, -0.9907764792442322, 0.2712598145008087, -1.4306751489639282, 0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -0.14999999685601872, -0.14999999685601872, 0.14999999685601872, 0.14999999685601872, -1.015688419342041, -0.2608439028263092, 1.6618680953979492, -1.6555945873260498, 1.2138352394104004, 0.3225032687187195, 1.4976533651351929, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.14608857035636902, -0.01620011031627655, 0.0023006072733551264, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015680432319641, -0.7504067420959473, -1.167016625404358, -1.5067614316940308, -0.9907764792442322, 0.2712593376636505, -1.4306713342666626, 0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -1.0156887769699097, -0.2608446478843689, 1.6618669033050537, -1.655593752861023, 1.2138348817825317, 0.3225035071372986, 1.497650384902954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12446285784244537, -0.013036774471402168, -0.010448591783642769, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7634879350662231, 1.9644185304641724, -0.7867283821105957, 0.024827387183904648, 0.19670192897319794, 0.6015677452087402, -0.7504067420959473, -1.1670167446136475, -1.5067617893218994, -0.9907765984535217, 0.27125945687294006, -1.4306713342666626, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156888961791992, -0.26084524393081665, 1.6618674993515015, -1.6555938720703125, 1.2138348817825317, 0.3225035071372986, 1.4976502656936646, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1022619977593422, -0.011119602248072624, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857190594604319, -0.16839812909175841, -7.703789271091313e-05, -0.1157260611653328], [0.16839814656974178, 0.9857189365900825, 0.0004922190494627615, 0.12770189344882965], [-6.951057352710564e-06, -0.0004981627368330976, 0.9999998758927775, -0.0004416606097947806], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.763583779335022, 1.9643226861953735, -0.7868242859840393, 0.024827387183904648, 0.19670192897319794, 0.6015679240226746, -0.7504063248634338, -1.167016863822937, -1.5067615509033203, -0.9907765984535217, 0.27125945687294006, -1.4306724071502686, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156887769699097, -0.26084473729133606, 1.661867618560791, -1.655593752861023, 1.2138348817825317, 0.3225036561489105, 1.4976506233215332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0798310711979866, -0.010736167430877686, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857248402497203, -0.1683643053215058, -2.875800382956848e-06, -0.11582081019878387], [0.16836428623256128, 0.9857247200628626, 0.000493333955256664, 0.12772484123706818], [-8.022508114085227e-05, -0.00048677571631396165, 0.9999998783066618, -0.00043427280616015196], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7642547488212585, 1.9638433456420898, -0.7869201302528381, 0.024827387183904648, 0.19670192897319794, 0.601569414138794, -0.7504050135612488, -1.1670169830322266, -1.506761908531189, -0.9907762408256531, 0.27125969529151917, -1.4306737184524536, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015689730644226, -0.2608444392681122, 1.6618674993515015, -1.6555944681167603, 1.21383535861969, 0.3225036561489105, 1.497652530670166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.05832039564847946, -0.010640309192240238, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9856994395629205, -0.168512579541334, 0.000354092742007305, -0.12332622706890106], [0.16851239088716297, 0.9856994043117109, 0.0005083866937573921, 0.1279163956642151], [-0.00043469855803724924, -0.0004414474645664652, 0.9999998080806314, -0.00039762756205163896], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7643506526947021, 1.9636516571044922, -0.7871118187904358, 0.024827387183904648, 0.19670192897319794, 0.601568877696991, -0.7504018545150757, -1.1670169830322266, -1.5067628622055054, -0.9907767176628113, 0.27125945687294006, -1.4306755065917969, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156892538070679, -0.26084333658218384, 1.6618684530258179, -1.6555956602096558, 1.2138347625732422, 0.3225036561489105, 1.4976541996002197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.03554438427090645, -0.010640309192240238, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9856813739319458, -0.16861772561876356, 0.000540084055573566, -0.14375828206539154], [0.1686174720415865, 0.9856814458354373, 0.0004852402154106281, 0.12793399393558502], [-0.0006141709342717182, -0.0003872246340721988, 0.9999997364255384, -0.0003684289404191077], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.763583779335022, 1.963747501373291, -0.787015974521637, 0.024827387183904648, 0.19670192897319794, 0.6015690565109253, -0.7504064440727234, -1.1670163869857788, -1.5067627429962158, -0.9907763600349426, 0.27125945687294006, -1.4306738376617432, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156909227371216, -0.2608453333377838, 1.661867380142212, -1.6555941104888916, 1.2138348817825317, 0.3225035071372986, 1.4976524114608765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.013228491879999638, -0.009106570854783058, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9856183463910864, -0.168985702984072, 0.0005544765816172584, -0.17518573999404907], [0.1689855723819573, 0.9856184864304898, 0.00027483306319139265, 0.12808769941329956], [-0.0005929452275214175, -0.0001771819667593139, 0.9999998085112356, -0.00034780343412421644], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7633920311927795, 1.9638433456420898, -0.7868242859840393, 0.024731528013944626, 0.19670192897319794, 0.6015675663948059, -0.7504051327705383, -1.1670171022415161, -1.5067604780197144, -0.9907767176628113, 0.27125969529151917, -1.4306721687316895, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156866312026978, -0.26084378361701965, 1.6618677377700806, -1.655595302581787, 1.2138351202011108, 0.3225036561489105, 1.4976506233215332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.00885733775794506, -0.004601214546710253, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9856025356432697, -0.16907831877280757, 0.000404789473702577, -0.21807153522968292], [0.16907822254327975, 0.9856026006013481, 0.0002614373055008784, 0.12846384942531586], [-0.0004431649380558923, -0.0001892321864955485, 0.9999998838980019, -0.0003874601097777486], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7625293135643005, 1.96461021900177, -0.7864408493041992, 0.024827387183904648, 0.19670192897319794, 0.6015660166740417, -0.75041264295578, -1.167016625404358, -1.5067611932754517, -0.9907767176628113, 0.2712595760822296, -1.4306704998016357, 0.1542000021253314, -0.1542000021253314, 0.1542000021253314, 0.1542000021253314, -0.1542000021253314, -0.1542000021253314, 0.1542000021253314, 0.1542000021253314, -1.0156883001327515, -0.2608448565006256, 1.6618669033050537, -1.6555923223495483, 1.213834524154663, 0.32250314950942993, 1.4976451396942139, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.030943168327212334, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985485633715694, -0.16975884537172944, -1.2571171738652959e-05, -0.2653978168964386], [0.16975881386172317, 0.9854853999374933, 0.0006867505367156022, 0.12860874831676483], [-0.00010419327196270676, -0.0006789168550829738, 0.9999997641078051, -0.0005423575639724731], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7623376250267029, 1.9648019075393677, -0.7863450050354004, 0.024827387183904648, 0.19670192897319794, 0.6015660166740417, -0.7504141926765442, -1.167016625404358, -1.5067558288574219, -0.9907765984535217, 0.27125969529151917, -1.4306674003601074, 0.5436000022259387, -0.5436000022259387, 0.5436000022259387, 0.5436000022259387, -0.5436000022259387, -0.5436000022259387, 0.5436000022259387, 0.5436000022259387, -1.0156883001327515, -0.2608453333377838, 1.661866307258606, -1.655591368675232, 1.213834285736084, 0.32250338792800903, 1.497636318206787, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.038765233010053635, 0.0025881831534206867, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854509439655261, -0.1699600999275297, -3.834159023766859e-05, -0.3041178584098816], [0.1699600767096126, 0.9854506307634249, 0.0007916140667745758, 0.12869520485401154], [-9.675906160886177e-05, -0.0007866133689773575, 0.9999996859384965, -0.0005554514355026186], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7624334692955017, 1.9647060632705688, -0.7863450050354004, 0.024731528013944626, 0.19670192897319794, 0.6015648245811462, -0.7504110932350159, -1.1670169830322266, -1.5067569017410278, -0.9907763600349426, 0.2712595760822296, -1.4306665658950806, 0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -1.015687108039856, -0.26084640622138977, 1.6618660688400269, -1.655591607093811, 1.213834524154663, 0.3225036561489105, 1.497638463973999, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.041180871427059174, 0.002875759033486247, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854339122500548, -0.17005880407414894, 8.800239459719777e-05, -0.3374747633934021], [0.17005862407490682, 0.9854334044468146, 0.0010343007832178282, 0.12879377603530884], [-0.00026261245355436807, -0.0010042695011091439, 0.9999994612385891, -0.0005394828040152788], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7624334692955017, 1.9647060632705688, -0.7855781316757202, 0.024731528013944626, 0.196989506483078, 0.6015629172325134, -0.7504106760025024, -1.1670171022415161, -1.5067622661590576, -0.9907767176628113, 0.2712593376636505, -1.4306678771972656, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156854391098022, -0.2608432471752167, 1.6618690490722656, -1.6555918455123901, 1.2138351202011108, 0.3225036561489105, 1.4976431131362915, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06338173151016235, 0.011119602248072624, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854053534970879, -0.1702239863353528, 0.00028943977076860655, -0.3590776026248932], [0.17022349762382588, 0.9854046714232088, 0.0012626931651542185, 0.12888142466545105], [-0.0005001559663020027, -0.0011949951546354788, 0.9999991609149429, -0.0005059866234660149], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7598452568054199, 1.9659522771835327, -0.781072735786438, 0.023293649777770042, 0.19890667498111725, 0.6015610694885254, -0.7504079341888428, -1.1670180559158325, -1.5067695379257202, -0.9907764792442322, 0.2712593376636505, -1.4306689500808716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156848430633545, -0.26084285974502563, 1.6618694067001343, -1.6555922031402588, 1.2138348817825317, 0.3225036561489105, 1.4976475238800049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08650283515453339, 0.0102568743750453, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853755932166445, -0.17039616131109217, 0.0002974951937996825, -0.36980336904525757], [0.17039560854586291, 0.9853747845290476, 0.0013676997543760456, 0.1289878785610199], [-0.0005261950504605912, -0.0012970060822235885, 0.999999020446516, -0.0005134998355060816], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7580239772796631, 1.9682528972625732, -0.7735957503318787, 0.0205137487500906, 0.20139899849891663, 0.6015645265579224, -0.7504091262817383, -1.167016863822937, -1.506763219833374, -0.9907764792442322, 0.2712598145008087, -1.4306689500808716, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156902074813843, -0.2608472406864166, 1.661866545677185, -1.6555917263031006, 1.213834524154663, 0.32250338792800903, 1.4976470470428467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10916382074356079, 0.007093539461493492, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853850181993125, -0.1703418888237128, 8.258517102371405e-05, -0.3735728859901428], [0.1703416076086189, 0.9853840715994457, 0.0014029096228059664, 0.1291634738445282], [-0.0003203523870748147, -0.0013683384334038358, 0.9999990125116524, -0.0005994380917400122], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7609955668449402, 1.9717037677764893, -0.7638182044029236, 0.017350412905216217, 0.20331616699695587, 0.6015637516975403, -0.7504071593284607, -1.1670175790786743, -1.506762981414795, -0.9907765984535217, 0.27125969529151917, -1.4306702613830566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156892538070679, -0.2608453035354614, 1.6618669033050537, -1.655592441558838, 1.2138348817825317, 0.3225035071372986, 1.4976476430892944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1283738911151886, 0.0069976807571947575, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853647611923587, -0.1704590405294906, -5.387106284259574e-05, -0.37382790446281433], [0.17045894733642392, 0.9853637788255227, 0.001403799004302948, 0.12929578125476837], [-0.0001862076373178074, -0.0013924368753010885, 0.9999990132226452, -0.0006427267799153924], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7702938914299011, 1.9783179759979248, -0.7507814168930054, 0.013611926697194576, 0.20322030782699585, 0.6015666723251343, -0.7504059076309204, -1.1670171022415161, -1.5067623853683472, -0.9907763600349426, 0.27125921845436096, -1.4306707382202148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156886577606201, -0.26084455847740173, 1.6618674993515015, -1.655592918395996, 1.213834524154663, 0.32250338792800903, 1.4976489543914795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13216988742351532, 0.009298288263380527, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853692564740711, -0.17043304452621588, -7.569188216451181e-05, -0.3714974522590637], [0.1704329890860617, 0.9853683326631424, 0.001358387223576193, 0.1294475495815277], [-0.00015692968643502396, -0.0013514134022259987, 0.9999990745270166, -0.0006572190904989839], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7818927764892578, 1.9864660501480103, -0.733910322189331, 0.010352732613682747, 0.20024868845939636, 0.6015661954879761, -0.7504037618637085, -1.1670173406600952, -1.5067620277404785, -0.9907765984535217, 0.2712595760822296, -1.4306716918945312, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156890153884888, -0.2608448565006256, 1.661867380142212, -1.6555933952331543, 1.2138348817825317, 0.32250338792800903, 1.4976502656936646, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12779873609542847, 0.012940916232764721, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853656923803088, -0.17045360040928847, -0.00014962414673373638, -0.369114488363266], [0.1704536499388958, 0.9853648374463115, 0.0013001334210375332, 0.1295454353094101], [-7.417804960396169e-05, -0.0013066108505371868, 0.9999991436324844, -0.0006817322573624551], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7947378158569336, 1.9956684112548828, -0.7152178883552551, 0.0077645499259233475, 0.19468890130519867, 0.6015664339065552, -0.7504051923751831, -1.1670171022415161, -1.5067613124847412, -0.9907763600349426, 0.27125969529151917, -1.4306719303131104, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156886577606201, -0.2608444094657898, 1.661867618560791, -1.6555933952331543, 1.2138346433639526, 0.3225035071372986, 1.4976505041122437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12193218618631363, 0.014187078922986984, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853621506013458, -0.17047396991943975, -0.00024029606065739526, -0.3682105839252472], [0.17047413804143227, 0.9853613342708453, 0.0012685357740919833, 0.1296379268169403], [2.0526117555109052e-05, -0.0012909314022893407, 0.9999991665370492, -0.0007223202846944332], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8091166019439697, 2.0057334899902344, -0.6929786801338196, 0.006614245939999819, 0.18817050755023956, 0.601567268371582, -0.7504064440727234, -1.167016625404358, -1.5067576169967651, -0.9907764792442322, 0.2712598145008087, -1.4306713342666626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015689730644226, -0.2608460485935211, 1.661866545677185, -1.6555935144424438, 1.2138344049453735, 0.3225035071372986, 1.4976487159729004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11940152198076248, 0.006805963348597288, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853669968139191, -0.1704458455874339, -0.00030872625820654685, -0.3684616684913635], [0.17044610166000293, 0.9853661960537385, 0.0012594060081273068, 0.1297043263912201], [8.954789667773588e-05, -0.001293598303189196, 0.9999991592919487, -0.0007621048716828227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8245498538017273, 2.014744281768799, -0.6691098809242249, 0.006518387235701084, 0.18078939616680145, 0.6015650629997253, -0.7504069209098816, -1.1670173406600952, -1.5067585706710815, -0.9907770752906799, 0.27125945687294006, -1.4306707382202148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156854391098022, -0.260842502117157, 1.6618694067001343, -1.6555933952331543, 1.21383535861969, 0.3225035071372986, 1.497649073600769, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12779873609542847, -0.0026840418577194214, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853353506934653, -0.17062846316442282, -0.00041741098805364195, -0.36916661262512207], [0.17062887110134534, 0.9853344927388819, 0.0013136840148665952, 0.12965995073318481], [0.0001871375596371149, -0.001365641665165866, 0.9999990500007369, -0.0008067080634646118], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8415168523788452, 2.0246176719665527, -0.641981840133667, 0.006805963348597288, 0.1754213124513626, 0.6015669703483582, -0.7504076957702637, -1.1670169830322266, -1.5067577362060547, -0.9907764792442322, 0.27125969529151917, -1.4306707382202148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156866312026978, -0.2608436942100525, 1.6618677377700806, -1.6555938720703125, 1.2138348817825317, 0.3225035071372986, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1441330462694168, -0.0196510199457407, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853454928263051, -0.17056983838332065, -0.00043589078182862845, -0.3690831661224365], [0.17057027189735924, 0.9853446367874056, 0.0013149521499900764, 0.1296996921300888], [0.0002052114683943008, -0.001370032183449043, 0.9999990404495744, -0.0008127107284963131], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8604968786239624, 2.0341076850891113, -0.6127449870109558, 0.008435560390353203, 0.17369584739208221, 0.6015664339065552, -0.7504092454910278, -1.1670167446136475, -1.5067592859268188, -0.9907764792442322, 0.27125945687294006, -1.4306707382202148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156863927841187, -0.260842889547348, 1.6618685722351074, -1.655593752861023, 1.2138352394104004, 0.32250338792800903, 1.4976475238800049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16230784356594086, -0.03968547657132149, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853407109080583, -0.17059748010795409, -0.0004280280579960906, -0.36868831515312195], [0.17059790675398703, 0.985339825641878, 0.0013349963263328457, 0.12971918284893036], [0.00019400608280994015, -0.0013884469199745596, 0.9999990172879123, -0.0008184041944332421], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8760259747505188, 2.0419681072235107, -0.5829329490661621, 0.010448591783642769, 0.1762840300798416, 0.6015663743019104, -0.7504150867462158, -1.1670153141021729, -1.506758689880371, -0.9907763600349426, 0.2712595760822296, -1.4306693077087402, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015689730644226, -0.2608458399772644, 1.6618669033050537, -1.655592679977417, 1.2138350009918213, 0.3225035071372986, 1.4976474046707153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.18255318701267242, -0.05598144605755806, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853373968778926, -0.17061639113367869, -0.0005112635504055832, -0.36816757917404175], [0.1706169178032204, 0.9853366100318021, 0.0012776111950270038, 0.1297062784433365], [0.0002857852822219667, -0.0013461083002852935, 0.9999990531591599, -0.0008496174123138189], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8918426036834717, 2.0451314449310303, -0.5535043478012085, 0.012365764006972313, 0.18395273387432098, 0.6015669703483582, -0.7504134774208069, -1.1670154333114624, -1.5067589282989502, -0.990776002407074, 0.27125921845436096, -1.4306696653366089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156887769699097, -0.26084569096565247, 1.6618661880493164, -1.6555923223495483, 1.2138346433639526, 0.3225035071372986, 1.4976454973220825, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.2048690766096115, -0.06968922913074493, -0.012078188359737396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853610142245357, -0.17048006792111298, -0.0004669989368512261, -0.3684025704860687], [0.17048053273069055, 0.9853602297502081, 0.0012671173888199967, 0.1297665536403656], [0.0002441439211987707, -0.0013281823029282806, 0.9999990881623423, -0.0008334165322594345], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9048793911933899, 2.0451314449310303, -0.5230212807655334, 0.014187078922986984, 0.1918131411075592, 0.6015629768371582, -0.7504081726074219, -1.1670178174972534, -1.506762981414795, -0.9907765984535217, 0.27125945687294006, -1.430669903755188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156883001327515, -0.26084545254707336, 1.6618669033050537, -1.6555925607681274, 1.213834524154663, 0.3225037753582001, 1.497646450996399, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.22776012122631073, -0.07572832703590393, 0.004505355842411518, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853462807274754, -0.17056526676598693, -0.00044365479695346614, -0.36840441823005676], [0.17056571178053614, 0.985345420792121, 0.0013189726294432211, 0.12972229719161987], [0.00021218230419253783, -0.001375317071030434, 0.9999990317403432, -0.0008297070162370801], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9168617129325867, 2.042351484298706, -0.4922506809234619, 0.013611926697194576, 0.19593505561351776, 0.6015661954879761, -0.7504087686538696, -1.167016625404358, -1.506761908531189, -0.9907762408256531, 0.27125993371009827, -1.4306693077087402, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015690803527832, -0.26084738969802856, 1.6618635654449463, -1.6555923223495483, 1.213834524154663, 0.32250338792800903, 1.4976452589035034, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.24489964544773102, -0.07697448879480362, 0.018692433834075928, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853644201474411, -0.17046064990739132, -0.0003554442951306942, -0.36833101511001587], [0.17046097132428883, 0.9853635774966263, 0.0012951440963092707, 0.12974870204925537], [0.00012947075787014822, -0.0013367782912668213, 0.9999990981301548, -0.0007984847761690617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9280771613121033, 2.0369834899902344, -0.46291792392730713, 0.0102568743750453, 0.1947847455739975, 0.6015627384185791, -0.7504053711891174, -1.1670186519622803, -1.5067623853683472, -0.9907770752906799, 0.27125945687294006, -1.4306702613830566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156867504119873, -0.2608456015586853, 1.6618660688400269, -1.655592441558838, 1.2138350009918213, 0.3225035071372986, 1.4976459741592407, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.24904073774814606, -0.07754963636398315, 0.02712799422442913, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853557229013417, -0.17051103422252134, -0.00029420051078794384, -0.3684949576854706], [0.1705112755557214, 0.9853548440897846, 0.0013176255754847779, 0.129717618227005], [6.522219884463506e-05, -0.0013484944058086965, 0.9999990886540359, -0.0008002844406291842], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9376630783081055, 2.031519651412964, -0.4337769150733948, 0.006901822052896023, 0.18826636672019958, 0.601565957069397, -0.7504045963287354, -1.1670187711715698, -1.5067609548568726, -0.9907763600349426, 0.27125969529151917, -1.4306707382202148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.01568603515625, -0.2608442008495331, 1.6618671417236328, -1.6555936336517334, 1.2138348817825317, 0.3225030303001404, 1.4976469278335571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.24915577471256256, -0.06920993328094482, 0.03364638239145279, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853729718764399, -0.17041149296024186, -0.00017135476130157427, -0.36829060316085815], [0.17041157091369452, 0.9853721144130534, 0.001301013403154022, 0.12975257635116577], [-5.285943293428564e-05, -0.001311184277573902, 0.9999991390004647, -0.0007606821600347757], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9453317523002625, 2.026726722717285, -0.4045400321483612, 0.005559801124036312, 0.1766674667596817, 0.6015628576278687, -0.7504052519798279, -1.167019009590149, -1.5067609548568726, -0.9907767176628113, 0.27125969529151917, -1.430669903755188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015687346458435, -0.2608448565006256, 1.6618666648864746, -1.6555931568145752, 1.2138348817825317, 0.3225036561489105, 1.4976463317871094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.24547480046749115, -0.058377910405397415, 0.03661799803376198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853597514644759, -0.1704879328365433, -0.00015795881957141622, -0.3683372735977173], [0.17048799379462187, 0.9853589071729878, 0.0012915210955326258, 0.12971238791942596], [-6.454263196091926e-05, -0.0012995429879560532, 0.9999991535107773, -0.0007618537056259811], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9531921744346619, 2.0220296382904053, -0.37405696511268616, 0.0051763663068413734, 0.16439756751060486, 0.6015654802322388, -0.7504071593284607, -1.1670175790786743, -1.5067601203918457, -0.9907763600349426, 0.27125945687294006, -1.4306696653366089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156869888305664, -0.26084429025650024, 1.6618669033050537, -1.6555931568145752, 1.2138347625732422, 0.3225035071372986, 1.4976468086242676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.23466195166110992, -0.04888790473341942, 0.037001434713602066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853654912168456, -0.17045479426423404, -0.00010877188208370962, -0.36870133876800537], [0.17045479271742225, 0.9853646648456754, 0.0012809813544161655, 0.12973329424858093], [-0.00011116944408927953, -0.0012807755101479678, 0.9999991736273822, -0.0007534247124567628], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9609566926956177, 2.0167572498321533, -0.3439573645591736, 0.0051763663068413734, 0.15346968173980713, 0.6015621423721313, -0.7504101395606995, -1.1670176982879639, -1.5067602396011353, -0.9907763600349426, 0.27125969529151917, -1.4306691884994507, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156877040863037, -0.2608444094657898, 1.6618671417236328, -1.6555927991867065, 1.2138347625732422, 0.3225038945674896, 1.4976471662521362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.22845031321048737, -0.04419083148241043, 0.0358511321246624, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853423951081834, -0.17058826957038625, -8.177682878359592e-05, -0.36881765723228455], [0.17058824011529874, 0.9853416349797861, 0.001230735441592517, 0.12965545058250427], [-0.00012937091510312226, -0.0012266459730677023, 0.9999992393011222, -0.0007104037795215845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9693922400474548, 2.0090885162353516, -0.31404945254325867, 0.004505355842411518, 0.15021048486232758, 0.6015644669532776, -0.750410258769989, -1.1670172214508057, -1.506760597229004, -0.9907764792442322, 0.2712595760822296, -1.4306693077087402, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156875848770142, -0.26084378361701965, 1.6618671417236328, -1.655592679977417, 1.2138347625732422, 0.32250338792800903, 1.4976469278335571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.21625709533691406, -0.043136388063430786, 0.03537183627486229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853382378781333, -0.1706122996898812, 1.3028631622225945e-05, -0.3689887225627899], [0.17061215298315338, 0.9853374851691832, 0.0012383759214477537, 0.12963680922985077], [-0.00022411976295661678, -0.0012179963053785472, 0.9999992331273719, -0.0006753146299161017], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9760065078735352, 2.000269651412964, -0.28538772463798523, 0.0026840418577194214, 0.15097735822200775, 0.6015617251396179, -0.750406801700592, -1.1670185327529907, -1.5067613124847412, -0.9907768368721008, 0.2712595760822296, -1.4306695461273193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015687108039856, -0.2608436048030853, 1.6618672609329224, -1.6555931568145752, 1.2138344049453735, 0.3225032687187195, 1.4976468086242676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.20693962275981903, -0.045628711581230164, 0.0401647686958313, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853583412689849, -0.1704961562368062, -3.30530594488036e-07, -0.3689768612384796], [0.1704960247868718, 0.9853575791617102, 0.0012436721627874477, 0.12965475022792816], [-0.00021171563254755173, -0.001225519093559081, 0.9999992266394221, -0.000678315875120461], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9797449707984924, 1.990971326828003, -0.2563425600528717, 0.0012461623409762979, 0.1537572592496872, 0.6015670299530029, -0.750407874584198, -1.1670172214508057, -1.5067592859268188, -0.9907767176628113, 0.2712595760822296, -1.4306694269180298, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156869888305664, -0.2608436942100525, 1.6618682146072388, -1.6555930376052856, 1.213834285736084, 0.32250338792800903, 1.4976472854614258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.20153319835662842, -0.04543699324131012, 0.04591628909111023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853545587666582, -0.17051801216899232, -3.230634098448045e-05, -0.3690503239631653], [0.17051792691620452, 0.9853538379324068, 0.0012044384899210171, 0.1296459585428238], [-0.00017354528000254393, -0.0011923077670886256, 0.9999992741418487, -0.000683357531670481], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9821414351463318, 1.9806185960769653, -0.22883114218711853, 0.0, 0.15692059695720673, 0.6015645861625671, -0.750405490398407, -1.1670185327529907, -1.5067596435546875, -0.9907763600349426, 0.27125945687294006, -1.4306695461273193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015687346458435, -0.26084405183792114, 1.661867380142212, -1.6555935144424438, 1.2138346433639526, 0.3225035071372986, 1.4976470470428467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.195896714925766, -0.04054820537567139, 0.05061336234211922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853554547864843, -0.1705128366189364, 1.6452493965550563e-05, -0.36934882402420044], [0.17051270094353516, 0.985354783650541, 0.001170108514712594, 0.12961257994174957], [-0.00021573006562755176, -0.0011501674484808422, 0.9999993152874552, -0.0006715193740092218], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9827166199684143, 1.9690197706222534, -0.20256586372852325, 0.0, 0.15931706130504608, 0.6015648245811462, -0.7504066824913025, -1.167018175125122, -1.5067602396011353, -0.9907763600349426, 0.2712595760822296, -1.4306695461273193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156872272491455, -0.2608439028263092, 1.661867380142212, -1.6555931568145752, 1.2138346433639526, 0.32250338792800903, 1.4976470470428467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1908353716135025, -0.03680971637368202, 0.05454356595873833, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853661945468214, -0.1704507550822645, -5.23087154226614e-05, -0.369290828704834], [0.17045069559051643, 0.9853654846787252, 0.0011924665907752192, 0.12961646914482117], [-0.00015171362808263762, -0.0011839323236056385, 0.9999992876433603, -0.0006990467663854361], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9826207756996155, 1.9571332931518555, -0.17716333270072937, 0.0, 0.15912534296512604, 0.6015650033950806, -0.7504079341888428, -1.1670180559158325, -1.5067598819732666, -0.9907762408256531, 0.27125945687294006, -1.4306690692901611, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156875848770142, -0.26084375381469727, 1.6618677377700806, -1.6555931568145752, 1.2138347625732422, 0.3225036561489105, 1.4976465702056885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.18623416125774384, -0.03316709026694298, 0.055789727717638016, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853516571149483, -0.1705347716563372, 5.8965636394184e-05, -0.3695925772190094], [0.1705345769302518, 0.9853509502082044, 0.0012095433058239272, 0.12956282496452332], [-0.00026437103731777534, -0.0011817698208899943, 0.9999992667637537, -0.0006539328605867922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.981566309928894, 1.9443840980529785, -0.15339039266109467, 0.0012461623409762979, 0.15586614608764648, 0.6015649437904358, -0.7504062056541443, -1.1670185327529907, -1.5067602396011353, -0.9907767176628113, 0.2712593376636505, -1.4306703805923462, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156874656677246, -0.26084429025650024, 1.6618674993515015, -1.6555932760238647, 1.2138346433639526, 0.3225036561489105, 1.4976463317871094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.18151791393756866, -0.03144163265824318, 0.05588558688759804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853628192690647, -0.17047023297007224, 0.00011863072923673414, -0.36965909600257874], [0.17046997205147205, 0.9853621442383192, 0.0011972179551659069, 0.12956157326698303], [-0.0003209842534663495, -0.0011594710824843909, 0.9999992762976971, -0.0006295990897342563], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9802243113517761, 1.9338395595550537, -0.13297249376773834, 0.0033550523221492767, 0.15270280838012695, 0.6015647053718567, -0.7504082918167114, -1.1670175790786743, -1.5067615509033203, -0.9907761216163635, 0.27125945687294006, -1.4306696653366089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156880617141724, -0.2608433961868286, 1.6618678569793701, -1.6555927991867065, 1.213834285736084, 0.3225036561489105, 1.4976474046707153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17645658552646637, -0.0341256745159626, 0.053584977984428406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853437659993914, -0.17058021833719925, 0.0002278555900088857, -0.36951813101768494], [0.17057980658181635, 0.9853430641629882, 0.0012551862026893127, 0.12953278422355652], [-0.000438625861754604, -0.0011979223375160615, 0.9999991862943823, -0.0006024770555086434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9795532822608948, 1.9278963804244995, -0.12137360125780106, 0.004505355842411518, 0.15107321739196777, 0.6015650629997253, -0.7504071593284607, -1.1670178174972534, -1.506761908531189, -0.9907763600349426, 0.2712593376636505, -1.4306696653366089, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156875848770142, -0.26084354519844055, 1.6618683338165283, -1.6555931568145752, 1.2138348817825317, 0.3225035071372986, 1.4976471662521362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17381088435649872, -0.036905575543642044, 0.05080507695674896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853680711928412, -0.17043984900349646, 0.00014881318911443527, -0.36955052614212036], [0.17043953012093693, 0.9853673294742598, 0.0012619734227779123, 0.12957528233528137], [-0.000361726214372932, -0.0012181446674708368, 0.9999991926385315, -0.0006333531346172094], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9790740013122559, 1.9253082275390625, -0.11648481339216232, 0.005080507602542639, 0.15040220320224762, 0.6018865704536438, -0.7503675222396851, -1.169000506401062, -1.5068241357803345, -0.99076247215271, 0.26913368701934814, -1.4284087419509888, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015688180923462, -0.26084384322166443, 1.6618677377700806, -1.655593752861023, 1.2138347625732422, 0.3225035071372986, 1.497648000717163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1735808253288269, -0.03719315305352211, 0.050517503172159195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853460596795718, -0.17056707889974948, 0.00011945521476786717, -0.3696523606777191], [0.17056679369585098, 0.9853453002285555, 0.0012681505489384338, 0.12952081859111786], [-0.0003340093691968531, -0.0012291920535037674, 0.9999991887619893, -0.00064624915830791], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9787864089012146, 1.9241578578948975, -0.11447177827358246, 0.0054639424197375774, 0.1499229073524475, 0.6091619729995728, -0.7459716796875, -1.1936511993408203, -1.5119978189468384, -0.9833058714866638, 0.2438846081495285, -1.3921481370925903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156875848770142, -0.26084333658218384, 1.6618683338165283, -1.6555938720703125, 1.2138350009918213, 0.3225036561489105, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16380323469638824, -0.037384867668151855, 0.05042164400219917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853408490702273, -0.17059719689569458, 8.697640483880083e-05, -0.369618684053421], [0.170596948375876, 0.9853400657703837, 0.0012790592068308972, 0.12951157987117767], [-0.000303905251813317, -0.0012454713756236437, 0.9999991782209876, -0.0006644162349402905], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9787864089012146, 1.923582673072815, -0.11312975734472275, 0.005655659828335047, 0.14953947067260742, 0.6158943772315979, -0.7350375652313232, -1.2308744192123413, -1.5052404403686523, -0.9509548544883728, 0.22938238084316254, -1.399321436882019, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015689730644226, -0.260844886302948, 1.6618678569793701, -1.6555935144424438, 1.2138347625732422, 0.3225035071372986, 1.4976487159729004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1578216552734375, -0.035659413784742355, 0.05013406649231911, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853506582379195, -0.1705404966238125, 0.00013900144665481313, -0.36965397000312805], [0.1705401758492041, 0.985349865038658, 0.0013007265742861673, 0.12954163551330566], [-0.0003587916126520516, -0.0012579664550046235, 0.9999991443941224, -0.0006461275625042617], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9231034517288208, -0.11255460977554321, 0.005655659828335047, 0.1494436115026474, 0.6241163015365601, -0.718978762626648, -1.2795912027359009, -1.4862046241760254, -0.8944185376167297, 0.20315250754356384, -1.4345908164978027, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156883001327515, -0.2608441412448883, 1.6618683338165283, -1.6555938720703125, 1.2138350009918213, 0.3225032687187195, 1.497649073600769, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14965450763702393, -0.03402981534600258, 0.05521457642316818, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853525873084327, -0.17052939052009436, 7.518924601241541e-05, -0.3696958124637604], [0.1705291468692389, 0.9853517581644313, 0.0013125358332847887, 0.12954121828079224], [-0.00029791379143923074, -0.0012804886212859576, 0.9999991357977583, -0.0006698080687783659], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9229117631912231, -0.11217117309570312, 0.005655659828335047, 0.14934775233268738, 0.6387571692466736, -0.7038989663124084, -1.3210878372192383, -1.468022346496582, -0.8259313106536865, 0.14998197555541992, -1.477908730506897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156878232955933, -0.26084384322166443, 1.6618679761886597, -1.6555944681167603, 1.2138347625732422, 0.3225032687187195, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14332783222198486, -0.031729210168123245, 0.06269154697656631, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853693319751747, -0.17043260721968737, 7.745384186227337e-05, -0.369672954082489], [0.17043237106122347, 0.9853685473212328, 0.0012778280372801759, 0.12956565618515015], [-0.000294104143612353, -0.0012459319175575274, 0.9999991805778691, -0.0006662089726887643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9229117631912231, -0.11197945475578308, 0.005655659828335047, 0.14934775233268738, 0.6691790223121643, -0.6877093315124512, -1.3593765497207642, -1.4726073741912842, -0.7641056776046753, 0.07777810096740723, -1.4991098642349243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015688419342041, -0.26084405183792114, 1.661868691444397, -1.655592679977417, 1.2138347625732422, 0.3225037753582001, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1355057656764984, -0.026744559407234192, 0.0708395317196846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853499879633993, -0.17054442299229158, 3.172940512896119e-05, -0.3696872591972351], [0.17054425500202128, 0.9853492466814061, 0.0012325381093899093, 0.12952221930027008], [-0.0002414670461233831, -0.001209070143492402, 0.9999992399212381, -0.0006771240732632577], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9229117631912231, -0.11197945475578308, 0.005655659828335047, 0.14934775233268738, 0.7208579182624817, -0.6679914593696594, -1.3857442140579224, -1.5050230026245117, -0.7193546295166016, 0.00043334957445040345, -1.5008492469787598, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156885385513306, -0.26084399223327637, 1.6618680953979492, -1.655592679977417, 1.2138346433639526, 0.32250338792800903, 1.4976497888565063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12894904613494873, -0.020801324397325516, 0.07534489035606384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853461878529547, -0.1705663746107152, 4.399780668119383e-05, -0.3696991205215454], [0.17056618138642365, 0.9853453999830122, 0.0012729884411348009, 0.1295212060213089], [-0.000260482059748365, -0.0012468297697780621, 0.9999991887819818, -0.0006773959612473845], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9228157997131348, -0.11197945475578308, 0.005655659828335047, 0.1494436115026474, 0.7825709581375122, -0.6490369439125061, -1.4144562482833862, -1.5380077362060547, -0.7270519137382507, -0.05910487845540047, -1.5009971857070923, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156896114349365, -0.26084548234939575, 1.6618667840957642, -1.6555936336517334, 1.213834285736084, 0.3225036561489105, 1.4976495504379272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.012749198824167252, 0.08071297407150269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853532062617004, -0.1705258211508465, 5.6838511323748384e-05, -0.3696713447570801], [0.1705256201369257, 0.9853524589702257, 0.0012427703917105028, 0.12953010201454163], [-0.00026793040844545513, -0.0012148753677279115, 0.9999992261452691, -0.0006699523655697703], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9228157997131348, -0.11197945475578308, 0.005751518066972494, 0.14934775233268738, 0.8348194360733032, -0.6335565447807312, -1.4314539432525635, -1.569727897644043, -0.7158145308494568, -0.10563243180513382, -1.5010414123535156, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156891345977783, -0.2608453035354614, 1.6618674993515015, -1.6555922031402588, 1.2138348817825317, 0.32250338792800903, 1.497649073600769, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11399509012699127, -0.005559801124036312, 0.08608105778694153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853290669331809, -0.17066523728657704, 8.147701149011803e-05, -0.3696518838405609], [0.17066499467310983, 0.9853282782714328, 0.0012820420747431294, 0.12946994602680206], [-0.00029908161834767144, -0.0012493280475437852, 0.9999991748644672, -0.0006669793510809541], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9228157997131348, -0.11197945475578308, 0.005655659828335047, 0.14934775233268738, 0.8714394569396973, -0.621536374092102, -1.448052167892456, -1.5884082317352295, -0.7026041746139526, -0.133171945810318, -1.501031517982483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156866312026978, -0.26084399223327637, 1.6618678569793701, -1.6555954217910767, 1.2138348817825317, 0.32250338792800903, 1.4976494312286377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10594296455383301, -0.0019171728054061532, 0.08742307871580124, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853903662468175, -0.17031096711236815, 2.427370245056372e-05, -0.3695974051952362], [0.17031080382817046, 0.985389599897963, 0.0012516039049147811, 0.12961450219154358], [-0.000237080925433456, -0.001229184356483682, 0.9999992164489193, -0.0006906694616191089], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9785947203636169, 1.9228157997131348, -0.11197945475578308, 0.005751518066972494, 0.14934775233268738, 0.8967695832252502, -0.6123647093772888, -1.4625533819198608, -1.5926092863082886, -0.6766409873962402, -0.14905187487602234, -1.5010062456130981, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015689730644226, -0.26084524393081665, 1.6618677377700806, -1.6555925607681274, 1.2138346433639526, 0.3225036561489105, 1.497650384902954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10329727083444595, -0.0012461623409762979, 0.08473903685808182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9139315485954285, -0.6075098514556885, -1.4773504734039307, -1.5842857360839844, -0.6444671750068665, -0.16206267476081848, -1.4864712953567505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156886577606201, -0.26084473729133606, 1.661867618560791, -1.6555942296981812, 1.2138347625732422, 0.3225036561489105, 1.497650384902954, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10122672468423843, -0.0011503036366775632, 0.0833970159292221, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9307236671447754, -0.6046497821807861, -1.4889763593673706, -1.577569603919983, -0.6176185607910156, -0.16171680390834808, -1.4524316787719727, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.015688419342041, -0.26084455847740173, 1.6618674993515015, -1.6555941104888916, 1.2138347625732422, 0.32250338792800903, 1.4976497888565063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09961629658937454, -0.0011503036366775632, 0.08167155832052231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005751518066972494, 0.14934775233268738, 0.947155237197876, -0.6030106544494629, -1.4965482950210571, -1.5828783512115479, -0.6070795059204102, -0.15911179780960083, -1.4255752563476562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0156896114349365, -0.26084500551223755, 1.661867618560791, -1.655592918395996, 1.2138346433639526, 0.3225037753582001, 1.4976497888565063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09961629658937454, -0.0026840418577194214, 0.0777413547039032, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9610335826873779, -0.6028869152069092, -1.5029593706130981, -1.589178204536438, -0.6141517162322998, -0.15477722883224487, -1.3941187858581543, 0.5759999990135759, -0.5759999990135759, 0.5759999990135759, 0.5759999990135759, -0.5759999990135759, -0.5759999990135759, 0.5759999990135759, 0.5759999990135759, -1.0156885385513306, -0.26084503531455994, 1.6618674993515015, -1.6555943489074707, 1.2138348817825317, 0.32250338792800903, 1.4976491928100586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1005365401506424, -0.004409497138112783, 0.07275670766830444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9693399667739868, -0.6028131246566772, -1.5096485614776611, -1.5967259407043457, -0.618377149105072, -0.1488700807094574, -1.3675868511199951, 0.34560000084258696, -0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -0.34560000084258696, -0.34560000084258696, 0.34560000084258696, 0.34560000084258696, -1.015689730644226, -0.26084545254707336, 1.661866545677185, -1.6555973291397095, 1.2138344049453735, 0.3225035071372986, 1.4976483583450317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10306720435619354, -0.006134952884167433, 0.06815548986196518, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9728169441223145, -0.6016995310783386, -1.5169357061386108, -1.5984646081924438, -0.6238247156143188, -0.14330700039863586, -1.3620407581329346, 0.08039999374976527, -0.08039999374976527, 0.08039999374976527, 0.08039999374976527, -0.08039999374976527, -0.08039999374976527, 0.08039999374976527, 0.08039999374976527, -1.0156886577606201, -0.26084429025650024, 1.661867380142212, -1.655595064163208, 1.2138347625732422, 0.3225037753582001, 1.4976519346237183, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10617303103208542, -0.006134952884167433, 0.06403356790542603, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9707913994789124, -0.600440502166748, -1.5271310806274414, -1.595409870147705, -0.6422251462936401, -0.13177697360515594, -1.3663712739944458, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.015688419342041, -0.2608450949192047, 1.6618669033050537, -1.655595302581787, 1.2138348817825317, 0.3225032687187195, 1.4976516962051392, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11134939640760422, -0.0064225285314023495, 0.06000750884413719, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005655659828335047, 0.14934775233268738, 0.9671257138252258, -0.6004142761230469, -1.537797212600708, -1.594017505645752, -0.6858147382736206, -0.11208270490169525, -1.3694372177124023, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156887769699097, -0.26084479689598083, 1.661867380142212, -1.6555949449539185, 1.2138348817825317, 0.32250338792800903, 1.49765145778656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1162957027554512, -0.0077645499259233475, 0.054926998913288116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.9614620804786682, -0.6022013425827026, -1.5463935136795044, -1.598029613494873, -0.7453302145004272, -0.09359655529260635, -1.367164969444275, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156883001327515, -0.2608444392681122, 1.6618674993515015, -1.655595064163208, 1.2138350009918213, 0.3225032687187195, 1.4976506233215332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12193218618631363, -0.008818994276225567, 0.047450024634599686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.9493491649627686, -0.6057615280151367, -1.550489068031311, -1.607208490371704, -0.8063041567802429, -0.0765051320195198, -1.346266746520996, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156879425048828, -0.260844349861145, 1.6618680953979492, -1.6555942296981812, 1.2138350009918213, 0.3225032687187195, 1.4976497888565063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1266484260559082, -0.011023743078112602, 0.039973050355911255, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.9334034323692322, -0.6116124987602234, -1.545570969581604, -1.6168179512023926, -0.8709681630134583, -0.06784065812826157, -1.3177897930145264, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015688419342041, -0.2608448565006256, 1.6618672609329224, -1.6555945873260498, 1.2138348817825317, 0.32250338792800903, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12917910516262054, -0.01313263364136219, 0.03374224156141281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.9101458787918091, -0.618145763874054, -1.5324405431747437, -1.6253695487976074, -0.9183799028396606, -0.06529964506626129, -1.2887229919433594, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156885385513306, -0.260844349861145, 1.661867618560791, -1.6555944681167603, 1.2138347625732422, 0.3225036561489105, 1.497648000717163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1318248063325882, -0.01466637197881937, 0.028278298676013947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.883580207824707, -0.6258788108825684, -1.5106207132339478, -1.6289645433425903, -0.9564526081085205, -0.06799669563770294, -1.261558175086975, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015688180923462, -0.26084473729133606, 1.6618683338165283, -1.6555933952331543, 1.2138346433639526, 0.3225037753582001, 1.4976489543914795, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13263000547885895, -0.01581667549908161, 0.022622639313340187, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.8538652062416077, -0.6338685750961304, -1.4856956005096436, -1.628354787826538, -0.9831650853157043, -0.07452666014432907, -1.2406824827194214, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156885385513306, -0.26084423065185547, 1.6618674993515015, -1.6555938720703125, 1.2138347625732422, 0.32250338792800903, 1.497648000717163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13263000547885895, -0.018021423369646072, 0.016295967623591423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.81879723072052, -0.641923189163208, -1.4588431119918823, -1.623639702796936, -1.0016719102859497, -0.07870819419622421, -1.2265037298202515, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156888961791992, -0.26084429025650024, 1.6618674993515015, -1.6555931568145752, 1.2138350009918213, 0.32250338792800903, 1.4976484775543213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13263000547885895, -0.01878829300403595, 0.009777581319212914, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.7826329469680786, -0.6499437689781189, -1.4288227558135986, -1.6149413585662842, -1.0081102848052979, -0.08304360508918762, -1.2223254442214966, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156880617141724, -0.26084399223327637, 1.6618682146072388, -1.6555933952331543, 1.2138346433639526, 0.3225036561489105, 1.4976487159729004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1286039501428604, -0.01926758699119091, 0.0021088900975883007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.7463920712471008, -0.658493161201477, -1.39889657497406, -1.60262131690979, -1.0122982263565063, -0.08941693603992462, -1.2154154777526855, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156883001327515, -0.2608446478843689, 1.6618672609329224, -1.6555935144424438, 1.21383535861969, 0.3225038945674896, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1284889131784439, -0.021088900044560432, -0.005368083715438843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.7058242559432983, -0.6669287085533142, -1.373576283454895, -1.5937016010284424, -1.02096426486969, -0.09052128344774246, -1.2062259912490845, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156887769699097, -0.2608446478843689, 1.6618674993515015, -1.6555932760238647, 1.2138351202011108, 0.32250338792800903, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13044443726539612, -0.02271849662065506, -0.010736167430877686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.6630199551582336, -0.6748074889183044, -1.3544152975082397, -1.583512544631958, -1.031382441520691, -0.0898619145154953, -1.1966952085494995, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156887769699097, -0.26084455847740173, 1.6618672609329224, -1.6555932760238647, 1.2138346433639526, 0.3225036561489105, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13205486536026, -0.02310193143785, -0.012749198824167252, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.6183906197547913, -0.6826385259628296, -1.3363090753555298, -1.571466326713562, -1.0407233238220215, -0.08738741278648376, -1.1890692710876465, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015688180923462, -0.2608442008495331, 1.6618672609329224, -1.655592679977417, 1.2138346433639526, 0.3225037753582001, 1.4976505041122437, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1351606845855713, -0.02358122542500496, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9785947203636169, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.5715925693511963, -0.6915047764778137, -1.3156423568725586, -1.5564035177230835, -1.0528810024261475, -0.08525829017162323, -1.1803476810455322, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015688180923462, -0.26084449887275696, 1.6618678569793701, -1.6555925607681274, 1.2138350009918213, 0.3225036561489105, 1.4976502656936646, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13803644478321075, -0.023868801072239876, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9228157997131348, -0.11188359558582306, 0.005751518066972494, 0.14934775233268738, 0.5304313898086548, -0.7007114887237549, -1.2931870222091675, -1.544979453086853, -1.0668030977249146, -0.08926761150360107, -1.183175802230835, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156887769699097, -0.26084470748901367, 1.661867380142212, -1.655592679977417, 1.2138347625732422, 0.32250338792800903, 1.4976495504379272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1386115849018097, -0.022047486156225204, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9784988164901733, 1.9229117631912231, -0.11178773641586304, 0.005655659828335047, 0.14934775233268738, 0.5227952599525452, -0.7046234607696533, -1.2898740768432617, -1.5512551069259644, -1.074332594871521, -0.09566155821084976, -1.193953037261963, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015690565109253, -0.26084592938423157, 1.6618657112121582, -1.6555927991867065, 1.213834524154663, 0.3225036561489105, 1.4976482391357422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1386115849018097, -0.019842738285660744, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9785947203636169, 1.9229117631912231, -0.11188359558582306, 0.005751518066972494, 0.14934775233268738, 0.5215327739715576, -0.706464409828186, -1.2951598167419434, -1.5597083568572998, -1.0805890560150146, -0.09190378338098526, -1.1993680000305176, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156899690628052, -0.2608450949192047, 1.661867618560791, -1.6555925607681274, 1.2138348817825317, 0.3225036561489105, 1.49764883518219, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13216988742351532, -0.01754213124513626, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9785947203636169, 1.9229117631912231, -0.11197945475578308, 0.005655659828335047, 0.14934775233268738, 0.487851619720459, -0.7130347490310669, -1.281604290008545, -1.5446535348892212, -1.0818084478378296, -0.07843291759490967, -1.2012691497802734, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156885385513306, -0.26084545254707336, 1.661866545677185, -1.6555956602096558, 1.2138352394104004, 0.3225036561489105, 1.4976483583450317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12768369913101196, -0.015912534669041634, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853279466540102, -0.1706717134739443, 6.133889249521056e-05, -0.3696615993976593], [0.17067147930005588, 0.9853270766500176, 0.0013409600519637375, 0.1294666826725006], [-0.000289302821396016, -0.0013108166150256999, 0.9999990990314338, -0.0006894823163747787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9788822531700134, 1.9203234910964966, -0.11514279246330261, 0.007285256404429674, 0.1503063440322876, 0.4422408640384674, -0.7227100133895874, -1.2518726587295532, -1.5148730278015137, -1.083756685256958, -0.07663420587778091, -1.2121402025222778, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156941413879395, -0.2608470916748047, 1.6618647575378418, -1.6555907726287842, 1.213834524154663, 0.3225035071372986, 1.497648000717163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1231975182890892, -0.014953947626054287, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853152022975769, -0.1707452833176847, 1.8602386176127466e-05, -0.3697085976600647], [0.1707451088140111, 0.9853143398125932, 0.0013264900170126177, 0.12945029139518738], [-0.00024482111162696976, -0.0013038345130066606, 0.9999991200387058, -0.0007032967987470329], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9792656898498535, 1.911983847618103, -0.1232907772064209, 0.010161015205085278, 0.1537572592496872, 0.41392210125923157, -0.7304982542991638, -1.2294923067092896, -1.4915940761566162, -1.0841724872589111, -0.08191457390785217, -1.2233097553253174, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015689492225647, -0.2608453929424286, 1.6618664264678955, -1.655591607093811, 1.2138348817825317, 0.32250338792800903, 1.497648000717163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12273740023374557, -0.015241523273289204, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985352988678167, -0.17052707731966404, 6.003180281474049e-05, -0.36997610330581665], [0.17052686573486373, 0.9853522122063819, 0.0012672658099469577, 0.12965956330299377], [-0.00027525560446363336, -0.0012384671181024816, 0.999999195216451, -0.0006627048715017736], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9786905646324158, 1.9020144939422607, -0.1353689581155777, 0.013899502344429493, 0.15931706130504608, 0.393452525138855, -0.7367411851882935, -1.2126643657684326, -1.4713002443313599, -1.081132411956787, -0.0858064517378807, -1.2316781282424927, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156892538070679, -0.2608448565006256, 1.6618671417236328, -1.6555925607681274, 1.2138347625732422, 0.3225037753582001, 1.4976497888565063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12239231169223785, -0.015624958090484142, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853460676026581, -0.17056704879414358, 9.447557470639504e-05, -0.3686348795890808], [0.17056679650816314, 0.9853453087189306, 0.0012611560325026144, 0.1298186331987381], [-0.0003082027268583732, -0.0012265607411338837, 0.999999200279594, -0.0006504987832158804], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9754313826560974, 1.8907032012939453, -0.1508980691432953, 0.018021423369646072, 0.16478100419044495, 0.37683922052383423, -0.7417069673538208, -1.2000079154968262, -1.4551366567611694, -1.0768704414367676, -0.08765645325183868, -1.240599513053894, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015689492225647, -0.26084524393081665, 1.6618670225143433, -1.655592679977417, 1.2138350009918213, 0.3225036561489105, 1.4976511001586914, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.014091219753026962, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853625704702329, -0.1704716475735385, 0.00014862657440014478, -0.3663235902786255], [0.17047136255358117, 0.9853619402282933, 0.00116674704156334, 0.13003048300743103], [-0.00034534826019726585, -0.0011243322893137286, 0.999999308305502, -0.0006112589035183191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9674751162528992, 1.8793919086456299, -0.16987808048725128, 0.02271849662065506, 0.1689029186964035, 0.36280393600463867, -0.7455811500549316, -1.1905676126480103, -1.441121220588684, -1.0723026990890503, -0.08690132945775986, -1.2501088380813599, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.015689730644226, -0.26084470748901367, 1.661867380142212, -1.6555933952331543, 1.2138348817825317, 0.32250338792800903, 1.497653841972351, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.013995361514389515, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853715891331408, -0.17041947098625787, 0.00018771785389210628, -0.36484771966934204], [0.17041913860413616, 0.9853709626994271, 0.0011760383618204479, 0.13015899062156677], [-0.0003853915578865212, -0.0011268440745076406, 0.999999290847638, -0.000606451416388154], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9574099183082581, 1.8680806159973145, -0.1906794011592865, 0.027415569871664047, 0.17158696055412292, 0.3516203463077545, -0.7485368847846985, -1.1842373609542847, -1.4303910732269287, -1.069055199623108, -0.08393703401088715, -1.2589619159698486, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156922340393066, -0.26084649562835693, 1.6618655920028687, -1.6555927991867065, 1.213834524154663, 0.32250338792800903, 1.497652530670166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.011023743078112602, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853636970336128, -0.17046519957992362, 1.733283875866822e-05, -0.3651195466518402], [0.1704650566487673, 0.9853629927189363, 0.0011987667470908642, 0.1302148699760437], [-0.00022142715066417607, -0.0011782665904535314, 0.9999992813286711, -0.0006680976366624236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.947632372379303, 1.8559064865112305, -0.2153150737285614, 0.0315374918282032, 0.17254555225372314, 0.34249770641326904, -0.7505861520767212, -1.1806247234344482, -1.4237738847732544, -1.0656908750534058, -0.08081477880477905, -1.2685703039169312, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.0156886577606201, -0.26084309816360474, 1.6618690490722656, -1.6555932760238647, 1.2138350009918213, 0.32250338792800903, 1.4976534843444824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.008627277798950672, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853588823996992, -0.1704929970812226, 0.00010403017848972405, -0.366033136844635], [0.17049275603062294, 0.9853582139057309, 0.0011876150850958086, 0.13026073575019836], [-0.00030498704610578445, -0.0011524906811299588, 0.9999992893738133, -0.0006420802674256265], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9354583024978638, 1.8427739143371582, -0.24196377396583557, 0.03556355461478233, 0.17254555225372314, 0.33596372604370117, -0.7517178058624268, -1.1796348094940186, -1.4217658042907715, -1.0632319450378418, -0.0752580538392067, -1.276465892791748, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156903266906738, -0.2608451843261719, 1.661867380142212, -1.655593752861023, 1.2138348817825317, 0.32250314950942993, 1.497653841972351, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.0071893977001309395, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853528435049086, -0.1705279173099685, 5.6698463335130074e-05, -0.3654037415981293], [0.17052772767163935, 0.9853521468285188, 0.00120034810636533, 0.13031788170337677], [-0.0002605608151945927, -0.0011730977596877965, 0.9999992779745932, -0.0006522736512124538], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9189706444740295, 1.8294495344161987, -0.27033793926239014, 0.038631029427051544, 0.17110766470432281, 0.3356872797012329, -0.7518675923347473, -1.1813896894454956, -1.4235670566558838, -1.0621907711029053, -0.06940927356481552, -1.2815536260604858, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156909227371216, -0.26084500551223755, 1.6618672609329224, -1.6555933952331543, 1.213834524154663, 0.3225035071372986, 1.4976541996002197, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.005847376771271229, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853662075507501, -0.1704506877900637, 6.996166195264987e-06, -0.36452969908714294], [0.17045055583198881, 0.9853654941494011, 0.0012045564630693772, 0.13041792809963226], [-0.00021221125837229046, -0.0011857367333787416, 0.9999992744971273, -0.0006788939354009926], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9033456444740295, 1.816604495048523, -0.30062925815582275, 0.04064406082034111, 0.1676567643880844, 0.3409906327724457, -0.750586748123169, -1.1866613626480103, -1.4283673763275146, -1.0606443881988525, -0.06340673565864563, -1.2856413125991821, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156898498535156, -0.2608446478843689, 1.6618688106536865, -1.655593991279602, 1.2138350009918213, 0.3225036561489105, 1.4976540803909302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.005847376771271229, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853567905489998, -0.170505117767655, 1.1576380971011042e-05, -0.3644965887069702], [0.17050499310721637, 0.9853561478183387, 0.0011442386605564044, 0.13044585287570953], [-0.00020650540573174652, -0.0011255095034302762, 0.9999993452917232, -0.0006913060788065195], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8856118321418762, 1.802992582321167, -0.3322626054286957, 0.0418902263045311, 0.16161766648292542, 0.350785493850708, -0.7486749291419983, -1.1926019191741943, -1.436910629272461, -1.057630181312561, -0.056416936218738556, -1.2866113185882568, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.015687108039856, -0.26084205508232117, 1.6618701219558716, -1.6555947065353394, 1.2138351202011108, 0.3225035071372986, 1.4976540803909302, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.006039094179868698, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853574475340514, -0.170501318482456, -3.138348664863256e-05, -0.3642273545265198], [0.17050124457444293, 0.9853568123215934, 0.0011304910411455294, 0.13049745559692383], [-0.00016182628068428336, -0.0011192886902959486, 0.9999993605023368, -0.0006827966426499188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8680697083473206, 1.7897640466690063, -0.3638959527015686, 0.042177800089120865, 0.15529099106788635, 0.36284422874450684, -0.7472701072692871, -1.1947158575057983, -1.448481798171997, -1.0507314205169678, -0.05096399411559105, -1.2856279611587524, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156913995742798, -0.26084545254707336, 1.6618672609329224, -1.6555945873260498, 1.2138347625732422, 0.32250338792800903, 1.4976533651351929, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12227728217840195, -0.006039094179868698, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853613080905386, -0.1704789604422537, -0.00012870365665368366, -0.36406663060188293], [0.17047899852944814, 0.9853607017112999, 0.0010947983427218632, 0.1305295079946518], [-5.9820557928041474e-05, -0.001100713197573167, 0.9999993924257942, -0.0007040203781798482], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8489938378334045, 1.775864601135254, -0.3963920474052429, 0.04246537759900093, 0.14886847138404846, 0.3731989562511444, -0.7473705410957336, -1.1904399394989014, -1.4571130275726318, -1.039237380027771, -0.050179507583379745, -1.282142996788025, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156880617141724, -0.2608427405357361, 1.6618691682815552, -1.6555969715118408, 1.2138348817825317, 0.3225037753582001, 1.4976547956466675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12469291687011719, -0.006039094179868698, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853747895298788, -0.17040101396367846, -0.00013637850729574582, -0.363803505897522], [0.1704010639627641, 0.985374262018005, 0.0010203689675910607, 0.1306009739637375], [-3.948803571292588e-05, -0.0010286848994277098, 0.999999470123896, -0.0007041018106974661], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8285759091377258, 1.761965036392212, -0.428600549697876, 0.04371153935790062, 0.1420625001192093, 0.3802674412727356, -0.7484630346298218, -1.180890440940857, -1.463637113571167, -1.0197890996932983, -0.052774570882320404, -1.2827980518341064, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156887769699097, -0.2608419358730316, 1.6618703603744507, -1.6555970907211304, 1.2138352394104004, 0.3225037753582001, 1.4976568222045898, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12561315298080444, -0.006134952884167433, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853505095569385, -0.17054137834471364, -0.00010764834851124202, -0.36350467801094055], [0.17054139907132942, 0.9853499879131606, 0.001016131058349071, 0.13057440519332886], [-6.722109236529915e-05, -0.0010196037560837134, 0.9999994779446164, -0.0007078276248648763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8065284490585327, 1.7473945617675781, -0.46090489625930786, 0.04457426816225052, 0.13669441640377045, 0.38773491978645325, -0.7497226595878601, -1.170671820640564, -1.4636398553848267, -1.0034626722335815, -0.05378292500972748, -1.283566951751709, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156891345977783, -0.26084256172180176, 1.6618692874908447, -1.6555968523025513, 1.21383535861969, 0.32250314950942993, 1.4976552724838257, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12273740023374557, -0.0064225285314023495, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853598206028596, -0.17048760277943478, -3.521394579926388e-05, -0.3633478879928589], [0.17048755114391448, 0.9853593138098591, 0.0010087582042737195, 0.13062424957752228], [-0.00013728237856141357, -0.000999993342580246, 0.999999490583302, -0.0006675504264421761], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7848643660545349, 1.7333033084869385, -0.493496835231781, 0.04467012360692024, 0.13199734687805176, 0.3952789306640625, -0.7507905960083008, -1.163093090057373, -1.4624009132385254, -0.9925390481948853, -0.05468018352985382, -1.2846451997756958, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156869888305664, -0.26084259152412415, 1.661868691444397, -1.6555970907211304, 1.2138350009918213, 0.3225036561489105, 1.497654676437378, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12273740023374557, -0.008243842981755733, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853610778200198, -0.17048030199998582, -0.00011378647751855128, -0.3633347153663635], [0.1704803312060195, 0.9853605936109665, 0.0009783815869282306, 0.1306590884923935], [-5.467407737816949e-05, -0.0009834574913889914, 0.9999995149109363, -0.0006933438708074391], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7618582844734192, 1.7190203666687012, -0.5264722108840942, 0.044765982776880264, 0.12672512233257294, 0.40242457389831543, -0.7512813210487366, -1.156944990158081, -1.4625977277755737, -0.9803758859634399, -0.0512634813785553, -1.2849355936050415, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.015686273574829, -0.2608414590358734, 1.6618708372116089, -1.6555966138839722, 1.2138352394104004, 0.3225032687187195, 1.4976547956466675, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12066685408353806, -0.009106570854783058, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853620185652049, -0.1704748312822648, -0.00015578314450056946, -0.363158255815506], [0.17047490237137178, 0.9853615769855241, 0.0009328783803260253, 0.13067510724067688], [-5.529559560106734e-06, -0.0009457800402637312, 0.9999995527346697, -0.0007160030072554946], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7403859496116638, 1.704641580581665, -0.5591599941253662, 0.0444784089922905, 0.12126117944717407, 0.40894171595573425, -0.7517388463020325, -1.1537338495254517, -1.4612829685211182, -0.9743053913116455, -0.04861496761441231, -1.2822669744491577, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156896114349365, -0.26084378361701965, 1.6618680953979492, -1.6555964946746826, 1.2138347625732422, 0.3225036561489105, 1.4976539611816406, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11756103485822678, -0.009298288263380527, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853666801832662, -0.17044783875263567, -0.00019962255420609767, -0.36297792196273804], [0.17044795090701417, 0.9853662532301086, 0.0009181649403231124, 0.13072742521762848], [4.02020986017695e-05, -0.0009387543944261057, 0.9999995585618917, -0.000749188126064837], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7157502770423889, 1.6895917654037476, -0.5918477773666382, 0.04380739852786064, 0.11637238413095474, 0.41285979747772217, -0.7524840235710144, -1.1507784128189087, -1.4596134424209595, -0.9692800641059875, -0.04580023139715195, -1.2792456150054932, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156936645507812, -0.26084664463996887, 1.661865234375, -1.6555966138839722, 1.2138348817825317, 0.32250338792800903, 1.497653841972351, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11341994255781174, -0.007572832517325878, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853835359707812, -0.17035029442885102, -0.00025342794639622254, -0.362704336643219], [0.1703504585964187, 0.9853831000501178, 0.0009313386115982775, 0.13078857958316803], [9.106980876052093e-05, -0.0009608973011725738, 0.9999995341912248, -0.0007837202283553779], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6878554224967957, 1.6735833883285522, -0.6276030540466309, 0.04294466972351074, 0.11148359626531601, 0.41527846455574036, -0.753601610660553, -1.1464940309524536, -1.457069754600525, -0.9647648334503174, -0.040175676345825195, -1.276918888092041, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156861543655396, -0.2608419954776764, 1.6618709564208984, -1.6555967330932617, 1.2138354778289795, 0.32250338792800903, 1.497653841972351, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1092788502573967, -0.005751518066972494, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853927457286583, -0.17029707200272085, -0.00020960113530382998, -0.3625704348087311], [0.17029719205095584, 0.9853923464423877, 0.0008887926221690966, 0.13082420825958252], [5.518057336101171e-05, -0.0009115042871355147, 0.9999995830574325, -0.0007470313576050103], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6639866232872009, 1.6597797870635986, -0.6600033044815063, 0.04208194091916084, 0.10630723088979721, 0.4174143075942993, -0.7546671628952026, -1.14253830909729, -1.4529305696487427, -0.9598479866981506, -0.036877136677503586, -1.2753775119781494, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.015687108039856, -0.26084229350090027, 1.6618698835372925, -1.6555962562561035, 1.2138350009918213, 0.3225036561489105, 1.4976530075073242, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10617303103208542, -0.004409497138112783, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853870346882095, -0.17033002564169744, -0.00027245784270555533, -0.36253371834754944], [0.1703302020217708, 0.9853866507984423, 0.0008778994539919347, 0.13082626461982727], [0.00011894368459811755, -0.0009114785391139638, 0.999999577529547, -0.0007713326485827565], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6380089521408081, 1.6459760665893555, -0.6926910877227783, 0.04256123676896095, 0.10256874561309814, 0.4226491153240204, -0.7556206583976746, -1.138069987297058, -1.4458645582199097, -0.9558897018432617, -0.02868831716477871, -1.2678264379501343, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.015689492225647, -0.26084208488464355, 1.6618711948394775, -1.655596375465393, 1.2138351202011108, 0.3225035071372986, 1.497653603553772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10594296455383301, -0.0026840418577194214, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853825713290112, -0.17035589615148347, -0.000238259210058715, -0.36214545369148254], [0.1703560391647284, 0.9853822072719305, 0.0008517699242161888, 0.13083529472351074], [8.967235755579314e-05, -0.0008799081334249847, 0.999999608860196, -0.0007715003448538482], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6137567162513733, 1.636390209197998, -0.7234616875648499, 0.0444784089922905, 0.10256874561309814, 0.4199858605861664, -0.7569581866264343, -1.1365493535995483, -1.4435827732086182, -0.9528912305831909, -0.02391020581126213, -1.2579628229141235, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156841278076172, -0.2608383893966675, 1.661874532699585, -1.6555967330932617, 1.2138357162475586, 0.3225032687187195, 1.4976534843444824, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10674817860126495, -0.003163335146382451, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985412822018747, -0.17018099053444224, -2.572479826088223e-05, -0.3615806996822357], [0.17018095285061074, 0.985412478140721, 0.0008313912564966698, 0.13092121481895447], [-0.00011613745034835174, -0.000823641474946022, 0.9999996540633469, -0.0006789719918742776], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5990903377532959, 1.6326518058776855, -0.7428251504898071, 0.045724570751190186, 0.10276045650243759, 0.3988472521305084, -0.7610954642295837, -1.1323058605194092, -1.4427086114883423, -0.9527150988578796, -0.01754610426723957, -1.2425838708877563, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156971216201782, -0.2608495354652405, 1.661860466003418, -1.655594825744629, 1.2138351202011108, 0.3225036561489105, 1.4976494312286377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11744600534439087, -0.006614245939999819, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854114266441085, -0.17018860657453228, -0.00039803447324979186, -0.36206600069999695], [0.17018887207397912, 0.9854111589765847, 0.0007717425806801507, 0.1309497356414795], [0.00026088581715752343, -0.0008282249954789759, 0.9999996229909026, -0.000815203005913645], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5947766900062561, 1.629488468170166, -0.7498228549957275, 0.04639558121562004, 0.10276045650243759, 0.3658198118209839, -0.7692365646362305, -1.1155709028244019, -1.435727596282959, -0.9530755877494812, -0.008628282696008682, -1.2269946336746216, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156891345977783, -0.26084470748901367, 1.6618666648864746, -1.655595064163208, 1.2138358354568481, 0.3225032687187195, 1.4976500272750854, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12434782832860947, -0.008818994276225567, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853871606590471, -0.17032918220150464, -0.00033659897197153946, -0.3638918995857239], [0.1703293979099453, 0.9853868754689113, 0.0007757971717939389, 0.13091634213924408], [0.0001995393114511811, -0.0008217932725943674, 0.9999996424198763, -0.0007893297588452697], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.592667818069458, 1.6285297870635986, -0.7511648535728455, 0.04649144038558006, 0.10276045650243759, 0.32658445835113525, -0.7807467579841614, -1.088694453239441, -1.4157147407531738, -0.9592236876487732, 0.01370444055646658, -1.2067824602127075, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156904458999634, -0.2608460783958435, 1.6618640422821045, -1.655596137046814, 1.21383535861969, 0.32250338792800903, 1.497650146484375, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12216224521398544, -0.008914853446185589, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985401922561002, -0.1702437107344963, -0.0003605113453675996, -0.36258140206336975], [0.1702439275499387, 0.9854017060470566, 0.0006948754720197823, 0.13099950551986694], [0.00023695031591951986, -0.0007461064934304697, 0.9999996935897771, -0.0007855664007365704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5917092561721802, 1.6279547214508057, -0.7518358826637268, 0.04677901417016983, 0.10276045650243759, 0.28383252024650574, -0.7959994673728943, -1.0580573081970215, -1.3914639949798584, -0.9875566959381104, 0.041657883673906326, -1.1800034046173096, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.015690565109253, -0.26084500551223755, 1.661866307258606, -1.655593991279602, 1.2138354778289795, 0.3225036561489105, 1.4976506233215332, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11986164003610611, -0.008914853446185589, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853853923926512, -0.17033927889534767, -0.00039815147088105574, -0.3608563244342804], [0.17033951464625663, 0.9853852100649659, 0.0006614645119693861, 0.13101132214069366], [0.000279659182788076, -0.0007196183959863393, 0.9999997019700084, -0.0007991301827132702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5916133522987366, 1.6278588771820068, -0.7524110078811646, 0.04677901417016983, 0.10276045650243759, 0.2312154918909073, -0.8146451711654663, -1.028688907623291, -1.361169457435608, -1.031230092048645, 0.06866421550512314, -1.1421838998794556, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156896114349365, -0.26084524393081665, 1.6618664264678955, -1.6555944681167603, 1.2138354778289795, 0.3225032687187195, 1.4976495504379272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12262237071990967, -0.008435560390353203, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853915775601373, -0.17030356638841815, -0.00036626347018591914, -0.3605518341064453], [0.17030376739618638, 0.9853914193873563, 0.0006143357688822384, 0.13105134665966034], [0.0002562893083556253, -0.0006677373412827517, 0.999999744221284, -0.000781222537625581], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5910382270812988, 1.6275712251663208, -0.7524110078811646, 0.04687487334012985, 0.10276045650243759, 0.16840527951717377, -0.8348323106765747, -1.0003069639205933, -1.3209012746810913, -1.077433466911316, 0.10070907324552536, -1.1153690814971924, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156898498535156, -0.26084670424461365, 1.6618647575378418, -1.6555938720703125, 1.2138352394104004, 0.3225032687187195, 1.4976493120193481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12618830800056458, -0.006614245939999819, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853925243792674, -0.17029788663574125, -0.000450227559341248, -0.360807329416275], [0.17029815212712304, 0.9853923751187184, 0.0006375264530586377, 0.13108526170253754], [0.00033508139641290997, -0.0007048867223305307, 0.9999996954275369, -0.0008231727406382561], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.627475380897522, -0.752602756023407, 0.04687487334012985, 0.10276045650243759, 0.10447172820568085, -0.8550162315368652, -0.9731034636497498, -1.2730910778045654, -1.1192519664764404, 0.12920552492141724, -1.1014217138290405, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156887769699097, -0.2608449459075928, 1.6618666648864746, -1.655593991279602, 1.213835597038269, 0.32250338792800903, 1.4976496696472168, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12756867706775665, -0.006326670292764902, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854059059755572, -0.17022047378049104, -0.00043677733061338504, -0.3609897494316101], [0.17022071552652263, 0.9854057822051605, 0.0005936347988249986, 0.13113833963871002], [0.000329354110413987, -0.0006593197864975403, 0.9999997284116077, -0.0008093811338767409], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.042871467769145966, -0.8744539618492126, -0.946329653263092, -1.2231230735778809, -1.1487095355987549, 0.15488962829113007, -1.0989317893981934, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156893730163574, -0.26084578037261963, 1.6618657112121582, -1.655593752861023, 1.21383535861969, 0.3225036561489105, 1.4976497888565063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12791377305984497, -0.004601214546710253, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853942774967712, -0.17028761680995258, -0.0004954167971427552, -0.36085447669029236], [0.170287890293658, 0.9853941869615751, 0.0005750840559429545, 0.13113677501678467], [0.0003902511386756656, -0.0006510480190073014, 0.9999997119202214, -0.0008271663682535291], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, -0.014762268401682377, -0.8946680426597595, -0.9201914668083191, -1.1730551719665527, -1.180498480796814, 0.17795686423778534, -1.095879077911377, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156892538070679, -0.26084578037261963, 1.6618664264678955, -1.6555930376052856, 1.2138352394104004, 0.32250338792800903, 1.4976500272750854, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12791377305984497, -0.003163335146382451, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854103085232434, -0.17019484345825775, -0.0004889952407540722, -0.36066460609436035], [0.17019510912230384, 0.9854102216502333, 0.0005655953369782395, 0.13119402527809143], [0.00038559949873964743, -0.0006405680738714612, 0.9999997204927455, -0.0008271277765743434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, -0.06665536016225815, -0.9141395092010498, -0.8922624588012695, -1.1282198429107666, -1.1958985328674316, 0.19233471155166626, -1.0998345613479614, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156886577606201, -0.2608453929424286, 1.6618669033050537, -1.6555932760238647, 1.21383535861969, 0.32250338792800903, 1.4976495504379272, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12572818994522095, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854155947610106, -0.17016418344501483, -0.0005062354145949339, -0.360660582780838], [0.1701644401100404, 0.9854155452390004, 0.0005162590046212555, 0.1312243938446045], [0.0004110034551248462, -0.0005948729399780029, 0.9999997386011384, -0.0008256943547166884], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, -0.10501836240291595, -0.9309937357902527, -0.8641624450683594, -1.084392786026001, -1.19330894947052, 0.19440414011478424, -1.1130743026733398, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156880617141724, -0.2608434855937958, 1.661868929862976, -1.6555931568145752, 1.213835597038269, 0.32250338792800903, 1.4976502656936646, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12170212715864182, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854060833477712, -0.17021927917400068, -0.0004978942547363334, -0.36057114601135254], [0.17021952393283876, 0.9854060404722532, 0.0004990720126459776, 0.1312253624200821], [0.0004056763278850977, -0.0005765399203000764, 0.9999997515141877, -0.0008215288980863988], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, -0.11569710820913315, -0.9452416896820068, -0.8385074734687805, -1.0424625873565674, -1.1974506378173828, 0.19060838222503662, -1.127573013305664, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156885385513306, -0.26084405183792114, 1.6618685722351074, -1.6555931568145752, 1.2138354778289795, 0.3225037753582001, 1.4976500272750854, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11698587983846664, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854010190221787, -0.17024840366055483, -0.0005592504668882381, -0.3604452610015869], [0.17024866556486198, 0.985401025306526, 0.00045956308719077583, 0.13122518360614777], [0.00047284610149927726, -0.0005480655801270174, 0.9999997380203077, -0.0008354128221981227], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5906547904014587, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.11358513683080673, -0.9564708471298218, -0.819435179233551, -1.015838861465454, -1.2059406042099, 0.1869480311870575, -1.133012056350708, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156855583190918, -0.26084280014038086, 1.6618711948394775, -1.6555933952331543, 1.2138354778289795, 0.32250338792800903, 1.4976496696472168, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11134939640760422, 0.0010544450487941504, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854258034773511, -0.1701044413218015, -0.0006818237417054624, -0.3605223000049591], [0.1701047459383487, 0.9854258987616886, 0.00041648405506744, 0.1312897801399231], [0.0006010409859604774, -0.0005263955889578794, 0.9999996808286576, -0.0008741214987821877], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5906547904014587, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.1071953997015953, -0.9657868146896362, -0.8049187660217285, -1.0035748481750488, -1.2142666578292847, 0.18752267956733704, -1.1339350938796997, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156868696212769, -0.26084184646606445, 1.6618716716766357, -1.655592918395996, 1.2138354778289795, 0.3225032687187195, 1.4976491928100586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10824357718229294, 0.001629596808925271, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854192045771131, -0.17014269827769357, -0.0006734043327697933, -0.36050450801849365], [0.1701429845985108, 0.9854193068030341, 0.0003931561248465868, 0.131287083029747], [0.0005966929868703695, -0.0005019986188399652, 0.9999996959773868, -0.0008704937063157558], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.1032215803861618, -0.9738684296607971, -0.7953366637229919, -1.003333330154419, -1.2245088815689087, 0.19208136200904846, -1.1331733465194702, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0156887769699097, -0.26084405183792114, 1.661868929862976, -1.6555927991867065, 1.2138354778289795, 0.3225035071372986, 1.4976485967636108, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10789848119020462, 0.003259193617850542, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854305073192876, -0.17007708439728336, -0.0007075361268816462, -0.36029770970344543], [0.1700773917628065, 0.9854306274081782, 0.0003992205970825428, 0.1313403844833374], [0.0006293294942437915, -0.0005137400545533476, 0.9999996700077176, -0.000886972586158663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10266460478305817, -0.102287657558918, -0.9806616306304932, -0.7888714075088501, -1.0079482793807983, -1.2307995557785034, 0.19844067096710205, -1.1285068988800049, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0226643085479736, -0.26358869671821594, 1.6556286811828613, -1.6622234582901, 1.2080575227737427, 0.3131462335586548, 1.4786566495895386, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10778345167636871, 0.004409497138112783, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854062764720886, -0.17021724050227058, -0.0007492163945892409, -0.36021414399147034], [0.17021757302189539, 0.9854064208085541, 0.0004045538413731737, 0.13130247592926025], [0.0006694206072901383, -0.0005261796908152143, 0.9999996375054261, -0.0009041196899488568], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.10247241705656052, -0.9862307906150818, -0.7858514189720154, -1.0166484117507935, -1.2386034727096558, 0.20781005918979645, -1.1245366334915161, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.030526876449585, -0.2707887589931488, 1.635536551475525, -1.6819262504577637, 1.1994234323501587, 0.2963765859603882, 1.416582703590393, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11295981705188751, 0.004601214546710253, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854261055160237, -0.17010210650211693, -0.0008148196517389361, -0.36013516783714294], [0.17010245258116846, 0.9854263110586673, 0.00037563170532540694, 0.13135120272636414], [0.0007390489792463736, -0.000508760109659285, 0.9999995974847975, -0.000917540630325675], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, -0.0950993150472641, -0.9895904660224915, -0.7847589254379272, -1.0263348817825317, -1.2456201314926147, 0.21602392196655273, -1.1229902505874634, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -1.0166670083999634, -0.27793145179748535, 1.6118128299713135, -1.7040600776672363, 1.2008485794067383, 0.2943570017814636, 1.3636469841003418, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12262237071990967, 0.003546769730746746, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854191444816152, -0.17014303668963077, -0.0006758366315496791, -0.36019188165664673], [0.17014334564707, 0.9854192294742882, 0.000429085448189761, 0.13137024641036987], [0.0005929765115578459, -0.0005378181208673732, 0.9999996795652115, -0.000878158665727824], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.07656840980052948, -0.9884411692619324, -0.7862473726272583, -1.026943325996399, -1.2428704500198364, 0.22506853938102722, -1.11862313747406, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.993990957736969, -0.2839721143245697, 1.5885815620422363, -1.7259280681610107, 1.2057675123214722, 0.301519513130188, 1.3383740186691284, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13251498341560364, 0.003259193617850542, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985429413292788, -0.1700835103681763, -0.0006862348504978147, -0.3599992096424103], [0.17008379804986706, 0.9854295274430945, 0.00038481711433321854, 0.13139481842517853], [0.0006107850387854985, -0.0004959275329292583, 0.9999996904987113, -0.0008699976606294513], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.05146200954914093, -0.9793962240219116, -0.7944044470787048, -1.0136672258377075, -1.2140700817108154, 0.229916512966156, -1.1153185367584229, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9900687336921692, -0.28486743569374084, 1.584985375404358, -1.7290658950805664, 1.2061514854431152, 0.30313295125961304, 1.3353372812271118, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14309777319431305, 0.0012461623409762979, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854310803485281, -0.17007428431646862, -0.0005689440865903897, -0.36004212498664856], [0.1700745197409057, 0.985431125030187, 0.0003944066939187009, 0.13141754269599915], [0.0004935767751301924, -0.0004854235067712855, 0.9999997603729643, -0.0008314443402923644], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.02331935428082943, -0.9637762308120728, -0.8118054270744324, -0.9934583306312561, -1.1759401559829712, 0.23632796108722687, -1.1171023845672607, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9897013306617737, -0.2849554121494293, 1.5846993923187256, -1.7293717861175537, 1.2062053680419922, 0.30328381061553955, 1.3350694179534912, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1511498987674713, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.0020560934208333492, -0.9426901936531067, -0.837323784828186, -0.9625507593154907, -1.1277885437011719, 0.24264411628246307, -1.123211145401001, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9896783828735352, -0.2849597930908203, 1.5846532583236694, -1.7294164896011353, 1.2062112092971802, 0.3032955527305603, 1.3350534439086914, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.155981183052063, -0.002779900562018156, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6272836923599243, -0.7526986002922058, 0.046587299555540085, 0.10276045650243759, 0.0169267188757658, -0.9228383302688599, -0.8590731024742126, -0.9337457418441772, -1.0730184316635132, 0.24526579678058624, -1.1328812837600708, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9896710515022278, -0.28496038913726807, 1.5846511125564575, -1.7294172048568726, 1.2062108516693115, 0.30329629778862, 1.3350504636764526, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.15816675126552582, -0.004217780195176601, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.046587299555540085, 0.10285631567239761, 0.019073592498898506, -0.9117716550827026, -0.8691693544387817, -0.9110167026519775, -1.0256773233413696, 0.235020712018013, -1.1350362300872803, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9896721839904785, -0.28495994210243225, 1.5846518278121948, -1.7294113636016846, 1.2062108516693115, 0.30329591035842896, 1.3350502252578735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.15333548188209534, -0.005559801124036312, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.00902576930820942, -0.9123135209083557, -0.8634713292121887, -0.8997822999954224, -0.9919189810752869, 0.21666280925273895, -1.1353983879089355, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.989673376083374, -0.28495919704437256, 1.5846537351608276, -1.729411005973816, 1.2062104940414429, 0.3032953143119812, 1.335052251815796, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14091220498085022, -0.005655659828335047, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.046587299555540085, 0.10285631567239761, -0.0034736276138573885, -0.9240269064903259, -0.8482006788253784, -0.9030041694641113, -0.9959428906440735, 0.20546546578407288, -1.1327577829360962, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.9896760582923889, -0.28495776653289795, 1.5846565961837769, -1.7294089794158936, 1.2062097787857056, 0.30329471826553345, 1.3350549936294556, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12710855901241302, -0.002875759033486247, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, -0.010040383785963058, -0.9429117441177368, -0.8244279026985168, -0.9221330285072327, -1.0249903202056885, 0.2013343721628189, -1.1290327310562134, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896766543388367, -0.2849563956260681, 1.5846598148345947, -1.7294070720672607, 1.206209659576416, 0.30329447984695435, 1.3350567817687988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1127297580242157, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, -0.011841363273561, -0.9623234868049622, -0.801383912563324, -0.9447574615478516, -1.0615187883377075, 0.19924744963645935, -1.1269813776016235, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896745681762695, -0.28495481610298157, 1.5846627950668335, -1.7293988466262817, 1.2062089443206787, 0.30329376459121704, 1.335058331489563, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10042151063680649, 0.0011503036366775632, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.046970732510089874, 0.10266460478305817, -0.005861185025423765, -0.9785466194152832, -0.7813707590103149, -0.9725112318992615, -1.0967726707458496, 0.20573043823242188, -1.1282716989517212, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.28495344519615173, 1.5846636295318604, -1.7293970584869385, 1.2062081098556519, 0.3032926917076111, 1.3350588083267212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08949362486600876, 0.002779900562018156, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.00684718694537878, -0.988653838634491, -0.7703831195831299, -1.0026527643203735, -1.1284236907958984, 0.21871928870677948, -1.132055640220642, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896763563156128, -0.2849540114402771, 1.5846630334854126, -1.729400873184204, 1.2062071561813354, 0.3032919764518738, 1.3350588083267212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08305192738771439, 0.003642628202214837, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04687487334012985, 0.10266460478305817, 0.02615801803767681, -0.9936256408691406, -0.7681789994239807, -1.036412000656128, -1.1605713367462158, 0.23753345012664795, -1.130545735359192, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896775484085083, -0.2849538028240204, 1.5846635103225708, -1.7294001579284668, 1.2062063217163086, 0.3032910227775574, 1.3350592851638794, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07764549553394318, 0.0054639424197375774, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.048327334225177765, -0.9931926131248474, -0.7717694640159607, -1.0661154985427856, -1.1734243631362915, 0.25200894474983215, -1.125001311302185, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896771907806396, -0.28495466709136963, 1.584662914276123, -1.7294032573699951, 1.2062052488327026, 0.3032902777194977, 1.3350591659545898, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07522986084222794, 0.00853141862899065, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.0739980936050415, -0.9868272542953491, -0.7828701138496399, -1.0810868740081787, -1.1730213165283203, 0.26833757758140564, -1.1147708892822266, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.2849554717540741, 1.584662914276123, -1.7294037342071533, 1.2062036991119385, 0.30329015851020813, 1.335059642791748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0762651339173317, 0.011886470951139927, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.1016768142580986, -0.9757806062698364, -0.8012890219688416, -1.0871673822402954, -1.1626605987548828, 0.2841641902923584, -1.1069598197937012, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.28495484590530396, 1.584662675857544, -1.7294044494628906, 1.206202507019043, 0.3032892048358917, 1.3350598812103271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08075131475925446, 0.013611926697194576, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.12960635125637054, -0.961257815361023, -0.8269328474998474, -1.0885072946548462, -1.1489107608795166, 0.2997053265571594, -1.097437858581543, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896771907806396, -0.2849559485912323, 1.584662675857544, -1.7294083833694458, 1.206201195716858, 0.3032880127429962, 1.3350600004196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08443228900432587, 0.015241523273289204, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10266460478305817, 0.15070967376232147, -0.9441972970962524, -0.8543832898139954, -1.0755023956298828, -1.111496090888977, 0.30566808581352234, -1.090301275253296, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896780848503113, -0.284954696893692, 1.5846624374389648, -1.7294107675552368, 1.2062008380889893, 0.30328765511512756, 1.335060954093933, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08995374292135239, 0.015433240681886673, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.046587299555540085, 0.10276045650243759, 0.15656620264053345, -0.9290304780006409, -0.88227778673172, -1.0498607158660889, -1.0707998275756836, 0.3012746572494507, -1.078900694847107, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896761775016785, -0.28495436906814575, 1.5846631526947021, -1.7294100522994995, 1.2062007188796997, 0.30328741669654846, 1.335060715675354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09443993121385574, 0.01754213124513626, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.046587299555540085, 0.10276045650243759, 0.1478806883096695, -0.9203160405158997, -0.9025680422782898, -1.0254303216934204, -1.0375068187713623, 0.2861859202384949, -1.068305492401123, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896770715713501, -0.28495386242866516, 1.5846633911132812, -1.729407787322998, 1.2061994075775146, 0.3032872974872589, 1.3350615501403809, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09593532234430313, 0.0179255660623312, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.13380277156829834, -0.9191747903823853, -0.9080867767333984, -1.0158406496047974, -1.0132087469100952, 0.2682333290576935, -1.0543420314788818, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896788001060486, -0.28495416045188904, 1.5846636295318604, -1.729406476020813, 1.2061982154846191, 0.30328717827796936, 1.3350602388381958, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09639544785022736, 0.015624958090484142, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04668315500020981, 0.10285631567239761, 0.12477245926856995, -0.9246105551719666, -0.9012414216995239, -1.0197608470916748, -1.0093642473220825, 0.2577889561653137, -1.0490237474441528, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896776080131531, -0.28495439887046814, 1.5846636295318604, -1.7294062376022339, 1.2061985731124878, 0.30328717827796936, 1.335060715675354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09432490170001984, 0.015049805864691734, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.12436504662036896, -0.9341742992401123, -0.8859225511550903, -1.034340262413025, -1.021659016609192, 0.2542458176612854, -1.0431498289108276, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896784424781799, -0.28495484590530396, 1.5846635103225708, -1.7294048070907593, 1.2061985731124878, 0.30328693985939026, 1.3350602388381958, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08937859535217285, 0.013420209288597107, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.12797708809375763, -0.9448322057723999, -0.8689094185829163, -1.0556304454803467, -1.0411089658737183, 0.25421464443206787, -1.0392881631851196, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774291992188, -0.2849549651145935, 1.5846633911132812, -1.7294055223464966, 1.2061985731124878, 0.30328693985939026, 1.3350600004196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0832819864153862, 0.012557481415569782, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.13254177570343018, -0.9556774497032166, -0.8527234792709351, -1.0808058977127075, -1.06546151638031, 0.25899744033813477, -1.037533164024353, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896779656410217, -0.28495579957962036, 1.5846636295318604, -1.7294056415557861, 1.2061982154846191, 0.30328741669654846, 1.3350598812103271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0779905915260315, 0.010448591783642769, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.13731054961681366, -0.9675828814506531, -0.8371881246566772, -1.1144336462020874, -1.0990004539489746, 0.2669234573841095, -1.0362801551818848, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896773099899292, -0.28495514392852783, 1.5846633911132812, -1.729405164718628, 1.2061985731124878, 0.30328741669654846, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07580500841140747, 0.010161015205085278, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.14062005281448364, -0.9774516224861145, -0.8286333084106445, -1.1415793895721436, -1.134414792060852, 0.2762008011341095, -1.030531644821167, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896777272224426, -0.2849557101726532, 1.5846630334854126, -1.7294052839279175, 1.2061980962753296, 0.30328741669654846, 1.3350597620010376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07235410064458847, 0.010161015205085278, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7526986002922058, 0.046970732510089874, 0.10276045650243759, 0.14399969577789307, -0.9824610948562622, -0.826238214969635, -1.1470890045166016, -1.146068811416626, 0.28186142444610596, -1.023176908493042, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896772503852844, -0.2849552035331726, 1.5846632719039917, -1.7294046878814697, 1.2061985731124878, 0.3032870590686798, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07154888659715652, 0.011886470951139927, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.14720109105110168, -0.9813728332519531, -0.8310950994491577, -1.1256866455078125, -1.1328911781311035, 0.2835470139980316, -1.0197787284851074, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896777868270874, -0.284956157207489, 1.584662914276123, -1.7294050455093384, 1.2061985731124878, 0.30328717827796936, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07258415967226028, 0.012940916232764721, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.14864712953567505, -0.9765809774398804, -0.8433550596237183, -1.0974607467651367, -1.1130002737045288, 0.28233250975608826, -1.0203372240066528, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774291992188, -0.2849552631378174, 1.5846623182296753, -1.7294044494628906, 1.2061985731124878, 0.30328717827796936, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07592003792524338, 0.01332435104995966, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.14964766800403595, -0.9703612923622131, -0.857697069644928, -1.070153832435608, -1.0907530784606934, 0.2803945541381836, -1.020978331565857, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.2849554717540741, 1.584662675857544, -1.729404091835022, 1.2061985731124878, 0.3032872974872589, 1.335059642791748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08132646977901459, 0.013420209288597107, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.14766037464141846, -0.9614572525024414, -0.8767969608306885, -1.033442497253418, -1.0624456405639648, 0.27656692266464233, -1.020719051361084, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896775484085083, -0.2849562168121338, 1.5846619606018066, -1.7294034957885742, 1.206198811531067, 0.30328741669654846, 1.3350598812103271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.085007444024086, 0.011023743078112602, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.13779106736183167, -0.9515893459320068, -0.8963528871536255, -0.9915527105331421, -1.024703860282898, 0.2658085525035858, -1.0202341079711914, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.28495484590530396, 1.5846620798110962, -1.7294028997421265, 1.2061985731124878, 0.30328741669654846, 1.3350600004196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08811326324939728, 0.009969298727810383, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.11721256375312805, -0.9423277974128723, -0.906592845916748, -0.9612225890159607, -0.9600242376327515, 0.24287913739681244, -1.0213216543197632, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.2849552035331726, 1.5846620798110962, -1.7294033765792847, 1.2061989307403564, 0.3032870590686798, 1.3350601196289062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09064392745494843, 0.009873439557850361, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.10308375954627991, -0.9385993480682373, -0.9116806387901306, -0.9409936666488647, -0.9264121055603027, 0.22780956327915192, -1.0254237651824951, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896776676177979, -0.2849556505680084, 1.5846621990203857, -1.7294031381607056, 1.2061986923217773, 0.30328717827796936, 1.335059642791748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09075895696878433, 0.009873439557850361, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.10163341462612152, -0.9411805272102356, -0.9058576226234436, -0.9458502531051636, -0.9225826859474182, 0.2261945754289627, -1.0304182767868042, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774291992188, -0.28495490550994873, 1.584662675857544, -1.729402780532837, 1.2061986923217773, 0.3032870590686798, 1.3350598812103271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08627277612686157, 0.009873439557850361, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.11188852041959763, -0.9471975564956665, -0.893941342830658, -0.9652933478355408, -0.9368693232536316, 0.23179157078266144, -1.033661127090454, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896776080131531, -0.28495579957962036, 1.5846621990203857, -1.7294034957885742, 1.2061986923217773, 0.30328741669654846, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08224671334028244, 0.008243842981755733, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.1256890594959259, -0.9547910094261169, -0.8803810477256775, -0.9862006902694702, -0.9585416913032532, 0.23853245377540588, -1.0331759452819824, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.989677369594574, -0.284956157207489, 1.5846620798110962, -1.7294042110443115, 1.2061986923217773, 0.3032872974872589, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07534489035606384, 0.0074769738130271435, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.1403927505016327, -0.9644725918769836, -0.8656681180000305, -1.0182243585586548, -0.9932795166969299, 0.25492507219314575, -1.0323787927627563, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896776080131531, -0.2849559485912323, 1.5846620798110962, -1.7294039726257324, 1.2061986923217773, 0.30328741669654846, 1.3350600004196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07005349546670914, 0.0074769738130271435, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.15128400921821594, -0.972612738609314, -0.8606003522872925, -1.0509908199310303, -1.0388339757919312, 0.2725329101085663, -1.0245747566223145, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774291992188, -0.28495579957962036, 1.5846620798110962, -1.7294044494628906, 1.2061989307403564, 0.3032870590686798, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06614246219396591, 0.008052125573158264, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.15264491736888885, -0.9747439026832581, -0.8647475242614746, -1.0688436031341553, -1.05522882938385, 0.28151723742485046, -1.017985224723816, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896777272224426, -0.28495529294013977, 1.5846621990203857, -1.729404091835022, 1.2061989307403564, 0.3032872974872589, 1.335059642791748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06395688652992249, 0.008052125573158264, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.15531431138515472, -0.9727451801300049, -0.8726061582565308, -1.0768897533416748, -1.056126594543457, 0.2890549600124359, -1.0223329067230225, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896775484085083, -0.28495490550994873, 1.5846625566482544, -1.7294049263000488, 1.2061991691589355, 0.3032872974872589, 1.3350597620010376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.069478340446949, 0.008052125573158264, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.1648145467042923, -0.9684734344482422, -0.8813682198524475, -1.0846481323242188, -1.051653504371643, 0.29664671421051025, -1.029261589050293, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896771907806396, -0.28495514392852783, 1.5846624374389648, -1.7294044494628906, 1.2061985731124878, 0.3032870590686798, 1.3350595235824585, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07568997889757156, 0.008052125573158264, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.1764802485704422, -0.962665319442749, -0.8935419917106628, -1.0962400436401367, -1.0470530986785889, 0.3045611083507538, -1.0325289964675903, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896773099899292, -0.28495481610298157, 1.584662675857544, -1.7294045686721802, 1.206199288368225, 0.30328717827796936, 1.335059642791748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08362707495689392, 0.007668691221624613, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.18889260292053223, -0.954477071762085, -0.9117307066917419, -1.1103456020355225, -1.0429539680480957, 0.3164319396018982, -1.0330623388290405, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896776676177979, -0.28495529294013977, 1.5846624374389648, -1.7294056415557861, 1.2061989307403564, 0.30328765511512756, 1.3350600004196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09697059541940689, 0.006614245939999819, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.20341747999191284, -0.9434571862220764, -0.9362022280693054, -1.123980164527893, -1.0353072881698608, 0.32876479625701904, -1.02922523021698, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.2849556505680084, 1.5846623182296753, -1.7294050455093384, 1.2061996459960938, 0.3032870590686798, 1.3350601196289062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11422515660524368, 0.0038343456108123064, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.22002457082271576, -0.9305620193481445, -0.9630805850028992, -1.1391159296035767, -1.0222758054733276, 0.3417271673679352, -1.0291725397109985, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896774888038635, -0.28495556116104126, 1.5846621990203857, -1.7294046878814697, 1.2061985731124878, 0.30328693985939026, 1.335059642791748, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13113461434841156, 0.0013420209288597107, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.2388472557067871, -0.9170252084732056, -0.991396427154541, -1.1568195819854736, -1.0107439756393433, 0.35854846239089966, -1.027511715888977, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896775484085083, -0.2849555015563965, 1.5846625566482544, -1.7294049263000488, 1.206199049949646, 0.30328717827796936, 1.3350601196289062, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14620359241962433, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.2589018940925598, -0.9032812118530273, -1.0214965343475342, -1.1815403699874878, -1.0015314817428589, 0.3771357536315918, -1.0232213735580444, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9896775484085083, -0.2849552035331726, 1.5846619606018066, -1.7294049263000488, 1.2061989307403564, 0.30328693985939026, 1.3350600004196167, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1546008139848709, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.04668315500020981, 0.10276045650243759, 0.28074610233306885, -0.8911443948745728, -1.0470231771469116, -1.2098383903503418, -0.9923646450042725, 0.391200453042984, -1.0203561782836914, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9932190775871277, -0.2893160581588745, 1.5781046152114868, -1.7453893423080444, 1.2183293104171753, 0.30649223923683167, 1.3045034408569336, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16081245243549347, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.046587299555540085, 0.10276045650243759, 0.3029647469520569, -0.8826581835746765, -1.0647368431091309, -1.2399232387542725, -0.9921290278434753, 0.4038804769515991, -1.0131816864013672, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9812195301055908, -0.29751673340797424, 1.5561425685882568, -1.7773563861846924, 1.249592661857605, 0.3292308747768402, 1.2580459117889404, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16587378084659576, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.3199981153011322, -0.877830445766449, -1.0725747346878052, -1.2698161602020264, -0.9945961236953735, 0.41565272212028503, -1.0064337253570557, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.9486883282661438, -0.3080752193927765, 1.5179405212402344, -1.798806071281433, 1.2727317810058594, 0.3574874997138977, 1.2131874561309814, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16863451898097992, 0.0018213141011074185, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.32743993401527405, -0.8771730065345764, -1.0696690082550049, -1.2923736572265625, -0.9957613348960876, 0.41905850172042847, -1.0021820068359375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8983188271522522, -0.32271984219551086, 1.463431715965271, -1.8107733726501465, 1.2973483800888062, 0.3911019563674927, 1.1715329885482788, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16897961497306824, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.32600587606430054, -0.8813287615776062, -1.0579301118850708, -1.3036657571792603, -1.0055502653121948, 0.41491854190826416, -0.9974799752235413, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8311325907707214, -0.340446412563324, 1.3971952199935913, -1.8154857158660889, 1.2839810848236084, 0.4296417832374573, 1.125978708267212, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16909463703632355, 0.0, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.31469225883483887, -0.8891746997833252, -1.0375920534133911, -1.3080832958221436, -1.0172011852264404, 0.4083693027496338, -0.9983946084976196, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7522211670875549, -0.36516502499580383, 1.3249791860580444, -1.8023463487625122, 1.2895045280456543, 0.45940926671028137, 1.0849814414978027, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16610385477542877, -0.0024923246819525957, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.29615500569343567, -0.899614691734314, -1.0115230083465576, -1.3060994148254395, -1.0267481803894043, 0.3985745906829834, -0.9996853470802307, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.6637875437736511, -0.395256906747818, 1.2479864358901978, -1.7821117639541626, 1.290235161781311, 0.48668286204338074, 1.054874062538147, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16575875878334045, -0.005272225011140108, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.2736581861972809, -0.9117689728736877, -0.9825433492660522, -1.299542784690857, -1.0330201387405396, 0.3846658170223236, -1.0034924745559692, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.5675397515296936, -0.4301511347293854, 1.169418454170227, -1.755218744277954, 1.2829010486602783, 0.5133388638496399, 1.0311293601989746, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16368821263313293, -0.008147983811795712, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.2503524422645569, -0.9237095713615417, -0.954011082649231, -1.2868170738220215, -1.0332776308059692, 0.3725759983062744, -1.0091670751571655, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.47116249799728394, -0.47023510932922363, 1.0883026123046875, -1.721411943435669, 1.2775307893753052, 0.5263735055923462, 1.0124526023864746, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16357317566871643, -0.010640309192240238, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10266460478305817, 0.23066063225269318, -0.9333000183105469, -0.9313264489173889, -1.2693597078323364, -1.03202486038208, 0.36480724811553955, -1.017803430557251, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.3800102770328522, -0.5141679048538208, 1.0053642988204956, -1.681353211402893, 1.2699729204177856, 0.5333310961723328, 0.990761399269104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16357317566871643, -0.011311319656670094, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.752602756023407, 0.04677901417016983, 0.10276045650243759, 0.2163715809583664, -0.9388682842254639, -0.916753888130188, -1.251352071762085, -1.0220986604690552, 0.36003968119621277, -1.0282148122787476, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.2952914535999298, -0.5611839294433594, 0.9244161248207092, -1.6421006917953491, 1.271061897277832, 0.5390170216560364, 0.9669541120529175, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.16702409088611603, -0.013803644105792046, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6272836923599243, -0.752602756023407, 0.04677901417016983, 0.10276045650243759, 0.20986978709697723, -0.9410328269004822, -0.9116447567939758, -1.2393121719360352, -1.0162349939346313, 0.3564892113208771, -1.039225697517395, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.22162871062755585, -0.6087678074836731, 0.8476272225379944, -1.6065614223480225, 1.2736667394638062, 0.5428473949432373, 0.9499017596244812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17312070727348328, -0.014570512808859348, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.2084425687789917, -0.9407820105552673, -0.9123084545135498, -1.2375432252883911, -1.0130741596221924, 0.35964420437812805, -1.0473878383636475, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.16311629116535187, -0.6541118621826172, 0.7798226475715637, -1.5684553384780884, 1.2808488607406616, 0.5448583364486694, 0.9419395923614502, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17841209471225739, -0.01466637197881937, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.21226704120635986, -0.9382621645927429, -0.9181182980537415, -1.2411391735076904, -1.0115630626678467, 0.36462506651878357, -1.0538218021392822, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.12211371213197708, -0.6948239207267761, 0.72357577085495, -1.529344081878662, 1.2914886474609375, 0.5462990999221802, 0.9344602227210999, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1840485781431198, -0.016008391976356506, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.752602756023407, 0.04668315500020981, 0.10276045650243759, 0.2190903127193451, -0.9338550567626953, -0.9279441833496094, -1.246563196182251, -1.0090278387069702, 0.3718249499797821, -1.056913137435913, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.09627951681613922, -0.7291804552078247, 0.6827922463417053, -1.4892343282699585, 1.3024733066558838, 0.5422468781471252, 0.9225040674209595, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.190950408577919, -0.01917172782123089, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6273795366287231, -0.752602756023407, 0.04668315500020981, 0.10276045650243759, 0.2288464605808258, -0.928414523601532, -0.9406482577323914, -1.2523040771484375, -1.008303165435791, 0.3797164559364319, -1.056178331375122, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.08301737159490585, -0.7574342489242554, 0.6528001427650452, -1.4563261270523071, 1.3066670894622803, 0.5318005681037903, 0.9205870628356934, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.19992277026176453, -0.022047486156225204, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6273795366287231, -0.752602756023407, 0.04668315500020981, 0.10276045650243759, 0.2403605580329895, -0.9234676361083984, -0.9523676633834839, -1.2592747211456299, -1.0100668668746948, 0.386109322309494, -1.054489254951477, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.08246240019798279, -0.7800666093826294, 0.6318658590316772, -1.429962396621704, 1.313144564628601, 0.5201795697212219, 0.9192792177200317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.20728471875190735, -0.025690114125609398, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6273795366287231, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.25064876675605774, -0.9203656911849976, -0.9613003134727478, -1.2684271335601807, -1.0178509950637817, 0.39077919721603394, -1.0501307249069214, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.09077546000480652, -0.7990825772285461, 0.6195934414863586, -1.411865472793579, 1.3244987726211548, 0.4986778497695923, 0.9211880564689636, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.2149917483329773, -0.02923688478767872, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.2584121525287628, -0.9192026853561401, -0.9658355116844177, -1.2787790298461914, -1.0288912057876587, 0.39528539776802063, -1.048039436340332, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.100453220307827, -0.8144132494926453, 0.6143819689750671, -1.3955439329147339, 1.3308610916137695, 0.47814661264419556, 0.9160804748535156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.22338896989822388, -0.03144163265824318, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.752602756023407, 0.04677901417016983, 0.10276045650243759, 0.2623341381549835, -0.9196061491966248, -0.966594398021698, -1.2905679941177368, -1.0385876893997192, 0.3994200825691223, -1.0432933568954468, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.10977175831794739, -0.8273016810417175, 0.6117036938667297, -1.3873635530471802, 1.3347892761230469, 0.4718272089958191, 0.9123674035072327, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.228910431265831, -0.03182506933808327, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.26282504200935364, -0.9209301471710205, -0.9651941061019897, -1.2984111309051514, -1.0449836254119873, 0.4008694589138031, -1.0406227111816406, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.11094461381435394, -0.8374287486076355, 0.6068947911262512, -1.3867335319519043, 1.3062273263931274, 0.47845447063446045, 0.9128257036209106, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.23305152356624603, -0.03192092478275299, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.2603468596935272, -0.9223607182502747, -0.962174117565155, -1.3003196716308594, -1.0462684631347656, 0.4011901319026947, -1.0404448509216309, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.10941991955041885, -0.8466668725013733, 0.6059137582778931, -1.384747862815857, 1.2781224250793457, 0.4780499041080475, 0.9240368008613586, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.23569722473621368, -0.029141025617718697, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.752602756023407, 0.04677901417016983, 0.10276045650243759, 0.25605690479278564, -0.9233695268630981, -0.9605488181114197, -1.297455072402954, -1.0453203916549683, 0.4016311764717102, -1.0419278144836426, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1069057285785675, -0.855844259262085, 0.6046553254127502, -1.3837506771087646, 1.249661922454834, 0.47568756341934204, 0.9385228753089905, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.23983831703662872, -0.029045168310403824, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6273795366287231, -0.752602756023407, 0.04677901417016983, 0.10276045650243759, 0.2515798807144165, -0.9231852293014526, -0.9615044593811035, -1.2916555404663086, -1.0416947603225708, 0.4023480713367462, -1.0474730730056763, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.1032947301864624, -0.8644955158233643, 0.603096067905426, -1.3889538049697876, 1.2210077047348022, 0.47226738929748535, 0.966625988483429, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.24501468241214752, -0.027415569871664047, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.25090736150741577, -0.9208998680114746, -0.9664328098297119, -1.2851405143737793, -1.0365712642669678, 0.4050997495651245, -1.053679347038269, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.09992676228284836, -0.8727328777313232, 0.6021936535835266, -1.393764853477478, 1.1970129013061523, 0.4704558551311493, 1.0000364780426025, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.2501910328865051, -0.029045168310403824, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.2578367590904236, -0.9173343181610107, -0.9737346768379211, -1.2841075658798218, -1.0333654880523682, 0.40708985924720764, -1.05742347240448, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.09861474484205246, -0.882461667060852, 0.6021503806114197, -1.3932056427001953, 1.1866916418075562, 0.47241681814193726, 1.0059000253677368, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.2568628191947937, -0.03163335099816322, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.26706764101982117, -0.9130094051361084, -0.9831345081329346, -1.290456771850586, -1.0326067209243774, 0.41171395778656006, -1.0584150552749634, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.09584154188632965, -0.8946878910064697, 0.6001935005187988, -1.3886189460754395, 1.1805543899536133, 0.47316691279411316, 0.9977124929428101, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.26422473788261414, -0.03278365358710289, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.27728134393692017, -0.9081626534461975, -0.9937765002250671, -1.2983888387680054, -1.03163743019104, 0.41684117913246155, -1.0584931373596191, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0887409895658493, -0.9065650105476379, 0.6020733118057251, -1.3762484788894653, 1.1781842708587646, 0.48045068979263306, 0.9797415733337402, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.27147164940834045, -0.03527597710490227, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.28636276721954346, -0.9043835401535034, -1.0021893978118896, -1.3084471225738525, -1.0319663286209106, 0.420101135969162, -1.0560542345046997, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.08425544202327728, -0.9174261093139648, 0.6086640357971191, -1.3584927320480347, 1.1784751415252686, 0.48958495259284973, 0.9483339786529541, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.2761878967285156, -0.036713857203722, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6273795366287231, -0.752602756023407, 0.04677901417016983, 0.10276045650243759, 0.2916581332683563, -0.9040327072143555, -1.0040231943130493, -1.3192722797393799, -1.041023850440979, 0.42005524039268494, -1.0525964498519897, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.08596284687519073, -0.9248084425926208, 0.615761935710907, -1.3521647453308105, 1.1814019680023193, 0.4979062080383301, 0.9356398582458496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.27653300762176514, -0.03834345564246178, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.29289644956588745, -0.9064024090766907, -1.0015584230422974, -1.3261613845825195, -1.0558750629425049, 0.4178219735622406, -1.0466253757476807, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.08912298828363419, -0.9293972253799438, 0.6196463704109192, -1.3530436754226685, 1.1691588163375854, 0.5002148151397705, 0.9427328109741211, 0.5753999996643799, 0.5753999996643799, 0.5753999996643799, 0.5753999996643799, -0.5753999996643799, -0.5753999996643799, -0.5753999996643799, 0.5753999996643799, 0.27342718839645386, -0.03834345564246178, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.29083406925201416, -0.9085965156555176, -0.9976457357406616, -1.3278532028198242, -1.0628156661987305, 0.4158616065979004, -1.0429883003234863, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.09773534536361694, -0.9303673505783081, 0.6293676495552063, -1.3474770784378052, 1.1505022048950195, 0.5052575469017029, 0.9553104043006897, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, 0.06360001197228068, -0.06360001197228068, -0.06360001197228068, -0.06360001197228068, 0.06360001197228068, 0.2685959041118622, -0.0384393148124218, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.28996825218200684, -0.9097909927368164, -0.9955615401268005, -1.3266892433166504, -1.067037582397461, 0.413136750459671, -1.0454457998275757, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.10762233287096024, -0.9275787472724915, 0.643671989440918, -1.338800311088562, 1.1329587697982788, 0.5099364519119263, 0.9711313843727112, 0.013199988040295318, 0.013199988040295318, 0.013199988040295318, 0.013199988040295318, -0.013199988040295318, -0.013199988040295318, -0.013199988040295318, 0.013199988040295318, 0.265835165977478, -0.039206184446811676, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.29024845361709595, -0.9097554087638855, -0.9963157176971436, -1.3251020908355713, -1.068483591079712, 0.4116063416004181, -1.0488488674163818, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.11492662131786346, -0.9224836826324463, 0.6642152667045593, -1.3293302059173584, 1.1182363033294678, 0.5174046754837036, 0.9892361760139465, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.26261433959007263, -0.04035648703575134, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.29266247153282166, -0.9081444144248962, -1.0009368658065796, -1.3250863552093506, -1.0683807134628296, 0.4105190336704254, -1.052729606628418, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.12202472984790802, -0.9164842367172241, 0.6848538517951965, -1.324147343635559, 1.098332405090332, 0.5220445990562439, 1.0073785781860352, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2623842656612396, -0.040452346205711365, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.752602756023407, 0.04687487334012985, 0.10276045650243759, 0.2977088689804077, -0.9045394062995911, -1.0089399814605713, -1.3241640329360962, -1.0624632835388184, 0.41094866394996643, -1.0585498809814453, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.12595795094966888, -0.9107547402381897, 0.7045007944107056, -1.3198654651641846, 1.0754328966140747, 0.5238202810287476, 1.0257738828659058, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.261924147605896, -0.04054820537567139, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.30795297026634216, -0.8990588784217834, -1.021188497543335, -1.3238822221755981, -1.0569713115692139, 0.4141640365123749, -1.0620759725570679, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.12474394589662552, -0.9058952331542969, 0.7229869365692139, -1.3160253763198853, 1.048452615737915, 0.5243595838546753, 1.0390288829803467, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2618091106414795, -0.04256123676896095, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.3240260183811188, -0.8922398090362549, -1.0357059240341187, -1.32655930519104, -1.0512334108352661, 0.4190025329589844, -1.0620617866516113, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.11566310375928879, -0.9014317989349365, 0.7369454503059387, -1.3169429302215576, 1.0038772821426392, 0.515137255191803, 1.0584701299667358, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.26468488574028015, -0.04323224723339081, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.34535983204841614, -0.8854141235351562, -1.0494842529296875, -1.3332476615905762, -1.0471924543380737, 0.42225566506385803, -1.0599530935287476, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.10055378824472427, -0.8986913561820984, 0.7463010549545288, -1.32176673412323, 0.956096887588501, 0.5026711225509644, 1.0845705270767212, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.26629528403282166, -0.04505356028676033, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.3683200776576996, -0.8794512152671814, -1.0622854232788086, -1.343457579612732, -1.0464277267456055, 0.42308855056762695, -1.053480625152588, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.07872092723846436, -0.897415280342102, 0.75030916929245, -1.3295263051986694, 0.8992943167686462, 0.48543015122413635, 1.1136351823806763, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2674455940723419, -0.04840861260890961, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.3911243975162506, -0.8738521337509155, -1.0730161666870117, -1.3524141311645508, -1.0420664548873901, 0.42293503880500793, -1.045837163925171, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.05661347880959511, -0.8974339365959167, 0.7506174445152283, -1.3319587707519531, 0.8487677574157715, 0.4690997004508972, 1.1473201513290405, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2675606310367584, -0.05147608742117882, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.41291847825050354, -0.8688441514968872, -1.0810846090316772, -1.3585937023162842, -1.0354961156845093, 0.42169612646102905, -1.040536880493164, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.04074416682124138, -0.8993872404098511, 0.7516327500343323, -1.3281999826431274, 0.8281113505363464, 0.4610588848590851, 1.1799864768981934, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.26606523990631104, -0.05588558688759804, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.4336634576320648, -0.8649664521217346, -1.086002230644226, -1.365439534187317, -1.0314682722091675, 0.4202463924884796, -1.0387568473815918, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.03403899446129799, -0.9013775587081909, 0.7569175362586975, -1.3263088464736938, 0.8314098119735718, 0.46442094445228577, 1.1944739818572998, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.26272934675216675, -0.05981579050421715, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.45322635769844055, -0.8617302179336548, -1.0887445211410522, -1.376921534538269, -1.0303876399993896, 0.4226503074169159, -1.0391120910644531, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.03097432851791382, -0.9018923044204712, 0.7643916010856628, -1.328202247619629, 0.8330245614051819, 0.46907538175582886, 1.1994622945785522, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.26111891865730286, -0.0630749836564064, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.47170165181159973, -0.8589604496955872, -1.0898953676223755, -1.390909194946289, -1.0289931297302246, 0.4260856807231903, -1.041604995727539, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.029723823070526123, -0.9019725918769836, 0.7725381255149841, -1.3299816846847534, 0.8340533971786499, 0.4719303846359253, 1.2003039121627808, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.2583582103252411, -0.06489630043506622, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.48756229877471924, -0.8572543263435364, -1.088683009147644, -1.407148838043213, -1.0292757749557495, 0.42849498987197876, -1.0445834398269653, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.030636722221970558, -0.9032968878746033, 0.7791683077812195, -1.3278824090957642, 0.8410442471504211, 0.47599783539772034, 1.1942994594573975, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.2569778263568878, -0.06710104644298553, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.4989146590232849, -0.8570245504379272, -1.084043025970459, -1.4228837490081787, -1.0294731855392456, 0.42874857783317566, -1.0428184270858765, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.034417394548654556, -0.90621018409729, 0.7831171154975891, -1.326466679573059, 0.8558465838432312, 0.48171597719192505, 1.186832070350647, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.2568628191947937, -0.0691140815615654, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6273795366287231, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5053528547286987, -0.8587740659713745, -1.0752403736114502, -1.4336059093475342, -1.031930923461914, 0.43090370297431946, -1.0373156070709229, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.03754882514476776, -0.9107959270477295, 0.7828032374382019, -1.3297821283340454, 0.8703827261924744, 0.48866647481918335, 1.1755280494689941, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.25927844643592834, -0.0717022642493248, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5018956661224365, -0.8626309037208557, -1.0627199411392212, -1.4443495273590088, -1.036370873451233, 0.4324958026409149, -1.0339301824569702, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.041801225394010544, -0.917047381401062, 0.7829679846763611, -1.3305809497833252, 0.8933115601539612, 0.493304967880249, 1.1569092273712158, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2621541917324066, -0.0725649893283844, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.49483737349510193, -0.8670796155929565, -1.0493030548095703, -1.4451090097427368, -1.039148211479187, 0.4327410161495209, -1.029350757598877, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.044713594019412994, -0.9253283739089966, 0.7822020649909973, -1.336695909500122, 0.9263588786125183, 0.4987877607345581, 1.1360764503479004, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2654900848865509, -0.07294842600822449, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.48582810163497925, -0.8718299865722656, -1.0363463163375854, -1.4449608325958252, -1.0439066886901855, 0.4329014718532562, -1.0286877155303955, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.042456962168216705, -0.9324409365653992, 0.7802292704582214, -1.342719554901123, 0.9412413835525513, 0.5021230578422546, 1.1196073293685913, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2672155499458313, -0.07323599606752396, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.4778236746788025, -0.8763049840927124, -1.0234096050262451, -1.4473328590393066, -1.0469282865524292, 0.43448662757873535, -1.0299009084701538, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.040622226893901825, -0.9383549094200134, 0.7781028747558594, -1.3418856859207153, 0.9431892037391663, 0.5024453401565552, 1.0998942852020264, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.26825082302093506, -0.07352357357740402, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.47410503029823303, -0.8799939155578613, -1.0110888481140137, -1.4525078535079956, -1.0493965148925781, 0.43620288372039795, -1.0355072021484375, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.04036451876163483, -0.944324254989624, 0.7753384709358215, -1.3367730379104614, 0.9465295672416687, 0.5038097500801086, 1.082598090171814, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2683658301830292, -0.07189397513866425, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.4740796983242035, -0.8807386755943298, -1.0023972988128662, -1.4585319757461548, -1.0358396768569946, 0.4351215660572052, -1.0489646196365356, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.038838427513837814, -0.9485490918159485, 0.7758840322494507, -1.3285282850265503, 0.9388306140899658, 0.5026594996452332, 1.0579646825790405, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2704363763332367, -0.07160640507936478, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.48451727628707886, -0.8794324398040771, -0.999805748462677, -1.4598032236099243, -1.0309717655181885, 0.43689724802970886, -1.059227466583252, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.03860238566994667, -0.9509713649749756, 0.7798669934272766, -1.3234046697616577, 0.9324166774749756, 0.5045581459999084, 1.0406197309494019, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.2720468044281006, -0.07409872859716415, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.49433988332748413, -0.8778297901153564, -1.0007749795913696, -1.465388298034668, -1.0317888259887695, 0.4389130175113678, -1.0714081525802612, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.04116746038198471, -0.9524825215339661, 0.7831841707229614, -1.324126124382019, 0.9269178509712219, 0.5060705542564392, 1.0375536680221558, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.2736572325229645, -0.07448216527700424, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.5018655061721802, -0.8731099367141724, -1.0087604522705078, -1.4621961116790771, -1.014035940170288, 0.4442097842693329, -1.0724749565124512, 0.04439999349824677, -0.04439999349824677, 0.04439999349824677, 0.04439999349824677, -0.04439999349824677, -0.04439999349824677, 0.04439999349824677, 0.04439999349824677, -0.043130625039339066, -0.9531104564666748, 0.7869980335235596, -1.3237457275390625, 0.9175130724906921, 0.5059314370155334, 1.0403603315353394, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, 0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, -0.0012000010563777196, 0.0012000010563777196, 0.275727778673172, -0.07467387616634369, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5202126502990723, -0.862581193447113, -1.0298585891723633, -1.4508376121520996, -0.9921573400497437, 0.44743379950523376, -1.0940037965774536, 0.5003999999591282, -0.5003999999591282, 0.5003999999591282, 0.5003999999591282, -0.5003999999591282, -0.5003999999591282, 0.5003999999591282, 0.5003999999591282, -0.04401630908250809, -0.9515187740325928, 0.7934091091156006, -1.3158979415893555, 0.900738537311554, 0.501542329788208, 1.0516728162765503, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2772231698036194, -0.07486559450626373, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10285631567239761, 0.5453742146492004, -0.847856342792511, -1.0656077861785889, -1.4408708810806274, -0.9732509851455688, 0.44550397992134094, -1.1234573125839233, 0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.045663490891456604, -0.9496651291847229, 0.7988281846046448, -1.3075308799743652, 0.8822978138923645, 0.4957485496997833, 1.0659518241882324, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2777983248233795, -0.07572832703590393, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5712225437164307, -0.8324758410453796, -1.1085859537124634, -1.4401741027832031, -0.9508175253868103, 0.42760950326919556, -1.1418120861053467, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.04801115021109581, -0.9478861093521118, 0.8033100366592407, -1.3002201318740845, 0.8650942444801331, 0.4885692894458771, 1.0817534923553467, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2807891368865967, -0.07745377719402313, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5955676436424255, -0.8168280720710754, -1.1528065204620361, -1.4379209280014038, -0.9211634993553162, 0.4091462194919586, -1.1564432382583618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.047344278544187546, -0.9456306099891663, 0.8111955523490906, -1.287549376487732, 0.8518140316009521, 0.48297443985939026, 1.0994741916656494, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.28216949105262756, -0.07927509397268295, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.6202073097229004, -0.8028854727745056, -1.1966307163238525, -1.434122920036316, -0.9109020233154297, 0.3981858193874359, -1.1761398315429688, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.03992085158824921, -0.9418346285820007, 0.8230345249176025, -1.282078742980957, 0.8344298005104065, 0.4647412896156311, 1.13469398021698, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2832047641277313, -0.08071297407150269, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.04668315500020981, 0.10285631567239761, 0.6396635174751282, -0.791272759437561, -1.2334846258163452, -1.439136266708374, -0.9077540040016174, 0.3968184292316437, -1.1962366104125977, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.03985009342432022, -0.9309017062187195, 0.8437016606330872, -1.2684224843978882, 0.8080923557281494, 0.44481271505355835, 1.1941879987716675, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2844700813293457, -0.08100055158138275, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.648195743560791, -0.7828639149665833, -1.2565363645553589, -1.4520843029022217, -0.9020549058914185, 0.3990093767642975, -1.2191439867019653, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.05998349189758301, -0.9127702713012695, 0.8794829845428467, -1.2600746154785156, 0.7987083196640015, 0.4470444321632385, 1.250016212463379, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2795237898826599, -0.0768786296248436, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.04668315500020981, 0.10276045650243759, 0.6468263864517212, -0.7793087363243103, -1.266197919845581, -1.4596575498580933, -0.9135810732841492, 0.40118739008903503, -1.2396166324615479, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.10031689703464508, -0.8882513046264648, 0.9259588718414307, -1.27638578414917, 0.78839111328125, 0.45602110028266907, 1.2988191843032837, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.27112656831741333, -0.07237327098846436, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.6391035914421082, -0.7785593867301941, -1.2654567956924438, -1.4599114656448364, -0.9307535290718079, 0.4058398902416229, -1.2586151361465454, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.1583646982908249, -0.8591928482055664, 0.9845786094665527, -1.3062806129455566, 0.7866227030754089, 0.4744991958141327, 1.3344734907150269, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2584732174873352, -0.06633418053388596, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.6279906034469604, -0.7798569202423096, -1.2564040422439575, -1.4553099870681763, -0.9512937664985657, 0.41102105379104614, -1.278607726097107, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.23697401583194733, -0.8248785138130188, 1.0526925325393677, -1.3560597896575928, 0.808014452457428, 0.48361608386039734, 1.335710883140564, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.2413337081670761, -0.05904892086982727, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.6187288761138916, -0.7813146114349365, -1.2440165281295776, -1.4502114057540894, -0.958602786064148, 0.4085671603679657, -1.3009088039398193, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3045691251754761, -0.7945024967193604, 1.1037657260894775, -1.4080995321273804, 0.8226804733276367, 0.4888680577278137, 1.3310697078704834, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.22764509916305542, -0.05243467539548874, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, 0.6115915775299072, -0.7838379740715027, -1.2254219055175781, -1.4398791790008545, -0.9661582708358765, 0.4003586769104004, -1.331704020500183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.3801651895046234, -0.7606791853904724, 1.1561311483383179, -1.4595565795898438, 0.8496688604354858, 0.4938875138759613, 1.3261736631393433, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.21418653428554535, -0.047450024634599686, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, 0.6024100184440613, -0.7868481278419495, -1.2070034742355347, -1.428892731666565, -0.9750831723213196, 0.39089319109916687, -1.3617750406265259, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.4501430094242096, -0.7273337841033936, 1.2059953212738037, -1.502275824546814, 0.8698646426200867, 0.4937131404876709, 1.3263928890228271, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.20233841240406036, -0.043519821017980576, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, 0.591705858707428, -0.7898221015930176, -1.1896140575408936, -1.4188520908355713, -0.9784517884254456, 0.38356685638427734, -1.3798447847366333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.515020489692688, -0.6960183382034302, 1.2517871856689453, -1.5314935445785522, 0.8897872567176819, 0.4875887334346771, 1.3324445486068726, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.19003015756607056, -0.03796001896262169, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, 0.5824089646339417, -0.7929614186286926, -1.1741619110107422, -1.409327745437622, -0.9829886555671692, 0.3780423700809479, -1.3854944705963135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5730042457580566, -0.6676808595657349, 1.290531873703003, -1.5576927661895752, 0.9096266627311707, 0.4786796569824219, 1.3413416147232056, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.18128785490989685, -0.03374224156141281, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, 0.5738936066627502, -0.7962554693222046, -1.1619023084640503, -1.3988522291183472, -0.9927381873130798, 0.37121543288230896, -1.387067437171936, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6281850934028625, -0.6420822739601135, 1.3239777088165283, -1.5832117795944214, 0.9282532334327698, 0.4689084589481354, 1.351058840751648, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.17277561128139496, -0.028565874323248863, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5672088265419006, -0.7999826669692993, -1.1520764827728271, -1.385237693786621, -1.009270191192627, 0.3654930889606476, -1.3793569803237915, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6851996779441833, -0.619232714176178, 1.3532161712646484, -1.6085692644119263, 0.9478865265846252, 0.455941766500473, 1.3639076948165894, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.16587378084659576, -0.024731528013944626, -0.012078188359737396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7527944445610046, 0.04687487334012985, 0.10276045650243759, 0.5611346364021301, -0.8027558922767639, -1.1426606178283691, -1.373645305633545, -1.0158562660217285, 0.35881295800209045, -1.3759347200393677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7396352291107178, -0.5991361141204834, 1.3808571100234985, -1.6324520111083984, 0.9616087079048157, 0.4357914924621582, 1.3840031623840332, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, 0.32699999154269044, -0.32699999154269044, -0.32699999154269044, -0.32699999154269044, 0.32699999154269044, 0.16000723838806152, -0.021088900044560432, -0.009585863910615444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.5589965581893921, -0.8051831722259521, -1.1329755783081055, -1.364145040512085, -1.0202573537826538, 0.3493545353412628, -1.3783483505249023, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7855632305145264, -0.5830053091049194, 1.406877875328064, -1.6468003988265991, 0.9700964093208313, 0.40528491139411926, 1.4142972230911255, 0.5724000004621652, 0.5724000004621652, 0.5724000004621652, 0.5724000004621652, -0.5724000004621652, -0.5724000004621652, -0.5724000004621652, 0.5724000004621652, 0.15483087301254272, -0.018117282539606094, -0.009490004740655422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.560173511505127, -0.8072937726974487, -1.1241018772125244, -1.3565672636032104, -1.0254664421081543, 0.34106719493865967, -1.3813161849975586, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8194030523300171, -0.5723200440406799, 1.4329007863998413, -1.6548643112182617, 0.9909064173698425, 0.370643675327301, 1.448819875717163, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.15034468472003937, -0.014570512808859348, -0.007956267334520817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6272836923599243, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.5663844347000122, -0.8084243535995483, -1.117113709449768, -1.3525336980819702, -1.030040979385376, 0.33984434604644775, -1.3782867193222046, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8430026173591614, -0.5635556578636169, 1.4448405504226685, -1.6687642335891724, 1.0004498958587646, 0.33522382378578186, 1.4842686653137207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14792905747890472, -0.01179061271250248, -0.0071893977001309395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04687487334012985, 0.10276045650243759, 0.578242301940918, -0.8078203201293945, -1.115159034729004, -1.3595112562179565, -1.0318987369537354, 0.33768466114997864, -1.3708393573760986, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8452628254890442, -0.5523446798324585, 1.4459904432296753, -1.6802568435668945, 0.9981440305709839, 0.32074135541915894, 1.4993692636489868, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14505329728126526, -0.008818994276225567, -0.005080507602542639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.595919132232666, -0.8049531579017639, -1.1186331510543823, -1.3725382089614868, -1.0311603546142578, 0.33949750661849976, -1.3615238666534424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8222230672836304, -0.5397314429283142, 1.4255547523498535, -1.6955986022949219, 1.0075989961624146, 0.3192756772041321, 1.500898838043213, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14194747805595398, -0.007093539461493492, -0.004984649363905191, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5909423828125, 1.6271878480911255, -0.7527944445610046, 0.04677901417016983, 0.10276045650243759, 0.6128851175308228, -0.8019803166389465, -1.1248624324798584, -1.3873076438903809, -1.0345054864883423, 0.34184330701828003, -1.3518146276474, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7833662629127502, -0.5284484028816223, 1.390140175819397, -1.690824270248413, 1.0152792930603027, 0.3191955089569092, 1.5010042190551758, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13918673992156982, -0.005751518066972494, -0.0021088900975883007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.6264187693595886, -0.7995542883872986, -1.130150318145752, -1.401402235031128, -1.037510633468628, 0.3451996147632599, -1.3452367782592773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7363801598548889, -0.5191712379455566, 1.3390287160873413, -1.6827112436294556, 1.038306713104248, 0.31920498609542847, 1.5010112524032593, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1387266218662262, -0.005751518066972494, 0.003546769730746746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5908464789390564, 1.6272836923599243, -0.7526986002922058, 0.046587299555540085, 0.10285631567239761, 0.6283831000328064, -0.7991074919700623, -1.1310893297195435, -1.4031858444213867, -1.0378432273864746, 0.3459283709526062, -1.343804121017456, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7056458592414856, -0.512890100479126, 1.293672800064087, -1.6773109436035156, 1.063434362411499, 0.31928732991218567, 1.50100839138031, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13815146684646606, -0.007956267334520817, 0.013995361514389515, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.6285683512687683, -0.7990704774856567, -1.1311722993850708, -1.4033695459365845, -1.037864089012146, 0.34599441289901733, -1.3436801433563232, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7028163075447083, -0.5122073292732239, 1.2916762828826904, -1.676820993423462, 1.0658320188522339, 0.3193329870700836, 1.50100576877594, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13953183591365814, -0.009969298727810383, 0.030483046546578407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.6286036372184753, -0.7990730404853821, -1.1311702728271484, -1.4033684730529785, -1.0378663539886475, 0.34600338339805603, -1.3436720371246338, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.70258629322052, -0.5121533274650574, 1.2914468050003052, -1.6767752170562744, 1.0660258531570435, 0.31934699416160583, 1.5010045766830444, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14102722704410553, -0.011023743078112602, 0.03642628341913223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6272836923599243, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.6286014318466187, -0.7990763187408447, -1.1311678886413574, -1.403367280960083, -1.037866234779358, 0.34600457549095154, -1.343673586845398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025673985481262, -0.5121380686759949, 1.2914334535598755, -1.6767678260803223, 1.066050410270691, 0.31935012340545654, 1.5010037422180176, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14102722704410553, -0.011119602248072624, 0.036713857203722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.6285994648933411, -0.7990782856941223, -1.1311650276184082, -1.4033657312393188, -1.0378657579421997, 0.3460037410259247, -1.343674659729004, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025675177574158, -0.5121384859085083, 1.2914327383041382, -1.6767685413360596, 1.0660499334335327, 0.31935083866119385, 1.5010021924972534, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14102722704410553, -0.011119602248072624, 0.03680971637368202, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04668315500020981, 0.10276045650243759, 0.6285958886146545, -0.7990789413452148, -1.1311612129211426, -1.4033637046813965, -1.0378646850585938, 0.34600314497947693, -1.343677043914795, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025707364082336, -0.5121432542800903, 1.2914340496063232, -1.6767696142196655, 1.0660486221313477, 0.31935083866119385, 1.5010013580322266, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14102722704410553, -0.011119602248072624, 0.03680971637368202, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10276045650243759, 0.6285931468009949, -0.799081027507782, -1.1311575174331665, -1.40336275100708, -1.0378636121749878, 0.34600207209587097, -1.3436800241470337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025734782218933, -0.5121453404426575, 1.2914366722106934, -1.6767704486846924, 1.066046118736267, 0.3193509578704834, 1.5010006427764893, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14102722704410553, -0.011119602248072624, 0.03680971637368202, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5907506346702576, 1.6271878480911255, -0.7526986002922058, 0.04677901417016983, 0.10285631567239761, 0.628591001033783, -0.7990813255310059, -1.1311547756195068, -1.4033613204956055, -1.0378623008728027, 0.3460007607936859, -1.3436815738677979, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025753855705261, -0.5121484994888306, 1.2914384603500366, -1.6767711639404297, 1.066043496131897, 0.3193509578704834, 1.5009992122650146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13493062555789948, -0.017350412905216217, 0.04332810267806053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5903671979904175, 1.6270920038223267, -0.7519317269325256, 0.046108003705739975, 0.10304803401231766, 0.6285865902900696, -0.7990809679031372, -1.1311538219451904, -1.4033615589141846, -1.03786039352417, 0.345999538898468, -1.3436837196350098, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025749683380127, -0.512148916721344, 1.2914423942565918, -1.6767746210098267, 1.0660408735275269, 0.31935083866119385, 1.500999927520752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11434018611907959, -0.028182439506053925, 0.06623832136392593, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985450457208039, -0.1699618925771594, -0.0005928406673996714, -0.359912246465683], [0.16996212073598843, 0.9854505311301182, 0.00035806464976097046, 0.13145439326763153], [0.0005233578050261876, -0.0004536154299067716, 0.9999997601647961, -0.0008448793669231236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5881624817848206, 1.6262292861938477, -0.7493435144424438, 0.044382549822330475, 0.10371904820203781, 0.6285849809646606, -0.7990816235542297, -1.1311519145965576, -1.4033606052398682, -1.0378583669662476, 0.3459978699684143, -1.3436849117279053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025768756866455, -0.5121520757675171, 1.2914427518844604, -1.6767752170562744, 1.0660380125045776, 0.31935036182403564, 1.5009996891021729, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10835860669612885, -0.03182506933808327, 0.0898195430636406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854579808978279, -0.1699182665301427, -0.0005921014843690375, -0.35993555188179016], [0.16991849103125414, 0.9854580573004486, 0.00035172046793601646, 0.1314699500799179], [0.000523727446296165, -0.0004472147329340186, 0.9999997628542442, -0.0008425632258877158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5859577059745789, 1.6250789165496826, -0.7443588972091675, 0.04227365925908089, 0.10362318903207779, 0.6285839080810547, -0.7990817427635193, -1.1311513185501099, -1.4033607244491577, -1.0378568172454834, 0.34599608182907104, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025741934776306, -0.512152373790741, 1.2914437055587769, -1.676775574684143, 1.0660374164581299, 0.3193504810333252, 1.5009993314743042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10904878377914429, -0.03268779441714287, 0.11148359626531601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854495004038542, -0.1699672868923905, -0.0006352481672443602, -0.36039119958877563], [0.16996751400645946, 0.9854496133408506, 0.0003221006553322169, 0.13142593204975128], [0.0005712584862933608, -0.00042538548164057065, 0.9999997463554348, -0.0008562493603676558], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5842322707176208, 1.6247913837432861, -0.7372653484344482, 0.04064406082034111, 0.10180187225341797, 0.6285851001739502, -0.799081563949585, -1.131150484085083, -1.403357744216919, -1.037854552268982, 0.3459940552711487, -1.3436847925186157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702572762966156, -0.5121544599533081, 1.291443943977356, -1.676776647567749, 1.0660364627838135, 0.31935060024261475, 1.5009980201721191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10973896831274033, -0.034317392855882645, 0.13333936035633087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854566116608857, -0.16992604148621535, -0.0006379331244225836, -0.3606085181236267], [0.1699262822600993, 0.9854567165880042, 0.00034398960888352227, 0.13140271604061127], [0.0005702026896462376, -0.0004473884385806082, 0.9999997373562044, -0.0008583258022554219], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5839446783065796, 1.625749945640564, -0.7280629277229309, 0.04054820537567139, 0.09930954873561859, 0.6285842061042786, -0.7990829944610596, -1.1311509609222412, -1.4033585786819458, -1.0378530025482178, 0.3459925949573517, -1.3436853885650635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025734186172485, -0.5121540427207947, 1.2914443016052246, -1.6767767667770386, 1.0660356283187866, 0.31935012340545654, 1.5009980201721191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10985399782657623, -0.03355052322149277, 0.15624958276748657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854528881119294, -0.16994780323909306, -0.0005911734632514419, -0.36085692048072815], [0.16994803510480055, 0.985452957245752, 0.00036663281297219866, 0.13138052821159363], [0.0005202651964463519, -0.0004617681329057366, 0.9999997580471292, -0.0008449077722616494], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5857660174369812, 1.6296801567077637, -0.7169433236122131, 0.0401647686958313, 0.09700894355773926, 0.6285834312438965, -0.7990847229957581, -1.1311500072479248, -1.4033581018447876, -1.0378512144088745, 0.3459916412830353, -1.3436846733093262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025768756866455, -0.5121552348136902, 1.2914443016052246, -1.6767765283584595, 1.0660333633422852, 0.31934988498687744, 1.5009973049163818, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11146442592144012, -0.03163335099816322, 0.18031010031700134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854514369384897, -0.16995590484604692, -0.0006751620748769376, -0.3609524369239807], [0.169956168671573, 0.9854515590181945, 0.00035434318067738865, 0.13135221600532532], [0.0006051168033793853, -0.0004639359560463215, 0.9999997092984992, -0.0008736832533031702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.5930512547492981, 1.637252926826477, -0.7018935084342957, 0.0393020398914814, 0.09403732419013977, 0.6285838484764099, -0.799085259437561, -1.1311497688293457, -1.4033570289611816, -1.0378493070602417, 0.3459908068180084, -1.343684434890747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025747299194336, -0.5121561288833618, 1.291444182395935, -1.67677640914917, 1.0660325288772583, 0.3193497657775879, 1.50099515914917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11388006061315536, -0.03057890571653843, 0.20091970264911652, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854412248374999, -0.17001468254923308, -0.0007746666712436646, -0.36160901188850403], [0.1700149940254734, 0.9854414115548218, 0.00035524549046916384, 0.1313009113073349], [0.0007029916687056705, -0.0004817785007291562, 0.999999636846029, -0.000911853916477412], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6068549156188965, 1.6475098133087158, -0.6836803555488586, 0.03709729388356209, 0.08953196555376053, 0.6285820603370667, -0.7990851402282715, -1.1311501264572144, -1.4033585786819458, -1.0378488302230835, 0.3459896147251129, -1.343684434890747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025728225708008, -0.512153685092926, 1.2914451360702515, -1.6767767667770386, 1.0660324096679688, 0.3193495273590088, 1.5009969472885132, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11710090935230255, -0.028661733493208885, 0.22277547419071198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854289913069755, -0.17008587773020198, -0.0007051868288630591, -0.3620527386665344], [0.17008616090826414, 0.9854291279851934, 0.00036274761106260906, 0.13127028942108154], [0.0006332133960110504, -0.00047740453291283274, 0.999999685562804, -0.0008870339952409267], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6251639127731323, 1.6622720956802368, -0.6608660221099854, 0.03364638239145279, 0.08320529758930206, 0.6285824179649353, -0.7990847229957581, -1.131150722503662, -1.403358817100525, -1.037848711013794, 0.3459891378879547, -1.3436850309371948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025735974311829, -0.5121538639068604, 1.291445255279541, -1.6767767667770386, 1.0660324096679688, 0.3193490207195282, 1.5009965896606445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12055182456970215, -0.028182439506053925, 0.2457815557718277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854389483650015, -0.17002843623115044, -0.0006402484435806025, -0.36145609617233276], [0.17002867970920182, 0.9854390532889454, 0.00034688518657894783, 0.13127513229846954], [0.0005719454742860203, -0.00045069477101363696, 0.9999997348762638, -0.0008565956959500909], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.643568754196167, 1.6784721612930298, -0.6348883509635925, 0.02933274395763874, 0.0768786296248436, 0.6285820007324219, -0.7990802526473999, -1.1311519145965576, -1.4033572673797607, -1.0378473997116089, 0.34598878026008606, -1.3436853885650635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025760412216187, -0.5121561288833618, 1.2914423942565918, -1.6767767667770386, 1.0660300254821777, 0.31934866309165955, 1.500996470451355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12250734120607376, -0.028278298676013947, 0.26073548197746277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985449409652144, -0.16996778791137354, -0.0006419413953876333, -0.36113736033439636], [0.16996800806066922, 0.9854495335204132, 0.0003051561702603515, 0.13130316138267517], [0.0005807341294055279, -0.00040982546810049505, 0.9999997473954464, -0.0008578188717365265], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6653286814689636, 1.6963977813720703, -0.6060348749160767, 0.02540253847837448, 0.07103125005960464, 0.6285839080810547, -0.7990818619728088, -1.1311510801315308, -1.403356671333313, -1.0378469228744507, 0.3459884226322174, -1.3436845541000366, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025730609893799, -0.5121567249298096, 1.2914435863494873, -1.676776647567749, 1.0660302639007568, 0.31934854388237, 1.50099515914917, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12572818994522095, -0.02837415784597397, 0.2594893276691437, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854377310496513, -0.1700359159486136, -0.0005152778193695481, -0.3613763451576233], [0.17003609110259466, 0.9854377844442469, 0.0003173517985184087, 0.13128162920475006], [0.0004538130289537728, -0.0004003462625139735, 0.9999998168882857, -0.000828366435598582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.6850755214691162, 1.7120226621627808, -0.5755518078804016, 0.02310193143785, 0.06460872292518616, 0.628584623336792, -0.7990891337394714, -1.1311488151550293, -1.4033563137054443, -1.037846326828003, 0.34598878026008606, -1.3436833620071411, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025761008262634, -0.5121563673019409, 1.291443109512329, -1.6767761707305908, 1.066030502319336, 0.31934854388237, 1.5009957551956177, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12756867706775665, -0.025594256818294525, 0.2545046806335449, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854389625546927, -0.17002882081137174, -0.0005011712535918835, -0.3614045977592468], [0.17002898405270192, 0.9854390152137114, 0.0003031115913201466, 0.13128021359443665], [0.00044233600014658396, -0.00038391161117347426, 0.9999998284753542, -0.0008012645412236452], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7046307325363159, 1.7239091396331787, -0.5458356738090515, 0.021759910508990288, 0.05981579050421715, 0.6285851001739502, -0.7990882992744446, -1.1311488151550293, -1.4033567905426025, -1.0378462076187134, 0.3459888994693756, -1.3436840772628784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025740146636963, -0.5121532678604126, 1.2914435863494873, -1.67677640914917, 1.0660306215286255, 0.31934818625450134, 1.500996470451355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13032940030097961, -0.025594256818294525, 0.2501910328865051, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854166928095824, -0.17015740456557266, -0.000631825714124929, -0.3614584803581238], [0.17015760435866512, 0.9854168219855247, 0.0002768155860773037, 0.1312417984008789], [0.0005755094655915103, -0.0003802886492381436, 0.9999997620846708, -0.0008463438716717064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7193929553031921, 1.7326322793960571, -0.5182283520698547, 0.021568194031715393, 0.057131748646497726, 0.6285845041275024, -0.7990862727165222, -1.1311490535736084, -1.4033571481704712, -1.0378458499908447, 0.3459886610507965, -1.3436838388442993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025740146636963, -0.5121548175811768, 1.291443109512329, -1.6767756938934326, 1.066030740737915, 0.3193483054637909, 1.5009962320327759, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13239994645118713, -0.023964660242199898, 0.2457815557718277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854325689045513, -0.17006530252886892, -0.0006670966503699844, -0.36123722791671753], [0.17006550887256647, 0.9854327233424993, 0.00026543869390767926, 0.13126184046268463], [0.0006122369571244754, -0.0003750220653364692, 0.9999997422621462, -0.0008562107104808092], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.731758713722229, 1.7379045486450195, -0.4931133985519409, 0.021568194031715393, 0.05559800937771797, 0.6285843253135681, -0.7990859746932983, -1.1311500072479248, -1.4033570289611816, -1.0378462076187134, 0.3459888994693756, -1.3436832427978516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025729417800903, -0.5121538639068604, 1.2914427518844604, -1.6767758131027222, 1.0660308599472046, 0.3193480670452118, 1.5009958744049072, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1337803155183792, -0.022910214960575104, 0.24309751391410828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854256617227098, -0.17010570701234776, -0.0005600537372694296, -0.3614577054977417], [0.17010587217188972, 0.9854257576767168, 0.0002614572799052843, 0.13123227655887604], [0.0005074160029365909, -0.0003529151425042273, 0.9999998089899328, -0.0008268201490864158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7425907254219055, 1.7414512634277344, -0.46991559863090515, 0.022047486156225204, 0.05463942512869835, 0.6285844445228577, -0.7990838289260864, -1.131150484085083, -1.4033578634262085, -1.0378462076187134, 0.34598901867866516, -1.3436832427978516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025715112686157, -0.5121532082557678, 1.2914437055587769, -1.67677640914917, 1.0660309791564941, 0.31934794783592224, 1.5009961128234863, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13619595766067505, -0.02271849662065506, 0.24089275300502777, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854197180554238, -0.17014034351794968, -0.0004927221965824421, -0.36154648661613464], [0.1701405036872938, 0.985419766852989, 0.0003034805342515504, 0.13120940327644348], [0.00043390390973099303, -0.00038288770520191867, 0.9999998325621872, -0.0008100586710497737], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7506428360939026, 1.7444229125976562, -0.44921013712882996, 0.023485366255044937, 0.054064273834228516, 0.6285845041275024, -0.7990841865539551, -1.131150484085083, -1.4033576250076294, -1.037846565246582, 0.34598901867866516, -1.3436826467514038, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025730013847351, -0.512153685092926, 1.2914435863494873, -1.6767760515213013, 1.0660310983657837, 0.31934794783592224, 1.5009961128234863, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13654103875160217, -0.022622639313340187, 0.24070103466510773, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854138505217609, -0.17017430120423446, -0.0005004093595026956, -0.3615282475948334], [0.1701744631071079, 0.9854139037328403, 0.0003007261411785989, 0.1311977207660675], [0.00044193447948308757, -0.0003814965988184968, 0.999999829577116, -0.0008137208642438054], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7581198215484619, 1.7461483478546143, -0.4313804507255554, 0.025498397648334503, 0.05329740419983864, 0.6285845637321472, -0.7990830540657043, -1.1311508417129517, -1.4033581018447876, -1.037846326828003, 0.3459893763065338, -1.3436836004257202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025730609893799, -0.512153685092926, 1.2914435863494873, -1.6767756938934326, 1.0660320520401, 0.3193475902080536, 1.5009963512420654, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1386115849018097, -0.02223920449614525, 0.24070103466510773, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854089610786863, -0.17020265900957018, -0.0004840370814108254, -0.36170804500579834], [0.17020282364450898, 0.9854089989642678, 0.00032184417942631983, 0.13117702305316925], [0.00042219576072951437, -0.0003995326164824817, 0.9999998310621997, -0.0008101370185613632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7647340893745422, 1.7473945617675781, -0.41556376218795776, 0.028182439506053925, 0.05195538327097893, 0.628584086894989, -0.7990827560424805, -1.1311513185501099, -1.4033594131469727, -1.0378470420837402, 0.34598901867866516, -1.343683123588562, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702572762966156, -0.5121520161628723, 1.291443943977356, -1.6767762899398804, 1.0660334825515747, 0.31934723258018494, 1.5009976625442505, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13930177688598633, -0.022910214960575104, 0.23820871114730835, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854082279952318, -0.17020683140457582, -0.0005086673879319375, -0.36155229806900024], [0.17020701773560992, 0.9854082655018128, 0.0003484167886981904, 0.13118183612823486], [0.0004419421308468716, -0.00042991152947413055, 0.9999998099315969, -0.0008279207977466285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.771252453327179, 1.7480655908584595, -0.40041810274124146, 0.0315374918282032, 0.04975063353776932, 0.6285844445228577, -0.7990829348564148, -1.1311513185501099, -1.403359293937683, -1.0378473997116089, 0.3459891378879547, -1.3436836004257202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025722861289978, -0.5121521949768066, 1.2914440631866455, -1.67677640914917, 1.0660337209701538, 0.31934723258018494, 1.5009980201721191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12779873609542847, -0.022910214960575104, 0.2362915426492691, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854038580836197, -0.17023221731164156, -0.0004781872848257548, -0.36138445138931274], [0.1702323825576751, 0.9854038906646917, 0.0003289249544021264, 0.13117676973342896], [0.0004152139866166793, -0.00040552687989250794, 0.9999998315726333, -0.0008131306385621428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7750868201255798, 1.7486406564712524, -0.3876689076423645, 0.034796684980392456, 0.047354165464639664, 0.6285841464996338, -0.7990863919258118, -1.131150484085083, -1.4033597707748413, -1.0378472805023193, 0.34598949551582336, -1.3436838388442993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025784850120544, -0.5121518969535828, 1.2914440631866455, -1.6767748594284058, 1.0660337209701538, 0.31934675574302673, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10950890928506851, -0.019459303468465805, 0.235812246799469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853688064199909, -0.17043487158930168, -0.0005195005108295568, -0.3613690435886383], [0.17043506907549624, 0.9853688424271585, 0.00036277126761493874, 0.13110637664794922], [0.00045007074258419764, -0.0004460045964211904, 0.9999997992580931, -0.0008315329323522747], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7770998477935791, 1.7488324642181396, -0.3824925422668457, 0.03613870590925217, 0.04649144038558006, 0.6285846829414368, -0.7990840077400208, -1.1311508417129517, -1.4033594131469727, -1.0378475189208984, 0.3459891378879547, -1.3436839580535889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025740742683411, -0.5121522545814514, 1.2914440631866455, -1.6767761707305908, 1.0660344362258911, 0.3193468749523163, 1.5009981393814087, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10479266196489334, -0.01888415217399597, 0.235812246799469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853896287300488, -0.17031455796491402, -0.00048055850066737346, -0.3617129921913147], [0.17031472065219197, 0.985389665669859, 0.0003204999366006526, 0.13117118179798126], [0.00041895157527750877, -0.00039766350033312116, 0.9999998331716451, -0.0008120000711642206], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7782501578330994, 1.7488324642181396, -0.3801919221878052, 0.037001434713602066, 0.04601214453577995, 0.6285848617553711, -0.7990835309028625, -1.131151556968689, -1.4033602476119995, -1.0378479957580566, 0.34598925709724426, -1.3436843156814575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025731205940247, -0.5121514201164246, 1.291443943977356, -1.6767758131027222, 1.0660345554351807, 0.31934675574302673, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10295217484235764, -0.01878829300403595, 0.23590810596942902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853866270862998, -0.1703320617825126, -0.0004288221122488924, -0.3616601526737213], [0.1703322116284615, 0.9853866354924271, 0.0003409907207459784, 0.13117216527462006], [0.0003644739259003245, -0.0004090499149581482, 0.9999998499184509, -0.0007940924260765314], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.778441846370697, 1.7490241527557373, -0.3789457678794861, 0.03719315305352211, 0.045724570751190186, 0.6285848021507263, -0.799083411693573, -1.1311516761779785, -1.4033598899841309, -1.0378479957580566, 0.34598925709724426, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025734782218933, -0.5121516585350037, 1.2914443016052246, -1.6767758131027222, 1.0660343170166016, 0.3193468749523163, 1.5009992122650146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10318224132061005, -0.01878829300403595, 0.23619568347930908, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853877731342208, -0.17032528999080265, -0.0004818164904588945, -0.36140573024749756], [0.17032547601672632, 0.9853877872424434, 0.00037546386885095996, 0.13119280338287354], [0.0004108250930471014, -0.0004520431287095262, 0.999999813439859, -0.0008234006236307323], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7788252830505371, 1.7491199970245361, -0.37837061285972595, 0.03748072683811188, 0.045628711581230164, 0.6285849809646606, -0.7990813851356506, -1.1311522722244263, -1.4033602476119995, -1.037848949432373, 0.34598973393440247, -1.3436851501464844, 0.5742000009659882, -0.5742000009659882, 0.5742000009659882, 0.5742000009659882, -0.5742000009659882, -0.5742000009659882, 0.5742000009659882, 0.5742000009659882, -0.7025747299194336, -0.5121509432792664, 1.2914446592330933, -1.6767760515213013, 1.0660343170166016, 0.3193471133708954, 1.5009993314743042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09789083898067474, -0.018021423369646072, 0.2402217537164688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853961719477136, -0.17027678384714173, -0.00044854594635757657, -0.3612690269947052], [0.17027694172726032, 0.9853961878141898, 0.0003408185340888447, 0.13122202455997467], [0.0003839619817401181, -0.0004122183107899068, 0.9999998413246178, -0.0008023148402571678], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7788252830505371, 1.7491199970245361, -0.37798717617988586, 0.0375765860080719, 0.04553285241127014, 0.6285858750343323, -0.7990816235542297, -1.1311514377593994, -1.403361201286316, -1.0378485918045044, 0.34598973393440247, -1.343685269355774, 0.0941999886062119, -0.0941999886062119, 0.0941999886062119, 0.0941999886062119, -0.0941999886062119, -0.0941999886062119, 0.0941999886062119, 0.0941999886062119, -0.7025744915008545, -0.512150764465332, 1.291445255279541, -1.6767768859863281, 1.0660347938537598, 0.3193466365337372, 1.5010011196136475, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08983871340751648, -0.031729210168123245, 0.24817802011966705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9853829608611161, -0.17035324286410397, -0.0004394203725550487, -0.36134666204452515], [0.1703534046153998, 0.9853829646561844, 0.0003612496791751931, 0.13119415938854218], [0.00037145729510750766, -0.00043082603499789996, 0.9999998382041897, -0.0008025425486266613], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7788252830505371, 1.7491199970245361, -0.3777954578399658, 0.0375765860080719, 0.04553285241127014, 0.6285849213600159, -0.7990816831588745, -1.1311525106430054, -1.4033610820770264, -1.0378493070602417, 0.34598997235298157, -1.3436870574951172, 0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.7025743126869202, -0.5121508836746216, 1.2914448976516724, -1.6767768859863281, 1.0660345554351807, 0.31934675574302673, 1.5010006427764893, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10260708630084991, -0.05147608742117882, 0.24654841423034668, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854025666166996, -0.17023990762466001, -0.00039440736338833683, -0.3612595498561859], [0.17024004270220117, 0.9854025640385009, 0.00033859577795536616, 0.13123664259910583], [0.00033100751319731046, -0.00040079707502808893, 0.9999998648978563, -0.0007830286049284041], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7786335945129395, 1.7493116855621338, -0.377699613571167, 0.0375765860080719, 0.04553285241127014, 0.6285836100578308, -0.7990828156471252, -1.1311520338058472, -1.4033610820770264, -1.0378496646881104, 0.34598997235298157, -1.3436853885650635, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025725245475769, -0.5121515989303589, 1.2914453744888306, -1.6767760515213013, 1.0660346746444702, 0.3193468749523163, 1.500998854637146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1023770272731781, -0.06441700458526611, 0.24367265403270721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9854064438728949, -0.17021714534354623, -0.0005136193818261037, -0.3582421839237213], [0.17021730054532813, 0.9854065125458166, 0.0002750042780908665, 0.13121271133422852], [0.00045931344064730894, -0.0003584178924055529, 0.9999998302838744, -0.0008197117131203413], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7783460021018982, 1.7497910261154175, -0.37741202116012573, 0.03767244517803192, 0.04553285241127014, 0.6285837292671204, -0.7990849018096924, -1.1311519145965576, -1.4033602476119995, -1.0378490686416626, 0.345989853143692, -1.3436832427978516, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025705575942993, -0.5121514201164246, 1.291445016860962, -1.6767754554748535, 1.0660346746444702, 0.3193468749523163, 1.5009968280792236, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0814414992928505, -0.06374599784612656, 0.23245719075202942, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9855086731721691, -0.1696246150056597, -0.0003809023662576167, -0.34320199489593506], [0.1696246666968933, 0.9855087320182115, 0.0001075352252318593, 0.13071469962596893], [0.00035714198681377924, -0.00017058733405802623, 0.9999999216747782, -0.0007565929554402828], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7785376906394958, 1.7496951818466187, -0.37750789523124695, 0.03815173730254173, 0.04543699324131012, 0.6285829544067383, -0.7990885972976685, -1.1311514377593994, -1.403367519378662, -1.0378497838974, 0.3459900915622711, -1.3436853885650635, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025722861289978, -0.5121461749076843, 1.291446566581726, -1.6767736673355103, 1.0660349130630493, 0.3193468749523163, 1.5009983777999878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05878051742911339, -0.06671760976314545, 0.2185577005147934, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857167729232982, -0.16841147029504178, -0.0001423050995429303, -0.3156648278236389], [0.16841148400057002, 0.985716776702758, 9.04624271444748e-05, 0.12453486025333405], [0.0001250376136679633, -0.0001131361447505344, 0.9999999857829038, -0.0006722762482240796], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7786335945129395, 1.7496951818466187, -0.37750789523124695, 0.0375765860080719, 0.04553285241127014, 0.6285906434059143, -0.7990762591362, -1.1311520338058472, -1.4033526182174683, -1.0378497838974, 0.3459905683994293, -1.343684434890747, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025752663612366, -0.5121527910232544, 1.2914462089538574, -1.6767786741256714, 1.0660346746444702, 0.31934675574302673, 1.500998616218567, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.03623456507921219, -0.05981579050421715, 0.2077256739139557, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9857843124320071, -0.16801280128371973, -0.0009939656695914872, -0.28437796235084534], [0.16801248807340413, 0.9857847892850236, -0.0003912360744632534, 0.11362304538488388], [0.0010455689069886088, 0.00021867573945574294, 0.9999994294831281, -0.0008645152556709945], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7795921564102173, 1.7494075298309326, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285911202430725, -0.7990742325782776, -1.1311521530151367, -1.40336012840271, -1.037850260734558, 0.34599021077156067, -1.3436871767044067, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025840878486633, -0.5121517181396484, 1.291443943977356, -1.6767789125442505, 1.0660346746444702, 0.3193468749523163, 1.5010040998458862, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.030828138813376427, -0.03767244517803192, 0.19794808328151703, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859533362403424, -0.16701709598665734, -0.0011438552014565856, -0.24600808322429657], [0.16701651491504957, 0.985953923674705, -0.0005866311319590106, 0.10257955640554428], [0.0012257659520670003, 0.0003873482123827042, 0.9999991737292552, -0.0008740940247662365], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7797839045524597, 1.7491199970245361, -0.3777954578399658, 0.03767244517803192, 0.04553285241127014, 0.6285920143127441, -0.799073338508606, -1.1311525106430054, -1.4033591747283936, -1.0378507375717163, 0.34599068760871887, -1.3436883687973022, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025806307792664, -0.5121504068374634, 1.2914444208145142, -1.676780104637146, 1.0660358667373657, 0.31934675574302673, 1.5010061264038086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.03623456507921219, -0.02712799422442913, 0.18932081758975983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986083117937446, -0.16624772906340948, -0.0013330791515073306, -0.21540741622447968], [0.16624631064395845, 0.9860836299650229, -0.0011130643630824992, 0.0941234678030014], [0.0014995719514129169, 0.0008759544868789759, 0.9999984919927127, -0.0008703242638148367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7797839045524597, 1.7490241527557373, -0.3777954578399658, 0.03767244517803192, 0.04553285241127014, 0.6285917162895203, -0.7990756034851074, -1.1311520338058472, -1.4033589363098145, -1.0378506183624268, 0.34599021077156067, -1.3436882495880127, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.702578604221344, -0.5121508240699768, 1.2914446592330933, -1.6767802238464355, 1.0660358667373657, 0.3193466365337372, 1.5010055303573608, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05567469820380211, -0.03163335099816322, 0.18539060652256012, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861530449861015, -0.16583246370301966, -0.001328851694800397, -0.1895301789045334], [0.16583034565851368, 0.9861530440152958, -0.0015716991264242749, 0.08725311607122421], [0.0015710898822071174, 0.0013295719434476428, 0.9999978819552715, -0.0008249854436144233], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7794963121414185, 1.7490241527557373, -0.3777954578399658, 0.03767244517803192, 0.04553285241127014, 0.6285901069641113, -0.7990780472755432, -1.1311521530151367, -1.4033594131469727, -1.0378512144088745, 0.3459903299808502, -1.3436875343322754, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025764584541321, -0.5121505260467529, 1.2914447784423828, -1.6767802238464355, 1.0660356283187866, 0.3193466365337372, 1.5010050535202026, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07787555456161499, -0.03901446610689163, 0.18654091656208038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861587837099577, -0.1657917958830402, -0.0019833631975009753, -0.17231494188308716], [0.16578869152250483, 0.986159936560754, -0.00163990418786754, 0.08297380805015564], [0.002227795985407174, 0.0012883867299807413, 0.9999966884868576, -0.0009357541566714644], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7788252830505371, 1.7491199970245361, -0.3777954578399658, 0.0375765860080719, 0.04553285241127014, 0.6285900473594666, -0.7990794777870178, -1.131151795387268, -1.4033576250076294, -1.0378504991531372, 0.34599044919013977, -1.3436872959136963, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025737166404724, -0.512152910232544, 1.2914440631866455, -1.6767791509628296, 1.0660357475280762, 0.31934651732444763, 1.5010004043579102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07787555456161499, -0.04582042992115021, 0.19430546462535858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862662003330042, -0.16514888071064956, -0.0021975624492214284, -0.15967680513858795], [0.1651453883710287, 0.9862677907735955, -0.0016868854001966323, 0.08219257742166519], [0.0024459722976102397, 0.0013008007499028897, 0.9999961625611012, -0.0009646288235671818], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7785376906394958, 1.7491199970245361, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285862326622009, -0.799088716506958, -1.1311521530151367, -1.4033607244491577, -1.0378508567810059, 0.34598997235298157, -1.3436870574951172, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025724649429321, -0.5121508240699768, 1.2914445400238037, -1.6767778396606445, 1.0660358667373657, 0.3193468749523163, 1.5010004043579102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06338173151016235, -0.03613870590925217, 0.190950408577919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986227222258855, -0.16538001250831968, -0.0023059788227914554, -0.1486840397119522], [0.16537687970300538, 0.9862293177408749, -0.0014901302178966086, 0.08210543543100357], [0.002520661675201289, 0.0010882514032256943, 0.9999962309796985, -0.0009981256444007158], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7783460021018982, 1.749215841293335, -0.377699613571167, 0.03767244517803192, 0.04543699324131012, 0.6285866498947144, -0.7990883588790894, -1.131151556968689, -1.4033585786819458, -1.0378504991531372, 0.34599044919013977, -1.3436851501464844, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025721669197083, -0.5121519565582275, 1.291445016860962, -1.6767776012420654, 1.066035270690918, 0.31934651732444763, 1.5009979009628296, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.045206934213638306, -0.02751142904162407, 0.1944013237953186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516195881748, -0.16523013360903197, -0.002597269189676906, -0.1362001746892929], [0.16522691780121596, 0.9862545718616061, -0.0014089414431467384, 0.08213932812213898], [0.0027943681955725753, 0.0009604319972979942, 0.9999956345288544, -0.0010470800334587693], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7787294387817383, 1.7491199970245361, -0.3777954578399658, 0.03767244517803192, 0.04553285241127014, 0.6285866498947144, -0.7990859746932983, -1.1311516761779785, -1.4033610820770264, -1.0378507375717163, 0.3459905683994293, -1.3436880111694336, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025747895240784, -0.5121505260467529, 1.2914448976516724, -1.6767778396606445, 1.0660353899002075, 0.31934675574302673, 1.5009996891021729, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.03335880488157272, -0.016487685963511467, 0.19171728193759918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862506838151626, -0.16523613139091217, -0.00257090588888011, -0.12259700149297714], [0.16523348114189687, 0.986253733140458, -0.0012126731796269362, 0.0821605920791626], [0.0027359429553038676, 0.00077120002294351, 0.9999959599251739, -0.001055165776051581], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7788252830505371, 1.7491199970245361, -0.3777954578399658, 0.03767244517803192, 0.04553285241127014, 0.6285879015922546, -0.7990849614143372, -1.1311513185501099, -1.4033602476119995, -1.0378503799438477, 0.3459908068180084, -1.3436880111694336, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025765180587769, -0.5121510028839111, 1.2914447784423828, -1.6767778396606445, 1.0660350322723389, 0.31934699416160583, 1.5009995698928833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.028412500396370888, -0.014282937161624432, 0.18730777502059937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862683833837542, -0.1651280332955191, -0.0027218665562272937, -0.11039238423109055], [0.16512559916048544, 0.986271936083149, -0.0010975412008041956, 0.08219341933727264], [0.0028657354181198655, 0.0006330203398822995, 0.999995693413608, -0.0010852508712559938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7787294387817383, 1.7491199970245361, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285870671272278, -0.7990850210189819, -1.1311513185501099, -1.4033607244491577, -1.0378508567810059, 0.34599068760871887, -1.3436871767044067, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025749087333679, -0.5121509432792664, 1.2914448976516724, -1.6767773628234863, 1.0660350322723389, 0.3193466365337372, 1.5009993314743042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.024041347205638885, -0.014091219753026962, 0.17906393110752106, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862565735660209, -0.16519516376026375, -0.002920439698353655, -0.10129489004611969], [0.1651930640201769, 0.9862607937298246, -0.0009478138225596009, 0.08221688866615295], [0.00303688943457034, 0.0004523512309589431, 0.9999952863293536, -0.0011225375346839428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7785376906394958, 1.749215841293335, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285866498947144, -0.7990850210189819, -1.1311516761779785, -1.4033600091934204, -1.0378508567810059, 0.34599068760871887, -1.3436861038208008, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025742530822754, -0.5121514797210693, 1.2914445400238037, -1.6767773628234863, 1.0660351514816284, 0.31934699416160583, 1.5009987354278564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02427140809595585, -0.01658354513347149, 0.1754213124513626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862738205530532, -0.16508768461396667, -0.003163428596191718, -0.0931277647614479], [0.1650857046398055, 0.9862788336108123, -0.0008789168758788993, 0.08224128186702728], [0.003265121018070045, 0.0003446158662416153, 0.9999946100977956, -0.0011508933966979384], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7786335945129395, 1.749215841293335, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.62858647108078, -0.7990847826004028, -1.131151556968689, -1.4033602476119995, -1.0378508567810059, 0.34599068760871887, -1.3436862230300903, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025743126869202, -0.5121514201164246, 1.2914444208145142, -1.6767770051956177, 1.0660347938537598, 0.31934675574302673, 1.5009981393814087, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.025766801089048386, -0.019746879115700722, 0.17225797474384308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862972350226831, -0.16494645505837932, -0.0032297291348178546, -0.08247204124927521], [0.16494477001534247, 0.9863024939173547, -0.0007831583442919525, 0.08226022124290466], [0.0033146690929887375, 0.00023969998020571316, 0.999994477741114, -0.0011640258599072695], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7789211273193359, 1.7491199970245361, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285870671272278, -0.7990827560424805, -1.131151556968689, -1.4033607244491577, -1.0378508567810059, 0.3459908068180084, -1.3436866998672485, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025753259658813, -0.5121513605117798, 1.2914444208145142, -1.6767776012420654, 1.0660349130630493, 0.31934699416160583, 1.5009998083114624, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.023006072267889977, -0.024156376719474792, 0.171970397233963, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863339525618118, -0.16472894246000339, -0.0031160134471031526, -0.06902527064085007], [0.1647273017040909, 0.9863388419015306, -0.0007778365102528537, 0.08225720375776291], [0.0032015772805060526, 0.0002539140723896181, 0.9999948427019816, -0.0011539619881659746], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7790170311927795, 1.7491199970245361, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285876631736755, -0.7990825176239014, -1.131151795387268, -1.4033598899841309, -1.0378508567810059, 0.3459903299808502, -1.3436872959136963, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.7025773525238037, -0.5121510028839111, 1.2914446592330933, -1.6767772436141968, 1.0660349130630493, 0.3193471133708954, 1.5010002851486206, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02289104275405407, -0.027032136917114258, 0.17302484810352325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863453029135857, -0.16465926785396157, -0.0032045171405729453, -0.05725708603858948], [0.16465756829487863, 0.9863504766246041, -0.000788964912952239, 0.08226069062948227], [0.003290687393885018, 0.00025054383612806814, 0.9999945542873031, -0.001159551553428173], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7790170311927795, 1.7491199970245361, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285877823829651, -0.7990819215774536, -1.1311510801315308, -1.403360366821289, -1.0378504991531372, 0.3459905683994293, -1.3436858654022217, 0.44340000283587105, -0.44340000283587105, 0.44340000283587105, 0.44340000283587105, -0.44340000283587105, -0.44340000283587105, 0.44340000283587105, 0.44340000283587105, -0.7025771141052246, -0.5121514201164246, 1.2914448976516724, -1.676776647567749, 1.0660346746444702, 0.31934675574302673, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.025076620280742645, -0.029428601264953613, 0.17484615743160248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986374981133442, -0.16447985532509105, -0.0032823446252718633, -0.05019882693886757], [0.16447785655058686, 0.9863803905254616, -0.0008717174786070295, 0.0822782814502716], [0.003381020338080448, 0.00031996730308964496, 0.9999942331445709, -0.0011563780717551708], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7790170311927795, 1.7491199970245361, -0.377699613571167, 0.03767244517803192, 0.04553285241127014, 0.6285871267318726, -0.7990811467170715, -1.1311519145965576, -1.4033597707748413, -1.0378508567810059, 0.34599068760871887, -1.343687653541565, 0.5802000005985354, -0.5802000005985354, 0.5802000005985354, 0.5802000005985354, -0.5802000005985354, -0.5802000005985354, 0.5802000005985354, 0.5802000005985354, -0.7025755643844604, -0.5121511816978455, 1.2914443016052246, -1.6767773628234863, 1.0660346746444702, 0.31934699416160583, 1.5010005235671997, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.029217712581157684, -0.03182506933808327, 0.17657160758972168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863842840195638, -0.1644233543873457, -0.003317344001742486, -0.04672718420624733], [0.16442122536945447, 0.9863898007096081, -0.0009064789388507969, 0.08229956030845642], [0.003421240596571315, 0.0003486948133386478, 0.9999940867448704, -0.0011518443934619427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7790170311927795, 1.7491199970245361, -0.3772203028202057, 0.03776830434799194, 0.04649144038558006, 0.6285871267318726, -0.7990819215774536, -1.1311514377593994, -1.4033604860305786, -1.037851095199585, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025754451751709, -0.5121506452560425, 1.2914446592330933, -1.6767772436141968, 1.0660346746444702, 0.3193471133708954, 1.5010011196136475, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04888790473341942, -0.03546769544482231, 0.1857740432024002, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863909785797035, -0.16438225427250155, -0.0033633104028081553, -0.04549689218401909], [0.16438016860256893, 0.9863966591944884, -0.0008893256677476584, 0.08230919390916824], [0.0034637475032107913, 0.0003243612846092824, 0.9999939486031858, -0.0011562344152480364], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7806466221809387, 1.7506537437438965, -0.3751114308834076, 0.03853517398238182, 0.04898376390337944, 0.6285866498947144, -0.7990813851356506, -1.1311516761779785, -1.403360366821289, -1.037851095199585, 0.3459905683994293, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025725841522217, -0.5121511220932007, 1.291445255279541, -1.6767776012420654, 1.0660346746444702, 0.31934675574302673, 1.5010005235671997, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05774524435400963, -0.036042846739292145, 0.190950408577919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863939775075704, -0.16436504236583258, -0.003324753355163298, -0.046062447130680084], [0.1643629598311675, 0.9863995243558278, -0.0008920684584835486, 0.08229678124189377], [0.003426159998105391, 0.00033346465280939, 0.9999940750969442, -0.0011561524588614702], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7833306193351746, 1.7547756433486938, -0.37233152985572815, 0.0401647686958313, 0.05157194659113884, 0.6285865902900696, -0.7990818619728088, -1.1311516761779785, -1.4033602476119995, -1.0378507375717163, 0.345990926027298, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025741934776306, -0.5121511816978455, 1.291445016860962, -1.6767768859863281, 1.0660351514816284, 0.3193471133708954, 1.5009998083114624, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.060275912284851074, -0.030962340533733368, 0.19229242205619812, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863871635149792, -0.1644059861725531, -0.0033219517612289536, -0.0468943826854229], [0.16440413205584659, 0.9863927208671304, -0.0008255805854637432, 0.08228909969329834], [0.003412479426666064, 0.0002681994959123805, 0.9999941415094356, -0.0011603528400883079], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7884111404418945, 1.7613898515701294, -0.37108534574508667, 0.04208194091916084, 0.053489118814468384, 0.6285866498947144, -0.7990831136703491, -1.1311514377593994, -1.4033598899841309, -1.0378506183624268, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702576756477356, -0.5121520161628723, 1.291443943977356, -1.67677640914917, 1.0660344362258911, 0.31934675574302673, 1.5009993314743042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.061311185359954834, -0.024635670706629753, 0.19286757707595825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986375123238141, -0.16447808953431967, -0.00332781010311956, -0.04734009876847267], [0.16447615377072075, 0.9863806941784575, -0.0008491129574862651, 0.08227840811014175], [0.0034221481166553324, 0.0002901984918431663, 0.9999941023261603, -0.0011636747512966394], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7972301244735718, 1.7704964876174927, -0.3721398115158081, 0.04246537759900093, 0.05511871725320816, 0.6285863518714905, -0.7990841865539551, -1.1311511993408203, -1.4033600091934204, -1.0378507375717163, 0.345990926027298, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025764584541321, -0.5121517181396484, 1.2914444208145142, -1.6767759323120117, 1.0660343170166016, 0.31934675574302673, 1.5009993314743042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.058550454676151276, -0.016008391976356506, 0.18912909924983978, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863559278333097, -0.16459346948706885, -0.0033126168356865013, -0.04774285852909088], [0.16459153531361065, 0.986361446820086, -0.0008501353392780192, 0.08224821090698242], [0.0034073642598336485, 0.0002933073404661001, 0.9999941519027022, -0.001159530133008957], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8098834753036499, 1.7832456827163696, -0.3767410218715668, 0.04169850796461105, 0.05722760781645775, 0.6285862326622009, -0.799083948135376, -1.1311510801315308, -1.4033604860305786, -1.037851095199585, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025746703147888, -0.5121507048606873, 1.2914448976516724, -1.6767765283584595, 1.0660347938537598, 0.31934675574302673, 1.5009992122650146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05291396751999855, -0.008052125573158264, 0.18337757885456085, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863586010904395, -0.16457869148157633, -0.0032502869293885676, -0.04779008775949478], [0.16457668768742356, 0.9863639012476286, -0.0008764618614082979, 0.08224109560251236], [0.0033502126421299677, 0.0003295842386553142, 0.9999943337086876, -0.0011544477893039584], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.824262261390686, 1.8003084659576416, -0.3846014142036438, 0.0401647686958313, 0.059719931334257126, 0.6285860538482666, -0.7990773320198059, -1.1311525106430054, -1.4033604860305786, -1.0378507375717163, 0.34599044919013977, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702572762966156, -0.5121508836746216, 1.2914445400238037, -1.6767772436141968, 1.0660351514816284, 0.3193468749523163, 1.5009994506835938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0485428161919117, 0.0, 0.17858465015888214, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863938160061952, -0.16436772418485682, -0.0032389799361971696, -0.04739155247807503], [0.16436573716883648, 0.9863990793180344, -0.0008722187105497415, 0.08223745971918106], [0.0033382914314389854, 0.0003279738174030437, 0.9999943741059216, -0.0011671424144878983], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8408458232879639, 1.8234103918075562, -0.3950500190258026, 0.039493758231401443, 0.060966093093156815, 0.6285863518714905, -0.799077033996582, -1.1311527490615845, -1.4033609628677368, -1.0378509759902954, 0.345990926027298, -1.3436880111694336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702574610710144, -0.5121509432792664, 1.2914445400238037, -1.6767776012420654, 1.0660347938537598, 0.31934723258018494, 1.5010000467300415, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.047622572630643845, 0.004888790659606457, 0.17743434011936188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863927001893231, -0.16437459446977679, -0.0032301247828071945, -0.047006525099277496], [0.16437269286964412, 0.9863979418534126, -0.0008474350319624943, 0.08221826702356339], [0.003325485227409035, 0.0003049594205575173, 0.9999944240583315, -0.0011648063082247972], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.859442412853241, 1.8505384922027588, -0.4054027497768402, 0.03901446610689163, 0.06067851930856705, 0.6285869479179382, -0.7990816235542297, -1.1311514377593994, -1.4033616781234741, -1.0378507375717163, 0.34599044919013977, -1.3436875343322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025752663612366, -0.5121493935585022, 1.2914458513259888, -1.676777720451355, 1.0660347938537598, 0.31934675574302673, 1.5010011196136475, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04888790473341942, 0.0069976807571947575, 0.17570888996124268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863756655395248, -0.16448155238389087, -0.0029774749108799326, -0.04665059223771095], [0.16447965646313775, 0.9863800897166423, -0.0008724794306414147, 0.08220748603343964], [0.0030804287408977126, 0.00037085842859932807, 0.9999951866998151, -0.0011567971669137478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8762176632881165, 1.879871129989624, -0.415659636259079, 0.03882274776697159, 0.060103368014097214, 0.6285806894302368, -0.7990797758102417, -1.1311562061309814, -1.4033610820770264, -1.0378512144088745, 0.34599044919013977, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025831937789917, -0.5121541619300842, 1.2914409637451172, -1.6767767667770386, 1.066033124923706, 0.3193468749523163, 1.500999927520752, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05061336234211922, 0.0071893977001309395, 0.17570888996124268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863539389872276, -0.16460797340261116, -0.003181530553981011, -0.04659276828169823], [0.16460585877287576, 0.9863589964619165, -0.0009172547547794066, 0.08219835162162781], [0.003289118730715782, 0.00038103927138124377, 0.9999945182384996, -0.0011621301528066397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8960604071617126, 1.9109294414520264, -0.4261082112789154, 0.038726888597011566, 0.060103368014097214, 0.6286017298698425, -0.7990933060646057, -1.1311407089233398, -1.4033584594726562, -1.0378496646881104, 0.345990926027298, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702576756477356, -0.5121513605117798, 1.291444182395935, -1.6767767667770386, 1.066033959388733, 0.3193468749523163, 1.5009993314743042, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.054524391889572144, 0.0074769738130271435, 0.1770509034395218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.98637534404158, -0.16448209439095443, -0.0030530790392427746, -0.046936459839344025], [0.16447989354891768, 0.9863799687021909, -0.0009601881073624524, 0.08220356702804565], [0.003169429758081866, 0.00044493575937318915, 0.9999948783604737, -0.001148390001617372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9138901233673096, 1.9425626993179321, -0.436460942029953, 0.03882274776697159, 0.060103368014097214, 0.6285814642906189, -0.7990785837173462, -1.131157398223877, -1.4033617973327637, -1.0378527641296387, 0.34599068760871887, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025784254074097, -0.5121525526046753, 1.2914429903030396, -1.6767770051956177, 1.0660336017608643, 0.3193468749523163, 1.5009996891021729, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.057860273867845535, 0.007956267334520817, 0.1797349452972412, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863607512363871, -0.1645698540030476, -0.0030383505073606908, -0.047030266374349594], [0.16456769611757183, 0.9863653345536189, -0.0009487810506535606, 0.08218900114297867], [0.0031530643736709, 0.00043582604688749025, 0.9999949341075245, -0.0011635469272732735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9334452748298645, 1.9749629497528076, -0.4458550810813904, 0.039973050355911255, 0.059624072164297104, 0.6286027431488037, -0.7990821003913879, -1.1311477422714233, -1.403358817100525, -1.0378514528274536, 0.3459910452365875, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025784850120544, -0.512154221534729, 1.2914420366287231, -1.6767776012420654, 1.066033124923706, 0.3193468749523163, 1.5009994506835938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.059240639209747314, 0.01006515696644783, 0.18002252280712128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986373233678528, -0.16449807172795206, -0.0028684979256639012, -0.046985190361738205], [0.1644959057495491, 0.9863772820467646, -0.0009769614490185532, 0.08221766352653503], [0.002990129461989239, 0.0004917924592249045, 0.9999954086224484, -0.001143270288594067], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9505081176757812, 2.0073630809783936, -0.4545782208442688, 0.041794367134571075, 0.05780275911092758, 0.6285843253135681, -0.7990861535072327, -1.1311500072479248, -1.4033609628677368, -1.037852168083191, 0.3459910452365875, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025746703147888, -0.5121496915817261, 1.2914451360702515, -1.6767770051956177, 1.0660347938537598, 0.3193471133708954, 1.5010004043579102, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.059240639209747314, 0.010832025669515133, 0.1823231279850006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863766425584789, -0.1644788249918344, -0.0027991327885989437, -0.04693605750799179], [0.16447684628545753, 0.9863805108579663, -0.0009245731812110376, 0.08224999904632568], [0.002913082740442064, 0.00045158485687958285, 0.9999956550005927, -0.001143889268860221], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9685295224189758, 2.0393800735473633, -0.4619593322277069, 0.044765982776880264, 0.056173160672187805, 0.6285811066627502, -0.7990797758102417, -1.131156325340271, -1.4033597707748413, -1.037853717803955, 0.34599068760871887, -1.3436851501464844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025755047798157, -0.5121532678604126, 1.291443109512329, -1.6767773628234863, 1.066033959388733, 0.3193468749523163, 1.500999093055725, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05947069823741913, 0.010927884839475155, 0.18586990237236023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863824913060968, -0.16444340202077173, -0.00281928654322625, -0.0470733642578125], [0.16444136339403012, 0.9863864105482198, -0.0009418550372872678, 0.08221986889839172], [0.0029357877802217583, 0.00046542199516204515, 0.9999955822564798, -0.0011561306891962886], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9842503666877747, 2.0705339908599854, -0.4702031910419464, 0.04850447177886963, 0.05454356595873833, 0.6285977363586426, -0.7990881204605103, -1.1311448812484741, -1.403359293937683, -1.0378519296646118, 0.345990926027298, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025757431983948, -0.5121527314186096, 1.2914437055587769, -1.6767772436141968, 1.0660338401794434, 0.3193466365337372, 1.5009992122650146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05601978674530983, 0.011023743078112602, 0.18989595770835876, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986357463342641, -0.1645945230638606, -0.002756353687555492, -0.047121260315179825], [0.1645925657538593, 0.9863612083923381, -0.0009240548511844993, 0.08221995085477829], [0.002870854721529472, 0.00045777307344393444, 0.9999957743095623, -0.001148981275036931], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9987249970436096, 2.0998668670654297, -0.4766257107257843, 0.051380228251218796, 0.05243467539548874, 0.6285762190818787, -0.7990796566009521, -1.1311579942703247, -1.4033608436584473, -1.0378540754318237, 0.3459908068180084, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025757431983948, -0.5121520161628723, 1.2914437055587769, -1.6767767667770386, 1.066034197807312, 0.3193468749523163, 1.5009981393814087, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05256887897849083, 0.011023743078112602, 0.19401788711547852, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863694961669592, -0.16452367484723981, -0.002679075605253135, -0.047080885618925095], [0.16452196760416682, 0.9863730554535937, -0.0008471427242349983, 0.08221042901277542], [0.0027819430246559646, 0.00039482895214861067, 0.9999960524437614, -0.0011540279956534505], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.011665940284729, 2.1260361671447754, -0.48237723112106323, 0.053105685859918594, 0.05070921778678894, 0.6285893321037292, -0.7990897297859192, -1.131147861480713, -1.4033600091934204, -1.0378527641296387, 0.3459910452365875, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702573299407959, -0.5121501088142395, 1.2914447784423828, -1.6767765283584595, 1.0660347938537598, 0.31934699416160583, 1.5009992122650146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.050038207322359085, 0.010544450022280216, 0.19775636494159698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863559976921397, -0.16460487879952285, -0.0026607690877140065, -0.0470440573990345], [0.1646032418137138, 0.9863595151297566, -0.0008244376310676176, 0.08221381157636642], [0.0027601813635694836, 0.00037521778457120077, 0.9999961202977011, -0.001139921834692359], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0194305181503296, 2.1478919982910156, -0.487361878156662, 0.05416012927889824, 0.04984649270772934, 0.6285867691040039, -0.7990850210189819, -1.131150245666504, -1.4033596515655518, -1.0378530025482178, 0.3459911644458771, -1.3436851501464844, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025802135467529, -0.512153148651123, 1.291443109512329, -1.6767761707305908, 1.0660337209701538, 0.3193471133708954, 1.500998854637146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04842778295278549, 0.0102568743750453, 0.2016865760087967, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863373379534642, -0.16471667872439655, -0.002659230880820459, -0.04685664176940918], [0.16471492009067545, 0.986340833706571, -0.0008688282619467106, 0.08218082785606384], [0.002766018509696463, 0.00041894275299025533, 0.9999960868066303, -0.0011340620694682002], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0254695415496826, 2.1662967205047607, -0.49157965183258057, 0.05463942512869835, 0.050038207322359085, 0.6285873651504517, -0.7990851402282715, -1.1311496496200562, -1.4033597707748413, -1.0378527641296387, 0.3459910452365875, -1.3436850309371948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025737166404724, -0.5121520161628723, 1.2914438247680664, -1.6767762899398804, 1.0660343170166016, 0.3193468749523163, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04819772392511368, 0.010161015205085278, 0.20226173102855682, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986345926571516, -0.16466709639958182, -0.002541751189317295, -0.04696206375956535], [0.16466523850041553, 0.9863490778470017, -0.0009251270024836518, 0.08219138532876968], [0.002659391918999465, 0.0004939571846634195, 0.9999963418137693, -0.0011061577824875712], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0288245677947998, 2.1798129081726074, -0.49464714527130127, 0.05473528429865837, 0.05109265446662903, 0.6285869479179382, -0.7990867495536804, -1.1311498880386353, -1.4033596515655518, -1.0378526449203491, 0.3459910452365875, -1.3436850309371948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025730013847351, -0.5121503472328186, 1.2914457321166992, -1.6767761707305908, 1.066034197807312, 0.31934699416160583, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04946305602788925, 0.010161015205085278, 0.20369960367679596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863522957556247, -0.1646272386381225, -0.0026497086623594834, -0.04691661521792412], [0.16462539320694358, 0.9863557507281572, -0.0009016190728967609, 0.08221008628606796], [0.0027619864351469472, 0.0004531047120240037, 0.9999960830558547, -0.0011067423038184643], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0299749374389648, 2.189398765563965, -0.4970436096191406, 0.05521457642316818, 0.05243467539548874, 0.6285849213600159, -0.7990823984146118, -1.131151556968689, -1.403360366821289, -1.0378522872924805, 0.3459910452365875, -1.3436853885650635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025723457336426, -0.5121517181396484, 1.2914440631866455, -1.6767772436141968, 1.0660340785980225, 0.3193466365337372, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.053489118814468384, 0.010832025669515133, 0.20465819537639618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863726095026524, -0.1645042466336561, -0.002725447196580001, -0.046966057270765305], [0.1645022940647858, 0.9863762646201227, -0.0009272763753592638, 0.0822279080748558], [0.00284085732673163, 0.0004662977019034286, 0.999995856039465, -0.0011008414439857006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0294955968856812, 2.1971633434295654, -0.4980980455875397, 0.056173160672187805, 0.05387255549430847, 0.6285860538482666, -0.7990838885307312, -1.131150722503662, -1.4033595323562622, -1.03785240650177, 0.3459908068180084, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025749683380127, -0.5121522545814514, 1.2914443016052246, -1.67677640914917, 1.0660338401794434, 0.31934699416160583, 1.5009982585906982, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.055789727717638016, 0.011311319656670094, 0.20571263134479523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863575114769759, -0.16459239494317954, -0.0028641019213213933, -0.04678673669695854], [0.16459039657129332, 0.9863615726572957, -0.0009215972714407014, 0.08222228288650513], [0.0029767279774448765, 0.00043762072019133013, 0.9999954737790835, -0.0011110400082543492], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0271949768066406, 2.201476812362671, -0.49848148226737976, 0.05722760781645775, 0.05454356595873833, 0.6285846829414368, -0.7990827560424805, -1.131151795387268, -1.4033602476119995, -1.0378527641296387, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025737166404724, -0.5121519565582275, 1.2914447784423828, -1.6767767667770386, 1.0660343170166016, 0.3193471133708954, 1.5009984970092773, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05878051742911339, 0.011503036133944988, 0.2073422372341156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863589787463878, -0.16458257722199143, -0.0029223828206038135, -0.04689512401819229], [0.1645806623418099, 0.9863632297924375, -0.0008857181053770354, 0.08222659677267075], [0.003028304726095843, 0.00039266830564557584, 0.9999953375801748, -0.0011283766943961382], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.023264765739441, 2.203681707382202, -0.4980980455875397, 0.05809033662080765, 0.054064273834228516, 0.6285849809646606, -0.7990826368331909, -1.131151795387268, -1.4033604860305786, -1.037852168083191, 0.3459908068180084, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025740146636963, -0.5121517181396484, 1.291445016860962, -1.676776647567749, 1.066034197807312, 0.31934699416160583, 1.5009983777999878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.059585727751255035, 0.011886470951139927, 0.20983456075191498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863566486718032, -0.16459515487264953, -0.0029994355098122765, -0.046762458980083466], [0.16459329276846035, 0.9863611457650577, -0.0008591278591574852, 0.08222149312496185], [0.003099934929140271, 0.0003537195089325099, 0.9999951326311264, -0.0011367035331204534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0202932357788086, 2.2044484615325928, -0.4959891736507416, 0.0587613470852375, 0.05195538327097893, 0.6285856366157532, -0.7990832924842834, -1.1311513185501099, -1.4033596515655518, -1.037852168083191, 0.3459911644458771, -1.3436849117279053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702574610710144, -0.5121523141860962, 1.2914440631866455, -1.676776647567749, 1.0660338401794434, 0.31934699416160583, 1.5009980201721191, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05970076099038124, 0.011886470951139927, 0.21136829257011414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863566486718032, -0.16459515487264953, -0.0029994355098122765, -0.046762458980083466], [0.16459329276846035, 0.9863611457650577, -0.0008591278591574852, 0.08222149312496185], [0.003099934929140271, 0.0003537195089325099, 0.9999951326311264, -0.0011367035331204534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0192387104034424, 2.204256772994995, -0.4934009909629822, 0.05914478003978729, 0.04812103509902954, 0.6285851001739502, -0.79908287525177, -1.1311520338058472, -1.4033604860305786, -1.0378520488739014, 0.3459905683994293, -1.3436850309371948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025733590126038, -0.5121513605117798, 1.2914447784423828, -1.6767770051956177, 1.0660346746444702, 0.31934723258018494, 1.5009987354278564, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05935566872358322, 0.012078188359737396, 0.21347719430923462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863399362479943, -0.16469714459956003, -0.0028949478499790777, -0.0466802679002285], [0.1646953183827795, 0.9863441147104103, -0.0008599296086271431, 0.08225801587104797], [0.0029970427253179265, 0.00037139855749721186, 0.9999954398886097, -0.0011338703334331512], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0191428661346436, 2.203777551651001, -0.4891831874847412, 0.059240639209747314, 0.0444784089922905, 0.6285855770111084, -0.79908287525177, -1.1311514377593994, -1.4033596515655518, -1.0378519296646118, 0.34599068760871887, -1.343684434890747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025743126869202, -0.5121515989303589, 1.2914446592330933, -1.6767770051956177, 1.066033959388733, 0.3193468749523163, 1.500998854637146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0555596649646759, 0.014187078922986984, 0.2181742638349533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863327035972157, -0.16474062740391174, -0.0028850471699151713, -0.04643525183200836], [0.16473874177326187, 0.9863368443996318, -0.0008811008677276532, 0.0822630226612091], [0.002990781431273803, 0.00039377956027933353, 0.9999954500716932, -0.0011321048950776458], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.020580768585205, 2.20310640335083, -0.4834316670894623, 0.05914478003978729, 0.040452346205711365, 0.6285849809646606, -0.7990817427635193, -1.1311522722244263, -1.4033598899841309, -1.0378520488739014, 0.3459908068180084, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702573835849762, -0.5121517181396484, 1.2914446592330933, -1.6767770051956177, 1.066033959388733, 0.31934723258018494, 1.500998854637146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05291396751999855, 0.014282937161624432, 0.2233506292104721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986333773681182, -0.1647349017866058, -0.002845879336179665, -0.04670701548457146], [0.1647329498871012, 0.9863377866271897, -0.0009087864821969305, 0.08223535865545273], [0.0029567071773452134, 0.00042755670238412314, 0.99999553752901, -0.0011273914715275168], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0245109796524048, 2.20310640335083, -0.47374996542930603, 0.05847376957535744, 0.03537183627486229, 0.6285852193832397, -0.7990823984146118, -1.1311519145965576, -1.40336012840271, -1.0378519296646118, 0.34599068760871887, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025742530822754, -0.5121520757675171, 1.2914451360702515, -1.6767770051956177, 1.0660344362258911, 0.3193468749523163, 1.5009989738464355, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.050038207322359085, 0.01658354513347149, 0.2280476987361908, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863228884247079, -0.16480060429528398, -0.0028143548906143204, -0.04712609946727753], [0.16479858016406732, 0.9863267956426154, -0.0009381755048829411, 0.08217396587133408], [0.0029304855312004877, 0.0004615422837744122, 0.9999955996069542, -0.0011302174534648657], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0282495021820068, 2.2022438049316406, -0.4624386429786682, 0.057994477450847626, 0.028086580336093903, 0.6285865306854248, -0.7990816235542297, -1.1311519145965576, -1.4033591747283936, -1.037852168083191, 0.345990926027298, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025750875473022, -0.5121522545814514, 1.2914446592330933, -1.6767772436141968, 1.0660345554351807, 0.31934675574302673, 1.500999093055725, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04773760214447975, 0.02013031393289566, 0.23427851498126984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863276290118439, -0.16477410814927854, -0.0027021346162420246, -0.04739200323820114], [0.16477199078829818, 0.9863311873932611, -0.0009898621422805619, 0.08211667835712433], [0.002828303296219444, 0.0005310922797479986, 0.9999958593121548, -0.0011262233601883054], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0300707817077637, 2.1969716548919678, -0.4498811662197113, 0.057515181601047516, 0.019363444298505783, 0.6285863518714905, -0.7990819811820984, -1.1311516761779785, -1.4033589363098145, -1.0378514528274536, 0.3459910452365875, -1.3436847925186157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025774717330933, -0.5121524333953857, 1.291444182395935, -1.6767767667770386, 1.0660338401794434, 0.3193471133708954, 1.5009992122650146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.045206934213638306, 0.02578597329556942, 0.24376851320266724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863157495258784, -0.16484582159935307, -0.0026640830390661815, -0.04795170947909355], [0.16484401310881677, 0.9863192515161548, -0.0008862453341545824, 0.08202246576547623], [0.0027737302293159446, 0.0004349595916056874, 0.9999960586076171, -0.0011139377020299435], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0312210321426392, 2.1895904541015625, -0.436460942029953, 0.05588558688759804, 0.009202429093420506, 0.6285855174064636, -0.7990815043449402, -1.131152629852295, -1.4033596515655518, -1.0378516912460327, 0.34599068760871887, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025706171989441, -0.5121511816978455, 1.291445016860962, -1.6767778396606445, 1.0660350322723389, 0.31934699416160583, 1.5009994506835938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04256123676896095, 0.03316709026694298, 0.2544088363647461, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863251077889484, -0.16479158615148462, -0.0025524260610376454, -0.04858851060271263], [0.164789761757497, 0.9863282947137577, -0.0009107507661977653, 0.08194583654403687], [0.002667614107516624, 0.0004776826651368581, 0.99999632782038, -0.0011035861680284142], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0317003726959229, 2.1861395835876465, -0.4282171130180359, 0.054831139743328094, 0.002779900562018156, 0.6285858750343323, -0.799083411693573, -1.131151795387268, -1.4033595323562622, -1.037851333618164, 0.3459908068180084, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7025755047798157, -0.5121505856513977, 1.2914446592330933, -1.6767771244049072, 1.0660345554351807, 0.3193468749523163, 1.5009995698928833, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04049069061875343, 0.0358511321246624, 0.25766801834106445, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862943710201799, -0.16497633454244695, -0.002494541009157424, -0.04879869520664215], [0.16497459971400427, 0.9862974166427229, -0.0008873404618707116, 0.08186515420675278], [0.00260674952993193, 0.0004636429982656152, 0.9999964949398864, -0.0010902388021349907], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0317962169647217, 2.1843183040618896, -0.4252454936504364, 0.054064273834228516, 0.0012461623409762979, 0.628585934638977, -0.7990808486938477, -1.1311520338058472, -1.403359055519104, -1.0378512144088745, 0.34599068760871887, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.702573835849762, -0.5121521353721619, 1.2914446592330933, -1.676777958869934, 1.0660346746444702, 0.31934699416160583, 1.500998854637146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.04037565737962723, 0.03594698756933212, 0.25814729928970337, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986313138350886, -0.16486569644013163, -0.00238647307475674, -0.04945329204201698], [0.16486398327279103, 0.9863159021656464, -0.0008989741909170253, 0.0818001851439476], [0.002502026349789957, 0.0004932265984621584, 0.999996748290547, -0.0010836627334356308], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.18355131149292, -0.42409518361091614, 0.05368083715438843, 0.0, 0.628585934638977, -0.7990816235542297, -1.1311519145965576, -1.4033586978912354, -1.0378507375717163, 0.34599068760871887, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7104811072349548, -0.5097432136535645, 1.2948029041290283, -1.6814461946487427, 1.05630362033844, 0.31022101640701294, 1.4975683689117432, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.03692474588751793, 0.04256123676896095, 0.26294025778770447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863235875157238, -0.16480492694864993, -0.002262026428320845, -0.049928292632102966], [0.16480340813244962, 0.9863260745083433, -0.0008434529572886617, 0.08171698451042175], [0.002370100850490408, 0.0004591278820607519, 0.9999970859075272, -0.0010837969603016973], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.183072090148926, -0.4230407476425171, 0.053584977984428406, 0.0, 0.6285881400108337, -0.7990662455558777, -1.1311554908752441, -1.4033536911010742, -1.0378504991531372, 0.3459910452365875, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7489134669303894, -0.49936777353286743, 1.3139355182647705, -1.675106167793274, 0.9686604738235474, 0.27393049001693726, 1.5005900859832764, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.012998430989682674, 0.05770689994096756, 0.28489187359809875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863281450688265, -0.16477768459871783, -0.0022594033224124202, -0.05034619942307472], [0.1647761761691228, 0.9863306275944252, -0.0008395452754124196, 0.08164786547422409], [0.0023668570235822234, 0.0004557712943078987, 0.9999970951259595, -0.001083654467947781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.4229448735713959, 0.053489118814468384, 0.0, 0.6285862922668457, -0.7990791201591492, -1.131155252456665, -1.4033596515655518, -1.0378504991531372, 0.34599068760871887, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7949978113174438, -0.4822365343570709, 1.331865668296814, -1.6830512285232544, 0.8770361542701721, 0.22298412024974823, 1.5009816884994507, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.008627277798950672, 0.062308114022016525, 0.29179370403289795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863671057658205, -0.1645459396827599, -0.0021369129781264686, -0.05086858198046684], [0.16454427720235731, 0.9863692565983413, -0.0009329938849617246, 0.0815807580947876], [0.0022613056211692483, 0.0005686576765767486, 0.9999972815589723, -0.0010751414811238647], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1826887130737305, -0.4225614368915558, 0.053584977984428406, 0.0, 0.6285845041275024, -0.7990924119949341, -1.1311522722244263, -1.4033623933792114, -1.0378503799438477, 0.34599068760871887, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8514531254768372, -0.46014246344566345, 1.3444894552230835, -1.675086259841919, 0.8323953747749329, 0.16297227144241333, 1.5010333061218262, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.019325101748108864, 0.06575902551412582, 0.29399845004081726, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986287722932076, -0.16502203769527807, -0.0020626847453656606, -0.05133896321058273], [0.16502049860567689, 0.9862897299174415, -0.0008964927853982968, 0.08149571716785431], [0.0021823458466370665, 0.0005438145627889555, 0.9999974708129651, -0.001077083172276616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628588080406189, -0.7990893125534058, -1.1311516761779785, -1.4033596515655518, -1.0378499031066895, 0.3459910452365875, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9183650016784668, -0.430747389793396, 1.3517556190490723, -1.6500073671340942, 0.739509105682373, 0.08743523061275482, 1.5010193586349487, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.022660981863737106, 0.06959336996078491, 0.2966824769973755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863224486000421, -0.16481442837393626, -0.0020570822516199055, -0.05167431756854057], [0.164812906356391, 0.9863244466475202, -0.0008898560684924313, 0.08143449574708939], [0.0021756116328010963, 0.0005386513118734363, 0.9999974882812394, -0.0010706078028306365], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285872459411621, -0.7990838289260864, -1.1311525106430054, -1.4033573865890503, -1.0378496646881104, 0.345990926027298, -1.3436845541000366, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9745081067085266, -0.40454554557800293, 1.3565104007720947, -1.6127026081085205, 0.6828762292861938, 0.019137369468808174, 1.5010086297988892, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.023006072267889977, 0.07218155264854431, 0.30003753304481506, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863073790914817, -0.16490539090219916, -0.0019914821327462065, -0.05213281512260437], [0.16490395686426132, 0.9863092499505403, -0.0008651430590429656, 0.08136175572872162], [0.002106884002976618, 0.0005248936993895268, 0.9999976427604229, -0.0010715499520301819], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0322755575180054, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285870671272278, -0.7990830540657043, -1.1311521530151367, -1.4033589363098145, -1.0378501415252686, 0.34599044919013977, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0132993459701538, -0.3826586604118347, 1.3549853563308716, -1.5879058837890625, 0.6066182255744934, -0.050446517765522, 1.50100576877594, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.019900253042578697, 0.07467387616634369, 0.3027215898036957, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863016995403694, -0.16494037555278893, -0.001905254913076884, -0.05251501873135567], [0.1649389480677211, 0.9863033817666567, -0.0008846049798795754, 0.08131233602762222], [0.0020250664414924726, 0.0005582366539133407, 0.999997793736439, -0.0010669812327250838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873651504517, -0.7990821599960327, -1.1311527490615845, -1.403359293937683, -1.037850260734558, 0.3459908068180084, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0417423248291016, -0.36393600702285767, 1.3477760553359985, -1.5572192668914795, 0.5268290638923645, -0.12092035263776779, 1.5010088682174683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.012768371030688286, 0.07735791802406311, 0.30339258909225464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863114895960668, -0.1648824126356351, -0.001853508629585742, -0.052787575870752335], [0.16488111058638255, 0.9863130948360681, -0.0008356594392723056, 0.08124804496765137], [0.0019659253772410326, 0.0005186119450161404, 0.9999979330873947, -0.0010784646729007363], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285864114761353, -0.7990819811820984, -1.131152629852295, -1.40336012840271, -1.0378501415252686, 0.34599068760871887, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0432549715042114, -0.3589943051338196, 1.338829755783081, -1.532631516456604, 0.48332080245018005, -0.1555769294500351, 1.5010075569152832, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0049463058821856976, 0.08013781905174255, 0.3055014908313751, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862777065116247, -0.1650851239967473, -0.0017853495870439307, -0.053196001797914505], [0.1650839393646802, 0.9862792021329412, -0.0007927192741180121, 0.08117730915546417], [0.0018917193259004475, 0.00048710880461235595, 0.9999980920596822, -0.0010783730540424585], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0322755575180054, 2.1825928688049316, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285866498947144, -0.7990824580192566, -1.1311522722244263, -1.4033610820770264, -1.0378495454788208, 0.3459908068180084, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.026681661605835, -0.36415210366249084, 1.3245047330856323, -1.5173081159591675, 0.451003760099411, -0.17158545553684235, 1.4940519332885742, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0012653340818360448, 0.08071297407150269, 0.31077370047569275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986275874589927, -0.16509641168056483, -0.001753297486463944, -0.05358462408185005], [0.16509522421071382, 0.986277305139967, -0.0008026883943410254, 0.08113209903240204], [0.001861758493661674, 0.0005022111565160332, 0.9999981408179045, -0.0010727832559496164], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868883132935, -0.7990812063217163, -1.131152629852295, -1.4033600091934204, -1.0378497838974, 0.345990926027298, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.002486228942871, -0.3742590546607971, 1.3012245893478394, -1.509175181388855, 0.4164280891418457, -0.1803555190563202, 1.4691853523254395, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.01161806657910347, 0.07822065055370331, 0.31892168521881104, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863016948257758, -0.16494201324877159, -0.0017604116689930091, -0.053913939744234085], [0.16494075903393698, 0.9863031210381278, -0.0008363251503399466, 0.0810912549495697], [0.0018742446774673968, 0.0005345052763098044, 0.9999981007536958, -0.0010688238544389606], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285878419876099, -0.7990847826004028, -1.1311508417129517, -1.4033595323562622, -1.0378496646881104, 0.3459910452365875, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9733660221099854, -0.38766950368881226, 1.2683457136154175, -1.4995754957199097, 0.376280814409256, -0.18369527161121368, 1.4396976232528687, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.019900253042578697, 0.07409872859716415, 0.3325336277484894, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862958642022469, -0.16497716811844665, -0.0017327022712010818, -0.05425392463803291], [0.1649759762679866, 0.9862972524381973, -0.0008106092077138412, 0.081049345433712], [0.0018426915009184183, 0.0005136462602792656, 0.999998170326102, -0.0010658559622243047], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285877227783203, -0.7990853190422058, -1.1311513185501099, -1.4033606052398682, -1.0378497838974, 0.345990926027298, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9404836893081665, -0.40556520223617554, 1.2266587018966675, -1.4801483154296875, 0.34287670254707336, -0.1888061910867691, 1.4038782119750977, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.029102683067321777, 0.07122296839952469, 0.35228049755096436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285862326622009, -0.7990818023681641, -1.131152629852295, -1.4033598899841309, -1.0378501415252686, 0.34599068760871887, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9085650444030762, -0.42614471912384033, 1.1777876615524292, -1.4525765180587769, 0.3091900050640106, -0.19682495296001434, 1.3747100830078125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.039800506085157394, 0.07246913015842438, 0.37308183312416077, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587543964386, -0.7990867495536804, -1.1311495304107666, -1.4033602476119995, -1.0378496646881104, 0.3459910452365875, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8769919276237488, -0.4490906596183777, 1.1258766651153564, -1.4124095439910889, 0.27340859174728394, -0.211557999253273, 1.3465285301208496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.047967661172151566, 0.07620761543512344, 0.39666303992271423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990748286247253, -1.131152629852295, -1.4033604860305786, -1.0378501415252686, 0.34599044919013977, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8456212878227234, -0.4724321663379669, 1.0748543739318848, -1.3670918941497803, 0.23190265893936157, -0.23221388459205627, 1.3258633613586426, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.05429433286190033, 0.08684792369604111, 0.4185188114643097, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285879015922546, -0.7990983724594116, -1.1311453580856323, -1.4033650159835815, -1.0378501415252686, 0.3459910452365875, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8186137676239014, -0.49545401334762573, 1.030543565750122, -1.313965916633606, 0.2022797018289566, -0.24975867569446564, 1.3007169961929321, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.055444635450839996, 0.09490004926919937, 0.4411414563655853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990604639053345, -1.1311557292938232, -1.403350830078125, -1.0378496646881104, 0.3459908068180084, -1.3436846733093262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7972444891929626, -0.5177799463272095, 0.9910271167755127, -1.2605446577072144, 0.18532872200012207, -0.2688430845737457, 1.2804919481277466, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.060736034065485, 0.10448591411113739, 0.46155935525894165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587543964386, -0.7990996837615967, -1.1311469078063965, -1.4033644199371338, -1.037850022315979, 0.34599068760871887, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7803196907043457, -0.540163516998291, 0.952745258808136, -1.2166080474853516, 0.17258206009864807, -0.2815590500831604, 1.2630581855773926, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06211639940738678, 0.11541379988193512, 0.4841819703578949, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990789413452148, -1.1311508417129517, -1.4033598899841309, -1.037850022315979, 0.34599068760871887, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7671074867248535, -0.561471700668335, 0.9165562987327576, -1.175950050354004, 0.14947372674942017, -0.29060953855514526, 1.2416553497314453, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06913325190544128, 0.12682098150253296, 0.5056543350219727, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285881400108337, -0.7990896701812744, -1.131149172782898, -1.4033616781234741, -1.037850022315979, 0.3459905683994293, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7548174858093262, -0.5808788537979126, 0.887913167476654, -1.1281847953796387, 0.1259581595659256, -0.2924881875514984, 1.2123931646347046, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.07787555456161499, 0.1386115849018097, 0.5161029100418091, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990833520889282, -1.1311513185501099, -1.4033598899841309, -1.0378497838974, 0.345990926027298, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7448129057884216, -0.5982174277305603, 0.8649091720581055, -1.0847291946411133, 0.10393175482749939, -0.2930895686149597, 1.1843253374099731, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0848924070596695, 0.14484240114688873, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285872459411621, -0.799086332321167, -1.1311495304107666, -1.4033610820770264, -1.0378497838974, 0.345990926027298, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.737979531288147, -0.615631639957428, 0.8432635068893433, -1.0436179637908936, 0.08723077923059464, -0.28724461793899536, 1.155657410621643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.09328962862491608, 0.145992711186409, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868287086487, -0.7990804314613342, -1.1311514377593994, -1.4033604860305786, -1.0378503799438477, 0.3459905683994293, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7295121550559998, -0.6334222555160522, 0.8243885040283203, -1.0046957731246948, 0.08100557327270508, -0.2804822623729706, 1.1326740980148315, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10168684273958206, 0.14608857035636902, 0.5181159377098083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990828156471252, -1.1311510801315308, -1.4033607244491577, -1.037850260734558, 0.34599044919013977, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7192082405090332, -0.651654064655304, 0.8055464029312134, -0.9769354462623596, 0.0701884925365448, -0.2783723473548889, 1.1111665964126587, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11192454397678375, 0.14618442952632904, 0.5182117819786072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285881996154785, -0.79908686876297, -1.1311500072479248, -1.4033604860305786, -1.037850260734558, 0.345990926027298, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7085465788841248, -0.6705353856086731, 0.788343071937561, -0.9493645429611206, 0.05900409072637558, -0.27494221925735474, 1.079430103302002, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12342758476734161, 0.14618442952632904, 0.5182117819786072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285874247550964, -0.7990854978561401, -1.1311509609222412, -1.4033602476119995, -1.0378501415252686, 0.3459905683994293, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6957374811172485, -0.6895219683647156, 0.7739068269729614, -0.9216825366020203, 0.05269607529044151, -0.27275747060775757, 1.050326943397522, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13424043357372284, 0.14618442952632904, 0.5182117819786072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868287086487, -0.7990842461585999, -1.1311510801315308, -1.4033604860305786, -1.0378503799438477, 0.34599044919013977, -1.343687653541565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6833770871162415, -0.709885835647583, 0.7599284648895264, -0.8951290845870972, 0.05454559996724129, -0.2721102237701416, 1.021766185760498, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14459316432476044, 0.14580099284648895, 0.5181159377098083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285877823829651, -0.7990819811820984, -1.131151556968689, -1.403359293937683, -1.0378499031066895, 0.3459908068180084, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6709555983543396, -0.7314820289611816, 0.7427810430526733, -0.8703458309173584, 0.04957909882068634, -0.27366527915000916, 0.9968863129615784, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1542557179927826, 0.14570513367652893, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285874247550964, -0.7990812659263611, -1.1311516761779785, -1.4033594131469727, -1.037850022315979, 0.3459908068180084, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6616603136062622, -0.7545495629310608, 0.7257133722305298, -0.8440671563148499, 0.06248035654425621, -0.2658557593822479, 0.990496814250946, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1629980355501175, 0.14570513367652893, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990816235542297, -1.1311514377593994, -1.4033606052398682, -1.037850260734558, 0.345990926027298, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6480289697647095, -0.7761898636817932, 0.7105768322944641, -0.8199499845504761, 0.06973356753587723, -0.2671138644218445, 0.9929412007331848, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.169784814119339, 0.14570513367652893, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990809082984924, -1.1311514377593994, -1.40336012840271, -1.037850260734558, 0.3459905683994293, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6351681351661682, -0.794189453125, 0.6990477442741394, -0.7979847192764282, 0.06376291066408157, -0.27306583523750305, 0.9874236583709717, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17588143050670624, 0.1456092745065689, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990821003913879, -1.1311511993408203, -1.4033596515655518, -1.0378499031066895, 0.34599044919013977, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6263134479522705, -0.8099497556686401, 0.6913513541221619, -0.7735238075256348, 0.06436774879693985, -0.277558833360672, 0.9862452745437622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1820930689573288, 0.1456092745065689, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.628587543964386, -0.799082338809967, -1.1311514377593994, -1.4033595323562622, -1.0378503799438477, 0.3459903299808502, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6174806952476501, -0.8235906362533569, 0.6858137845993042, -0.7499263882637024, 0.0627073347568512, -0.2836437225341797, 0.9889535903930664, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1856590062379837, 0.1456092745065689, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990820407867432, -1.131151556968689, -1.4033595323562622, -1.037850260734558, 0.3459903299808502, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6085432767868042, -0.8344483971595764, 0.6829281449317932, -0.7281523942947388, 0.057057615369558334, -0.2915678024291992, 0.9941859841346741, 0.5256000021001794, 0.5256000021001794, 0.5256000021001794, 0.5256000021001794, -0.5256000021001794, -0.5256000021001794, -0.5256000021001794, 0.5256000021001794, 0.18531392514705658, 0.145992711186409, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.182497024536133, -0.4225614368915558, 0.05339326336979866, 0.0, 0.6285867691040039, -0.7990831732749939, -1.1311514377593994, -1.4033609628677368, -1.0378499031066895, 0.34599068760871887, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6003757119178772, -0.8424227237701416, 0.6831686496734619, -0.7065845131874084, 0.051004741340875626, -0.3025524318218231, 1.0013002157211304, 0.33119999681200296, 0.33119999681200296, 0.33119999681200296, 0.33119999681200296, -0.33119999681200296, -0.33119999681200296, -0.33119999681200296, 0.33119999681200296, 0.18266822397708893, 0.145992711186409, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.4225614368915558, 0.05339326336979866, 0.0, 0.6285873651504517, -0.7990822196006775, -1.131151556968689, -1.4033596515655518, -1.037850022315979, 0.34599068760871887, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.591064989566803, -0.8479138016700745, 0.6869760155677795, -0.6881804466247559, 0.045359812676906586, -0.31110256910324097, 1.0096019506454468, 0.3131999966862437, 0.3131999966862437, 0.3131999966862437, 0.3131999966862437, -0.3131999966862437, -0.3131999966862437, -0.3131999966862437, 0.3131999966862437, 0.17898724973201752, 0.14608857035636902, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285876035690308, -0.7990838885307312, -1.131150722503662, -1.4033600091934204, -1.0378496646881104, 0.345990926027298, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5837408304214478, -0.8511457443237305, 0.6937516927719116, -0.6781215071678162, 0.04492682218551636, -0.3188268840312958, 1.0229381322860718, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, 0.2963999952588762, -0.2963999952588762, -0.2963999952588762, -0.2963999952588762, 0.2963999952588762, 0.17415598034858704, 0.14608857035636902, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990835309028625, -1.1311511993408203, -1.4033602476119995, -1.0378496646881104, 0.34599068760871887, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5799022912979126, -0.8532506227493286, 0.7013611793518066, -0.672940731048584, 0.04784509912133217, -0.330318808555603, 1.0383434295654297, 0.27240000164115824, 0.27240000164115824, 0.27240000164115824, 0.27240000164115824, -0.27240000164115824, -0.27240000164115824, -0.27240000164115824, 0.27240000164115824, 0.16886457800865173, 0.14608857035636902, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285872459411621, -0.7990827560424805, -1.1311510801315308, -1.4033596515655518, -1.0378499031066895, 0.34599044919013977, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5737003087997437, -0.8532514572143555, 0.712193489074707, -0.6743503212928772, 0.0520138144493103, -0.34011781215667725, 1.0571413040161133, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, -0.2304000078976809, -0.2304000078976809, -0.2304000078976809, 0.2304000078976809, 0.1647234857082367, 0.14608857035636902, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871863365173, -0.7990822196006775, -1.131151556968689, -1.4033600091934204, -1.037850022315979, 0.3459908068180084, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5689270496368408, -0.8499962091445923, 0.7270116209983826, -0.6823365688323975, 0.0591701939702034, -0.34377923607826233, 1.0796258449554443, 0.13800000987210118, 0.13800000987210118, 0.13800000987210118, 0.13800000987210118, -0.13800000987210118, -0.13800000987210118, -0.13800000987210118, 0.13800000987210118, 0.15851184725761414, 0.14608857035636902, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285874843597412, -0.7990819215774536, -1.131151795387268, -1.4033600091934204, -1.0378504991531372, 0.34599068760871887, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5705181360244751, -0.8445068001747131, 0.7411997318267822, -0.6952433586120605, 0.05886291712522507, -0.34782344102859497, 1.0986011028289795, 0.008399993246728266, 0.008399993246728266, 0.008399993246728266, 0.008399993246728266, -0.008399993246728266, -0.008399993246728266, -0.008399993246728266, 0.008399993246728266, 0.14976952970027924, 0.14618442952632904, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990825176239014, -1.1311519145965576, -1.4033602476119995, -1.0378503799438477, 0.34599068760871887, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5765361189842224, -0.8381271362304688, 0.7544025182723999, -0.7109321355819702, 0.054925501346588135, -0.34770119190216064, 1.114892601966858, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.14436310529708862, 0.14618442952632904, 0.5178283452987671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990825176239014, -1.1311514377593994, -1.4033600091934204, -1.037850022315979, 0.3459905683994293, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5835806131362915, -0.8299651741981506, 0.7685270309448242, -0.7238491177558899, 0.046899303793907166, -0.3514731228351593, 1.131765604019165, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.13941679894924164, 0.14618442952632904, 0.5141857266426086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1827845573425293, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990832924842834, -1.1311509609222412, -1.403360366821289, -1.0378501415252686, 0.3459908068180084, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5889037251472473, -0.8195286393165588, 0.7889317274093628, -0.7416147589683533, 0.048227276653051376, -0.3545474112033844, 1.1528189182281494, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.13458552956581116, 0.14580099284648895, 0.5085300803184509, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285874247550964, -0.7990822196006775, -1.1311510801315308, -1.4033595323562622, -1.037850260734558, 0.3459905683994293, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5966507196426392, -0.8062238097190857, 0.8148087859153748, -0.7651597857475281, 0.05526848882436752, -0.36398524045944214, 1.1778690814971924, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.12940916419029236, 0.14580099284648895, 0.5018199682235718, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990828156471252, -1.1311513185501099, -1.4033606052398682, -1.0378503799438477, 0.345990926027298, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6101468205451965, -0.7918520569801331, 0.8454962968826294, -0.7939026355743408, 0.07979660481214523, -0.36372050642967224, 1.2102636098861694, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.12273740023374557, 0.145992711186409, 0.4936719834804535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42236971855163574, 0.053584977984428406, 0.0, 0.6285871863365173, -0.79908287525177, -1.1311513185501099, -1.40336012840271, -1.0378501415252686, 0.34599044919013977, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6309711933135986, -0.7756283283233643, 0.8769649267196655, -0.8321746587753296, 0.10264932364225388, -0.3643953502178192, 1.2476600408554077, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.11560551822185516, 0.14628028869628906, 0.4851405620574951, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285876035690308, -0.7990813255310059, -1.1311513185501099, -1.4033594131469727, -1.0378501415252686, 0.3459908068180084, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6544970870018005, -0.7566131949424744, 0.9159248471260071, -0.8735264539718628, 0.13539478182792664, -0.3569679856300354, 1.290423035621643, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.10594296455383301, 0.14570513367652893, 0.4771842956542969, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053584977984428406, 0.0, 0.628585934638977, -0.7990837693214417, -1.1311516761779785, -1.403361439704895, -1.037850022315979, 0.3459908068180084, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6795329451560974, -0.7351678013801575, 0.9595187902450562, -0.9224960207939148, 0.16390740871429443, -0.34946995973587036, 1.3403176069259644, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.09651047736406326, 0.1455134153366089, 0.4676942825317383, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285873055458069, -0.7990807294845581, -1.1311516761779785, -1.4033594131469727, -1.0378504991531372, 0.34599044919013977, -1.3436858654022217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7064715623855591, -0.7108163237571716, 1.0119160413742065, -0.9691680073738098, 0.19332747161388397, -0.3391704559326172, 1.3901498317718506, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.08592768013477325, 0.14417138695716858, 0.4574374258518219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587543964386, -0.7990831732749939, -1.1311514377593994, -1.4033598899841309, -1.0378504991531372, 0.34599068760871887, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7347419261932373, -0.6848760843276978, 1.071142315864563, -1.0223668813705444, 0.22092774510383606, -0.3154148459434509, 1.4394680261611938, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.07499980181455612, 0.1326683610677719, 0.44382548332214355, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285874843597412, -0.7990838885307312, -1.1311510801315308, -1.4033609628677368, -1.0378501415252686, 0.3459903299808502, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7720233798027039, -0.6598037481307983, 1.1272832155227661, -1.0865343809127808, 0.23091624677181244, -0.2914712131023407, 1.4818302392959595, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06453203409910202, 0.11991915851831436, 0.42791295051574707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873651504517, -0.7990842461585999, -1.1311509609222412, -1.4033633470535278, -1.0378503799438477, 0.3459908068180084, -1.343687891960144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.816418468952179, -0.6374022960662842, 1.1783908605575562, -1.1539167165756226, 0.23711855709552765, -0.2646143138408661, 1.4993700981140137, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.05636487901210785, 0.1041024774312973, 0.4078785181045532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628585934638977, -0.79908686876297, -1.1311519145965576, -1.4033619165420532, -1.037850260734558, 0.34599068760871887, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8634553551673889, -0.6156867742538452, 1.2224968671798706, -1.2256735563278198, 0.24766778945922852, -0.23275521397590637, 1.500844955444336, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.052453845739364624, 0.08924439549446106, 0.3848724365234375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285878419876099, -0.799084484577179, -1.1311509609222412, -1.4033571481704712, -1.0378501415252686, 0.34599068760871887, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9030020833015442, -0.5925502181053162, 1.2639133930206299, -1.3009886741638184, 0.2671440839767456, -0.19960038363933563, 1.5010218620300293, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.05015324056148529, 0.07476973533630371, 0.36215394735336304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285876631736755, -0.7990862727165222, -1.1311508417129517, -1.4033610820770264, -1.0378501415252686, 0.3459908068180084, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9337815642356873, -0.5661137104034424, 1.3076926469802856, -1.3784663677215576, 0.3011572062969208, -0.1608128398656845, 1.501016616821289, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0485428161919117, 0.05895306169986725, 0.3377099931240082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285872459411621, -0.799086332321167, -1.1311516761779785, -1.4033606052398682, -1.037850260734558, 0.3459908068180084, -1.3436875343322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9554709196090698, -0.5421637296676636, 1.3367449045181274, -1.4453309774398804, 0.33151936531066895, -0.1310974806547165, 1.5010162591934204, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04566705599427223, 0.04323224723339081, 0.3166210949420929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990820407867432, -1.131152629852295, -1.4033585786819458, -1.037850022315979, 0.3459908068180084, -1.343687653541565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9686729907989502, -0.5193684697151184, 1.3590904474258423, -1.5021083354949951, 0.3685700297355652, -0.10503358393907547, 1.5010098218917847, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04647226631641388, 0.028661733493208885, 0.2975452244281769, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863019134687318, -0.16494133999929697, -0.0016999550449314502, -0.054393306374549866], [0.16494004781062907, 0.9863032062854442, -0.0008751567172639876, 0.0810125470161438], [0.0018210206330119137, 0.0005827780784355712, 0.9999981721251121, -0.0010624256683513522], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285864114761353, -0.7990878224372864, -1.1311511993408203, -1.4033639430999756, -1.0378503799438477, 0.3459908068180084, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9751684069633484, -0.49702027440071106, 1.374843955039978, -1.55322265625, 0.3979620635509491, -0.08266670256853104, 1.5009968280792236, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04463178291916847, 0.01696697808802128, 0.2823995351791382, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863120664148742, -0.16488096442188313, -0.0016658978751427568, -0.05443817004561424], [0.1648796984929071, 0.9863132998052992, -0.0008715802143288856, 0.08103073388338089], [0.001786804216680267, 0.0005849773428675298, 0.9999982325645379, -0.0010616687359288335], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285872459411621, -0.7990603446960449, -1.1311548948287964, -1.4033538103103638, -1.0378504991531372, 0.3459910452365875, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9793878793716431, -0.47467416524887085, 1.383312463760376, -1.5988588333129883, 0.4213458001613617, -0.07445020228624344, 1.5010124444961548, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04440172016620636, 0.006901822052896023, 0.26802074909210205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863305872216167, -0.16477019514857144, -0.0016599704101130273, -0.054499298334121704], [0.16476895641353756, 0.9863318176660549, -0.0008581736246103698, 0.0810004323720932], [0.0017786830674770564, 0.0005729313029483738, 0.9999982540166096, -0.0010700126877054572], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990789413452148, -1.1311527490615845, -1.4033573865890503, -1.037850260734558, 0.34599044919013977, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9769396781921387, -0.4516812860965729, 1.3920035362243652, -1.631730318069458, 0.45020347833633423, -0.06736703962087631, 1.5010108947753906, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0433664470911026, 0.0010544450487941504, 0.25632598996162415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986323400460515, -0.164812747112293, -0.001705313257392745, -0.05452556908130646], [0.164811457762039, 0.986324704828205, -0.0008718003819199074, 0.08096946775913239], [0.0018256764111152903, 0.0005788219533261892, 0.9999981659337123, -0.0010675904341042042], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285867094993591, -0.79908287525177, -1.1311514377593994, -1.4033609628677368, -1.0378504991531372, 0.3459905683994293, -1.3436877727508545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9683119654655457, -0.4285687208175659, 1.3989278078079224, -1.6588783264160156, 0.4829567074775696, -0.06394794583320618, 1.5010091066360474, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04072074964642525, -0.0037384869065135717, 0.24338507652282715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863188770347471, -0.16483971061693653, -0.0017154033461644106, -0.05469392612576485], [0.16483840991436624, 0.9863201981581302, -0.0008748269600767548, 0.08094443380832672], [0.0018361431912489476, 0.0005800939849191017, 0.9999981460328563, -0.001068109180778265], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285872459411621, -0.7990824580192566, -1.131151556968689, -1.4033595323562622, -1.037850260734558, 0.3459903299808502, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9564090371131897, -0.4055970013141632, 1.4036388397216797, -1.6826937198638916, 0.5192325115203857, -0.057997897267341614, 1.5010067224502563, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03726983815431595, -0.008147983811795712, 0.22929386794567108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986308599089396, -0.16490127275988212, -0.0017080996703643676, -0.054850347340106964], [0.16489997788542504, 0.9863099073873917, -0.0008740039251181566, 0.08090555667877197], [0.0018288399873346306, 0.0005803719891127364, 0.9999981592546333, -0.0010673963697627187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873651504517, -0.7990829348564148, -1.1311520338058472, -1.4033594131469727, -1.0378503799438477, 0.3459908068180084, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9427267909049988, -0.3840947449207306, 1.406978964805603, -1.7034968137741089, 0.5608672499656677, -0.050195805728435516, 1.501007080078125, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0347391702234745, -0.01006515696644783, 0.21587365865707397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863057816356983, -0.16491837964560785, -0.0016832014321993241, -0.0550052747130394], [0.1649170912459694, 0.9863070421103187, -0.0008784637513816896, 0.08087999373674393], [0.001805028244323638, 0.0005888451927657829, 0.9999981975655637, -0.0010618706000968814], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873651504517, -0.7990823984146118, -1.1311513185501099, -1.4033589363098145, -1.0378501415252686, 0.34599068760871887, -1.343685269355774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9232321977615356, -0.3638094663619995, 1.415235161781311, -1.7248525619506836, 0.6136850714683533, -0.032858945429325104, 1.5010037422180176, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.032323531806468964, -0.010448591783642769, 0.20379546284675598, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862976949611232, -0.16496656830837877, -0.0016994866672308071, -0.055157046765089035], [0.16496530252158267, 0.9862989952159393, -0.0008608135635627836, 0.0808504968881607], [0.0018182074518068895, 0.0005686621013421174, 0.9999981853708919, -0.0010646531591191888], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285874843597412, -0.7990838289260864, -1.131151556968689, -1.40336012840271, -1.0378501415252686, 0.3459908068180084, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.900007963180542, -0.34347397089004517, 1.4291020631790161, -1.752198338508606, 0.684016764163971, -0.006210345309227705, 1.5010017156600952, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03416401892900467, -0.011503036133944988, 0.19277171790599823, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9863002318428298, -0.16495171263242725, -0.0016688817841438862, -0.055322568863630295], [0.164950442830974, 0.9863014699358363, -0.0008728185803321434, 0.08082661032676697], [0.0017899934764934468, 0.0005855783788112426, 0.9999982265090855, -0.0010635036742314696], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868883132935, -0.7990845441818237, -1.1311509609222412, -1.4033600091934204, -1.037850260734558, 0.3459908068180084, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8775292634963989, -0.32322508096694946, 1.4421398639678955, -1.7751256227493286, 0.7603978514671326, 0.026507427915930748, 1.5010014772415161, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03508426249027252, -0.012174046598374844, 0.18539060652256012, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862921037627592, -0.16500013117545193, -0.001686050804162288, -0.05546998977661133], [0.16499888223123224, 0.9862933825998883, -0.0008557465246060193, 0.08079464733600616], [0.001804139039685415, 0.0005658195419694928, 0.999998212463688, -0.0010691657662391663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587543964386, -0.7990830540657043, -1.1311509609222412, -1.403359293937683, -1.0378503799438477, 0.3459908068180084, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8532782196998596, -0.3042765259742737, 1.4520114660263062, -1.786026954650879, 0.8454201817512512, 0.07264693081378937, 1.5009956359863281, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03508426249027252, -0.009202429093420506, 0.18040595948696136, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862950321843036, -0.16498282722438143, -0.001666196150966354, -0.05556826665997505], [0.1649816298549401, 0.9862962879965735, -0.0008331233928459305, 0.0807737186551094], [0.001780814131550784, 0.0005468137069160163, 0.999998264846394, -0.0010671961354091763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285869479179382, -0.7990819811820984, -1.1311514377593994, -1.403359293937683, -1.0378507375717163, 0.3459905683994293, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8234593868255615, -0.28608039021492004, 1.456723928451538, -1.7955999374389648, 0.929145097732544, 0.1288185566663742, 1.5009982585906982, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03519929200410843, -0.0062308115884661674, 0.17350412905216217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986301255878028, -0.16494605065554024, -0.0016226603355744816, -0.05568927153944969], [0.16494489565103038, 0.9863024408803873, -0.0008225035323473489, 0.08075834810733795], [0.0017361025590078261, 0.0005435867271899056, 0.9999983452293182, -0.0010685769375413656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868287086487, -0.7990843653678894, -1.131151556968689, -1.4033595323562622, -1.0378503799438477, 0.3459908068180084, -1.343685269355774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7867804765701294, -0.26984578371047974, 1.4616625308990479, -1.7863733768463135, 0.9941971302032471, 0.18120267987251282, 1.5009989738464355, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03140328824520111, -0.0034509110264480114, 0.16468514502048492, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873651504517, -0.7990875244140625, -1.1311506032943726, -1.40336012840271, -1.037850022315979, 0.3459905683994293, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7474616765975952, -0.26002082228660583, 1.4623466730117798, -1.7561205625534058, 1.0334841012954712, 0.19884178042411804, 1.5009983777999878, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.027032136917114258, -0.0010544450487941504, 0.15529099106788635, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.628588080406189, -0.7990809679031372, -1.1311516761779785, -1.4033583402633667, -1.037850260734558, 0.3459908068180084, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7153888940811157, -0.25583627820014954, 1.4466371536254883, -1.7027058601379395, 1.0241403579711914, 0.19511133432388306, 1.5009971857070923, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.023466194048523903, 0.0026840418577194214, 0.14704714715480804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285865306854248, -0.7990924715995789, -1.1311508417129517, -1.403374433517456, -1.0378507375717163, 0.3459905683994293, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6757774353027344, -0.25714385509490967, 1.429518699645996, -1.6405353546142578, 1.0049158334732056, 0.19141779839992523, 1.5009909868240356, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0225459523499012, 0.00853141862899065, 0.1420625001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285879015922546, -0.7990893721580505, -1.1311503648757935, -1.40336012840271, -1.0378507375717163, 0.3459905683994293, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6365870833396912, -0.2610729932785034, 1.412009596824646, -1.5929666757583618, 0.9823517203330994, 0.1880008578300476, 1.5009920597076416, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.01771467551589012, 0.01485808938741684, 0.14100806415081024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053584977984428406, 0.0, 0.628589928150177, -0.7991014719009399, -1.1311477422714233, -1.4033622741699219, -1.037850260734558, 0.34599068760871887, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6326338648796082, -0.25722840428352356, 1.4161313772201538, -1.5716437101364136, 0.954237699508667, 0.1783868670463562, 1.5009942054748535, 0.06899999629010213, 0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.01230824925005436, 0.0205137487500906, 0.14187078177928925, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285892724990845, -0.7990748286247253, -1.1311510801315308, -1.4033571481704712, -1.037850260734558, 0.34599068760871887, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6323424577713013, -0.2565319240093231, 1.4172157049179077, -1.5692232847213745, 0.9532150626182556, 0.17723602056503296, 1.50102961063385, 0.5184000000848875, 0.5184000000848875, 0.5184000000848875, 0.5184000000848875, -0.5184000000848875, -0.5184000000848875, -0.5184000000848875, 0.5184000000848875, 0.007822064682841301, 0.026456983759999275, 0.14618442952632904, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285874247550964, -0.7990844249725342, -1.131151556968689, -1.403360366821289, -1.0378503799438477, 0.34599021077156067, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6323065161705017, -0.256469190120697, 1.4173237085342407, -1.5690267086029053, 0.9530829787254333, 0.17715248465538025, 1.5010199546813965, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.0074769738130271435, 0.02837415784597397, 0.14695128798484802, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587543964386, -0.7990861535072327, -1.1311511993408203, -1.4033602476119995, -1.0378507375717163, 0.3459905683994293, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6323054432868958, -0.2564546763896942, 1.4173368215560913, -1.5690007209777832, 0.9530745148658752, 0.1771414577960968, 1.5010093450546265, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.007361943367868662, 0.02847001515328884, 0.14714300632476807, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0322755575180054, 2.182497024536133, -0.422657310962677, 0.05329740419983864, 0.0, 0.6285861134529114, -0.7991445064544678, -1.1311445236206055, -1.4033794403076172, -1.0378504991531372, 0.3459910452365875, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6498955488204956, -0.2583627700805664, 1.4041001796722412, -1.579862356185913, 0.9367729425430298, 0.15858341753482819, 1.491270661354065, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0019555161707103252, 0.03776830434799194, 0.15749573707580566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.182976245880127, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285936236381531, -0.7991144061088562, -1.131141185760498, -1.4033434391021729, -1.0378496646881104, 0.345990926027298, -1.3436832427978516, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.699028730392456, -0.2601902484893799, 1.388572335243225, -1.5851740837097168, 0.8913109302520752, 0.09868062287569046, 1.4751687049865723, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.02013031393289566, 0.05895306169986725, 0.178872212767601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862967915415117, -0.1649728554945253, -0.0016111936265582607, -0.0557732880115509], [0.16497178310321625, 0.9862979799537408, -0.0007781509594152733, 0.08073882758617401], [0.0017174908049692966, 0.0005016863091083793, 0.9999983992668099, -0.0010684512089937925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0323714017868042, 2.1827845573425293, -0.4225614368915558, 0.05339326336979866, 0.0, 0.6285858750343323, -0.7990628480911255, -1.1311533451080322, -1.4033629894256592, -1.0378504991531372, 0.3459908068180084, -1.3436875343322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.739920437335968, -0.260900616645813, 1.3778687715530396, -1.5915031433105469, 0.8333699107170105, 0.043978869915008545, 1.4665441513061523, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.024731528013944626, 0.07707034796476364, 0.20015282928943634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986253124431927, -0.16523510729021545, -0.0014607761816136343, -0.056222692131996155], [0.16523408539646606, 0.9862540567083422, -0.0007953926900547846, 0.0806926041841507], [0.0015721232315384244, 0.0005430885093789758, 0.9999986167407512, -0.0010616501094773412], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1826887130737305, -0.4225614368915558, 0.053489118814468384, 0.0, 0.6285859942436218, -0.799090564250946, -1.1311514377593994, -1.4033615589141846, -1.0378501415252686, 0.3459908068180084, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7825357913970947, -0.2634969651699066, 1.3623497486114502, -1.6058106422424316, 0.8052863478660583, -0.011988059617578983, 1.4484219551086426, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.01978522352874279, 0.0894361063838005, 0.21779082715511322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862195097894028, -0.16543470240927327, -0.001561329403222823, -0.05625498294830322], [0.16543363879677372, 0.9862206090533592, -0.0007883101419138454, 0.0806339830160141], [0.0016702290887130593, 0.0005191504371847404, 0.9999984704076376, -0.0010708332993090153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.182880401611328, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285886168479919, -0.7990936636924744, -1.131148099899292, -1.4033584594726562, -1.0378501415252686, 0.34599068760871887, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8252461552619934, -0.26764196157455444, 1.3441739082336426, -1.6264451742172241, 0.7401736378669739, -0.07392876595258713, 1.4167686700820923, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.012078188359737396, 0.10074742883443832, 0.23562052845954895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862551627244129, -0.16522205276550492, -0.0015579728477761712, -0.05643356218934059], [0.16522095692677494, 0.986256245442251, -0.0008085285122265309, 0.08061393350362778], [0.0016701471918582054, 0.0005400056546177931, 0.9999984594999387, -0.0010713323717936873], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285863518714905, -0.7990773320198059, -1.1311516761779785, -1.40336012840271, -1.0378504991531372, 0.345990926027298, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8654875159263611, -0.27337515354156494, 1.3230884075164795, -1.647788405418396, 0.6910865306854248, -0.12986944615840912, 1.377425193786621, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.00724691292271018, 0.1135924831032753, 0.25680530071258545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862454592481135, -0.16528087265278163, -0.0014585086947528029, -0.05678175017237663], [0.16527983395879914, 0.9862463816918188, -0.0008068992174001898, 0.08058873564004898], [0.0015718139296607592, 0.0005547386143355854, 0.9999986108320552, -0.0010632633930072188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285853385925293, -0.7990851402282715, -1.1311509609222412, -1.4033615589141846, -1.0378508567810059, 0.34599068760871887, -1.343687653541565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.900069534778595, -0.28047069907188416, 1.298372507095337, -1.668581247329712, 0.6342757940292358, -0.18320296704769135, 1.3380261659622192, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.001610425068065524, 0.12586238980293274, 0.27923622727394104, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862299597828483, -0.16537187976621176, -0.001614871298603346, -0.0568949393928051], [0.16537075002622564, 0.9862311381823005, -0.0008106265525467224, 0.08054991066455841], [0.0017266911956225629, 0.0005324117144712027, 0.9999983675363081, -0.0010690185008570552], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990826964378357, -1.1311508417129517, -1.40336012840271, -1.037850260734558, 0.34599068760871887, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.924655556678772, -0.28931495547294617, 1.2719923257827759, -1.6833487749099731, 0.5767693519592285, -0.2297566533088684, 1.3012763261795044, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.001610425068065524, 0.13611926138401031, 0.3023381531238556, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862373807003549, -0.1653275879571558, -0.001617890469713696, -0.05703514814376831], [0.16532638238767494, 0.986238540597681, -0.0008534203891389534, 0.0805123820900917], [0.0017367198701471326, 0.0005741951107634175, 0.9999983270506343, -0.0010637898230925202], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.79908287525177, -1.1311506032943726, -1.4033598899841309, -1.0378503799438477, 0.34599044919013977, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9378497004508972, -0.2998947501182556, 1.2442725896835327, -1.6923943758010864, 0.5182411670684814, -0.2664947807788849, 1.2681025266647339, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.003220850136131048, 0.14014533162117004, 0.3231394588947296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862260151067492, -0.1653956369489055, -0.001590724654932552, -0.05718114599585533], [0.1653944860018519, 0.9862271411866756, -0.0008306545251959024, 0.08049330115318298], [0.0017062024631285587, 0.0005561160156413011, 0.9999983898027696, -0.0010643077548593283], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285876035690308, -0.7990800142288208, -1.131150722503662, -1.4033591747283936, -1.0378503799438477, 0.3459905683994293, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9459372162818909, -0.31193315982818604, 1.2137094736099243, -1.6972864866256714, 0.46142393350601196, -0.2948060631752014, 1.2422561645507812, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0021855770610272884, 0.13832402229309082, 0.34413251280784607, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862296819989622, -0.16537424985304447, -0.0015400745984281714, -0.057359401136636734], [0.16537308981724136, 0.9862307098997352, -0.0008532379287544632, 0.08046990633010864], [0.0016599724469202998, 0.0005868016762538534, 0.999998450076433, -0.0010618969099596143], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285866498947144, -0.799077033996582, -1.1311520338058472, -1.4033586978912354, -1.0378507375717163, 0.3459910452365875, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9480856657028198, -0.32589486241340637, 1.181735634803772, -1.701008677482605, 0.41284143924713135, -0.3170585036277771, 1.2165640592575073, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0037960021290928125, 0.1318056285381317, 0.3666592836380005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862319463896246, -0.16536096086846402, -0.0015167535036818315, -0.05745680257678032], [0.16535976510477673, 0.9862329175678738, -0.0008833968828337425, 0.08043236285448074], [0.001641951590541021, 0.0006204242241009743, 0.9999984595331917, -0.001060153590515256], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285863518714905, -0.7990795969963074, -1.131151795387268, -1.4033607244491577, -1.0378504991531372, 0.3459908068180084, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.942172646522522, -0.34192919731140137, 1.1486800909042358, -1.704642653465271, 0.36294320225715637, -0.33404192328453064, 1.18986177444458, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.01058279350399971, 0.12624582648277283, 0.3888026475906372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862171959914547, -0.16544922148952199, -0.0014823762220588113, -0.05757465586066246], [0.1654480561043733, 0.9862181148504815, -0.0008778792892792271, 0.08041427284479141], [0.0016071907281910427, 0.0006205233867369553, 0.9999985159432436, -0.0010577492648735642], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285881996154785, -0.7990804314613342, -1.1311510801315308, -1.4033589363098145, -1.0378503799438477, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9282834529876709, -0.3612765967845917, 1.1117370128631592, -1.7151832580566406, 0.32050299644470215, -0.3459475338459015, 1.1634780168533325, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.020935526117682457, 0.11733097583055496, 0.41008326411247253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862402680933312, -0.16531178069770874, -0.0014658627994457933, -0.057635508477687836], [0.1653106197234292, 0.9862411581322018, -0.0008814832437274216, 0.08039947599172592], [0.001591413789664103, 0.0006270315828076065, 0.9999985371157021, -0.0010589745361357927], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285880208015442, -0.7990850210189819, -1.1311498880386353, -1.40336012840271, -1.037850260734558, 0.3459910452365875, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9108315110206604, -0.38340795040130615, 1.0680805444717407, -1.7235980033874512, 0.27270054817199707, -0.35154908895492554, 1.143235206604004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.041871052235364914, 0.10774511098861694, 0.43261003494262695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862293227515889, -0.1653774279918882, -0.001424519473396511, -0.057823821902275085], [0.16537628109748786, 0.9862301429660842, -0.0008892443206463727, 0.08038193732500076], [0.001551964982510703, 0.0006414170912505022, 0.99999858999341, -0.001050468417815864], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285856366157532, -0.7990793585777283, -1.1311523914337158, -1.4033602476119995, -1.0378507375717163, 0.34599068760871887, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8891165256500244, -0.4091211259365082, 1.018159031867981, -1.7218173742294312, 0.22770242393016815, -0.35283344984054565, 1.126084804534912, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06499215960502625, 0.10141843557357788, 0.45427408814430237, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862322773004709, -0.1653591887047423, -0.0014946309365276192, -0.05793071910738945], [0.16535797632828061, 0.9862332005304574, -0.0009021286307976796, 0.08034901320934296], [0.001623229910639493, 0.0006425592269477014, 0.9999984761199874, -0.0010556906927376986], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285853385925293, -0.7990777492523193, -1.1311535835266113, -1.4033610820770264, -1.0378506183624268, 0.3459905683994293, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8582987785339355, -0.4376721680164337, 0.9683806300163269, -1.7109851837158203, 0.18194498121738434, -0.3491409718990326, 1.107717514038086, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08776816725730896, 0.09537934511899948, 0.47622570395469666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862083190285827, -0.16550247388678585, -0.0014431272192499637, -0.058085497468709946], [0.1655011901386088, 0.9862091147330592, -0.000968545373133911, 0.0803217962384224], [0.0015835218726689504, 0.0007163482320340158, 0.999998489650704, -0.0010498439660295844], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285856366157532, -0.7990800142288208, -1.1311537027359009, -1.4033597707748413, -1.0378508567810059, 0.3459908068180084, -1.3436853885650635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8203739523887634, -0.46799236536026, 0.9196887016296387, -1.6980876922607422, 0.13578498363494873, -0.34377023577690125, 1.0956170558929443, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11042915284633636, 0.08358873426914215, 0.49817734956741333, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862144953061678, -0.16546629624873396, -0.0013689608201032759, -0.058261144906282425], [0.16546509039440915, 0.986215187856205, -0.00095241929854754, 0.08031705021858215], [0.0015076832461724152, 0.0007127744919921235, 0.9999986094209096, -0.0010482965735718608], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285879611968994, -0.7990880012512207, -1.131150245666504, -1.4033600091934204, -1.037850260734558, 0.34599068760871887, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7813802361488342, -0.49926185607910156, 0.8714645504951477, -1.6814419031143188, 0.09334512799978256, -0.33217108249664307, 1.0880236625671387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13274504244327545, 0.07227741181850433, 0.5138981342315674, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862160795513629, -0.16545699256597693, -0.0013520522778825146, -0.05835438892245293], [0.1654557768785818, 0.9862167361289066, -0.000967097074547226, 0.08029729872941971], [0.0014934295580428854, 0.0007300618253880498, 0.9999986183379886, -0.001048124860972166], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285868883132935, -0.7990819215774536, -1.1311520338058472, -1.4033594131469727, -1.037850260734558, 0.34599068760871887, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7455313205718994, -0.5315549373626709, 0.8205919861793518, -1.6652836799621582, 0.03550614416599274, -0.32569852471351624, 1.0752133131027222, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1544857770204544, 0.060966093093156815, 0.5175408124923706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862263780613676, -0.16539550663009417, -0.0013629389314321588, -0.058567438274621964], [0.16539431314742975, 0.986227065313338, -0.0009470068272568555, 0.08025544136762619], [0.0015007979365239405, 0.0007085407648188021, 0.9999986227868208, -0.0010509444400668144], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285870671272278, -0.7990862727165222, -1.1311506032943726, -1.4033613204956055, -1.0378503799438477, 0.3459910452365875, -1.3436880111694336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7156612873077393, -0.5640696883201599, 0.7697345614433289, -1.6499042510986328, -0.022056007757782936, -0.31778964400291443, 1.0579776763916016, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17691670358181, 0.05856962874531746, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862148929041259, -0.16546450946803662, -0.0012965803505789455, -0.05873417481780052], [0.16546326013949694, 0.9862154287404046, -0.0010186551866174618, 0.0802379623055458], [0.0014472588271133284, 0.0007900765039365683, 0.9999986406095787, -0.0010428780224174261], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285872459411621, -0.7990817427635193, -1.1311511993408203, -1.4033607244491577, -1.0378506183624268, 0.3459905683994293, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6885659694671631, -0.5965323448181152, 0.720118522644043, -1.6342535018920898, -0.09133729338645935, -0.30563873052597046, 1.0368996858596802, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.19532155990600586, 0.05991164967417717, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285870671272278, -0.799079179763794, -1.1311521530151367, -1.403356909751892, -1.0378503799438477, 0.34599068760871887, -1.343685269355774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6643757224082947, -0.6281026601791382, 0.6744621396064758, -1.613535761833191, -0.15720990300178528, -0.3021395802497864, 1.0175549983978271, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.20670956373214722, 0.06470458209514618, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285863518714905, -0.7990846037864685, -1.131150484085083, -1.4033600091934204, -1.0378504991531372, 0.34599044919013977, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6411651968955994, -0.6574392318725586, 0.6366266012191772, -1.583011269569397, -0.20200610160827637, -0.2933516502380371, 1.0137214660644531, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.21188592910766602, 0.06873064488172531, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285907626152039, -0.7990843057632446, -1.1311495304107666, -1.4033558368682861, -1.0378501415252686, 0.3459908068180084, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6198573708534241, -0.6839513778686523, 0.6051136255264282, -1.5455520153045654, -0.2623353898525238, -0.2928604185581207, 0.997672438621521, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.21108071506023407, 0.0742904469370842, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285901665687561, -0.7991532683372498, -1.1311267614364624, -1.4033708572387695, -1.0378499031066895, 0.3459908068180084, -1.3436869382858276, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6101114749908447, -0.7088901400566101, 0.5803287625312805, -1.49604070186615, -0.31068155169487, -0.263457715511322, 0.9695757031440735, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.19497646391391754, 0.08397216349840164, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990532517433167, -1.1311485767364502, -1.4033563137054443, -1.0378506183624268, 0.34599044919013977, -1.3436849117279053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6097733974456787, -0.7136190533638, 0.576094388961792, -1.4845566749572754, -0.2926470935344696, -0.25554370880126953, 0.9714183807373047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17841209471225739, 0.09537934511899948, 0.5181159377098083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285876035690308, -0.7990902662277222, -1.13115394115448, -1.4033623933792114, -1.0378504991531372, 0.34599068760871887, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6098169684410095, -0.7141364216804504, 0.5756723284721375, -1.483740210533142, -0.2907398045063019, -0.2548755705356598, 0.9716073870658875, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1733507663011551, 0.10007641464471817, 0.5181159377098083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.62858647108078, -0.7990819215774536, -1.1311553716659546, -1.403361201286316, -1.0378504991531372, 0.3459905683994293, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6097867488861084, -0.7141392230987549, 0.5756837129592896, -1.4837108850479126, -0.29063937067985535, -0.2548389136791229, 0.971606433391571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.17254555225372314, 0.09988470375537872, 0.5182117819786072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.4225614368915558, 0.053489118814468384, 0.0, 0.6285864114761353, -0.7990777492523193, -1.1311529874801636, -1.403363585472107, -1.0378512144088745, 0.34599068760871887, -1.3436880111694336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6168151497840881, -0.7161070108413696, 0.5687022805213928, -1.4786663055419922, -0.31878960132598877, -0.25065821409225464, 0.9512071013450623, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1612725704908371, 0.10381490737199783, 0.5181159377098083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285858154296875, -0.7990337610244751, -1.1311575174331665, -1.4033538103103638, -1.0378504991531372, 0.3459903299808502, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6235644817352295, -0.7263436913490295, 0.5572941303253174, -1.4597452878952026, -0.412304550409317, -0.24911320209503174, 0.90679931640625, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.1404520720243454, 0.120973601937294, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285883188247681, -0.7990788817405701, -1.1311475038528442, -1.4033597707748413, -1.0378501415252686, 0.345990926027298, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6158027648925781, -0.7420992851257324, 0.5477562546730042, -1.432245135307312, -0.47361788153648376, -0.25965622067451477, 0.8704434037208557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.11606563627719879, 0.13583168387413025, 0.5180200934410095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871863365173, -0.7990841865539551, -1.1311482191085815, -1.4033602476119995, -1.0378504991531372, 0.3459908068180084, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6041073799133301, -0.7614628076553345, 0.5379852652549744, -1.4041469097137451, -0.5177487134933472, -0.26771417260169983, 0.8299425840377808, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0937497466802597, 0.14445896446704865, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285879611968994, -0.7990809082984924, -1.1311484575271606, -1.4033586978912354, -1.037850260734558, 0.345990926027298, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5920522809028625, -0.7867655158042908, 0.5228530168533325, -1.3685945272445679, -0.5170894861221313, -0.2819364368915558, 0.8093456625938416, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.069478340446949, 0.14580099284648895, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628585159778595, -0.7990581393241882, -1.1311581134796143, -1.403361201286316, -1.0378507375717163, 0.345990926027298, -1.3436875343322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5743578672409058, -0.8178978562355042, 0.4979206919670105, -1.333184003829956, -0.5469252467155457, -0.27744966745376587, 0.7948386073112488, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.047277480363845825, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871863365173, -0.7990656495094299, -1.131155014038086, -1.4033598899841309, -1.0378504991531372, 0.3459908068180084, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5606908798217773, -0.8502420783042908, 0.47405219078063965, -1.2939960956573486, -0.5708023905754089, -0.2611196041107178, 0.7751083970069885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.03197844326496124, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285884976387024, -0.7990920543670654, -1.1311503648757935, -1.4033594131469727, -1.0378503799438477, 0.3459905683994293, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5471009612083435, -0.882891058921814, 0.4511311650276184, -1.250225305557251, -0.598074197769165, -0.24152323603630066, 0.759110152721405, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.028412500396370888, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862236075967595, -0.16541253114979376, -0.0013001374740695096, -0.05885102227330208], [0.1654112660362152, 0.9862241414391499, -0.0010275752565781758, 0.08022517710924149], [0.001452200788254562, 0.0007983615910127297, 0.9999986268648775, -0.0010451904963701963], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285892724990845, -0.7990785241127014, -1.1311521530151367, -1.403356671333313, -1.0378501415252686, 0.3459910452365875, -1.3436843156814575, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5363581776618958, -0.9148651957511902, 0.4335111081600189, -1.197959065437317, -0.6054166555404663, -0.23227117955684662, 0.7460200190544128, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.025191649794578552, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862188468733631, -0.1654407596205928, -0.0013195180693009242, -0.05906859412789345], [0.16543948610639908, 0.9862194128682452, -0.0010227994251948884, 0.08016882091760635], [0.001470547049418746, 0.0007904036784051886, 0.9999986063757292, -0.001046499121002853], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285884976387024, -0.7990910410881042, -1.1311503648757935, -1.403360366821289, -1.0378506183624268, 0.34599044919013977, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5243822932243347, -0.9461774826049805, 0.41905513405799866, -1.1430227756500244, -0.6070148944854736, -0.23090940713882446, 0.7449570298194885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02185576967895031, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862331067931959, -0.16535559511155357, -0.0013364992871717776, -0.0592736154794693], [0.1653543256734426, 0.9862337070108017, -0.0010110078205169447, 0.08013828098773956], [0.0014852764462287304, 0.0007760934454273182, 0.9999985958154353, -0.0010480072814971209], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285878419876099, -0.7990843057632446, -1.1311514377593994, -1.403359055519104, -1.0378503799438477, 0.3459910452365875, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5218627452850342, -0.9759229421615601, 0.40995708107948303, -1.0998049974441528, -0.6202786564826965, -0.2188732922077179, 0.7429356575012207, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02047540433704853, 0.14608857035636902, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862263703169801, -0.16539493724545182, -0.001435696683785455, -0.05949306860566139], [0.16539359633133824, 0.9862271250116904, -0.0010080594039874032, 0.08008209615945816], [0.0015826509347007314, 0.0007567197292861423, 0.9999984612944512, -0.0010570071171969175], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285887360572815, -0.7990968227386475, -1.131148338317871, -1.4033595323562622, -1.037850260734558, 0.345990926027298, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5230000019073486, -1.002583622932434, 0.4067508280277252, -1.0668944120407104, -0.6532523036003113, -0.20741817355155945, 0.7352054715156555, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02047540433704853, 0.14608857035636902, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285870671272278, -0.7990813255310059, -1.1311509609222412, -1.4033597707748413, -1.0378501415252686, 0.3459908068180084, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5259464979171753, -1.027464509010315, 0.41009634733200073, -1.033447265625, -0.6825661063194275, -0.1990969181060791, 0.7272968292236328, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.022085830569267273, 0.14618442952632904, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285876631736755, -0.799083948135376, -1.131150722503662, -1.4033602476119995, -1.037850260734558, 0.34599044919013977, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.529752254486084, -1.0521351099014282, 0.41629111766815186, -1.0071097612380981, -0.7155718207359314, -0.1924571841955185, 0.7237854599952698, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02220086008310318, 0.14618442952632904, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285874247550964, -0.7990847229957581, -1.1311506032943726, -1.4033602476119995, -1.0378501415252686, 0.34599068760871887, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5339016914367676, -1.0765247344970703, 0.4249458611011505, -0.981685996055603, -0.7505419254302979, -0.19120998680591583, 0.7186850905418396, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.019900253042578697, 0.14618442952632904, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1825928688049316, -0.4225614368915558, 0.05339326336979866, 0.0, 0.6285877823829651, -0.799084484577179, -1.131150722503662, -1.4033606052398682, -1.037850260734558, 0.34599044919013977, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5376827120780945, -1.099298357963562, 0.43886926770210266, -0.9479483366012573, -0.7710844278335571, -0.20103225111961365, 0.7169228196144104, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02220086008310318, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.4225614368915558, 0.05339326336979866, 0.0, 0.6285876035690308, -0.7990825176239014, -1.1311509609222412, -1.4033596515655518, -1.037850260734558, 0.34599068760871887, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5406004190444946, -1.1200610399246216, 0.4514841139316559, -0.9166247248649597, -0.8023420572280884, -0.20876747369766235, 0.7181928157806396, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.022430920973420143, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1825928688049316, -0.4225614368915558, 0.05339326336979866, 0.0, 0.6285878419876099, -0.7990853190422058, -1.131150245666504, -1.4033595323562622, -1.0378506183624268, 0.3459903299808502, -1.3436875343322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5430150628089905, -1.1379035711288452, 0.46415287256240845, -0.8858250379562378, -0.836372971534729, -0.2189871370792389, 0.7169399857521057, 0.5658000002523045, 0.5658000002523045, 0.5658000002523045, 0.5658000002523045, -0.5658000002523045, -0.5658000002523045, -0.5658000002523045, 0.5658000002523045, 0.025191649794578552, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0326589345932007, 2.1822092533111572, -0.4229448735713959, 0.05339326336979866, 0.0, 0.6285867094993591, -0.7990816235542297, -1.1311516761779785, -1.40336012840271, -1.0378503799438477, 0.3459908068180084, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.546372652053833, -1.1512017250061035, 0.48163580894470215, -0.8609975576400757, -0.8625620603561401, -0.23525956273078918, 0.7145789265632629, 0.5003999999591282, 0.5003999999591282, 0.5003999999591282, 0.5003999999591282, -0.5003999999591282, -0.5003999999591282, -0.5003999999591282, 0.5003999999591282, 0.02461649850010872, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0326589345932007, 2.1822092533111572, -0.4230407476425171, 0.05339326336979866, 0.0, 0.6285876631736755, -0.7990809679031372, -1.1311514377593994, -1.4033591747283936, -1.0378503799438477, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5505576133728027, -1.1589523553848267, 0.5040035247802734, -0.8458700776100159, -0.8764702677726746, -0.2605983018875122, 0.7190671563148499, 0.49319999794383623, 0.49319999794383623, 0.49319999794383623, 0.49319999794383623, -0.49319999794383623, -0.49319999794383623, -0.49319999794383623, 0.49319999794383623, 0.020245345309376717, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0322755575180054, 2.182305097579956, -0.42275315523147583, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990843057632446, -1.1311509609222412, -1.4033600091934204, -1.0378504991531372, 0.3459908068180084, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5559690594673157, -1.1604132652282715, 0.5320167541503906, -0.840811550617218, -0.8748570680618286, -0.3002065122127533, 0.7302173972129822, 0.4818000004841731, 0.4818000004841731, 0.4818000004841731, 0.4818000004841731, -0.4818000004841731, -0.4818000004841731, -0.4818000004841731, 0.4818000004841731, 0.01736958511173725, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862271169056721, -0.16539078460412568, -0.0014008026119002722, -0.05956850200891495], [0.16538943485797525, 0.9862277993327682, -0.001030854308171947, 0.0800771489739418], [0.0015520042800751008, 0.0007849785199684487, 0.9999984875445751, -0.001051962492056191], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.182497024536133, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285871863365173, -0.7990850210189819, -1.1311510801315308, -1.4033596515655518, -1.0378506183624268, 0.3459908068180084, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5627797842025757, -1.156317114830017, 0.561884343624115, -0.8515610098838806, -0.8669318556785583, -0.34735915064811707, 0.7471811771392822, 0.45180000354955485, 0.45180000354955485, 0.45180000354955485, 0.45180000354955485, -0.45180000354955485, -0.45180000354955485, -0.45180000354955485, 0.45180000354955485, 0.012883400544524193, 0.145992711186409, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862245984591099, -0.1654051201438102, -0.0014790619930269645, -0.05948975682258606], [0.16540367403494136, 0.9862253883735874, -0.001052588765629017, 0.08009213954210281], [0.0016327920597425229, 0.0007934466449529444, 0.9999983522148981, -0.0010563370306044817], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.182497024536133, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285871863365173, -0.7990835309028625, -1.1311514377593994, -1.4033604860305786, -1.0378504991531372, 0.345990926027298, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5718717575073242, -1.145111083984375, 0.5986551642417908, -0.873382031917572, -0.8509238362312317, -0.39658603072166443, 0.7729222178459167, 0.40439999601343174, 0.40439999601343174, 0.40439999601343174, 0.40439999601343174, -0.40439999601343174, -0.40439999601343174, -0.40439999601343174, 0.40439999601343174, 0.010467763058841228, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862128475935846, -0.16547495173291332, -0.0015031933817497237, -0.059205010533332825], [0.16547351412632125, 0.9862136902979725, -0.0010359495842086842, 0.08011368662118912], [0.0016538935996915475, 0.000772928098116281, 0.9999983336076695, -0.0010594745399430394], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0317962169647217, 2.1826887130737305, -0.4222738742828369, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990817427635193, -1.1311516761779785, -1.4033594131469727, -1.0378501415252686, 0.34599068760871887, -1.3436858654022217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5839933753013611, -1.1287028789520264, 0.634739339351654, -0.9151679277420044, -0.8514866232872009, -0.42629507184028625, 0.8062612414360046, 0.35519999042972106, 0.35519999042972106, 0.35519999042972106, 0.35519999042972106, -0.35519999042972106, -0.35519999042972106, -0.35519999042972106, 0.35519999042972106, 0.007131882477551699, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862244236459714, -0.16540531222224855, -0.0015712710880038045, -0.05901695415377617], [0.1654038445456503, 0.9862253908891676, -0.0010230224958236052, 0.0801425501704216], [0.001718840798291487, 0.0007490354925412422, 0.9999982422645257, -0.0010639472166076303], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0317962169647217, 2.1826887130737305, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285872459411621, -0.7990826368331909, -1.1311514377593994, -1.40336012840271, -1.0378501415252686, 0.34599068760871887, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5998125076293945, -1.1092684268951416, 0.6715682744979858, -0.9685640931129456, -0.8437087535858154, -0.4504012167453766, 0.845251202583313, 0.3306000072877486, 0.3306000072877486, 0.3306000072877486, 0.3306000072877486, -0.3306000072877486, -0.3306000072877486, -0.3306000072877486, 0.3306000072877486, 0.005406427197158337, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862336712117503, -0.16535007330850499, -0.0015808304985624202, -0.059105418622493744], [0.1653486298625504, 0.986234668295774, -0.0010048154567022407, 0.08014579862356186], [0.0017252161518087857, 0.0007295946797715338, 0.9999982456588775, -0.0010666538728401065], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0317962169647217, 2.1827845573425293, -0.4222738742828369, 0.053584977984428406, 0.0, 0.628585159778595, -0.7990859150886536, -1.1311522722244263, -1.4033663272857666, -1.0378504991531372, 0.3459905683994293, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6291528940200806, -1.0872986316680908, 0.7079702615737915, -1.0344312191009521, -0.8542100191116333, -0.44875049591064453, 0.8782930374145508, 0.3102000097652058, 0.3102000097652058, 0.3102000097652058, 0.3102000097652058, -0.3102000097652058, -0.3102000097652058, -0.3102000097652058, 0.3102000097652058, 0.0010352733079344034, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986207912951654, -0.1655033079977124, -0.0016147672765093532, -0.0592731311917305], [0.16550187176634473, 0.9862089822807719, -0.0009867677337633768, 0.08009625226259232], [0.001755811316549828, 0.0007059111405534724, 0.999998209406438, -0.0010698395781219006], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.1827845573425293, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285858750343323, -0.799078106880188, -1.1311538219451904, -1.4033602476119995, -1.0378506183624268, 0.3459908068180084, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6656220555305481, -1.064477562904358, 0.7487053275108337, -1.1050586700439453, -0.8577166199684143, -0.44868889451026917, 0.9113342761993408, 0.2994000018297971, 0.2994000018297971, 0.2994000018297971, 0.2994000018297971, -0.2994000018297971, -0.2994000018297971, -0.2994000018297971, 0.2994000018297971, -0.0029907894786447287, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862382576740271, -0.16532245392466707, -0.0016078956514065197, -0.05936455726623535], [0.16532088198601386, 0.9862392549858453, -0.0010667259869477144, 0.08008953928947449], [0.001762123567165555, 0.0007862272515509186, 0.9999981383818887, -0.001062787720002234], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.1827845573425293, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285866498947144, -0.7990853190422058, -1.1311519145965576, -1.4033584594726562, -1.0378501415252686, 0.3459908068180084, -1.3436845541000366, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7061508297920227, -1.0413795709609985, 0.795741617679596, -1.1764988899230957, -0.8345556855201721, -0.46917855739593506, 0.9503666758537292, 0.28859999389438834, 0.28859999389438834, 0.28859999389438834, 0.28859999389438834, -0.28859999389438834, -0.28859999389438834, -0.28859999389438834, 0.28859999389438834, -0.004486184101551771, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862324703819504, -0.165357276759786, -0.001576510990410268, -0.05941936373710632], [0.16535577372629204, 0.9862334327995537, -0.0010412126523782646, 0.08007971197366714], [0.0017269799346436466, 0.0007661925317406661, 0.9999982152430621, -0.0010626070434227586], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.1827845573425293, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285866498947144, -0.799072802066803, -1.1311540603637695, -1.4033530950546265, -1.0378501415252686, 0.34599068760871887, -1.343685269355774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7467048168182373, -1.0163204669952393, 0.8542577028274536, -1.2392137050628662, -0.7890358567237854, -0.4994341731071472, 0.996741533279419, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, 0.28140000170403784, -0.28140000170403784, -0.28140000170403784, -0.28140000170403784, 0.28140000170403784, -0.006096609402447939, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862261078617216, -0.165395537808607, -0.0015428042395545564, -0.05954984948039055], [0.1653940677390532, 0.9862270158715064, -0.001037073725890082, 0.08005471527576447], [0.0016930825878905648, 0.000767618515345245, 0.99999827211509, -0.0010603080736473203], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1827845573425293, -0.4222738742828369, 0.053489118814468384, 0.0, 0.628588080406189, -0.7990850210189819, -1.1311498880386353, -1.4033558368682861, -1.0378501415252686, 0.3459910452365875, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7909363508224487, -0.9904909133911133, 0.9185802936553955, -1.304294466972351, -0.7368972897529602, -0.5285325050354004, 1.0501331090927124, 0.2742000095136873, 0.2742000095136873, 0.2742000095136873, 0.2742000095136873, -0.2742000095136873, -0.2742000095136873, -0.2742000095136873, 0.2742000095136873, -0.00851224735379219, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862471181166829, -0.16527041752745977, -0.0015202292053549669, -0.059722647070884705], [0.16526897456922668, 0.9862479925053108, -0.0010311760667690933, 0.08005653321743011], [0.0016697459010285318, 0.0007657477022427086, 0.9999983127881179, -0.001062112976796925], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.4222738742828369, 0.053584977984428406, 0.0, 0.6285867094993591, -0.7990821599960327, -1.1311513185501099, -1.4033596515655518, -1.037850260734558, 0.345990926027298, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8376812934875488, -0.9645375609397888, 0.9881938695907593, -1.3588851690292358, -0.6807636618614197, -0.5501980185508728, 1.1017853021621704, 0.26160001335563243, 0.26160001335563243, 0.26160001335563243, 0.26160001335563243, -0.26160001335563243, -0.26160001335563243, -0.26160001335563243, 0.26160001335563243, -0.010352732613682747, 0.14589685201644897, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862324270925436, -0.16535916968339615, -0.0013945439284897226, -0.05968623235821724], [0.1653578555948734, 0.9862331152467053, -0.0010109321658267896, 0.080042764544487], [0.0015425123064901531, 0.0007664152899813653, 0.9999985166305936, -0.0010602191323414445], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.4222738742828369, 0.053489118814468384, 0.0, 0.6285879015922546, -0.7990833520889282, -1.1311513185501099, -1.4033596515655518, -1.0378503799438477, 0.3459914028644562, -1.3436880111694336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8786455988883972, -0.9408386945724487, 1.0573456287384033, -1.4010263681411743, -0.6257902383804321, -0.5676097869873047, 1.1505047082901, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, 0.22320001570733042, -0.22320001570733042, -0.22320001570733042, -0.22320001570733042, 0.22320001570733042, -0.01449382584542036, 0.14445896446704865, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862500354483658, -0.16525393561372712, -0.0014157479547302902, -0.059636183083057404], [0.16525265533334316, 0.9862507803768006, -0.0009788316663669827, 0.08005819469690323], [0.0015580383103400946, 0.0007314166568504895, 0.9999985187720518, -0.0010730135254561901], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42236971855163574, 0.053584977984428406, 0.0, 0.6285873055458069, -0.799085259437561, -1.1311516761779785, -1.4033597707748413, -1.0378504991531372, 0.3459903299808502, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9158454537391663, -0.9202178716659546, 1.123042106628418, -1.4291777610778809, -0.5467899441719055, -0.5869584679603577, 1.1979472637176514, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, -0.2105999998993926, -0.2105999998993926, -0.2105999998993926, 0.2105999998993926, -0.018289828673005104, 0.14014533162117004, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862604300868602, -0.16519252901977113, -0.0013388057863736667, -0.05964792147278786], [0.16519137648888052, 0.986261092599972, -0.0009307831210291572, 0.08005475997924805], [0.0014741704753797795, 0.0006968353905614624, 0.9999986706200403, -0.0010695408564060926], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42236971855163574, 0.053584977984428406, 0.0, 0.6285864114761353, -0.7990877032279968, -1.1311511993408203, -1.4033609628677368, -1.0378501415252686, 0.3459905683994293, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9430176615715027, -0.9012978672981262, 1.1770665645599365, -1.4492520093917847, -0.4699484407901764, -0.5861126184463501, 1.2311210632324219, 0.18060001278971577, 0.18060001278971577, 0.18060001278971577, 0.18060001278971577, -0.18060001278971577, -0.18060001278971577, -0.18060001278971577, 0.18060001278971577, -0.0225459523499012, 0.13372279703617096, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862522567349925, -0.1652411556743472, -0.0013588806204638268, -0.059763144701719284], [0.16523994896978134, 0.9862529300857907, -0.0009576855727894178, 0.08004938066005707], [0.001498449064389619, 0.0007199781930246396, 0.9999986181399467, -0.0010703656589612365], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285868883132935, -0.7990782856941223, -1.1311525106430054, -1.403357982635498, -1.0378504991531372, 0.34599068760871887, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9607200622558594, -0.8819132447242737, 1.2089797258377075, -1.464605689048767, -0.40371185541152954, -0.5746304988861084, 1.245225429534912, 0.11879999139806727, 0.11879999139806727, 0.11879999139806727, 0.11879999139806727, -0.11879999139806727, -0.11879999139806727, -0.11879999139806727, 0.11879999139806727, -0.0269171055406332, 0.12835471332073212, 0.5179242491722107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986250729028241, -0.16524966898999463, -0.00143052087030176, -0.05984824523329735], [0.1652484292834342, 0.986251520398575, -0.0009461135540464403, 0.08003051578998566], [0.001567198334930125, 0.0006967138555472647, 0.9999985292385096, -0.0010736575350165367], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990813255310059, -1.1311516761779785, -1.4033584594726562, -1.0378506183624268, 0.3459905683994293, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9701934456825256, -0.8604171872138977, 1.2332693338394165, -1.4767240285873413, -0.3492809534072876, -0.5632764101028442, 1.2568762302398682, 0.06899999629010213, 0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, -0.029792863875627518, 0.12413693964481354, 0.5172532200813293, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862526457574164, -0.16523762971026681, -0.0014981536065724927, -0.060029949992895126], [0.1652363782575027, 0.9862535598394734, -0.0009246644309596322, 0.08002999424934387], [0.001630348686517629, 0.0006644032654482589, 0.9999984502645298, -0.0010762638412415981], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285865306854248, -0.7990829944610596, -1.131151556968689, -1.403361201286316, -1.0378507375717163, 0.34599068760871887, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9810812473297119, -0.8372560739517212, 1.256516933441162, -1.4865020513534546, -0.28749459981918335, -0.5542575716972351, 1.2658393383026123, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, -0.034624140709638596, 0.11828956007957458, 0.5091052055358887, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990815043449402, -1.1311510801315308, -1.4033598899841309, -1.0378504991531372, 0.34599068760871887, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9949420690536499, -0.8093401193618774, 1.2807198762893677, -1.4986408948898315, -0.22738604247570038, -0.5440582633018494, 1.2762268781661987, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0399155355989933, 0.1118670329451561, 0.4953974485397339, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285880208015442, -0.7990804314613342, -1.1311511993408203, -1.4033589363098145, -1.037850260734558, 0.3459903299808502, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0082087516784668, -0.7860934138298035, 1.2981904745101929, -1.5083061456680298, -0.1832643300294876, -0.5381168723106384, 1.2821320295333862, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.04359650984406471, 0.10745753347873688, 0.4851405620574951, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053584977984428406, 0.0, 0.628587007522583, -0.7990822196006775, -1.1311516761779785, -1.4033595323562622, -1.0378501415252686, 0.345990926027298, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0213232040405273, -0.762053370475769, 1.3124816417694092, -1.512495756149292, -0.14519475400447845, -0.5377646684646606, 1.2823961973190308, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.050038207322359085, 0.10247288644313812, 0.47450026869773865, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0321797132492065, 2.1827845573425293, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285861730575562, -0.7990845441818237, -1.1311516761779785, -1.403360366821289, -1.0378503799438477, 0.3459905683994293, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0305758714675903, -0.7413790225982666, 1.3195408582687378, -1.50601065158844, -0.08488906174898148, -0.5418728590011597, 1.2783845663070679, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.054524391889572144, 0.10093914717435837, 0.4669274389743805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285865306854248, -0.799079179763794, -1.1311522722244263, -1.4033597707748413, -1.0378503799438477, 0.345990926027298, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0344502925872803, -0.7188714146614075, 1.331429362297058, -1.4955129623413086, -0.02647542953491211, -0.5425888895988464, 1.2776732444763184, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.060275912284851074, 0.09969298541545868, 0.4591628909111023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990894317626953, -1.1311508417129517, -1.403360366821289, -1.0378503799438477, 0.3459905683994293, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0472917556762695, -0.6950835585594177, 1.3491851091384888, -1.4918994903564453, 0.03733924776315689, -0.5451966524124146, 1.2751212120056152, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.06614246219396591, 0.09576278179883957, 0.451014906167984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053584977984428406, 0.0, 0.6285865902900696, -0.7990858554840088, -1.1311509609222412, -1.4033613204956055, -1.0378508567810059, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.065691351890564, -0.669592559337616, 1.374685287475586, -1.4943759441375732, 0.10901090502738953, -0.5444204211235046, 1.2759428024291992, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.07246913015842438, 0.09279116243124008, 0.4385532736778259, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990884780883789, -1.1311508417129517, -1.4033594131469727, -1.0378503799438477, 0.3459905683994293, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.088935136795044, -0.6422981023788452, 1.405430793762207, -1.5094796419143677, 0.16685360670089722, -0.538597047328949, 1.281781792640686, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.07868076860904694, 0.08617691695690155, 0.42225730419158936, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285881996154785, -0.7990859746932983, -1.1311503648757935, -1.4033596515655518, -1.0378501415252686, 0.3459910452365875, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1173219680786133, -0.6157218813896179, 1.4383093118667603, -1.5286519527435303, 0.2171354591846466, -0.5319294333457947, 1.2883514165878296, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08362707495689392, 0.07735791802406311, 0.4035648703575134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285879611968994, -0.7990909814834595, -1.1311498880386353, -1.4033610820770264, -1.037850260734558, 0.3459910452365875, -1.343687653541565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.144832730293274, -0.591721773147583, 1.4702004194259644, -1.5409687757492065, 0.2600458264350891, -0.5294247269630432, 1.2908532619476318, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08604271709918976, 0.0673886239528656, 0.382571816444397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862491372361165, -0.165258747750021, -0.00147837515902666, -0.060076311230659485], [0.1652575667061327, 0.9862500424248499, -0.0008890800582083348, 0.08001436293125153], [0.0016049758203789128, 0.0006325417588822687, 0.9999985119706625, -0.0010794221889227629], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285865902900696, -0.7990859746932983, -1.1311508417129517, -1.4033604860305786, -1.0378503799438477, 0.3459908068180084, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1715359687805176, -0.5674113631248474, 1.5050128698349, -1.5570861101150513, 0.3129728138446808, -0.5241886973381042, 1.29616117477417, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08719301968812943, 0.05770689994096756, 0.35870301723480225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862528186392059, -0.1652367897161371, -0.001476838016463796, -0.06005178764462471], [0.16523548917030167, 0.9862536712171183, -0.0009639135892161106, 0.0800006166100502], [0.0016158109025762553, 0.0007066364422133293, 0.9999984449088237, -0.0010770258959382772], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990907430648804, -1.1311500072479248, -1.4033608436584473, -1.0378503799438477, 0.3459905683994293, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1951494216918945, -0.546147346496582, 1.5428537130355835, -1.5746299028396606, 0.35723453760147095, -0.5184426307678223, 1.3019413948059082, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08546756207942963, 0.05109265446662903, 0.33838099241256714, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862465526344464, -0.16527314414054162, -0.001589101183057694, -0.06004403904080391], [0.165271757040992, 0.9862475895546463, -0.0009687219587100373, 0.07999724894762039], [0.0017273509352630793, 0.0006927651475991986, 0.9999982681660987, -0.0010867954697459936], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990835905075073, -1.131151795387268, -1.4033584594726562, -1.0378507375717163, 0.3459908068180084, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2236055135726929, -0.5260524749755859, 1.5860048532485962, -1.5988774299621582, 0.39603477716445923, -0.508633017539978, 1.3118184804916382, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0848924070596695, 0.043040528893470764, 0.3166210949420929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862591843069051, -0.1651974593233505, -0.0016188895540426723, -0.06023741886019707], [0.16519601499269498, 0.9862602584844473, -0.0009895275258622132, 0.07999201118946075], [0.0017601138632308564, 0.0007084965074649458, 0.9999982000143237, -0.0010920645436272025], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285876631736755, -0.7990836501121521, -1.1311514377593994, -1.4033606052398682, -1.0378503799438477, 0.345990926027298, -1.3436880111694336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2568600177764893, -0.5087587833404541, 1.6304072141647339, -1.6331356763839722, 0.43710002303123474, -0.4989345669746399, 1.3213980197906494, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0866178646683693, 0.0358511321246624, 0.29562804102897644, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862701201542524, -0.16513279022919664, -0.0015529591226760987, -0.0604044646024704], [0.1651313564336684, 0.986271064645272, -0.0010110221849338455, 0.07997005432844162], [0.0016985915616540882, 0.0007406987253997747, 0.9999982830745785, -0.0010891910642385483], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868287086487, -0.7990911602973938, -1.1311506032943726, -1.403361201286316, -1.0378504991531372, 0.34599068760871887, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2927979230880737, -0.49419498443603516, 1.6783061027526855, -1.6689175367355347, 0.4823570251464844, -0.49052485823631287, 1.3297923803329468, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08696295320987701, 0.028661733493208885, 0.27664804458618164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862350102635971, -0.16534196037844964, -0.0015939474815394464, -0.06058448180556297], [0.1653405020878001, 0.9862360278360026, -0.0010078529742622746, 0.07993143796920776], [0.0017386488193104393, 0.0007304358115164348, 0.9999982217803232, -0.0010914374142885208], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285873055458069, -0.7990869283676147, -1.131150245666504, -1.4033583402633667, -1.0378504991531372, 0.345990926027298, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.328170657157898, -0.48253512382507324, 1.7296956777572632, -1.7019712924957275, 0.5222041010856628, -0.48382413387298584, 1.33649480342865, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08696295320987701, 0.022047486156225204, 0.26150235533714294, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862441735498576, -0.16528733297654608, -0.001589873095145739, -0.060763031244277954], [0.16528581106601256, 0.9862451552438458, -0.0010461444894664055, 0.07988879084587097], [0.0017409190701120356, 0.0007689704434043376, 0.9999981889409842, -0.0010864522773772478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871863365173, -0.7990767359733582, -1.1311523914337158, -1.4033576250076294, -1.0378506183624268, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3598072528839111, -0.4739989638328552, 1.7815817594528198, -1.738624095916748, 0.5665503740310669, -0.47674527764320374, 1.3436418771743774, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0867328941822052, 0.014570512808859348, 0.24472710490226746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862681686758572, -0.1651442053023635, -0.0015782622791553267, -0.06091161444783211], [0.1651426663012651, 0.9862691183561844, -0.0010611050013315305, 0.07985591143369675], [0.0017318266887846052, 0.0007858956455336194, 0.9999981915705419, -0.0010830441024154425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990854382514954, -1.1311513185501099, -1.4033609628677368, -1.0378503799438477, 0.34599068760871887, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3870049715042114, -0.46813714504241943, 1.8355778455734253, -1.7720612287521362, 0.6141363978385925, -0.46506282687187195, 1.3552764654159546, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08742307871580124, 0.009010711684823036, 0.22823941707611084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862762452174009, -0.1650968658636088, -0.001480878752287141, -0.06111105903983116], [0.1650953211879766, 0.9862769890197466, -0.0011116887970539606, 0.07982804626226425], [0.0016440929731183747, 0.0008519460993593337, 0.9999982855716001, -0.0010787820210680366], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285870671272278, -0.7990869879722595, -1.131150722503662, -1.403361439704895, -1.0378506183624268, 0.34599068760871887, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.411551833152771, -0.4650197923183441, 1.8883734941482544, -1.7999035120010376, 0.6572464108467102, -0.4523986279964447, 1.3679397106170654, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08684792369604111, 0.004984649363905191, 0.21136829257011414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862798332034335, -0.1650761415444103, -0.0013993244860337397, -0.06129052862524986], [0.16507461017230876, 0.9862804141961182, -0.0011478891904955451, 0.079794742166996], [0.0015696154521676682, 0.0009011470153013845, 0.9999983621193532, -0.001065176329575479], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.4225614368915558, 0.053489118814468384, 0.0, 0.6285861730575562, -0.7990773320198059, -1.1311529874801636, -1.4033602476119995, -1.0378504991531372, 0.3459908068180084, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.433501124382019, -0.4646725058555603, 1.9376235008239746, -1.8309626579284668, 0.7034907937049866, -0.43860381841659546, 1.381775140762329, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08546756207942963, 0.0022047485690563917, 0.190950408577919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862645047050571, -0.16516791105178022, -0.0013740151671509768, -0.06140891835093498], [0.16516644181181828, 0.9862650691234236, -0.0011224643386832653, 0.07976603507995605], [0.0015405382538572236, 0.0008801055388867427, 0.9999984260768258, -0.0010660681873559952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285877823829651, -0.7990898489952087, -1.131150245666504, -1.4033622741699219, -1.0378504991531372, 0.34599068760871887, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4513622522354126, -0.4668117165565491, 1.9819265604019165, -1.8603794574737549, 0.7532588839530945, -0.4212314784526825, 1.3991012573242188, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.08362707495689392, 0.0, 0.1689029186964035, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862645047050571, -0.16516791105178022, -0.0013740151671509768, -0.06140891835093498], [0.16516644181181828, 0.9862650691234236, -0.0011224643386832653, 0.07976603507995605], [0.0015405382538572236, 0.0008801055388867427, 0.9999984260768258, -0.0010660681873559952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285872459411621, -0.7990792393684387, -1.131150484085083, -1.403359293937683, -1.0378504991531372, 0.34599068760871887, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4608850479125977, -0.4702257215976715, 2.023232936859131, -1.8879228830337524, 0.796511709690094, -0.40340495109558105, 1.4169363975524902, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.07891082763671875, -0.0029716177377849817, 0.1464719921350479, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862645047050571, -0.16516791105178022, -0.0013740151671509768, -0.06140891835093498], [0.16516644181181828, 0.9862650691234236, -0.0011224643386832653, 0.07976603507995605], [0.0015405382538572236, 0.0008801055388867427, 0.9999984260768258, -0.0010660681873559952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587543964386, -0.7990813851356506, -1.1311508417129517, -1.4033595323562622, -1.0378503799438477, 0.3459905683994293, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4608975648880005, -0.47392770648002625, 2.0574288368225098, -1.906261682510376, 0.8321985006332397, -0.38687536120414734, 1.433470368385315, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.07384949177503586, -0.006326670292764902, 0.1273961365222931, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862645047050571, -0.16516791105178022, -0.0013740151671509768, -0.06140891835093498], [0.16516644181181828, 0.9862650691234236, -0.0011224643386832653, 0.07976603507995605], [0.0015405382538572236, 0.0008801055388867427, 0.9999984260768258, -0.0010660681873559952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990809082984924, -1.131151556968689, -1.4033596515655518, -1.0378504991531372, 0.345990926027298, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4484059810638428, -0.4764920771121979, 2.0798654556274414, -1.9160281419754028, 0.8612163662910461, -0.37364333868026733, 1.4466004371643066, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0712037980556488, -0.008147983811795712, 0.10966227948665619, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862645047050571, -0.16516791105178022, -0.0013740151671509768, -0.06140891835093498], [0.16516644181181828, 0.9862650691234236, -0.0011224643386832653, 0.07976603507995605], [0.0015405382538572236, 0.0008801055388867427, 0.9999984260768258, -0.0010660681873559952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.628587007522583, -0.7990825772285461, -1.1311508417129517, -1.4033602476119995, -1.0378504991531372, 0.3459908068180084, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4268566370010376, -0.477791965007782, 2.0879645347595215, -1.9249240159988403, 0.8866386413574219, -0.3677590787410736, 1.4523718357086182, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.06821300834417343, -0.009394146502017975, 0.09164085984230042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862645047050571, -0.16516791105178022, -0.0013740151671509768, -0.06140891835093498], [0.16516644181181828, 0.9862650691234236, -0.0011224643386832653, 0.07976603507995605], [0.0015405382538572236, 0.0008801055388867427, 0.9999984260768258, -0.0010660681873559952], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.62858647108078, -0.7990829944610596, -1.1311508417129517, -1.40336012840271, -1.0378506183624268, 0.3459905683994293, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4015517234802246, -0.4782755970954895, 2.0815656185150146, -1.9301124811172485, 0.9166425466537476, -0.3637281656265259, 1.4564054012298584, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.06326670199632645, -0.011215460486710072, 0.07620761543512344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862522453399769, -0.16524038786565606, -0.0014569762734855164, -0.06146560609340668], [0.16523890497325786, 0.9862529718450586, -0.0010861906042184094, 0.07975157350301743], [0.0016164297363699105, 0.0008305087582748279, 0.9999983487036915, -0.0010777402203530073], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285877227783203, -0.7990804314613342, -1.1311506032943726, -1.4033596515655518, -1.0378504991531372, 0.3459903299808502, -1.3436877727508545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3711402416229248, -0.4785901606082916, 2.068411350250244, -1.928662896156311, 0.9538137912750244, -0.36393240094184875, 1.4560664892196655, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.05797530338168144, -0.012940916232764721, 0.06499215960502625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862723512218299, -0.16512020297153268, -0.0014723403150097903, -0.06162300705909729], [0.16511870067634, 0.9862730991532331, -0.00109021724166174, 0.07973554730415344], [0.0016321465377192044, 0.0008321402025084926, 0.9999983218187732, -0.0010817594593390822], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285867691040039, -0.7990825772285461, -1.1311511993408203, -1.4033602476119995, -1.0378503799438477, 0.34599044919013977, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3360830545425415, -0.4773436188697815, 2.0512020587921143, -1.924263596534729, 0.9697694778442383, -0.370258629322052, 1.4497138261795044, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.05314403027296066, -0.015049805864691734, 0.054831139743328094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862583176444484, -0.1652042731843975, -0.001441873349952655, -0.061855316162109375], [0.16520277873138164, 0.9862590071589676, -0.0011012253345788346, 0.07968942075967789], [0.0016039877095846214, 0.0008478911618382617, 0.9999983541506482, -0.0010787033243104815], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285868883132935, -0.7990834712982178, -1.1311513185501099, -1.40336012840271, -1.037850260734558, 0.3459908068180084, -1.343687653541565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2953938245773315, -0.4741753339767456, 2.024793863296509, -1.9201120138168335, 0.976078450679779, -0.371023565530777, 1.4360493421554565, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.04808269441127777, -0.016391826793551445, 0.048312753438949585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862556938551165, -0.1652200620663498, -0.0014273854260056149, -0.062035899609327316], [0.16521861193597548, 0.9862563771967943, -0.0010810682698688273, 0.07964648306369781], [0.0015863821457614898, 0.0008303790978219419, 0.9999983969298358, -0.0010797717841342092], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285874843597412, -0.7990821599960327, -1.1311511993408203, -1.4033594131469727, -1.0378503799438477, 0.34599044919013977, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2464580535888672, -0.46932652592658997, 1.9924243688583374, -1.9194164276123047, 0.9707388877868652, -0.35825270414352417, 1.4104156494140625, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.04463178291916847, -0.01830899901688099, 0.04284881055355072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862634676101163, -0.16517345101717013, -0.0014503574550948505, -0.06221553683280945], [0.16517198344400563, 0.9862641884185259, -0.001080059405514494, 0.07961508631706238], [0.0016088327576782636, 0.0008256647169468288, 0.9999983649661298, -0.0010825673816725612], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285869479179382, -0.7990843653678894, -1.1311506032943726, -1.40336012840271, -1.0378504991531372, 0.345990926027298, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1901479959487915, -0.463949978351593, 1.9541443586349487, -1.9185333251953125, 0.9674513339996338, -0.3434221148490906, 1.3849880695343018, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.04233117401599884, -0.020226173102855682, 0.036713857203722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285866498947144, -0.7990847826004028, -1.1311513185501099, -1.4033610820770264, -1.0378503799438477, 0.34599044919013977, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1275373697280884, -0.45881929993629456, 1.9143983125686646, -1.9108121395111084, 0.9633419513702393, -0.33005285263061523, 1.3594820499420166, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.03692474588751793, -0.022430920973420143, 0.02847001515328884, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285871267318726, -0.7990874648094177, -1.1311511993408203, -1.4033606052398682, -1.037850260734558, 0.3459905683994293, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0641661882400513, -0.455115407705307, 1.8747798204421997, -1.8939934968948364, 0.9680721163749695, -0.3227599859237671, 1.3424551486968994, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.029102683067321777, -0.02271849662065506, 0.020801324397325516, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285867691040039, -0.7990841865539551, -1.1311510801315308, -1.4033607244491577, -1.0378504991531372, 0.3459908068180084, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0035107135772705, -0.4526599943637848, 1.8368479013442993, -1.8748046159744263, 0.9747717976570129, -0.3171946406364441, 1.334317922592163, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.020590435713529587, -0.02271849662065506, 0.012174046598374844, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285879015922546, -0.7990865707397461, -1.131150722503662, -1.4033615589141846, -1.037850260734558, 0.3459911644458771, -1.3436880111694336, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.947628915309906, -0.45187023282051086, 1.8005411624908447, -1.8425592184066772, 0.9851565957069397, -0.31048285961151123, 1.3252317905426025, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.014953947626054287, -0.022047486156225204, 0.0022047485690563917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1827845573425293, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285877227783203, -0.7990862131118774, -1.1311508417129517, -1.4033595323562622, -1.037850022315979, 0.3459905683994293, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8999497890472412, -0.4534204602241516, 1.764628291130066, -1.8029102087020874, 1.0019948482513428, -0.3082691431045532, 1.3151683807373047, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.007707034703344107, -0.020226173102855682, -0.008914853446185589, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0320838689804077, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285870671272278, -0.7990807890892029, -1.131151795387268, -1.4033597707748413, -1.037850022315979, 0.3459908068180084, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8669782280921936, -0.4560091495513916, 1.7253793478012085, -1.7540457248687744, 0.9939640760421753, -0.3127676546573639, 1.3109596967697144, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, -0.019459303468465805, -0.012749198824167252, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.1827845573425293, -0.42236971855163574, 0.053489118814468384, 0.0, 0.6285883784294128, -0.7990447878837585, -1.131158709526062, -1.4033492803573608, -1.037850260734558, 0.345990926027298, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8539071083068848, -0.456210732460022, 1.69597327709198, -1.7455540895462036, 0.9469702243804932, -0.29981714487075806, 1.320957899093628, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0062116398476064205, -0.023389507085084915, -0.012845057062804699, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.053489118814468384, 0.0, 0.6285863518714905, -0.7990742325782776, -1.1311544179916382, -1.4033619165420532, -1.037850260734558, 0.34599068760871887, -1.343687653541565, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8525907397270203, -0.4562113285064697, 1.6935863494873047, -1.7449605464935303, 0.9433774352073669, -0.2987850606441498, 1.3218964338302612, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0112729761749506, -0.027319712564349174, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1826887130737305, -0.42246559262275696, 0.05339326336979866, 0.0, 0.6285869479179382, -0.7990736365318298, -1.1311544179916382, -1.4033597707748413, -1.0378506183624268, 0.34599044919013977, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852487325668335, -0.4562137722969055, 1.6933183670043945, -1.744908332824707, 0.9429614543914795, -0.29868414998054504, 1.3220231533050537, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.01334352232515812, -0.03009961172938347, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1825928688049316, -0.42275315523147583, 0.05300982668995857, 0.0, 0.628587543964386, -0.7990872263908386, -1.1311519145965576, -1.403361439704895, -1.0378503799438477, 0.3459908068180084, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524790406227112, -0.45621368288993835, 1.6933156251907349, -1.7449039220809937, 0.9429424405097961, -0.2986724078655243, 1.3220269680023193, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.01449382584542036, -0.03057890571653843, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0317962169647217, 2.1808671951293945, -0.4256289303302765, 0.050996795296669006, 0.002779900562018156, 0.6285906434059143, -0.7990912199020386, -1.1311485767364502, -1.4033557176589966, -1.037850022315979, 0.345990926027298, -1.3436849117279053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524842858314514, -0.4562161862850189, 1.6933083534240723, -1.7449042797088623, 0.9429259896278381, -0.29867109656333923, 1.3220294713974, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.011042915284633636, -0.032975371927022934, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862516949942903, -0.16524374298514719, -0.001448973825806187, -0.062395550310611725], [0.16524236810177534, 0.9862524592145415, -0.0010229747730947742, 0.07958447933197021], [0.0015980941795244168, 0.000769478737607417, 0.9999984269974957, -0.001085411524400115], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1744446754455566, -0.4322431683540344, 0.049175482243299484, 0.012653340585529804, 0.6285883188247681, -0.799085795879364, -1.1311503648757935, -1.403358817100525, -1.0378501415252686, 0.3459908068180084, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524793386459351, -0.4562137722969055, 1.6933099031448364, -1.7449063062667847, 0.9429301023483276, -0.2986714541912079, 1.322028636932373, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.005866548512130976, -0.03891860693693161, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862347558094013, -0.16534557541302955, -0.001359089733867606, -0.062319304794073105], [0.16534428576938656, 0.986235388429316, -0.0010128045653167047, 0.07963135093450546], [0.001507845145224448, 0.000774145341814922, 0.9999985635499722, -0.0010944498935714364], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0319879055023193, 2.1665844917297363, -0.44019943475723267, 0.047929320484399796, 0.02578597329556942, 0.6285886764526367, -0.7990832924842834, -1.1311497688293457, -1.403359293937683, -1.037850260734558, 0.3459908068180084, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524801731109619, -0.45621392130851746, 1.6933122873306274, -1.744907259941101, 0.9429326057434082, -0.2986721694469452, 1.3220268487930298, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0035659412387758493, -0.04505356028676033, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986235133663789, -0.16534316450022282, -0.0013780711957335832, -0.06181083247065544], [0.1653418812724334, 0.9862358056408971, -0.0009989840555437977, 0.07968048006296158], [0.0015242783409837026, 0.0007573802895172889, 0.999998551474269, -0.001092845224775374], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0318920612335205, 2.1576695442199707, -0.4501687288284302, 0.047833461314439774, 0.04246537759900093, 0.6285891532897949, -0.799079179763794, -1.1311496496200562, -1.403359293937683, -1.037850260734558, 0.345990926027298, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524805903434753, -0.4562128782272339, 1.693314790725708, -1.7449082136154175, 0.9429385662078857, -0.29867276549339294, 1.3220235109329224, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0034509110264480114, -0.04677901417016983, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862419324900749, -0.16530236702053264, -0.0014064336641824923, -0.06159890443086624], [0.16530104719042957, 0.986242640648136, -0.0010087443377427695, 0.0797097310423851], [0.0015538326776072145, 0.0007623810075506108, 0.999998502188483, -0.0010949954157695174], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0300707817077637, 2.1480836868286133, -0.460617333650589, 0.048696186393499374, 0.0587613470852375, 0.6285902261734009, -0.7990800738334656, -1.1311495304107666, -1.4033607244491577, -1.0378501415252686, 0.345990926027298, -1.343687891960144, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524811267852783, -0.4562128186225891, 1.6933172941207886, -1.7449086904525757, 0.9429431557655334, -0.29867348074913025, 1.3220207691192627, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.004486184101551771, -0.047066591680049896, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862455136254469, -0.1652811965655326, -0.0013830819007871187, -0.0614607073366642], [0.16527986524526742, 0.9862461708954973, -0.0010278805747467462, 0.0797167643904686], [0.0015339485600067715, 0.0007851470152014609, 0.9999985152718877, -0.00108749745413661], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0246068239212036, 2.137251615524292, -0.4736540913581848, 0.05147608742117882, 0.07457801699638367, 0.6285895705223083, -0.799079179763794, -1.1311500072479248, -1.4033615589141846, -1.037850260734558, 0.34599068760871887, -1.3436884880065918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524817228317261, -0.45621258020401, 1.693319320678711, -1.7449091672897339, 0.9429461359977722, -0.29867443442344666, 1.3220186233520508, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.006096609402447939, -0.04505356028676033, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862412448387206, -0.16530677947135558, -0.0013695399882668125, -0.06120448186993599], [0.1653055220301139, 0.9862419134105836, -0.0009862142680209791, 0.07970269024372101], [0.0015137256430358178, 0.0007462526646691566, 0.999998575869805, -0.0011009984882548451], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0165547132492065, 2.1258444786071777, -0.48688259720802307, 0.05473528429865837, 0.08799822628498077, 0.6285896301269531, -0.7990822792053223, -1.1311501264572144, -1.4033619165420532, -1.0378504991531372, 0.3459910452365875, -1.3436877727508545, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524854779243469, -0.45621347427368164, 1.693321943283081, -1.7449084520339966, 0.9429488778114319, -0.2986757755279541, 1.3220185041427612, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.00885733775794506, -0.042657092213630676, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986236592357449, -0.16533406683615479, -0.0014248644093325295, -0.06112733110785484], [0.16533274943881254, 0.986237337251339, -0.0009982857263405444, 0.0796952098608017], [0.0015703051200046828, 0.0007489691625727225, 0.9999984865923666, -0.0011121381539851427], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.004380702972412, 2.113574504852295, -0.5016448497772217, 0.05761104077100754, 0.09748823195695877, 0.6285905241966248, -0.7990834712982178, -1.1311496496200562, -1.4033628702163696, -1.0378501415252686, 0.3459905683994293, -1.343688726425171, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524805903434753, -0.4562106430530548, 1.693324089050293, -1.7449103593826294, 0.9429565668106079, -0.29867732524871826, 1.3220183849334717, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.009317459538578987, -0.04026062786579132, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862255367069863, -0.16540053630434495, -0.0013613732962633619, -0.06118081882596016], [0.16539925219411067, 0.9862261765564829, -0.001007992266818983, 0.07966563105583191], [0.0015093444423624036, 0.0007689375891810518, 0.99999856530614, -0.0011003740364685655], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9900018572807312, 2.1012086868286133, -0.5178449153900146, 0.060966093093156815, 0.10544450581073761, 0.62859046459198, -0.7990834712982178, -1.1311501264572144, -1.4033628702163696, -1.0378497838974, 0.34599044919013977, -1.3436890840530396, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524894714355469, -0.45621392130851746, 1.6933223009109497, -1.7449092864990234, 0.9429545402526855, -0.2986793518066406, 1.3220211267471313, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.009317459538578987, -0.0375765860080719, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862230432214731, -0.16541478091836115, -0.0014350166224842541, -0.06118770316243172], [0.1654135174257533, 0.9862238325738623, -0.0009593311016277001, 0.07965970784425735], [0.0015739351372375365, 0.0007087432914147339, 0.9999985102044556, -0.0011030694004148245], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9729390144348145, 2.0872135162353516, -0.5349077582359314, 0.06403356790542603, 0.10966227948665619, 0.6285918951034546, -0.7990826964378357, -1.1311495304107666, -1.4033619165420532, -1.0378499031066895, 0.3459908068180084, -1.3436894416809082, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524872064590454, -0.45621457695961, 1.6933215856552124, -1.7449098825454712, 0.9429543018341064, -0.2986811697483063, 1.3220206499099731, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.009317459538578987, -0.03633042424917221, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862338886546561, -0.16535027698266955, -0.0014151928736990563, -0.06123323366045952], [0.1653489988885207, 0.9862346336446506, -0.0009777353250893849, 0.07965009659528732], [0.0015573810321483793, 0.0007302749868376208, 0.9999985206302879, -0.0011141080176457763], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9512749910354614, 2.0714926719665527, -0.55494225025177, 0.06700518727302551, 0.10985399782657623, 0.6285932660102844, -0.7990888357162476, -1.1311485767364502, -1.4033613204956055, -1.0378501415252686, 0.34599068760871887, -1.343688726425171, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852486252784729, -0.45621347427368164, 1.6933220624923706, -1.7449097633361816, 0.9429545402526855, -0.29868295788764954, 1.322020173072815, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.010697823949158192, -0.03623456507921219, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862149910287266, -0.16546273644158918, -0.0014402497943225448, -0.06148312985897064], [0.16546141153257626, 0.9862157622012503, -0.0009958310370529176, 0.07962097972631454], [0.0015851699770922437, 0.0007437977333451597, 0.9999984669993628, -0.0011217946885153651], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9282689094543457, 2.055100679397583, -0.5754559636116028, 0.06901822239160538, 0.10736167430877686, 0.6285926103591919, -0.7990880012512207, -1.131148338317871, -1.4033628702163696, -1.0378501415252686, 0.34599068760871887, -1.343688726425171, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852482259273529, -0.4562109410762787, 1.6933236122131348, -1.744910717010498, 0.9429546594619751, -0.2986840307712555, 1.3220196962356567, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.013803644105792046, -0.03623456507921219, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862069015926193, -0.165511992606402, -0.0013143646922149509, -0.06167009100317955], [0.1655107641793532, 0.9862074818804629, -0.0009947983528923565, 0.07960227131843567], [0.001460887351010677, 0.000763535496696555, 0.9999986414099236, -0.0011094947112724185], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9028663635253906, 2.037750482559204, -0.5976951718330383, 0.0691140815615654, 0.10295217484235764, 0.6285887956619263, -0.7990853190422058, -1.1311501264572144, -1.4033633470535278, -1.0378501415252686, 0.34599068760871887, -1.343688726425171, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852483332157135, -0.45621079206466675, 1.6933224201202393, -1.7449108362197876, 0.942950427532196, -0.29868486523628235, 1.3220183849334717, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.016564372926950455, -0.034317392855882645, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862026919235293, -0.16553713594233244, -0.001306547662421584, -0.061744727194309235], [0.16553597875748927, 0.9862032942838183, -0.0009497792083423579, 0.0795707181096077], [0.001445745338745558, 0.0007203941659079654, 0.9999986954254797, -0.0011144871823489666], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8760259747505188, 2.020495891571045, -0.6206054091453552, 0.06643003970384598, 0.09767995029687881, 0.6285851001739502, -0.799074113368988, -1.1311523914337158, -1.403363585472107, -1.0378503799438477, 0.3459905683994293, -1.3436882495880127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524820804595947, -0.4562130272388458, 1.6933220624923706, -1.7449103593826294, 0.9429519176483154, -0.29868558049201965, 1.3220160007476807, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.01978522352874279, -0.03402981534600258, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861988385332967, -0.16555930617915307, -0.0014025024256889714, -0.061957474797964096], [0.1655581587170901, 0.9861996187156491, -0.0008989590175536465, 0.07954920083284378], [0.0015319783886919114, 0.0006543566198071211, 0.9999986124288527, -0.0011302733328193426], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8490896821022034, 2.003145456314087, -0.64485764503479, 0.06154124438762665, 0.09212014824151993, 0.6285974979400635, -0.7990670204162598, -1.1311485767364502, -1.403359055519104, -1.037850022315979, 0.34599068760871887, -1.3436893224716187, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852485179901123, -0.45621463656425476, 1.693320631980896, -1.7449113130569458, 0.9429515600204468, -0.29868581891059875, 1.322016954421997, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.023121103644371033, -0.036042846739292145, -0.013420209288597107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986220077097359, -0.16543404774635165, -0.0012391030373178596, -0.06206337735056877], [0.16543302672819024, 0.9862206285584297, -0.0008862693528116871, 0.07952755689620972], [0.0013686481027414558, 0.0006690680635673813, 0.9999988395744753, -0.0011214639525860548], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8219617009162903, 1.9872328042984009, -0.6690139770507812, 0.056652456521987915, 0.08387631177902222, 0.6285843253135681, -0.7990758419036865, -1.1311521530151367, -1.4033619165420532, -1.0378508567810059, 0.345990926027298, -1.3436886072158813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852480411529541, -0.4562143385410309, 1.6933211088180542, -1.7449126243591309, 0.9429514408111572, -0.2986869215965271, 1.322015404701233, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.027377227321267128, -0.03661799803376198, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861954664817361, -0.16558048251382385, -0.0012671627205640983, -0.06228046491742134], [0.16557946685421002, 0.9861960681613352, -0.000869079627343973, 0.07949571311473846], [0.0013935735167794837, 0.000647266260809729, 0.9999988194989237, -0.0011196013074368238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.797134280204773, 1.9733333587646484, -0.6924993395805359, 0.050517503172159195, 0.07409872859716415, 0.6285905241966248, -0.7990809082984924, -1.1311490535736084, -1.4033581018447876, -1.0378504991531372, 0.345990926027298, -1.3436888456344604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524835705757141, -0.4562162756919861, 1.693319320678711, -1.7449122667312622, 0.9429514408111572, -0.29868727922439575, 1.322016954421997, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.029217712581157684, -0.036713857203722, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861996732224295, -0.16555498703869861, -0.0013231789710834746, -0.0628572329878807], [0.16555392724751442, 0.9862003508963306, -0.0008746798722853558, 0.0794573575258255], [0.001449727180500381, 0.0006435515291078596, 0.9999987420654746, -0.0011322683421894908], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7799755930900574, 1.9619262218475342, -0.7152178883552551, 0.044382549822330475, 0.06288326531648636, 0.6285867094993591, -0.7990837693214417, -1.1311510801315308, -1.4033600091934204, -1.0378499031066895, 0.3459908068180084, -1.3436884880065918, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524707555770874, -0.45620957016944885, 1.6933244466781616, -1.744915246963501, 0.9429551362991333, -0.2986871600151062, 1.3220142126083374, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.03186341002583504, -0.037864163517951965, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861860911484305, -0.16563598598852433, -0.0013091107627087185, -0.0635022297501564], [0.16563499515144559, 0.9861867747229703, -0.0008329121718597454, 0.07943105697631836], [0.001428987949658671, 0.0006045718442023481, 0.9999987962424379, -0.001108247321099043], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7678015232086182, 1.956174612045288, -0.7297883629798889, 0.04073991999030113, 0.05674831569194794, 0.6285866498947144, -0.7990776896476746, -1.1311522722244263, -1.403360366821289, -1.0378501415252686, 0.3459905683994293, -1.3436899185180664, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524792790412903, -0.45621034502983093, 1.6933233737945557, -1.7449167966842651, 0.9429539442062378, -0.2986876368522644, 1.3220160007476807, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.03865020349621773, -0.04467012360692024, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862009074075865, -0.1655485311704527, -0.0012058423440881635, -0.06339667737483978], [0.1655476043622944, 0.9862014489451167, -0.0008323391480848739, 0.07940562814474106], [0.0013269959903402396, 0.0006212293118097511, 0.9999989265773158, -0.0010837429435923696], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7630085945129395, 1.9540657997131348, -0.7347730398178101, 0.039493758231401443, 0.05425598844885826, 0.62859046459198, -0.7990783452987671, -1.1311510801315308, -1.403357744216919, -1.0378497838974, 0.3459908068180084, -1.343690037727356, 0.5111999980695955, -0.5111999980695955, 0.5111999980695955, 0.5111999980695955, -0.5111999980695955, -0.5111999980695955, 0.5111999980695955, 0.5111999980695955, -0.8524873852729797, -0.45621466636657715, 1.6933202743530273, -1.7449151277542114, 0.942950427532196, -0.2986878752708435, 1.322018027305603, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.04244620352983475, -0.04946305602788925, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986198918483378, -0.1655602846842805, -0.0012187360155400272, -0.0629979819059372], [0.16555934804391073, 0.9861994763715263, -0.0008337144610374065, 0.07938554137945175], [0.0013399468238754495, 0.0006204351596286025, 0.9999989098007667, -0.0010710126953199506], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7611873149871826, 1.9526278972625732, -0.7380322217941284, 0.03882274776697159, 0.05300982668995857, 0.6285903453826904, -0.799082338809967, -1.131150245666504, -1.403358817100525, -1.0378501415252686, 0.345990926027298, -1.3436893224716187, 0.07859998587723617, -0.07859998587723617, 0.07859998587723617, 0.07859998587723617, -0.07859998587723617, -0.07859998587723617, 0.07859998587723617, 0.07859998587723617, -0.8524857759475708, -0.4562142789363861, 1.6933202743530273, -1.7449144124984741, 0.9429507851600647, -0.2986873984336853, 1.3220174312591553, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.043826568871736526, -0.05061336234211922, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986195179209943, -0.1655822907212165, -0.0012543933126881522, -0.06336015462875366], [0.1655813811149465, 0.9861958068565538, -0.0007979765771148178, 0.0793781504034996], [0.0013692082147025047, 0.0005792564762968275, 0.9999988948647891, -0.0010666005546227098], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7604204416275024, 1.9517651796340942, -0.7394701242446899, 0.0384393148124218, 0.052242957055568695, 0.6285887956619263, -0.799080491065979, -1.131151795387268, -1.4033597707748413, -1.037850260734558, 0.3459908068180084, -1.3436896800994873, 0.008399993246728266, -0.008399993246728266, 0.008399993246728266, 0.008399993246728266, -0.008399993246728266, -0.008399993246728266, 0.008399993246728266, 0.008399993246728266, -0.852483332157135, -0.4562136232852936, 1.6933205127716064, -1.7449144124984741, 0.9429509043693542, -0.29868704080581665, 1.322016716003418, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0364646278321743, -0.05070921778678894, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861898699042715, -0.1656145632245571, -0.0011648803093994358, -0.06328253448009491], [0.16561369898131217, 0.9861903756295012, -0.0008035704516013597, 0.07936019450426102], [0.0012818767192521584, 0.0005995529022135256, 0.9999989986636957, -0.001060999813489616], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7597494125366211, 1.9516693353652954, -0.7401410937309265, 0.03834345564246178, 0.051859524101018906, 0.6285907626152039, -0.7990819215774536, -1.1311506032943726, -1.403359055519104, -1.0378499031066895, 0.3459908068180084, -1.3436897993087769, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.852483868598938, -0.45621371269226074, 1.693320393562317, -1.7449134588241577, 0.9429503083229065, -0.29868751764297485, 1.3220179080963135, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.027147166430950165, -0.05013406649231911, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861724992724102, -0.16571769604080153, -0.0012028706233271666, -0.06374277919530869], [0.16571683370493834, 0.986173065360212, -0.0007849744281327697, 0.07933737337589264], [0.0013163227635194091, 0.000574784282602161, 0.9999989684581733, -0.0010670657502487302], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7596535682678223, 1.950998306274414, -0.740716278553009, 0.038247596472501755, 0.05157194659113884, 0.6285908818244934, -0.799081027507782, -1.131150722503662, -1.4033595323562622, -1.0378501415252686, 0.3459910452365875, -1.3436896800994873, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524847626686096, -0.4562138617038727, 1.6933199167251587, -1.7449132204055786, 0.9429506659507751, -0.2986873984336853, 1.3220192193984985, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.018864979967474937, -0.05013406649231911, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861635219777903, -0.16577252660683503, -0.000988606466935861, -0.06812003254890442], [0.16577179678783727, 0.986163831750768, -0.0007799592135133385, 0.07930653542280197], [0.0011042237510014439, 0.0006052842546573079, 0.9999992071601251, -0.0010523447999730706], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7598452568054199, 1.9504231214523315, -0.7410038113594055, 0.038247596472501755, 0.051380228251218796, 0.6285902857780457, -0.7990764379501343, -1.1311516761779785, -1.403361439704895, -1.0378504991531372, 0.3459903299808502, -1.3436903953552246, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524818420410156, -0.4562116861343384, 1.6933218240737915, -1.744914174079895, 0.9429522752761841, -0.29868727922439575, 1.3220200538635254, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.010237702168524265, -0.04725831001996994, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861838263691655, -0.1656540313368749, -0.0004500107924203257, -0.08322148025035858], [0.165653692486844, 0.9861837319462982, -0.0007078205606484474, 0.07925286144018173], [0.0005610466520197299, 0.0006234952394596963, 0.9999996482401085, -0.0010192894842475653], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7590783834457397, 1.9505189657211304, -0.7409079670906067, 0.038247596472501755, 0.051380228251218796, 0.6285901665687561, -0.799079179763794, -1.1311509609222412, -1.403360366821289, -1.037850022315979, 0.3459905683994293, -1.3436897993087769, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524836301803589, -0.4562138617038727, 1.693320393562317, -1.7449127435684204, 0.9429513216018677, -0.2986869215965271, 1.3220200538635254, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0035659412387758493, -0.04639558121562004, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861915727510789, -0.16560821635433814, -0.0003170342064979698, -0.1117280125617981], [0.16560799624913142, 0.9861914615997447, -0.0006266147995796785, 0.07916399091482162], [0.0004164289867829697, 0.0005654588350260231, 0.999999753421572, -0.0010141805978491902], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7586949467658997, 1.9506148099899292, -0.7409079670906067, 0.03815173730254173, 0.051380228251218796, 0.6285891532897949, -0.79908287525177, -1.1311508417129517, -1.4033606052398682, -1.037850260734558, 0.345990926027298, -1.3436881303787231, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524819612503052, -0.4562133252620697, 1.693320393562317, -1.7449116706848145, 0.9429517984390259, -0.29868680238723755, 1.3220173120498657, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, -0.043040528893470764, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861904639888441, -0.16561500687716443, 0.0001955365569801321, -0.15220631659030914], [0.1656151168577029, 0.9861900470970526, -0.00090778572509291, 0.07906929403543472], [-4.249326723317797e-05, 0.0009276334351660436, 0.9999995688451732, -0.0009346298757009208], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7583115696907043, 1.9508066177368164, -0.7408121228218079, 0.03805587813258171, 0.051380228251218796, 0.6285879611968994, -0.7990842461585999, -1.1311510801315308, -1.4033602476119995, -1.0378503799438477, 0.345990926027298, -1.343687653541565, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524793982505798, -0.4562135636806488, 1.69331955909729, -1.744910478591919, 0.9429499506950378, -0.2986869215965271, 1.3220146894454956, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.004256123676896095, -0.04035648703575134, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862577051739511, -0.16521372810275928, 0.00040377146928743967, -0.20013605058193207], [0.16521414975784535, 0.9862566090698989, -0.0014784403055305892, 0.07901602983474731], [-0.00015396364548450993, 0.0015248319029640743, 0.9999988255907422, -0.000837573257740587], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7581198215484619, 1.951094150543213, -0.7406204342842102, 0.03805587813258171, 0.051380228251218796, 0.6285851001739502, -0.7990831732749939, -1.1311521530151367, -1.4033595323562622, -1.0378503799438477, 0.3459903299808502, -1.3436863422393799, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524787425994873, -0.45621412992477417, 1.6933196783065796, -1.7449095249176025, 0.9429487586021423, -0.2986869215965271, 1.3220109939575195, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.002760728821158409, -0.03882274776697159, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986273200080276, -0.16512041208825215, 0.0006513948247463495, -0.24961623549461365], [0.1651213151242026, 0.9862717286640074, -0.001740267153187118, 0.07885970175266266], [-0.00035509867036746383, 0.0018239380242956675, 0.9999982735760187, -0.0007790117524564266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7578322291374207, 1.951861023902893, -0.740332841873169, 0.03805587813258171, 0.051380228251218796, 0.6285845041275024, -0.799088180065155, -1.131151556968689, -1.4033578634262085, -1.0378499031066895, 0.34599068760871887, -1.3436822891235352, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.852480411529541, -0.45621591806411743, 1.6933170557022095, -1.7449047565460205, 0.9429413676261902, -0.29868680238723755, 1.3220064640045166, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, -0.038631029427051544, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862442863935952, -0.16529406775921948, 0.0002805701315636323, -0.2923579216003418], [0.16529430001299095, 0.9862432828373237, -0.0014076368403016072, 0.0787094309926033], [-4.403638835822907e-05, 0.001434650434565957, 0.999998969918933, -0.0009067242499440908], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7578322291374207, 1.951861023902893, -0.7404286861419678, 0.03805587813258171, 0.051380228251218796, 0.6285825371742249, -0.7990871667861938, -1.1311516761779785, -1.4033594131469727, -1.0378501415252686, 0.3459908068180084, -1.3436840772628784, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8524799346923828, -0.4562155306339264, 1.69331693649292, -1.7449045181274414, 0.9429420828819275, -0.29868656396865845, 1.322003960609436, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, -0.03633042424917221, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862021325445485, -0.16554482075021748, 0.0005158365663295327, -0.3266301453113556], [0.16554519791747008, 0.9862018771935703, -0.0008030357050578773, 0.07854477316141129], [-0.00037578058818944, 0.0008773497913035843, 0.9999995445230428, -0.0008618670399300754], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7580239772796631, 1.951861023902893, -0.7404286861419678, 0.03805587813258171, 0.051380228251218796, 0.6285833120346069, -0.7990856170654297, -1.131151556968689, -1.403358817100525, -1.0378503799438477, 0.34599068760871887, -1.3436838388442993, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.852480411529541, -0.45621517300605774, 1.6933174133300781, -1.7449049949645996, 0.9429425597190857, -0.2986864447593689, 1.3220057487487793, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.002415637718513608, -0.03249607980251312, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9862044657217203, -0.1655296661407881, 0.0008254803786289486, -0.34691810607910156], [0.16553013110338674, 0.9862045904850985, -0.0005304743300861986, 0.07846366614103317], [-0.0007262833000038196, 0.0006597980285794701, 0.9999995185894489, -0.000768965866882354], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.758503258228302, 1.9517651796340942, -0.7404286861419678, 0.03815173730254173, 0.051380228251218796, 0.6285851001739502, -0.7990837693214417, -1.131151556968689, -1.4033583402633667, -1.037850022315979, 0.34599068760871887, -1.3436830043792725, 0.4775999952148605, -0.4775999952148605, 0.4775999952148605, 0.4775999952148605, -0.4775999952148605, -0.4775999952148605, 0.4775999952148605, 0.4775999952148605, -0.8524823784828186, -0.4562150239944458, 1.6933178901672363, -1.7449043989181519, 0.9429430365562439, -0.2986864447593689, 1.3220093250274658, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, -0.02626526728272438, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986168424531284, -0.16574483655935404, 0.0006982917717008864, -0.3573380410671234], [0.16574511919959722, 0.9861685555698769, -0.00036805805761266675, 0.07838210463523865], [-0.0006276296652612287, 0.0004787056877485894, 0.9999996884608854, -0.0008340348140336573], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.76022869348526, 1.951956868171692, -0.7399494051933289, 0.038247596472501755, 0.051859524101018906, 0.6285846829414368, -0.7990813851356506, -1.131151795387268, -1.4033600091934204, -1.0378501415252686, 0.345990926027298, -1.3436858654022217, 0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.8524810075759888, -0.45621341466903687, 1.6933186054229736, -1.7449086904525757, 0.9429469704627991, -0.29868656396865845, 1.3220171928405762, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.010352732613682747, -0.023485366255044937, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861774710744773, -0.16569143229782082, 0.0005872037509092557, -0.3605624735355377], [0.16569165217075846, 0.9861775476759942, -0.0003476502358975426, 0.0784803107380867], [-0.0005214844895332961, 0.00044013959010490513, 0.9999997671655071, -0.0008725268417038023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.764446496963501, 1.955407738685608, -0.7362108826637268, 0.04054820537567139, 0.05329740419983864, 0.6285853981971741, -0.7990742921829224, -1.1311529874801636, -1.4033610820770264, -1.0378503799438477, 0.3459908068180084, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524768948554993, -0.45621123909950256, 1.693321704864502, -1.7449123859405518, 0.9429546594619751, -0.29868581891059875, 1.3220170736312866, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.02151067927479744, -0.026456983759999275, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861857288159886, -0.16564207558820665, 0.0006411509246823396, -0.3591757118701935], [0.16564231907702617, 0.9861858352817098, -0.0003470165718426342, 0.07860209792852402], [-0.0005748134149759758, 0.00044842451685661654, 0.99999973425246, -0.0008491881308145821], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7719234824180603, 1.9625972509384155, -0.7283505201339722, 0.04495770111680031, 0.05511871725320816, 0.6285867691040039, -0.7990798950195312, -1.1311520338058472, -1.4033607244491577, -1.0378504991531372, 0.34599044919013977, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524857759475708, -0.45621258020401, 1.6933211088180542, -1.744910717010498, 0.9429537057876587, -0.2986862063407898, 1.3220186233520508, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.03370389714837074, -0.033071231096982956, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861829329889213, -0.1656591938110482, 0.0005041698545593978, -0.3560313880443573], [0.1656593662925842, 0.986182980383304, -0.0003218102597295909, 0.07870221883058548], [-0.0004438929016018757, 0.00040088424441618874, 0.9999998211254413, -0.0008818299393169582], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7817010283470154, 1.9715120792388916, -0.7167515754699707, 0.04840861260890961, 0.05694003030657768, 0.628585934638977, -0.7990801930427551, -1.1311531066894531, -1.4033613204956055, -1.0378506183624268, 0.34599068760871887, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524842262268066, -0.4562128186225891, 1.6933211088180542, -1.744910717010498, 0.9429539442062378, -0.29868608713150024, 1.322018027305603, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.044516753405332565, -0.040452346205711365, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986178073746232, -0.16568813736834884, 0.0004979935527480506, -0.35505804419517517], [0.16568828151135168, 0.9861781400971532, -0.00026337109717333777, 0.0787491723895073], [-0.0004474728891021374, 0.0003422424972493911, 0.9999998413190307, -0.0008935671066865325], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7932040691375732, 1.981960654258728, -0.7007431983947754, 0.050517503172159195, 0.058377910405397415, 0.628587543964386, -0.7990837693214417, -1.1311520338058472, -1.4033595323562622, -1.0378501415252686, 0.3459905683994293, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.852483868598938, -0.45621418952941895, 1.693319320678711, -1.7449095249176025, 0.9429500699043274, -0.2986864447593689, 1.3220158815383911, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.05417930334806442, -0.043423961848020554, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861721705069597, -0.16572348364281184, 0.0004208169228390854, -0.35580500960350037], [0.16572360484306906, 0.9861722025795483, -0.00027139863772286, 0.07876359671354294], [-0.0003700208239796229, 0.00033738508106764576, 0.9999998746279406, -0.0009359403629787266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8066242933273315, 1.992121696472168, -0.6832969188690186, 0.05233881622552872, 0.05943235754966736, 0.6285858750343323, -0.7990861535072327, -1.1311520338058472, -1.4033598899841309, -1.0378503799438477, 0.3459908068180084, -1.3436853885650635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524830937385559, -0.45621457695961, 1.6933197975158691, -1.7449085712432861, 0.9429486393928528, -0.29868581891059875, 1.3220127820968628, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.05970076099038124, -0.04227365925908089, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861569565161983, -0.16581403832500896, 0.00040225497068378205, -0.35713663697242737], [0.1658141344573421, 0.9861569981867366, -0.00021849825421483613, 0.07873678207397461], [-0.0003604564764968859, 0.00028217313317570027, 0.9999998952247202, -0.0009469902142882347], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8215782642364502, 2.0029537677764893, -0.663933515548706, 0.05368083715438843, 0.060103368014097214, 0.6285863518714905, -0.7990850806236267, -1.1311520338058472, -1.40336012840271, -1.0378503799438477, 0.34599044919013977, -1.3436856269836426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524779677391052, -0.4562137722969055, 1.6933207511901855, -1.7449089288711548, 0.9429493546485901, -0.2986862063407898, 1.3220093250274658, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06085106357932091, -0.03978133574128151, -0.012461623176932335, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861575193201495, -0.16581073556347692, 0.00038348432508797316, -0.35741716623306274], [0.16581083755500614, 0.9861575447150763, -0.0002512983078210004, 0.07875075191259384], [-0.0003365080031998166, 0.00031140557298216216, 0.999999894894461, -0.0009360301773995161], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8360528945922852, 2.0138814449310303, -0.6425570249557495, 0.055406294763088226, 0.0613495297729969, 0.6285863518714905, -0.7990867495536804, -1.1311510801315308, -1.403360366821289, -1.037850022315979, 0.345990926027298, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524823784828186, -0.4562143385410309, 1.6933201551437378, -1.744908094406128, 0.9429466128349304, -0.2986856997013092, 1.3220094442367554, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.056825000792741776, -0.039110325276851654, -0.007860408164560795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986142451103603, -0.16590041221560003, 0.00034548237572233615, -0.3568257689476013], [0.1659004948708857, 0.9861424718235162, -0.00022598097436179944, 0.07873904705047607], [-0.0003032045071667798, 0.0002801651290614302, 0.99999991478726, -0.0009591158013790846], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8527323007583618, 2.0237550735473633, -0.6193592548370361, 0.05694003030657768, 0.06365013867616653, 0.6285864114761353, -0.7990853190422058, -1.131151556968689, -1.4033596515655518, -1.037850260734558, 0.34599068760871887, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524813055992126, -0.4562138617038727, 1.6933200359344482, -1.7449085712432861, 0.9429470896720886, -0.2986856997013092, 1.3220120668411255, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.052683908492326736, -0.039973050355911255, -0.003546769730746746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861470418179673, -0.16587302681313384, 0.0003884450046484055, -0.3564920127391815], [0.16587311933563062, 0.9861470783817355, -0.000219273880675425, 0.07875016331672668], [-0.00034669228415731005, 0.00028066887338739087, 0.9999999005147169, -0.0009507167269475758], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.867111086845398, 2.0323822498321533, -0.5955862998962402, 0.05809033662080765, 0.06643003970384598, 0.6285851001739502, -0.7990855574607849, -1.1311514377593994, -1.4033602476119995, -1.0378501415252686, 0.3459905683994293, -1.3436840772628784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524811863899231, -0.45621398091316223, 1.6933197975158691, -1.7449082136154175, 0.9429479241371155, -0.29868558049201965, 1.322013258934021, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04716245085000992, -0.04419083148241043, -0.002013031393289566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861332038215196, -0.16595555101948328, 0.0002437345377675745, -0.3562908172607422], [0.16595560077827615, 0.9861332052113698, -0.00020037432894212513, 0.07873064279556274], [-0.00020710148877970037, 0.00023804489060891816, 0.9999999502218004, -0.0009946842910721898], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8816816210746765, 2.040050983428955, -0.5698003172874451, 0.05885720252990723, 0.06920993328094482, 0.6285852789878845, -0.7990850806236267, -1.1311516761779785, -1.4033600091934204, -1.037850260734558, 0.3459910452365875, -1.3436846733093262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524802327156067, -0.45621398091316223, 1.6933200359344482, -1.7449090480804443, 0.9429485201835632, -0.2986854612827301, 1.3220148086547852, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.044861841946840286, -0.04812103509902954, -0.0018213141011074185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861310176932794, -0.16596852121790798, 0.0002567254526171118, -0.35646921396255493], [0.16596857812201815, 0.9861310172448501, -0.0002188693510872023, 0.07871071249246597], [-0.00021683950920209092, 0.000258442214268084, 0.999999943094123, -0.0009813240030780435], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.8971148729324341, 2.0456106662750244, -0.5432474613189697, 0.05991164967417717, 0.07122296839952469, 0.6285848021507263, -0.7990843653678894, -1.1311520338058472, -1.4033600091934204, -1.0378503799438477, 0.34599044919013977, -1.343685269355774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524833917617798, -0.4562145173549652, 1.6933190822601318, -1.744908332824707, 0.9429476857185364, -0.29868534207344055, 1.3220149278640747, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04244620352983475, -0.051859524101018906, -0.0029716177377849817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861040213095495, -0.16612887189918724, 0.00023891136215242571, -0.3564821481704712], [0.1661289220870662, 0.9861040198198489, -0.0002081857936185086, 0.07863039523363113], [-0.00020100578355986283, 0.00024498293533546645, 0.9999999497900169, -0.0010194700444117188], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9097681641578674, 2.0497326850891113, -0.5164070725440979, 0.06087023392319679, 0.07237327098846436, 0.6285849213600159, -0.7990837097167969, -1.1311516761779785, -1.4033594131469727, -1.0378506183624268, 0.34599068760871887, -1.343685269355774, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524800539016724, -0.4562140107154846, 1.693319320678711, -1.7449085712432861, 0.9429476857185364, -0.2986856997013092, 1.3220127820968628, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04141093045473099, -0.05607730522751808, -0.005272225011140108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986124167577748, -0.1660093382726319, 0.0001603913226652034, -0.35653531551361084], [0.16600936930221527, 0.9861241541589242, -0.00020466613538058128, 0.07867538928985596], [-0.0001241892676963076, 0.00022845268470072892, 0.9999999661931978, -0.0010481785284355283], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9233801364898682, 2.052896022796631, -0.4874577522277832, 0.06211639940738678, 0.07275670766830444, 0.6285843253135681, -0.7990843057632446, -1.1311516761779785, -1.403360366821289, -1.037850260734558, 0.34599021077156067, -1.3436834812164307, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524792790412903, -0.4562138319015503, 1.6933199167251587, -1.7449077367782593, 0.9429476857185364, -0.298685222864151, 1.3220092058181763, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04129590094089508, -0.05943235754966736, -0.00853141862899065, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861013745654713, -0.16614467523997903, 0.00016115051970029944, -0.3567129671573639], [0.16614470304468196, 0.9861013669925697, -0.0001779482503754251, 0.07861252874135971], [-0.0001293455934998808, 0.00020224931953782976, 0.9999999711824646, -0.0010301027214154601], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9369920492172241, 2.0548131465911865, -0.45774155855178833, 0.06374599784612656, 0.073427714407444, 0.6285829544067383, -0.79908287525177, -1.131152868270874, -1.4033598899841309, -1.0378503799438477, 0.34599044919013977, -1.3436840772628784, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524799346923828, -0.4562133252620697, 1.6933199167251587, -1.7449082136154175, 0.9429473280906677, -0.29868534207344055, 1.322008490562439, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04152596369385719, -0.060966093093156815, -0.012078188359737396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9861031764022762, -0.16613373333191747, 0.000328844250066784, -0.3568185865879059], [0.16613380855469134, 0.98610319484863, -0.00021625086825958868, 0.07858069986104965], [-0.00028834780151822337, 0.0002678778157754367, 0.9999999225485076, -0.0009715481428429484], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9487826824188232, 2.0560593605041504, -0.4270668029785156, 0.06547144800424576, 0.07419458776712418, 0.6285843849182129, -0.7990855574607849, -1.1311509609222412, -1.403358817100525, -1.037850260734558, 0.34599068760871887, -1.3436836004257202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524808883666992, -0.4562140107154846, 1.6933199167251587, -1.744907259941101, 0.9429472088813782, -0.29868510365486145, 1.3220077753067017, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.042101114988327026, -0.06106195226311684, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860843741814543, -0.16624528216032314, 0.00033638460754702485, -0.3569072186946869], [0.16624535378357325, 0.9860843997383406, -0.00019732726901761338, 0.0785338431596756], [-0.0002988988862984661, 0.00025050371466717235, 0.9999999239536694, -0.000965328945312649], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9606691002845764, 2.0560593605041504, -0.39658376574516296, 0.06710104644298553, 0.07457801699638367, 0.6285757422447205, -0.7990821599960327, -1.1311537027359009, -1.403361439704895, -1.0378508567810059, 0.3459908068180084, -1.3436847925186157, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524786233901978, -0.4562126696109772, 1.6933201551437378, -1.7449078559875488, 0.9429478049278259, -0.29868510365486145, 1.3220088481903076, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04003056883811951, -0.06115781143307686, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860792958381854, -0.16627552894378125, 0.00026607091916604675, -0.35706260800361633], [0.16627557724717035, 0.9860793087746402, -0.0001709317056850715, 0.07850581407546997], [-0.00023394526828024052, 0.0002127933116513749, 0.9999999499943077, -0.0009961030445992947], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.972651481628418, 2.055771827697754, -0.3655255436897278, 0.06710104644298553, 0.07266084849834442, 0.6285799145698547, -0.7990807890892029, -1.1311532258987427, -1.4033591747283936, -1.0378507375717163, 0.3459905683994293, -1.3436838388442993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524821996688843, -0.4562150835990906, 1.6933189630508423, -1.744908332824707, 0.9429475665092468, -0.29868486523628235, 1.322012186050415, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03922535479068756, -0.05885720252990723, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.986077007868722, -0.1662890557593593, 0.0002906670416710176, -0.35690683126449585], [0.16628910941208555, 0.9860770268023182, -0.00017118304729116726, 0.0784863531589508], [-0.0002581542249443246, 0.00021713443056564324, 0.999999943104516, -0.0009892102098092437], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9807994365692139, 2.0531835556030273, -0.33437150716781616, 0.06585488468408585, 0.06527972966432571, 0.628582239151001, -0.7990872859954834, -1.131150484085083, -1.4033578634262085, -1.0378504991531372, 0.345990926027298, -1.3436839580535889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524836301803589, -0.4562157094478607, 1.6933180093765259, -1.7449078559875488, 0.9429469704627991, -0.2986849844455719, 1.322013258934021, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.039110325276851654, -0.05847376957535744, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860616619196473, -0.16638003885877592, 0.00028558994267067285, -0.3570701777935028], [0.16638008841802865, 0.986061682031341, -0.00015939740136138166, 0.07844953238964081], [-0.0002550887534085833, 0.00020469214640492334, 0.9999999465154251, -0.0009941209573298693], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9872219562530518, 2.049445152282715, -0.3104068338871002, 0.06403356790542603, 0.059336498379707336, 0.6285814642906189, -0.7990841865539551, -1.1311522722244263, -1.4033586978912354, -1.0378506183624268, 0.34599044919013977, -1.3436839580535889, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524793982505798, -0.4562136232852936, 1.6933192014694214, -1.7449089288711548, 0.9429478049278259, -0.29868486523628235, 1.3220134973526, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04129590094089508, -0.059719931334257126, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860725348665976, -0.16631557861288526, 0.0002903315756718891, -0.35737767815589905], [0.16631564155743897, 0.9860725450667582, -0.00020793966302924433, 0.07845084369182587], [-0.0002517043903627446, 0.00025333027289480546, 0.9999999362343344, -0.0009916602866724133], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.99009770154953, 2.048103094100952, -0.29880794882774353, 0.06317084282636642, 0.05674831569194794, 0.6285840272903442, -0.7990847229957581, -1.1311508417129517, -1.4033585786819458, -1.0378503799438477, 0.34599044919013977, -1.3436836004257202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8524810075759888, -0.45621412992477417, 1.693319320678711, -1.744908332824707, 0.9429470896720886, -0.2986847460269928, 1.322013020515442, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.033013716340065, -0.06326670199632645, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860584628054914, -0.16639910891439763, 0.0002109079559050367, -0.35719573497772217], [0.16639914148853505, 0.9860584688255288, -0.0001475443391745706, 0.07839363068342209], [-0.00018341632949883045, 0.00018058224707782905, 0.9999999668742505, -0.0010210140608251095], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9914397597312927, 2.0472402572631836, -0.2939191460609436, 0.06278740614652634, 0.055693868547677994, 0.6285831928253174, -0.7990825772285461, -1.1311520338058472, -1.4033591747283936, -1.0378503799438477, 0.34599068760871887, -1.3436836004257202, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8572491407394409, -0.4569879174232483, 1.6977787017822266, -1.7499607801437378, 0.919906497001648, -0.31011542677879333, 1.3036513328552246, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.02461649850010872, -0.06374599784612656, -0.01159889530390501, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860631519125685, -0.16637124431310418, 0.0002636398302470359, -0.3576279580593109], [0.1663712840063324, 0.9860631710258083, -0.00013639872320251597, 0.07838273048400879], [-0.00023727270172017683, 0.00017835985199133377, 0.9999999559447131, -0.0010053205769509077], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9923024773597717, 2.046952724456787, -0.2918102741241455, 0.06240397319197655, 0.054926998913288116, 0.6285838484764099, -0.7990815043449402, -1.1311520338058472, -1.40336012840271, -1.037850260734558, 0.34599068760871887, -1.3436846733093262, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8668550848960876, -0.45747190713882446, 1.7101845741271973, -1.7401514053344727, 0.8561683893203735, -0.3443686068058014, 1.281642198562622, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.01736958511173725, -0.061828821897506714, -0.010832025669515133, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860643152196596, -0.16636432333099357, 0.00027959435689822834, -0.35762640833854675], [0.16636437122879294, 0.9860643341758568, -0.00015764508377281544, 0.07837259024381638], [-0.00024947150568585617, 0.0002019627309626796, 0.9999999484875103, -0.0009988221572712064], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.992590069770813, 2.046952724456787, -0.290372371673584, 0.06240397319197655, 0.05454356595873833, 0.6285837292671204, -0.7990832924842834, -1.1311522722244263, -1.4033597707748413, -1.037850022315979, 0.34599068760871887, -1.3436849117279053, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8774421811103821, -0.45747271180152893, 1.7210667133331299, -1.7247360944747925, 0.795171320438385, -0.3813748359680176, 1.2565113306045532, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.014263764955103397, -0.060966093093156815, -0.012078188359737396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860397139446965, -0.16651016544733419, 0.00021754669044752114, -0.3576854467391968], [0.16651020171551956, 0.9860397187179346, -0.00016073367233360508, 0.07829499244689941], [-0.00018774588708366514, 0.00019471352759806897, 0.9999999634190614, -0.0010221931152045727], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.992590069770813, 2.0467610359191895, -0.2896054983139038, 0.062308114022016525, 0.05425598844885826, 0.6285843253135681, -0.79908287525177, -1.1311521530151367, -1.40336012840271, -1.0378503799438477, 0.34599068760871887, -1.3436853885650635, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8924263715744019, -0.45717766880989075, 1.7282956838607788, -1.7082862854003906, 0.7235459089279175, -0.42023536562919617, 1.2097903490066528, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.012078188359737396, -0.060966093093156815, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860252966884496, -0.16659559203283889, 0.00015167624336544474, -0.358062207698822], [0.16659561392127117, 0.9860252939503213, -0.00014530098812035212, 0.0782422423362732], [-0.0001253501083108266, 0.00016853904680123348, 0.9999999779409697, -0.001052030478604138], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9926859140396118, 2.0467610359191895, -0.28941380977630615, 0.062308114022016525, 0.05416012927889824, 0.6285846829414368, -0.7990813851356506, -1.131152868270874, -1.4033597707748413, -1.0378503799438477, 0.34599068760871887, -1.3436850309371948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.907356858253479, -0.4564024806022644, 1.7310336828231812, -1.6984975337982178, 0.6279067397117615, -0.4630639851093292, 1.1486233472824097, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.011848127469420433, -0.060966093093156815, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860372810839759, -0.16652467813459473, 0.0001090169248792202, -0.3581870198249817], [0.1665246938428806, 0.9860372721641558, -0.00015570358148292012, 0.07824055105447769], [-8.156626243678407e-05, 0.0001716835461796603, 0.9999999819358523, -0.0010626456933096051], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.2892220914363861, 0.062308114022016525, 0.054064273834228516, 0.6285848617553711, -0.7990832924842834, -1.1311521530151367, -1.4033616781234741, -1.0378504991531372, 0.34599044919013977, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9224228858947754, -0.45615050196647644, 1.7313063144683838, -1.6932238340377808, 0.5429295897483826, -0.48709365725517273, 1.0742239952087402, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.01449382584542036, -0.060966093093156815, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860093393358028, -0.16669001834939587, 0.00014326636621406498, -0.35826030373573303], [0.1666900322879586, 0.9860093431419904, -9.150158467745625e-05, 0.0781533420085907], [-0.00012600957481618606, 0.00011410249226599865, 0.999999985551104, -0.001055708504281938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046569347381592, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.6285863518714905, -0.7990808486938477, -1.1311521530151367, -1.4033589363098145, -1.0378508567810059, 0.3459908068180084, -1.343685507774353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9337985515594482, -0.45579591393470764, 1.7268465757369995, -1.6894234418869019, 0.4682520627975464, -0.5020374059677124, 1.0096352100372314, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.01840485818684101, -0.060966093093156815, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860317968308525, -0.16655709173650096, 0.00017558701306692257, -0.35852494835853577], [0.16655712368612827, 0.9860317894447772, -0.00018642353491771544, 0.0781950056552887], [-0.0001420842148905084, 0.00021306480095953937, 0.9999999672077327, -0.0010362472385168076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046473503112793, -0.28893449902534485, 0.062308114022016525, 0.054064273834228516, 0.6285860538482666, -0.7990850210189819, -1.1311523914337158, -1.4033596515655518, -1.037850260734558, 0.34599068760871887, -1.3436845541000366, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9413275718688965, -0.45553502440452576, 1.722638726234436, -1.692064881324768, 0.39819982647895813, -0.5176663994789124, 0.9559642672538757, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.021740738302469254, -0.06106195226311684, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859983163886419, -0.16675520584656867, 0.00014629365060093053, -0.35859692096710205], [0.1667552249244258, 0.9859983154980385, -0.00012959720199521706, 0.07811155915260315], [-0.00012263428496472436, 0.0001521778535869363, 0.9999999809013663, -0.0010499299969524145], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.062308114022016525, 0.054064273834228516, 0.6285863518714905, -0.7990812063217163, -1.1311525106430054, -1.40336012840271, -1.0378503799438477, 0.34599068760871887, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9485640525817871, -0.4574083089828491, 1.7078237533569336, -1.694508671760559, 0.32939577102661133, -0.5225912928581238, 0.8949365019798279, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.023121103644371033, -0.061445388942956924, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9860168261591604, -0.1666456414234157, 0.00022073874669329202, -0.35876408219337463], [0.1666456839156201, 0.986016825290381, -0.00019046410028111452, 0.07812197506427765], [-0.00018591210607361727, 0.00022458596706582506, 0.9999999574989152, -0.0010209681931883097], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.0622122548520565, 0.054064273834228516, 0.6285879015922546, -0.7990819215774536, -1.1311523914337158, -1.4033591747283936, -1.037850260734558, 0.34599068760871887, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9503730535507202, -0.46160992980003357, 1.6779133081436157, -1.6949462890625, 0.24404172599315643, -0.5235809683799744, 0.8439256548881531, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.025191649794578552, -0.061445388942956924, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859904103548797, -0.16680189019983738, 0.00020028474095803184, -0.35887283086776733], [0.16680192307497702, 0.985990412088684, -0.00016039849288001376, 0.07804063707590103], [-0.00017072406247469369, 0.00019155925576944233, 0.9999999670791725, -0.0010297454427927732], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.062308114022016525, 0.054064273834228516, 0.6285874247550964, -0.7990854382514954, -1.131151556968689, -1.4033609628677368, -1.0378504991531372, 0.34599021077156067, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9451785087585449, -0.4690312147140503, 1.634096622467041, -1.694309115409851, 0.181564599275589, -0.5042397379875183, 0.8188385963439941, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.025766801089048386, -0.06154124438762665, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.985974051643164, -0.1668986378487359, 0.00011904032927939131, -0.35893672704696655], [0.16689865179453825, 0.9859740493147209, -0.00011877330393812446, 0.07798399776220322], [-9.754757285129231e-05, 0.00013697506617682583, 0.999999985861151, -0.001069589052349329], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046473503112793, -0.28893449902534485, 0.0622122548520565, 0.054064273834228516, 0.6285881400108337, -0.7990848422050476, -1.1311519145965576, -1.4033595323562622, -1.0378504991531372, 0.3459905683994293, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9337917566299438, -0.4785746932029724, 1.589954137802124, -1.6891824007034302, 0.1484990417957306, -0.4874506890773773, 0.8254954814910889, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, 0.008999982770982727, -0.008999982770982727, -0.008999982770982727, -0.008999982770982727, 0.008999982770982727, 0.02933274395763874, -0.06384184956550598, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859874351745939, -0.1668195171207315, 0.00016243593238424455, -0.3590586185455322], [0.16681955193664597, 0.9859874154714264, -0.00023156777287740735, 0.07798755168914795], [-0.00012152976109910034, 0.00025542040390723873, 0.9999999599954664, -0.0010467866668477654], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.062308114022016525, 0.054064273834228516, 0.6285881400108337, -0.7990843653678894, -1.1311525106430054, -1.4033600091934204, -1.0378504991531372, 0.34599044919013977, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9218869209289551, -0.48782315850257874, 1.5622366666793823, -1.6831573247909546, 0.15499474108219147, -0.47961777448654175, 0.8570023775100708, 0.4992000012607365, 0.4992000012607365, 0.4992000012607365, 0.4992000012607365, -0.4992000012607365, -0.4992000012607365, -0.4992000012607365, 0.4992000012607365, 0.03312874585390091, -0.06441700458526611, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.0622122548520565, 0.054064273834228516, 0.6285890340805054, -0.7990819215774536, -1.1311516761779785, -1.4033573865890503, -1.0378504991531372, 0.3459905683994293, -1.3436859846115112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9120471477508545, -0.49407562613487244, 1.556977391242981, -1.678587794303894, 0.1877451092004776, -0.4857545495033264, 0.9101106524467468, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, 0.5879999995067879, -0.5879999995067879, -0.5879999995067879, -0.5879999995067879, 0.5879999995067879, 0.034279048442840576, -0.06451286375522614, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.0622122548520565, 0.054064273834228516, 0.6285884380340576, -0.7990802526473999, -1.1311523914337158, -1.4033586978912354, -1.037850260734558, 0.345990926027298, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9059475064277649, -0.4956309497356415, 1.5741907358169556, -1.6760655641555786, 0.24341674149036407, -0.48813796043395996, 0.9810269474983215, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.03312874585390091, -0.06451286375522614, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046473503112793, -0.28893449902534485, 0.062308114022016525, 0.054064273834228516, 0.6285879015922546, -0.7990824580192566, -1.1311519145965576, -1.4033598899841309, -1.0378504991531372, 0.34599068760871887, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9024407863616943, -0.49431028962135315, 1.6017581224441528, -1.673586368560791, 0.3103083670139313, -0.4884939193725586, 1.049912452697754, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.026456983759999275, -0.06451286375522614, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046377658843994, -0.28893449902534485, 0.062308114022016525, 0.054064273834228516, 0.6285876035690308, -0.799079179763794, -1.1311522722244263, -1.4033600091934204, -1.0378506183624268, 0.3459908068180084, -1.3436875343322754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9017325639724731, -0.49081942439079285, 1.6389124393463135, -1.674228549003601, 0.37909460067749023, -0.491466224193573, 1.1043370962142944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.01771467551589012, -0.06451286375522614, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046473503112793, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.628588080406189, -0.7990586161613464, -1.1311534643173218, -1.403356671333313, -1.0378506183624268, 0.3459910452365875, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9027084708213806, -0.4849288761615753, 1.6870217323303223, -1.682824969291687, 0.45643407106399536, -0.4810953140258789, 1.1435015201568604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.006556730717420578, -0.063937708735466, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9929735064506531, 2.046473503112793, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285873055458069, -0.7990835309028625, -1.1311513185501099, -1.4033606052398682, -1.0378507375717163, 0.34599044919013977, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8995790481567383, -0.4789159893989563, 1.720553994178772, -1.6888442039489746, 0.5372591614723206, -0.4640606939792633, 1.1802728176116943, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.00333588058128953, -0.06384184956550598, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046473503112793, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285881996154785, -0.7990816235542297, -1.1311510801315308, -1.403358817100525, -1.0378503799438477, 0.34599068760871887, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8913549184799194, -0.472624272108078, 1.7459263801574707, -1.6944469213485718, 0.6434718370437622, -0.4338372051715851, 1.223931074142456, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.011963157914578915, -0.06249983236193657, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285876035690308, -0.7990826964378357, -1.131151556968689, -1.4033598899841309, -1.0378507375717163, 0.3459905683994293, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8795261979103088, -0.4663495719432831, 1.7600427865982056, -1.702706217765808, 0.7487693428993225, -0.39104706048965454, 1.2701702117919922, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.01978522352874279, -0.06115781143307686, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285876035690308, -0.7990807890892029, -1.1311516761779785, -1.4033596515655518, -1.0378507375717163, 0.3459908068180084, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.864876925945282, -0.4607580304145813, 1.757881999015808, -1.7147550582885742, 0.836270809173584, -0.3397414982318878, 1.3177562952041626, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.024386437609791756, -0.06278740614652634, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.628587007522583, -0.7990841269493103, -1.1311514377593994, -1.4033608436584473, -1.0378507375717163, 0.3459908068180084, -1.3436872959136963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8530289530754089, -0.4578877091407776, 1.7459489107131958, -1.7345706224441528, 0.9225300550460815, -0.27159130573272705, 1.3366906642913818, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.02657201513648033, -0.06547144800424576, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285874843597412, -0.7990851998329163, -1.1311508417129517, -1.40336012840271, -1.0378504991531372, 0.34599044919013977, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8428391814231873, -0.45668286085128784, 1.7241230010986328, -1.7563965320587158, 0.9861186146736145, -0.19852635264396667, 1.3450433015823364, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.026802076026797295, -0.06777206063270569, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285874247550964, -0.7990731000900269, -1.131152629852295, -1.4033582210540771, -1.0378506183624268, 0.3459905683994293, -1.3436857461929321, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8328647613525391, -0.4555991291999817, 1.6931500434875488, -1.770418405532837, 1.0035592317581177, -0.1285618543624878, 1.3651893138885498, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.026802076026797295, -0.07141468673944473, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285856366157532, -0.7990816235542297, -1.1311523914337158, -1.4033609628677368, -1.037851095199585, 0.34599068760871887, -1.3436870574951172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8258113265037537, -0.45481565594673157, 1.665522575378418, -1.7720519304275513, 0.9926590919494629, -0.07675836235284805, 1.3903918266296387, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.022660981863737106, -0.07572832703590393, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285871267318726, -0.7990828156471252, -1.1311520338058472, -1.40336012840271, -1.0378503799438477, 0.34599068760871887, -1.343686580657959, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8209189176559448, -0.4546542167663574, 1.6385769844055176, -1.7661073207855225, 0.976477861404419, -0.034154560416936874, 1.4139316082000732, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.018289828673005104, -0.0820549950003624, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285873651504517, -0.799086332321167, -1.1311503648757935, -1.403360366821289, -1.0378503799438477, 0.34599044919013977, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8178990483283997, -0.45485571026802063, 1.6135079860687256, -1.7598782777786255, 0.9457744359970093, -0.004339967388659716, 1.4284878969192505, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.012768371030688286, -0.08703964203596115, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285873055458069, -0.79908287525177, -1.1311514377593994, -1.4033597707748413, -1.0378503799438477, 0.34599044919013977, -1.3436862230300903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8201504349708557, -0.4554996192455292, 1.5947118997573853, -1.7529876232147217, 0.9174312353134155, 0.02134030871093273, 1.421251893043518, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0062116398476064205, -0.09144914150238037, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.6285876035690308, -0.7990846037864685, -1.1311514377593994, -1.4033595323562622, -1.0378506183624268, 0.3459908068180084, -1.3436871767044067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8251164555549622, -0.4553920030593872, 1.5816318988800049, -1.7466360330581665, 0.8829827308654785, 0.050543829798698425, 1.403857946395874, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0012653340818360448, -0.09576278179883957, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285867691040039, -0.7990890145301819, -1.131150722503662, -1.4033621549606323, -1.0378506183624268, 0.345990926027298, -1.3436866998672485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8326186537742615, -0.4553958475589752, 1.568381667137146, -1.7370716333389282, 0.8601493835449219, 0.10358253121376038, 1.374600887298584, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0019555161707103252, -0.09873439371585846, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285874247550964, -0.7990826368331909, -1.1311514377593994, -1.403359293937683, -1.0378507375717163, 0.3459908068180084, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8363710045814514, -0.45580077171325684, 1.5580480098724365, -1.7346163988113403, 0.844544529914856, 0.1516955941915512, 1.3512991666793823, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.003680971683934331, -0.10189773142337799, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285872459411621, -0.79908287525177, -1.1311514377593994, -1.4033596515655518, -1.0378504991531372, 0.3459908068180084, -1.343686819076538, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8393348455429077, -0.4553370177745819, 1.5573697090148926, -1.7345221042633057, 0.8184581995010376, 0.16600680351257324, 1.3382786512374878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, -0.1023770272731781, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285872459411621, -0.7990830540657043, -1.1311513185501099, -1.4033600091934204, -1.0378506183624268, 0.3459910452365875, -1.3436863422393799, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.839821994304657, -0.4552570879459381, 1.5577031373977661, -1.7343113422393799, 0.8156329393386841, 0.16738642752170563, 1.3365437984466553, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, -0.10256874561309814, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.628587543964386, -0.7990831136703491, -1.131151556968689, -1.4033600091934204, -1.0378508567810059, 0.34599068760871887, -1.3436858654022217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398796916007996, -0.4552561938762665, 1.557717204093933, -1.7342751026153564, 0.8153411149978638, 0.16752125322818756, 1.3363878726959229, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, -0.10256874561309814, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285869479179382, -0.7990825772285461, -1.1311513185501099, -1.4033598899841309, -1.0378504991531372, 0.3459900915622711, -1.3436861038208008, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398787975311279, -0.4552570879459381, 1.5577179193496704, -1.7342731952667236, 0.8153308033943176, 0.16752532124519348, 1.3363806009292603, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, -0.10256874561309814, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6285876631736755, -0.7990831732749939, -1.1311513185501099, -1.4033596515655518, -1.0378504991531372, 0.34599068760871887, -1.3436864614486694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.839877724647522, -0.45525822043418884, 1.557717204093933, -1.7342734336853027, 0.8153308033943176, 0.16752484440803528, 1.3363813161849976, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, -0.10256874561309814, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6379606127738953, -0.7990000247955322, -1.138433575630188, -1.411504864692688, -1.0159090757369995, 0.3145795464515686, -1.311129093170166, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398741483688354, -0.4552609920501709, 1.557715892791748, -1.734273910522461, 0.8153318762779236, 0.16752377152442932, 1.336384654045105, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.012538310140371323, -0.09480419009923935, -0.004217780195176601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6464976668357849, -0.7981463074684143, -1.1506086587905884, -1.4119298458099365, -0.9718344807624817, 0.2557602524757385, -1.2557439804077148, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398752808570862, -0.4552626311779022, 1.557716965675354, -1.734273076057434, 0.8153313994407654, 0.16752232611179352, 1.3363854885101318, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0328986831009388, -0.0898195430636406, 0.004217780195176601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6550865769386292, -0.7939846515655518, -1.1762497425079346, -1.4005309343338013, -0.9120041728019714, 0.21858854591846466, -1.2315776348114014, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398758769035339, -0.4552629292011261, 1.5577151775360107, -1.7342729568481445, 0.8153319954872131, 0.1675199270248413, 1.3363871574401855, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.0555596649646759, -0.08732721954584122, 0.007381115108728409, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6627081036567688, -0.7883875966072083, -1.2101420164108276, -1.3909389972686768, -0.8344059586524963, 0.1837311089038849, -1.2248977422714233, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.839872419834137, -0.4552624821662903, 1.5577144622802734, -1.7342742681503296, 0.8153331875801086, 0.1675180196762085, 1.3363879919052124, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.07338937371969223, -0.08656035363674164, 0.008627277798950672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6676881313323975, -0.7862765192985535, -1.2350984811782837, -1.3891440629959106, -0.7603830099105835, 0.16250728070735931, -1.22065269947052, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398727774620056, -0.45526373386383057, 1.5577125549316406, -1.7342777252197266, 0.8153348565101624, 0.1675158590078354, 1.3363912105560303, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.08466234803199768, -0.08435560017824173, 0.00872313603758812, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6713928580284119, -0.7888939380645752, -1.247148871421814, -1.384765863418579, -0.6944471001625061, 0.14447270333766937, -1.2037477493286133, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398747444152832, -0.45526376366615295, 1.5577118396759033, -1.7342771291732788, 0.8153359293937683, 0.16751381754875183, 1.3363913297653198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.09271447360515594, -0.08157569915056229, 0.007956267334520817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.675128161907196, -0.7966033816337585, -1.2521055936813354, -1.3736060857772827, -0.6492516398429871, 0.12119694799184799, -1.1755244731903076, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398731350898743, -0.45526301860809326, 1.5577120780944824, -1.734277606010437, 0.8153367042541504, 0.16751250624656677, 1.3363916873931885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.09823593497276306, -0.08128812164068222, 0.006901822052896023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6795258522033691, -0.8059428930282593, -1.2549537420272827, -1.365578055381775, -0.5969818234443665, 0.10267292708158493, -1.134339690208435, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.839873731136322, -0.45526283979415894, 1.5577123165130615, -1.7342777252197266, 0.8153376579284668, 0.16751201450824738, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1023770272731781, -0.08052125573158264, 0.004217780195176601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6844620108604431, -0.8189883828163147, -1.2553895711898804, -1.3566452264785767, -0.5681598782539368, 0.10115464776754379, -1.0872443914413452, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398739099502563, -0.45526278018951416, 1.5577116012573242, -1.7342779636383057, 0.8153388500213623, 0.16751153767108917, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.10490769147872925, -0.07889165729284286, 0.003642628202214837, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6894873380661011, -0.8336342573165894, -1.254848599433899, -1.3496520519256592, -0.5338761210441589, 0.10235007107257843, -1.034438967704773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398733139038086, -0.45526278018951416, 1.5577120780944824, -1.7342791557312012, 0.8153398036956787, 0.16751046478748322, 1.3363921642303467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.10697823762893677, -0.07783721387386322, 0.002779900562018156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.691484808921814, -0.8516092300415039, -1.2478830814361572, -1.3448079824447632, -0.5225998163223267, 0.11498935520648956, -0.9983777403831482, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398700952529907, -0.45526123046875, 1.5577127933502197, -1.7342803478240967, 0.815342903137207, 0.16751094162464142, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.10778345167636871, -0.07553660869598389, 0.0019171728054061532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6897249817848206, -0.8713598847389221, -1.2342721223831177, -1.3373230695724487, -0.5096406936645508, 0.11880117654800415, -0.9838356971740723, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398737907409668, -0.4552624225616455, 1.5577114820480347, -1.7342795133590698, 0.8153427839279175, 0.16751034557819366, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.11123436689376831, -0.07639933377504349, 0.002779900562018156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6872555613517761, -0.8930554986000061, -1.221275806427002, -1.322780728340149, -0.5073670148849487, 0.123837910592556, -0.9729796648025513, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398736119270325, -0.4552626311779022, 1.5577112436294556, -1.7342793941497803, 0.8153420686721802, 0.16751034557819366, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1145702451467514, -0.07754963636398315, 0.002875759033486247, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6835746169090271, -0.9173304438591003, -1.2044035196304321, -1.306347370147705, -0.5120711922645569, 0.13232754170894623, -0.9639623761177063, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398733735084534, -0.455262690782547, 1.557710886001587, -1.734279990196228, 0.8153425455093384, 0.1675102263689041, 1.3363921642303467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1180211529135704, -0.07764549553394318, 0.0029716177377849817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6793067455291748, -0.9431440234184265, -1.18525230884552, -1.2951414585113525, -0.5066922903060913, 0.13531963527202606, -0.9556193351745605, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398733735084534, -0.4552623927593231, 1.557711124420166, -1.7342795133590698, 0.8153421878814697, 0.16751034557819366, 1.3363924026489258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12216224521398544, -0.0777413547039032, 0.0018213141011074185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6748448014259338, -0.9700278043746948, -1.1664206981658936, -1.2849509716033936, -0.49705806374549866, 0.1394546777009964, -0.9520567655563354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398730754852295, -0.45526352524757385, 1.5577106475830078, -1.7342801094055176, 0.8153418302536011, 0.1675102263689041, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12630334496498108, -0.0777413547039032, 0.0014378795167431235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6702999472618103, -0.9987565875053406, -1.1492838859558105, -1.2702921628952026, -0.4892018139362335, 0.14152567088603973, -0.9483584761619568, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398730754852295, -0.4552619755268097, 1.5577117204666138, -1.7342795133590698, 0.8153419494628906, 0.16751010715961456, 1.3363914489746094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.13205486536026, -0.07898751646280289, 0.001629596808925271, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6660293936729431, -1.0291528701782227, -1.1332380771636963, -1.2574187517166138, -0.47828957438468933, 0.14109554886817932, -0.9427470564842224, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398730158805847, -0.45526158809661865, 1.5577114820480347, -1.7342798709869385, 0.8153414726257324, 0.16751010715961456, 1.336391806602478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.13792140781879425, -0.08109641075134277, 0.001629596808925271, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6618945002555847, -1.0607174634933472, -1.1199185848236084, -1.2408115863800049, -0.46161556243896484, 0.1384638100862503, -0.9366639852523804, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398723602294922, -0.45526328682899475, 1.5577116012573242, -1.7342798709869385, 0.8153419494628906, 0.167509987950325, 1.3363914489746094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1455134153366089, -0.08435560017824173, -0.0015337382210418582, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0467610359191895, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6571710109710693, -1.0922988653182983, -1.1089082956314087, -1.222292184829712, -0.4407975375652313, 0.1337987184524536, -0.9387414455413818, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398730754852295, -0.4552622139453888, 1.5577113628387451, -1.7342801094055176, 0.8153409957885742, 0.1675102263689041, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.15414069592952728, -0.08713550120592117, -0.004601214546710253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6555522680282593, -1.1222683191299438, -1.1073509454727173, -1.2094932794570923, -0.42012259364128113, 0.1310785412788391, -0.9421403408050537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398733139038086, -0.45526283979415894, 1.5577112436294556, -1.7342801094055176, 0.8153412342071533, 0.16751070320606232, 1.336391806602478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16173268854618073, -0.08991540223360062, -0.0059432354755699635, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6562142372131348, -1.1501593589782715, -1.1152507066726685, -1.201635479927063, -0.4048933982849121, 0.1304095834493637, -0.9486202001571655, 0.35519999042972106, -0.35519999042972106, 0.35519999042972106, 0.35519999042972106, -0.35519999042972106, -0.35519999042972106, 0.35519999042972106, 0.35519999042972106, -0.8398730754852295, -0.4552622139453888, 1.5577114820480347, -1.7342801094055176, 0.8153414726257324, 0.1675102263689041, 1.3363921642303467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16932469606399536, -0.09096984565258026, -0.0071893977001309395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6589125990867615, -1.1770538091659546, -1.1280032396316528, -1.1983342170715332, -0.4071974754333496, 0.1301296204328537, -0.9592251777648926, 0.0719999832111401, -0.0719999832111401, 0.0719999832111401, 0.0719999832111401, -0.0719999832111401, -0.0719999832111401, 0.0719999832111401, 0.0719999832111401, -0.8398729562759399, -0.4552629888057709, 1.5577119588851929, -1.7342801094055176, 0.8153418302536011, 0.16751046478748322, 1.3363925218582153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.17611148953437805, -0.0911615639925003, -0.009202429093420506, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.6613768339157104, -1.2019304037094116, -1.1409974098205566, -1.201235055923462, -0.41266191005706787, 0.13271211087703705, -0.9825502634048462, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.8398731350898743, -0.45526182651519775, 1.5577120780944824, -1.734279990196228, 0.8153413534164429, 0.16751010715961456, 1.3363925218582153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1820930689573288, -0.0911615639925003, -0.009681722149252892, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6653637886047363, -1.2248822450637817, -1.1584277153015137, -1.206803321838379, -0.44110313057899475, 0.14423337578773499, -1.0076735019683838, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398721814155579, -0.45526137948036194, 1.5577125549316406, -1.7342803478240967, 0.8153417110443115, 0.1675102263689041, 1.3363933563232422, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.18623416125774384, -0.09125742316246033, -0.007668691221624613, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6645525693893433, -1.2498642206192017, -1.1638809442520142, -1.2071551084518433, -0.48357725143432617, 0.176046222448349, -1.0475554466247559, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398722410202026, -0.45526123046875, 1.5577130317687988, -1.734279990196228, 0.8153417110443115, 0.1675102263689041, 1.3363925218582153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.18807464838027954, -0.09135328233242035, -0.004505355842411518, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.660016655921936, -1.2705861330032349, -1.1553642749786377, -1.2083795070648193, -0.5151457190513611, 0.2017454355955124, -1.0854994058609009, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398734331130981, -0.45526212453842163, 1.5577112436294556, -1.7342801094055176, 0.8153413534164429, 0.16751058399677277, 1.3363924026489258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1906053125858307, -0.09135328233242035, -0.001629596808925271, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6489549875259399, -1.2957605123519897, -1.1300384998321533, -1.2038319110870361, -0.5379367470741272, 0.22861094772815704, -1.138161301612854, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398727774620056, -0.4552629292011261, 1.5577112436294556, -1.7342802286148071, 0.8153409957885742, 0.167509987950325, 1.336391568183899, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1941712647676468, -0.09355802834033966, 0.0011503036366775632, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.6354773640632629, -1.3174784183502197, -1.0995837450027466, -1.183923602104187, -0.5417551398277283, 0.24541859328746796, -1.1817129850387573, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.839873731136322, -0.45526328682899475, 1.557710886001587, -1.7342795133590698, 0.8153408765792847, 0.16751058399677277, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.19842737913131714, -0.09595450013875961, 0.003546769730746746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.6218222975730896, -1.3363004922866821, -1.0694454908370972, -1.155800461769104, -0.5325288772583008, 0.24739970266819, -1.2118948698043823, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398734927177429, -0.4552629888057709, 1.5577112436294556, -1.7342796325683594, 0.8153409957885742, 0.16751046478748322, 1.3363921642303467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.20417889952659607, -0.09854268282651901, 0.004505355842411518, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6049047708511353, -1.359925627708435, -1.0328608751296997, -1.1150932312011719, -0.5293524265289307, 0.24442413449287415, -1.2425450086593628, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398729562759399, -0.45526373386383057, 1.5577113628387451, -1.7342804670333862, 0.8153411149978638, 0.16751046478748322, 1.3363916873931885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21131078898906708, -0.10439005494117737, 0.006518387235701084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.5889798402786255, -1.3810847997665405, -0.9993823766708374, -1.0738917589187622, -0.5191437005996704, 0.23593895137310028, -1.2601377964019775, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398731350898743, -0.4552634358406067, 1.5577106475830078, -1.734279990196228, 0.8153408765792847, 0.16751058399677277, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21729236841201782, -0.1084161177277565, 0.006518387235701084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.5747188329696655, -1.4010409116744995, -0.9730353951454163, -1.022619366645813, -0.5019400715827942, 0.20809756219387054, -1.2629367113113403, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398740291595459, -0.4552638828754425, 1.5577106475830078, -1.7342801094055176, 0.8153406381607056, 0.16751058399677277, 1.3363919258117676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.22304387390613556, -0.11368834227323532, 0.003259193617850542, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.05416012927889824, 0.5670547485351562, -1.4199990034103394, -0.9631619453430176, -0.9708163142204285, -0.47532275319099426, 0.15872913599014282, -1.2330623865127563, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.839873194694519, -0.45526331663131714, 1.557711124420166, -1.734279751777649, 0.8153407573699951, 0.1675102263689041, 1.3363924026489258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.22856533527374268, -0.11972744017839432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.5702561736106873, -1.439805507659912, -0.978256344795227, -0.9364960193634033, -0.45655858516693115, 0.10221297293901443, -1.1747519969940186, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398726582527161, -0.4552629292011261, 1.5577110052108765, -1.7342803478240967, 0.8153408765792847, 0.16751034557819366, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.2360423058271408, -0.12768369913101196, -0.004697073251008987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.05416012927889824, 0.5796191096305847, -1.4587359428405762, -1.0083515644073486, -0.9226792454719543, -0.4205782115459442, 0.04538869485259056, -1.1112182140350342, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398740291595459, -0.45526447892189026, 1.5577099323272705, -1.7342801094055176, 0.8153406381607056, 0.16751046478748322, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.24374935030937195, -0.13468138873577118, -0.009585863910615444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.05416012927889824, 0.5905027389526367, -1.4755531549453735, -1.0490221977233887, -0.9127299785614014, -0.36322423815727234, -0.005229676142334938, -1.0559580326080322, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398728966712952, -0.4552621841430664, 1.5577123165130615, -1.734278917312622, 0.8153413534164429, 0.16751058399677277, 1.3363913297653198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.25076618790626526, -0.14158320426940918, -0.012461623176932335, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.05416012927889824, 0.6037514805793762, -1.4897717237472534, -1.1006113290786743, -0.90946364402771, -0.28915226459503174, -0.0440150611102581, -1.0050177574157715, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398730158805847, -0.4552634358406067, 1.5577117204666138, -1.7342795133590698, 0.8153414726257324, 0.16751082241535187, 1.336391806602478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.25927844643592834, -0.14532169699668884, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.6218783259391785, -1.501320719718933, -1.1642558574676514, -0.9266600608825684, -0.21420927345752716, -0.07673043757677078, -0.9631142616271973, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398732542991638, -0.4552621841430664, 1.557712197303772, -1.7342795133590698, 0.8153409957885742, 0.16751046478748322, 1.3363916873931885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.26595020294189453, -0.14608857035636902, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.06240397319197655, 0.05416012927889824, 0.6427406072616577, -1.5081708431243896, -1.2390778064727783, -0.9562959671020508, -0.14099572598934174, -0.09657307714223862, -0.9407867193222046, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398730158805847, -0.4552624821662903, 1.5577117204666138, -1.734279751777649, 0.8153406381607056, 0.16751070320606232, 1.3363916873931885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.2685959041118622, -0.14608857035636902, -0.010544450022280216, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.6657006144523621, -1.511681318283081, -1.3201115131378174, -0.9946510195732117, -0.08017638325691223, -0.10730495303869247, -0.913221538066864, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398731350898743, -0.4552624821662903, 1.5577114820480347, -1.734279990196228, 0.8153411149978638, 0.1675102263689041, 1.3363916873931885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.2692860960960388, -0.14618442952632904, -0.004601214546710253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.6867968440055847, -1.514250636100769, -1.393393874168396, -1.041280746459961, -0.04390660300850868, -0.1126805990934372, -0.9007267951965332, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398736715316772, -0.45526328682899475, 1.5577106475830078, -1.734279990196228, 0.8153407573699951, 0.16751082241535187, 1.3363924026489258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.2685959041118622, -0.14618442952632904, 0.001629596808925271, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7027910351753235, -1.5181431770324707, -1.4458364248275757, -1.089529275894165, -0.04189816862344742, -0.10581423342227936, -0.9071205258369446, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398728370666504, -0.45526257157325745, 1.5577118396759033, -1.7342802286148071, 0.8153406381607056, 0.16751070320606232, 1.3363921642303467, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.26100391149520874, -0.14235007762908936, 0.004984649363905191, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7137256860733032, -1.5207452774047852, -1.4798519611358643, -1.1330411434173584, -0.051329273730516434, -0.09493099898099899, -0.9298686981201172, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398716449737549, -0.4552621841430664, 1.5577118396759033, -1.734279751777649, 0.8153412342071533, 0.16751082241535187, 1.3363914489746094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.25444716215133667, -0.13928259909152985, 0.00833970122039318, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7171616554260254, -1.521527647972107, -1.50020432472229, -1.1593067646026611, -0.07856318354606628, -0.06532840430736542, -0.9817928671836853, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398734927177429, -0.4552631378173828, 1.5577114820480347, -1.7342804670333862, 0.8153409957885742, 0.16751070320606232, 1.3363926410675049, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.2482355237007141, -0.13611926138401031, 0.011215460486710072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7167084813117981, -1.5198476314544678, -1.5123958587646484, -1.1755348443984985, -0.10976507514715195, -0.025436757132411003, -1.0508452653884888, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398726582527161, -0.4552616775035858, 1.5577125549316406, -1.734279751777649, 0.8153408765792847, 0.16751058399677277, 1.3363919258117676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.23880304396152496, -0.13362693786621094, 0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7133384346961975, -1.5171552896499634, -1.5143797397613525, -1.189091444015503, -0.1433640420436859, 0.020010659471154213, -1.1316763162612915, 0.0, -0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.8398733139038086, -0.4552629292011261, 1.5577116012573242, -1.7342793941497803, 0.8153409957885742, 0.16751082241535187, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.22983066737651825, -0.13113461434841156, 0.0170628372579813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7093254327774048, -1.5148769617080688, -1.5083727836608887, -1.2005586624145508, -0.17063415050506592, 0.06717853248119354, -1.202461838722229, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398733139038086, -0.45526424050331116, 1.557710886001587, -1.7342803478240967, 0.8153409957885742, 0.16751106083393097, 1.336391806602478, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.22338896989822388, -0.12940916419029236, 0.020801324397325516, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.7049635648727417, -1.5135380029678345, -1.4968738555908203, -1.2140986919403076, -0.19554778933525085, 0.1119566261768341, -1.2665053606033325, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398736715316772, -0.45526301860809326, 1.5577113628387451, -1.7342798709869385, 0.8153406381607056, 0.16751082241535187, 1.3363912105560303, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.2187877595424652, -0.12710855901241302, 0.022526780143380165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7005438208580017, -1.5121253728866577, -1.4869699478149414, -1.2295985221862793, -0.2277601957321167, 0.16157539188861847, -1.3325642347335815, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398756384849548, -0.455263614654541, 1.5577101707458496, -1.734279751777649, 0.8153406381607056, 0.16751046478748322, 1.3363924026489258, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21786750853061676, -0.12624582648277283, 0.022814355790615082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.698108434677124, -1.5092389583587646, -1.482619285583496, -1.2530535459518433, -0.25510987639427185, 0.2138414829969406, -1.3921905755996704, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398733139038086, -0.45526212453842163, 1.5577116012573242, -1.7342802286148071, 0.815340518951416, 0.16751046478748322, 1.3363919258117676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21775248646736145, -0.12499966472387314, 0.02185576967895031, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.6972465515136719, -1.502419352531433, -1.490646243095398, -1.277155876159668, -0.2724878489971161, 0.2656600773334503, -1.4435228109359741, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398730158805847, -0.455262690782547, 1.5577116012573242, -1.7342807054519653, 0.8153411149978638, 0.16751058399677277, 1.3363920450210571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21775248646736145, -0.1248079463839531, 0.01926758699119091, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.6962431073188782, -1.491025686264038, -1.5046131610870361, -1.2907990217208862, -0.29189425706863403, 0.3129555583000183, -1.4924662113189697, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398718237876892, -0.4552622139453888, 1.5577125549316406, -1.7342804670333862, 0.8153409957885742, 0.16751094162464142, 1.3363912105560303, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21775248646736145, -0.12317834794521332, 0.017350412905216217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.694957971572876, -1.472359538078308, -1.4986720085144043, -1.2838609218597412, -0.3366440534591675, 0.31883910298347473, -1.5002022981643677, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398736715316772, -0.4552636742591858, 1.557710886001587, -1.734279990196228, 0.8153401613235474, 0.16751094162464142, 1.336391568183899, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.21292120218276978, -0.11991915851831436, 0.015337382443249226, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.6947169899940491, -1.4425742626190186, -1.4869699478149414, -1.2849774360656738, -0.40257108211517334, 0.32193881273269653, -1.498569130897522, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398712277412415, -0.4552619755268097, 1.557710886001587, -1.7342808246612549, 0.8153413534164429, 0.16751094162464142, 1.3363919258117676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.20578932762145996, -0.1183854192495346, 0.012365764006972313, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.6966800689697266, -1.40337073802948, -1.475691795349121, -1.2999820709228516, -0.4838361144065857, 0.33380165696144104, -1.4867563247680664, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398727774620056, -0.4552614390850067, 1.5577120780944824, -1.734279990196228, 0.8153408765792847, 0.16751046478748322, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1977372020483017, -0.11781026422977448, 0.009106570854783058, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.7014888525009155, -1.3574172258377075, -1.4735215902328491, -1.3256049156188965, -0.568987250328064, 0.3595309555530548, -1.461058259010315, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398740887641907, -0.4552634656429291, 1.5577102899551392, -1.7342792749404907, 0.815340518951416, 0.16751070320606232, 1.3363922834396362, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1892249584197998, -0.11771440505981445, 0.0071893977001309395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7076188921928406, -1.3095920085906982, -1.4796725511550903, -1.35810124874115, -0.6529936790466309, 0.39329734444618225, -1.4272127151489258, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398735523223877, -0.45526406168937683, 1.557710886001587, -1.7342802286148071, 0.815340518951416, 0.16751070320606232, 1.3363919258117676, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1804826408624649, -0.11723511666059494, 0.005655659828335047, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.7143258452415466, -1.2640817165374756, -1.4913363456726074, -1.3899524211883545, -0.7449439764022827, 0.43414783477783203, -1.3862793445587158, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398731350898743, -0.455262690782547, 1.5577114820480347, -1.7342798709869385, 0.8153408765792847, 0.16751094162464142, 1.3363927602767944, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1698998510837555, -0.11723511666059494, 0.007093539461493492, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.7200945019721985, -1.222968339920044, -1.5054047107696533, -1.4153414964675903, -0.8431399464607239, 0.475254088640213, -1.345201849937439, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.8398697376251221, -0.4552617371082306, 1.5577144622802734, -1.7342808246612549, 0.8153468370437622, 0.16751058399677277, 1.3363949060440063, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.16265293955802917, -0.11665996164083481, 0.009585863910615444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.7231144309043884, -1.1831899881362915, -1.5140780210494995, -1.429772138595581, -0.9119455814361572, 0.5029914379119873, -1.3174169063568115, 0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.839874267578125, -0.45526617765426636, 1.5577068328857422, -1.7342814207077026, 0.8153406381607056, 0.16751082241535187, 1.3363925218582153, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.15471583604812622, -0.11512622237205505, 0.012845057062804699, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.7249715924263, -1.1436752080917358, -1.5253746509552002, -1.4320085048675537, -0.9515702128410339, 0.5190030932426453, -1.3013337850570679, 0.1103999808594421, -0.1103999808594421, 0.1103999808594421, 0.1103999808594421, -0.1103999808594421, -0.1103999808594421, 0.1103999808594421, 0.1103999808594421, -0.8398744463920593, -0.45526212453842163, 1.557711124420166, -1.734279990196228, 0.8153407573699951, 0.16751070320606232, 1.3363914489746094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.14873425662517548, -0.11493450403213501, 0.01581667549908161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.7257565259933472, -1.1043580770492554, -1.5344951152801514, -1.4279147386550903, -0.9749059081077576, 0.5275857448577881, -1.2927883863449097, 0.4121999973779196, -0.4121999973779196, 0.4121999973779196, 0.4121999973779196, -0.4121999973779196, -0.4121999973779196, 0.4121999973779196, 0.4121999973779196, -0.8398734331130981, -0.4552634656429291, 1.557711124420166, -1.734279751777649, 0.8153408765792847, 0.16751094162464142, 1.336390733718872, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.14010699093341827, -0.11340077221393585, 0.018692433834075928, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.7257465720176697, -1.0679582357406616, -1.5408481359481812, -1.4171055555343628, -0.9873242974281311, 0.5308730006217957, -1.2893978357315063, 0.5796000000212218, -0.5796000000212218, 0.5796000000212218, 0.5796000000212218, -0.5796000000212218, -0.5796000000212218, 0.5796000000212218, 0.5796000000212218, -0.8398717641830444, -0.455261766910553, 1.557712197303772, -1.7342804670333862, 0.8153409957885742, 0.16751118004322052, 1.3363914489746094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1334352195262909, -0.11263389885425568, 0.022143345326185226, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7251464128494263, -1.0387905836105347, -1.536793828010559, -1.4060496091842651, -0.9991170167922974, 0.5375575423240662, -1.2827857732772827, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398716449737549, -0.45526358485221863, 1.5577107667922974, -1.7342811822891235, 0.8153412342071533, 0.16751094162464142, 1.3363914489746094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.12377267330884933, -0.11263389885425568, 0.02578597329556942, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.724982738494873, -1.0295288562774658, -1.5310267210006714, -1.4017236232757568, -1.007860541343689, 0.5444650053977966, -1.2757556438446045, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8398733139038086, -0.4552614390850067, 1.5577117204666138, -1.7342796325683594, 0.8153398036956787, 0.16751082241535187, 1.3363913297653198, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.11330491304397583, -0.11253803968429565, 0.027223853394389153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.0622122548520565, 0.053968414664268494, 0.7249675989151001, -1.028778076171875, -1.5305688381195068, -1.4014159440994263, -1.0085529088974, 0.544946551322937, -1.2752732038497925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8487428426742554, -0.45588549971580505, 1.555627465248108, -1.7452478408813477, 0.778980016708374, 0.14152733981609344, 1.3073073625564575, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.1006515696644783, -0.11253803968429565, 0.027319712564349174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249675393104553, -1.0287046432495117, -1.5305284261703491, -1.4013627767562866, -1.00859797000885, 0.5449969172477722, -1.275212287902832, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8536126017570496, -0.45814448595046997, 1.5467203855514526, -1.7370774745941162, 0.7350518107414246, 0.11377943307161331, 1.2707874774932861, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.08949362486600876, -0.11167531460523605, 0.02799072302877903, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.724974513053894, -1.0286873579025269, -1.5305253267288208, -1.4013601541519165, -1.0086145401000977, 0.5450021624565125, -1.2752066850662231, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8570132851600647, -0.45981377363204956, 1.5353035926818848, -1.7329524755477905, 0.6686097383499146, 0.08368691802024841, 1.2437679767608643, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.07707034796476364, -0.10956642031669617, 0.02626526728272438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249748706817627, -1.0286909341812134, -1.5305229425430298, -1.4013620615005493, -1.0086150169372559, 0.5450018048286438, -1.2752059698104858, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8591916561126709, -0.4654522240161896, 1.5120275020599365, -1.727939486503601, 0.6109403371810913, 0.05163750797510147, 1.202980637550354, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.06556730717420578, -0.10889541357755661, 0.02444395236670971, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249739766120911, -1.0286937952041626, -1.5305246114730835, -1.4013630151748657, -1.008614182472229, 0.5450004935264587, -1.275206446647644, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8587602376937866, -0.47463586926460266, 1.4790986776351929, -1.7352840900421143, 0.5452157258987427, 0.03271777182817459, 1.1433298587799072, 0.23639998173975682, 0.23639998173975682, 0.23639998173975682, 0.23639998173975682, -0.23639998173975682, -0.23639998173975682, -0.23639998173975682, 0.23639998173975682, -0.05107348412275314, -0.10688237845897675, 0.022814355790615082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7249749302864075, -1.0286986827850342, -1.5305262804031372, -1.401365041732788, -1.0086125135421753, 0.5449989438056946, -1.2752093076705933, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8517122864723206, -0.48789387941360474, 1.4375840425491333, -1.7424180507659912, 0.4897070825099945, 0.024825681000947952, 1.0937929153442383, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, -0.03539999343536713, -0.03539999343536713, -0.03539999343536713, 0.03539999343536713, -0.03554438427090645, -0.10381490737199783, 0.019459303468465805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249748706817627, -1.0286732912063599, -1.530561089515686, -1.4013638496398926, -1.0086119174957275, 0.5449965000152588, -1.275209903717041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8404257893562317, -0.50473952293396, 1.388752818107605, -1.747495412826538, 0.42272496223449707, 0.023388532921671867, 1.0471128225326538, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, 0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, -0.0024000194046523535, 0.0024000194046523535, -0.020245345309376717, -0.1006515696644783, 0.01581667549908161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249798774719238, -1.0287023782730103, -1.5305300951004028, -1.4013680219650269, -1.008608341217041, 0.5449951887130737, -1.2752121686935425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8266894221305847, -0.5281952023506165, 1.331393837928772, -1.7390092611312866, 0.35096317529678345, 0.032407380640506744, 1.0040693283081055, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.006786791607737541, -0.09921368956565857, 0.012557481415569782, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7249771952629089, -1.028700828552246, -1.5305328369140625, -1.4013726711273193, -1.0086086988449097, 0.5449925661087036, -1.2752152681350708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8110617995262146, -0.5548554062843323, 1.2762353420257568, -1.7242861986160278, 0.257808119058609, 0.03269392251968384, 0.9773682951927185, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0049463058821856976, -0.09710480272769928, 0.008914853446185589, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249755859375, -1.0286860466003418, -1.5305452346801758, -1.401370644569397, -1.0086071491241455, 0.5449893474578857, -1.2752176523208618, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7972506880760193, -0.5833070874214172, 1.2344422340393066, -1.6937912702560425, 0.16973748803138733, 0.039430975914001465, 0.9792638421058655, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.01944013126194477, -0.09470833092927933, 0.005559801124036312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249782681465149, -1.0287022590637207, -1.5305310487747192, -1.4013701677322388, -1.0086030960083008, 0.5449874401092529, -1.2752182483673096, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7890536785125732, -0.6142142415046692, 1.2101072072982788, -1.6557801961898804, 0.09157278388738632, 0.043792273849248886, 0.9869675636291504, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03220850229263306, -0.0911615639925003, 0.0051763663068413734, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249776721000671, -1.0287039279937744, -1.5305312871932983, -1.401370882987976, -1.0086028575897217, 0.5449849963188171, -1.275219440460205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7910497188568115, -0.6515696048736572, 1.2058730125427246, -1.626700520515442, 0.02926032431423664, 0.04900948703289032, 0.9666867852210999, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.03761493042111397, -0.08914853632450104, 0.004409497138112783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249763607978821, -1.0287002325057983, -1.5305321216583252, -1.4013707637786865, -1.0086020231246948, 0.5449835658073425, -1.2752199172973633, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7990946173667908, -0.687512993812561, 1.21450936794281, -1.609363079071045, -0.01658257283270359, 0.06707846373319626, 0.9296476244926453, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.038420140743255615, -0.08675206452608109, 0.004121921490877867, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249775528907776, -1.0287002325057983, -1.5305325984954834, -1.4013704061508179, -1.0086015462875366, 0.5449830889701843, -1.275221586227417, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8105592727661133, -0.725022554397583, 1.2303588390350342, -1.5949333906173706, -0.05960725620388985, 0.08882275968790054, 0.8762915730476379, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.041180871427059174, -0.08224671334028244, 0.0037384869065135717, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249769568443298, -1.0286948680877686, -1.5305349826812744, -1.401370644569397, -1.0086008310317993, 0.5449826121330261, -1.275221824645996, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8230443596839905, -0.7635826468467712, 1.2504535913467407, -1.5761343240737915, -0.10779822617769241, 0.11655401438474655, 0.8099712133407593, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0416409932076931, -0.07764549553394318, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249768376350403, -1.0286976099014282, -1.530534267425537, -1.4013694524765015, -1.0085989236831665, 0.5449826121330261, -1.2752244472503662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.839278519153595, -0.8027820587158203, 1.2875580787658691, -1.558053970336914, -0.11657870560884476, 0.160535529255867, 0.733982503414154, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.043941598385572433, -0.07534489035606384, -0.0018213141011074185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.724976658821106, -1.0287011861801147, -1.530532717704773, -1.4013702869415283, -1.0085982084274292, 0.5449828505516052, -1.2752245664596558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8550552129745483, -0.8387277126312256, 1.3330106735229492, -1.5455799102783203, -0.1153569146990776, 0.19297753274440765, 0.6660374402999878, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04578208550810814, -0.07314014434814453, -0.0034509110264480114, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249758243560791, -1.0286922454833984, -1.5305393934249878, -1.4013702869415283, -1.00859797000885, 0.5449827313423157, -1.2752246856689453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.867068886756897, -0.8717958331108093, 1.3779284954071045, -1.532145380973816, -0.0950472503900528, 0.2194037139415741, 0.6090188026428223, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.04808269441127777, -0.0725649893283844, -0.0062308115884661674, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249773740768433, -1.0287017822265625, -1.5305322408676147, -1.4013700485229492, -1.0085965394973755, 0.544983446598053, -1.2752248048782349, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8774908781051636, -0.9012527465820312, 1.4255518913269043, -1.5195908546447754, -0.062287889420986176, 0.2560847997665405, 0.5444660782814026, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.05302899703383446, -0.07438630610704422, -0.007956267334520817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249760627746582, -1.0287010669708252, -1.5305333137512207, -1.4013704061508179, -1.0085970163345337, 0.5449835658073425, -1.2752244472503662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8850144147872925, -0.9249842762947083, 1.4729321002960205, -1.5036567449569702, -0.028671659529209137, 0.28489547967910767, 0.4821590483188629, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.05763021484017372, -0.07476973533630371, -0.009585863910615444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.724976658821106, -1.0287072658538818, -1.5305306911468506, -1.4013704061508179, -1.0085972547531128, 0.5449836850166321, -1.2752246856689453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8874521255493164, -0.9439897537231445, 1.5171177387237549, -1.4777804613113403, 0.025983717292547226, 0.30859655141830444, 0.4301716089248657, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.062346458435058594, -0.07534489035606384, -0.011407177895307541, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249771356582642, -1.0287010669708252, -1.5305323600769043, -1.4013702869415283, -1.0085972547531128, 0.5449835658073425, -1.2752248048782349, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8882829546928406, -0.9565829038619995, 1.5500078201293945, -1.4584296941757202, 0.06829342246055603, 0.322265625, 0.38700658082962036, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06545227766036987, -0.07314014434814453, -0.012557481415569782, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.053968414664268494, 0.7249764204025269, -1.028702735900879, -1.5305325984954834, -1.4013705253601074, -1.0085972547531128, 0.5449835658073425, -1.2752245664596558, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8887453675270081, -0.9643574953079224, 1.5803050994873047, -1.4402620792388916, 0.11125016212463379, 0.3181954324245453, 0.35168054699897766, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06717773526906967, -0.07314014434814453, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765396118164, -1.0287010669708252, -1.5305334329605103, -1.4013705253601074, -1.008597493171692, 0.5449839234352112, -1.2752244472503662, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8885700106620789, -0.9660735130310059, 1.6098792552947998, -1.4240336418151855, 0.1478448212146759, 0.31614530086517334, 0.3175720274448395, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06786791235208511, -0.07151054590940475, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.046569347381592, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.028700351715088, -1.5305334329605103, -1.4013707637786865, -1.008597493171692, 0.5449844002723694, -1.2752246856689453, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8906771540641785, -0.9598668217658997, 1.6386319398880005, -1.4222604036331177, 0.15721085667610168, 0.30574190616607666, 0.29455751180648804, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06729276478290558, -0.07074367254972458, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.053968414664268494, 0.724976122379303, -1.0287017822265625, -1.5305328369140625, -1.4013707637786865, -1.008597731590271, 0.5449845194816589, -1.2752240896224976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.890891432762146, -0.9484095573425293, 1.6682422161102295, -1.4138543605804443, 0.17304153740406036, 0.29840192198753357, 0.28126150369644165, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.06338173151016235, -0.07074367254972458, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249768376350403, -1.02870512008667, -1.5305306911468506, -1.4013700485229492, -1.0085973739624023, 0.5449846386909485, -1.2752240896224976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.892461359500885, -0.9312371015548706, 1.6979840993881226, -1.4126070737838745, 0.1845673769712448, 0.2859082520008087, 0.2701299488544464, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.05935566872358322, -0.06930579245090485, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.7249765992164612, -1.0287048816680908, -1.5305310487747192, -1.4013701677322388, -1.0085972547531128, 0.5449848771095276, -1.2752238512039185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8935685753822327, -0.9105644822120667, 1.72170889377594, -1.4118213653564453, 0.21274468302726746, 0.2857692241668701, 0.27623337507247925, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.05233881622552872, -0.06786791235208511, -0.013228491879999638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249782085418701, -1.028700590133667, -1.5305328369140625, -1.4013690948486328, -1.008597731590271, 0.5449849963188171, -1.2752240896224976, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8974582552909851, -0.887658417224884, 1.736269474029541, -1.4206078052520752, 0.23815974593162537, 0.2743666172027588, 0.2928975820541382, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.043826568871736526, -0.06537558883428574, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249761819839478, -1.0287041664123535, -1.5305310487747192, -1.4013705253601074, -1.0085972547531128, 0.5449849963188171, -1.2752236127853394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9031339883804321, -0.8635632991790771, 1.7446272373199463, -1.4373975992202759, 0.2658533751964569, 0.26417258381843567, 0.3318580389022827, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.03519929200410843, -0.06288326531648636, -0.01332435104995966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249768972396851, -1.0286979675292969, -1.5305343866348267, -1.4013694524765015, -1.0085982084274292, 0.5449852347373962, -1.2752238512039185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.909807562828064, -0.8399171233177185, 1.7512637376785278, -1.4588441848754883, 0.2938675880432129, 0.24807070195674896, 0.3793945610523224, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.027377227321267128, -0.06077437847852707, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.724976122379303, -1.0286991596221924, -1.5305335521697998, -1.4013704061508179, -1.0085982084274292, 0.5449851155281067, -1.275224208831787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9167641401290894, -0.8186617493629456, 1.7560107707977295, -1.4874341487884521, 0.34520378708839417, 0.24050602316856384, 0.4358866214752197, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.020705465227365494, -0.05847376957535744, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249773144721985, -1.028698444366455, -1.530534267425537, -1.4013692140579224, -1.0085982084274292, 0.5449852347373962, -1.275223970413208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9247749447822571, -0.7988365888595581, 1.7533527612686157, -1.5275567770004272, 0.3834039866924286, 0.22205151617527008, 0.49652260541915894, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.012883400544524193, -0.05502285808324814, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249771356582642, -1.0286943912506104, -1.5305372476577759, -1.4013700485229492, -1.0085982084274292, 0.5449855327606201, -1.275223970413208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9308973550796509, -0.7838325500488281, 1.7409636974334717, -1.5711510181427002, 0.4240054786205292, 0.21589137613773346, 0.5417138338088989, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.00667176116257906, -0.05243467539548874, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249759435653687, -1.0286997556686401, -1.530534267425537, -1.4013704061508179, -1.0085983276367188, 0.5449855327606201, -1.275224208831787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9343531131744385, -0.7755754590034485, 1.7148655652999878, -1.6161632537841797, 0.46700581908226013, 0.21299682557582855, 0.5694729685783386, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.0, -0.04984649270772934, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.7249770760536194, -1.0286591053009033, -1.5305622816085815, -1.401368498802185, -1.0085991621017456, 0.5449851155281067, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9341223239898682, -0.7731948494911194, 1.6740999221801758, -1.6543290615081787, 0.4757048189640045, 0.19753561913967133, 0.5830966830253601, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0017254555132240057, -0.047450024634599686, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.7249764204025269, -1.0287026166915894, -1.5305286645889282, -1.4013711214065552, -1.0085984468460083, 0.5449855327606201, -1.2752234935760498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292196035385132, -0.7786448001861572, 1.6266419887542725, -1.6782866716384888, 0.4875139594078064, 0.19813315570354462, 0.5884383916854858, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, -0.0010352733079344034, -0.047354165464639664, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.7249758839607239, -1.028662085533142, -1.530561089515686, -1.4013696908950806, -1.0085999965667725, 0.5449855327606201, -1.275223970413208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9214929938316345, -0.7892555594444275, 1.5772031545639038, -1.6969642639160156, 0.46826812624931335, 0.19642743468284607, 0.592815637588501, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.005866548512130976, -0.049654774367809296, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.7249757051467896, -1.028704285621643, -1.5305287837982178, -1.4013727903366089, -1.0085983276367188, 0.5449858903884888, -1.2752243280410767, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9102400541305542, -0.8042240738868713, 1.5260732173919678, -1.7045994997024536, 0.4243592321872711, 0.19754232466220856, 0.6123909950256348, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.015529099851846695, -0.05022992566227913, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767184257507, -1.028696894645691, -1.530532956123352, -1.401369571685791, -1.0085984468460083, 0.5449857711791992, -1.2752234935760498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9029309749603271, -0.8221986889839172, 1.4946825504302979, -1.6987558603286743, 0.3705487549304962, 0.19163267314434052, 0.6196193099021912, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.028527529910206795, -0.05253053456544876, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7249767780303955, -1.0286998748779297, -1.5305324792861938, -1.4013702869415283, -1.0085983276367188, 0.5449857711791992, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8994985818862915, -0.8392003774642944, 1.4828475713729858, -1.68801748752594, 0.309122771024704, 0.18358023464679718, 0.6248348355293274, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.038765233010053635, -0.053489118814468384, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.0622122548520565, 0.054064273834228516, 0.7249767780303955, -1.028699278831482, -1.530532717704773, -1.4013705253601074, -1.0085980892181396, 0.5449862480163574, -1.275223970413208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8972974419593811, -0.8551656007766724, 1.4812976121902466, -1.6559211015701294, 0.23992429673671722, 0.17269915342330933, 0.6308853030204773, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.045552026480436325, -0.055693868547677994, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249760627746582, -1.0286991596221924, -1.530533790588379, -1.401370644569397, -1.008599042892456, 0.5449860095977783, -1.2752231359481812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8973281979560852, -0.8687489628791809, 1.4948748350143433, -1.620356798171997, 0.1918567717075348, 0.17326301336288452, 0.6307373046875, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.04785263165831566, -0.05856962874531746, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249768376350403, -1.0287052392959595, -1.530531406402588, -1.4013701677322388, -1.0085983276367188, 0.5449861288070679, -1.2752236127853394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8982160687446594, -0.8774751424789429, 1.517933964729309, -1.5899591445922852, 0.14516958594322205, 0.1676660180091858, 0.635894238948822, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.043941598385572433, -0.059336498379707336, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249760627746582, -1.0286997556686401, -1.5305339097976685, -1.4013705253601074, -1.0085985660552979, 0.5449856519699097, -1.2752227783203125, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8964917063713074, -0.8824644684791565, 1.5419368743896484, -1.5542829036712646, 0.12071961164474487, 0.17118410766124725, 0.6561936140060425, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.03830511122941971, -0.05943235754966736, -0.01313263364136219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249758839607239, -1.028701663017273, -1.5305331945419312, -1.4013705253601074, -1.008598804473877, 0.5449860095977783, -1.2752234935760498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.894005298614502, -0.8826339244842529, 1.5666166543960571, -1.522493600845337, 0.09416808187961578, 0.16762766242027283, 0.6826478242874146, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.027262195944786072, -0.05904892086982727, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.0286996364593506, -1.530533790588379, -1.4013699293136597, -1.0085984468460083, 0.5449860095977783, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8918293118476868, -0.877458930015564, 1.59588623046875, -1.4933208227157593, 0.06126539409160614, 0.16016389429569244, 0.7057168483734131, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.020015284419059753, -0.05866548791527748, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249770760536194, -1.0287015438079834, -1.5305330753326416, -1.4013701677322388, -1.0085986852645874, 0.5449861288070679, -1.2752234935760498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8879262804985046, -0.8685514330863953, 1.6225711107254028, -1.4598201513290405, 0.02574990503489971, 0.154690220952034, 0.7252651453018188, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, 0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, -0.0006000115321233235, 0.0006000115321233235, 0.009317459538578987, -0.05856962874531746, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767184257507, -1.0286972522735596, -1.5305347442626953, -1.4013696908950806, -1.0085989236831665, 0.5449860095977783, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8837310075759888, -0.857846736907959, 1.6476329565048218, -1.4276992082595825, 0.0007838881574571133, 0.15693449974060059, 0.7334284782409668, 0.3510000048102913, 0.3510000048102913, 0.3510000048102913, 0.3510000048102913, -0.3510000048102913, -0.3510000048102913, -0.3510000048102913, 0.3510000048102913, 0.0, -0.058377910405397415, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764800071716, -1.0287028551101685, -1.530534267425537, -1.401370644569397, -1.008597731590271, 0.5449860095977783, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8803764581680298, -0.8458133935928345, 1.6705445051193237, -1.404284954071045, -0.005764891393482685, 0.15975943207740784, 0.7428160309791565, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, 0.5729999998113611, -0.5729999998113611, -0.5729999998113611, -0.5729999998113611, 0.5729999998113611, -0.009432489983737469, -0.05828205123543739, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249761819839478, -1.0287010669708252, -1.5305348634719849, -1.4013705253601074, -1.0085984468460083, 0.5449860095977783, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8776088953018188, -0.8306838274002075, 1.6931637525558472, -1.3883503675460815, -0.00904737040400505, 0.15112923085689545, 0.7650961875915527, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.015414069406688213, -0.055789727717638016, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767780303955, -1.028700828552246, -1.5305345058441162, -1.4013700485229492, -1.0085985660552979, 0.5449860095977783, -1.2752231359481812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8756807446479797, -0.8130512237548828, 1.7162011861801147, -1.380761981010437, -0.007269750814884901, 0.1400790512561798, 0.7985342144966125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.019900253042578697, -0.055310435593128204, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.7249768376350403, -1.0287021398544312, -1.5305341482162476, -1.4013700485229492, -1.0085986852645874, 0.5449862480163574, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.87308669090271, -0.7932182550430298, 1.739370346069336, -1.3782479763031006, 0.01191579457372427, 0.12165018916130066, 0.8584072589874268, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.024731528013944626, -0.055310435593128204, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249762415885925, -1.028700590133667, -1.530534029006958, -1.4013704061508179, -1.0085986852645874, 0.5449860095977783, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8715137839317322, -0.7714434862136841, 1.7666411399841309, -1.3844754695892334, 0.047381192445755005, 0.11164983361959457, 0.9254098534584045, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.029907895252108574, -0.055310435593128204, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249762415885925, -1.028701663017273, -1.530533790588379, -1.4013707637786865, -1.008598804473877, 0.5449857711791992, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8708138465881348, -0.7493830919265747, 1.786490559577942, -1.4026132822036743, 0.09720704704523087, 0.10926833003759384, 1.0023107528686523, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.03588947281241417, -0.05521457642316818, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765396118164, -1.0287015438079834, -1.530531883239746, -1.4013699293136597, -1.0085984468460083, 0.5449857711791992, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8697908520698547, -0.7271089553833008, 1.802140235900879, -1.4278022050857544, 0.1580209881067276, 0.11139996349811554, 1.0862505435943604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.04221614450216293, -0.055310435593128204, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249771356582642, -1.0287039279937744, -1.5305306911468506, -1.4013701677322388, -1.0085985660552979, 0.5449858903884888, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8692185878753662, -0.7051509022712708, 1.8143260478973389, -1.4603098630905151, 0.22249384224414825, 0.11953844875097275, 1.161316990852356, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.05015324056148529, -0.05511871725320816, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.028698205947876, -1.5305335521697998, -1.4013704061508179, -1.008599042892456, 0.5449857711791992, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8684353828430176, -0.683614194393158, 1.8214364051818848, -1.5028672218322754, 0.2869279980659485, 0.13022273778915405, 1.2297866344451904, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.05590475723147392, -0.054831139743328094, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.06240397319197655, 0.054064273834228516, 0.7249765396118164, -1.0286998748779297, -1.5305328369140625, -1.4013702869415283, -1.0085989236831665, 0.5449860095977783, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.867546021938324, -0.6631932258605957, 1.823571801185608, -1.5387290716171265, 0.3436237871646881, 0.14446516335010529, 1.2745097875595093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.06085106357932091, -0.054831139743328094, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249763607978821, -1.0287011861801147, -1.5305325984954834, -1.4013707637786865, -1.0085985660552979, 0.5449857711791992, -1.2752236127853394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.866873562335968, -0.644334614276886, 1.8219588994979858, -1.579577088356018, 0.40021079778671265, 0.1548764556646347, 1.3021488189697266, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.06269154697656631, -0.05674831569194794, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.724976658821106, -1.028700828552246, -1.5305328369140625, -1.4013704061508179, -1.0085986852645874, 0.5449860095977783, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8671716451644897, -0.6269934773445129, 1.8184739351272583, -1.6187912225723267, 0.4508682191371918, 0.158422589302063, 1.3082927465438843, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.06292161345481873, -0.05809033662080765, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.05416012927889824, 0.7249770164489746, -1.028699517250061, -1.5305335521697998, -1.4013701677322388, -1.0085986852645874, 0.5449860095977783, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8687300086021423, -0.6103626489639282, 1.8116804361343384, -1.6613496541976929, 0.5069461464881897, 0.15416555106639862, 1.2933051586151123, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.05970076099038124, -0.060103368014097214, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765992164612, -1.0287010669708252, -1.5305331945419312, -1.4013701677322388, -1.0085986852645874, 0.5449856519699097, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8735361099243164, -0.5967132449150085, 1.8050371408462524, -1.6969596147537231, 0.5450895428657532, 0.14438797533512115, 1.2542623281478882, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.05325905978679657, -0.060103368014097214, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249770760536194, -1.0287007093429565, -1.5305331945419312, -1.4013700485229492, -1.0085984468460083, 0.5449861288070679, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8789730668067932, -0.5848969221115112, 1.7946940660476685, -1.7315256595611572, 0.5789844989776611, 0.12746433913707733, 1.2036741971969604, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.04497687146067619, -0.06115781143307686, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.724976658821106, -1.0287015438079834, -1.530532956123352, -1.4013701677322388, -1.0085985660552979, 0.5449861288070679, -1.2752236127853394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8826212882995605, -0.5738431215286255, 1.7787065505981445, -1.7629083395004272, 0.5986918210983276, 0.10585498064756393, 1.157932996749878, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.034279048442840576, -0.06067851930856705, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.0286997556686401, -1.5305339097976685, -1.4013702869415283, -1.0085985660552979, 0.5449858903884888, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.886143684387207, -0.5629511475563049, 1.7636500597000122, -1.7898530960083008, 0.5954569578170776, 0.07772297412157059, 1.1145459413528442, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.021740738302469254, -0.06317084282636642, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.724976658821106, -1.0287011861801147, -1.530532956123352, -1.4013700485229492, -1.0085986852645874, 0.5449856519699097, -1.2752231359481812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8878454566001892, -0.552741289138794, 1.7523760795593262, -1.815496563911438, 0.5973655581474304, 0.05515871196985245, 1.0742324590682983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, -0.008282186463475227, -0.06719690561294556, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765992164612, -1.0287014245986938, -1.5305330753326416, -1.4013701677322388, -1.0085985660552979, 0.5449857711791992, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8871116638183594, -0.5430149435997009, 1.7359764575958252, -1.8365542888641357, 0.5913482904434204, 0.03114999644458294, 1.046881914138794, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.005981578957289457, -0.07141468673944473, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.724976658821106, -1.0287017822265625, -1.5305325984954834, -1.4013701677322388, -1.0085986852645874, 0.5449855327606201, -1.2752231359481812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8830791711807251, -0.5339249968528748, 1.7201985120773315, -1.8579360246658325, 0.5902548432350159, 0.01725788228213787, 1.0286365747451782, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.02358122542500496, -0.07611175626516342, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249768376350403, -1.0287002325057983, -1.5305336713790894, -1.4013699293136597, -1.008598804473877, 0.5449858903884888, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8790532350540161, -0.5257963538169861, 1.7021738290786743, -1.8773447275161743, 0.5792854428291321, 0.0001578322408022359, 1.010300874710083, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0433664470911026, -0.07850822806358337, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767184257507, -1.0287021398544312, -1.530532956123352, -1.4013704061508179, -1.0085985660552979, 0.5449861288070679, -1.2752234935760498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8844292163848877, -0.5201188921928406, 1.6870977878570557, -1.8894762992858887, 0.560616672039032, 0.007629756815731525, 0.963409423828125, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.06223142892122269, -0.07889165729284286, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.028704285621643, -1.5305322408676147, -1.401370882987976, -1.0085983276367188, 0.5449860095977783, -1.2752236127853394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8938979506492615, -0.5177947282791138, 1.675038456916809, -1.9006000757217407, 0.5406257510185242, 0.013848131522536278, 0.8928709030151367, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.08362707495689392, -0.07611175626516342, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765992164612, -1.0287001132965088, -1.5305336713790894, -1.4013701677322388, -1.0085983276367188, 0.5449860095977783, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8980288505554199, -0.5172266960144043, 1.658098578453064, -1.9030226469039917, 0.5170468091964722, 0.002217201516032219, 0.8546571731567383, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.10502272099256516, -0.07131882756948471, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.0287010669708252, -1.5305335521697998, -1.4013701677322388, -1.0085985660552979, 0.5449857711791992, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9016518592834473, -0.5186669826507568, 1.644428014755249, -1.8974223136901855, 0.5002402663230896, -0.0020129901822656393, 0.8335017561912537, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.12124200910329819, -0.0691140815615654, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249763607978821, -1.0287013053894043, -1.5305339097976685, -1.4013704061508179, -1.0085985660552979, 0.5449858903884888, -1.2752233743667603, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9075531363487244, -0.5215401649475098, 1.6359632015228271, -1.8904708623886108, 0.4870542287826538, 0.014605054631829262, 0.8071641325950623, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.13619595766067505, -0.0691140815615654, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.0286993980407715, -1.5305339097976685, -1.4013701677322388, -1.0085986852645874, 0.5449857711791992, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9083568453788757, -0.5220308899879456, 1.634636402130127, -1.889464020729065, 0.48587271571159363, 0.017747798934578896, 0.8031843304634094, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.14827413856983185, -0.0673886239528656, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249763011932373, -1.0287014245986938, -1.5305334329605103, -1.4013702869415283, -1.0085986852645874, 0.5449860095977783, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084470272064209, -0.5220741629600525, 1.6345206499099731, -1.8893425464630127, 0.4857376515865326, 0.018042011186480522, 0.8028272986412048, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.15045972168445587, -0.06681346893310547, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767184257507, -1.028700590133667, -1.5305334329605103, -1.4013702869415283, -1.008598804473877, 0.5449861288070679, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084475040435791, -0.5220781564712524, 1.6345105171203613, -1.889343023300171, 0.4857333302497864, 0.01805027946829796, 0.8028227686882019, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.15068978071212769, -0.06671760976314545, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767184257507, -1.028700590133667, -1.5305333137512207, -1.4013704061508179, -1.0085985660552979, 0.5449857711791992, -1.2752238512039185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084469079971313, -0.5220769047737122, 1.6345096826553345, -1.8893440961837769, 0.4857333302497864, 0.018050041049718857, 0.8028247952461243, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.15068978071212769, -0.06662175059318542, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765396118164, -1.0287011861801147, -1.5305330753326416, -1.401370882987976, -1.0085983276367188, 0.5449860095977783, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.908444881439209, -0.5220757722854614, 1.6345101594924927, -1.8893457651138306, 0.4857342839241028, 0.018049322068691254, 0.8028275370597839, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06662175059318542, -0.012940916232764721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.724976658821106, -1.028700590133667, -1.5305333137512207, -1.4013705253601074, -1.0085986852645874, 0.5449858903884888, -1.2752230167388916, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084427952766418, -0.5220752358436584, 1.6345113515853882, -1.889348030090332, 0.48573440313339233, 0.0180487222969532, 0.8028313517570496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06662175059318542, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765992164612, -1.0287013053894043, -1.5305334329605103, -1.4013701677322388, -1.0085983276367188, 0.5449858903884888, -1.2752234935760498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084411263465881, -0.5220737457275391, 1.6345123052597046, -1.8893489837646484, 0.4857350289821625, 0.018047522753477097, 0.8028340339660645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06671760976314545, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249765396118164, -1.0287010669708252, -1.5305331945419312, -1.4013702869415283, -1.0085986852645874, 0.5449857711791992, -1.2752231359481812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084398150444031, -0.5220732092857361, 1.634513258934021, -1.8893518447875977, 0.4857364594936371, 0.01804584637284279, 0.8028370141983032, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06671760976314545, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249767184257507, -1.0287010669708252, -1.5305333137512207, -1.4013701677322388, -1.0085986852645874, 0.5449857711791992, -1.2752232551574707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084393382072449, -0.5220726132392883, 1.6345144510269165, -1.8893523216247559, 0.4857369363307953, 0.018042849376797676, 0.8028386831283569, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06662175059318542, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249764204025269, -1.0287010669708252, -1.5305334329605103, -1.4013704061508179, -1.0085983276367188, 0.5449855327606201, -1.275222897529602, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084389805793762, -0.5220718383789062, 1.6345152854919434, -1.8893531560897827, 0.4857383668422699, 0.018040213733911514, 0.8028392791748047, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06662175059318542, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.9928776025772095, 2.0466651916503906, -0.28903037309646606, 0.062308114022016525, 0.054064273834228516, 0.7249770164489746, -1.0287010669708252, -1.5305331945419312, -1.4013701677322388, -1.0085986852645874, 0.5449856519699097, -1.275223731994629, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9084388017654419, -0.5220715403556824, 1.6345158815383911, -1.88935387134552, 0.48573920130729675, 0.018038176000118256, 0.802839994430542, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.150804802775383, -0.06662175059318542, -0.013036774471402168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.9859813919036492, -0.16685519967506568, 0.0001927722398078541, -0.35913723707199097], [0.1668552415240358, 0.9859813776838775, -0.0002263549394049355, 0.07795552164316177], [-0.00015230133997310688, 0.0002553468168510133, 0.9999999558011515, -0.001035348861478269], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000031/gt/hand_left.mp4 b/agibot-challenge-2026/000031/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66748435d910d78a4425e7edae42007501c85ba8 --- /dev/null +++ b/agibot-challenge-2026/000031/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c55b26f74c7cbe3c145faf4d8b60cbaaad44765d75b9be82b7c24f1f4797d41 +size 2011938 diff --git a/agibot-challenge-2026/000031/gt/hand_right.mp4 b/agibot-challenge-2026/000031/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60553ffd71f6b5aa9c2542458aaef1e466d4de25 --- /dev/null +++ b/agibot-challenge-2026/000031/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9309500b2a106488f130277b4edc33b84bd60df511cbcdbfa22f6fce5a5d7240 +size 3230620 diff --git a/agibot-challenge-2026/000031/gt/head.mp4 b/agibot-challenge-2026/000031/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c507fe08c7826f7349d5d7b1bd33a10a159930aa --- /dev/null +++ b/agibot-challenge-2026/000031/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a75cbb60c9d5820153c73cf1fd1862a79fdbd6f7d6036c257400f4ec7c264147 +size 2314222 diff --git a/agibot-challenge-2026/000031/meta.json b/agibot-challenge-2026/000031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63666eed72f85f8075add31414af44cdcf5aa324 --- /dev/null +++ b/agibot-challenge-2026/000031/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Unlock the door with the key", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 654, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000031/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000031/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..a39d3f684a90c7fdafe7744ba3db412505524d16 --- /dev/null +++ b/agibot-challenge-2026/000031/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000031/ref_images/hand_left.png b/agibot-challenge-2026/000031/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..f2046e31af6f6bb24320026931c0e6c5229b54c2 --- /dev/null +++ b/agibot-challenge-2026/000031/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49fccd3f45b3d09ed730d0cf442a81f1e3dc5a8c9e2e1bd46454d5561d786a75 +size 345338 diff --git a/agibot-challenge-2026/000031/ref_images/hand_right.png b/agibot-challenge-2026/000031/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..2f24b1f2e4404c10ba7b7571575c8466a89442c4 --- /dev/null +++ b/agibot-challenge-2026/000031/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:187b1121370d25e692c3eba949a2ddaa577cfc7ca731e959ca3614c7cfca62d1 +size 368984 diff --git a/agibot-challenge-2026/000031/ref_images/head.png b/agibot-challenge-2026/000031/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..d43f1a759b80a4ce755cb1673569ecfaa008b05f --- /dev/null +++ b/agibot-challenge-2026/000031/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c9fd296226a5b77535b48ea44b6c33fffdca379174d590820cf0e478317e006 +size 261419 diff --git a/agibot-challenge-2026/000031/temporal.json b/agibot-challenge-2026/000031/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..5c9d0bef07bbcbd11093989c53b4444c00ef85a0 --- /dev/null +++ b/agibot-challenge-2026/000031/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392761707305908, -1.1497199535369873, -1.6000245809555054, -1.8008736371994019, -0.4199310839176178, -0.00010534133616602048, -0.0003834952076431364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7314156293869019, -1.1503009796142578, 1.5993515253067017, -1.8005598783493042, 0.41998225450515747, 6.735134229529649e-05, -0.00046930223470553756, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.73927640914917, -1.1497200727462769, -1.6000243425369263, -1.8008737564086914, -0.4199308454990387, -0.00010773818212328479, -0.0003834952076431364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.73141610622406, -1.1503007411956787, 1.5993517637252808, -1.8005590438842773, 0.4199818968772888, 6.866960757179186e-05, -0.00046295061474666, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.73927640914917, -1.1497198343276978, -1.6000242233276367, -1.800873875617981, -0.41993096470832825, -0.00010965565888909623, -0.0003834952076431364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7314157485961914, -1.1503006219863892, 1.5993516445159912, -1.8005584478378296, 0.41998201608657837, 7.118629582691938e-05, -0.00045623944606631994, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392765283584595, -1.1497198343276978, -1.6000248193740845, -1.8008731603622437, -0.41993215680122375, -0.0001102548703784123, -0.00038397457683458924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.731415867805481, -1.1503010988235474, 1.5993516445159912, -1.8005578517913818, 0.4199811816215515, 7.310377259273082e-05, -0.0004521647933870554, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.73927640914917, -1.1497199535369873, -1.6000250577926636, -1.8008732795715332, -0.41993263363838196, -0.00011085408186772838, -0.0003832555084954947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7277895212173462, -1.153141736984253, 1.603667974472046, -1.8014520406723022, 0.4168270528316498, 0.008681252598762512, 0.008264321833848953, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392771244049072, -1.1497197151184082, -1.6000254154205322, -1.8008722066879272, -0.41993239521980286, -0.00011157313565490767, -0.0003832555084954947, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7109754085540771, -1.1778392791748047, 1.6215893030166626, -1.8221877813339233, 0.3997582793235779, 0.045036718249320984, 0.026322511956095695, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392792701721191, -1.1497200727462769, -1.600027084350586, -1.8008708953857422, -0.4199327528476715, -0.00011241203173995018, -0.0003787015157286078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6772644519805908, -1.202480673789978, 1.624492883682251, -1.8474684953689575, 0.3886449337005615, 0.08922327309846878, 0.0363268218934536, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392804622650146, -1.1497199535369873, -1.6000264883041382, -1.8008718490600586, -0.41993215680122375, -0.00011313108552712947, -0.00037774277734570205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6214839220046997, -1.2216222286224365, 1.607655644416809, -1.8587965965270996, 0.38291874527931213, 0.14918550848960876, 0.026099244132637978, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392853498458862, -1.1497200727462769, -1.6000267267227173, -1.800873041152954, -0.4199325144290924, -0.00011432950850576162, -0.00037354830419644713, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5480711460113525, -1.2416903972625732, 1.5744682550430298, -1.8642075061798096, 0.36095142364501953, 0.21405060589313507, -0.021224062889814377, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.739285945892334, -1.1497201919555664, -1.600027322769165, -1.8008720874786377, -0.41993239521980286, -0.00011385013931430876, -0.0003679156943690032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4708480834960938, -1.2613893747329712, 1.532984972000122, -1.863708734512329, 0.33927077054977417, 0.2709883749485016, -0.07823038101196289, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.73929762840271, -1.1497198343276978, -1.6000335216522217, -1.8008711338043213, -0.4199325144290924, -0.00011277155863353983, -0.00035401401692070067, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3965107202529907, -1.2800651788711548, 1.4931334257125854, -1.8424731492996216, 0.31798967719078064, 0.3130788803100586, -0.12076947093009949, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7393065690994263, -1.1497191190719604, -1.6000356674194336, -1.8008713722229004, -0.4199322760105133, -0.00011193266254849732, -0.0003480218874756247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.324295997619629, -1.2968896627426147, 1.4633733034133911, -1.8013215065002441, 0.3069198429584503, 0.3470518887042999, -0.14595456421375275, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7393062114715576, -1.14971923828125, -1.600036382675171, -1.8008720874786377, -0.41993144154548645, -0.00010534133616602048, -0.0003409511991776526, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.250828742980957, -1.3131611347198486, 1.43483567237854, -1.7517938613891602, 0.302254855632782, 0.3701646625995636, -0.16571271419525146, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7393038272857666, -1.1497191190719604, -1.6000356674194336, -1.800872564315796, -0.41993001103401184, -0.00010258496331516653, -0.00034083134960383177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.185401439666748, -1.3301255702972412, 1.4112628698349, -1.7060003280639648, 0.29532498121261597, 0.3879550099372864, -0.18262389302253723, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7393041849136353, -1.1497185230255127, -1.6000369787216187, -1.8008731603622437, -0.41992902755737305, -9.982859046431258e-05, -0.0003423893067520112, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1292290687561035, -1.3451502323150635, 1.3896145820617676, -1.6595399379730225, 0.2821691632270813, 0.40377873182296753, -0.19610518217086792, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7393031120300293, -1.1497184038162231, -1.6000373363494873, -1.8008737564086914, -0.4199284315109253, -9.791112097445875e-05, -0.00034226945717819035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0810885429382324, -1.3605451583862305, 1.3748337030410767, -1.6089385747909546, 0.27143165469169617, 0.41420501470565796, -0.20582643151283264, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7393028736114502, -1.1497184038162231, -1.6000365018844604, -1.8008747100830078, -0.41992735862731934, -9.934922127285972e-05, -0.0003415504179429263, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0361192226409912, -1.3742454051971436, 1.366133213043213, -1.5588698387145996, 0.26075300574302673, 0.4165704548358917, -0.21039816737174988, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.739300012588501, -1.149717926979065, -1.6000382900238037, -1.8008795976638794, -0.4199260473251343, -0.00010054764425149187, -0.00033819483360275626, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9975366592407227, -1.3859251737594604, 1.3613710403442383, -1.512324571609497, 0.24863599240779877, 0.4155375361442566, -0.20955854654312134, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392985820770264, -1.1497175693511963, -1.6000345945358276, -1.8008816242218018, -0.41992509365081787, -0.00010270480561302975, -0.00034286867594346404, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9683465361595154, -1.3960036039352417, 1.3615344762802124, -1.4691892862319946, 0.2371535450220108, 0.41118738055229187, -0.205483078956604, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.739298939704895, -1.1497174501419067, -1.6000349521636963, -1.8008904457092285, -0.4199254512786865, -0.00010833739361260086, -0.00034682347904890776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9487942457199097, -1.404719591140747, 1.3669312000274658, -1.435310959815979, 0.23098215460777283, 0.40862300992012024, -0.2003309428691864, 0.5639999997484815, 0.5639999997484815, 0.5639999997484815, 0.5639999997484815, -0.5639999997484815, -0.5639999997484815, -0.5639999997484815, 0.5639999997484815, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392938137054443, -1.1497174501419067, -1.6000336408615112, -1.8008917570114136, -0.41992509365081787, -0.00011157313565490767, -0.0003529354289639741, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9356867074966431, -1.4108750820159912, 1.3713239431381226, -1.414515733718872, 0.22550128400325775, 0.4092358648777008, -0.1931845098733902, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, 0.5538000009872102, -0.5538000009872102, -0.5538000009872102, -0.5538000009872102, 0.5538000009872102, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.739294409751892, -1.1497172117233276, -1.6000319719314575, -1.800891637802124, -0.4199259281158447, -0.00011468903539935127, -0.00036288233241066337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9254494905471802, -1.4166702032089233, 1.377077579498291, -1.3999096155166626, 0.22068770229816437, 0.40938088297843933, -0.18486541509628296, 0.4812000011349772, 0.4812000011349772, 0.4812000011349772, 0.4812000011349772, -0.4812000011349772, -0.4812000011349772, -0.4812000011349772, 0.4812000011349772, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7392933368682861, -1.1497173309326172, -1.6000310182571411, -1.800891637802124, -0.4199260473251343, -0.00011636682029347867, -0.0003695935010910034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.924708366394043, -1.4217158555984497, 1.3811960220336914, -1.4010809659957886, 0.2142622470855713, 0.4112069308757782, -0.1847582757472992, 0.4289999988052871, 0.4289999988052871, 0.4289999988052871, 0.4289999988052871, -0.4289999988052871, -0.4289999988052871, -0.4289999988052871, 0.4289999988052871, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8127061128616333, 0.0, 0.0, 1.7392923831939697, -1.1497174501419067, -1.600030541419983, -1.8008912801742554, -0.4199265241622925, -0.0001174454009742476, -0.00038037929334677756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9258641600608826, -1.4258311986923218, 1.385871171951294, -1.4068307876586914, 0.21305842697620392, 0.41586172580718994, -0.1852576583623886, 0.32219999674912336, 0.32219999674912336, 0.32219999674912336, 0.32219999674912336, -0.32219999674912336, -0.32219999674912336, -0.32219999674912336, 0.32219999674912336, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392923831939697, -1.1497172117233276, -1.6000298261642456, -1.8008919954299927, -0.4199265241622925, -0.00011672634718706831, -0.0003840943973045796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9287348985671997, -1.4293327331542969, 1.391345739364624, -1.4152761697769165, 0.21336066722869873, 0.41811463236808777, -0.1862793117761612, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, 0.29399999786209274, -0.29399999786209274, -0.29399999786209274, -0.29399999786209274, 0.29399999786209274, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392921447753906, -1.1497174501419067, -1.6000292301177979, -1.8008908033370972, -0.4199284315109253, -0.00011588745837798342, -0.00038984682760201395, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9292917847633362, -1.4324555397033691, 1.3968846797943115, -1.4181358814239502, 0.22118791937828064, 0.42602434754371643, -0.1859956532716751, 0.2640000107524159, 0.2640000107524159, 0.2640000107524159, 0.2640000107524159, -0.2640000107524159, -0.2640000107524159, -0.2640000107524159, 0.2640000107524159, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392925024032593, -1.1497174501419067, -1.6000279188156128, -1.8008911609649658, -0.4199291467666626, -0.00011396998161217198, -0.0003950000391341746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9283306002616882, -1.4343913793563843, 1.3995076417922974, -1.4133902788162231, 0.22427146136760712, 0.4287399649620056, -0.18502911925315857, 0.25199998446873256, 0.25199998446873256, 0.25199998446873256, 0.25199998446873256, -0.25199998446873256, -0.25199998446873256, -0.25199998446873256, 0.25199998446873256, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392922639846802, -1.1497176885604858, -1.6000267267227173, -1.800889492034912, -0.419931560754776, -0.00011085408186772838, -0.0003950000391341746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.927819550037384, -1.4363664388656616, 1.4002957344055176, -1.4122434854507446, 0.22413891553878784, 0.4299200475215912, -0.1851731687784195, 0.21779999208974313, 0.21779999208974313, 0.21779999208974313, 0.21779999208974313, -0.21779999208974313, -0.21779999208974313, -0.21779999208974313, 0.21779999208974313, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392927408218384, -1.1497178077697754, -1.6000258922576904, -1.8008887767791748, -0.41993096470832825, -0.00010869692050619051, -0.0003955992578994483, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9237881898880005, -1.4390079975128174, 1.4004021883010864, -1.4043433666229248, 0.22392524778842926, 0.4306919574737549, -0.18470363318920135, 0.19860001291547505, 0.19860001291547505, 0.19860001291547505, 0.19860001291547505, -0.19860001291547505, -0.19860001291547505, -0.19860001291547505, 0.19860001291547505, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739292025566101, -1.1497176885604858, -1.6000239849090576, -1.8008872270584106, -0.41993120312690735, -0.00010653975914465263, -0.00039619847666472197, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.923028826713562, -1.4407662153244019, 1.4022866487503052, -1.4038621187210083, 0.2253076285123825, 0.43243542313575745, -0.18711760640144348, 0.14099999679313915, 0.14099999679313915, 0.14099999679313915, 0.14099999679313915, -0.14099999679313915, -0.14099999679313915, -0.14099999679313915, 0.14099999679313915, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739291787147522, -1.149717926979065, -1.600023865699768, -1.8008865118026733, -0.4199322760105133, -0.00010462228237884119, -0.00039619847666472197, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9208740592002869, -1.4414504766464233, 1.4055206775665283, -1.4044691324234009, 0.22547492384910583, 0.44106656312942505, -0.18689997494220734, 0.11399999660450022, 0.11399999660450022, 0.11399999660450022, 0.11399999660450022, -0.11399999660450022, -0.11399999660450022, -0.11399999660450022, 0.11399999660450022, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392921447753906, -1.149718165397644, -1.6000241041183472, -1.8008856773376465, -0.4199322760105133, -0.00010330401710234582, -0.0003959587775170803, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9187363386154175, -1.4425528049468994, 1.409006953239441, -1.4043127298355103, 0.23037515580654144, 0.4424707591533661, -0.18716171383857727, 0.08759998594011582, 0.08759998594011582, 0.08759998594011582, 0.08759998594011582, -0.08759998594011582, -0.08759998594011582, -0.08759998594011582, 0.08759998594011582, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392916679382324, -1.149717926979065, -1.6000242233276367, -1.8008846044540405, -0.41993239521980286, -0.00010354370169807225, -0.00039583895704708993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9163045883178711, -1.4434056282043457, 1.4106993675231934, -1.4036380052566528, 0.23156481981277466, 0.4455631673336029, -0.1853480190038681, 0.07260001203516027, 0.07260001203516027, 0.07260001203516027, 0.07260001203516027, -0.07260001203516027, -0.07260001203516027, -0.07260001203516027, 0.07260001203516027, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739290714263916, -1.1497180461883545, -1.600024700164795, -1.8008840084075928, -0.41993239521980286, -0.00010522149386815727, -0.0003941611503250897, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9137132167816162, -1.4445433616638184, 1.411216139793396, -1.4035954475402832, 0.23530317842960358, 0.4476267397403717, -0.18330255150794983, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, 0.03420001438685827, -0.03420001438685827, -0.03420001438685827, -0.03420001438685827, 0.03420001438685827, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392914295196533, -1.1497178077697754, -1.6000263690948486, -1.8008841276168823, -0.41993263363838196, -0.00010689928603824228, -0.0003906857455149293, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9117357134819031, -1.4453766345977783, 1.4133130311965942, -1.4037535190582275, 0.23886321485042572, 0.45166146755218506, -0.18230223655700684, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392903566360474, -1.1497180461883545, -1.6000263690948486, -1.8008835315704346, -0.4199320375919342, -0.00010845723591046408, -0.00038601187407039106, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9080513715744019, -1.4453753232955933, 1.418365478515625, -1.4038680791854858, 0.2544431984424591, 0.46066126227378845, -0.18066315352916718, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392897605895996, -1.1497176885604858, -1.6000269651412964, -1.8008832931518555, -0.4199320375919342, -0.00010869692050619051, -0.0003806189924944192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9015733599662781, -1.4456244707107544, 1.423763632774353, -1.399233341217041, 0.27275413274765015, 0.46885403990745544, -0.17906877398490906, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.739289402961731, -1.1497178077697754, -1.6000266075134277, -1.8008835315704346, -0.4199317991733551, -0.00010953581659123302, -0.0003722300170920789, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8998799920082092, -1.4460194110870361, 1.4337482452392578, -1.4005788564682007, 0.2978125512599945, 0.476354718208313, -0.1755506843328476, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392890453338623, -1.1497174501419067, -1.6000269651412964, -1.8008832931518555, -0.41993072628974915, -0.00010953581659123302, -0.0003653990279417485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8992340564727783, -1.4458547830581665, 1.441698670387268, -1.403074860572815, 0.3228387236595154, 0.4829077124595642, -0.17503991723060608, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392891645431519, -1.1497174501419067, -1.6000287532806396, -1.8008835315704346, -0.41992902755737305, -0.00010977550118695945, -0.0003566505329217762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8972962498664856, -1.4446113109588623, 1.446909785270691, -1.4040379524230957, 0.349404513835907, 0.4880274832248688, -0.17798946797847748, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392886877059937, -1.1497174501419067, -1.6000299453735352, -1.8008835315704346, -0.41992807388305664, -0.00010989534348482266, -0.00034934014547616243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8970250487327576, -1.4437074661254883, 1.4505468606948853, -1.4065077304840088, 0.376325398683548, 0.4906919300556183, -0.18453596532344818, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392886877059937, -1.1497180461883545, -1.6000291109085083, -1.8008843660354614, -0.41992783546447754, -0.00010893660510191694, -0.00034694329951889813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8968207836151123, -1.4428342580795288, 1.4557560682296753, -1.4115679264068604, 0.414702832698822, 0.49877241253852844, -0.19537246227264404, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392886877059937, -1.149717926979065, -1.600029468536377, -1.8008848428726196, -0.4199272394180298, -0.00010761833982542157, -0.0003471829986665398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8909658789634705, -1.4426506757736206, 1.4559141397476196, -1.4110229015350342, 0.4433439373970032, 0.505538821220398, -0.2123073786497116, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739288568496704, -1.1497175693511963, -1.600029706954956, -1.8008852005004883, -0.4199270009994507, -0.00010498180927243084, -0.00034622426028363407, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8862878680229187, -1.441718339920044, 1.4513636827468872, -1.4067654609680176, 0.44604435563087463, 0.505185067653656, -0.2187938392162323, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392886877059937, -1.149718165397644, -1.6000288724899292, -1.8008860349655151, -0.4199267625808716, -0.0001030643325066194, -0.0003463441098574549, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8818347454071045, -1.441128134727478, 1.4436649084091187, -1.4015474319458008, 0.4479866325855255, 0.5007578134536743, -0.23009364306926727, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.739288330078125, -1.1497180461883545, -1.6000291109085083, -1.8008856773376465, -0.41992735862731934, -0.00010294449020875618, -0.00034610441070981324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8759993314743042, -1.4412554502487183, 1.440650463104248, -1.3945006132125854, 0.46392732858657837, 0.49823179841041565, -0.23946087062358856, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694546632777463, -0.9975220341949043, -0.01121788949113312, -33.80272674560547], [0.9975770185256211, 0.06949499709183315, -0.0032461498330910127, 11.135045051574707], [0.004017693182369199, -0.010965248509108025, 0.9999318084082663, 0.2840159833431244], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7504511475563049, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392888069152832, -1.149717926979065, -1.6000282764434814, -1.8008856773376465, -0.41992688179016113, -0.00010246512101730332, -0.00034706314909271896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8742772340774536, -1.441548466682434, 1.4424629211425781, -1.3932850360870361, 0.4980972111225128, 0.4954741299152374, -0.25494784116744995, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694233834104524, -0.9975242052575267, -0.011218456274605524, -33.802669525146484], [0.9975790888087792, 0.06946401227810295, -0.0032730062134574784, 11.133978843688965], [0.004044181906282678, -0.010964074223000459, 0.9999317145031161, 0.2842886447906494], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7503553032875061, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392890453338623, -1.1497182846069336, -1.6000279188156128, -1.8008865118026733, -0.41992735862731934, -0.00010282464791089296, -0.0003495798446238041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8718473315238953, -1.4426398277282715, 1.4467713832855225, -1.3932948112487793, 0.5316089391708374, 0.49579277634620667, -0.2675325870513916, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694198574241135, -0.997524390067994, -0.011223841351886265, -33.80271911621094], [0.9975794698143383, 0.06946013472880352, -0.0032389949676347105, 11.133867263793945], [0.0040105860119998525, -0.010971823136244322, 0.9999317648204338, 0.2837272882461548], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392897605895996, -1.149717926979065, -1.6000276803970337, -1.8008865118026733, -0.41992759704589844, -0.00010270480561302975, -0.0003525759093463421, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8718222379684448, -1.4435505867004395, 1.452214002609253, -1.3947190046310425, 0.5669136643409729, 0.49246788024902344, -0.2788597345352173, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943917624598539, -0.997523077206305, -0.011221017919194191, -33.8025016784668], [0.9975781591629161, 0.06947935029511043, -0.0032305175586499015, 11.134527206420898], [0.0040021448507488525, -0.010969517921642996, 0.9999318239325921, 0.283732533454895], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392901182174683, -1.149718165397644, -1.6000279188156128, -1.8008869886398315, -0.41992878913879395, -0.00010402307088952512, -0.00035892752930521965, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8690963387489319, -1.4439985752105713, 1.4631800651550293, -1.3964436054229736, 0.6189454197883606, 0.49946174025535583, -0.2918049693107605, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943520731309538, -0.9975232691967414, -0.011228508201570599, -33.802581787109375], [0.9975783723704967, 0.06947557847315822, -0.0032457625376057803, 11.134387016296387], [0.004017830760243548, -0.010975946741183837, 0.9999316904814632, 0.28364813327789307], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.1497180461883545, -1.6000272035598755, -1.800886631011963, -0.4199291467666626, -0.00010665960144251585, -0.0003671966551337391, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.864610493183136, -1.442671537399292, 1.4753423929214478, -1.3964271545410156, 0.6760387420654297, 0.5074367523193359, -0.3045298159122467, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06944096380538622, -0.9975228660394335, -0.01122872540644619, -33.80250930786133], [0.9975780598700861, 0.06948109369428768, -0.0032236756785794414, 11.134588241577148], [0.003995874324110896, -0.010977674959659994, 0.9999317594920495, 0.2833966910839081], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.1497180461883545, -1.6000268459320068, -1.8008861541748047, -0.4199293851852417, -0.00010869692050619051, -0.00037390782381407917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8615359663963318, -1.4408479928970337, 1.4882367849349976, -1.3973263502120972, 0.7471107244491577, 0.5139962434768677, -0.32243067026138306, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940034701150588, -0.9975257512611266, -0.011223520196776403, -33.80295944213867], [0.9975808964973586, 0.06944043489037921, -0.0032219475106733536, 11.133210182189941], [0.003993341734573461, -0.010972765064462826, 0.999931823500298, 0.2835439145565033], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.73928964138031, -1.149718165397644, -1.6000256538391113, -1.800886631011963, -0.4199306070804596, -0.00011049455497413874, -0.0003844539460260421, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8593913912773132, -1.4368956089019775, 1.5002084970474243, -1.3947035074234009, 0.8135149478912354, 0.5148801803588867, -0.33435365557670593, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0693975444220506, -0.9975259661206597, -0.011221753126578289, -33.80305099487305], [0.9975810701609482, 0.06943768526861993, -0.00322743258229229, 11.133116722106934], [0.003998660366505906, -0.010970632597095133, 0.999931825643975, 0.28366291522979736], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392897605895996, -1.149717926979065, -1.6000256538391113, -1.8008862733840942, -0.4199320375919342, -0.0001109739241655916, -0.00039056589594110847, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8577194809913635, -1.4317985773086548, 1.5109779834747314, -1.3904820680618286, 0.8767470717430115, 0.5144085884094238, -0.34220463037490845, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941089705951053, -0.9975250362178865, -0.011221830862138845, -33.80289077758789], [0.9975800614852197, 0.06945125538596664, -0.003247160676449787, 11.133563041687012], [0.0040184943124854, -0.010969286385980456, 0.9999317609015341, 0.28388333320617676], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.149717926979065, -1.6000257730484009, -1.800886869430542, -0.4199334681034088, -0.00011133345105918124, -0.00039583895704708993, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8583874106407166, -1.4266730546951294, 1.5198863744735718, -1.3873660564422607, 0.9370352625846863, 0.5089537501335144, -0.3485057055950165, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694034151495031, -0.9975254561912911, -0.011230770941595844, -33.803016662597656], [0.9975805371493262, 0.06944392554024492, -0.003257776300327937, 11.133305549621582], [0.004029623611181532, -0.010977497707482351, 0.9999316260013154, 0.2836976945400238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.73928964138031, -1.1497178077697754, -1.6000257730484009, -1.800886631011963, -0.41993311047554016, -0.0001109739241655916, -0.00039787625428289175, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8583911061286926, -1.4196065664291382, 1.5312707424163818, -1.3829797506332397, 1.0035053491592407, 0.5093643069267273, -0.35351449251174927, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940031465554353, -0.9975256801644425, -0.011230037318625168, -33.8031005859375], [0.9975807603784026, 0.06944080234561667, -0.003255993311601586, 11.13320255279541], [0.004027759744542799, -0.010976902207050436, 0.999931640048147, 0.28370168805122375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.73928964138031, -1.1497178077697754, -1.6000257730484009, -1.8008859157562256, -0.419933944940567, -0.00011169297795277089, -0.0003987151721958071, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8580445051193237, -1.4123389720916748, 1.5372132062911987, -1.38066828250885, 1.0619003772735596, 0.5070876479148865, -0.36399710178375244, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941476511614353, -0.9975247732317092, -0.011221282141432667, -33.802974700927734], [0.9975797889152939, 0.06945513075202125, -0.0032480086109794816, 11.13369369506836], [0.0040193446714604725, -0.010968664515183007, 0.9999317643055277, 0.2839125096797943], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392895221710205, -1.1497176885604858, -1.6000251770019531, -1.8008859157562256, -0.419933944940567, -0.00011109376646345481, -0.00039883499266579747, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8583091497421265, -1.4070839881896973, 1.5468828678131104, -1.3750048875808716, 1.1295361518859863, 0.5000029802322388, -0.3707588315010071, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940698597760064, -0.9975252587297458, -0.011226241296997837, -33.80313491821289], [0.9975802491003357, 0.06944758907633108, -0.0032678703152073016, 11.133420944213867], [0.004039418574138063, -0.010972263560375369, 0.999931643928696, 0.2839641571044922], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7497801184654236, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392898797988892, -1.1497176885604858, -1.6000264883041382, -1.8008849620819092, -0.41993406414985657, -0.00010953581659123302, -0.00039847547304816544, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8595705032348633, -1.4005589485168457, 1.5559263229370117, -1.3711612224578857, 1.2029399871826172, 0.49418318271636963, -0.38304829597473145, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940491607881216, -0.9975255062102398, -0.011217044356589363, -33.803192138671875], [0.9975804042766139, 0.06944545887041231, -0.003265768758682096, 11.133353233337402], [0.00403666042668306, -0.010963243237405992, 0.9999317540064008, 0.28425100445747375], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392882108688354, -1.1497178077697754, -1.6000266075134277, -1.8008842468261719, -0.4199344217777252, -0.000107858024421148, -0.0003989548422396183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.858285129070282, -1.3949536085128784, 1.558042049407959, -1.3609395027160645, 1.2774907350540161, 0.47776705026626587, -0.3974752724170685, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940987239735463, -0.9975251474410215, -0.011218281354595988, -33.803131103515625], [0.997580057617115, 0.06945042385573741, -0.0032660788251031216, 11.133519172668457], [0.004037110156574596, -0.010964435645592765, 0.9999317391165046, 0.284214049577713], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392877340316772, -1.1497176885604858, -1.6000266075134277, -1.8008843660354614, -0.41993406414985657, -0.00010510165157029405, -0.0003996739105787128, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8581277132034302, -1.388116478919983, 1.5590214729309082, -1.3526688814163208, 1.3201185464859009, 0.4662993550300598, -0.3959638178348541, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06937107205409265, -0.9975277491169794, -0.011226936522431494, -33.80354690551758], [0.9975826377151907, 0.06941197612750782, -0.0032952237066737225, 11.132200241088867], [0.004066360936835209, -0.010971203748318201, 0.9999315463555715, 0.2842367887496948], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.739288091659546, -1.1497180461883545, -1.6000277996063232, -1.8008846044540405, -0.4199334681034088, -0.00010402307088952512, -0.0003987151721958071, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.858515739440918, -1.381443977355957, 1.5633565187454224, -1.3435324430465698, 1.3834412097930908, 0.457714706659317, -0.4000880718231201, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06937803696884326, -0.9975274200414279, -0.011213128548378182, -33.80347442626953], [0.9975821821353326, 0.06941881734638833, -0.0032890248306946613, 11.132434844970703], [0.004059294576396477, -0.010957831159559724, 0.9999317217009472, 0.2846361994743347], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.739288568496704, -1.1497180461883545, -1.600027322769165, -1.8008846044540405, -0.4199329912662506, -0.00010318417480448261, -0.0003950000391341746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8579233884811401, -1.375755786895752, 1.5634688138961792, -1.3316162824630737, 1.4269343614578247, 0.44311851263046265, -0.391554594039917, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06937637464619395, -0.9975275698781498, -0.011210083583271913, -33.8034782409668], [0.9975821842800175, 0.06941745022076029, -0.0033171089757904823, 11.13237190246582], [0.004087083074753618, -0.010952850671915268, 0.9999316630720816, 0.28505149483680725], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.73928964138031, -1.149717926979065, -1.6000276803970337, -1.8008848428726196, -0.4199329912662506, -0.0001023452787194401, -0.0003892476379405707, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8632708787918091, -1.3702765703201294, 1.566062331199646, -1.3313207626342773, 1.4857780933380127, 0.43000489473342896, -0.39931556582450867, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940110041789704, -0.9975258729115366, -0.011208038760713942, -33.8032341003418], [0.9975803892151736, 0.06944236863099507, -0.003335339895681024, 11.133201599121094], [0.004105400600147864, -0.010949443410223789, 0.9999316253499129, 0.2853293716907501], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7392891645431519, -1.1497178077697754, -1.6000280380249023, -1.8008862733840942, -0.41993191838264465, -0.00010294449020875618, -0.00038121818215586245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.863946259021759, -1.3654711246490479, 1.5674768686294556, -1.320136308670044, 1.5277959108352661, 0.41768619418144226, -0.39058566093444824, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941768015212635, -0.9975246742907509, -0.011212041001899905, -33.80306625366211], [0.9975791801006219, 0.06945910857121484, -0.0033483826339299953, 11.133760452270508], [0.0041188726695677025, -0.010952461715220775, 0.9999315368915557, 0.28534379601478577], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8127061128616333, 0.0, 0.0, 1.7392892837524414, -1.149718165397644, -1.6000291109085083, -1.8008867502212524, -0.41993167996406555, -0.00010366354399593547, -0.00037354830419644713, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.869631290435791, -1.359287142753601, 1.5674928426742554, -1.3209919929504395, 1.5616375207901, 0.41211962699890137, -0.3870460093021393, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939401594446237, -0.9975261544701804, -0.011226829429237159, -33.8033447265625], [0.997580832443975, 0.06943547978111786, -0.003346175122722758, 11.132962226867676], [0.004117437490193273, -0.010967465317905734, 0.9999313783520422, 0.2848128378391266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7392891645431519, -1.1497180461883545, -1.6000289916992188, -1.8008875846862793, -0.41993024945259094, -0.00010402307088952512, -0.00036551884841173887, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8701815009117126, -1.353950023651123, 1.5640734434127808, -1.3197243213653564, 1.5807757377624512, 0.40322062373161316, -0.3866112232208252, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940032073178526, -0.9975258082013841, -0.011218620882289827, -33.80326461791992], [0.9975803805162773, 0.06944179208623202, -0.0033499135588384277, 11.133173942565918], [0.004120666368987308, -0.010958991013215397, 0.9999314579633185, 0.28513339161872864], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.73928964138031, -1.149718165397644, -1.600029706954956, -1.800887942314148, -0.41992878913879395, -0.00010570086305961013, -0.00035796879092231393, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8689241409301758, -1.3504329919815063, 1.562642216682434, -1.3141460418701172, 1.613378882408142, 0.3992138206958771, -0.3882569968700409, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06938442607338846, -0.9975269304091854, -0.011217153243795018, -33.80344009399414], [0.997581362430578, 0.06942622134479193, -0.0033801066456194827, 11.132627487182617], [0.004150511970622654, -0.010955496255864457, 0.9999313728212399, 0.2855156362056732], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6094539165496826, -0.8127061128616333, 0.0, 0.0, 1.7392899990081787, -1.1497184038162231, -1.6000293493270874, -1.8008896112442017, -0.41992735862731934, -0.00010821755131473765, -0.0003528155793901533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8681740760803223, -1.3424079418182373, 1.5606759786605835, -1.3125182390213013, 1.6376478672027588, 0.39728519320487976, -0.39401352405548096, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940614239094522, -0.9975254214070232, -0.011216998045327473, -33.80322265625], [0.9975798592099837, 0.06944791604861988, -0.003378084530176238, 11.1333646774292], [0.004148722333082034, -0.010955391514906382, 0.9999313813956227, 0.2855033874511719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392895221710205, -1.1497180461883545, -1.600029468536377, -1.8008897304534912, -0.41992783546447754, -0.00010953581659123302, -0.00034586474066600204, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8615124225616455, -1.3385653495788574, 1.5593405961990356, -1.3002676963806152, 1.6639702320098877, 0.3978523015975952, -0.3970625400543213, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.069412770614388, -0.9975249886079871, -0.011214471823025372, -33.80314636230469], [0.9975793147835074, 0.06945475451897598, -0.003398204051653434, 11.133581161499023], [0.004168691845441407, -0.010951446358534298, 0.9999313415584862, 0.28581535816192627], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392903566360474, -1.1497180461883545, -1.6000291109085083, -1.800889492034912, -0.41992783546447754, -0.00011073423956986517, -0.0003441869339440018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8556501865386963, -1.3338361978530884, 1.5593562126159668, -1.2879693508148193, 1.6871509552001953, 0.4002023935317993, -0.3958161771297455, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392901182174683, -1.1497182846069336, -1.6000295877456665, -1.8008897304534912, -0.41992759704589844, -0.00011193266254849732, -0.00034346789470873773, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8590989112854004, -1.3291677236557007, 1.558990716934204, -1.2885651588439941, 1.711569905281067, 0.3971750736236572, -0.3969724178314209, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.1497182846069336, -1.6000287532806396, -1.8008891344070435, -0.41992759704589844, -0.00011301124322926626, -0.0003441869339440018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8704212307929993, -1.3249326944351196, 1.5577505826950073, -1.3043920993804932, 1.7299684286117554, 0.39075642824172974, -0.40486642718315125, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392897605895996, -1.149718165397644, -1.600028157234192, -1.800889253616333, -0.41992664337158203, -0.00011289140093140304, -0.0003451456723269075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8749977946281433, -1.3207581043243408, 1.556679368019104, -1.3082387447357178, 1.7446564435958862, 0.38620999455451965, -0.40809786319732666, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392899990081787, -1.1497180461883545, -1.6000277996063232, -1.8008893728256226, -0.41992807388305664, -0.00011157313565490767, -0.0003459845611359924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8783658146858215, -1.3191742897033691, 1.5540111064910889, -1.311881422996521, 1.7465535402297974, 0.38181981444358826, -0.4068661034107208, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392899990081787, -1.149718165397644, -1.6000275611877441, -1.800889253616333, -0.41992878913879395, -0.00011049455497413874, -0.00034790203790180385, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8790308833122253, -1.3153818845748901, 1.5532574653625488, -1.310987114906311, 1.759740948677063, 0.38191506266593933, -0.407382994890213, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.1497178077697754, -1.600027322769165, -1.800889253616333, -0.4199293851852417, -0.00010749849752755836, -0.0003522163606248796, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8787488341331482, -1.3125555515289307, 1.551086187362671, -1.3102835416793823, 1.7637262344360352, 0.38154032826423645, -0.4069313108921051, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392897605895996, -1.1497182846069336, -1.6000266075134277, -1.8008887767791748, -0.41993048787117004, -0.00010558102076174691, -0.00035988626768812537, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8782631754875183, -1.3095682859420776, 1.5486077070236206, -1.3103022575378418, 1.767025113105774, 0.3814460039138794, -0.4067377746105194, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392897605895996, -1.149717926979065, -1.6000264883041382, -1.800889253616333, -0.41993096470832825, -0.00010510165157029405, -0.0003679156943690032, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8782094717025757, -1.3075504302978516, 1.5475459098815918, -1.3107179403305054, 1.7726484537124634, 0.38187888264656067, -0.4067586064338684, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392909526824951, -1.1497180461883545, -1.6000254154205322, -1.8008885383605957, -0.4199325144290924, -0.00010426275548525155, -0.00039296274189837277, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8790687918663025, -1.3060952425003052, 1.5450499057769775, -1.3149558305740356, 1.7779541015625, 0.3819652795791626, -0.40248623490333557, 0.08459999901907786, 0.08459999901907786, 0.08459999901907786, 0.08459999901907786, -0.08459999901907786, -0.08459999901907786, -0.08459999901907786, 0.08459999901907786, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392867803573608, -1.1497184038162231, -1.6000242233276367, -1.800886631011963, -0.419933944940567, -0.00010198575182585046, -0.0004084223764948547, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8796153664588928, -1.3060922622680664, 1.545303463935852, -1.323864459991455, 1.7850490808486938, 0.3837012052536011, -0.39839279651641846, 0.14040000726888469, 0.14040000726888469, 0.14040000726888469, 0.14040000726888469, -0.14040000726888469, -0.14040000726888469, -0.14040000726888469, 0.14040000726888469, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392886877059937, -1.1497180461883545, -1.6000233888626099, -1.8008854389190674, -0.4199351370334625, -0.00010258496331516653, -0.0004091414448339492, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.875973105430603, -1.3052432537078857, 1.548280954360962, -1.3183972835540771, 1.7911990880966187, 0.39046353101730347, -0.39536964893341064, 0.27780000560886253, 0.27780000560886253, 0.27780000560886253, 0.27780000560886253, -0.27780000560886253, -0.27780000560886253, -0.27780000560886253, 0.27780000560886253, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392876148223877, -1.1497184038162231, -1.6000194549560547, -1.800884485244751, -0.4199341833591461, -0.00010438259778311476, -0.000431432097684592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8779350519180298, -1.301072359085083, 1.5488003492355347, -1.3177638053894043, 1.7842446565628052, 0.3891404867172241, -0.39349639415740967, 0.44639999958185045, 0.44639999958185045, 0.44639999958185045, 0.44639999958185045, -0.44639999958185045, -0.44639999958185045, -0.44639999958185045, 0.44639999958185045, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.1497182846069336, -1.6000210046768188, -1.800881028175354, -0.4199353754520416, -0.00010534133616602048, -0.0004243614093866199, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9037640690803528, -1.2961093187332153, 1.5599427223205566, -1.3474477529525757, 1.7779940366744995, 0.39145055413246155, -0.3979226350784302, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, -0.5855999996537691, -0.5855999996537691, -0.5855999996537691, 0.5855999996537691, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392903566360474, -1.1497184038162231, -1.6000205278396606, -1.8008824586868286, -0.4199353754520416, -0.00010797786671901122, -0.0004242415598127991, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9274519681930542, -1.2891641855239868, 1.5804479122161865, -1.353654384613037, 1.7756927013397217, 0.4129580557346344, -0.40132761001586914, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392913103103638, -1.1497180461883545, -1.6000210046768188, -1.8008815050125122, -0.41993600130081177, -0.00010965565888909623, -0.00042088597547262907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9756564497947693, -1.2798274755477905, 1.6043837070465088, -1.4006792306900024, 1.7768514156341553, 0.43713992834091187, -0.40824177861213684, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392852306365967, -1.1497178077697754, -1.6000242233276367, -1.8008818626403809, -0.41993600130081177, -0.0001125318740378134, -0.00041549306479282677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.003390908241272, -1.2731297016143799, 1.6183751821517944, -1.416942834854126, 1.7771674394607544, 0.455672949552536, -0.40591961145401, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939708232511665, -0.9975260478204483, -0.011217347479585582, -33.80332946777344], [0.9975804463187868, 0.06943897169798319, -0.003388558976439497, 11.133049964904785], [0.004159096917735582, -0.010955050398946418, 0.9999313420348346, 0.28560617566108704], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392878532409668, -1.1497176885604858, -1.6000254154205322, -1.8008824586868286, -0.41993576288223267, -0.00011480887769721448, -0.0004132160684093833, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0213907957077026, -1.2691236734390259, 1.6198655366897583, -1.4393162727355957, 1.763029932975769, 0.4579976499080658, -0.4021356999874115, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941731910986848, -0.9975246487887865, -0.011216544316612346, -33.8031005859375], [0.997579069461039, 0.06945912235598117, -0.0033809014750501207, 11.133743286132812], [0.004151623880587724, -0.010954696725362072, 0.9999313769648442, 0.28555232286453247], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392879724502563, -1.1497173309326172, -1.6000242233276367, -1.800882339477539, -0.419935017824173, -0.0001157676160801202, -0.00041309621883556247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0199699401855469, -1.2657554149627686, 1.6273044347763062, -1.4385535717010498, 1.7773233652114868, 0.4998469352722168, -0.4109238386154175, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940145954138377, -0.99752569188259, -0.011221918182099472, -33.80331802368164], [0.9975802741695585, 0.06944301398397967, -0.0033562473999004566, 11.133210182189941], [0.004127226830961455, -0.010961835748672079, 0.9999313997248536, 0.28509294986724854], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7392878532409668, -1.1497173309326172, -1.600024700164795, -1.8008835315704346, -0.41993334889411926, -0.00011540808918653056, -0.0004090215952601284, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0176743268966675, -1.2644046545028687, 1.6275017261505127, -1.436766505241394, 1.781988263130188, 0.5074820518493652, -0.41502508521080017, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941577911621932, -0.9975247047466956, -0.011221097526800367, -33.80316162109375], [0.9975792278416955, 0.06945746248052398, -0.003368246507199944, 11.133691787719727], [0.00413929806306675, -0.0109601243507691, 0.999931368587745, 0.28525808453559875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392878532409668, -1.149717092514038, -1.6000263690948486, -1.8008837699890137, -0.4199322760105133, -0.00011540808918653056, -0.00039763658423908055, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0176182985305786, -1.264373540878296, 1.6273412704467773, -1.4366090297698975, 1.7815560102462769, 0.5051860213279724, -0.4146000146865845, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940558234465077, -0.9975255201760173, -0.01121167859717825, -33.803287506103516], [0.9975800372293909, 0.0694469694756461, -0.0033448097189503457, 11.133352279663086], [0.004115150156094735, -0.010952398286001246, 0.999931552912987, 0.2853127419948578], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.739288091659546, -1.149716854095459, -1.600027084350586, -1.8008838891983032, -0.4199313223361969, -0.00011444935080362484, -0.000385292834835127, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.017608880996704, -1.264371633529663, 1.627249002456665, -1.4365441799163818, 1.7813360691070557, 0.5050233602523804, -0.4143059253692627, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940899454925653, -0.997525225449674, -0.011216776151734182, -33.803260803222656], [0.9975798403837491, 0.06945029041223227, -0.0033345496832180854, 11.13347053527832], [0.004105305785752198, -0.010958182022280523, 0.9999315300115164, 0.2850271761417389], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739288091659546, -1.149716854095459, -1.6000280380249023, -1.8008841276168823, -0.4199308454990387, -0.00011265171633567661, -0.00037630466977134347, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.017594337463379, -1.2643721103668213, 1.6271965503692627, -1.4365055561065674, 1.7812961339950562, 0.5049628615379333, -0.41427847743034363, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694279545345522, -0.9975238176271519, -0.011224633432803636, -33.80304718017578], [0.9975784912961694, 0.0694693547262335, -0.003341026366168562, 11.134111404418945], [0.0041125214171888105, -0.010965492258599701, 0.9999314202219669, 0.28483766317367554], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392882108688354, -1.1497164964675903, -1.6000282764434814, -1.8008843660354614, -0.4199308454990387, -0.0001109739241655916, -0.00037294908543117344, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0175822973251343, -1.2643717527389526, 1.6271535158157349, -1.4364821910858154, 1.7812730073928833, 0.5048848390579224, -0.4142743945121765, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942436193703405, -0.9975240902363154, -0.011222627493018646, -33.8030891418457], [0.9975787559754176, 0.06946571656507439, -0.003337641178891285, 11.133991241455078], [0.004108965341054238, -0.010963741164041764, 0.9999314540424828, 0.28486737608909607], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392879724502563, -1.1497163772583008, -1.6000285148620605, -1.8008840084075928, -0.4199296236038208, -0.00011061439727200195, -0.0003687546122819185, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0177407264709473, -1.264286994934082, 1.6272268295288086, -1.4364516735076904, 1.7812961339950562, 0.5046225190162659, -0.41434246301651, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942432537956511, -0.9975242015719715, -0.011212953392975624, -33.80308532714844], [0.9975787170093561, 0.06946575816058875, -0.0033484045666188392, 11.133986473083496], [0.0041190309005187985, -0.01095334293151496, 0.9999315265872285, 0.28531408309936523], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8127061128616333, 0.0, 0.0, 1.7392975091934204, -1.149715781211853, -1.6000550985336304, -1.80088210105896, -0.41992831230163574, -0.00010929613199550658, -0.00033364081173203886, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0345737934112549, -1.264094591140747, 1.6548930406570435, -1.4536985158920288, 1.8410359621047974, 0.5045472383499146, -0.43723222613334656, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694030392597782, -0.9975256740433411, -0.011213731131234543, -33.80335235595703], [0.9975801413517439, 0.06944462682661667, -0.0033623482191240334, 11.133262634277344], [0.004132762047392726, -0.010953238301520497, 0.9999314710761782, 0.28543779253959656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392898797988892, -1.1497156620025635, -1.6000540256500244, -1.8008840084075928, -0.4199279546737671, -0.00010809770901687443, -0.0003308844461571425, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.053633213043213, -1.2558902502059937, 1.6872326135635376, -1.4729595184326172, 1.9490835666656494, 0.5290257334709167, -0.4660486578941345, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939624626039897, -0.9975260288943135, -0.011224200787026479, -33.80348587036133], [0.9975806426031846, 0.06943779342180267, -0.0033547500843360235, 11.133036613464355], [0.004125834265134957, -0.010964238370834368, 0.9999313791298702, 0.28499743342399597], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.739291787147522, -1.1497153043746948, -1.6000546216964722, -1.8008836507797241, -0.41992855072021484, -0.00010797786671901122, -0.0003284876001998782, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0591274499893188, -1.2488889694213867, 1.6955732107162476, -1.4836047887802124, 1.993605136871338, 0.528209388256073, -0.4726562798023224, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943842389492527, -0.9975232280416517, -0.011212261339777718, -33.80286407470703], [0.9975776468381433, 0.0694800892213312, -0.003369826504225656, 11.134459495544434], [0.004140509130696129, -0.010951105841816968, 0.9999314623837876, 0.2855795919895172], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392927408218384, -1.1497154235839844, -1.600049614906311, -1.8008850812911987, -0.41992783546447754, -0.00010905644739978015, -0.0003341201809234917, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0470705032348633, -1.2463741302490234, 1.6925667524337769, -1.4731413125991821, 2.027581214904785, 0.5093587040901184, -0.47642987966537476, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942823353437988, -0.9975239599558413, -0.01121024987734357, -33.80298614501953], [0.9975784079631257, 0.0694697553957162, -0.0033575364502623772, 11.134117126464844], [0.00412799637246572, -0.010949995400740216, 0.999931526279011, 0.28550824522972107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739290714263916, -1.1497154235839844, -1.6000478267669678, -1.8008843660354614, -0.41992759704589844, -0.0001094159742933698, -0.00033567813807167113, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0209486484527588, -1.2432702779769897, 1.6753281354904175, -1.451129674911499, 2.0137648582458496, 0.48394638299942017, -0.46936696767807007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0694343743975554, -0.9975236227068001, -0.011202222722376344, -33.80299758911133], [0.9975780303620949, 0.06947573662716022, -0.0033459466518002035, 11.134325981140137], [0.004115943500986035, -0.010942767566530355, 0.9999316550880273, 0.2856528162956238], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392914295196533, -1.1497154235839844, -1.6000415086746216, -1.8008841276168823, -0.41992735862731934, -0.00011061439727200195, -0.0003386742027942091, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9793661236763, -1.2414462566375732, 1.658431053161621, -1.4031572341918945, 2.039257764816284, 0.4720950424671173, -0.4697723984718323, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941135392426334, -0.9975250047886444, -0.011221798778074048, -33.803165435791016], [0.9975796244938229, 0.06945280434356838, -0.0033467541854008335, 11.133548736572266], [0.004117856379734853, -0.01096233507191598, 0.9999314328835788, 0.2849935293197632], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392914295196533, -1.1497154235839844, -1.600035548210144, -1.80088210105896, -0.4199289083480835, -0.00011121360876131803, -0.00033903372241184115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9421468377113342, -1.2395849227905273, 1.6346803903579712, -1.3599961996078491, 2.0334036350250244, 0.4625626802444458, -0.455864816904068, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, 0.5855999996537691, -0.5855999996537691, -0.5855999996537691, -0.5855999996537691, 0.5855999996537691, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392947673797607, -1.1497154235839844, -1.6000343561172485, -1.8008843660354614, -0.41993001103401184, -0.00011385013931430876, -0.0003487409558147192, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9178040027618408, -1.2391469478607178, 1.6208369731903076, -1.3296315670013428, 2.043086528778076, 0.4630252718925476, -0.45529136061668396, 0.5021999980067159, 0.5021999980067159, 0.5021999980067159, 0.5021999980067159, -0.5021999980067159, -0.5021999980067159, -0.5021999980067159, 0.5021999980067159, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.1497153043746948, -1.6000299453735352, -1.8008822202682495, -0.41993120312690735, -0.00011385013931430876, -0.00035509257577359676, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9041658043861389, -1.2386773824691772, 1.6085658073425293, -1.3112868070602417, 2.0374419689178467, 0.4521596431732178, -0.447013258934021, 0.44520000088345874, 0.44520000088345874, 0.44520000088345874, 0.44520000088345874, -0.44520000088345874, -0.44520000088345874, -0.44520000088345874, 0.44520000088345874, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392942905426025, -1.1497151851654053, -1.6000254154205322, -1.8008809089660645, -0.4199334681034088, -0.00011588745837798342, -0.0003632418520282954, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8872570991516113, -1.2381243705749512, 1.6002305746078491, -1.2853014469146729, 2.0342178344726562, 0.45155492424964905, -0.44138404726982117, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, 0.3389999981764909, -0.3389999981764909, -0.3389999981764909, -0.3389999981764909, 0.3389999981764909, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392957210540771, -1.1497153043746948, -1.600022554397583, -1.8008813858032227, -0.41993406414985657, -0.00011588745837798342, -0.00038037929334677756, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8785836100578308, -1.2375094890594482, 1.5950791835784912, -1.2745033502578735, 2.041194438934326, 0.4527807831764221, -0.4421614408493042, 0.2856000069733505, 0.2856000069733505, 0.2856000069733505, 0.2856000069733505, -0.2856000069733505, -0.2856000069733505, -0.2856000069733505, 0.2856000069733505, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392946481704712, -1.1497153043746948, -1.6000210046768188, -1.800881028175354, -0.41993454098701477, -0.00011444935080362484, -0.00038253646926023066, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8787206411361694, -1.2370198965072632, 1.591400384902954, -1.2760988473892212, 2.0439820289611816, 0.4524649977684021, -0.4425356090068817, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, 0.2502000158959693, -0.2502000158959693, -0.2502000158959693, -0.2502000158959693, 0.2502000158959693, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392956018447876, -1.1497148275375366, -1.6000195741653442, -1.800881028175354, -0.4199352562427521, -0.00011289140093140304, -0.00039404130075126886, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8793039321899414, -1.2363898754119873, 1.5886728763580322, -1.2794798612594604, 2.0472233295440674, 0.4514821767807007, -0.4473075866699219, 0.2142000156444508, 0.2142000156444508, 0.2142000156444508, 0.2142000156444508, -0.2142000156444508, -0.2142000156444508, -0.2142000156444508, 0.2142000156444508, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392951250076294, -1.1497148275375366, -1.600019097328186, -1.8008804321289062, -0.419935017824173, -0.00011037471267627552, -0.00039943421143107116, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.877230703830719, -1.2361522912979126, 1.5840113162994385, -1.2745171785354614, 2.0483248233795166, 0.4512428641319275, -0.45178622007369995, 0.1872000154558119, 0.1872000154558119, 0.1872000154558119, 0.1872000154558119, -0.1872000154558119, -0.1872000154558119, -0.1872000154558119, 0.1872000154558119, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392957210540771, -1.1497139930725098, -1.6000186204910278, -1.800880789756775, -0.4199352562427521, -0.00010797786671901122, -0.0004051866417285055, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8732156753540039, -1.2361019849777222, 1.579725742340088, -1.2627248764038086, 2.048412799835205, 0.45167896151542664, -0.45238196849823, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, 0.17099998390281596, -0.17099998390281596, -0.17099998390281596, -0.17099998390281596, 0.17099998390281596, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.739295482635498, -1.1497137546539307, -1.6000186204910278, -1.8008803129196167, -0.4199351370334625, -0.00010641991684678942, -0.0004087819252163172, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8698510527610779, -1.236116647720337, 1.5784856081008911, -1.2539154291152954, 2.047797441482544, 0.45100054144859314, -0.44820523262023926, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, -0.15479999164958577, -0.15479999164958577, -0.15479999164958577, 0.15479999164958577, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739295482635498, -1.1497132778167725, -1.6000194549560547, -1.8008803129196167, -0.41993454098701477, -0.00010378338629379869, -0.0004133359179832041, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.865119993686676, -1.236186146736145, 1.576519250869751, -1.2488092184066772, 2.048349618911743, 0.45005977153778076, -0.4447433352470398, 0.1301999888577304, 0.1301999888577304, 0.1301999888577304, 0.1301999888577304, -0.1301999888577304, -0.1301999888577304, -0.1301999888577304, 0.1301999888577304, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.739295244216919, -1.149713158607483, -1.6000198125839233, -1.8008801937103271, -0.41993430256843567, -0.00010210559412371367, -0.0004129763983655721, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8606575131416321, -1.2365323305130005, 1.572593331336975, -1.2460896968841553, 2.048391103744507, 0.4485217332839966, -0.4421972930431366, 0.10079999127230806, 0.10079999127230806, 0.10079999127230806, 0.10079999127230806, -0.10079999127230806, -0.10079999127230806, -0.10079999127230806, 0.10079999127230806, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392957210540771, -1.149713158607483, -1.6000210046768188, -1.8008805513381958, -0.4199344217777252, -0.00010246512101730332, -0.00041022003279067576, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8554873466491699, -1.237141489982605, 1.569549560546875, -1.2356895208358765, 2.048250198364258, 0.44865667819976807, -0.4410848021507263, 0.07799999635298178, 0.07799999635298178, 0.07799999635298178, 0.07799999635298178, -0.07799999635298178, -0.07799999635298178, -0.07799999635298178, 0.07799999635298178, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392951250076294, -1.1497129201889038, -1.6000211238861084, -1.8008819818496704, -0.41993358731269836, -0.00010330401710234582, -0.0004105795524083078, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8530111908912659, -1.2372715473175049, 1.5668396949768066, -1.2296074628829956, 2.0484585762023926, 0.4490809142589569, -0.4402056336402893, 0.08220000162229436, 0.08220000162229436, 0.08220000162229436, 0.08220000162229436, -0.08220000162229436, -0.08220000162229436, -0.08220000162229436, 0.08220000162229436, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.739295244216919, -1.149713158607483, -1.6000218391418457, -1.80088210105896, -0.4199325144290924, -0.00010462228237884119, -0.000410819222452119, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8474636077880859, -1.2379904985427856, 1.564109444618225, -1.2198792695999146, 2.0498008728027344, 0.4495885670185089, -0.4366494417190552, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392951250076294, -1.149713397026062, -1.6000220775604248, -1.8008836507797241, -0.41993120312690735, -0.0001063000745489262, -0.0004106994019821286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8422165513038635, -1.238355040550232, 1.5629336833953857, -1.2132173776626587, 2.0494444370269775, 0.4518967270851135, -0.4360804259777069, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, 0.0858000173673525, -0.0858000173673525, -0.0858000173673525, -0.0858000173673525, 0.0858000173673525, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392946481704712, -1.1497135162353516, -1.6000232696533203, -1.800883173942566, -0.4199301302433014, -0.00010713897063396871, -0.0004055461613461375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8386613726615906, -1.2387630939483643, 1.5614818334579468, -1.2074246406555176, 2.048391342163086, 0.4529990255832672, -0.4341852366924286, 0.06899999629010213, 0.06899999629010213, 0.06899999629010213, 0.06899999629010213, -0.06899999629010213, -0.06899999629010213, -0.06899999629010213, 0.06899999629010213, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392945289611816, -1.1497135162353516, -1.600024938583374, -1.8008829355239868, -0.41992926597595215, -0.00010797786671901122, -0.00039823580300435424, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8356953859329224, -1.239445686340332, 1.559249997138977, -1.2020550966262817, 2.047726631164551, 0.4531624913215637, -0.4319816827774048, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, 0.05999999622722249, -0.05999999622722249, -0.05999999622722249, -0.05999999622722249, 0.05999999622722249, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294409751892, -1.1497139930725098, -1.6000257730484009, -1.8008842468261719, -0.4199281930923462, -0.000107858024421148, -0.0003909254155587405, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8305131196975708, -1.2402156591415405, 1.5572139024734497, -1.1928019523620605, 2.045827865600586, 0.4536229372024536, -0.4293908178806305, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392942905426025, -1.1497142314910889, -1.6000272035598755, -1.8008840084075928, -0.41992807388305664, -0.00010893660510191694, -0.0003837348776869476, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8266583681106567, -1.2405972480773926, 1.5571153163909912, -1.1848911046981812, 2.045661687850952, 0.45529183745384216, -0.42682355642318726, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, 0.04320001444973791, -0.04320001444973791, -0.04320001444973791, -0.04320001444973791, 0.04320001444973791, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294409751892, -1.1497143507003784, -1.6000274419784546, -1.8008837699890137, -0.41992759704589844, -0.00010989534348482266, -0.0003766641893889755, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8254245519638062, -1.2407197952270508, 1.5571106672286987, -1.1831061840057373, 2.045504570007324, 0.4565117359161377, -0.42425331473350525, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, 0.031199988166054536, -0.031199988166054536, -0.031199988166054536, -0.031199988166054536, 0.031199988166054536, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.7392946481704712, -1.1497143507003784, -1.6000277996063232, -1.8008841276168823, -0.41992783546447754, -0.00010893660510191694, -0.0003695935010910034, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8244742751121521, -1.2412644624710083, 1.5570991039276123, -1.1795936822891235, 2.0454792976379395, 0.4566550552845001, -0.420499712228775, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, 0.018600011657882543, -0.018600011657882543, -0.018600011657882543, -0.018600011657882543, 0.018600011657882543, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6093580722808838, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.149714708328247, -1.600027084350586, -1.800883412361145, -0.41992759704589844, -0.000107858024421148, -0.00036216326407156885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8242854475975037, -1.2414253950119019, 1.5571058988571167, -1.1783806085586548, 2.045680046081543, 0.4572907090187073, -0.4191731810569763, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392947673797607, -1.149714469909668, -1.600027084350586, -1.800883173942566, -0.41992759704589844, -0.00010641991684678942, -0.00035485290572978556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8242822885513306, -1.2415744066238403, 1.557708740234375, -1.1765697002410889, 2.0449647903442383, 0.4579482674598694, -0.4160866439342499, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392945289611816, -1.149714708328247, -1.600027084350586, -1.8008828163146973, -0.41992807388305664, -0.0001047421246767044, -0.0003546132065821439, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.824288547039032, -1.2420644760131836, 1.5588518381118774, -1.1758599281311035, 2.045154333114624, 0.45826706290245056, -0.4160546660423279, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.1497149467468262, -1.6000263690948486, -1.8008824586868286, -0.4199289083480835, -0.00010438259778311476, -0.00035485290572978556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8244144320487976, -1.2423644065856934, 1.5604168176651, -1.174690842628479, 2.0467135906219482, 0.4585387408733368, -0.4153498709201813, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392945289611816, -1.149714469909668, -1.60002601146698, -1.8008818626403809, -0.41992926597595215, -0.00010366354399593547, -0.00035509257577359676, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8265536427497864, -1.2430585622787476, 1.5623810291290283, -1.1760904788970947, 2.046957015991211, 0.4575844407081604, -0.4140492081642151, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392946481704712, -1.149714708328247, -1.6000257730484009, -1.8008816242218018, -0.41992974281311035, -0.00010342385940020904, -0.00035545212449505925, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8280386924743652, -1.2433182001113892, 1.563970685005188, -1.177254319190979, 2.0484232902526855, 0.4577867388725281, -0.4140307605266571, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392946481704712, -1.1497142314910889, -1.6000258922576904, -1.800881266593933, -0.41993167996406555, -0.0001039032285916619, -0.00035509257577359676, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.829435408115387, -1.2433199882507324, 1.5653197765350342, -1.1794167757034302, 2.0495097637176514, 0.4579910635948181, -0.4154837429523468, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392947673797607, -1.1497143507003784, -1.6000254154205322, -1.800881028175354, -0.4199320375919342, -0.00010558102076174691, -0.00035629101330414414, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8338832259178162, -1.2432923316955566, 1.5676276683807373, -1.1839805841445923, 2.051196336746216, 0.4578220844268799, -0.41506022214889526, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392946481704712, -1.1497141122817993, -1.6000254154205322, -1.8008806705474854, -0.41993334889411926, -0.00010797786671901122, -0.0003591672284528613, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8385444283485413, -1.2430325746536255, 1.5707824230194092, -1.1887661218643188, 2.0532734394073486, 0.45866504311561584, -0.4148878753185272, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392945289611816, -1.1497143507003784, -1.600024700164795, -1.8008809089660645, -0.4199337065219879, -0.00010989534348482266, -0.00036360137164592743, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8470445871353149, -1.2421852350234985, 1.575814127922058, -1.1977941989898682, 2.0570077896118164, 0.4608041048049927, -0.41579124331474304, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392945289611816, -1.1497141122817993, -1.6000242233276367, -1.8008809089660645, -0.4199337065219879, -0.00011109376646345481, -0.0003694736515171826, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8551015257835388, -1.2416473627090454, 1.5821772813796997, -1.2087233066558838, 2.0623855590820312, 0.46285688877105713, -0.4195050299167633, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392945289611816, -1.1497139930725098, -1.6000230312347412, -1.8008813858032227, -0.4199334681034088, -0.00011169297795277089, -0.0003776229277718812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8596945405006409, -1.2409741878509521, 1.5852543115615845, -1.2142469882965088, 2.0657238960266113, 0.46310627460479736, -0.4212283790111542, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.1497141122817993, -1.6000233888626099, -1.800881028175354, -0.419933944940567, -0.00011109376646345481, -0.0003830158384516835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8596532940864563, -1.2403087615966797, 1.5856186151504517, -1.2130767107009888, 2.0691468715667725, 0.46299123764038086, -0.42157772183418274, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.1497141122817993, -1.6000230312347412, -1.8008817434310913, -0.4199337065219879, -0.00011121360876131803, -0.0003910452651325613, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.856320321559906, -1.2402831315994263, 1.5856033563613892, -1.2070410251617432, 2.0717716217041016, 0.4628629982471466, -0.42099371552467346, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497139930725098, -1.6000237464904785, -1.8008822202682495, -0.4199327528476715, -0.00011133345105918124, -0.00039907469181343913, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8545091152191162, -1.2405182123184204, 1.5853025913238525, -1.2022074460983276, 2.0741195678710938, 0.46358492970466614, -0.4192293882369995, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392939329147339, -1.1497142314910889, -1.6000239849090576, -1.8008822202682495, -0.41993334889411926, -0.00011073423956986517, -0.0004045874229632318, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8547833561897278, -1.2405080795288086, 1.5853383541107178, -1.2016820907592773, 2.0756328105926514, 0.46346941590309143, -0.4182610809803009, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.1497143507003784, -1.6000248193740845, -1.8008826971054077, -0.41993263363838196, -0.00010893660510191694, -0.00040482712211087346, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8569650650024414, -1.240287184715271, 1.5871978998184204, -1.2032036781311035, 2.0774452686309814, 0.4634220600128174, -0.41752392053604126, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392936944961548, -1.1497141122817993, -1.6000251770019531, -1.8008838891983032, -0.41993191838264465, -0.00010689928603824228, -0.00040410805377177894, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8602959513664246, -1.2402104139328003, 1.5900447368621826, -1.2064075469970703, 2.077946186065674, 0.464910626411438, -0.4175660014152527, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392936944961548, -1.1497141122817993, -1.6000257730484009, -1.8008836507797241, -0.4199310839176178, -0.00010498180927243084, -0.00040398823330178857, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8629106879234314, -1.2398631572723389, 1.5925750732421875, -1.207629680633545, 2.079508066177368, 0.46780648827552795, -0.41608941555023193, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, 0.015599985437078811, -0.015599985437078811, -0.015599985437078811, -0.015599985437078811, 0.015599985437078811, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497143507003784, -1.6000267267227173, -1.8008836507797241, -0.4199306070804596, -0.00010354370169807225, -0.0004043477529194206, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8702182173728943, -1.2384527921676636, 1.596462607383728, -1.2157549858093262, 2.082148551940918, 0.4698992967605591, -0.4169265031814575, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392933368682861, -1.149714469909668, -1.6000272035598755, -1.8008840084075928, -0.4199291467666626, -0.00010414291318738833, -0.00040470727253705263, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8774959444999695, -1.2375904321670532, 1.6013660430908203, -1.2225959300994873, 2.085569143295288, 0.471468985080719, -0.4173126518726349, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, 0.022800016927195133, -0.022800016927195133, -0.022800016927195133, -0.022800016927195133, 0.022800016927195133, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.149714469909668, -1.6000338792800903, -1.800883173942566, -0.41992735862731934, -0.00010354370169807225, -0.0004037485341541469, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8854403495788574, -1.2284327745437622, 1.6155656576156616, -1.2236261367797852, 2.082961320877075, 0.4642082452774048, -0.41731706261634827, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392932176589966, -1.1497142314910889, -1.6000345945358276, -1.800883412361145, -0.41992712020874023, -0.00010330401710234582, -0.00040087231900542974, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8919800519943237, -1.208410382270813, 1.6297603845596313, -1.2225372791290283, 2.0808539390563965, 0.45526403188705444, -0.41840606927871704, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392936944961548, -1.1497143507003784, -1.6000341176986694, -1.8008842468261719, -0.41992688179016113, -0.00010330401710234582, -0.0003966778458561748, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8982650637626648, -1.2044904232025146, 1.6345036029815674, -1.2302212715148926, 2.0825867652893066, 0.45498278737068176, -0.41919800639152527, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, 0.022199988103174893, -0.022199988103174893, -0.022199988103174893, -0.022199988103174893, 0.022199988103174893, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497143507003784, -1.600034475326538, -1.8008842468261719, -0.4199270009994507, -0.00010402307088952512, -0.0003924833727069199, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.914152979850769, -1.206559419631958, 1.6413215398788452, -1.2495845556259155, 2.0844056606292725, 0.4573540985584259, -0.4213847517967224, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, 0.019200001182137005, -0.019200001182137005, -0.019200001182137005, -0.019200001182137005, 0.019200001182137005, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392939329147339, -1.1497141122817993, -1.600034475326538, -1.800884485244751, -0.41992712020874023, -0.00010594054765533656, -0.00038361502811312675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9339634776115417, -1.2062478065490723, 1.653053641319275, -1.263380527496338, 2.0844388008117676, 0.45976150035858154, -0.4235142469406128, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392947673797607, -1.1497143507003784, -1.6000341176986694, -1.8008850812911987, -0.4199265241622925, -0.0001085770782083273, -0.00037618482019752264, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9530950784683228, -1.2030037641525269, 1.6602073907852173, -1.277748942375183, 2.084686279296875, 0.46139219403266907, -0.4246167838573456, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497137546539307, -1.6000335216522217, -1.8008843660354614, -0.4199265241622925, -0.0001109739241655916, -0.00036288233241066337, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9679064154624939, -1.2006924152374268, 1.6666560173034668, -1.2940449714660645, 2.085963726043701, 0.4616699814796448, -0.4277365207672119, 0.07020001463837677, 0.07020001463837677, 0.07020001463837677, 0.07020001463837677, -0.07020001463837677, -0.07020001463837677, -0.07020001463837677, 0.07020001463837677, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294171333313, -1.1497141122817993, -1.6000324487686157, -1.8008840084075928, -0.41992712020874023, -0.00011193266254849732, -0.00035748942173086107, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9746558666229248, -1.198771595954895, 1.6721346378326416, -1.3053780794143677, 2.090904951095581, 0.4616818428039551, -0.42979755997657776, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392929792404175, -1.1497135162353516, -1.6000317335128784, -1.8008830547332764, -0.4199286699295044, -0.00011396998161217198, -0.00034226945717819035, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9802463054656982, -1.197298526763916, 1.6752040386199951, -1.3152345418930054, 2.0943620204925537, 0.46107494831085205, -0.4293402433395386, 0.364799999666738, 0.364799999666738, 0.364799999666738, 0.364799999666738, -0.364799999666738, -0.364799999666738, -0.364799999666738, 0.364799999666738, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739293098449707, -1.149713397026062, -1.6000308990478516, -1.800883173942566, -0.41992926597595215, -0.00011564777378225699, -0.00034083134960383177, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9829792976379395, -1.1964727640151978, 1.6757564544677734, -1.3193038702011108, 2.0960323810577393, 0.4604753851890564, -0.428109347820282, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, 0.5634000003992856, -0.5634000003992856, -0.5634000003992856, -0.5634000003992856, 0.5634000003992856, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392926216125488, -1.1497135162353516, -1.6000298261642456, -1.80088210105896, -0.41993024945259094, -0.00011528824688866735, -0.0003427488263696432, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9859820008277893, -1.196075677871704, 1.676065444946289, -1.322947382926941, 2.0968589782714844, 0.46063992381095886, -0.42857709527015686, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392929792404175, -1.1497137546539307, -1.6000303030014038, -1.8008817434310913, -0.4199301302433014, -0.00011444935080362484, -0.00034322819556109607, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9922652244567871, -1.1957169771194458, 1.674437403678894, -1.3362340927124023, 2.0968353748321533, 0.46059906482696533, -0.4308534860610962, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392932176589966, -1.1497136354446411, -1.6000279188156128, -1.8008811473846436, -0.4199308454990387, -0.00011313108552712947, -0.0003443067835178226, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0030527114868164, -1.1956924200057983, 1.6667864322662354, -1.3604880571365356, 2.096177816390991, 0.45604145526885986, -0.4327109456062317, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739292860031128, -1.1497137546539307, -1.6000275611877441, -1.800881266593933, -0.41993239521980286, -0.0001094159742933698, -0.0003449060022830963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0054866075515747, -1.1974263191223145, 1.6474156379699707, -1.3811582326889038, 2.091984272003174, 0.44734102487564087, -0.4351668655872345, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392929792404175, -1.1497138738632202, -1.60002601146698, -1.8008804321289062, -0.4199334681034088, -0.0001054611784638837, -0.0003480218874756247, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9925453662872314, -1.2039902210235596, 1.6173999309539795, -1.3836578130722046, 2.0703766345977783, 0.4308672845363617, -0.4371856153011322, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392925024032593, -1.1497143507003784, -1.6000195741653442, -1.8008803129196167, -0.4199334681034088, -0.00010186590952798724, -0.00035449338611215353, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9679450392723083, -1.2135905027389526, 1.591841697692871, -1.3690998554229736, 2.046398878097534, 0.41277793049812317, -0.4283718168735504, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392925024032593, -1.1497142314910889, -1.6000185012817383, -1.80088210105896, -0.4199329912662506, -0.00010030795965576544, -0.0003630021819844842, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9406970143318176, -1.2199897766113281, 1.5673757791519165, -1.347791075706482, 2.0217878818511963, 0.39721307158470154, -0.41593924164772034, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392923831939697, -1.149714469909668, -1.6000176668167114, -1.8008829355239868, -0.4199334681034088, -9.934922127285972e-05, -0.0003740276733879, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9163180589675903, -1.2269973754882812, 1.5506434440612793, -1.3234707117080688, 2.0018630027770996, 0.3882494568824768, -0.4103807210922241, 0.591599999900375, 0.591599999900375, 0.591599999900375, 0.591599999900375, -0.591599999900375, -0.591599999900375, -0.591599999900375, 0.591599999900375, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739293098449707, -1.1497142314910889, -1.6000176668167114, -1.8008829355239868, -0.41993334889411926, -0.00010006827506003901, -0.00038121818215586245, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.900951087474823, -1.2334095239639282, 1.5435835123062134, -1.2978897094726562, 1.993825078010559, 0.38955944776535034, -0.4063125550746918, 0.5645999990976773, 0.5645999990976773, 0.5645999990976773, 0.5645999990976773, -0.5645999990976773, -0.5645999990976773, -0.5645999990976773, 0.5645999990976773, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392922639846802, -1.1497143507003784, -1.6000175476074219, -1.8008828163146973, -0.4199334681034088, -0.00010090717114508152, -0.00040159138734452426, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8932969570159912, -1.2379071712493896, 1.541203498840332, -1.2845072746276855, 1.9881755113601685, 0.3950531482696533, -0.40755364298820496, 0.5166000020372998, 0.5166000020372998, 0.5166000020372998, 0.5166000020372998, -0.5166000020372998, -0.5166000020372998, -0.5166000020372998, 0.5166000020372998, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497148275375366, -1.6000189781188965, -1.8008852005004883, -0.4199351370334625, -0.00010318417480448261, -0.0004346678324509412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.889818549156189, -1.2421367168426514, 1.5397734642028809, -1.2822484970092773, 1.9841439723968506, 0.39705654978752136, -0.4089869558811188, 0.4067999934102152, 0.4067999934102152, 0.4067999934102152, 0.4067999934102152, -0.4067999934102152, -0.4067999934102152, -0.4067999934102152, 0.4067999934102152, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392933368682861, -1.1497143507003784, -1.6000195741653442, -1.8008861541748047, -0.4199337065219879, -0.00010582070535747334, -0.00043574642040766776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8835684061050415, -1.2457771301269531, 1.5391992330551147, -1.2777690887451172, 1.9815598726272583, 0.3990878760814667, -0.411647230386734, 0.3707999931586968, 0.3707999931586968, 0.3707999931586968, 0.3707999931586968, -0.3707999931586968, -0.3707999931586968, -0.3707999931586968, 0.3707999931586968, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497143507003784, -1.6000195741653442, -1.8008875846862793, -0.41993144154548645, -0.00010965565888909623, -0.0004346678324509412, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8777064681053162, -1.2490671873092651, 1.5390897989273071, -1.2715598344802856, 1.9779998064041138, 0.4024735391139984, -0.41302013397216797, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, 0.30659999402014765, -0.30659999402014765, -0.30659999402014765, -0.30659999402014765, 0.30659999402014765, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739292860031128, -1.1497141122817993, -1.6000202894210815, -1.800886869430542, -0.4199310839176178, -0.00011133345105918124, -0.00043251068564131856, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8735024929046631, -1.25153648853302, 1.5390738248825073, -1.2656956911087036, 1.975009560585022, 0.4050331115722656, -0.4143272638320923, 0.2802000030056461, 0.2802000030056461, 0.2802000030056461, 0.2802000030056461, -0.2802000030056461, -0.2802000030056461, -0.2802000030056461, 0.2802000030056461, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392934560775757, -1.1497143507003784, -1.6000213623046875, -1.800886631011963, -0.4199296236038208, -0.00011265171633567661, -0.00042591936653479934, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8716872334480286, -1.2533600330352783, 1.539212942123413, -1.261447548866272, 1.9728789329528809, 0.4090081751346588, -0.4146347641944885, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, 0.23700001056377706, -0.23700001056377706, -0.23700001056377706, -0.23700001056377706, 0.23700001056377706, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497143507003784, -1.6000233888626099, -1.800886869430542, -0.4199293851852417, -0.00011313108552712947, -0.00042304315138608217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.865039587020874, -1.2567071914672852, 1.5388898849487305, -1.2509453296661377, 1.9686557054519653, 0.40988650918006897, -0.4147035479545593, 0.22380000523158483, 0.22380000523158483, 0.22380000523158483, 0.22380000523158483, -0.22380000523158483, -0.22380000523158483, -0.22380000523158483, 0.22380000523158483, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497143507003784, -1.6000251770019531, -1.8008872270584106, -0.41992878913879395, -0.00011241203173995018, -0.0004210058250464499, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.85933917760849, -1.257649302482605, 1.5375239849090576, -1.241985559463501, 1.9664047956466675, 0.4144517779350281, -0.41436296701431274, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, 0.2105999998993926, -0.2105999998993926, -0.2105999998993926, -0.2105999998993926, 0.2105999998993926, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392933368682861, -1.1497143507003784, -1.600026249885559, -1.8008869886398315, -0.4199272394180298, -0.00011193266254849732, -0.000420166936237365, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8588895201683044, -1.259285807609558, 1.5376204252243042, -1.2414236068725586, 1.9648315906524658, 0.41486209630966187, -0.41240930557250977, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, 0.2021999893607674, -0.2021999893607674, -0.2021999893607674, -0.2021999893607674, 0.2021999893607674, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497141122817993, -1.60002863407135, -1.8008867502212524, -0.4199252128601074, -0.00011049455497413874, -0.00041597243398427963, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8574293851852417, -1.261456847190857, 1.5384635925292969, -1.2387983798980713, 1.9643341302871704, 0.41560956835746765, -0.41212815046310425, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, 0.1764000075204032, -0.1764000075204032, -0.1764000075204032, -0.1764000075204032, 0.1764000075204032, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392929792404175, -1.1497141122817993, -1.6000287532806396, -1.800885796546936, -0.4199262857437134, -0.0001070191283361055, -0.0003972770646214485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8555641174316406, -1.2622616291046143, 1.5391008853912354, -1.235640048980713, 1.9637205600738525, 0.4168047606945038, -0.4120938777923584, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, 0.14819998898348968, -0.14819998898348968, -0.14819998898348968, -0.14819998898348968, 0.14819998898348968, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497139930725098, -1.6000288724899292, -1.8008863925933838, -0.4199265241622925, -0.0001039032285916619, -0.00038876826874911785, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8494094014167786, -1.2631556987762451, 1.5400373935699463, -1.2257046699523926, 1.9629813432693481, 0.41781455278396606, -0.4101070165634155, 0.10440000701736618, 0.10440000701736618, 0.10440000701736618, 0.10440000701736618, -0.10440000701736618, -0.10440000701736618, -0.10440000701736618, 0.10440000701736618, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739291787147522, -1.1497141122817993, -1.6000275611877441, -1.800887942314148, -0.41992640495300293, -0.00010054764425149187, -0.0003897270071320236, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8437824845314026, -1.2639052867889404, 1.5411779880523682, -1.2235438823699951, 1.962748408317566, 0.4194173216819763, -0.4051239788532257, 0.05700000930618454, 0.05700000930618454, 0.05700000930618454, 0.05700000930618454, -0.05700000930618454, -0.05700000930618454, -0.05700000930618454, 0.05700000930618454, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392936944961548, -1.1497138738632202, -1.6000308990478516, -1.800888180732727, -0.4199259281158447, -9.863016748568043e-05, -0.0003496996941976249, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.842224657535553, -1.264054298400879, 1.5425523519515991, -1.2229220867156982, 1.9623929262161255, 0.4207271933555603, -0.40490466356277466, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497130393981934, -1.6000312566757202, -1.800886869430542, -0.4199259281158447, -9.863016748568043e-05, -0.0003471829986665398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.846674382686615, -1.2649117708206177, 1.5477442741394043, -1.2269185781478882, 1.9632210731506348, 0.4256809949874878, -0.40542837977409363, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392932176589966, -1.1497128009796143, -1.600030779838562, -1.8008865118026733, -0.4199270009994507, -9.958890586858615e-05, -0.0003456250415183604, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8629050254821777, -1.264852523803711, 1.5572121143341064, -1.2456908226013184, 1.9670460224151611, 0.4303862452507019, -0.4062786400318146, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392933368682861, -1.1497122049331665, -1.600029468536377, -1.8008865118026733, -0.4199279546737671, -0.00010114685574080795, -0.0003451456723269075, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8794947266578674, -1.2635657787322998, 1.5664513111114502, -1.266268014907837, 1.9729843139648438, 0.4343467652797699, -0.4115973711013794, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, 0.02040001953041164, -0.02040001953041164, -0.02040001953041164, -0.02040001953041164, 0.02040001953041164, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739292860031128, -1.1497114896774292, -1.60002863407135, -1.8008863925933838, -0.4199289083480835, -0.00010366354399593547, -0.0003459845611359924, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8964687585830688, -1.2621225118637085, 1.5765435695648193, -1.2877658605575562, 1.9805622100830078, 0.4384661316871643, -0.4179208278656006, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.149711012840271, -1.600028395652771, -1.8008862733840942, -0.41993001103401184, -0.00010582070535747334, -0.0003471829986665398, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.914696991443634, -1.2600370645523071, 1.5893527269363403, -1.3088629245758057, 1.9928592443466187, 0.4467257559299469, -0.4245487153530121, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739293098449707, -1.1497105360031128, -1.6000266075134277, -1.800885558128357, -0.4199308454990387, -0.00010725881293183193, -0.0003481417370494455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9361951947212219, -1.256726622581482, 1.6019138097763062, -1.3342489004135132, 1.9942221641540527, 0.4560607671737671, -0.4260892868041992, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497106552124023, -1.6000263690948486, -1.8008867502212524, -0.419931560754776, -0.00010953581659123302, -0.00034766236785799265, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9533827900886536, -1.254239559173584, 1.615587830543518, -1.3507800102233887, 1.9987852573394775, 0.47038009762763977, -0.42592450976371765, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497105360031128, -1.6000263690948486, -1.800887942314148, -0.4199320375919342, -0.00011241203173995018, -0.0003473028482403606, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9749090671539307, -1.249709129333496, 1.6314823627471924, -1.3742012977600098, 2.0069355964660645, 0.4842676818370819, -0.4275531768798828, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392929792404175, -1.1497106552124023, -1.60002601146698, -1.8008875846862793, -0.4199329912662506, -0.00011385013931430876, -0.000347422668710351, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0024592876434326, -1.24329674243927, 1.648153305053711, -1.404325246810913, 2.020357608795166, 0.49570432305336, -0.43308794498443604, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392934560775757, -1.1497104167938232, -1.6000248193740845, -1.800887107849121, -0.41993311047554016, -0.00011456919310148805, -0.00034934014547616243, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0227229595184326, -1.2370399236679077, 1.6646153926849365, -1.4261503219604492, 2.0283734798431396, 0.5128257274627686, -0.44024744629859924, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392936944961548, -1.1497104167938232, -1.6000251770019531, -1.800886869430542, -0.41993239521980286, -0.00011373029701644555, -0.00035269572981633246, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0430622100830078, -1.2313933372497559, 1.679557204246521, -1.4477534294128418, 2.033543586730957, 0.5254000425338745, -0.4436897933483124, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392935752868652, -1.1497104167938232, -1.6000248193740845, -1.8008887767791748, -0.41993215680122375, -0.0001118128202506341, -0.00036216326407156885, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0662734508514404, -1.2264752388000488, 1.6964503526687622, -1.4713259935379028, 2.0400898456573486, 0.5340030193328857, -0.4460589587688446, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294409751892, -1.1497104167938232, -1.600024700164795, -1.8008891344070435, -0.4199327528476715, -0.00011013502808054909, -0.00036935380194336176, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0834413766860962, -1.2214940786361694, 1.709267497062683, -1.4869775772094727, 2.053760290145874, 0.5419359803199768, -0.44945254921913147, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739294409751892, -1.1497102975845337, -1.6000258922576904, -1.8008887767791748, -0.4199327528476715, -0.00010653975914465263, -0.0003769038594327867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0988496541976929, -1.216706395149231, 1.7240827083587646, -1.5016950368881226, 2.062716484069824, 0.5517902374267578, -0.45364460349082947, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7392951250076294, -1.149709939956665, -1.6000256538391113, -1.800889253616333, -0.4199320375919342, -0.00010534133616602048, -0.00039320241194218397, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.117388129234314, -1.2106959819793701, 1.7364366054534912, -1.519641637802124, 2.0694286823272705, 0.5625353455543518, -0.4555595815181732, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7392948865890503, -1.1497098207473755, -1.6000274419784546, -1.800889253616333, -0.4199308454990387, -0.0001047421246767044, -0.0004036286845803261, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1304208040237427, -1.2053343057632446, 1.748048186302185, -1.5297962427139282, 2.0833704471588135, 0.5702316164970398, -0.4595637321472168, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.7392951250076294, -1.1497098207473755, -1.6000274419784546, -1.8008899688720703, -0.4199296236038208, -0.00010246512101730332, -0.00041213748045265675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1378034353256226, -1.201874852180481, 1.7536965608596802, -1.5368911027908325, 2.088777780532837, 0.5743481516838074, -0.4617326557636261, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.812897801399231, 0.0, 0.0, 1.739294171333313, -1.1497094631195068, -1.600027084350586, -1.8008897304534912, -0.4199293851852417, -0.0001030643325066194, -0.00041549306479282677, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.146056056022644, -1.1980658769607544, 1.7600574493408203, -1.54468834400177, 2.0935580730438232, 0.578709602355957, -0.4638884961605072, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392947673797607, -1.1497095823287964, -1.6000282764434814, -1.8008909225463867, -0.4199279546737671, -0.00010402307088952512, -0.00041573276394046843, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1480274200439453, -1.1953266859054565, 1.764883279800415, -1.5457134246826172, 2.1009228229522705, 0.5842416286468506, -0.46982571482658386, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392950057983398, -1.1497098207473755, -1.6000282764434814, -1.8008911609649658, -0.4199274778366089, -0.00010522149386815727, -0.00041525339474901557, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1490339040756226, -1.1926523447036743, 1.7660492658615112, -1.5458358526229858, 2.10406756401062, 0.5871843695640564, -0.4704524874687195, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739296555519104, -1.1497100591659546, -1.6000306606292725, -1.8008918762207031, -0.41992688179016113, -0.00010725881293183193, -0.0004150136956013739, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.151625156402588, -1.1909531354904175, 1.7693586349487305, -1.5477161407470703, 2.1055123805999756, 0.5862922668457031, -0.4716748893260956, 0.030000009117545676, 0.030000009117545676, 0.030000009117545676, 0.030000009117545676, -0.030000009117545676, -0.030000009117545676, -0.030000009117545676, 0.030000009117545676, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392951250076294, -1.149710774421692, -1.600040078163147, -1.8008979558944702, -0.4199267625808716, -0.00011037471267627552, -0.00042627888615243137, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1554627418518066, -1.1851298809051514, 1.777073621749878, -1.548449158668518, 2.1113321781158447, 0.5866605043411255, -0.4736296236515045, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, 0.0197999907063914, -0.0197999907063914, -0.0197999907063914, -0.0197999907063914, 0.0197999907063914, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392983436584473, -1.14971125125885, -1.6000436544418335, -1.8008925914764404, -0.4199254512786865, -0.00011133345105918124, -0.0004222042334731668, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1616703271865845, -1.1806106567382812, 1.7918773889541626, -1.5489381551742554, 2.1190385818481445, 0.5844924449920654, -0.48242759704589844, 0.1841999892350082, 0.1841999892350082, 0.1841999892350082, 0.1841999892350082, -0.1841999892350082, -0.1841999892350082, -0.1841999892350082, 0.1841999892350082, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7498759627342224, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392960786819458, -1.14971125125885, -1.6000425815582275, -1.8008924722671509, -0.4199262857437134, -0.00011265171633567661, -0.00042112567462027073, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1873353719711304, -1.174154281616211, 1.811408281326294, -1.570991039276123, 2.124448299407959, 0.5858355164527893, -0.48524391651153564, 0.5070000026252244, 0.5070000026252244, 0.5070000026252244, 0.5070000026252244, -0.5070000026252244, -0.5070000026252244, -0.5070000026252244, 0.5070000026252244, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392958402633667, -1.1497116088867188, -1.6000419855117798, -1.800891399383545, -0.4199255704879761, -0.00011528824688866735, -0.0004165716527495533, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2170006036758423, -1.1712567806243896, 1.8325978517532349, -1.5959728956222534, 2.1321263313293457, 0.5928887128829956, -0.49076107144355774, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392964363098145, -1.1497117280960083, -1.6000422239303589, -1.800889492034912, -0.4199272394180298, -0.00011588745837798342, -0.0004055461613461375, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2676254510879517, -1.1706634759902954, 1.8645061254501343, -1.6406875848770142, 2.130002975463867, 0.596247673034668, -0.47587859630584717, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943600769972158, -0.9975233316841042, -0.01121800252133945, -33.8029670715332], [0.9975779652165913, 0.06947729331996344, -0.003333020740612089, 11.134385108947754], [0.004104162405386782, -0.010959400475223926, 0.9999315213514243, 0.2849750220775604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392947673797607, -1.1497117280960083, -1.6000378131866455, -1.8008875846862793, -0.41992664337158203, -0.00011456919310148805, -0.00039404130075126886, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3255436420440674, -1.169816255569458, 1.900235891342163, -1.6836835145950317, 2.116196393966675, 0.6000669002532959, -0.454142689704895, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06938072820741314, -0.9975271675058976, -0.01121894117417447, -33.803646087646484], [0.9975817508228464, 0.06942218204674899, -0.0033482928623880144, 11.132513046264648], [0.004118856471563437, -0.010959503981867326, 0.9999314597980394, 0.28509917855262756], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.749971866607666, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739296793937683, -1.1497118473052979, -1.6000306606292725, -1.8008865118026733, -0.4199265241622925, -0.00011325092782499269, -0.0003784618165809661, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3852591514587402, -1.170082449913025, 1.9352692365646362, -1.726280689239502, 2.096705675125122, 0.6068143844604492, -0.41924989223480225, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06939502957535115, -0.9975261757143866, -0.011218673489617002, -33.80342483520508], [0.9975808809081325, 0.06943614816501265, -0.0033177363609265586, 11.133000373840332], [0.004088510338783579, -0.010961299769503125, 0.999931564653588, 0.2847718298435211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392938137054443, -1.1497119665145874, -1.60002863407135, -1.8008852005004883, -0.41992855072021484, -0.00010965565888909623, -0.00036695695598609746, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.4504843950271606, -1.175394058227539, 1.9600642919540405, -1.7806315422058105, 2.0290606021881104, 0.6018967628479004, -0.3506588935852051, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942410326254611, -0.9975240903948326, -0.011224213475924847, -33.80318069458008], [0.9975788966135207, 0.06946513471715454, -0.0033075806986238225, 11.133993148803711], [0.004079082929001453, -0.010967412670697256, 0.9999315361272335, 0.28448015451431274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.7392932176589966, -1.149712085723877, -1.600026249885559, -1.8008829355239868, -0.4199298918247223, -0.00010522149386815727, -0.0003588076797313988, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5252251625061035, -1.1901322603225708, 1.950500726699829, -1.825578212738037, 1.877644658088684, 0.5482357740402222, -0.21383008360862732, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06937079954831671, -0.9975280056415433, -0.011205807906266413, -33.8037109375], [0.9975825490967816, 0.06941192253306039, -0.003323063019545422, 11.132177352905273], [0.004092665096818429, -0.010948194877206807, 0.9999316912276238, 0.2852596640586853], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7502593994140625, 1.6091663837432861, -0.812897801399231, 0.0, 0.0, 1.739295482635498, -1.1497114896774292, -1.6000221967697144, -1.8008852005004883, -0.4199325144290924, -0.00010222543642157689, -0.00034706314909271896, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.5846110582351685, -1.2077714204788208, 1.8979458808898926, -1.8298137187957764, 1.6350531578063965, 0.4448111653327942, -0.053316500037908554, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.0693924191774381, -0.9975263352698964, -0.011220632946175355, -33.80342483520508], [0.9975810001691305, 0.06943371125786435, -0.0033328430081201892, 11.132909774780273], [0.004103688860035249, -0.010962216197904237, 0.9999314924302417, 0.2848729193210602], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739298701286316, -1.1497111320495605, -1.6000179052352905, -1.8008848428726196, -0.4199337065219879, -0.00010066748654935509, -0.0003433480451349169, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6119849681854248, -1.2260099649429321, 1.8438904285430908, -1.7974156141281128, 1.4175938367843628, 0.3440306782722473, 0.06597016006708145, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06940228994144737, -0.9975257485433539, -0.011211741341323586, -33.80329895019531], [0.9975803809300845, 0.06944337131923684, -0.0033168905930386944, 11.133247375488281], [0.004087264888758105, -0.010954413395525029, 0.9999316452102559, 0.2849995195865631], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392970323562622, -1.149711012840271, -1.6000105142593384, -1.800885558128357, -0.41993477940559387, -9.934922127285972e-05, -0.00034143056836910546, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.61674165725708, -1.2393687963485718, 1.7975720167160034, -1.753606915473938, 1.264770269393921, 0.27582868933677673, 0.13547423481941223, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942697839654843, -0.9975238906468148, -0.011224181910792946, -33.80310821533203], [0.9975786459683342, 0.06946814526734546, -0.0033199248635868393, 11.134086608886719], [0.004091427466066315, -0.01096651184088869, 0.9999314955732386, 0.2846178710460663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739300012588501, -1.1497105360031128, -1.5999500751495361, -1.8008854389190674, -0.4199344217777252, -9.922937897499651e-05, -0.0003441869339440018, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6136295795440674, -1.2475134134292603, 1.7666776180267334, -1.7209123373031616, 1.1532272100448608, 0.2084120213985443, 0.15396229922771454, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06941860743488582, -0.9975244802968372, -0.011223553373434203, -33.803138732910156], [0.9975791967392487, 0.06945985784722863, -0.003327819243656505, 11.133795738220215], [0.004099167583409793, -0.010965370781140925, 0.9999314763866348, 0.28472521901130676], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739297866821289, -1.1497101783752441, -1.5999457836151123, -1.8008869886398315, -0.419935017824173, -9.99484327621758e-05, -0.00034694329951889813, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.613411784172058, -1.2483983039855957, 1.7735329866409302, -1.7255357503890991, 1.183292031288147, 0.22308731079101562, 0.14739099144935608, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943342711875955, -0.9975235718560278, -0.011212617452495324, -33.80310821533203], [0.9975782840302823, 0.06947432181426638, -0.0032993695829655815, 11.134310722351074], [0.004070187924547879, -0.010956377140271588, 0.9999316933522104, 0.2847820818424225], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392984628677368, -1.1497101783752441, -1.5999475717544556, -1.8008869886398315, -0.41993552446365356, -0.0001015063826343976, -0.00034610441070981324, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6114223003387451, -1.2461148500442505, 1.776114583015442, -1.727630853652954, 1.1926487684249878, 0.2253502905368805, 0.14677834510803223, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06944374581995061, -0.997522891795844, -0.01120921539407571, -33.80289840698242], [0.9975777216911308, 0.06948420697069124, -0.0032610070817079314, 11.134673118591309], [0.004031792656733037, -0.010955607007868013, 0.99993185733982, 0.2844716012477875], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392985820770264, -1.1497104167938232, -1.599947452545166, -1.8008872270584106, -0.41993552446365356, -0.00010198575182585046, -0.00034670362947508693, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6113452911376953, -1.2460793256759644, 1.776165246963501, -1.7276471853256226, 1.192883849143982, 0.22537748515605927, 0.14676935970783234, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06943517866947335, -0.997523537020836, -0.011204867361073224, -33.803016662597656], [0.9975782609204148, 0.06947578102258789, -0.0032755442757784223, 11.134376525878906], [0.004045899422807911, -0.010950294093874897, 0.999931858556931, 0.2847788631916046], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392988204956055, -1.1497102975845337, -1.5999480485916138, -1.800886869430542, -0.41993552446365356, -0.00010174606723012403, -0.00034682347904890776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6134635210037231, -1.2443878650665283, 1.7730200290679932, -1.7289023399353027, 1.1789840459823608, 0.22144079208374023, 0.14422307908535004, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392985820770264, -1.1497101783752441, -1.5999469757080078, -1.8008877038955688, -0.4199356436729431, -0.00010186590952798724, -0.00034682347904890776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6221749782562256, -1.2373195886611938, 1.7600429058074951, -1.7342615127563477, 1.1222137212753296, 0.20485450327396393, 0.13340982794761658, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392983436584473, -1.1497102975845337, -1.5999475717544556, -1.8008872270584106, -0.4199358820915222, -0.0001023452787194401, -0.00034682347904890776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6375808715820312, -1.2248305082321167, 1.7371991872787476, -1.7435921430587769, 1.0220295190811157, 0.17549830675125122, 0.11433849483728409, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739298701286316, -1.1497104167938232, -1.5999470949172974, -1.800887107849121, -0.4199356436729431, -0.00010174606723012403, -0.00034682347904890776, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.659712314605713, -1.2068907022476196, 1.7043706178665161, -1.7571824789047241, 0.8777318000793457, 0.13354070484638214, 0.08696424961090088, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7392977476119995, -1.1497102975845337, -1.5999451875686646, -1.8008873462677002, -0.41993552446365356, -0.00010210559412371367, -0.00034766236785799265, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.6861050128936768, -1.1855045557022095, 1.665178894996643, -1.7733269929885864, 0.705777108669281, 0.08319520950317383, 0.054293811321258545, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.73929762840271, -1.149709939956665, -1.5999451875686646, -1.8008872270584106, -0.41993576288223267, -0.00010210559412371367, -0.00034862110624089837, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7070211172103882, -1.168599247932434, 1.6341153383255005, -1.7859548330307007, 0.5695818066596985, 0.04362473636865616, 0.02839134819805622, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392982244491577, -1.149709701538086, -1.5999466180801392, -1.8008874654769897, -0.41993576288223267, -0.00010186590952798724, -0.0003483814070932567, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.72123384475708, -1.1571186780929565, 1.6129966974258423, -1.7946316003799438, 0.4771679639816284, 0.01669522374868393, 0.010861543007194996, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392983436584473, -1.1497098207473755, -1.5999470949172974, -1.8008872270584106, -0.41993576288223267, -0.00010198575182585046, -0.0003481417370494455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7287487983703613, -1.151069164276123, 1.6019163131713867, -1.7991762161254883, 0.4283577799797058, 0.0024568859953433275, 0.0016043281648308039, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7501635551452637, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7392988204956055, -1.1497098207473755, -1.5999476909637451, -1.8008872270584106, -0.4199353754520416, -0.00010210559412371367, -0.0003477822174318135, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730061411857605, -1.1499661207199097, 1.5999500751495361, -1.8000249862670898, 0.4198431074619293, -6.962834595469758e-05, -9.179916378343478e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.739324927330017, -1.149709939956665, -1.5999482870101929, -1.8008877038955688, -0.4199352562427521, -0.00010210559412371367, -0.0003481417370494455, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300361394882202, -1.149979591369629, 1.5999835729599, -1.8000237941741943, 0.4199121296405792, -2.5286713935201988e-05, -1.1984225238848012e-06, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7399063110351562, -1.1497100591659546, -1.5999497175216675, -1.8008878231048584, -0.4199351370334625, -0.00010210559412371367, -0.00035065843258053064, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300729751586914, -1.1500349044799805, 1.6000263690948486, -1.8000200986862183, 0.4199259281158447, 6.315686187008396e-05, 0.00011480887769721448, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7401942014694214, -1.1497100591659546, -1.5999505519866943, -1.8008878231048584, -0.41993406414985657, -0.0001015063826343976, -0.00035485290572978556, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7301825284957886, -1.1501127481460571, 1.6000741720199585, -1.8000167608261108, 0.41993072628974915, 0.00010042780195362866, 0.0001459678605897352, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.6091663837432861, -0.8128019571304321, 0.0, 0.0, 1.7402336597442627, -1.149709701538086, -1.599951982498169, -1.8008882999420166, -0.419933944940567, -0.00010126669803867117, -0.0003600061172619462, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7302712202072144, -1.1501599550247192, 1.600103497505188, -1.8000129461288452, 0.41993358731269836, 0.00010641991684678942, 0.00015351791807916015, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7500677108764648, 1.609262228012085, -0.8128019571304321, 0.0, 0.0, 1.7402827739715576, -1.149709701538086, -1.5999531745910645, -1.800887942314148, -0.41993334889411926, -0.00010210559412371367, -0.00036515932879410684, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730309247970581, -1.1501922607421875, 1.600116491317749, -1.8000094890594482, 0.4199353754520416, 0.00010749849752755836, 0.00015759255620650947, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.03853517398238182, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[0.06942495820613848, -0.9975241381850617, -0.01121467414710733, -33.80316162109375], [0.9975790185045266, 0.06946546794785668, -0.0032635260579451084, 11.134032249450684], [0.004034478605907727, -0.010960953468341935, 0.9999317879142774, 0.28431111574172974], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000032/gt/hand_left.mp4 b/agibot-challenge-2026/000032/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b81ed202fab8fea6faf7fe312abef0a5de78319 --- /dev/null +++ b/agibot-challenge-2026/000032/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a8348617a895a5a2a816029d3c3d65c268a08addbad56b0a53074b81a840e06 +size 6757551 diff --git a/agibot-challenge-2026/000032/gt/hand_right.mp4 b/agibot-challenge-2026/000032/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f093823e08e56baf9d624fd8dfcb3ab2ff7493ad --- /dev/null +++ b/agibot-challenge-2026/000032/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d2d72cde60e652470dd8e2c45a891f74a94975cfc13d3ae2ceb27876e40c87d +size 7162482 diff --git a/agibot-challenge-2026/000032/gt/head.mp4 b/agibot-challenge-2026/000032/gt/head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dca2d787f01869342a95ca01ec4ae3b2988a551d --- /dev/null +++ b/agibot-challenge-2026/000032/gt/head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:484e92fc2e379e72c621c54ad72f53586ae9eb4e412a79a69c3f4cbcb79307c6 +size 6063157 diff --git a/agibot-challenge-2026/000032/meta.json b/agibot-challenge-2026/000032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33672d6c59c41f3ad9c119d7943dd2182e6d27f7 --- /dev/null +++ b/agibot-challenge-2026/000032/meta.json @@ -0,0 +1,129 @@ +{ + "format_version": 8, + "prompt": "Shaver head installation", + "mjcf_path": "mjcf/g2_120s_no_mesh.xml", + "cameras": [ + "head", + "hand_left", + "hand_right" + ], + "end_effectors": [ + { + "object_type": "site", + "object_name": "gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "left_Left_Pad_Link", + "left_Right_Pad_Link" + ], + "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": "right_gripper_center", + "radius_mode": "pad_pair", + "pad_bodies": [ + "right_Left_Pad_Link", + "right_Right_Pad_Link" + ], + "sh_correction": [ + [ + 0.0, + 0.0, + -1.0 + ], + [ + -1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ] + ] + } + ], + "skeleton": { + "mode": "chains", + "chains": [ + [ + "arm_l_link1", + "arm_l_link2", + "arm_l_link3", + "arm_l_link4", + "arm_l_link5", + "arm_l_link6", + "arm_l_link7", + "left_Left_01_Link", + "left_Left_00_Link", + "left_Left_Support_Link", + "left_Left_Pad_Link", + "left_Left_2_Link", + "left_Right_2_Link", + "left_Right_01_Link", + "left_Right_00_Link", + "left_Right_Support_Link", + "left_Right_Pad_Link" + ], + [ + "arm_r_link1", + "arm_r_link2", + "arm_r_link3", + "arm_r_link4", + "arm_r_link5", + "arm_r_link6", + "arm_r_link7", + "right_Left_01_Link", + "right_Left_00_Link", + "right_Left_Support_Link", + "right_Left_Pad_Link", + "right_Left_2_Link", + "right_Right_2_Link", + "right_Right_01_Link", + "right_Right_00_Link", + "right_Right_Support_Link", + "right_Right_Pad_Link" + ] + ], + "skip_bodies": [] + }, + "height": 400, + "width": 640, + "fps": 10.0, + "ref_cam_images": { + "head": "ref_images/head.png", + "hand_left": "ref_images/hand_left.png", + "hand_right": "ref_images/hand_right.png" + }, + "gt_videos": { + "head": "gt/head.mp4", + "hand_left": "gt/hand_left.mp4", + "hand_right": "gt/hand_right.mp4" + }, + "migrated_from": { + "repo_id": "agibot-challenge-2026", + "source_repo_id": "agibot-world-2026", + "episode_index": 810, + "start_frame": 0, + "source_fps": 30.0, + "robot_type": "Agibot G2" + } +} diff --git a/agibot-challenge-2026/000032/mjcf/g2_120s_no_mesh.xml b/agibot-challenge-2026/000032/mjcf/g2_120s_no_mesh.xml new file mode 100644 index 0000000000000000000000000000000000000000..1fadd7868a5d611f0bf4dc635c514dafbec65c84 --- /dev/null +++ b/agibot-challenge-2026/000032/mjcf/g2_120s_no_mesh.xml @@ -0,0 +1,421 @@ + + + + \ No newline at end of file diff --git a/agibot-challenge-2026/000032/ref_images/hand_left.png b/agibot-challenge-2026/000032/ref_images/hand_left.png new file mode 100644 index 0000000000000000000000000000000000000000..454e7c4dc9568b3e59ccf5a77106238662cc220f --- /dev/null +++ b/agibot-challenge-2026/000032/ref_images/hand_left.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80ce8d67aba04fa56e328b95300e269234499b963c0f0e2fa3501935b5b11c1b +size 458753 diff --git a/agibot-challenge-2026/000032/ref_images/hand_right.png b/agibot-challenge-2026/000032/ref_images/hand_right.png new file mode 100644 index 0000000000000000000000000000000000000000..e2a4840bf08913c1c341d36431ffb3da28bd25c7 --- /dev/null +++ b/agibot-challenge-2026/000032/ref_images/hand_right.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66fff10515dbe5ba650381e4e538aea6231c9c5ec78e30cb6d5f3cdc8513b7d0 +size 473810 diff --git a/agibot-challenge-2026/000032/ref_images/head.png b/agibot-challenge-2026/000032/ref_images/head.png new file mode 100644 index 0000000000000000000000000000000000000000..d7505f103f59c7983204f5b2f98c7338c6d1e73f --- /dev/null +++ b/agibot-challenge-2026/000032/ref_images/head.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5141b08e4af083e21bb73235c0b03bc09f1e3ef30a4abd5e8d28e8c3489c21a +size 367678 diff --git a/agibot-challenge-2026/000032/temporal.json b/agibot-challenge-2026/000032/temporal.json new file mode 100644 index 0000000000000000000000000000000000000000..275d8e1e8224739961293feaf764ec7bf6c41773 --- /dev/null +++ b/agibot-challenge-2026/000032/temporal.json @@ -0,0 +1 @@ +{"step_qpos": [{"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7314850091934204, -1.149879813194275, -1.5996772050857544, -1.7999411821365356, -0.41997361183166504, -0.00015435682144016027, -0.00018851185450330377, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309486865997314, -1.1500530242919922, 1.5997134447097778, -1.7999694347381592, 0.4199942350387573, 0.000138058268930763, 0.00013302489242050797, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7314848899841309, -1.1498799324035645, -1.5996774435043335, -1.7999411821365356, -0.419974684715271, -0.0001521996600786224, -0.00019162775424774736, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730948567390442, -1.1500530242919922, 1.5997127294540405, -1.7999695539474487, 0.4199937582015991, 0.00013973606110084802, 0.00013278520782478154, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7314846515655518, -1.149879813194275, -1.5996776819229126, -1.7999411821365356, -0.4199754297733307, -0.00015195997548289597, -0.00019138806965202093, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309484481811523, -1.1500529050827026, 1.5997135639190674, -1.799970269203186, 0.4199939966201782, 0.00014081464905757457, 0.00013302489242050797, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7314845323562622, -1.1498794555664062, -1.5996776819229126, -1.7999411821365356, -0.4199759066104889, -0.00015172029088716954, -0.00019138806965202093, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730948805809021, -1.1500532627105713, 1.5997132062911987, -1.799970030784607, 0.41999387741088867, 0.00014249244122765958, 0.0001331447419943288, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7314844131469727, -1.1498793363571167, -1.5996772050857544, -1.7999416589736938, -0.41997650265693665, -0.0001516004413133487, -0.00019198728841729462, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309490442276, -1.1500533819198608, 1.5997134447097778, -1.7999688386917114, 0.4199939966201782, 0.0001436908496543765, 0.0001324256882071495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7314846515655518, -1.1498790979385376, -1.5996767282485962, -1.7999415397644043, -0.4199770987033844, -0.00015243934467434883, -0.00019210712343920022, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309494018554688, -1.1500532627105713, 1.5997129678726196, -1.799968957901001, 0.4199942350387573, 0.00014393053425010294, 0.00013158678484614938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.7289329767227173, -1.150410771369934, -1.6001062393188477, -1.8000257015228271, -0.4186825454235077, 0.0045855240896344185, -0.004189565312117338, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309510707855225, -1.1500530242919922, 1.5997170209884644, -1.7999670505523682, 0.419994592666626, 0.0001436908496543765, 0.00012895025429315865, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.6935158967971802, -1.1689199209213257, -1.6051830053329468, -1.7999933958053589, -0.40756478905677795, 0.07940974831581116, -0.03987295553088188, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730958342552185, -1.1500519514083862, 1.5997179746627808, -1.7999672889709473, 0.4199939966201782, 0.00014393053425010294, 0.00012907010386697948, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08447591427405432, -0.9963624893958892, -0.011207570316046092, -15.099417686462402], [0.9964230973922005, -0.08449517547031982, 0.0012555100848869554, 7.10031795501709], [-0.0021979287740898725, -0.01106142156625441, 0.9999364050088574, 0.18121251463890076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.6202021837234497, -1.1926827430725098, -1.5963257551193237, -1.7828588485717773, -0.4100717604160309, 0.1818087249994278, -0.0795581191778183, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309542894363403, -1.1500537395477295, 1.5997157096862793, -1.7999674081802368, 0.4199942350387573, 0.00014405038382392377, 0.00012954947305843234, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08387343407192516, -0.9964134197589853, -0.011204641055667184, -15.095110893249512], [0.9964739459431051, -0.08389295838110966, 0.001283195481071633, 7.1094512939453125], [-0.0022185836832722254, -0.011057506874033746, 0.9999364026917767, 0.18109561502933502], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.5083446502685547, -1.2067370414733887, -1.563545823097229, -1.7182444334030151, -0.3934345543384552, 0.3212515413761139, -0.12957055866718292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309623956680298, -1.150051474571228, 1.5997192859649658, -1.7999696731567383, 0.4199943542480469, 0.0001451289572287351, 0.00012295815395191312, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0839260812258964, -0.9964086746531795, -0.011232362438892711, -15.095490455627441], [0.9964695960728911, -0.0839452203310116, 0.0012426125330901546, 7.108642578125], [-0.0021810530469744175, -0.01108842006204329, 0.9999361429352046, 0.18096357583999634], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7361682057380676, 1.6130965948104858, -0.810309648513794, 0.0, 0.0, 1.4052178859710693, -1.2231690883636475, -1.5193891525268555, -1.6390619277954102, -0.3707487881183624, 0.38831740617752075, -0.15702246129512787, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730961799621582, -1.150052785873413, 1.5997194051742554, -1.79996657371521, 0.4199942350387573, 0.00014764565275982022, 0.0001197224046336487, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08442866316383757, -0.9963664916480997, -0.011207816791186284, -15.09907054901123], [0.9964271008744191, -0.08444793415601981, 0.0012566064542288893, 7.101042747497559], [-0.0021985175385972285, -0.011061678789319788, 0.9999364008690724, 0.18120379745960236], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.6130965948104858, -0.8104054927825928, 0.0, 0.0, 1.302924633026123, -1.24246084690094, -1.4790695905685425, -1.545613169670105, -0.3652203381061554, 0.4284198582172394, -0.17688176035881042, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309705018997192, -1.1500511169433594, 1.599719762802124, -1.7999716997146606, 0.41999495029449463, 0.00014644722978118807, 0.0001197224046336487, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08434444352538262, -0.9963736841801809, -0.01120251398600407, -15.098467826843262], [0.9964342718486666, -0.08436351861796965, 0.0012404079219469027, 7.102304458618164], [-0.002180993308302837, -0.011057947350597383, 0.999936480516928, 0.18140268325805664], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7361682057380676, 1.6131924390792847, -0.810309648513794, 0.0, 0.0, 1.2124310731887817, -1.2597416639328003, -1.444681167602539, -1.4562667608261108, -0.3540132939815521, 0.45646199584007263, -0.18384915590286255, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309726476669312, -1.1500505208969116, 1.599719524383545, -1.7999651432037354, 0.4199947118759155, 0.00014572817599400878, 0.00011996208922937512, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08463086299845446, -0.9963494174904689, -0.01120068277117054, -15.100500106811523], [0.9964100171610093, -0.08464975971653854, 0.0012230621936324146, 7.097966194152832], [-0.0021667324094210294, -0.011056963703289166, 0.999936522397462, 0.18153776228427887], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8104054927825928, 0.0, 0.0, 1.119577169418335, -1.2765523195266724, -1.4069151878356934, -1.3521032333374023, -0.3387160301208496, 0.491396963596344, -0.19730624556541443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309781312942505, -1.150051236152649, 1.5997200012207031, -1.799949288368225, 0.4199941158294678, 0.00014393053425010294, 0.00012044145842082798, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08419570996495906, -0.9963859259079635, -0.011232500880337122, -15.097417831420898], [0.9964468554291139, -0.08421480614272259, 0.0012372274544487796, 7.104557991027832], [-0.002178698906895252, -0.011088420936901227, 0.9999361480575644, 0.18098555505275726], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.6131924390792847, -0.8104054927825928, 0.0, 0.0, 1.0411463975906372, -1.296179175376892, -1.3738561868667603, -1.2458596229553223, -0.3289008140563965, 0.48117417097091675, -0.19898390769958496, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730965256690979, -1.1500531435012817, 1.5997172594070435, -1.7999581098556519, 0.4199941158294678, 0.00014225275663193315, 0.00011277155863353983, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08470556221732473, -0.9963427496870441, -0.011229108402133401, -15.101035118103027], [0.996403631471286, -0.08472468392210519, 0.0012373864120879085, 7.096827507019043], [-0.0021842436403428627, -0.011083910878354468, 0.9999361859635645, 0.18100133538246155], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.6131924390792847, -0.8105013370513916, 0.0, 0.0, 0.979847252368927, -1.3176954984664917, -1.3578357696533203, -1.159875512123108, -0.33286675810813904, 0.48568251729011536, -0.19152672588825226, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309765815734863, -1.1500495672225952, 1.5997205972671509, -1.7999753952026367, 0.4199939966201782, 0.00013650032633449882, 0.00010977550118695945, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08465687936514765, -0.9963468817021317, -0.011229608122877294, -15.100689888000488], [0.99640773241422, -0.08467618901172735, 0.0012545116988621548, 7.09757137298584], [-0.002200809239160536, -0.01108306532006373, 0.9999361590130662, 0.1808769404888153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6131924390792847, -0.8105013370513916, 0.0, 0.0, 0.9389229416847229, -1.3343935012817383, -1.352522611618042, -1.0964586734771729, -0.33646491169929504, 0.48426827788352966, -0.1772601157426834, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309759855270386, -1.150050163269043, 1.5997201204299927, -1.7999773025512695, 0.41999363899230957, 0.00013602095714304596, 0.00010929613199550658, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08473343830780555, -0.9963404427149107, -0.011223486231683412, -15.101237297058105], [0.9964012797508848, -0.08475245749919691, 0.0012290885426746781, 7.096413612365723], [-0.0021758086625878843, -0.011078951146310231, 0.9999362593176434, 0.18114343285560608], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.6131924390792847, -0.8105013370513916, 0.0, 0.0, 0.9245549440383911, -1.3439606428146362, -1.3489036560058594, -1.0778417587280273, -0.3308437168598175, 0.49023282527923584, -0.17069850862026215, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309749126434326, -1.1500500440597534, 1.599718689918518, -1.7999804019927979, 0.41999387741088867, 0.00013434316497296095, 0.00011804461246356368, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444307998811884, -0.9963651337623863, -0.011219913760022834, -15.099172592163086], [0.9964259322153655, -0.08446209685286088, 0.0012311799047551842, 7.1008100509643555], [-0.002174362173166757, -0.011075848404529753, 0.9999362968365834, 0.18120042979717255], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6131924390792847, -0.8105013370513916, 0.0, 0.0, 0.9322240352630615, -1.3516649007797241, -1.353035569190979, -1.1037062406539917, -0.3251485526561737, 0.5052415132522583, -0.160958930850029, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730969786643982, -1.1500496864318848, 1.599717617034912, -1.799981951713562, 0.4199937582015991, 0.00013230583863332868, 0.000123797042760998, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846204009530489, -0.9963501102569392, -0.011218089566875917, -15.100443840026855], [0.9964108310577865, -0.08463969820000905, 0.001255881898466651, 7.098126411437988], [-0.002200793783327987, -0.011071552718413591, 0.9999362865838636, 0.1810425966978073], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 0.9531604051589966, -1.35933256149292, -1.3692423105239868, -1.151026725769043, -0.3225659728050232, 0.5335339903831482, -0.14698724448680878, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730973720550537, -1.150047779083252, 1.5997180938720703, -1.7999801635742188, 0.41999387741088867, 0.00013266537280287594, 0.00012607403914444149, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08466631239068811, -0.9963462305937922, -0.01121625283702107, -15.10075569152832], [0.9964070014303488, -0.08468524731495108, 0.0012232693024458122, 7.097424030303955], [-0.002168650903943137, -0.01107238315572199, 0.9999363476164419, 0.18129916489124298], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6131924390792847, -0.8105972409248352, 0.0, 0.0, 0.9865421056747437, -1.360023021697998, -1.374258041381836, -1.2150633335113525, -0.29966169595718384, 0.5637770295143127, -0.14637520909309387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309678792953491, -1.1500431299209595, 1.5997170209884644, -1.799983024597168, 0.41999351978302, 0.00013206615403760225, 0.0001324256882071495, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08441399825558182, -0.9963676754698468, -0.011213036043852915, -15.098970413208008], [0.9964284288920748, -0.08443284218071168, 0.0012170690031628583, 7.101244926452637], [-0.0021593967162250455, -0.011070250227576654, 0.9999363912598245, 0.18140681087970734], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.0286543369293213, -1.360077142715454, -1.3871641159057617, -1.2998770475387573, -0.29081758856773376, 0.6049900650978088, -0.1473475992679596, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309727668762207, -1.1500442028045654, 1.599718451499939, -1.7999845743179321, 0.41999340057373047, 0.00013170663441997021, 0.00013338442659005523, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08477744265407794, -0.9963366141816131, -0.011231048844785454, -15.101543426513672], [0.9963976177646, -0.08479605154082881, 0.0011903596579032087, 7.09574031829834], [-0.0021383475079136596, -0.01108967466630647, 0.9999362212590015, 0.1813020557165146], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.0781259536743164, -1.3595978021621704, -1.395150899887085, -1.407241940498352, -0.2793961465358734, 0.6521073579788208, -0.1589905172586441, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730966567993164, -1.1500442028045654, 1.599718451499939, -1.799985647201538, 0.41999363899230957, 0.00013170663441997021, 0.00013158678484614938, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08427794273895817, -0.9963791252062459, -0.011219056151238528, -15.09798812866211], [0.996440000230391, -0.0842965211041189, 0.001192673719337647, 7.103305339813232], [-0.0021340826007513, -0.011078600226500292, 0.9999363531287752, 0.1814974695444107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1368130445480347, -1.3590397834777832, -1.3969813585281372, -1.518294095993042, -0.27298301458358765, 0.7035002708435059, -0.17907823622226715, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730971336364746, -1.1500444412231445, 1.5997170209884644, -1.7999898195266724, 0.41999340057373047, 0.00013194631901569664, 0.00013614079216495156, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08458926813828294, -0.9963526769715589, -0.01122491903927108, -15.100214004516602], [0.9964135639012976, -0.08460812176907795, 0.0012146621850645898, 7.098596572875977], [-0.0021599512366279132, -0.011081914199153765, 0.9999362608628302, 0.18123452365398407], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.2013548612594604, -1.3569256067276, -1.3788888454437256, -1.6154263019561768, -0.2391032576560974, 0.748849630355835, -0.1965138465166092, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309707403182983, -1.1500438451766968, 1.5997192859649658, -1.79998779296875, 0.41999351978302, 0.00013350426161196083, 0.0001307478960370645, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08427330834856983, -0.996379786944244, -0.011195073422259236, -15.097949028015137], [0.9964404127014802, -0.08429175178717596, 0.001185122758468884, 7.103368282318115], [-0.0021244847117342877, -0.011055349365444011, 0.9999366308997374, 0.18191292881965637], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.2630634307861328, -1.3541827201843262, -1.3490363359451294, -1.684815526008606, -0.19085021317005157, 0.7908711433410645, -0.21953074634075165, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309643030166626, -1.1500451564788818, 1.5997166633605957, -1.799991250038147, 0.4199928045272827, 0.0001362606417387724, 0.00013985591067466885, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.2998312711715698, -1.3557076454162598, -1.3332905769348145, -1.7192251682281494, -0.2050994634628296, 0.8464934825897217, -0.22761493921279907, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309651374816895, -1.1500452756881714, 1.599719762802124, -1.7999897003173828, 0.41999292373657227, 0.00013973606110084802, 0.00013218600361142308, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.307989239692688, -1.3594938516616821, -1.3280363082885742, -1.7107208967208862, -0.20868010818958282, 0.8669178485870361, -0.22900547087192535, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309650182724, -1.15004563331604, 1.5997190475463867, -1.7999893426895142, 0.41999244689941406, 0.0001417733874404803, 0.00013470268459059298, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.3107776641845703, -1.3594996929168701, -1.3229867219924927, -1.6965429782867432, -0.18516071140766144, 0.8630142211914062, -0.22675268352031708, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309647798538208, -1.1500458717346191, 1.59972083568573, -1.799987554550171, 0.41999316215515137, 0.00014488927263300866, 0.0001331447419943288, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.3170300722122192, -1.3599952459335327, -1.3248226642608643, -1.6911532878875732, -0.185984268784523, 0.8683028817176819, -0.22981272637844086, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7309646606445312, -1.1500468254089355, 1.5997203588485718, -1.7999837398529053, 0.4199928045272827, 0.00014848454156890512, 0.00013062804646324366, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.3244473934173584, -1.3606300354003906, -1.3233155012130737, -1.6912111043930054, -0.18107648193836212, 0.8661757707595825, -0.22924503684043884, 0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -0.5874000001575921, -0.5874000001575921, 0.5874000001575921, 0.5874000001575921, -1.7309640645980835, -1.1500463485717773, 1.5997209548950195, -1.7999813556671143, 0.41999292373657227, 0.00015088138752616942, 0.0001283510500798002, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.3262757062911987, -1.361045479774475, -1.3206455707550049, -1.6936627626419067, -0.16362421214580536, 0.858181357383728, -0.2326897829771042, 0.5220000010925334, -0.5220000010925334, 0.5220000010925334, 0.5220000010925334, -0.5220000010925334, -0.5220000010925334, 0.5220000010925334, 0.5220000010925334, -1.7309645414352417, -1.1500463485717773, 1.5997202396392822, -1.7999801635742188, 0.4199928045272827, 0.000150641702930443, 0.00012787168088834733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.328969955444336, -1.3608814477920532, -1.3220669031143188, -1.7032155990600586, -0.15005303919315338, 0.8549524545669556, -0.24486768245697021, 0.31559999408302725, -0.31559999408302725, 0.31559999408302725, 0.31559999408302725, -0.31559999408302725, -0.31559999408302725, 0.31559999408302725, 0.31559999408302725, -1.7309534549713135, -1.150046944618225, 1.5997214317321777, -1.799970269203186, 0.4199930429458618, 0.00015639413322787732, 0.00011948272003792226, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.3344370126724243, -1.3599653244018555, -1.323215365409851, -1.71011221408844, -0.1294269859790802, 0.8523271679878235, -0.25484704971313477, 0.21660001304123427, -0.21660001304123427, 0.21660001304123427, 0.21660001304123427, -0.21660001304123427, -0.21660001304123427, 0.21660001304123427, 0.21660001304123427, -1.7309575080871582, -1.150049090385437, 1.5997217893600464, -1.7999696731567383, 0.41999292373657227, 0.0001584314595675096, 0.00011552793148439378, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.3408335447311401, -1.359066128730774, -1.3224605321884155, -1.7199569940567017, -0.09746302664279938, 0.8497003316879272, -0.26917529106140137, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7309536933898926, -1.1500468254089355, 1.5997222661972046, -1.7999708652496338, 0.41999363899230957, 0.0001577124057803303, 0.00011696603178279474, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.3441741466522217, -1.3584847450256348, -1.3223366737365723, -1.727496862411499, -0.07256028801202774, 0.8527509570121765, -0.285261332988739, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7309566736221313, -1.1500465869903564, 1.5997204780578613, -1.7999709844589233, 0.41999316215515137, 0.00015807192539796233, 0.00011780492786783725, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3662973642349243, -1.3516346216201782, -1.330375075340271, -1.749747633934021, -0.03894741088151932, 0.8279608488082886, -0.31253647804260254, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7309561967849731, -1.1500451564788818, 1.5997213125228882, -1.7999730110168457, 0.41999351978302, 0.0001571131870150566, 0.00011840413935715333, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444089443259495, -0.9963653767936169, -0.011214779281701864, -15.09915828704834], [0.9964261814689839, -0.08445957676793014, 0.0012019880706802054, 7.100838661193848], [-0.002144814808623005, -0.011073202747898116, 0.9999363899520513, 0.18148590624332428], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4068784713745117, -1.3373587131500244, -1.3563978672027588, -1.793062448501587, -0.004522726405411959, 0.7809873819351196, -0.36858299374580383, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7309625148773193, -1.1500437259674072, 1.5997252464294434, -1.7999727725982666, 0.41999363899230957, 0.00015483619063161314, 0.00011109376646345481, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08470746123980577, -0.9963428599494066, -0.011204973812722308, -15.101052284240723], [0.9964035790239137, -0.08472599441796835, 0.0011889399570989365, 7.096799373626709], [-0.0021339443858742735, -0.011063963924533321, 0.999936515476675, 0.1817106008529663], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.43360435962677, -1.3235348463058472, -1.389076590538025, -1.8540862798690796, 0.03407474607229233, 0.7024757266044617, -0.43030306696891785, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7309595346450806, -1.1500446796417236, 1.5997215509414673, -1.7999788522720337, 0.4199937582015991, 0.00015172029088716954, 0.00011996208922937512, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.22996486723423004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0841194539541461, -0.9963924373089174, -0.011226234455579914, -15.096855163574219], [0.9964534848528934, -0.0841375653449663, 0.001150053192717537, 7.105704307556152], [-0.002090452338810996, -0.011089678598448607, 0.9999363224913885, 0.1816999316215515], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.437608242034912, -1.318821668624878, -1.4268049001693726, -1.917535424232483, 0.03883500024676323, 0.654637336730957, -0.4819234311580658, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.730960488319397, -1.1500450372695923, 1.5997209548950195, -1.7999807596206665, 0.41999351978302, 0.00014884407573845237, 0.00012163988139946014, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08431311304158928, -0.996376158573717, -0.011218270593976117, -15.098257064819336], [0.9964371014048385, -0.08433128788774602, 0.0011562124017528569, 7.102766036987305], [-0.002098073678417036, -0.01108081716650762, 0.9999364047667043, 0.18176619708538055], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4340981245040894, -1.3131376504898071, -1.4521878957748413, -1.9590578079223633, 0.050318643450737, 0.6244294047355652, -0.5233668088912964, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.730961799621582, -1.1500447988510132, 1.5997207164764404, -1.799983263015747, 0.41999363899230957, 0.00014297179586719722, 0.00012032161612296477, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.084411202521117, -0.9963676540647635, -0.011235961125722489, -15.098954200744629], [0.9964287941368721, -0.084429405505972, 0.0011548596655816586, 7.101282596588135], [-0.0020993103339025775, -0.011098352102357548, 0.9999362077036384, 0.1815025359392166], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6129049062728882, -0.8105972409248352, 0.0, 0.0, 1.4350767135620117, -1.3058925867080688, -1.4617453813552856, -1.9938323497772217, 0.08476334065198898, 0.596661388874054, -0.5603655576705933, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7309612035751343, -1.1500449180603027, 1.5997203588485718, -1.7999842166900635, 0.41999387741088867, 0.00013853763812221587, 0.000122119250590913, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08428802301388738, -0.9963782231549871, -0.01122343970987483, -15.098069190979004], [0.9964392414767501, -0.08430611326119353, 0.001147742144241444, 7.103140354156494], [-0.0020897898576802687, -0.011086734834999881, 0.9999363565192783, 0.18175067007541656], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4398789405822754, -1.3043724298477173, -1.4644739627838135, -2.0148797035217285, 0.09583412855863571, 0.5844082236289978, -0.5825040340423584, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7289443016052246, -1.1511470079421997, 1.6015889644622803, -1.8004906177520752, 0.42513954639434814, 0.0046060169115662575, 0.005233750678598881, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08439897565268883, -0.9963688914098267, -0.011218072005911857, -15.09885311126709], [0.9964298100706545, -0.08441726278870121, 0.0011659098690692139, 7.101467609405518], [-0.0021086752562339025, -0.011079619759556875, 0.9999363957345724, 0.18169617652893066], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4459946155548096, -1.3038948774337769, -1.458072304725647, -2.0198240280151367, 0.10864166915416718, 0.5746415257453918, -0.5886478424072266, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.7081224918365479, -1.1749616861343384, 1.6172493696212769, -1.813677191734314, 0.5203532576560974, 0.0940442904829979, 0.06710674613714218, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08506922521648796, -0.9963116878806613, -0.011235991876734927, -15.103631019592285], [0.9963728409355321, -0.08508733828544779, 0.0011431139726291234, 7.091318607330322], [-0.0020949384532983777, -0.01109799332696524, 0.9999362208546061, 0.1815473437309265], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4503555297851562, -1.3042411804199219, -1.4454320669174194, -2.0191872119903564, 0.11278282105922699, 0.5604860186576843, -0.5832980871200562, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.669400930404663, -1.2045903205871582, 1.5893685817718506, -1.8285630941390991, 0.632821261882782, 0.18651828169822693, 0.09298356622457504, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0852120876820881, -0.9962997274688271, -0.011213971571273032, -15.104644775390625], [0.9963606096694452, -0.08523029049327757, 0.0011545915135932304, 7.08914041519165], [-0.002106089264933712, -0.011074774398276123, 0.9999364548610253, 0.1817876398563385], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4512150287628174, -1.305518388748169, -1.4359025955200195, -2.0173635482788086, 0.12211925536394119, 0.5554608106613159, -0.5808985233306885, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6184395551681519, -1.2330694198608398, 1.5437233448028564, -1.8306111097335815, 0.720232367515564, 0.25603169202804565, 0.09029190987348557, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08445630338847754, -0.9963635602544432, -0.011260045072910858, -15.099275588989258], [0.9964249623131911, -0.0844745850466464, 0.0011571345437473117, 7.100593090057373], [-0.0021041143288421512, -0.011122062681332026, 0.999935934160086, 0.18112094700336456], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4521511793136597, -1.3058689832687378, -1.4282619953155518, -2.0152478218078613, 0.1296570897102356, 0.5539320707321167, -0.5808097124099731, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5644630193710327, -1.2560943365097046, 1.5033490657806396, -1.8281211853027344, 0.8594315648078918, 0.32226502895355225, 0.11476081609725952, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846267141259629, -0.9963494358685233, -0.01123035621508795, -15.100481033325195], [0.9964105274340622, -0.08464482533543394, 0.0011464565006223987, 7.098015308380127], [-0.0020928628279237543, -0.01109302431301216, 0.9999362803382895, 0.18163347244262695], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4554578065872192, -1.3077610731124878, -1.42554771900177, -2.0151185989379883, 0.12858521938323975, 0.5523006916046143, -0.5778664946556091, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5045154094696045, -1.278785228729248, 1.4651883840560913, -1.801640510559082, 1.01997709274292, 0.3867422044277191, 0.11253055185079575, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08441506180747327, -0.9963673641901873, -0.011232671843289346, -15.098967552185059], [0.9964284325827122, -0.08443344294390709, 0.0011715175617622276, 7.101231575012207], [-0.0021156750223035475, -0.011093659871140069, 0.9999362252813243, 0.18143196403980255], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4604194164276123, -1.3085085153579712, -1.420976161956787, -2.015124797821045, 0.13076910376548767, 0.5480919480323792, -0.570067286491394, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.4469337463378906, -1.299296259880066, 1.417463779449463, -1.7601085901260376, 1.1854686737060547, 0.45624783635139465, 0.1244485080242157, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08457123509974696, -0.9963543325565053, -0.011213839199147183, -15.100089073181152], [0.9964151729176831, -0.08458967160719433, 0.0011792526492174745, 7.098866939544678], [-0.0021235284615383093, -0.011073908671650362, 0.9999364275660753, 0.1816525161266327], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4657162427902222, -1.3099247217178345, -1.4198945760726929, -2.0160393714904785, 0.13403768837451935, 0.546690046787262, -0.5695635676383972, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.383878469467163, -1.3236204385757446, 1.380488395690918, -1.68290376663208, 1.378602385520935, 0.5262050032615662, 0.1208076998591423, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08434337959896432, -0.9963734121512933, -0.011234672928675048, -15.098469734191895], [0.9964345130429203, -0.08436171344867782, 0.0011672707148592586, 7.102322578430176], [-0.002110813763367099, -0.011096164291882671, 0.9999362077669075, 0.1814381331205368], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4697836637496948, -1.311208963394165, -1.4201751947402954, -2.0201709270477295, 0.13388249278068542, 0.5478859543800354, -0.5700790286064148, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.3280762434005737, -1.3420544862747192, 1.3422932624816895, -1.596645474433899, 1.5630556344985962, 0.5623736381530762, 0.11680424958467484, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08438233828694419, -0.996370365238707, -0.011212326222216679, -15.098733901977539], [0.9964312523988742, -0.08440044440122318, 0.0011507509231363244, 7.1017231941223145], [-0.002092899433510694, -0.011075209206228, 0.9999364777389609, 0.1818886697292328], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.474228024482727, -1.3117793798446655, -1.4203654527664185, -2.0244035720825195, 0.13385145366191864, 0.5480021834373474, -0.5706608891487122, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2886465787887573, -1.3560307025909424, 1.3040164709091187, -1.5321327447891235, 1.6270885467529297, 0.5503402948379517, 0.1343146413564682, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444499684518614, -0.9963648520188544, -0.011230501736903088, -15.099197387695312], [0.9964259293585882, -0.08446319855735895, 0.001155591334951799, 7.100768089294434], [-0.0020999546875463317, -0.01109277922372257, 0.9999362681888301, 0.18157783150672913], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4784544706344604, -1.3121086359024048, -1.420357346534729, -2.026770830154419, 0.1340339630842209, 0.5481659770011902, -0.5715137720108032, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.266350507736206, -1.3683274984359741, 1.2855658531188965, -1.4919699430465698, 1.589112639427185, 0.5518829226493835, 0.14780253171920776, 0.5604000011970709, 0.5604000011970709, 0.5604000011970709, 0.5604000011970709, -0.5604000011970709, -0.5604000011970709, -0.5604000011970709, 0.5604000011970709, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08420139135073246, -0.9963854913168103, -0.011228463294644763, -15.097439765930176], [0.9964465536818138, -0.0842195569800448, 0.0011540700677350464, 7.104458808898926], [-0.0020955548756958846, -0.011091389247671992, 0.9999362928378586, 0.18163518607616425], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.480082631111145, -1.3123325109481812, -1.4203593730926514, -2.026919364929199, 0.13407087326049805, 0.5478755235671997, -0.5729013085365295, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2562447786331177, -1.3766710758209229, 1.2766920328140259, -1.4675037860870361, 1.603783130645752, 0.5557870268821716, 0.14069624245166779, 0.3617999930958172, 0.3617999930958172, 0.3617999930958172, 0.3617999930958172, -0.3617999930958172, -0.3617999930958172, -0.3617999930958172, 0.3617999930958172, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444373056796195, -0.9963650724517056, -0.011220461936688509, -15.099166870117188], [0.996426031226679, -0.0844619494315797, 0.0011590479137421935, 7.100788593292236], [-0.0021025369472462896, -0.011082486026361145, 0.9999363768969809, 0.18170645833015442], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4822205305099487, -1.3128167390823364, -1.420823335647583, -2.027998447418213, 0.13329657912254333, 0.547072172164917, -0.5747975707054138, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2522989511489868, -1.382910132408142, 1.276970386505127, -1.4465664625167847, 1.5960416793823242, 0.5516035556793213, 0.152618870139122, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, 0.23819998961228592, -0.23819998961228592, -0.23819998961228592, -0.23819998961228592, 0.23819998961228592, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08430498149056831, -0.9963766747388126, -0.011233527153179988, -15.098172187805176], [0.9964377698329396, -0.08432327789481953, 0.0011643261701739282, 7.102885723114014], [-0.002107355269625871, -0.011095352247646942, 0.9999362240724496, 0.18147845566272736], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4822165966033936, -1.312952995300293, -1.4216241836547852, -2.02813982963562, 0.13371242582798004, 0.5462329387664795, -0.5764532089233398, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2511999607086182, -1.3866568803787231, 1.284987211227417, -1.4367438554763794, 1.5908046960830688, 0.5605156421661377, 0.15932738780975342, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, 0.06659999889331865, -0.06659999889331865, -0.06659999889331865, -0.06659999889331865, 0.06659999889331865, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444845934729206, -0.9963643724676179, -0.011246999203292243, -15.09920597076416], [0.996425613760616, -0.08446679685867986, 0.0011646760124815062, 7.100717067718506], [-0.0021104396812784442, -0.011108442989212822, 0.9999360722259734, 0.18126486241817474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4806329011917114, -1.313057541847229, -1.4232163429260254, -2.0265979766845703, 0.13347646594047546, 0.5458449125289917, -0.5786715745925903, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2506870031356812, -1.3881722688674927, 1.2916086912155151, -1.4319415092468262, 1.598595142364502, 0.5725725889205933, 0.1572607159614563, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08445118471859558, -0.9963641320740616, -0.011247831610029096, -15.099228858947754], [0.9964253319953048, -0.08446978882345713, 0.0011885008064709682, 7.100679397583008], [-0.0021342815353297315, -0.011107254045105049, 0.9999360348291811, 0.18108141422271729], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4795764684677124, -1.3132747411727905, -1.4229716062545776, -2.024087429046631, 0.13327740132808685, 0.5411486625671387, -0.5792135000228882, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2497403621673584, -1.391080379486084, 1.294485330581665, -1.4289860725402832, 1.5889462232589722, 0.5716722011566162, 0.16045667231082916, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08449305774079896, -0.9963607437883933, -0.01123349594069912, -15.099539756774902], [0.9964218136322426, -0.0845114781523284, 0.001174469386865489, 7.100043296813965], [-0.0021195545386206603, -0.011094065888942628, 0.9999362125608862, 0.18139560520648956], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4778685569763184, -1.3138846158981323, -1.4227452278137207, -2.021909236907959, 0.13384521007537842, 0.534311056137085, -0.5796093940734863, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2492886781692505, -1.3962032794952393, 1.2988038063049316, -1.4266389608383179, 1.5798468589782715, 0.563987672328949, 0.16361092031002045, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, 0.023400006451449594, -0.023400006451449594, -0.023400006451449594, -0.023400006451449594, 0.023400006451449594, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444823736540297, -0.996364589149071, -0.011229456606611345, -15.099191665649414], [0.996425638157499, -0.08446652500970897, 0.001163518459416242, 7.100722789764404], [-0.0021078017690914024, -0.01109106138236484, 0.9999362707338477, 0.18153756856918335], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.477613091468811, -1.3143815994262695, -1.422858715057373, -2.021665573120117, 0.13537967205047607, 0.5315333604812622, -0.5821335911750793, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2534455060958862, -1.401137113571167, 1.3273272514343262, -1.427149772644043, 1.5624589920043945, 0.524970531463623, 0.17795902490615845, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08380734274406998, -0.9964185382985581, -0.011243924454707038, -15.094635009765625], [0.9964797435950205, -0.08382570622870888, 0.0011711447650472888, 7.11042594909668], [-0.0021094802631224942, -0.011106192426901008, 0.9999360992497451, 0.1813047230243683], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4871686697006226, -1.313908576965332, -1.4281647205352783, -2.0203638076782227, 0.14091135561466217, 0.5245301127433777, -0.5870091319084167, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.253430724143982, -1.3958872556686401, 1.367316722869873, -1.4330229759216309, 1.5525007247924805, 0.49244365096092224, 0.179818257689476, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08402641074907868, -0.9964001814693818, -0.011235687091154366, -15.096213340759277], [0.9964612823649358, -0.08404481707301414, 0.001175359856098598, 7.107122421264648], [-0.0021154300401741636, -0.011097165897056315, 0.9999361868963431, 0.1813853234052658], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.497991681098938, -1.313292384147644, -1.4375139474868774, -2.0157558917999268, 0.14254984259605408, 0.5198252201080322, -0.5901724100112915, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.2637007236480713, -1.384800672531128, 1.4080973863601685, -1.4654394388198853, 1.5309957265853882, 0.4760632812976837, 0.17605437338352203, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0844076898296029, -0.9963676994564444, -0.011258302603061678, -15.098928451538086], [0.9964290418465587, -0.08442618152550385, 0.0011766213373923565, 7.101340293884277], [-0.0021228429943041245, -0.01111878378669386, 0.9999359310399473, 0.18100811541080475], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.500282645225525, -1.3124215602874756, -1.451627492904663, -1.9989608526229858, 0.14255750179290771, 0.5160722136497498, -0.5895688533782959, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.306599736213684, -1.3731555938720703, 1.4594334363937378, -1.5534335374832153, 1.4374473094940186, 0.4449279010295868, 0.14188267290592194, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0839687038579191, -0.9964051484211858, -0.01122661891114714, -15.09579086303711], [0.9964661649005361, -0.08398700805021453, 0.0011681982669519508, 7.107983112335205], [-0.002106888900434834, -0.011088853796865599, 0.9999362971412894, 0.1815759539604187], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4978229999542236, -1.3111722469329834, -1.4622116088867188, -1.9830641746520996, 0.142438143491745, 0.5140694379806519, -0.5865769982337952, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.3740179538726807, -1.3560930490493774, 1.5250318050384521, -1.6598567962646484, 1.2912532091140747, 0.425799161195755, 0.07463907450437546, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08392591003485661, -0.9964086776444097, -0.011233376150554402, -15.095480918884277], [0.996469771692245, -0.08394421623376336, 0.001167332216724096, 7.108641624450684], [-0.0021061169070551136, -0.01109575034947448, 0.9999362222640782, 0.1814824491739273], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.485816240310669, -1.311103343963623, -1.4683635234832764, -1.9636704921722412, 0.13317422568798065, 0.516150951385498, -0.5868051648139954, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.452337622642517, -1.33405339717865, 1.5950114727020264, -1.7770203351974487, 1.1442735195159912, 0.4497050344944, -0.012756847776472569, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08426308139105632, -0.9963802515694937, -0.011230645430989943, -15.097888946533203], [0.9964413015526524, -0.08428144227405565, 0.0011709177003853108, 7.103537082672119], [-0.0021132142674694532, -0.011092013817042171, 0.9999362487453599, 0.1814778745174408], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.4727425575256348, -1.3111652135849, -1.469295859336853, -1.9531251192092896, 0.12776610255241394, 0.5209338665008545, -0.5893293023109436, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.513113260269165, -1.318199872970581, 1.6658520698547363, -1.8606940507888794, 1.0291519165039062, 0.5106625556945801, -0.07078830152750015, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08472554452919079, -0.9963409852592406, -0.01123490974054301, -15.101195335388184], [0.9964020876308626, -0.08474387140084616, 0.0011644848028336393, 7.096527576446533], [-0.0021123136820273684, -0.01109582591080532, 0.9999362083544459, 0.18143059313297272], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4633196592330933, -1.3113915920257568, -1.4692418575286865, -1.9403607845306396, 0.12654143571853638, 0.5169986486434937, -0.5894951820373535, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.552510380744934, -1.307589054107666, 1.7352168560028076, -1.8995760679244995, 0.9624601602554321, 0.5834836363792419, -0.10012448579072952, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08464537125170812, -0.9963477347730006, -0.011240664498630391, -15.10060977935791], [0.996408943701147, -0.08466348772416499, 0.001144883725431165, 7.097720146179199], [-0.0020923761672030656, -0.01110338953160013, 0.9999361663140726, 0.18148942291736603], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7366474866867065, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4573084115982056, -1.3114116191864014, -1.4680005311965942, -1.9340806007385254, 0.1266145408153534, 0.5165683627128601, -0.5905630588531494, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5844711065292358, -1.29905366897583, 1.7901465892791748, -1.9136632680892944, 0.9045938849449158, 0.64290851354599, -0.11642578989267349, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08469384399358537, -0.9963438763587803, -0.011217523432098761, -15.100944519042969], [0.996404837497159, -0.08471186313183399, 0.0011402004181166566, 7.096991062164307], [-0.0020862890140703407, -0.011080626656147547, 0.9999364315350535, 0.18186768889427185], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4523476362228394, -1.31141996383667, -1.4666366577148438, -1.9338064193725586, 0.12657761573791504, 0.5169746279716492, -0.5931488871574402, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6009875535964966, -1.2944462299346924, 1.8256851434707642, -1.904151201248169, 0.8289431929588318, 0.6880258321762085, -0.12924519181251526, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08490444050344204, -0.9963257578217448, -0.011234780092352178, -15.10246467590332], [0.9963868909162604, -0.08492259126923773, 0.0011476507945991062, 7.093808650970459], [-0.002097520685426273, -0.011096746957737914, 0.9999362292736123, 0.18154087662696838], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4508318901062012, -1.3114302158355713, -1.4661717414855957, -1.933929443359375, 0.12658733129501343, 0.5170839428901672, -0.59383225440979, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.605625867843628, -1.2928979396820068, 1.8435572385787964, -1.8885679244995117, 0.7837848663330078, 0.7297977209091187, -0.12972503900527954, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08502645559290145, -0.9963155046958565, -0.011221272296365251, -15.103321075439453], [0.9963764648640662, -0.08504469563353556, 0.0011575878306599788, 7.091962814331055], [-0.002107632390799186, -0.011082186031650997, 0.999936369494812, 0.181667760014534], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.450836181640625, -1.3114306926727295, -1.4662078619003296, -1.934639573097229, 0.12631192803382874, 0.5169717669487, -0.5936566591262817, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6003296375274658, -1.2928019762039185, 1.8505507707595825, -1.8709365129470825, 0.7620506286621094, 0.7691212892532349, -0.14697524905204773, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08472450655504948, -0.996341281076176, -0.011216488420526917, -15.101162910461426], [0.9964021898704756, -0.08474273851843184, 0.0011594350854933525, 7.096530914306641], [-0.0021057089837208413, -0.011077901059368817, 0.9999364210277545, 0.18174418807029724], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4509721994400024, -1.3114312887191772, -1.4673800468444824, -1.9369111061096191, 0.12438762933015823, 0.5185122489929199, -0.5926308035850525, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5921146869659424, -1.2923380136489868, 1.854312777519226, -1.8550381660461426, 0.705977737903595, 0.8069391846656799, -0.15064147114753723, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846605637105966, -0.9963464110904133, -0.011243578587666324, -15.1007080078125], [0.9964075495635909, -0.08467922508888548, 0.0011933193311852318, 7.097503662109375], [-0.0021410569549407876, -0.011102159501597366, 0.9999360769216784, 0.18110018968582153], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4519367218017578, -1.3114324808120728, -1.4676010608673096, -1.9395006895065308, 0.12440536171197891, 0.519196629524231, -0.5906074047088623, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5884193181991577, -1.2918952703475952, 1.854376196861267, -1.8515299558639526, 0.6796475648880005, 0.8232004642486572, -0.15083512663841248, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08464092955508518, -0.9963482370607766, -0.011229583693688625, -15.100591659545898], [0.9964092291189046, -0.08465951566527896, 0.0011893418308415867, 7.0977959632873535], [-0.0021356897530520427, -0.011088593833433327, 0.9999362389253006, 0.18133990466594696], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4547098875045776, -1.3114306926727295, -1.469164490699768, -1.9445645809173584, 0.12369625270366669, 0.51934415102005, -0.5895856618881226, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5780293941497803, -1.2922070026397705, 1.8568965196609497, -1.835869312286377, 0.6674677729606628, 0.8511099219322205, -0.1558516025543213, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846085641721821, -0.9963507464058509, -0.011250822424409156, -15.100342750549316], [0.9964120155170468, -0.08462698112926059, 0.001170212888335567, 7.098289489746094], [-0.002118065621746025, -0.011111444615872062, 0.9999360227517411, 0.18115606904029846], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.4580150842666626, -1.3114243745803833, -1.4719626903533936, -1.9485130310058594, 0.12357161939144135, 0.5193447470664978, -0.5876287221908569, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5618051290512085, -1.2924021482467651, 1.8619259595870972, -1.8252884149551392, 0.6441265344619751, 0.8651299476623535, -0.1547042429447174, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08467423016191589, -0.9963452304039558, -0.011245292249428556, -15.10081958770752], [0.9964063748657495, -0.08469296224233847, 0.0011992804148090654, 7.097301006317139], [-0.002147294433096804, -0.011103332738686796, 0.9999360505195878, 0.18102945387363434], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.460890531539917, -1.3113718032836914, -1.4742459058761597, -1.9520468711853027, 0.12401371449232101, 0.5193467140197754, -0.5862302780151367, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5510505437850952, -1.2924028635025024, 1.8652950525283813, -1.817119836807251, 0.6303001046180725, 0.8804829120635986, -0.15414445102214813, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455035988718573, -0.9963559738712346, -0.011225416431073868, -15.09994125366211], [0.9964169051242989, -0.0845690160078536, 0.0011969603073743774, 7.099179267883301], [-0.002141920974593518, -0.011083991274222896, 0.9999362766256515, 0.18135502934455872], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.4642236232757568, -1.311173915863037, -1.475046157836914, -1.9551382064819336, 0.124426931142807, 0.5192978978157043, -0.5831598043441772, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5448594093322754, -1.2928707599639893, 1.8675873279571533, -1.812825322151184, 0.6158029437065125, 0.8912758231163025, -0.1476920247077942, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08439594164096009, -0.9963690258292389, -0.011228953763779215, -15.09885311126709], [0.9964300027898609, -0.08441457723786594, 0.0011952781895105478, 7.101518154144287], [-0.002138825550070527, -0.011087989801843097, 0.9999362389209727, 0.18132244050502777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.465654969215393, -1.3110495805740356, -1.4760689735412598, -1.95875883102417, 0.12441051751375198, 0.5193747282028198, -0.5830546021461487, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5435861349105835, -1.2945246696472168, 1.8709392547607422, -1.8126089572906494, 0.6064154505729675, 0.893290102481842, -0.14453166723251343, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0840295811347258, -0.9963998317282823, -0.011242990090406762, -15.09622859954834], [0.9964609777046337, -0.08404819091878801, 0.00119227312480046, 7.1070685386657715], [-0.0021329337185418823, -0.011103014686535058, 0.9999360847867342, 0.18115396797657013], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4671450853347778, -1.3108056783676147, -1.4774534702301025, -1.9610522985458374, 0.1241840124130249, 0.5186071395874023, -0.5833652019500732, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5568655729293823, -1.2964755296707153, 1.8893953561782837, -1.8101329803466797, 0.6016488075256348, 0.8909193873405457, -0.13654634356498718, 0.24719998967516554, 0.24719998967516554, 0.24719998967516554, 0.24719998967516554, -0.24719998967516554, -0.24719998967516554, -0.24719998967516554, 0.24719998967516554, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08362944987480758, -0.996433486570683, -0.011243751786212605, -15.093363761901855], [0.9964946595855654, -0.0836479786820361, 0.0011870466958626956, 7.113126754760742], [-0.0021233301875998893, -0.011105066546515817, 0.9999360824402287, 0.1812087893486023], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.468418836593628, -1.3107192516326904, -1.4778088331222534, -1.961539387702942, 0.12403780966997147, 0.518008291721344, -0.5829329490661621, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5726200342178345, -1.2977445125579834, 1.9060076475143433, -1.8176847696304321, 0.6024640202522278, 0.8804941773414612, -0.127422034740448, 0.5064000032760285, 0.5064000032760285, 0.5064000032760285, 0.5064000032760285, -0.5064000032760285, -0.5064000032760285, -0.5064000032760285, 0.5064000032760285, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08407080811630174, -0.9963961920238106, -0.011257341743139799, -15.096535682678223], [0.9964574523842172, -0.08408968067288902, 0.001212927156708728, 7.106451034545898], [-0.0021551822725530525, -0.011115490307736873, 0.9999358984777927, 0.18078574538230896], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4689180850982666, -1.3106882572174072, -1.4777964353561401, -1.9625111818313599, 0.12432075291872025, 0.5177604556083679, -0.581522524356842, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.5972899198532104, -1.3017940521240234, 1.9256025552749634, -1.8434092998504639, 0.6034687757492065, 0.8518621921539307, -0.11106212437152863, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, 0.5838000003780638, -0.5838000003780638, -0.5838000003780638, -0.5838000003780638, 0.5838000003780638, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08440740570534921, -0.9963681558049647, -0.011219980387945229, -15.098916053771973], [0.9964290421559985, -0.08442597578253253, 0.00119103368818597, 7.101344585418701], [-0.0021339658319125955, -0.011079382247241903, 0.9999363447134261, 0.1814878135919571], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.470210313796997, -1.3104923963546753, -1.4778021574020386, -1.9651845693588257, 0.12551546096801758, 0.5165459513664246, -0.5813477039337158, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6093894243240356, -1.3046684265136719, 1.9450186491012573, -1.877487301826477, 0.624050498008728, 0.8377701640129089, -0.09335675090551376, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08466766784645463, -0.9963459328397868, -0.01123245899424401, -15.100790023803711], [0.9964068952523967, -0.08468657651768541, 0.0012177237754573192, 7.097404956817627], [-0.0021645126290970196, -0.011088997760355383, 0.9999361724698979, 0.18109339475631714], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4720525741577148, -1.3102211952209473, -1.4803961515426636, -1.9663444757461548, 0.12666749954223633, 0.5165742635726929, -0.5828784108161926, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6216496229171753, -1.3079817295074463, 1.955043077468872, -1.9215301275253296, 0.6406770348548889, 0.816047191619873, -0.07298548519611359, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08449787856471724, -0.9963600947453776, -0.01125478196343885, -15.099555969238281], [0.9964213263218485, -0.08451673188713094, 0.0012093312725173406, 7.099977493286133], [-0.002156146810916007, -0.011112318844463275, 0.9999359316480375, 0.18082787096500397], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4748778343200684, -1.3097689151763916, -1.4876538515090942, -1.9678117036819458, 0.12511470913887024, 0.5168842673301697, -0.5827077627182007, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6352956295013428, -1.313071370124817, 1.9587326049804688, -1.974938154220581, 0.6624224185943604, 0.7729494571685791, -0.053590577095746994, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08457799145293854, -0.9963535503776937, -0.011232364468423297, -15.100132942199707], [0.9964144863583434, -0.08459703285446407, 0.0012302062671004897, 7.098763942718506], [-0.002175945087890982, -0.011088042297249528, 0.9999361582526101, 0.18101157248020172], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4760143756866455, -1.3094393014907837, -1.4980782270431519, -1.9677034616470337, 0.12143770605325699, 0.5197813510894775, -0.5791845321655273, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6429007053375244, -1.3193678855895996, 1.958200454711914, -2.0270164012908936, 0.6912310123443604, 0.7379932403564453, -0.0375254862010479, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08446243380663865, -0.996363360011756, -0.011231745258115084, -15.099318504333496], [0.9964243034596455, -0.084481404889444, 0.0012246235609606345, 7.100516319274902], [-0.002169043664714213, -0.011088149258997811, 0.9999361720607924, 0.18106776475906372], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4774284362792969, -1.3092515468597412, -1.5118364095687866, -1.9668853282928467, 0.11232633888721466, 0.5229341983795166, -0.5703790187835693, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.652223825454712, -1.3238935470581055, 1.9477665424346924, -2.079965114593506, 0.7233949899673462, 0.719448983669281, -0.025640489533543587, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471469728109082, -0.996341928675576, -0.011233041778902764, -15.101110458374023], [0.9964029101364758, -0.08473354095777541, 0.001211490123421649, 7.096696376800537], [-0.0021588738117943964, -0.011090004499118632, 0.9999361734951258, 0.18112598359584808], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4779044389724731, -1.3088756799697876, -1.515522837638855, -1.9668514728546143, 0.10870171338319778, 0.5274609923362732, -0.5694186091423035, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6649216413497925, -1.3285763263702393, 1.9258968830108643, -2.113814115524292, 0.7495739459991455, 0.7046815156936646, -0.015445628203451633, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08409688444189722, -0.9963942616701127, -0.011233402780855904, -15.096699714660645], [0.9964553463478254, -0.08411523549048039, 0.0011704243743091878, 7.10604190826416], [-0.00211110445055162, -0.011095155215308137, 0.9999362183503241, 0.18145154416561127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.478403925895691, -1.308849573135376, -1.5147899389266968, -1.9668140411376953, 0.10877397656440735, 0.5276690125465393, -0.5695267915725708, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6734627485275269, -1.3321415185928345, 1.9143468141555786, -2.1248419284820557, 0.7560163140296936, 0.6931272745132446, -0.015061774291098118, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08416240347465176, -0.9963887814583879, -0.011228803375203775, -15.097168922424316], [0.996449759459148, -0.08418103306442037, 0.0011960543520888307, 7.1050496101379395], [-0.002136987406637695, -0.011088275613277757, 0.9999362396816849, 0.1813337355852127], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4785206317901611, -1.3088431358337402, -1.5143533945083618, -1.9657858610153198, 0.1096487045288086, 0.5276834964752197, -0.5693977475166321, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.673537015914917, -1.3324494361877441, 1.9172112941741943, -2.122373342514038, 0.7553116679191589, 0.6928693056106567, -0.016035012900829315, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08450224286897035, -0.9963598091871989, -0.011247292410261941, -15.099584579467773], [0.9964210147911371, -0.08452078318142586, 0.0011825789609110613, 7.099908828735352], [-0.00212890411102799, -0.011107107942519217, 0.9999360479152851, 0.1811274290084839], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.8105972409248352, 0.0, 0.0, 1.4684213399887085, -1.3088163137435913, -1.5280578136444092, -1.934460163116455, 0.11156462877988815, 0.5464550256729126, -0.5715305805206299, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6733959913253784, -1.3321772813796997, 1.9178944826126099, -2.121964693069458, 0.7545714974403381, 0.6929621696472168, -0.016506951302289963, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08474200187304892, -0.9963396815826009, -0.011226398462100945, -15.101298332214355], [0.9964006136391245, -0.08476070535968772, 0.0011999860435773573, 7.096277236938477], [-0.002147151164858018, -0.011084301097042238, 0.9999362619742647, 0.18130531907081604], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4465457201004028, -1.3055833578109741, -1.557384967803955, -1.873131513595581, 0.12093725055456161, 0.5699191689491272, -0.5804139971733093, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6731928586959839, -1.33194100856781, 1.9181147813796997, -2.1219167709350586, 0.7545115947723389, 0.6930109262466431, -0.016537031158804893, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455147529030249, -0.9963558026771193, -0.011232208058372434, -15.09993839263916], [0.9964168545337716, -0.08456991025237426, 0.0011757044398192445, 7.099154949188232], [-0.0021213267682797096, -0.011092553878100268, 0.9999362255770133, 0.18140240013599396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4205653667449951, -1.2974486351013184, -1.57758367061615, -1.7949994802474976, 0.15026132762432098, 0.5892466306686401, -0.5942624807357788, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6731185913085938, -1.3319145441055298, 1.9181187152862549, -2.1219005584716797, 0.7545000910758972, 0.6930219531059265, -0.016537630930542946, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08450873965027195, -0.9963594511068514, -0.011230187566372172, -15.099632263183594], [0.9964204355015173, -0.08452740621902, 0.0011972104455839155, 7.0998101234436035], [-0.00214211056875991, -0.01108881363979585, 0.999936222753418, 0.18128176033496857], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4026845693588257, -1.289306402206421, -1.5862079858779907, -1.735800862312317, 0.19257211685180664, 0.6114622354507446, -0.6248969435691833, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6731183528900146, -1.3319003582000732, 1.9181150197982788, -2.1218862533569336, 0.7544969320297241, 0.6930254101753235, -0.016534514725208282, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08449769974651455, -0.9963603575961736, -0.01123283349707014, -15.099573135375977], [0.9964214257248861, -0.08451608908088049, 0.001171769114567951, 7.099958419799805], [-0.0021168594504801536, -0.011093624173265884, 0.9999362231706427, 0.1814245730638504], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3902076482772827, -1.2846721410751343, -1.5857172012329102, -1.702723503112793, 0.22761602699756622, 0.6329234838485718, -0.6566347479820251, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.673117756843567, -1.3319013118743896, 1.918114185333252, -2.1218860149383545, 0.7544971704483032, 0.6930273771286011, -0.016528762876987457, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08435647958015702, -0.9963723170840716, -0.011233436756412217, -15.098552703857422], [0.9964333987976813, -0.0843748390449699, 0.0011697421238116496, 7.1021223068237305], [-0.0021133180885371874, -0.011094696239789259, 0.9999362187669789, 0.18143963813781738], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3773139715194702, -1.2819371223449707, -1.5811593532562256, -1.677751064300537, 0.24536405503749847, 0.6398873925209045, -0.6706603765487671, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.673119306564331, -1.3318992853164673, 1.9181139469146729, -2.121877431869507, 0.7544968128204346, 0.6930290460586548, -0.016527084633708, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3622088432312012, -1.2816661596298218, -1.5759648084640503, -1.665393352508545, 0.24557343125343323, 0.6469801068305969, -0.6789341568946838, 0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -0.05880001717871364, -0.05880001717871364, 0.05880001717871364, 0.05880001717871364, -1.6731247901916504, -1.331900954246521, 1.9181119203567505, -2.12186861038208, 0.754498302936554, 0.6930291652679443, -0.01651330292224884, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3599683046340942, -1.281933307647705, -1.5734620094299316, -1.6604076623916626, 0.23252560198307037, 0.6396116018295288, -0.6717517375946045, 0.11100000968346233, -0.11100000968346233, 0.11100000968346233, 0.11100000968346233, -0.11100000968346233, -0.11100000968346233, 0.11100000968346233, 0.11100000968346233, -1.6731306314468384, -1.331896424293518, 1.9181114435195923, -2.121852397918701, 0.7544980645179749, 0.6930296421051025, -0.01651126518845558, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3634591102600098, -1.2835363149642944, -1.5726088285446167, -1.6596802473068237, 0.21391062438488007, 0.6331000924110413, -0.6631016731262207, 0.513599995466379, -0.513599995466379, 0.513599995466379, 0.513599995466379, -0.513599995466379, -0.513599995466379, 0.513599995466379, 0.513599995466379, -1.6731394529342651, -1.331903100013733, 1.9181122779846191, -2.1218535900115967, 0.7544986605644226, 0.6930296421051025, -0.016507191583514214, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.3737941980361938, -1.2864785194396973, -1.577133297920227, -1.6791874170303345, 0.182673379778862, 0.609441339969635, -0.6438117623329163, 0.5705999999583422, -0.5705999999583422, 0.5705999999583422, 0.5705999999583422, -0.5705999999583422, -0.5705999999583422, 0.5705999999583422, 0.5705999999583422, -1.67313814163208, -1.3319023847579956, 1.9181134700775146, -2.121853828430176, 0.7544975876808167, 0.6930298805236816, -0.016507551074028015, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3898372650146484, -1.2893120050430298, -1.5979998111724854, -1.7362052202224731, 0.12701120972633362, 0.5727252960205078, -0.6320508718490601, 0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -1.6731386184692383, -1.3319038152694702, 1.918115496635437, -2.1218533515930176, 0.754496693611145, 0.6930297613143921, -0.016509108245372772, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4057860374450684, -1.2896764278411865, -1.6218113899230957, -1.8028130531311035, 0.0793842226266861, 0.5260851979255676, -0.6188910007476807, 0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -1.673142433166504, -1.3319063186645508, 1.9181121587753296, -2.121854305267334, 0.7544952630996704, 0.6930301189422607, -0.01651078648865223, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4203323125839233, -1.293434977531433, -1.6550953388214111, -1.8680835962295532, 0.013868863694369793, 0.483513742685318, -0.5801638960838318, 0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -0.5957999999501875, -0.5957999999501875, 0.5957999999501875, 0.5957999999501875, -1.6731469631195068, -1.331905484199524, 1.9181146621704102, -2.1218557357788086, 0.7544950246810913, 0.6930301189422607, -0.016512703150510788, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4289264678955078, -1.2948914766311646, -1.6893659830093384, -1.9243751764297485, -0.04902387037873268, 0.4494520425796509, -0.5371277928352356, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.6731493473052979, -1.3319082260131836, 1.9181156158447266, -2.1218576431274414, 0.7544931173324585, 0.6930299997329712, -0.016514621675014496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4384366273880005, -1.2953583002090454, -1.7198115587234497, -1.9713901281356812, -0.1041984036564827, 0.43238377571105957, -0.49976566433906555, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.6731529235839844, -1.331907868385315, 1.91812002658844, -2.1218576431274414, 0.7544887065887451, 0.6930303573608398, -0.01652229204773903, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4481350183486938, -1.295333743095398, -1.7238547801971436, -1.9784313440322876, -0.1283784955739975, 0.41450223326683044, -0.4864199161529541, 0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -1.673154354095459, -1.3319087028503418, 1.9181153774261475, -2.121861219406128, 0.7544873952865601, 0.6930307149887085, -0.016527565196156502, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4556018114089966, -1.295107364654541, -1.7185513973236084, -1.9699010848999023, -0.13286706805229187, 0.39827486872673035, -0.4937681555747986, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.6731539964675903, -1.3319079875946045, 1.9181174039840698, -2.1218605041503906, 0.7544812560081482, 0.6930311918258667, -0.016539668664336205, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4570258855819702, -1.2951043844223022, -1.717649221420288, -1.9697028398513794, -0.1312616616487503, 0.4004303514957428, -0.49439650774002075, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6731555461883545, -1.3319082260131836, 1.9181175231933594, -2.1218607425689697, 0.7544727325439453, 0.6930313110351562, -0.01655728556215763, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4566892385482788, -1.2950650453567505, -1.7178832292556763, -1.9697129726409912, -0.1309371292591095, 0.40112951397895813, -0.4944191575050354, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.673155665397644, -1.331907868385315, 1.9181183576583862, -2.1218605041503906, 0.7544653415679932, 0.6930316686630249, -0.016570229083299637, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559472799301147, -1.2950124740600586, -1.7181297540664673, -1.9697504043579102, -0.13080757856369019, 0.4011320173740387, -0.49445343017578125, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6731563806533813, -1.3319076299667358, 1.9181183576583862, -2.1218600273132324, 0.7544556260108948, 0.6930320262908936, -0.016583411023020744, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4559369087219238, -1.2949776649475098, -1.7182142734527588, -1.9697816371917725, -0.13071098923683167, 0.4011315405368805, -0.4945123791694641, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6682360172271729, -1.3309136629104614, 1.9182862043380737, -2.1177916526794434, 0.7507601380348206, 0.6994001865386963, -0.0139283062890172, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559234380722046, -1.2949559688568115, -1.7182520627975464, -1.9700043201446533, -0.13067227602005005, 0.40112999081611633, -0.49461665749549866, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6006033420562744, -1.3184702396392822, 1.9270787239074707, -2.073899507522583, 0.7105342745780945, 0.7865837812423706, 0.024932701140642166, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559136629104614, -1.2949532270431519, -1.7182509899139404, -1.969968557357788, -0.1306242197751999, 0.40113431215286255, -0.49472856521606445, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5096033811569214, -1.2874268293380737, 1.9404584169387817, -2.020780563354492, 0.6076151728630066, 0.8643659353256226, 0.13719336688518524, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559158086776733, -1.2949275970458984, -1.7182748317718506, -1.969925045967102, -0.13059653341770172, 0.4011645019054413, -0.4947241544723511, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.40644371509552, -1.2417702674865723, 1.9397029876708984, -1.9227018356323242, 0.4667661488056183, 0.9218264818191528, 0.2914946973323822, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4559142589569092, -1.2949073314666748, -1.7182564735412598, -1.9698817729949951, -0.13056430220603943, 0.40127691626548767, -0.49472054839134216, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.3039995431900024, -1.191056251525879, 1.9101353883743286, -1.808580994606018, 0.2945898771286011, 0.9389861822128296, 0.4552905261516571, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.455920934677124, -1.2948803901672363, -1.718253493309021, -1.9698880910873413, -0.1304973065853119, 0.40131381154060364, -0.49471646547317505, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2079334259033203, -1.1413103342056274, 1.8605135679244995, -1.7031378746032715, 0.11680640280246735, 0.9305211305618286, 0.6288934350013733, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.4559156894683838, -1.2948917150497437, -1.7182390689849854, -1.9698171615600586, -0.13044601678848267, 0.40133240818977356, -0.49470987915992737, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1069438457489014, -1.1005984544754028, 1.7975990772247314, -1.5826168060302734, -0.0427011102437973, 0.8953003287315369, 0.7805193662643433, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.4559330940246582, -1.2949191331863403, -1.718241810798645, -1.9698489904403687, -0.13042935729026794, 0.40134331583976746, -0.494707852602005, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.006899356842041, -1.0740585327148438, 1.7305773496627808, -1.4526232481002808, -0.1751571148633957, 0.8275521993637085, 0.8925730586051941, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.455934762954712, -1.294922947883606, -1.718238115310669, -1.969867467880249, -0.13042037189006805, 0.401350736618042, -0.49471983313560486, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9168581962585449, -1.064537525177002, 1.6631219387054443, -1.3340774774551392, -0.2688206732273102, 0.7722241282463074, 0.9539181590080261, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.6130965948104858, -0.8104054927825928, 0.0, 0.0, 1.455928921699524, -1.294948935508728, -1.7182118892669678, -1.9699058532714844, -0.13041341304779053, 0.4013567268848419, -0.49472150206565857, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8267507553100586, -1.0657548904418945, 1.5944297313690186, -1.203919768333435, -0.33034804463386536, 0.7396247982978821, 0.9819250702857971, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.4559361934661865, -1.2949206829071045, -1.718217372894287, -1.9698902368545532, -0.13040059804916382, 0.40135815739631653, -0.49471229314804077, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7463170289993286, -1.072281837463379, 1.5353775024414062, -1.084047794342041, -0.3837469816207886, 0.7008416652679443, 1.0128086805343628, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8104054927825928, 0.0, 0.0, 1.4559354782104492, -1.2949278354644775, -1.718213438987732, -1.969894289970398, -0.13038717210292816, 0.4013582766056061, -0.4947139620780945, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6706007719039917, -1.0827778577804565, 1.4813565015792847, -0.9639554619789124, -0.4341579079627991, 0.66468346118927, 1.0390065908432007, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7362640500068665, 1.6130965948104858, -0.8104054927825928, 0.0, 0.0, 1.4559351205825806, -1.294935703277588, -1.7182166576385498, -1.969895601272583, -0.1303851306438446, 0.4013582766056061, -0.4947109520435333, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6107937097549438, -1.095071792602539, 1.4469112157821655, -0.8631388545036316, -0.463817298412323, 0.6139985918998718, 1.0530897378921509, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.4559342861175537, -1.2949299812316895, -1.7182235717773438, -1.9698957204818726, -0.1303846538066864, 0.4013574421405792, -0.4947059154510498, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5665972232818604, -1.1074531078338623, 1.4232902526855469, -0.7902582287788391, -0.48638612031936646, 0.5809587836265564, 1.0695983171463013, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.455933690071106, -1.294930338859558, -1.7182222604751587, -1.9698948860168457, -0.1303844153881073, 0.4013587534427643, -0.494704008102417, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5414248108863831, -1.1182233095169067, 1.4080100059509277, -0.7467393279075623, -0.5070790648460388, 0.5574065446853638, 1.0752065181732178, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4559329748153687, -1.2949312925338745, -1.7182234525680542, -1.969894289970398, -0.13038453459739685, 0.4013589918613434, -0.4946995675563812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5284156203269958, -1.1279066801071167, 1.398586630821228, -0.7194334864616394, -0.5179368853569031, 0.5524522662162781, 1.094330906867981, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105013370513916, 0.0, 0.0, 1.4559326171875, -1.2949309349060059, -1.7182278633117676, -1.9698946475982666, -0.13038453459739685, 0.40135839581489563, -0.4946986138820648, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5315202474594116, -1.134039044380188, 1.3970361948013306, -0.7240282893180847, -0.524918258190155, 0.5718445777893066, 1.1311222314834595, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4559028148651123, -1.2949326038360596, -1.7182273864746094, -1.9698753356933594, -0.13038872182369232, 0.40136224031448364, -0.49469825625419617, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5938703417778015, -1.1299183368682861, 1.420643925666809, -0.853117048740387, -0.5389581322669983, 0.6069591641426086, 1.2130905389785767, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4558777809143066, -1.294914960861206, -1.7182562351226807, -1.969846487045288, -0.1303865760564804, 0.40137723088264465, -0.49469321966171265, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.675395131111145, -1.1162012815475464, 1.4418309926986694, -0.9857216477394104, -0.49351972341537476, 0.6035484671592712, 1.2196295261383057, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4558789730072021, -1.294921875, -1.718260407447815, -1.969840168952942, -0.13038836419582367, 0.40138405561447144, -0.4946900010108948, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7311688661575317, -1.0899879932403564, 1.4238407611846924, -1.0773268938064575, -0.4332020580768585, 0.6126352548599243, 1.2002897262573242, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4558809995651245, -1.294926404953003, -1.7182575464248657, -1.9698461294174194, -0.13039244711399078, 0.40138715505599976, -0.4946942925453186, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7562486529350281, -1.0531517267227173, 1.371225357055664, -1.1392654180526733, -0.36293014883995056, 0.6339042782783508, 1.1790070533752441, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444898178046722, -0.9963645087963596, -0.011230987811924076, -15.099221229553223], [0.9964255398372117, -0.0844674558302092, 0.001180027835652303, 7.10070276260376], [-0.0021243908217690533, -0.011091190944208148, 0.9999362341904985, 0.18139685690402985], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455881118774414, -1.2949254512786865, -1.7182587385177612, -1.9698470830917358, -0.1303955614566803, 0.40139099955558777, -0.4946947693824768, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7600588202476501, -1.015295147895813, 1.2970988750457764, -1.1845455169677734, -0.2819547653198242, 0.6704176664352417, 1.142228126525879, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08470466042793445, -0.996342592597497, -0.011249830126997498, -15.101029396057129], [0.9964038219722436, -0.08472322198081472, 0.00118288473452697, 7.096840858459473], [-0.002131680298238669, -0.011109177885315303, 0.9999360190061255, 0.18107442557811737], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558950662612915, -1.2949259281158447, -1.7182540893554688, -1.9698601961135864, -0.13040226697921753, 0.4013938903808594, -0.4947168231010437, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7538871169090271, -0.9741718769073486, 1.2015254497528076, -1.2211849689483643, -0.19187702238559723, 0.7196115851402283, 1.0926402807235718, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08460182142752992, -0.9963516050289283, -0.011225460677546756, -15.100282669067383], [0.9964125414685335, -0.08462045149177655, 0.0011943171881542694, 7.09839391708374], [-0.0021398633980683323, -0.011084148393389393, 0.999936279289351, 0.1813715100288391], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558981657028198, -1.2949225902557373, -1.7182661294937134, -1.9698606729507446, -0.13040383160114288, 0.4013948440551758, -0.4947137236595154, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7297254800796509, -0.9382211565971375, 1.1000339984893799, -1.2265162467956543, -0.11574795842170715, 0.7631560564041138, 1.0496219396591187, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455906629562378, -1.2949354648590088, -1.7182672023773193, -1.9698593616485596, -0.1304050236940384, 0.40139710903167725, -0.4947251081466675, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.689784586429596, -0.9149511456489563, 1.010587215423584, -1.2092857360839844, -0.052083440124988556, 0.7952262163162231, 1.0177762508392334, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4559056758880615, -1.2949365377426147, -1.7182598114013672, -1.9698612689971924, -0.1304050236940384, 0.40139663219451904, -0.4947315752506256, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6528383493423462, -0.9034306406974792, 0.9433356523513794, -1.201810598373413, -0.011391964741051197, 0.8174520134925842, 0.9952415823936462, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559065103530884, -1.2949365377426147, -1.7182601690292358, -1.9698611497879028, -0.13040585815906525, 0.40139639377593994, -0.4947360157966614, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6275235414505005, -0.8999593257904053, 0.8994957804679871, -1.2007085084915161, 0.027738086879253387, 0.8372843265533447, 0.975058376789093, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559098482131958, -1.2949342727661133, -1.7182592153549194, -1.969860315322876, -0.1304059773683548, 0.401395320892334, -0.49475398659706116, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6051547527313232, -0.8967198729515076, 0.8539993166923523, -1.1957805156707764, 0.05361238867044449, 0.8498564958572388, 0.9624998569488525, 0.5442000015751346, 0.5442000015751346, 0.5442000015751346, 0.5442000015751346, -0.5442000015751346, -0.5442000015751346, -0.5442000015751346, 0.5442000015751346, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.455909252166748, -1.294934630393982, -1.7182579040527344, -1.969861626625061, -0.13040490448474884, 0.40139520168304443, -0.4947827458381653, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5886707901954651, -0.8947758078575134, 0.818216860294342, -1.1886552572250366, 0.06863365322351456, 0.8571494221687317, 0.9550280570983887, 0.5148000039897122, 0.5148000039897122, 0.5148000039897122, 0.5148000039897122, -0.5148000039897122, -0.5148000039897122, -0.5148000039897122, 0.5148000039897122, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559098482131958, -1.2949345111846924, -1.7182542085647583, -1.9698631763458252, -0.13040418922901154, 0.40139496326446533, -0.4948275685310364, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5750929713249207, -0.8948014378547668, 0.7975574731826782, -1.1802287101745605, 0.0788213238120079, 0.8615766167640686, 0.9510546922683716, 0.48000000243658547, 0.48000000243658547, 0.48000000243658547, 0.48000000243658547, -0.48000000243658547, -0.48000000243658547, -0.48000000243658547, 0.48000000243658547, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455910325050354, -1.2949345111846924, -1.7182514667510986, -1.9698631763458252, -0.13040190935134888, 0.40139472484588623, -0.49483704566955566, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5660902261734009, -0.895147979259491, 0.7862920761108398, -1.1730997562408447, 0.08375247567892075, 0.8627136945724487, 0.9498077034950256, 0.4733999997704894, 0.4733999997704894, 0.4733999997704894, 0.4733999997704894, -0.4733999997704894, -0.4733999997704894, -0.4733999997704894, 0.4733999997704894, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559125900268555, -1.2949343919754028, -1.7182408571243286, -1.9698723554611206, -0.13039831817150116, 0.4013929069042206, -0.4948399066925049, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5592658519744873, -0.8963001370429993, 0.7746612429618835, -1.1659198999404907, 0.09310352802276611, 0.8659483194351196, 0.9465146660804749, 0.4140000052504487, 0.4140000052504487, 0.4140000052504487, 0.4140000052504487, -0.4140000052504487, -0.4140000052504487, -0.4140000052504487, 0.4140000052504487, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559135437011719, -1.2949326038360596, -1.7182399034500122, -1.9698723554611206, -0.1303945928812027, 0.4013917148113251, -0.49483799934387207, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5537586212158203, -0.8974102735519409, 0.7677322030067444, -1.1568430662155151, 0.10789361596107483, 0.8672907948493958, 0.9455026388168335, 0.3761999971264012, 0.3761999971264012, 0.3761999971264012, 0.3761999971264012, -0.3761999971264012, -0.3761999971264012, -0.3761999971264012, 0.3761999971264012, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.455914855003357, -1.2949329614639282, -1.7182339429855347, -1.9698734283447266, -0.13038872182369232, 0.4013918340206146, -0.4948385953903198, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5515460968017578, -0.8962573409080505, 0.7621597647666931, -1.1575847864151, 0.11276783794164658, 0.8676745295524597, 0.9450371265411377, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, 0.3323999955103948, -0.3323999955103948, -0.3323999955103948, -0.3323999955103948, 0.3323999955103948, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559142589569092, -1.294932246208191, -1.7182320356369019, -1.9698735475540161, -0.1303839385509491, 0.4013920724391937, -0.49483752250671387, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5499659180641174, -0.8929712176322937, 0.7566450238227844, -1.1628360748291016, 0.12107866257429123, 0.870129406452179, 0.9426589012145996, 0.3096000005910685, 0.3096000005910685, 0.3096000005910685, 0.3096000005910685, -0.3096000005910685, -0.3096000005910685, -0.3096000005910685, 0.3096000005910685, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559135437011719, -1.2949321269989014, -1.718231439590454, -1.969873070716858, -0.13037806749343872, 0.4013926684856415, -0.4948369264602661, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5452812910079956, -0.8896700143814087, 0.7488327622413635, -1.1625546216964722, 0.12705279886722565, 0.8707608580589294, 0.9420567750930786, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, 0.2807999925299005, -0.2807999925299005, -0.2807999925299005, -0.2807999925299005, 0.2807999925299005, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455913782119751, -1.2949323654174805, -1.71822988986969, -1.9698739051818848, -0.130372554063797, 0.4013931453227997, -0.49483487010002136, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5409982204437256, -0.8860134482383728, 0.7401096820831299, -1.1625549793243408, 0.13477088510990143, 0.8707516193389893, 0.9421894550323486, 0.265800018624945, 0.265800018624945, 0.265800018624945, 0.265800018624945, -0.265800018624945, -0.265800018624945, -0.265800018624945, 0.265800018624945, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559133052825928, -1.2949323654174805, -1.7182283401489258, -1.9698731899261475, -0.13036823272705078, 0.4013937711715698, -0.49483007192611694, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5372433662414551, -0.882276713848114, 0.7305096983909607, -1.1634048223495483, 0.14465510845184326, 0.8742614388465881, 0.9383869767189026, 0.24120001583308964, 0.24120001583308964, 0.24120001583308964, 0.24120001583308964, -0.24120001583308964, -0.24120001583308964, -0.24120001583308964, 0.24120001583308964, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 1.4559123516082764, -1.2949328422546387, -1.7182263135910034, -1.9698737859725952, -0.13036727905273438, 0.4013938903808594, -0.494825541973114, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5339681506156921, -0.8810498118400574, 0.7233709096908569, -1.1629573106765747, 0.1514761745929718, 0.8763995170593262, 0.9363692998886108, 0.23280000529446446, 0.23280000529446446, 0.23280000529446446, 0.23280000529446446, -0.23280000529446446, -0.23280000529446446, -0.23280000529446446, 0.23280000529446446, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559123516082764, -1.2949321269989014, -1.7182260751724243, -1.9698736667633057, -0.13036476075649261, 0.40139472484588623, -0.494817852973938, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5322552919387817, -0.8810853362083435, 0.7181541919708252, -1.16024649143219, 0.15259358286857605, 0.8764092326164246, 0.9363381862640381, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, 0.21959999996227222, -0.21959999996227222, -0.21959999996227222, -0.21959999996227222, 0.21959999996227222, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559112787246704, -1.2949315309524536, -1.7182257175445557, -1.9698725938796997, -0.13036224246025085, 0.40139567852020264, -0.4948103129863739, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5305857062339783, -0.8818424344062805, 0.7148674130439758, -1.155655860900879, 0.15275296568870544, 0.8764086365699768, 0.9366128444671631, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, 0.17580001799614878, -0.17580001799614878, -0.17580001799614878, -0.17580001799614878, 0.17580001799614878, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.45591139793396, -1.2949323654174805, -1.7182265520095825, -1.969872236251831, -0.13036176562309265, 0.4013965129852295, -0.4948003590106964, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5287453532218933, -0.8822754621505737, 0.7119571566581726, -1.1519834995269775, 0.15204890072345734, 0.8759711980819702, 0.9378395676612854, 0.15899999691889835, 0.15899999691889835, 0.15899999691889835, 0.15899999691889835, -0.15899999691889835, -0.15899999691889835, -0.15899999691889835, 0.15899999691889835, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.45591139793396, -1.294932246208191, -1.7182273864746094, -1.9698718786239624, -0.13036271929740906, 0.40139639377593994, -0.49479052424430847, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5284671187400818, -0.8830409049987793, 0.7113897204399109, -1.1501080989837646, 0.1516336351633072, 0.8754850029945374, 0.9383001923561096, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, 0.15659999952211487, -0.15659999952211487, -0.15659999952211487, -0.15659999952211487, 0.15659999952211487, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559109210968018, -1.2949318885803223, -1.7182281017303467, -1.9698717594146729, -0.13036464154720306, 0.40139663219451904, -0.4947800040245056, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5270564556121826, -0.8832470178604126, 0.7038676738739014, -1.1473726034164429, 0.1538979411125183, 0.8738734722137451, 0.9399703145027161, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, 0.15479999164958577, -0.15479999164958577, -0.15479999164958577, -0.15479999164958577, 0.15479999164958577, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559111595153809, -1.2949317693710327, -1.7182291746139526, -1.9698705673217773, -0.13036642968654633, 0.40139615535736084, -0.494774729013443, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.525505542755127, -0.8827195763587952, 0.6966912746429443, -1.1466187238693237, 0.1660173535346985, 0.8742243051528931, 0.9394034743309021, 0.1385999993963556, 0.1385999993963556, 0.1385999993963556, 0.1385999993963556, -0.1385999993963556, -0.1385999993963556, -0.1385999993963556, 0.1385999993963556, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.45591139793396, -1.2949321269989014, -1.718230128288269, -1.9698686599731445, -0.13036835193634033, 0.40139567852020264, -0.49477338790893555, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5228948593139648, -0.8802446722984314, 0.6898146271705627, -1.1521079540252686, 0.16911299526691437, 0.8761249780654907, 0.937171995639801, 0.1385999993963556, 0.1385999993963556, 0.1385999993963556, 0.1385999993963556, -0.1385999993963556, -0.1385999993963556, -0.1385999993963556, 0.1385999993963556, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455911636352539, -1.2949318885803223, -1.7182315587997437, -1.9698673486709595, -0.13037291169166565, 0.4013955593109131, -0.4947735071182251, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5244503021240234, -0.8790744543075562, 0.6933618187904358, -1.156914472579956, 0.169157937169075, 0.8759506344795227, 0.9376949071884155, 0.12599998358841782, 0.12599998358841782, 0.12599998358841782, 0.12599998358841782, -0.12599998358841782, -0.12599998358841782, -0.12599998358841782, 0.12599998358841782, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455910563468933, -1.294931411743164, -1.7182326316833496, -1.9698636531829834, -0.13038033246994019, 0.401395320892334, -0.49477314949035645, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5259758830070496, -0.879052460193634, 0.6961702108383179, -1.1576979160308838, 0.1692112684249878, 0.8759824633598328, 0.9372471570968628, 0.08039999374976527, 0.08039999374976527, 0.08039999374976527, 0.08039999374976527, -0.08039999374976527, -0.08039999374976527, -0.08039999374976527, 0.08039999374976527, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559106826782227, -1.294931173324585, -1.7182344198226929, -1.969863772392273, -0.1303839385509491, 0.40139544010162354, -0.49477314949035645, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5231693387031555, -0.8790987730026245, 0.6906869411468506, -1.1553044319152832, 0.17226149141788483, 0.8788896203041077, 0.9333778023719788, 0.05040000664008846, 0.05040000664008846, 0.05040000664008846, 0.05040000664008846, -0.05040000664008846, -0.05040000664008846, -0.05040000664008846, 0.05040000664008846, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559108018875122, -1.2949309349060059, -1.7182362079620361, -1.969862699508667, -0.13038370013237, 0.40139544010162354, -0.49477413296699524, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5189774036407471, -0.8796607851982117, 0.6838256120681763, -1.1500104665756226, 0.17833641171455383, 0.8802670836448669, 0.9317660331726074, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, 0.03299999603858363, -0.03299999603858363, -0.03299999603858363, -0.03299999603858363, 0.03299999603858363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455910325050354, -1.294931411743164, -1.7182375192642212, -1.969862699508667, -0.13038453459739685, 0.4013957977294922, -0.49477723240852356, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5124934911727905, -0.8795008063316345, 0.6763477325439453, -1.146763801574707, 0.18489909172058105, 0.8814547061920166, 0.9316148161888123, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, 0.016800003785353446, -0.016800003785353446, -0.016800003785353446, -0.016800003785353446, 0.016800003785353446, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455910563468933, -1.2949309349060059, -1.7182393074035645, -1.9698630571365356, -0.13038405776023865, 0.40139591693878174, -0.49478012323379517, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5110073089599609, -0.8758950233459473, 0.6790712475776672, -1.1446529626846313, 0.19862857460975647, 0.8834046721458435, 0.9294309020042419, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, 0.013800016864315489, -0.013800016864315489, -0.013800016864315489, -0.013800016864315489, 0.013800016864315489, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455910325050354, -1.294931411743164, -1.718238353729248, -1.969862699508667, -0.1303846538066864, 0.4013960361480713, -0.4947870671749115, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.510720431804657, -0.8644109964370728, 0.6973397731781006, -1.1512854099273682, 0.23968006670475006, 0.8922106623649597, 0.9197748899459839, 0.012599998516040855, 0.012599998516040855, 0.012599998516040855, 0.012599998516040855, -0.012599998516040855, -0.012599998516040855, -0.012599998516040855, 0.012599998516040855, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559104442596436, -1.294931173324585, -1.7182387113571167, -1.9698634147644043, -0.1303848922252655, 0.40139639377593994, -0.4947936534881592, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5084210634231567, -0.8392007350921631, 0.7189232110977173, -1.176719069480896, 0.300764262676239, 0.9082920551300049, 0.9044270515441895, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, 0.01200000899178646, -0.01200000899178646, -0.01200000899178646, -0.01200000899178646, 0.01200000899178646, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559102058410645, -1.2949310541152954, -1.7182387113571167, -1.9698625802993774, -0.1303856074810028, 0.40139734745025635, -0.494804322719574, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5084009766578674, -0.8121698498725891, 0.762015163898468, -1.2034740447998047, 0.3725247085094452, 0.926609218120575, 0.8850492835044861, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559094905853271, -1.2949315309524536, -1.7182363271713257, -1.9698642492294312, -0.13038501143455505, 0.4013986587524414, -0.4948185682296753, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5168789625167847, -0.7898366451263428, 0.8297162055969238, -1.2350603342056274, 0.47005391120910645, 0.9548085927963257, 0.8564214706420898, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4559077024459839, -1.294931411743164, -1.7182343006134033, -1.969871997833252, -0.1303824931383133, 0.40139999985694885, -0.49485334753990173, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.5575087070465088, -0.7833154797554016, 0.930814266204834, -1.2708165645599365, 0.548414409160614, 0.9758082032203674, 0.8351685404777527, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558944702148438, -1.2949397563934326, -1.718231439590454, -1.9698657989501953, -0.13037721812725067, 0.40140262246131897, -0.49488702416419983, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.6297608613967896, -0.7931872606277466, 1.0531924962997437, -1.3230552673339844, 0.5859211087226868, 1.0002473592758179, 0.8102044463157654, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455899953842163, -1.294940710067749, -1.718234896659851, -1.9698797464370728, -0.13037531077861786, 0.4014033377170563, -0.4948892891407013, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7134248614311218, -0.8321349620819092, 1.1935055255889893, -1.3564335107803345, 0.6462446451187134, 1.0084247589111328, 0.7689710259437561, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558911323547363, -1.2949275970458984, -1.7182284593582153, -1.9698787927627563, -0.13036955893039703, 0.4014059901237488, -0.4948868751525879, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.7892623543739319, -0.8730126619338989, 1.2911297082901, -1.4069254398345947, 0.7759836912155151, 1.0083006620407104, 0.6417984962463379, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455893874168396, -1.2949247360229492, -1.718229055404663, -1.9698799848556519, -0.13036583364009857, 0.4014056324958801, -0.49488401412963867, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.8604943156242371, -0.9095481634140015, 1.3578566312789917, -1.4662256240844727, 0.9232121706008911, 1.008193016052246, 0.4985158443450928, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455892562866211, -1.2949246168136597, -1.7182289361953735, -1.9698779582977295, -0.13035984337329865, 0.4014051556587219, -0.49487945437431335, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9263386726379395, -0.950875997543335, 1.4169857501983643, -1.5187768936157227, 1.0733940601348877, 1.0081818103790283, 0.34046247601509094, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, 0.011400019467531997, -0.011400019467531997, -0.011400019467531997, -0.011400019467531997, 0.011400019467531997, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.455893635749817, -1.294928789138794, -1.71822190284729, -1.9698774814605713, -0.13035181164741516, 0.4014051556587219, -0.4948742985725403, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -0.9905387163162231, -1.0041333436965942, 1.4750096797943115, -1.5643486976623535, 1.2461575269699097, 0.9921711087226868, 0.1622161865234375, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558923244476318, -1.2949260473251343, -1.7182214260101318, -1.9698727130889893, -0.13035014271736145, 0.40140441060066223, -0.4948667585849762, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0547597408294678, -1.0526403188705444, 1.502621054649353, -1.6096858978271484, 1.4005333185195923, 0.9386636018753052, 0.004503072705119848, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558942317962646, -1.2949295043945312, -1.71820068359375, -1.9698728322982788, -0.1303514540195465, 0.40140441060066223, -0.49486711621284485, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.116641640663147, -1.0899605751037598, 1.502198576927185, -1.6524622440338135, 1.5035736560821533, 0.8697274327278137, -0.08624915033578873, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558953046798706, -1.2949267625808716, -1.718205213546753, -1.9698721170425415, -0.13035061955451965, 0.40140464901924133, -0.49485573172569275, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1588939428329468, -1.1235893964767456, 1.4956520795822144, -1.669968605041504, 1.5845966339111328, 0.8090938329696655, -0.1389947235584259, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, 0.010799990643511758, -0.010799990643511758, -0.010799990643511758, -0.010799990643511758, 0.010799990643511758, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.455896019935608, -1.294927716255188, -1.7182033061981201, -1.969864845275879, -0.130348339676857, 0.401405394077301, -0.4948497414588928, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.1854639053344727, -1.1530097723007202, 1.4876445531845093, -1.687177062034607, 1.6499475240707397, 0.7583935260772705, -0.18782995641231537, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.4558957815170288, -1.294927716255188, -1.7182077169418335, -1.9698606729507446, -0.13034917414188385, 0.4014052748680115, -0.4948371648788452, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2092171907424927, -1.179735541343689, 1.4778831005096436, -1.707437515258789, 1.7117642164230347, 0.7009545564651489, -0.21777397394180298, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.455897569656372, -1.294927716255188, -1.718214511871338, -1.9698576927185059, -0.1303509771823883, 0.4014059901237488, -0.49482253193855286, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.231096625328064, -1.205169677734375, 1.4632395505905151, -1.7258515357971191, 1.763339638710022, 0.6324305534362793, -0.25678107142448425, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4558974504470825, -1.2949295043945312, -1.718220591545105, -1.9698596000671387, -0.13035744428634644, 0.4014057517051697, -0.4948148727416992, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2463792562484741, -1.2290480136871338, 1.439563512802124, -1.7384542226791382, 1.8142271041870117, 0.570000410079956, -0.3080192804336548, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.4559001922607422, -1.2949278354644775, -1.7182306051254272, -1.969855785369873, -0.1303580403327942, 0.40140634775161743, -0.49480563402175903, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.261629581451416, -1.250878095626831, 1.4162739515304565, -1.7465108633041382, 1.825540542602539, 0.5084695816040039, -0.3283310830593109, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.455899953842163, -1.2949273586273193, -1.718238353729248, -1.9698548316955566, -0.13036055862903595, 0.4014069437980652, -0.49480119347572327, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2704344987869263, -1.2679523229599, 1.3999313116073608, -1.7492917776107788, 1.8231028318405151, 0.48684030771255493, -0.3273535370826721, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.4558992385864258, -1.294927716255188, -1.7182387113571167, -1.9698562622070312, -0.1303640455007553, 0.40140706300735474, -0.4948022663593292, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2716684341430664, -1.2818167209625244, 1.3879276514053345, -1.747452735900879, 1.820677399635315, 0.48313361406326294, -0.3264440596103668, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.4511350393295288, -1.2954851388931274, -1.7184640169143677, -1.9609184265136719, -0.14286717772483826, 0.40283700823783875, -0.49830085039138794, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2743611335754395, -1.2941594123840332, 1.3835253715515137, -1.7484729290008545, 1.8101863861083984, 0.479403018951416, -0.3197936415672302, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.410982608795166, -1.3023662567138672, -1.702850580215454, -1.9067230224609375, -0.2887311279773712, 0.42845749855041504, -0.5007151961326599, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2778626680374146, -1.302627444267273, 1.3840875625610352, -1.7503913640975952, 1.80233633518219, 0.4831501245498657, -0.3137096166610718, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08453493638928222, -0.9963572166549116, -0.011231266595422862, -15.099824905395508], [0.9964182336559363, -0.0845534972416302, 0.0011873256476218504, 7.099411964416504], [-0.0021326433466235997, -0.011090668324635093, 0.9999362224204447, 0.18133550882339478], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.3600269556045532, -1.3115565776824951, -1.6442523002624512, -1.8529361486434937, -0.4784517288208008, 0.4253588616847992, -0.4939039349555969, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2813599109649658, -1.3116368055343628, 1.3885173797607422, -1.74978506565094, 1.7969441413879395, 0.48964524269104004, -0.30865898728370667, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08361761970778803, -0.9964349418770223, -0.011202690790105357, -15.093262672424316], [0.9964956156859792, -0.08363629050437171, 0.0012078200566961964, 7.113321781158447], [-0.00214046560934388, -0.011062437218049427, 0.9999365184299311, 0.18167874217033386], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.309907078742981, -1.3228298425674438, -1.5773251056671143, -1.7894953489303589, -0.6055639386177063, 0.415235310792923, -0.49347203969955444, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2847530841827393, -1.3176305294036865, 1.3949707746505737, -1.7478264570236206, 1.79616379737854, 0.49745163321495056, -0.3017669916152954, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455162628378177, -0.9963555437883157, -0.011254015063852261, -15.099946022033691], [0.9964167437800167, -0.08457059456428939, 0.0012195285447220766, 7.099166393280029], [-0.0021668427715273923, -0.011110575922619182, 0.9999359278949183, 0.1807653307914734], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2773634195327759, -1.3318880796432495, -1.5238488912582397, -1.7246934175491333, -0.7197030186653137, 0.40468257665634155, -0.4945850074291229, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2890270948410034, -1.3219945430755615, 1.4014453887939453, -1.7466832399368286, 1.7936582565307617, 0.5054802298545837, -0.29941999912261963, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08494431972663308, -0.9963222462823902, -0.011244736946312898, -15.102731704711914], [0.9963833132705864, -0.08496340668872548, 0.0012298616892948088, 7.093222141265869], [-0.002180729719172178, -0.011099598490868426, 0.9999360196188721, 0.18080563843250275], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2554011344909668, -1.3342894315719604, -1.4708794355392456, -1.6709827184677124, -0.7369531393051147, 0.3977692425251007, -0.4993012845516205, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2923601865768433, -1.3260899782180786, 1.4072273969650269, -1.7467650175094604, 1.7909855842590332, 0.5146045088768005, -0.2987315058708191, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08452953413588515, -0.9963575142766753, -0.011245514802569898, -15.099786758422852], [0.9964185901707037, -0.08454863646320776, 0.0012333833303595375, 7.0995025634765625], [-0.0021796836920714197, -0.011100982686994219, 0.9999360065336109, 0.1807953417301178], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.245150089263916, -1.3415042161941528, -1.4268511533737183, -1.621833324432373, -0.7734100818634033, 0.3871820271015167, -0.4992868900299072, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2938451766967773, -1.3297524452209473, 1.4123808145523071, -1.7483419179916382, 1.7876431941986084, 0.5246306657791138, -0.29834115505218506, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08472728712032884, -0.9963408374234982, -0.0112348787030178, -15.101183891296387], [0.9964017016644496, -0.08474683091213087, 0.001274194074591792, 7.096512317657471], [-0.0022216519570817965, -0.011086493250475662, 0.9999360749217866, 0.18065395951271057], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2281537055969238, -1.3504010438919067, -1.3877748250961304, -1.5689914226531982, -0.8108629584312439, 0.38225987553596497, -0.503150463104248, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.294299840927124, -1.3320075273513794, 1.4166316986083984, -1.749250054359436, 1.7821757793426514, 0.5332165360450745, -0.29800835251808167, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0844998375236099, -0.9963601184192395, -0.011237966100799988, -15.099564552307129], [0.9964210319728015, -0.08451932116833749, 0.0012694059637750367, 7.099969387054443], [-0.0022146107425413857, -0.011090481181743992, 0.9999360463181715, 0.18065229058265686], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2087950706481934, -1.3563565015792847, -1.3561738729476929, -1.5372642278671265, -0.8145899176597595, 0.37871503829956055, -0.509576678276062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2949695587158203, -1.334434986114502, 1.4193719625473022, -1.7491666078567505, 1.7727375030517578, 0.5372427105903625, -0.29324451088905334, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08465214663212062, -0.9963471876819548, -0.01123813457977925, -15.100664138793945], [0.9964081278649478, -0.08467150075350394, 0.0012568551304979667, 7.097653388977051], [-0.002203813795135044, -0.011091373152529928, 0.9999360602790299, 0.18073102831840515], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1920146942138672, -1.36349356174469, -1.3323861360549927, -1.521220326423645, -0.8137348890304565, 0.3673766553401947, -0.5111063122749329, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2949873208999634, -1.3366378545761108, 1.422836184501648, -1.7454251050949097, 1.7723084688186646, 0.5385982990264893, -0.29303276538848877, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0845067889566915, -0.9963595329217433, -0.011237605447550054, -15.099623680114746], [0.9964204326077586, -0.08452632091069923, 0.001273795536359865, 7.0998640060424805], [-0.0022190317699727555, -0.011089735310957992, 0.9999360447892339, 0.18062762916088104], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1754502058029175, -1.3704770803451538, -1.3119337558746338, -1.49689781665802, -0.8130089640617371, 0.3617645502090454, -0.5143215656280518, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2949892282485962, -1.338470220565796, 1.4242347478866577, -1.7410414218902588, 1.7687548398971558, 0.5408675074577332, -0.2920423746109009, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08467548043179973, -0.9963451496682922, -0.011243031002016996, -15.100811004638672], [0.9964061324487278, -0.08469490344684427, 0.0012619622411142713, 7.097299098968506], [-0.0022095773831644393, -0.01109576777866776, 0.9999359988045183, 0.18061764538288116], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1649829149246216, -1.3769961595535278, -1.2953583002090454, -1.4750114679336548, -0.808250904083252, 0.35677552223205566, -0.5174335241317749, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2950105667114258, -1.3408581018447876, 1.424511432647705, -1.7403407096862793, 1.7638355493545532, 0.5410502552986145, -0.2918263077735901, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846239998530407, -0.9963497172206618, -0.01122584710298239, -15.100449562072754], [0.996410489063606, -0.08464348895595508, 0.0012716372865660824, 7.098080158233643], [-0.0022171903161598994, -0.01107794076848446, 0.999936179611195, 0.18081369996070862], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1576420068740845, -1.3818438053131104, -1.2847009897232056, -1.4537822008132935, -0.8018697500228882, 0.3545251190662384, -0.5268054604530334, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.2951970100402832, -1.3424094915390015, 1.4244543313980103, -1.7376219034194946, 1.760847806930542, 0.54027259349823, -0.2909358739852905, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08463421239220636, -0.9963487147166854, -0.011237827866635434, -15.100531578063965], [0.9964096402254071, -0.084653623158782, 0.0012621220090446924, 7.097921371459961], [-0.002208836486872736, -0.0110906613193309, 0.9999360570920893, 0.1806993931531906], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.157001256942749, -1.38670814037323, -1.2834100723266602, -1.4491108655929565, -0.7972046732902527, 0.35256654024124146, -0.5308891534805298, 0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -0.5909999999371204, -0.5909999999371204, 0.5909999999371204, 0.5909999999371204, -1.2962777614593506, -1.3436222076416016, 1.4244537353515625, -1.7375463247299194, 1.7595970630645752, 0.5395641922950745, -0.2911260724067688, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08460830193750568, -0.9963508988636818, -0.011239287200935807, -15.100339889526367], [0.9964118010921804, -0.08462791426044558, 0.0012801453682202723, 7.098318576812744], [-0.0022266314218917656, -0.011090647477038458, 0.9999360177786633, 0.18054986000061035], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1560797691345215, -1.3887003660202026, -1.2845211029052734, -1.447992205619812, -0.7921025156974792, 0.3527655005455017, -0.5321109890937805, 0.513599995466379, -0.513599995466379, 0.513599995466379, 0.513599995466379, -0.513599995466379, -0.513599995466379, 0.513599995466379, 0.513599995466379, -1.2969038486480713, -1.3453640937805176, 1.4253541231155396, -1.7375738620758057, 1.7570807933807373, 0.5399722456932068, -0.2909930348396301, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08464020224602509, -0.9963482382764415, -0.011234956483370582, -15.10056209564209], [0.9964091067227776, -0.0846597327264953, 0.0012734577318604114, 7.097840309143066], [-0.002219955780734594, -0.01108682723368813, 0.9999360749859073, 0.18066288530826569], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1544891595840454, -1.3922245502471924, -1.2877737283706665, -1.446833848953247, -0.7844650745391846, 0.35273852944374084, -0.5326372981071472, 0.45599999899392596, -0.45599999899392596, 0.45599999899392596, 0.45599999899392596, -0.45599999899392596, -0.45599999899392596, 0.45599999899392596, 0.45599999899392596, -1.2984058856964111, -1.3462449312210083, 1.4286412000656128, -1.738442301750183, 1.7549653053283691, 0.5413040518760681, -0.2917833924293518, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455650770717615, -0.996355377165098, -0.011232070092440065, -15.099976539611816], [0.9964161911363634, -0.08457614684650472, 0.0012842997705894517, 7.099102973937988], [-0.0022295841918471473, -0.011083220596635617, 0.9999360935457514, 0.18063369393348694], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1532186269760132, -1.3936866521835327, -1.2900177240371704, -1.4451658725738525, -0.7798138856887817, 0.35222920775413513, -0.535760760307312, 0.3335999942087865, -0.3335999942087865, 0.3335999942087865, 0.3335999942087865, -0.3335999942087865, -0.3335999942087865, 0.3335999942087865, 0.3335999942087865, -1.299707293510437, -1.3464010953903198, 1.4297630786895752, -1.739721655845642, 1.753501534461975, 0.5414953231811523, -0.2920990586280823, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471978676914538, -0.9963415365443882, -0.011229438372341246, -15.101139068603516], [0.9964022613797692, -0.08473971022414828, 0.0013095909321667357, 7.0966339111328125], [-0.002256379195251731, -0.011078089523697598, 0.9999360903004912, 0.18048402667045593], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1531922817230225, -1.3951935768127441, -1.2929133176803589, -1.4450995922088623, -0.7790710926055908, 0.35222211480140686, -0.5353306531906128, 0.29879999265565976, -0.29879999265565976, 0.29879999265565976, 0.29879999265565976, -0.29879999265565976, -0.29879999265565976, 0.29879999265565976, 0.29879999265565976, -1.3005313873291016, -1.3470849990844727, 1.4301540851593018, -1.7421941757202148, 1.751242995262146, 0.54167640209198, -0.2951507270336151, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1531933546066284, -1.39726984500885, -1.2939082384109497, -1.4447216987609863, -0.7773645520210266, 0.3510442078113556, -0.5366018414497375, 0.2868000056717422, -0.2868000056717422, 0.2868000056717422, 0.2868000056717422, -0.2868000056717422, -0.2868000056717422, 0.2868000056717422, 0.2868000056717422, -1.3036733865737915, -1.3476855754852295, 1.4304864406585693, -1.7470911741256714, 1.7479640245437622, 0.5415312647819519, -0.29505544900894165, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.153194785118103, -1.3990355730056763, -1.2951123714447021, -1.4445585012435913, -0.7744833827018738, 0.35140684247016907, -0.5398651361465454, 0.27839999513311703, -0.27839999513311703, 0.27839999513311703, 0.27839999513311703, -0.27839999513311703, -0.27839999513311703, 0.27839999513311703, 0.27839999513311703, -1.3057348728179932, -1.3482146263122559, 1.4308955669403076, -1.7493116855621338, 1.7476377487182617, 0.5417249798774719, -0.29493775963783264, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1531972885131836, -1.399511694908142, -1.2969099283218384, -1.443414330482483, -0.7733423709869385, 0.3516208827495575, -0.5444924831390381, 0.2262000026283683, -0.2262000026283683, 0.2262000026283683, 0.2262000026283683, -0.2262000026283683, -0.2262000026283683, 0.2262000026283683, 0.2262000026283683, -1.3061317205429077, -1.348561406135559, 1.4315996170043945, -1.7500602006912231, 1.7474305629730225, 0.5413506627082825, -0.29471439123153687, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1532214879989624, -1.399892807006836, -1.2984426021575928, -1.4433348178863525, -0.7724323272705078, 0.351820170879364, -0.5475819110870361, 0.18960001285259542, -0.18960001285259542, 0.18960001285259542, 0.18960001285259542, -0.18960001285259542, -0.18960001285259542, 0.18960001285259542, 0.18960001285259542, -1.3066413402557373, -1.3488925695419312, 1.4324216842651367, -1.7517573833465576, 1.7457162141799927, 0.541254460811615, -0.2931170165538788, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1557142734527588, -1.4005541801452637, -1.2984168529510498, -1.4465752840042114, -0.7727378010749817, 0.34787893295288086, -0.5494760870933533, 0.08939999381264492, -0.08939999381264492, 0.08939999381264492, 0.08939999381264492, -0.08939999381264492, -0.08939999381264492, 0.08939999381264492, 0.08939999381264492, -1.3072112798690796, -1.349382996559143, 1.4326934814453125, -1.7522077560424805, 1.7452809810638428, 0.5400266647338867, -0.29117411375045776, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1582239866256714, -1.4006456136703491, -1.3012717962265015, -1.4544689655303955, -0.769980788230896, 0.3490428328514099, -0.5497778654098511, 0.05040000664008846, -0.05040000664008846, 0.05040000664008846, 0.05040000664008846, -0.05040000664008846, -0.05040000664008846, 0.05040000664008846, 0.05040000664008846, -1.3085761070251465, -1.3495103120803833, 1.4354859590530396, -1.7564435005187988, 1.7446802854537964, 0.539106547832489, -0.2909628450870514, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1575003862380981, -1.4005929231643677, -1.3043514490127563, -1.4528441429138184, -0.7696863412857056, 0.35493823885917664, -0.5498318076133728, 0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -0.021000009054666036, -0.021000009054666036, 0.021000009054666036, 0.021000009054666036, -1.3096104860305786, -1.349465012550354, 1.4372302293777466, -1.7565373182296753, 1.7466235160827637, 0.5391725301742554, -0.29210230708122253, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1572004556655884, -1.4005943536758423, -1.3039642572402954, -1.45176100730896, -0.7691892385482788, 0.3537024259567261, -0.5491108298301697, 0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -0.017999982833862303, -0.017999982833862303, 0.017999982833862303, 0.017999982833862303, -1.309601068496704, -1.3494682312011719, 1.4377031326293945, -1.7562192678451538, 1.7472271919250488, 0.5398359894752502, -0.2923896908760071, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1566346883773804, -1.4005993604660034, -1.3031001091003418, -1.4521362781524658, -0.7651392817497253, 0.3516114056110382, -0.5499168634414673, 0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -1.3096011877059937, -1.349462866783142, 1.439240574836731, -1.7553683519363403, 1.748313546180725, 0.5416619181632996, -0.29103007912635803, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1548492908477783, -1.4006056785583496, -1.3031399250030518, -1.4521992206573486, -0.7601379156112671, 0.350401371717453, -0.5552802085876465, 0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -0.017399993309607908, -0.017399993309607908, 0.017399993309607908, 0.017399993309607908, -1.3101837635040283, -1.3492655754089355, 1.4433103799819946, -1.75467050075531, 1.750600814819336, 0.5465624928474426, -0.28589266538619995, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, 0.010200001119257363, -0.010200001119257363, -0.010200001119257363, -0.010200001119257363, 0.010200001119257363, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1543428897857666, -1.4006247520446777, -1.303911805152893, -1.454461932182312, -0.7524392604827881, 0.3495250642299652, -0.565467357635498, 0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -0.016200014261099047, -0.016200014261099047, 0.016200014261099047, 0.016200014261099047, -1.313743233680725, -1.3488134145736694, 1.4480907917022705, -1.7578481435775757, 1.746516227722168, 0.5504233241081238, -0.27584487199783325, 0.06959998581435653, 0.06959998581435653, 0.06959998581435653, 0.06959998581435653, -0.06959998581435653, -0.06959998581435653, -0.06959998581435653, 0.06959998581435653, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.163329005241394, -1.4003725051879883, -1.322792887687683, -1.4681825637817383, -0.7447108626365662, 0.358492374420166, -0.5781241655349731, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.3181819915771484, -1.347719430923462, 1.4624967575073242, -1.767503261566162, 1.7287884950637817, 0.5640645027160645, -0.2584962546825409, 0.5082000013236161, 0.5082000013236161, 0.5082000013236161, 0.5082000013236161, -0.5082000013236161, -0.5082000013236161, -0.5082000013236161, 0.5082000013236161, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1853684186935425, -1.393157720565796, -1.3673897981643677, -1.4895927906036377, -0.721733033657074, 0.3833368718624115, -0.599418580532074, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.3210190534591675, -1.3409113883972168, 1.4864778518676758, -1.772263526916504, 1.7063465118408203, 0.6057847142219543, -0.2324838936328888, 0.5735999991605569, 0.5735999991605569, 0.5735999991605569, 0.5735999991605569, -0.5735999991605569, -0.5735999991605569, -0.5735999991605569, 0.5735999991605569, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6129049062728882, -0.8105972409248352, 0.0, 0.0, 1.2070456743240356, -1.3710271120071411, -1.4213049411773682, -1.5139003992080688, -0.6833789944648743, 0.4292421042919159, -0.6453384160995483, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.3230239152908325, -1.3294777870178223, 1.5106765031814575, -1.775840163230896, 1.6566662788391113, 0.6767494082450867, -0.1767159104347229, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, 0.5921999998636298, -0.5921999998636298, -0.5921999998636298, -0.5921999998636298, 0.5921999998636298, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2143892049789429, -1.3458330631256104, -1.4769706726074219, -1.5295610427856445, -0.6356061100959778, 0.4748899042606354, -0.7160150408744812, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.3166354894638062, -1.3170922994613647, 1.5289796590805054, -1.7676526308059692, 1.5882236957550049, 0.7689077258110046, -0.10320095717906952, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6129049062728882, -0.8105972409248352, 0.0, 0.0, 1.2111362218856812, -1.3195933103561401, -1.5218807458877563, -1.5459057092666626, -0.5608394145965576, 0.521496057510376, -0.8015633225440979, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.3025370836257935, -1.3023126125335693, 1.5449435710906982, -1.7507331371307373, 1.4869368076324463, 0.8692949414253235, -0.0002061286650132388, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1965835094451904, -1.2938939332962036, -1.548084020614624, -1.550196886062622, -0.48661932349205017, 0.567833423614502, -0.9076814651489258, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.2831906080245972, -1.2844167947769165, 1.5548864603042603, -1.7298954725265503, 1.3648256063461304, 0.9554393291473389, 0.12889812886714935, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1792991161346436, -1.2722980976104736, -1.5620628595352173, -1.5519003868103027, -0.43208953738212585, 0.5995255708694458, -1.009392261505127, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.2653361558914185, -1.2641774415969849, 1.5573244094848633, -1.7204567193984985, 1.2278962135314941, 1.009561538696289, 0.2762046158313751, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1577073335647583, -1.2520326375961304, -1.5601396560668945, -1.556378960609436, -0.3701219856739044, 0.6217681765556335, -1.1108566522598267, 0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -0.014999995912824348, -0.014999995912824348, 0.014999995912824348, 0.014999995912824348, -1.2453289031982422, -1.2296631336212158, 1.5335330963134766, -1.7018741369247437, 1.1052368879318237, 1.0121791362762451, 0.43023595213890076, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1384577751159668, -1.236942172050476, -1.548258662223816, -1.5565513372421265, -0.33298349380493164, 0.6344742178916931, -1.188007116317749, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.2155653238296509, -1.1792223453521729, 1.49104642868042, -1.6754616498947144, 1.0178009271621704, 1.01004958152771, 0.5685192942619324, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1287238597869873, -1.2164616584777832, -1.5172096490859985, -1.5579006671905518, -0.3449849784374237, 0.6157503128051758, -1.202682614326477, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.1789634227752686, -1.1263775825500488, 1.443070888519287, -1.6549832820892334, 0.960074245929718, 1.0096580982208252, 0.6851551532745361, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1205593347549438, -1.1817964315414429, -1.4742388725280762, -1.564060926437378, -0.38466641306877136, 0.6078275442123413, -1.2041454315185547, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.1428399085998535, -1.0770150423049927, 1.3942915201187134, -1.6365171670913696, 0.9282078146934509, 1.0093891620635986, 0.7704280614852905, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1101187467575073, -1.1465258598327637, -1.4379479885101318, -1.5701286792755127, -0.39720815420150757, 0.6068645119667053, -1.2047357559204102, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.1114646196365356, -1.0368202924728394, 1.3521827459335327, -1.6233551502227783, 0.9069048762321472, 1.0091885328292847, 0.8097025156021118, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1042351722717285, -1.123608946800232, -1.4093217849731445, -1.5718716382980347, -0.4329965114593506, 0.6027934551239014, -1.2072017192840576, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.087137222290039, -1.0107311010360718, 1.318708062171936, -1.6188256740570068, 0.9235190153121948, 1.0089787244796753, 0.8051034808158875, 0.55079999932876, 0.55079999932876, 0.55079999932876, 0.55079999932876, -0.55079999932876, -0.55079999932876, -0.55079999932876, 0.55079999932876, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1006464958190918, -1.115276575088501, -1.3913676738739014, -1.5764398574829102, -0.43833646178245544, 0.6014979481697083, -1.2091141939163208, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.063761591911316, -0.9904325604438782, 1.2829926013946533, -1.6168935298919678, 0.9410171508789062, 1.0087865591049194, 0.8024842143058777, 0.49860000191154064, 0.49860000191154064, 0.49860000191154064, 0.49860000191154064, -0.49860000191154064, -0.49860000191154064, -0.49860000191154064, 0.49860000191154064, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0979413986206055, -1.1113795042037964, -1.3794913291931152, -1.5789724588394165, -0.4502984881401062, 0.6023595929145813, -1.2079468965530396, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.0420026779174805, -0.9749037623405457, 1.2498366832733154, -1.6154409646987915, 0.9479339718818665, 1.008655071258545, 0.8020610213279724, 0.42599999223436624, 0.42599999223436624, 0.42599999223436624, 0.42599999223436624, -0.42599999223436624, -0.42599999223436624, -0.42599999223436624, 0.42599999223436624, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.0965447425842285, -1.1055693626403809, -1.368137240409851, -1.5807225704193115, -0.4503782093524933, 0.6008674502372742, -1.2098802328109741, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.0234533548355103, -0.9631916880607605, 1.2261334657669067, -1.6099427938461304, 0.9567875862121582, 1.0086251497268677, 0.8020372986793518, 0.4074000025843526, 0.4074000025843526, 0.4074000025843526, 0.4074000025843526, -0.4074000025843526, -0.4074000025843526, -0.4074000025843526, 0.4074000025843526, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0956900119781494, -1.0968716144561768, -1.356650710105896, -1.5816069841384888, -0.46103599667549133, 0.5974298119544983, -1.214304804801941, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -1.0069248676300049, -0.952991783618927, 1.2059526443481445, -1.607362985610962, 0.9663031697273254, 1.0086175203323364, 0.8020196557044983, 0.3744000089037549, 0.3744000089037549, 0.3744000089037549, 0.3744000089037549, -0.3744000089037549, -0.3744000089037549, -0.3744000089037549, 0.3744000089037549, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.094385027885437, -1.0959762334823608, -1.3553321361541748, -1.5814118385314941, -0.4654475152492523, 0.5959067344665527, -1.2148888111114502, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9905693531036377, -0.9469239711761475, 1.1900527477264404, -1.6005531549453735, 0.9749327301979065, 1.0085581541061401, 0.8021709322929382, 0.34259999427166615, 0.34259999427166615, 0.34259999427166615, 0.34259999427166615, -0.34259999427166615, -0.34259999427166615, -0.34259999427166615, 0.34259999427166615, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0936288833618164, -1.0959806442260742, -1.3556817770004272, -1.5813640356063843, -0.464966356754303, 0.5959137678146362, -1.2148512601852417, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9768480658531189, -0.9381199479103088, 1.1716036796569824, -1.5986160039901733, 0.9808733463287354, 1.0084552764892578, 0.8020153641700745, 0.28619999649760486, 0.28619999649760486, 0.28619999649760486, 0.28619999649760486, -0.28619999649760486, -0.28619999649760486, -0.28619999649760486, 0.28619999649760486, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.093606948852539, -1.0959867238998413, -1.3561313152313232, -1.5813602209091187, -0.4645739793777466, 0.5959299802780151, -1.2147842645645142, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9664431214332581, -0.9306761026382446, 1.1602888107299805, -1.5951542854309082, 0.9880044460296631, 1.0084383487701416, 0.8020541071891785, 0.25920001595884884, 0.25920001595884884, 0.25920001595884884, 0.25920001595884884, -0.25920001595884884, -0.25920001595884884, -0.25920001595884884, 0.25920001595884884, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.093606948852539, -1.0959950685501099, -1.3561677932739258, -1.581350326538086, -0.46449682116508484, 0.5959475636482239, -1.2147465944290161, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9608792066574097, -0.926649272441864, 1.155901551246643, -1.5940502882003784, 0.994866132736206, 1.0084348917007446, 0.8019841909408569, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, 0.2304000078976809, -0.2304000078976809, -0.2304000078976809, -0.2304000078976809, 0.2304000078976809, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.0936073064804077, -1.095999002456665, -1.3561748266220093, -1.5813453197479248, -0.46448853611946106, 0.5959560871124268, -1.2147271633148193, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9564523100852966, -0.9253692030906677, 1.1557550430297852, -1.5903478860855103, 1.0016005039215088, 1.008431077003479, 0.8020357489585876, 0.23220001577021, 0.23220001577021, 0.23220001577021, 0.23220001577021, -0.23220001577021, -0.23220001577021, -0.23220001577021, 0.23220001577021, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0936075448989868, -1.0960015058517456, -1.3561837673187256, -1.5813387632369995, -0.4644874632358551, 0.5959585905075073, -1.2147144079208374, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9468715786933899, -0.9253835082054138, 1.1498711109161377, -1.5834757089614868, 1.002746820449829, 1.008419156074524, 0.8019648194313049, 0.22739998167687717, 0.22739998167687717, 0.22739998167687717, 0.22739998167687717, -0.22739998167687717, -0.22739998167687717, -0.22739998167687717, 0.22739998167687717, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0936071872711182, -1.096016526222229, -1.356184959411621, -1.5813353061676025, -0.4644903540611267, 0.5959601402282715, -1.2147138118743896, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9354608058929443, -0.9261143803596497, 1.1366591453552246, -1.577653169631958, 1.0036792755126953, 1.0083683729171753, 0.8019552230834961, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, 0.21180001824766723, -0.21180001824766723, -0.21180001824766723, -0.21180001824766723, 0.21180001824766723, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.093607783317566, -1.0960183143615723, -1.3561874628067017, -1.5813311338424683, -0.46449369192123413, 0.5959604978561401, -1.2147178649902344, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9250777363777161, -0.9251803159713745, 1.1216176748275757, -1.5730230808258057, 1.0079776048660278, 1.0083192586898804, 0.8021311163902283, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, 0.17220000225109058, -0.17220000225109058, -0.17220000225109058, -0.17220000225109058, 0.17220000225109058, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.093616008758545, -1.0960149765014648, -1.3561865091323853, -1.5810984373092651, -0.46400606632232666, 0.5959716439247131, -1.2145564556121826, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9195539951324463, -0.9201275706291199, 1.1109139919281006, -1.5726008415222168, 1.0096732378005981, 1.0082266330718994, 0.8023463487625122, 0.13499998365129745, 0.13499998365129745, 0.13499998365129745, 0.13499998365129745, -0.13499998365129745, -0.13499998365129745, -0.13499998365129745, 0.13499998365129745, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.093645453453064, -1.0960097312927246, -1.35617995262146, -1.5809744596481323, -0.4635331630706787, 0.595999002456665, -1.214086890220642, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9190922975540161, -0.9177896976470947, 1.1104153394699097, -1.571014165878296, 1.0131018161773682, 1.0081642866134644, 0.8031229376792908, 0.12119998879485076, 0.12119998879485076, 0.12119998879485076, 0.12119998879485076, -0.12119998879485076, -0.12119998879485076, -0.12119998879485076, 0.12119998879485076, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0936840772628784, -1.0960105657577515, -1.3561397790908813, -1.5809166431427002, -0.463304728269577, 0.596019983291626, -1.213254451751709, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.918501615524292, -0.9184249043464661, 1.1101069450378418, -1.5659016370773315, 1.0158936977386475, 1.0081604719161987, 0.8041755557060242, 0.12420001501565449, 0.12420001501565449, 0.12420001501565449, 0.12420001501565449, -0.12420001501565449, -0.12420001501565449, -0.12420001501565449, 0.12420001501565449, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0937985181808472, -1.09597909450531, -1.3560853004455566, -1.5803978443145752, -0.46203166246414185, 0.5960533022880554, -1.2118602991104126, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9150336980819702, -0.9195739030838013, 1.1064908504486084, -1.5613235235214233, 1.0177385807037354, 1.0081627368927002, 0.8050488233566284, 0.11580000447702932, 0.11580000447702932, 0.11580000447702932, 0.11580000447702932, -0.11580000447702932, -0.11580000447702932, -0.11580000447702932, 0.11580000447702932, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.0938071012496948, -1.0958495140075684, -1.356115698814392, -1.5800877809524536, -0.4616413414478302, 0.5960572361946106, -1.2098950147628784, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9112350940704346, -0.9201963543891907, 1.1031997203826904, -1.5564607381820679, 1.0197224617004395, 1.0082030296325684, 0.8062704801559448, 0.10620001488989528, 0.10620001488989528, 0.10620001488989528, 0.10620001488989528, -0.10620001488989528, -0.10620001488989528, -0.10620001488989528, 0.10620001488989528, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.0938191413879395, -1.0953092575073242, -1.3562310934066772, -1.579387903213501, -0.4598749876022339, 0.5960766673088074, -1.2089096307754517, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9113014340400696, -0.9229673743247986, 1.103841781616211, -1.5566740036010742, 1.0146780014038086, 1.0082756280899048, 0.80768221616745, 0.09839999387552449, 0.09839999387552449, 0.09839999387552449, 0.09839999387552449, -0.09839999387552449, -0.09839999387552449, -0.09839999387552449, 0.09839999387552449, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0938043594360352, -1.0951426029205322, -1.3576427698135376, -1.5790194272994995, -0.4596065282821655, 0.5960767865180969, -1.2068326473236084, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9094908833503723, -0.927000105381012, 1.1051257848739624, -1.5468659400939941, 1.0217982530593872, 1.009048342704773, 0.8109082579612732, 0.07020001463837677, 0.07020001463837677, 0.07020001463837677, 0.07020001463837677, -0.07020001463837677, -0.07020001463837677, -0.07020001463837677, 0.07020001463837677, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0936447381973267, -1.0937844514846802, -1.3588711023330688, -1.577798843383789, -0.4581575095653534, 0.5960854291915894, -1.2046692371368408, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.9043798446655273, -0.929362952709198, 1.099985122680664, -1.5453145503997803, 1.0177377462387085, 1.0092816352844238, 0.8120018243789673, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, 0.056399980482164366, -0.056399980482164366, -0.056399980482164366, -0.056399980482164366, 0.056399980482164366, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0936915874481201, -1.092573881149292, -1.3588463068008423, -1.577309489250183, -0.4576354920864105, 0.5961280465126038, -1.2044917345046997, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.8990767002105713, -0.9294140338897705, 1.0956060886383057, -1.5453789234161377, 1.0177494287490845, 1.0092098712921143, 0.8129225969314575, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, 0.03779999083215069, -0.03779999083215069, -0.03779999083215069, -0.03779999083215069, 0.03779999083215069, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0945624113082886, -1.0922539234161377, -1.3583701848983765, -1.5768499374389648, -0.4558368921279907, 0.5964100360870361, -1.204084038734436, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.8976596593856812, -0.9294973015785217, 1.0915038585662842, -1.5415008068084717, 1.0160298347473145, 1.0087093114852905, 0.8146966099739075, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, 0.03599998295962159, -0.03599998295962159, -0.03599998295962159, -0.03599998295962159, 0.03599998295962159, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0955508947372437, -1.0922538042068481, -1.3578264713287354, -1.5764425992965698, -0.4552716016769409, 0.5964908003807068, -1.2037835121154785, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.8980710506439209, -0.9294941425323486, 1.0908300876617432, -1.5415611267089844, 1.013732671737671, 1.0086597204208374, 0.8154300451278687, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, -0.03539999343536713, -0.03539999343536713, -0.03539999343536713, 0.03539999343536713, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0955817699432373, -1.0922551155090332, -1.3570129871368408, -1.5763683319091797, -0.4545007646083832, 0.5965576767921448, -1.2037273645401, 0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.014400006388569952, -0.014400006388569952, 0.014400006388569952, 0.014400006388569952, -0.8998329043388367, -0.9294922351837158, 1.0925487279891968, -1.5429679155349731, 1.0101547241210938, 1.0084874629974365, 0.8165482878684998, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, 0.03539999343536713, -0.03539999343536713, -0.03539999343536713, -0.03539999343536713, 0.03539999343536713, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0955942869186401, -1.0927644968032837, -1.356147289276123, -1.5782904624938965, -0.45783141255378723, 0.5965260863304138, -1.20814847946167, 0.193800018121908, -0.193800018121908, 0.193800018121908, 0.193800018121908, -0.193800018121908, -0.193800018121908, 0.193800018121908, 0.193800018121908, -0.9047183394432068, -0.9285287261009216, 1.1009438037872314, -1.5438750982284546, 1.0053447484970093, 1.008122205734253, 0.8106893301010132, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0943329334259033, -1.0937073230743408, -1.3561686277389526, -1.580273985862732, -0.4626876711845398, 0.5961526036262512, -1.2136626243591309, 0.5052000045776367, -0.5052000045776367, 0.5052000045776367, 0.5052000045776367, -0.5052000045776367, -0.5052000045776367, 0.5052000045776367, 0.5052000045776367, -0.9183434247970581, -0.9276463985443115, 1.1243135929107666, -1.5405428409576416, 0.989713728427887, 1.0081162452697754, 0.8036436438560486, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0930020809173584, -1.0941228866577148, -1.3562605381011963, -1.5805515050888062, -0.4637087285518646, 0.5960587859153748, -1.2141344547271729, 0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.5850000003045731, -0.5850000003045731, 0.5850000003045731, 0.5850000003045731, -0.9552768468856812, -0.9490631818771362, 1.2072333097457886, -1.5523595809936523, 0.9805225729942322, 1.0075682401657104, 0.7512533068656921, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.092978835105896, -1.094165325164795, -1.3563865423202515, -1.5806972980499268, -0.46392539143562317, 0.596034824848175, -1.2143540382385254, 0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -0.5927999998268845, -0.5927999998268845, 0.5927999998268845, 0.5927999998268845, -1.0054529905319214, -0.9961543679237366, 1.3198128938674927, -1.5805788040161133, 1.0335341691970825, 0.9817498326301575, 0.6322875618934631, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.092986822128296, -1.0941667556762695, -1.356462836265564, -1.5807437896728516, -0.46396076679229736, 0.5960224866867065, -1.2143750190734863, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -1.03347909450531, -1.0325827598571777, 1.3920429944992065, -1.595851182937622, 1.0531935691833496, 0.9706146121025085, 0.5582284331321716, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0930126905441284, -1.0941506624221802, -1.3565361499786377, -1.5807414054870605, -0.46395859122276306, 0.5960162281990051, -1.2143723964691162, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.0479382276535034, -1.0570976734161377, 1.4352282285690308, -1.5994771718978882, 1.0520961284637451, 0.9731292724609375, 0.5326984524726868, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0930615663528442, -1.0941482782363892, -1.3565415143966675, -1.5807418823242188, -0.46395859122276306, 0.5960167050361633, -1.2143709659576416, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.0599666833877563, -1.0770370960235596, 1.4633443355560303, -1.6047495603561401, 1.0439807176589966, 0.9846178293228149, 0.5217307209968567, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0931254625320435, -1.0941250324249268, -1.356546401977539, -1.5807422399520874, -0.4639596939086914, 0.5960187911987305, -1.214372158050537, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.068337082862854, -1.0944571495056152, 1.4840037822723389, -1.6048732995986938, 1.0338902473449707, 1.0034230947494507, 0.5193101167678833, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0950782299041748, -1.0955342054367065, -1.3621984720230103, -1.5809742212295532, -0.45516902208328247, 0.6029320955276489, -1.2079041004180908, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.0765764713287354, -1.1034411191940308, 1.4943262338638306, -1.6098541021347046, 1.021820306777954, 1.0087946653366089, 0.5210869312286377, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1060190200805664, -1.1103272438049316, -1.3964015245437622, -1.586414098739624, -0.3890998661518097, 0.634746253490448, -1.1635067462921143, 0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -1.0770882368087769, -1.1033236980438232, 1.4940177202224731, -1.61003577709198, 1.0218207836151123, 1.0086902379989624, 0.5212472677230835, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1294013261795044, -1.1281183958053589, -1.44268000125885, -1.5844180583953857, -0.3488263785839081, 0.6719662547111511, -1.0652239322662354, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.076975703239441, -1.1025713682174683, 1.4932359457015991, -1.610024333000183, 1.0224316120147705, 1.0085313320159912, 0.5212470293045044, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.144104242324829, -1.139694094657898, -1.4808599948883057, -1.566152572631836, -0.3768582046031952, 0.7050842046737671, -0.9951997399330139, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.076623558998108, -1.1019296646118164, 1.4932451248168945, -1.609986424446106, 1.0226517915725708, 1.0084954500198364, 0.5212506055831909, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1449601650238037, -1.1432160139083862, -1.4939570426940918, -1.5497257709503174, -0.30207785964012146, 0.7390574216842651, -0.9483321905136108, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.076405644416809, -1.101966142654419, 1.4932376146316528, -1.6099861860275269, 1.0226662158966064, 1.008492112159729, 0.5212597250938416, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1447076797485352, -1.1466901302337646, -1.4992483854293823, -1.522502064704895, -0.23116563260555267, 0.7552868127822876, -0.9140973687171936, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0764029026031494, -1.1019792556762695, 1.4932373762130737, -1.60997474193573, 1.0226689577102661, 1.00849187374115, 0.5212621092796326, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.144217848777771, -1.154022216796875, -1.5069093704223633, -1.4889224767684937, -0.20595310628414154, 0.7916649580001831, -0.8963573575019836, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.076407790184021, -1.1019949913024902, 1.493242859840393, -1.6099607944488525, 1.022676944732666, 1.008492112159729, 0.521279513835907, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1475849151611328, -1.1588202714920044, -1.5157222747802734, -1.483190655708313, -0.1802501678466797, 0.81159508228302, -0.8888081312179565, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.0764167308807373, -1.1021820306777954, 1.4932318925857544, -1.6099352836608887, 1.0226777791976929, 1.0084929466247559, 0.5212830901145935, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1549041271209717, -1.1607179641723633, -1.5225616693496704, -1.4846071004867554, -0.13758225739002228, 0.8210278749465942, -0.881717324256897, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.07642662525177, -1.1021791696548462, 1.493234395980835, -1.6099354028701782, 1.0226877927780151, 1.0084930658340454, 0.5212907791137695, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1696738004684448, -1.1619253158569336, -1.5345574617385864, -1.4886062145233154, -0.10736247897148132, 0.8325758576393127, -0.8825349807739258, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0764347314834595, -1.1021759510040283, 1.4932345151901245, -1.6099287271499634, 1.0226937532424927, 1.0084933042526245, 0.5212917327880859, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1943837404251099, -1.1630733013153076, -1.5549975633621216, -1.511657476425171, -0.08299986273050308, 0.854444682598114, -0.8723568916320801, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0764548778533936, -1.102165937423706, 1.4932332038879395, -1.6099252700805664, 1.022707223892212, 1.0084941387176514, 0.5212888717651367, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2207684516906738, -1.1636666059494019, -1.5774214267730713, -1.5379472970962524, -0.06277360767126083, 0.8693318367004395, -0.8624038696289062, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0764665603637695, -1.1021575927734375, 1.4932291507720947, -1.609925389289856, 1.0227113962173462, 1.0084939002990723, 0.5212888717651367, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2344627380371094, -1.1636234521865845, -1.5918949842453003, -1.5440093278884888, -0.041803013533353806, 0.8758617043495178, -0.8679236769676208, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0764812231063843, -1.1021493673324585, 1.4932289123535156, -1.609929084777832, 1.022716760635376, 1.0084960460662842, 0.5212894678115845, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2441725730895996, -1.1636548042297363, -1.6066293716430664, -1.556558609008789, -0.03243590518832207, 0.8756212592124939, -0.8782939910888672, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0764882564544678, -1.1021426916122437, 1.493229866027832, -1.6099278926849365, 1.022716760635376, 1.0084972381591797, 0.5212841629981995, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2455661296844482, -1.1645845174789429, -1.61566162109375, -1.5667771100997925, -0.032585468143224716, 0.8784806132316589, -0.8747882843017578, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.076499104499817, -1.1021230220794678, 1.493233561515808, -1.6099259853363037, 1.0227150917053223, 1.0084986686706543, 0.5212797522544861, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2314422130584717, -1.1728860139846802, -1.603949785232544, -1.5698978900909424, -0.049522172659635544, 0.8855164051055908, -0.8498526811599731, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765061378479004, -1.1021102666854858, 1.4932327270507812, -1.6099287271499634, 1.0227149724960327, 1.008500099182129, 0.5212791562080383, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08455034373829395, -0.9963558673400099, -0.011234989580463949, -15.099933624267578], [0.9964166724337501, -0.08457019380216413, 0.0013027725502089617, 7.099199295043945], [-0.0022481703203953347, -0.011084581065660758, 0.9999360368507624, 0.18045875430107117], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.197778344154358, -1.1869969367980957, -1.5640214681625366, -1.5638865232467651, -0.07710842043161392, 0.8904483914375305, -0.8153802752494812, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.076507806777954, -1.1021113395690918, 1.493229866027832, -1.6099296808242798, 1.0227142572402954, 1.0085026025772095, 0.5212847590446472, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08387889221412448, -0.9964126130468387, -0.011235479611567593, -15.095146179199219], [0.9964734274425436, -0.08389874932427821, 0.0013070052530937285, 7.109371662139893], [-0.0022449592069700144, -0.011086226724752036, 0.9999360258212354, 0.18046177923679352], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1505463123321533, -1.2075772285461426, -1.506598949432373, -1.5412731170654297, -0.11171706765890121, 0.8847674131393433, -0.7742759585380554, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765081644058228, -1.1020969152450562, 1.4932341575622559, -1.6099287271499634, 1.022709608078003, 1.0085034370422363, 0.5212839245796204, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08417606313580617, -0.9963875568871203, -0.011235073452017644, -15.097265243530273], [0.9964484263812512, -0.08419561223534955, 0.00127767078816458, 7.104856014251709], [-0.002218999162927097, -0.011087621964609435, 0.9999360682973111, 0.1806584745645523], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.087111473083496, -1.231176495552063, -1.4345623254776, -1.4887577295303345, -0.14692215621471405, 0.8790485262870789, -0.7337716817855835, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765074491500854, -1.1020952463150024, 1.4932359457015991, -1.6099339723587036, 1.0227056741714478, 1.0085062980651855, 0.5212903022766113, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08422600987517792, -0.996383378591202, -0.011231301246417014, -15.097620010375977], [0.9964441744186388, -0.08424570732782777, 0.0012915355167338136, 7.104111671447754], [-0.002233053439450087, -0.011082583814946468, 0.9999360928620995, 0.18061377108097076], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 1.0184038877487183, -1.2574355602264404, -1.3667573928833008, -1.4167202711105347, -0.17708873748779297, 0.8942185044288635, -0.6971819400787354, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765058994293213, -1.1020947694778442, 1.4932321310043335, -1.6099306344985962, 1.0226991176605225, 1.0085090398788452, 0.5212922096252441, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08462316212267229, -0.9963496829131103, -0.01123520321598283, -15.100446701049805], [0.9964105301511885, -0.08464281306910748, 0.0012843673834497316, 7.098098278045654], [-0.002230658240847951, -0.01108618756347905, 0.9999360582602869, 0.18058183789253235], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.9682673215866089, -1.2822301387786865, -1.3207818269729614, -1.3537365198135376, -0.20020414888858795, 0.9003918170928955, -0.6690508723258972, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765061378479004, -1.1020792722702026, 1.4932374954223633, -1.6099326610565186, 1.0226837396621704, 1.0085113048553467, 0.521304190158844, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08503983123925951, -0.9963141930234097, -0.011236364310141512, -15.103414535522461], [0.9963750353725702, -0.08505955748408534, 0.0012886298620004605, 7.0917840003967285], [-0.0022396403970154632, -0.011086048020981943, 0.9999360397296262, 0.18050891160964966], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 0.9290475845336914, -1.3030807971954346, -1.284531593322754, -1.2919193506240845, -0.20917865633964539, 0.9000777006149292, -0.6455509066581726, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765068531036377, -1.1020293235778809, 1.4932384490966797, -1.6099306344985962, 1.0226683616638184, 1.0085113048553467, 0.5213286280632019, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08474126352146549, -0.9963394933417631, -0.011248656109252604, -15.101285934448242], [0.9964004594146117, -0.08476109085147998, 0.0012969024703244428, 7.096302509307861], [-0.0022456035126301524, -0.011098264961056873, 0.9999358908348666, 0.18028296530246735], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 0.8986733555793762, -1.3215200901031494, -1.252429723739624, -1.23441481590271, -0.20983406901359558, 0.8967299461364746, -0.6319966316223145, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765044689178467, -1.1020208597183228, 1.493234634399414, -1.609932541847229, 1.0226494073867798, 1.0085116624832153, 0.5213658213615417, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08474287658703883, -0.996339482711639, -0.011237439995740058, -15.101300239562988], [0.9964003232295007, -0.08476268425715983, 0.0012973918713450852, 7.096276760101318], [-0.0022451583241879388, -0.011087044124789088, 0.999936016311381, 0.1804484724998474], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 0.8797768950462341, -1.340226650238037, -1.2359578609466553, -1.1900180578231812, -0.20137453079223633, 0.8856093883514404, -0.619208574295044, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.076505422592163, -1.1020203828811646, 1.4932347536087036, -1.609938383102417, 1.0226337909698486, 1.0085123777389526, 0.521386981010437, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08491116896569362, -0.9963251618718488, -0.011236779161025586, -15.102499008178711], [0.9963860253296681, -0.08493081902455746, 0.0012823835479098208, 7.093722343444824], [-0.00223201985329703, -0.01108728103964613, 0.9999360430980185, 0.18055473268032074], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 0.8747026324272156, -1.3519216775894165, -1.2322221994400024, -1.1769503355026245, -0.1843097060918808, 0.8855170011520386, -0.6146125197410583, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765061378479004, -1.1020209789276123, 1.4932328462600708, -1.6099324226379395, 1.0226249694824219, 1.0085117816925049, 0.5213837623596191, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08482631105196736, -0.9963323842575706, -0.011237305412748852, -15.101895332336426], [0.996393239773206, -0.08484603376696565, 0.0012892975876007678, 7.0950093269348145], [-0.0022380097339716027, -0.011087408788325438, 0.9999360282932059, 0.18050284683704376], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105013370513916, 0.0, 0.0, 0.8711782693862915, -1.358996033668518, -1.232638955116272, -1.1685084104537964, -0.162000834941864, 0.8874418139457703, -0.6140676140785217, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765053033828735, -1.1020228862762451, 1.49323308467865, -1.6099348068237305, 1.0226253271102905, 1.0085113048553467, 0.5213847160339355, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471874042903549, -0.9963415256839558, -0.011238292480838899, -15.101133346557617], [0.9964024058456535, -0.08473840135211552, 0.0012841188736054704, 7.096642971038818], [-0.002231735896441425, -0.011089072731971988, 0.9999360238639438, 0.1805311143398285], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8685651421546936, -1.3658661842346191, -1.2374604940414429, -1.1600987911224365, -0.14628304541110992, 0.8913582563400269, -0.6181236505508423, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765066146850586, -1.1020289659500122, 1.4932279586791992, -1.6099330186843872, 1.0226255655288696, 1.0085104703903198, 0.5213843584060669, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08470232533845357, -0.9963430085165547, -0.011230559311061972, -15.100996971130371], [0.996403790229874, -0.08472203270368195, 0.0012899574014113783, 7.096895217895508], [-0.0022367158514128415, -0.01108090947245646, 0.9999361032323332, 0.18060803413391113], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8659122586250305, -1.3719221353530884, -1.2373842000961304, -1.1602281332015991, -0.1173277199268341, 0.8967662453651428, -0.6197237968444824, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765056610107422, -1.1020373106002808, 1.493226408958435, -1.609933853149414, 1.022626280784607, 1.0085092782974243, 0.52138352394104, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846561851192813, -0.996346833399129, -0.011239123479098225, -15.10068416595459], [0.996407786507249, -0.08467553142723294, 0.0012559320206152024, 7.09758186340332], [-0.0022030226450734593, -0.01109242773445548, 0.9999360503243101, 0.18072248995304108], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.864438533782959, -1.3785656690597534, -1.2374999523162842, -1.1602730751037598, -0.11116806417703629, 0.9043346643447876, -0.6215155720710754, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765066146850586, -1.1020410060882568, 1.49322509765625, -1.609933614730835, 1.0226266384124756, 1.0085090398788452, 0.5213820934295654, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08465660119066021, -0.9963467954728811, -0.011239351661301097, -15.100687026977539], [0.9964077827850952, -0.08467578797798936, 0.0012415053753624908, 7.097573757171631], [-0.0021886708605871673, -0.01109387584334088, 0.9999360657755257, 0.18082141876220703], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8610139489173889, -1.3859740495681763, -1.2382454872131348, -1.154066562652588, -0.09893037378787994, 0.9052523970603943, -0.6237303614616394, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.0765066146850586, -1.1020444631576538, 1.493222951889038, -1.609933853149414, 1.022627592086792, 1.0085080862045288, 0.5213806629180908, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08458230095444796, -0.9963531700292586, -0.01123365202853081, -15.100143432617188], [0.9964140971939738, -0.0846014624013427, 0.0012407548799266874, 7.0987067222595215], [-0.002186613447565746, -0.011088423341535121, 0.9999361307550747, 0.1809171438217163], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8538443446159363, -1.3928872346878052, -1.2382301092147827, -1.1450594663619995, -0.08077379316091537, 0.9046529531478882, -0.6289862990379333, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.0765066146850586, -1.1020487546920776, 1.4932196140289307, -1.6099344491958618, 1.022629976272583, 1.0085066556930542, 0.5213795900344849, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846363882056711, -0.9963484846831574, -0.011241835307228935, -15.100532531738281], [0.9964094201546092, -0.08465598035669886, 0.0012776607536218844, 7.097891807556152], [-0.0022246839447523214, -0.011093334008410905, 0.9999359923124699, 0.18052926659584045], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.842485249042511, -1.396983027458191, -1.2356806993484497, -1.1326611042022705, -0.06154738366603851, 0.9019681215286255, -0.6361455321311951, 0.5214000017433376, -0.5214000017433376, 0.5214000017433376, 0.5214000017433376, -0.5214000017433376, -0.5214000017433376, 0.5214000017433376, 0.5214000017433376, -1.0765093564987183, -1.1020517349243164, 1.4932165145874023, -1.6099393367767334, 1.0226417779922485, 1.0085062980651855, 0.5213727355003357, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08448012160902052, -0.9963618296048327, -0.01123448082624701, -15.099428176879883], [0.9964226849830393, -0.08449969583028549, 0.0012783801390858322, 7.100254058837891], [-0.002223039386939087, -0.011086293839666991, 0.9999360740491288, 0.1806439906358719], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8314729928970337, -1.3996458053588867, -1.2368965148925781, -1.1255711317062378, -0.046866826713085175, 0.9077771306037903, -0.6427444219589233, 0.42780000010689534, -0.42780000010689534, 0.42780000010689534, 0.42780000010689534, -0.42780000010689534, -0.42780000010689534, 0.42780000010689534, 0.42780000010689534, -1.0765113830566406, -1.1020594835281372, 1.4932125806808472, -1.6099368333816528, 1.0226484537124634, 1.008506417274475, 0.521363377571106, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08440126631954259, -0.996368689189972, -0.011218798755428873, -15.098858833312988], [0.9964293962588806, -0.08442068150533699, 0.0012675982554070336, 7.101451873779297], [-0.0022100938487639335, -0.011071753972681076, 0.9999362638434253, 0.18096399307250977], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8278549313545227, -1.4011034965515137, -1.2399417161941528, -1.123824954032898, -0.03278404474258423, 0.9117768406867981, -0.6483790278434753, 0.3186000006539481, -0.3186000006539481, 0.3186000006539481, 0.3186000006539481, -0.3186000006539481, -0.3186000006539481, 0.3186000006539481, 0.3186000006539481, -1.0765128135681152, -1.102060317993164, 1.4932132959365845, -1.609941005706787, 1.0226695537567139, 1.0085057020187378, 0.5213580131530762, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08440127644820183, -0.9963684776664132, -0.011237492897810555, -15.098867416381836], [0.9964294047441545, -0.08442066847066787, 0.0012617829350999267, 7.10144567489624], [-0.0022058774045585214, -0.011090872268659043, 0.9999360612845185, 0.1807212084531784], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8248515725135803, -1.4044667482376099, -1.2401833534240723, -1.1262425184249878, -0.007909468375146389, 0.9202746152877808, -0.6563299894332886, 0.2856000069733505, -0.2856000069733505, 0.2856000069733505, 0.2856000069733505, -0.2856000069733505, -0.2856000069733505, 0.2856000069733505, 0.2856000069733505, -1.0765286684036255, -1.1020647287368774, 1.4932130575180054, -1.6099436283111572, 1.0226943492889404, 1.0085054636001587, 0.5213614702224731, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08410979342463665, -0.9963931326155424, -0.011236900224300872, -15.09679889678955], [0.9964540473188964, -0.08412922400866885, 0.0012669844078396948, 7.105862140655518], [-0.002207766259235711, -0.011090488911007588, 0.9999360613678554, 0.18071097135543823], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8247324824333191, -1.4056720733642578, -1.2393344640731812, -1.138577938079834, 0.02747862972319126, 0.9374510049819946, -0.6758140325546265, 0.24539998180263645, -0.24539998180263645, 0.24539998180263645, 0.24539998180263645, -0.24539998180263645, -0.24539998180263645, 0.24539998180263645, 0.24539998180263645, -1.076528787612915, -1.1020677089691162, 1.4932124614715576, -1.609944224357605, 1.0227015018463135, 1.0085041522979736, 0.5213577747344971, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0844745399149105, -0.9963622651897478, -0.011237820612504626, -15.099393844604492], [0.9964232459722739, -0.08449367691891219, 0.0012383241901138128, 7.10033655166626], [-0.0021833442792067175, -0.011093018826140619, 0.9999360869281003, 0.18087837100028992], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 0.8279735445976257, -1.4059351682662964, -1.236633062362671, -1.1525814533233643, 0.06090383231639862, 0.9475088715553284, -0.693434476852417, 0.22739998167687717, -0.22739998167687717, 0.22739998167687717, 0.22739998167687717, -0.22739998167687717, -0.22739998167687717, 0.22739998167687717, 0.22739998167687717, -1.076529622077942, -1.1020687818527222, 1.4932140111923218, -1.609945297241211, 1.0227067470550537, 1.0085035562515259, 0.5213537812232971, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08438637687995665, -0.9963697297399016, -0.011238374220035749, -15.098766326904297], [0.9964306931678241, -0.08440563740004259, 0.0012498352620097333, 7.101673603057861], [-0.0021938801616103597, -0.011092791944691812, 0.9999360663846005, 0.18079359829425812], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 0.8300440311431885, -1.4060311317443848, -1.2281670570373535, -1.1698119640350342, 0.10384222865104675, 0.9577271342277527, -0.7085782289505005, 0.19319998929788776, -0.19319998929788776, 0.19319998929788776, 0.19319998929788776, -0.19319998929788776, -0.19319998929788776, 0.19319998929788776, 0.19319998929788776, -1.0765283107757568, -1.1020718812942505, 1.4932111501693726, -1.6099460124969482, 1.0227196216583252, 1.0085041522979736, 0.5213469862937927, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08449741818310286, -0.996360313277282, -0.011238881011285881, -15.099570274353027], [0.9964212790108307, -0.08451669251934368, 0.0012503679501895913, 7.099987030029297], [-0.002195690053255115, -0.011093007328346097, 0.9999360600226413, 0.18077541887760162], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 0.8315594792366028, -1.4060642719268799, -1.2317482233047485, -1.1794298887252808, 0.12780912220478058, 0.971763551235199, -0.7291499376296997, 0.1356000124753177, -0.1356000124753177, 0.1356000124753177, 0.1356000124753177, -0.1356000124753177, -0.1356000124753177, 0.1356000124753177, 0.1356000124753177, -1.076530933380127, -1.1020690202713013, 1.4932194948196411, -1.6099457740783691, 1.0227360725402832, 1.0085043907165527, 0.521324098110199, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08463333452905841, -0.9963489074248042, -0.011227348747210346, -15.100515365600586], [0.9964097637775007, -0.08465248507367695, 0.0012407335395898929, 7.097927570343018], [-0.00218662647881589, -0.011082032496337943, 0.9999362015750766, 0.1810091882944107], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 0.8343645334243774, -1.4063633680343628, -1.2367863655090332, -1.1858880519866943, 0.14690563082695007, 0.9752790927886963, -0.7487313747406006, 0.07020001463837677, -0.07020001463837677, 0.07020001463837677, 0.07020001463837677, -0.07020001463837677, -0.07020001463837677, 0.07020001463837677, 0.07020001463837677, -1.0765302181243896, -1.1020700931549072, 1.4932193756103516, -1.609947681427002, 1.0227382183074951, 1.008506178855896, 0.5213245749473572, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08464223334755427, -0.9963480320913314, -0.011237939387162875, -15.100597381591797], [0.9964089739784803, -0.08466156792058843, 0.0012551861934037376, 7.097789287567139], [-0.0022020238624197684, -0.011091341891718603, 0.9999360645691056, 0.18074661493301392], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 0.8514474630355835, -1.40635347366333, -1.2383759021759033, -1.2157765626907349, 0.17763161659240723, 0.9778440594673157, -0.7680397033691406, 0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -0.055799990957909905, -0.055799990957909905, 0.055799990957909905, 0.055799990957909905, -1.0765297412872314, -1.1020697355270386, 1.4932196140289307, -1.609947681427002, 1.022737741470337, 1.0085062980651855, 0.5213281512260437, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08464223334755427, -0.9963480320913314, -0.011237939387162875, -15.100597381591797], [0.9964089739784803, -0.08466156792058843, 0.0012551861934037376, 7.097789287567139], [-0.0022020238624197684, -0.011091341891718603, 0.9999360645691056, 0.18074661493301392], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.8694452047348022, -1.4040205478668213, -1.245474934577942, -1.2445008754730225, 0.2102319449186325, 0.9684500098228455, -0.7903731465339661, 0.05399998308538081, -0.05399998308538081, 0.05399998308538081, 0.05399998308538081, -0.05399998308538081, -0.05399998308538081, 0.05399998308538081, 0.05399998308538081, -1.0765292644500732, -1.1020702123641968, 1.4932194948196411, -1.6099501848220825, 1.0227382183074951, 1.008507490158081, 0.5213357210159302, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08507434066215924, -0.996311260315103, -0.011235173796164583, -15.103659629821777], [0.9963721398790606, -0.08509381216742784, 0.0012657028230374512, 7.091248989105225], [-0.002217077743484063, -0.01108673532405351, 0.9999360823903365, 0.18069002032279968], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.9055994153022766, -1.3941090106964111, -1.2597748041152954, -1.29780912399292, 0.24382612109184265, 0.9554502367973328, -0.8064634203910828, 0.05399998308538081, -0.05399998308538081, 0.05399998308538081, 0.05399998308538081, -0.05399998308538081, -0.05399998308538081, 0.05399998308538081, 0.05399998308538081, -1.076528787612915, -1.1020691394805908, 1.4932211637496948, -1.6099472045898438, 1.022735834121704, 1.0085086822509766, 0.5213385820388794, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08544191296337988, -0.9962797472853756, -0.011240313970086178, -15.106281280517578], [0.9963406370929456, -0.08546161509185302, 0.001283441901695521, 7.0856828689575195], [-0.0022392825594997594, -0.011089521850822178, 0.9999360020114981, 0.1804617941379547], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 0.9485493898391724, -1.377455234527588, -1.2843656539916992, -1.3675700426101685, 0.2767171859741211, 0.9576457738876343, -0.8245737552642822, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.076529622077942, -1.1020642518997192, 1.4932291507720947, -1.6099480390548706, 1.0227339267730713, 1.0085101127624512, 0.5213437676429749, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08512584811522217, -0.996306801900051, -0.011240394581890661, -15.104037284851074], [0.9963676649005136, -0.08514569892817625, 0.0012985741140881283, 7.090472221374512], [-0.0022508494755409006, -0.01108902347931656, 0.999935981568277, 0.18037240207195282], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.6130965948104858, -0.8105972409248352, 0.0, 0.0, 0.9771800637245178, -1.3604786396026611, -1.3164571523666382, -1.4485273361206055, 0.30318328738212585, 0.9589195251464844, -0.8508000373840332, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0765295028686523, -1.102064609527588, 1.4932252168655396, -1.6099493503570557, 1.022729516029358, 1.0085119009017944, 0.5213456749916077, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08444869455121284, -0.9963644314627372, -0.011240004650025948, -15.099200248718262], [0.9964253892373105, -0.08446807611770946, 0.0012600794607253627, 7.100721836090088], [-0.0022049199238252976, -0.01109341394294223, 0.9999360352018624, 0.18069243431091309], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 0.9995286464691162, -1.349236011505127, -1.3465889692306519, -1.555532455444336, 0.30791836977005005, 0.9601833820343018, -0.855968713760376, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0765275955200195, -1.1020680665969849, 1.4932233095169067, -1.6099478006362915, 1.0227278470993042, 1.0085126161575317, 0.5213541984558105, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08443474849170074, -0.996365636916613, -0.011237918797332025, -15.099101066589355], [0.996426540712881, -0.08445428062233651, 0.0012741458021871968, 7.100945472717285], [-0.0022186054414417827, -0.011090178371688375, 0.9999360408214014, 0.1806250959634781], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0150240659713745, -1.3373429775238037, -1.3641489744186401, -1.6505389213562012, 0.28997209668159485, 0.9620717763900757, -0.8528445363044739, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0765272378921509, -1.1020690202713013, 1.493222951889038, -1.6099457740783691, 1.0227187871932983, 1.0085135698318481, 0.5213621854782104, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08457966593607669, -0.996353339141707, -0.011238491505197304, -15.100138664245605], [0.9964142450810257, -0.08459921502485224, 0.0012747614633906131, 7.098744869232178], [-0.002220880400061567, -0.01109037413027893, 0.9999360336000994, 0.1806032806634903], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.030334711074829, -1.3185408115386963, -1.3679203987121582, -1.7289353609085083, 0.2682836651802063, 0.9715628027915955, -0.8436152338981628, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0765248537063599, -1.1020699739456177, 1.4932174682617188, -1.6099488735198975, 1.022700309753418, 1.008514165878296, 0.5213816165924072, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08461520605455486, -0.9963501877117301, -0.011250348934383059, -15.100386619567871], [0.9964112231480334, -0.08463479058693002, 0.0012753850189504345, 7.098211288452148], [-0.0022229010291273956, -0.011102056976373415, 0.9999358994665148, 0.18041598796844482], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0478284358978271, -1.2988896369934082, -1.3703429698944092, -1.8042726516723633, 0.23867997527122498, 0.9856109619140625, -0.8300557136535645, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0765255689620972, -1.1020677089691162, 1.4932163953781128, -1.6099458932876587, 1.022681713104248, 1.0085148811340332, 0.5213878750801086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08454632475533419, -0.9963560813363456, -0.011246250683988351, -15.099892616271973], [0.996417057082269, -0.0845659735124149, 0.00128237256985849, 7.099254608154297], [-0.0022287498459735594, -0.01109753612200054, 0.9999359366310149, 0.18043482303619385], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0536251068115234, -1.2799657583236694, -1.3676787614822388, -1.851574420928955, 0.20384088158607483, 0.9995574355125427, -0.8164375424385071, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0769041776657104, -1.1023108959197998, 1.4932794570922852, -1.6096173524856567, 1.0229953527450562, 1.0082402229309082, 0.5220165252685547, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08451614686402831, -0.9963587288318111, -0.011238523030871002, -15.099678993225098], [0.9964195473016166, -0.08453613305058139, 0.0013145204811640106, 7.099723815917969], [-0.00225979523386569, -0.011087185824717448, 0.9999359817688276, 0.18032528460025787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0538413524627686, -1.2634772062301636, -1.363023281097412, -1.8789132833480835, 0.17535269260406494, 1.0082613229751587, -0.8084052205085754, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.0927120447158813, -1.1212364435195923, 1.5097694396972656, -1.6091046333312988, 1.0758447647094727, 0.9727731943130493, 0.5102216601371765, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08457269795861788, -0.9963537179203029, -0.011257333005198081, -15.100101470947266], [0.9964147106280197, -0.08459289340345766, 0.0013292214680719087, 7.0988688468933105], [-0.0022766651225688767, -0.011104556363078345, 0.9999357507479663, 0.1799323409795761], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0581456422805786, -1.2550582885742188, -1.3627086877822876, -1.8998513221740723, 0.16503798961639404, 1.0081673860549927, -0.8086833953857422, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.1198865175247192, -1.1546545028686523, 1.519159197807312, -1.6247737407684326, 1.1741293668746948, 0.9137822985649109, 0.40145260095596313, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08488414788520315, -0.9963274802494607, -0.011235369934421993, -15.10230541229248], [0.9963882116001822, -0.08490436768297971, 0.0013342160784602785, 7.094141006469727], [-0.0022832481235271055, -0.011081536360710346, 0.9999359911163778, 0.18020692467689514], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.060068964958191, -1.2548190355300903, -1.3625171184539795, -1.906760811805725, 0.15863002836704254, 1.0078784227371216, -0.8094785213470459, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.1530284881591797, -1.1925255060195923, 1.5123792886734009, -1.6433658599853516, 1.3181171417236328, 0.8245766162872314, 0.26837724447250366, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08462039664200338, -0.9963498167771597, -0.011244157606094353, -15.100427627563477], [0.9964106693570479, -0.08464053054666998, 0.0013261147078314959, 7.098134517669678], [-0.002272985611503606, -0.011091582254075118, 0.9999359031155501, 0.18015095591545105], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0600489377975464, -1.2592564821243286, -1.3578068017959595, -1.9069607257843018, 0.15655112266540527, 1.0078606605529785, -0.8094754219055176, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.1760462522506714, -1.223384141921997, 1.4818681478500366, -1.642115592956543, 1.4266250133514404, 0.727982223033905, 0.17433631420135498, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08466066978661346, -0.9963461993227349, -0.01126153126457935, -15.100719451904297], [0.9964072571934758, -0.08468078091433884, 0.0013202862995615517, 7.097541809082031], [-0.002269097498361851, -0.011109295156707112, 0.9999357153125715, 0.17992575466632843], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0590331554412842, -1.2713981866836548, -1.3556171655654907, -1.9069174528121948, 0.15279598534107208, 1.0078632831573486, -0.8036566376686096, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.1877243518829346, -1.25022554397583, 1.4507935047149658, -1.6260743141174316, 1.5098025798797607, 0.6526358127593994, 0.11612822115421295, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08456601838031186, -0.9963544394074657, -0.011243647465807293, -15.10004711151123], [0.9964153260695591, -0.0845859584734403, 0.0013090465322569348, 7.098963260650635], [-0.0022553290214379247, -0.011092641802746023, 0.9999359313420241, 0.18028278648853302], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0542980432510376, -1.2826316356658936, -1.3508884906768799, -1.9066346883773804, 0.14565052092075348, 1.0078682899475098, -0.7889300584793091, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.1972554922103882, -1.272394061088562, 1.424606442451477, -1.611135721206665, 1.5594748258590698, 0.5894767045974731, 0.0867835283279419, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.084501251088829, -0.9963599463640167, -0.0112425907119663, -15.099590301513672], [0.9964207729302534, -0.08452142800529416, 0.0013309699555806354, 7.099952220916748], [-0.0022763649750088843, -0.01108988230054774, 0.9999359142830407, 0.1801469326019287], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0467125177383423, -1.2917885780334473, -1.3454612493515015, -1.9032355546951294, 0.13854902982711792, 1.0078791379928589, -0.7767047882080078, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2017227411270142, -1.291605830192566, 1.4061754941940308, -1.6001594066619873, 1.596319556236267, 0.5420884490013123, 0.04785516858100891, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08456533875420869, -0.9963545258516706, -0.011241098535223851, -15.100041389465332], [0.9964153111603615, -0.08458562993578256, 0.0013412283797738496, 7.0989789962768555], [-0.0022871743671604903, -0.011087381262477025, 0.9999359173517844, 0.18009281158447266], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.036463975906372, -1.3000434637069702, -1.337458610534668, -1.897580862045288, 0.1314753293991089, 1.0078976154327393, -0.7695062160491943, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2097697257995605, -1.3084622621536255, 1.3888556957244873, -1.59941828250885, 1.6251918077468872, 0.49406763911247253, 0.0140029676258564, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08458491026608805, -0.9963529104743662, -0.011237025609008655, -15.100166320800781], [0.9964137108134336, -0.08460489799735482, 0.001314586574007224, 7.09867525100708], [-0.0022604995645264647, -0.011085532198178491, 0.9999359985107057, 0.18034256994724274], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0298105478286743, -1.3083361387252808, -1.3307342529296875, -1.8918347358703613, 0.12895576655864716, 1.0079047679901123, -0.7633007168769836, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.221361756324768, -1.3248435258865356, 1.3705337047576904, -1.6013555526733398, 1.6479157209396362, 0.45308494567871094, -0.009721603244543076, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0267205238342285, -1.31320059299469, -1.3274632692337036, -1.8849573135375977, 0.1287362277507782, 1.0079076290130615, -0.7616674900054932, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2299435138702393, -1.3405146598815918, 1.359273076057434, -1.6014355421066284, 1.6746991872787476, 0.4112517535686493, -0.031338028609752655, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0243685245513916, -1.316351056098938, -1.3238720893859863, -1.878164291381836, 0.12882837653160095, 1.007912039756775, -0.761468768119812, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.231947660446167, -1.3517379760742188, 1.3543345928192139, -1.6014585494995117, 1.6840659379959106, 0.3828766942024231, -0.044202495366334915, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0225023031234741, -1.3212131261825562, -1.3209030628204346, -1.874125599861145, 0.12935088574886322, 1.007920503616333, -0.761480987071991, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2288885116577148, -1.3612045049667358, 1.351639986038208, -1.595375418663025, 1.703818678855896, 0.37343311309814453, -0.054988179355859756, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0166109800338745, -1.3252413272857666, -1.3151782751083374, -1.8687562942504883, 0.1291506290435791, 1.0079240798950195, -0.7603724598884583, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2260664701461792, -1.3697863817214966, 1.344650387763977, -1.5844378471374512, 1.7188034057617188, 0.37359023094177246, -0.06352537870407104, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.011187195777893, -1.3283740282058716, -1.3114320039749146, -1.864816665649414, 0.12903355062007904, 1.0079243183135986, -0.7603678107261658, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2262957096099854, -1.3775838613510132, 1.3389354944229126, -1.579006314277649, 1.7282174825668335, 0.3736036717891693, -0.06663097441196442, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0104352235794067, -1.330794334411621, -1.311225414276123, -1.8629789352416992, 0.12955139577388763, 1.0079224109649658, -0.7619369029998779, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.226420521736145, -1.3835643529891968, 1.3387852907180786, -1.5749009847640991, 1.7333424091339111, 0.37135517597198486, -0.06663468480110168, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0102829933166504, -1.3328161239624023, -1.311180591583252, -1.8622136116027832, 0.132640078663826, 1.0079189538955688, -0.7651742100715637, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2263299226760864, -1.388574242591858, 1.3397477865219116, -1.568577766418457, 1.7395901679992676, 0.3702270984649658, -0.06851189583539963, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0102818012237549, -1.3335767984390259, -1.3105010986328125, -1.862083077430725, 0.13554158806800842, 1.0079151391983032, -0.7664957046508789, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2264041900634766, -1.3919886350631714, 1.3400646448135376, -1.5679336786270142, 1.7434452772140503, 0.37335294485092163, -0.07384463399648666, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0102849006652832, -1.3340450525283813, -1.3103066682815552, -1.8619767427444458, 0.13895025849342346, 1.007912039756775, -0.7691511511802673, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2276506423950195, -1.395302176475525, 1.3413310050964355, -1.5686748027801514, 1.7456035614013672, 0.37724506855010986, -0.07478084415197372, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0102934837341309, -1.334944725036621, -1.310245394706726, -1.861513614654541, 0.14116086065769196, 1.0079089403152466, -0.7704408764839172, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2279317378997803, -1.397916555404663, 1.3429701328277588, -1.5685776472091675, 1.7488818168640137, 0.3827790319919586, -0.07407616823911667, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0102927684783936, -1.3362162113189697, -1.3090778589248657, -1.861231803894043, 0.1433473825454712, 1.0078692436218262, -0.7733033299446106, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2283952236175537, -1.399979591369629, 1.34380304813385, -1.5681989192962646, 1.7550615072250366, 0.3908163607120514, -0.07718080282211304, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0103529691696167, -1.3373560905456543, -1.3086704015731812, -1.8608301877975464, 0.14559490978717804, 1.007811427116394, -0.7745836973190308, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2319279909133911, -1.4014211893081665, 1.3468893766403198, -1.570853352546692, 1.755239725112915, 0.39292892813682556, -0.08144167810678482, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0106748342514038, -1.337920904159546, -1.3086658716201782, -1.8608379364013672, 0.14658145606517792, 1.0078225135803223, -0.7747430801391602, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2357884645462036, -1.4020253419876099, 1.3527241945266724, -1.5728874206542969, 1.7557612657546997, 0.3944222927093506, -0.08013587445020676, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.01085364818573, -1.3393847942352295, -1.3086661100387573, -1.8609488010406494, 0.14782948791980743, 1.0078206062316895, -0.7747755646705627, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2379238605499268, -1.402431845664978, 1.3578977584838867, -1.5728267431259155, 1.7556642293930054, 0.3947318494319916, -0.07769420742988586, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0109014511108398, -1.3400816917419434, -1.3086124658584595, -1.8610758781433105, 0.148757666349411, 1.007816195487976, -0.7747418880462646, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2383427619934082, -1.4025295972824097, 1.359565019607544, -1.5724883079528809, 1.7570209503173828, 0.39784809947013855, -0.07991596311330795, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0108985900878906, -1.3406308889389038, -1.3076130151748657, -1.860853672027588, 0.14922182261943817, 1.0076642036437988, -0.7741469144821167, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2391000986099243, -1.4031180143356323, 1.359869360923767, -1.5724501609802246, 1.7584854364395142, 0.4006894528865814, -0.0810101255774498, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0108935832977295, -1.34144127368927, -1.3068711757659912, -1.8590844869613647, 0.1492747813463211, 1.0075194835662842, -0.7731794118881226, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.242148756980896, -1.4036202430725098, 1.3601510524749756, -1.5734606981277466, 1.7593637704849243, 0.40388551354408264, -0.08178454637527466, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0108966827392578, -1.3419829607009888, -1.306697964668274, -1.8588112592697144, 0.15127387642860413, 1.0076004266738892, -0.7732467651367188, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2462364435195923, -1.4036552906036377, 1.3620855808258057, -1.5743286609649658, 1.7604591846466064, 0.40230420231819153, -0.08138846606016159, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0109000205993652, -1.3428202867507935, -1.3067013025283813, -1.8589242696762085, 0.15431547164916992, 1.0077335834503174, -0.7745835781097412, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2469688653945923, -1.40373957157135, 1.362277626991272, -1.5724903345108032, 1.7675635814666748, 0.4076958894729614, -0.08197329938411713, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0109202861785889, -1.3430851697921753, -1.3068193197250366, -1.859212875366211, 0.15580762922763824, 1.0077478885650635, -0.7756810188293457, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2478713989257812, -1.4039884805679321, 1.3618696928024292, -1.572526216506958, 1.772876501083374, 0.4103355407714844, -0.08411344140768051, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0109786987304688, -1.343112826347351, -1.307253122329712, -1.8592491149902344, 0.1582375466823578, 1.0071364641189575, -0.7790255546569824, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2481694221496582, -1.4041717052459717, 1.3617746829986572, -1.5724163055419922, 1.7839189767837524, 0.4102928936481476, -0.08719614148139954, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0109717845916748, -1.34324312210083, -1.307327151298523, -1.8590017557144165, 0.15993954241275787, 1.0063016414642334, -0.7825052738189697, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.248695731163025, -1.404677391052246, 1.3602020740509033, -1.5724188089370728, 1.785321831703186, 0.40965184569358826, -0.08773591369390488, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0106538534164429, -1.344245433807373, -1.3071295022964478, -1.8576271533966064, 0.15961453318595886, 1.0061007738113403, -0.7831518650054932, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2486923933029175, -1.4057533740997314, 1.3579784631729126, -1.5723812580108643, 1.787137508392334, 0.40693047642707825, -0.0871761292219162, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0098601579666138, -1.3444706201553345, -1.3069995641708374, -1.8572975397109985, 0.15971268713474274, 1.0059468746185303, -0.7833241820335388, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2482924461364746, -1.4060472249984741, 1.3547180891036987, -1.5714011192321777, 1.7903897762298584, 0.4057067632675171, -0.08841589838266373, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0096555948257446, -1.344750165939331, -1.3070027828216553, -1.8563743829727173, 0.16155321896076202, 1.0061306953430176, -0.7831357717514038, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2471035718917847, -1.4070531129837036, 1.3518606424331665, -1.5715913772583008, 1.7934815883636475, 0.4062016010284424, -0.09457314759492874, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0096800327301025, -1.344698429107666, -1.3073673248291016, -1.854806661605835, 0.16269256174564362, 1.006248950958252, -0.7839810252189636, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2464330196380615, -1.4070442914962769, 1.3515628576278687, -1.5716755390167236, 1.793789267539978, 0.4088731110095978, -0.09950286149978638, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0100988149642944, -1.3441632986068726, -1.3081501722335815, -1.8537217378616333, 0.16484253108501434, 1.007379412651062, -0.7862586379051208, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2464669942855835, -1.4063142538070679, 1.351773977279663, -1.571673035621643, 1.7911783456802368, 0.41577208042144775, -0.10001830011606216, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0105668306350708, -1.3432519435882568, -1.3087605237960815, -1.8517448902130127, 0.16680075228214264, 1.0081764459609985, -0.7898901104927063, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2464109659194946, -1.4049750566482544, 1.3541311025619507, -1.5709378719329834, 1.7897623777389526, 0.4279806315898895, -0.10162598639726639, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0110969543457031, -1.3422789573669434, -1.3087568283081055, -1.849606990814209, 0.1701890528202057, 1.0076371431350708, -0.7939023971557617, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2444543838500977, -1.4026105403900146, 1.3572767972946167, -1.5682659149169922, 1.783262848854065, 0.4443383812904358, -0.101249560713768, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0111032724380493, -1.34193754196167, -1.3087525367736816, -1.848061203956604, 0.17235340178012848, 1.006949782371521, -0.7960892915725708, 0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -0.05339999356112641, -0.05339999356112641, 0.05339999356112641, 0.05339999356112641, -1.2418864965438843, -1.4011729955673218, 1.3582127094268799, -1.568140983581543, 1.7777957916259766, 0.4514326751232147, -0.1034952849149704, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0111007690429688, -1.341934084892273, -1.3078867197036743, -1.8463443517684937, 0.17464083433151245, 1.0056864023208618, -0.796432375907898, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2405688762664795, -1.4011744260787964, 1.3598401546478271, -1.5682376623153687, 1.7803148031234741, 0.4572598934173584, -0.11186950653791428, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0108708143234253, -1.3418306112289429, -1.3045475482940674, -1.8434944152832031, 0.18041878938674927, 1.0053951740264893, -0.7974644899368286, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.239027500152588, -1.400795340538025, 1.36093270778656, -1.5696429014205933, 1.781431794166565, 0.4649113416671753, -0.12085755169391632, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0094366073608398, -1.3417681455612183, -1.3016701936721802, -1.8412644863128662, 0.18805034458637238, 1.0038472414016724, -0.7995085120201111, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2391325235366821, -1.4001708030700684, 1.3609365224838257, -1.5790989398956299, 1.783355951309204, 0.4648018181324005, -0.13431404531002045, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.007570505142212, -1.3418480157852173, -1.3009521961212158, -1.8373357057571411, 0.1881384253501892, 1.003092646598816, -0.7996078729629517, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2386664152145386, -1.3997297286987305, 1.3611634969711304, -1.5888198614120483, 1.7833762168884277, 0.4644124507904053, -0.15138868987560272, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0075736045837402, -1.3425400257110596, -1.3006212711334229, -1.835631012916565, 0.1889447271823883, 1.003057599067688, -0.7995060086250305, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2364304065704346, -1.3997021913528442, 1.3615992069244385, -1.5893652439117432, 1.7857533693313599, 0.46505481004714966, -0.15872925519943237, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0074621438980103, -1.3442723751068115, -1.3007023334503174, -1.8356431722640991, 0.18925008177757263, 0.9994797110557556, -0.7987275123596191, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2356421947479248, -1.3997185230255127, 1.364143967628479, -1.5868160724639893, 1.7883862257003784, 0.4652061462402344, -0.1528548300266266, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, 0.025800003848233086, -0.025800003848233086, -0.025800003848233086, -0.025800003848233086, 0.025800003848233086, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0059072971343994, -1.3471635580062866, -1.3015127182006836, -1.8370027542114258, 0.18952764570713043, 0.9945732355117798, -0.7982527017593384, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2357592582702637, -1.4004285335540771, 1.3658589124679565, -1.5861220359802246, 1.7840461730957031, 0.45761558413505554, -0.1405755579471588, 0.08039999374976527, 0.08039999374976527, 0.08039999374976527, 0.08039999374976527, -0.08039999374976527, -0.08039999374976527, -0.08039999374976527, 0.08039999374976527, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.006666660308838, -1.3491712808609009, -1.3043415546417236, -1.8417936563491821, 0.1935674101114273, 0.992056667804718, -0.799182653427124, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2343547344207764, -1.4021329879760742, 1.3693275451660156, -1.5857014656066895, 1.7697476148605347, 0.45210835337638855, -0.12280487269163132, 0.4583999963907095, 0.4583999963907095, 0.4583999963907095, 0.4583999963907095, -0.4583999963907095, -0.4583999963907095, -0.4583999963907095, 0.4583999963907095, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0230849981307983, -1.3490196466445923, -1.3199107646942139, -1.8475412130355835, 0.2021835744380951, 0.9887625575065613, -0.8078835606575012, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.231826663017273, -1.4012372493743896, 1.396214246749878, -1.594582200050354, 1.746835708618164, 0.4540247619152069, -0.12091172486543655, 0.5759999990135759, 0.5759999990135759, 0.5759999990135759, 0.5759999990135759, -0.5759999990135759, -0.5759999990135759, -0.5759999990135759, 0.5759999990135759, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.05556321144104, -1.341941237449646, -1.3416167497634888, -1.8496125936508179, 0.22167184948921204, 0.9890720844268799, -0.8263724446296692, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2294007539749146, -1.3913233280181885, 1.4397610425949097, -1.6140491962432861, 1.7015185356140137, 0.4575445353984833, -0.12031371146440506, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, 0.5898000000106108, -0.5898000000106108, -0.5898000000106108, -0.5898000000106108, 0.5898000000106108, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.093255877494812, -1.3247147798538208, -1.3647921085357666, -1.8448213338851929, 0.23553508520126343, 0.9831724166870117, -0.838066577911377, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.227883219718933, -1.3731944561004639, 1.4884177446365356, -1.6337416172027588, 1.6122515201568604, 0.48010721802711487, -0.10458992421627045, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, 0.5945999997166487, -0.5945999997166487, -0.5945999997166487, -0.5945999997166487, 0.5945999997166487, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1231648921966553, -1.299294114112854, -1.3800221681594849, -1.8326374292373657, 0.23714204132556915, 0.9773550033569336, -0.8405365943908691, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.228500485420227, -1.3545575141906738, 1.5356570482254028, -1.6581989526748657, 1.5099414587020874, 0.518726646900177, -0.08568517118692398, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.142659068107605, -1.2680363655090332, -1.3851878643035889, -1.8171509504318237, 0.22662612795829773, 0.9769929647445679, -0.840653121471405, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2330185174942017, -1.3378868103027344, 1.5793417692184448, -1.6780706644058228, 1.4196563959121704, 0.5607430934906006, -0.06748880445957184, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, 0.5963999999134422, -0.5963999999134422, -0.5963999999134422, -0.5963999999134422, 0.5963999999134422, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1531517505645752, -1.2313673496246338, -1.3733294010162354, -1.8077446222305298, 0.19703863561153412, 0.9841485023498535, -0.8315801024436951, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2413626909255981, -1.3236446380615234, 1.6133649349212646, -1.6925733089447021, 1.3667051792144775, 0.5994797945022583, -0.05423269048333168, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.613000750541687, -0.810693085193634, 0.0, 0.0, 1.1558693647384644, -1.191498041152954, -1.343757152557373, -1.7951048612594604, 0.15380218625068665, 1.0027648210525513, -0.8119444251060486, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2487372159957886, -1.313209891319275, 1.6323572397232056, -1.6970415115356445, 1.3366456031799316, 0.6253120303153992, -0.04526106268167496, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, 0.5975999999934664, -0.5975999999934664, -0.5975999999934664, -0.5975999999934664, 0.5975999999934664, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1482455730438232, -1.1524899005889893, -1.300154685974121, -1.7590198516845703, 0.10861890017986298, 1.0081532001495361, -0.807009220123291, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.252371072769165, -1.307398796081543, 1.636989712715149, -1.694732427597046, 1.3329377174377441, 0.6378094553947449, -0.04465609788894653, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1316126585006714, -1.1245899200439453, -1.2533249855041504, -1.7290973663330078, 0.08366942405700684, 1.0080382823944092, -0.807727038860321, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2530087232589722, -1.3069286346435547, 1.637007713317871, -1.6947357654571533, 1.3314619064331055, 0.6409875154495239, -0.050635986030101776, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, 0.5987999999967332, -0.5987999999967332, -0.5987999999967332, -0.5987999999967332, 0.5987999999967332, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7363598942756653, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1113866567611694, -1.110387921333313, -1.2158645391464233, -1.6995121240615845, 0.060227200388908386, 1.0077836513519287, -0.8081837892532349, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2530072927474976, -1.3069456815719604, 1.6369708776474, -1.694802165031433, 1.3317099809646606, 0.6409547924995422, -0.05050308257341385, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23015658557415009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0989007949829102, -1.1044691801071167, -1.1914472579956055, -1.6834752559661865, 0.044243719428777695, 1.0076087713241577, -0.8081852197647095, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2530049085617065, -1.3069716691970825, 1.6369277238845825, -1.6948933601379395, 1.3319613933563232, 0.6408699750900269, -0.05028856545686722, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0876258611679077, -1.1041010618209839, -1.1759846210479736, -1.6699415445327759, 0.03762195631861687, 1.007283329963684, -0.8081254363059998, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.252998948097229, -1.3070347309112549, 1.6368776559829712, -1.6949598789215088, 1.3320446014404297, 0.6408438682556152, -0.050220612436532974, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0816813707351685, -1.1053767204284668, -1.1686408519744873, -1.6624417304992676, 0.03910776227712631, 1.0071361064910889, -0.8080670237541199, 0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -0.05280000403687195, -0.05280000403687195, 0.05280000403687195, 0.05280000403687195, -1.2529950141906738, -1.30706787109375, 1.6368565559387207, -1.6949706077575684, 1.3320568799972534, 0.6408420205116272, -0.050209589302539825, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0818722248077393, -1.1091537475585938, -1.1655293703079224, -1.6609890460968018, 0.04581209644675255, 1.0069310665130615, -0.8078685998916626, 0.14880001780750987, -0.14880001780750987, 0.14880001780750987, 0.14880001780750987, -0.14880001780750987, -0.14880001780750987, 0.14880001780750987, 0.14880001780750987, -1.2529841661453247, -1.3070998191833496, 1.6368499994277954, -1.6949845552444458, 1.332060694694519, 0.6408417820930481, -0.050202157348394394, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0880118608474731, -1.1150199174880981, -1.166028380393982, -1.6681779623031616, 0.04732222855091095, 1.006927728652954, -0.8077433705329895, 0.2747999990379417, -0.2747999990379417, 0.2747999990379417, 0.2747999990379417, -0.2747999990379417, -0.2747999990379417, 0.2747999990379417, 0.2747999990379417, -1.2529771327972412, -1.307145118713379, 1.6368423700332642, -1.6950020790100098, 1.3320634365081787, 0.6408416628837585, -0.050199881196022034, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0980703830718994, -1.1280511617660522, -1.185473084449768, -1.7017860412597656, 0.06208859011530876, 1.007049322128296, -0.8080775737762451, 0.5693999988037151, -0.5693999988037151, 0.5693999988037151, 0.5693999988037151, -0.5693999988037151, -0.5693999988037151, 0.5693999988037151, 0.5693999988037151, -1.2529741525650024, -1.307178020477295, 1.6368398666381836, -1.6950018405914307, 1.3320649862289429, 0.6408414244651794, -0.05020095780491829, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1040085554122925, -1.1516097784042358, -1.231907844543457, -1.7592271566390991, 0.08141554892063141, 1.007230520248413, -0.8043132424354553, 0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -0.5886000000841015, -0.5886000000841015, 0.5886000000841015, 0.5886000000841015, -1.2529704570770264, -1.3071774244308472, 1.6368396282196045, -1.6950082778930664, 1.3320659399032593, 0.6408411860466003, -0.05019844323396683, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1047523021697998, -1.1777499914169312, -1.292928695678711, -1.8398950099945068, 0.07408443838357925, 1.0073227882385254, -0.7753195762634277, 0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -0.5951999999869328, -0.5951999999869328, 0.5951999999869328, 0.5951999999869328, -1.2529702186584473, -1.30718195438385, 1.6368378400802612, -1.6950052976608276, 1.3320653438568115, 0.640841543674469, -0.0502040758728981, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.098547339439392, -1.2022053003311157, -1.3648566007614136, -1.9119017124176025, 0.04654241353273392, 0.9994486570358276, -0.7053187489509583, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.252970814704895, -1.3071786165237427, 1.636838674545288, -1.6950005292892456, 1.332063913345337, 0.6408411860466003, -0.050209708511829376, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0925462245941162, -1.2149616479873657, -1.426514983177185, -1.9293075799942017, 0.02714594639837742, 0.9476069211959839, -0.6561031341552734, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.2529728412628174, -1.30717134475708, 1.6368454694747925, -1.6950008869171143, 1.3320614099502563, 0.6408414244651794, -0.050211746245622635, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.0920968055725098, -1.2150923013687134, -1.4321684837341309, -1.9290882349014282, 0.024250319227576256, 0.9413439631462097, -0.6535254120826721, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.2529411315917969, -1.3071744441986084, 1.6368474960327148, -1.6949918270111084, 1.3321043252944946, 0.6408542990684509, -0.05021701753139496, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08471486936226524, -0.996341811769691, -0.011242109607343578, -15.101102828979492], [0.9964026324008779, -0.0847350400764757, 0.0013293336070910769, 7.096715450286865], [-0.002277071262657854, -0.011089053283632752, 0.9999359218688654, 0.18015305697917938], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.095291256904602, -1.2148027420043945, -1.4330666065216064, -1.9285874366760254, 0.02223864756524563, 0.9369040727615356, -0.6502946019172668, 0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -0.5969999998766969, -0.5969999998766969, 0.5969999998766969, 0.5969999998766969, -1.2556036710739136, -1.306321382522583, 1.6366899013519287, -1.6955535411834717, 1.3269902467727661, 0.6373757123947144, -0.04999231547117233, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0846989272234302, -0.9963431616334526, -0.011242597273571069, -15.100997924804688], [0.9964039317749244, -0.0847193704028042, 0.0013538914372961787, 7.09696102142334], [-0.002301406237853361, -0.011087494974432285, 0.9999358834367933, 0.17997236549854279], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1239264011383057, -1.2118109464645386, -1.4406704902648926, -1.9227036237716675, 0.002195390174165368, 0.8945180177688599, -0.6209486126899719, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.2777109146118164, -1.299019694328308, 1.6349587440490723, -1.7004971504211426, 1.2847398519515991, 0.6075193285942078, -0.04761715978384018, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0845620543225658, -0.9963548050682172, -0.011241058056169938, -15.100027084350586], [0.9964155175499005, -0.08458269397119267, 0.0013726858123954831, 7.099024772644043], [-0.0023184810785066407, -0.011084687548611446, 0.9999358751177189, 0.17987020313739777], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.1820716857910156, -1.2058911323547363, -1.4559624195098877, -1.9109249114990234, -0.03837228938937187, 0.8085683584213257, -0.5613202452659607, 0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -0.5981999999567211, -0.5981999999567211, 0.5981999999567211, 0.5981999999567211, -1.321922779083252, -1.2844650745391846, 1.6315267086029053, -1.710184097290039, 1.200259804725647, 0.5481895804405212, -0.04297902435064316, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08449768525339674, -0.9963602014767127, -0.011246781766461975, -15.099569320678711], [0.9964209583810344, -0.08451843154692074, 0.0013814586021017334, 7.100019931793213], [-0.0023269907259736945, -0.011089799012289394, 0.9999357986751091, 0.1797252893447876], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.2698087692260742, -1.1969119310379028, -1.4789879322052002, -1.8931361436843872, -0.09944797307252884, 0.6791681051254272, -0.47147583961486816, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.3881356716156006, -1.2626311779022217, 1.6264041662216187, -1.7247389554977417, 1.0736280679702759, 0.45926210284233093, -0.035954952239990234, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08468198449113484, -0.9963444352187857, -0.01125734920848814, -15.100879669189453], [0.9964052549579214, -0.08470300645825612, 0.0014030642080978923, 7.097226142883301], [-0.0023514665387024064, -0.011098067646723768, 0.9999356496793311, 0.17940138280391693], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7364557981491089, 1.613000750541687, -0.8105972409248352, 0.0, 0.0, 1.3874783515930176, -1.184941053390503, -1.5099036693572998, -1.8693256378173828, -0.18137836456298828, 0.505520224571228, -0.35090264678001404, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.4768307209014893, -1.233445644378662, 1.6195060014724731, -1.7442489862442017, 0.904127299785614, 0.3401801288127899, -0.026610372588038445, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08468491683598489, -0.9963441850714392, -0.01125743020464856, -15.100909233093262], [0.9964049654813453, -0.0847061280477106, 0.0014200828441754136, 7.0971760749816895], [-0.0023684646085170083, -0.011096699756912298, 0.9999356247428647, 0.17927932739257812], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.5140047073364258, -1.172010064125061, -1.5432120561599731, -1.8437319993972778, -0.26959580183029175, 0.31875163316726685, -0.2212018221616745, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.5709909200668335, -1.2023977041244507, 1.6122311353683472, -1.7650643587112427, 0.7239636778831482, 0.21360154449939728, -0.01671859249472618, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08484669583950843, -0.9963306052009633, -0.011241145181869291, -15.102034568786621], [0.9963912450128458, -0.08486767438903264, 0.0014016795454500465, 7.094728946685791], [-0.0023505460788707817, -0.011081650765075637, 0.9999358339160829, 0.1796446144580841], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.810693085193634, 0.0, 0.0, 1.6121796369552612, -1.1620696783065796, -1.5690531730651855, -1.8238059282302856, -0.33797886967658997, 0.17380206286907196, -0.12063775956630707, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6437532901763916, -1.178389549255371, 1.6066685914993286, -1.7810144424438477, 0.5848880410194397, 0.11586839705705643, -0.00910141970962286, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08450927119764007, -0.9963591175086659, -0.011255755816297642, -15.099648475646973], [0.9964199370327389, -0.08453021349134948, 0.001397172422855684, 7.0998430252075195], [-0.0023435369244020733, -0.011097385478538207, 0.9999356758663153, 0.1794775426387787], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7366474866867065, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.6808751821517944, -1.155031681060791, -1.5870760679244995, -1.8099662065505981, -0.38582468032836914, 0.07248922437429428, -0.05027106776833534, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.6944544315338135, -1.161715030670166, 1.6027721166610718, -1.7922033071517944, 0.4879371225833893, 0.04762818664312363, -0.0037142708897590637, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08452125703079227, -0.9963581487637864, -0.01125151109566218, -15.099737167358398], [0.9964188680381638, -0.08454243931576255, 0.001419638011972163, 7.099660873413086], [-0.0023656980955389355, -0.011091228360357966, 0.9999356919952298, 0.1793813407421112], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7366474866867065, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.720004677772522, -1.1510275602340698, -1.59740149974823, -1.8020200729370117, -0.41311803460121155, 0.014789252541959286, -0.010210320353507996, 0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -0.5993999999983666, -0.5993999999983666, 0.5993999999983666, 0.5993999999983666, -1.7230547666549683, -1.1522812843322754, 1.6005384922027588, -1.7984646558761597, 0.43327659368515015, 0.00939203705638647, -0.0007207312737591565, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.084443688815113, -0.9963647197627449, -0.011252050097780578, -15.0991849899292], [0.9964254563952046, -0.08446482196912797, 0.0014155201628606323, 7.100835800170898], [-0.002360776758683897, -0.0110922974099186, 0.9999356917678585, 0.17940713465213776], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7366474866867065, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.7301368713378906, -1.1499884128570557, -1.6000466346740723, -1.799983024597168, -0.42009320855140686, -0.00036048548645339906, 0.0002046905574388802, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.730102777481079, -1.149959683418274, 1.5999877452850342, -1.8000355958938599, 0.41982346773147583, -0.00014824485697317868, 2.2170816009747796e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08442531974056977, -0.9963662489919503, -0.011254477171927037, -15.099059104919434], [0.9964270314261666, -0.08444637048277537, 0.001407677350494789, 7.101115703582764], [-0.0023529619503539073, -0.011095421668269736, 0.9999356755252127, 0.1794271469116211], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.7300119400024414, -1.1499862670898438, -1.6000330448150635, -1.7999833822250366, -0.42007043957710266, -7.969509897520766e-05, 7.993478357093409e-05, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7300212383270264, -1.1499707698822021, 1.5999858379364014, -1.800033450126648, 0.41992926597595215, -7.945541437948123e-05, 2.4567660148022696e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08461543243595471, -0.9963500980352066, -0.011256586467962546, -15.100409507751465], [0.9964108847857795, -0.08463657066025454, 0.001414067640535331, 7.098231792449951], [-0.002361625308264765, -0.011096533337312605, 0.9999356427659718, 0.17933881282806396], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.7299919128417969, -1.1499922275543213, -1.5999119281768799, -1.80000901222229, -0.4200171232223511, 5.3090116125531495e-05, -0.00014560832642018795, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299498319625854, -1.1500061750411987, 1.5999901294708252, -1.8000235557556152, 0.42000308632850647, 8.101335697574541e-05, -2.4447819669148885e-05, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.0844717455393913, -0.996362023471062, -0.01128017686826371, -15.099381446838379], [0.9964231501138201, -0.08449257625108442, 0.0013821995897896002, 7.100402355194092], [-0.0023302623842911285, -0.011123072556883017, 0.9999354214818649, 0.17921529710292816], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -0.7365516424179077, 1.6129049062728882, -0.8107889294624329, 0.0, 0.0, 1.7302521467208862, -1.149990200996399, -1.5997889041900635, -1.8002101182937622, -0.41997960209846497, 8.388957212446257e-06, -0.0002131993678631261, 0.6, -0.6, 0.6, 0.6, -0.6, -0.6, 0.6, 0.6, -1.7299531698226929, -1.150031566619873, 1.6000088453292847, -1.7999976873397827, 0.4200049042701721, 0.0001514806062914431, -0.0003114700084552169, 0.6, 0.6, 0.6, 0.6, -0.6, -0.6, -0.6, 0.6, 0.0, 0.0, 0.23006072640419006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[-0.08458188142556544, -0.9963529281309804, -0.011258238731406512, -15.100173950195312], [0.9964138012904101, -0.08460270295703798, 0.001385370116072957, 7.098731517791748], [-0.0023327949989070517, -0.011100687239307482, 0.9999356643356152, 0.17951954901218414], [0.0, 0.0, 0.0, 1.0]]}]} diff --git a/agibot-challenge-2026/000033/gt/hand_left.mp4 b/agibot-challenge-2026/000033/gt/hand_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3e80378217bb40138fe157d1354825b8699bb38 --- /dev/null +++ b/agibot-challenge-2026/000033/gt/hand_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a96b3f055ade0a0d4dd86b60bae5b0d492e46e5a2faa443d32fda5a09feddb28 +size 4172347 diff --git a/agibot-challenge-2026/000033/gt/hand_right.mp4 b/agibot-challenge-2026/000033/gt/hand_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..af50449e20a0f252a7a7d8d6878a15a7096bbc59 --- /dev/null +++ b/agibot-challenge-2026/000033/gt/hand_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d33656cbfa5075a0e51af9e6dfd9e66455de9905ca070761cdc15b74a308433c +size 5662815